+ python -m lidar_slam --no-model /working/d2f1b824-01dd-4192-a31a-6a1841b36dfb Lidar SLAM 0.0.15 ===================================================== The recording path: /working/d2f1b824-01dd-4192-a31a-6a1841b36dfb 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 0.004012739 Adjusted end_distance from 9.223372036854776e+18 to 480.864012739 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.004012739 meters Centerline goodness : 0.507062 Centerline is valid? [0, False] SLAMing on 0.034012739 meters Centerline goodness : 0.507062 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 1.00000000e+00 5.15473761e-17 -1.55460923e-16 1.95177072e-13] [-2.36069324e-17 1.00000000e+00 -2.94654458e-16 4.71147643e-14] [-7.92279948e-18 -2.26182347e-16 1.00000000e+00 -6.91002811e-13] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.064012739 meters Centerline goodness : 0.420307 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999967e-01 -2.51908420e-04 -4.33104514e-05 2.69924478e-03] [ 2.51902767e-04 9.99999960e-01 -1.30486048e-04 1.51260056e-04] [ 4.33433201e-05 1.30475134e-04 9.99999991e-01 -1.33322358e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.094012739 meters Centerline goodness : 0.431950 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999918e-01 -3.17954632e-04 -2.50246499e-04 4.76791116e-03] [ 3.17930156e-04 9.99999945e-01 -9.78403706e-05 -2.32013388e-05] [ 2.50277594e-04 9.77608017e-05 9.99999964e-01 -3.11755801e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.124012739 meters Centerline goodness : 0.443422 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.00 [[ 9.99999843e-01 -5.14650403e-04 -2.20484063e-04 7.61579255e-03] [ 5.14564799e-04 9.99999792e-01 -3.88134088e-04 2.61890149e-03] [ 2.20683770e-04 3.88020573e-04 9.99999900e-01 -4.60966468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15401273899999998 meters Centerline goodness : 0.351328 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999803e-01 -5.38380704e-04 -3.22937714e-04 8.90171899e-03] [ 5.38230020e-04 9.99999746e-01 -4.66510313e-04 3.21779030e-03] [ 3.23188792e-04 4.66336406e-04 9.99999839e-01 -5.73757557e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18401273899999998 meters Centerline goodness : 0.360561 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999777e-01 -5.07848250e-04 -4.33906209e-04 1.02912693e-02] [ 5.07669083e-04 9.99999786e-01 -4.12926175e-04 2.83244423e-03] [ 4.34115820e-04 4.12705802e-04 9.99999821e-01 -6.87102605e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21401273899999998 meters Centerline goodness : 0.339376 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999818e-01 -5.67996884e-04 -2.01041992e-04 1.24140993e-02] [ 5.67923414e-04 9.99999772e-01 -3.65313423e-04 2.02729576e-03] [ 2.01249443e-04 3.65199180e-04 9.99999913e-01 -7.94154967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24401273899999998 meters Centerline goodness : 0.353858 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99999762e-01 -5.37392459e-04 -4.32652165e-04 1.46215034e-02] [ 5.37288131e-04 9.99999827e-01 -2.41216486e-04 1.52199343e-03] [ 4.32781718e-04 2.40983970e-04 9.99999877e-01 -9.71337828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.274012739 meters Centerline goodness : 0.270038 Centerline is valid? [False, False] Translation: X:0.02, Y:0.00, Z:-0.01 [[ 9.99999697e-01 -4.24853509e-04 -6.52501926e-04 1.81304108e-02] [ 4.24831078e-04 9.99999909e-01 -3.45137898e-05 4.14617320e-04] [ 6.52516531e-04 3.42365763e-05 9.99999787e-01 -1.16725605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.304012739 meters Centerline goodness : 0.318752 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99999613e-01 -2.63432355e-04 -8.39385489e-04 2.00505346e-02] [ 2.63632730e-04 9.99999937e-01 2.38614187e-04 -1.26985102e-03] [ 8.39322577e-04 -2.38835384e-04 9.99999619e-01 -1.31498087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33401273899999995 meters Centerline goodness : 0.303968 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.01 [[ 9.99999517e-01 -1.36895233e-04 -9.73514447e-04 2.16069002e-02] [ 1.37337029e-04 9.99999888e-01 4.53762850e-04 -2.89693305e-03] [ 9.73452220e-04 -4.53896330e-04 9.99999423e-01 -1.44690316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.364012739 meters Centerline goodness : 0.301351 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.00, Z:-0.02 [[ 9.99999663e-01 4.83298155e-05 -8.19777165e-04 2.35196225e-02] [-4.77507111e-05 9.99999749e-01 7.06421687e-04 -4.91315250e-03] [ 8.19811101e-04 -7.06382304e-04 9.99999414e-01 -1.50122963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.394012739 meters Centerline goodness : 0.318785 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99999414e-01 1.58016764e-04 -1.07098798e-03 2.56121366e-02] [-1.57241644e-04 9.99999726e-01 7.23788690e-04 -4.58115561e-03] [ 1.07110206e-03 -7.23619862e-04 9.99999165e-01 -1.63135700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42401273899999997 meters Centerline goodness : 0.322012 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.00, Z:-0.02 [[ 9.99999118e-01 6.03620059e-04 -1.18337721e-03 2.88569106e-02] [-6.03282570e-04 9.99999777e-01 2.85527827e-04 -6.49806893e-04] [ 1.18354930e-03 -2.84813665e-04 9.99999259e-01 -1.75713360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45401273899999994 meters Centerline goodness : 0.387248 Centerline is valid? [False, False] Translation: X:0.03, Y:0.00, Z:-0.02 [[ 9.99998709e-01 7.41343645e-04 -1.42541737e-03 3.06764928e-02] [-7.41492229e-04 9.99999720e-01 -1.03713716e-04 2.44764578e-03] [ 1.42534008e-03 1.04770518e-04 9.99998979e-01 -1.83595704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48401273899999997 meters Centerline goodness : 0.334725 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.02 [[ 9.99998212e-01 9.44137322e-04 -1.63849355e-03 3.25588670e-02] [-9.44976552e-04 9.99999423e-01 -5.11497374e-04 5.50541636e-03] [ 1.63800968e-03 5.13044797e-04 9.99998527e-01 -1.93622272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.514012739 meters Centerline goodness : 0.322513 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:-0.02 [[ 9.99993063e-01 3.16185038e-03 -1.96909763e-03 3.92227410e-02] [-3.16260692e-03 9.99994926e-01 -3.81208689e-04 1.21149806e-02] [ 1.96788232e-03 3.87433526e-04 9.99997989e-01 -2.34212976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.544012739 meters Centerline goodness : 0.328279 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.03 [[ 0.99999141 0.00335513 -0.00243533 0.04257087] [-0.00335779 0.99999377 -0.00108894 0.01863768] [ 0.00243166 0.00109711 0.99999644 -0.02505791] [ 0. 0. 0. 1. ]] SLAMing on 0.5740127389999999 meters Centerline goodness : 0.335840 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.03 [[ 0.99998317 0.00472635 -0.00336519 0.05267624] [-0.00473097 0.99998788 -0.00136583 0.02672483] [ 0.00335869 0.00138173 0.9999934 -0.03180339] [ 0. 0. 0. 1. ]] SLAMing on 0.604012739 meters Centerline goodness : 0.329357 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.03 [[ 0.99998292 0.00458723 -0.00362121 0.05490905] [-0.00459385 0.99998779 -0.00182045 0.0298664 ] [ 0.00361281 0.00183706 0.99999179 -0.03311473] [ 0. 0. 0. 1. ]] SLAMing on 0.634012739 meters Centerline goodness : 0.347582 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.03 [[ 0.99998338 0.00433042 -0.00380576 0.05628043] [-0.00433888 0.99998813 -0.00221771 0.0325178 ] [ 0.00379612 0.00223419 0.9999903 -0.03362075] [ 0. 0. 0. 1. ]] SLAMing on 0.6640127389999999 meters Centerline goodness : 0.309725 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.03 [[ 0.99998671 0.00345839 -0.00382367 0.05919533] [-0.00346833 0.99999061 -0.00259687 0.03398718] [ 0.00381466 0.0026101 0.99998932 -0.033856 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6940127389999999 meters Centerline goodness : 0.326272 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.03 [[ 0.99998633 0.00318949 -0.00414329 0.06139108] [-0.00319997 0.99999169 -0.00252415 0.03275303] [ 0.00413521 0.00253738 0.99998823 -0.03467063] [ 0. 0. 0. 1. ]] SLAMing on 0.724012739 meters Centerline goodness : 0.326272 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.03 [[ 0.99998633 0.00318949 -0.00414329 0.06139108] [-0.00319997 0.99999169 -0.00252415 0.03275303] [ 0.00413521 0.00253738 0.99998823 -0.03467063] [ 0. 0. 0. 1. ]] SLAMing on 0.754012739 meters Centerline goodness : 0.321620 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.04 [[ 0.99998558 0.00189817 -0.00502455 0.06839842] [-0.0019146 0.99999283 -0.00326672 0.03376234] [ 0.00501831 0.00327629 0.99998204 -0.03854834] [ 0. 0. 0. 1. ]] SLAMing on 0.784012739 meters Centerline goodness : 0.323724 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.04 [[ 9.99984982e-01 7.58721918e-04 -5.42768412e-03 7.31306257e-02] [-7.76704134e-04 9.99994215e-01 -3.31171465e-03 3.22779413e-02] [ 5.42514005e-03 3.31588062e-03 9.99979786e-01 -4.03201423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8140127389999999 meters Centerline goodness : 0.289887 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.05 [[ 9.99979370e-01 -7.50825315e-04 -6.37935680e-03 8.29052935e-02] [ 7.27544190e-04 9.99993070e-01 -3.65098439e-03 3.05557691e-02] [ 6.38205385e-03 3.64626780e-03 9.99972987e-01 -4.56783452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.844012739 meters Centerline goodness : 0.287263 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.05 [[ 9.99976304e-01 -8.13023444e-04 -6.83603200e-03 8.63543305e-02] [ 7.90430567e-04 9.99994219e-01 -3.30702193e-03 2.76897422e-02] [ 6.83868117e-03 3.30154016e-03 9.99971166e-01 -4.73667635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.874012739 meters Centerline goodness : 0.281936 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.05 [[ 9.99973000e-01 -8.89883763e-04 -7.29439391e-03 8.97996862e-02] [ 8.69625663e-04 9.99995758e-01 -2.77991633e-03 2.32902356e-02] [ 7.29683677e-03 2.77349788e-03 9.99969531e-01 -4.91227949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9040127389999999 meters Centerline goodness : 0.277648 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.05 [[ 0.99995616 -0.00529048 -0.00772591 0.09466176] [ 0.00524206 0.99996658 -0.00627378 0.01940766] [ 0.00775885 0.006233 0.99995047 -0.05099778] [ 0. 0. 0. 1. ]] SLAMing on 0.9340127389999999 meters Centerline goodness : 0.265901 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.06 [[ 9.99955723e-01 -9.39323583e-03 5.65818591e-04 1.18423058e-01] [ 9.39416263e-03 9.99954499e-01 -1.65821733e-03 1.08192269e-02] [-5.50216819e-04 1.66345930e-03 9.99998465e-01 -6.26145188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.964012739 meters Centerline goodness : 0.267120 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:-0.06 [[ 9.99910650e-01 -1.33469031e-02 7.42710885e-04 1.20375299e-01] [ 1.33505958e-02 9.99897296e-01 -5.21148857e-03 6.40744791e-03] [-6.73077372e-04 5.22093856e-03 9.99986144e-01 -6.25915730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.994012739 meters Centerline goodness : 0.057273 Centerline is valid? [False, False] Translation: X:0.12, Y:0.00, Z:-0.06 [[ 9.99914249e-01 -1.30844349e-02 5.41234669e-04 1.22356300e-01] [ 1.30867253e-02 9.99904373e-01 -4.47007092e-03 4.90574655e-04] [-4.82694561e-04 4.47677059e-03 9.99989863e-01 -6.34836970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.024012739 meters Centerline goodness : 0.264034 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.00, Z:-0.06 [[ 9.99918028e-01 -1.27991209e-02 3.46280091e-04 1.24073158e-01] [ 1.28003562e-02 9.99910708e-01 -3.83748792e-03 -4.18966413e-03] [-2.97132699e-04 3.84160587e-03 9.99992577e-01 -6.40129707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.054012739 meters Centerline goodness : 0.248273 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:-0.06 [[ 9.99921691e-01 -1.25140574e-02 1.00764793e-04 1.26106105e-01] [ 1.25143215e-02 9.99916262e-01 -3.29550056e-03 -8.01751422e-03] [-5.95162717e-05 3.29650350e-03 9.99994565e-01 -6.44646433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.084012739 meters Centerline goodness : 0.235032 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.07 [[ 9.99930923e-01 -1.17536368e-02 -4.08827664e-05 1.29586425e-01] [ 1.17535229e-02 9.99928651e-01 -2.13267741e-03 -1.64010598e-02] [ 6.59465652e-05 2.13204957e-03 9.99997725e-01 -6.58144862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1140127389999999 meters Centerline goodness : 0.201133 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:-0.07 [[ 9.99941463e-01 -1.08114781e-02 -4.28222988e-04 1.35639525e-01] [ 1.08111125e-02 9.99941199e-01 -8.47273241e-04 -2.56501540e-02] [ 4.37358084e-04 8.42594077e-04 9.99999549e-01 -6.93314650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.144012739 meters Centerline goodness : 0.208412 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.03, Z:-0.07 [[ 9.99945992e-01 -1.03721402e-02 -6.57799673e-04 1.38057285e-01] [ 1.03720248e-02 9.99946193e-01 -1.78630460e-04 -3.02876409e-02] [ 6.59617059e-04 1.71798098e-04 9.99999768e-01 -7.06976941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.174012739 meters Centerline goodness : 0.221018 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.04, Z:-0.07 [[ 9.99949741e-01 -9.98363537e-03 -9.17681957e-04 1.40333588e-01] [ 9.98409839e-03 9.99950032e-01 5.01361794e-04 -3.51300921e-02] [ 9.12630689e-04 -5.10498823e-04 9.99999453e-01 -7.17028988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.204012739 meters Centerline goodness : 0.059323 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.08 [[ 0.99994961 -0.00983073 -0.00203519 0.15209622] [ 0.00983318 0.99995094 0.00119746 -0.04248516] [ 0.00202331 -0.00121741 0.99999721 -0.07897221] [ 0. 0. 0. 1. ]] SLAMing on 1.234012739 meters Centerline goodness : 0.219026 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.04, Z:-0.08 [[ 0.99995154 -0.00956927 -0.0023144 0.15449338] [ 0.00957276 0.99995305 0.00150401 -0.04428408] [ 0.0022999 -0.00152609 0.99999619 -0.08003797] [ 0. 0. 0. 1. ]] SLAMing on 1.264012739 meters Centerline goodness : 0.228257 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.05, Z:-0.08 [[ 9.99975925e-01 -3.87592488e-03 -5.75549932e-03 1.78809236e-01] [ 3.87913881e-03 9.99992326e-01 5.47352625e-04 -4.60070004e-02] [ 5.75333366e-03 -5.69665829e-04 9.99983287e-01 -7.54675062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.294012739 meters Centerline goodness : 0.204973 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.04, Z:-0.08 [[ 9.99975192e-01 -3.44509124e-03 -6.14377231e-03 1.81789499e-01] [ 3.44798716e-03 9.99993949e-01 4.60829189e-04 -4.43112460e-02] [ 6.14214754e-03 -4.82001405e-04 9.99981021e-01 -7.64825965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3240127389999998 meters Centerline goodness : 0.236344 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.08 [[ 0.99997398 -0.00173435 -0.00700243 0.18974773] [ 0.00174359 0.99999762 0.00131355 -0.0447517 ] [ 0.00700014 -0.00132572 0.99997462 -0.08080026] [ 0. 0. 0. 1. ]] SLAMing on 1.3540127389999999 meters Centerline goodness : 0.068423 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.04, Z:-0.08 [[ 0.99996864 0.00319167 -0.00724842 0.19431072] [-0.0031526 0.99998048 0.00539492 -0.04495207] [ 0.0072655 -0.0053719 0.99995918 -0.08217252] [ 0. 0. 0. 1. ]] SLAMing on 1.3840127389999999 meters Centerline goodness : 0.069144 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.04, Z:-0.08 [[ 0.99996539 0.00336586 -0.00760816 0.19717949] [-0.00332826 0.99998221 0.00494962 -0.04095558] [ 0.00762468 -0.00492412 0.99995881 -0.08310364] [ 0. 0. 0. 1. ]] SLAMing on 1.414012739 meters Centerline goodness : 0.056460 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:-0.09 [[ 0.99995211 0.00449358 -0.00869354 0.20824326] [-0.00444992 0.99997742 0.00503549 -0.03727125] [ 0.00871597 -0.00499656 0.99994953 -0.08923896] [ 0. 0. 0. 1. ]] SLAMing on 1.444012739 meters Centerline goodness : 0.068645 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.04, Z:-0.09 [[ 0.99995053 0.00435688 -0.00894176 0.2105595 ] [-0.00431458 0.99997944 0.00474465 -0.03520589] [ 0.00896225 -0.00470583 0.99994877 -0.09039392] [ 0. 0. 0. 1. ]] SLAMing on 1.474012739 meters Centerline goodness : 0.110636 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.03, Z:-0.09 [[ 0.99994888 0.00424926 -0.00917475 0.21267112] [-0.00420693 0.99998044 0.00462817 -0.03450309] [ 0.00919423 -0.00458933 0.9999472 -0.09130263] [ 0. 0. 0. 1. ]] SLAMing on 1.504012739 meters Centerline goodness : 0.057498 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:-0.10 [[ 9.99999485e-01 3.74006869e-04 -9.43107830e-04 2.39746240e-01] [-3.66507938e-04 9.99968419e-01 7.93897303e-03 -3.53994034e-02] [ 9.46047276e-04 -7.93862328e-03 9.99968041e-01 -1.03474207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.534012739 meters Centerline goodness : 0.069894 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:-0.10 [[ 9.99999305e-01 2.19809121e-04 -1.15815569e-03 2.41643538e-01] [-2.10733466e-04 9.99969318e-01 7.83060236e-03 -3.50247477e-02] [ 1.15984140e-03 -7.83035286e-03 9.99968670e-01 -1.04092551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.564012739 meters Centerline goodness : 0.106594 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.10 [[ 9.99999069e-01 -2.93861467e-04 -1.33217524e-03 2.45248186e-01] [ 3.03750480e-04 9.99972358e-01 7.42909272e-03 -3.26584993e-02] [ 1.32995529e-03 -7.42949046e-03 9.99971517e-01 -1.04950143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5940127389999998 meters Centerline goodness : 0.057241 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.11 [[ 9.99998629e-01 -4.96630936e-04 -1.57951290e-03 2.47523659e-01] [ 5.07798101e-04 9.99974825e-01 7.07747999e-03 -3.01321212e-02] [ 1.57595824e-03 -7.07827237e-03 9.99973707e-01 -1.05630062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6240127389999999 meters Centerline goodness : 0.058576 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.03, Z:-0.11 [[ 9.99998285e-01 -6.35090011e-04 -1.73944375e-03 2.49184719e-01] [ 6.46945976e-04 9.99976508e-01 6.82389139e-03 -2.84654214e-02] [ 1.73506910e-03 -6.82500502e-03 9.99975204e-01 -1.06127520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.654012739 meters Centerline goodness : 0.106267 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.03, Z:-0.11 [[ 0.99999519 -0.00163806 -0.00263496 0.25832293] [ 0.00165337 0.99998168 0.00582206 -0.02509673] [ 0.00262538 -0.00582639 0.99997958 -0.1112066 ] [ 0. 0. 0. 1. ]] SLAMing on 1.684012739 meters Centerline goodness : 0.060223 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.11 [[ 0.99999406 -0.00182663 -0.00292347 0.26079108] [ 0.00184307 0.99998245 0.00563054 -0.0241323 ] [ 0.00291313 -0.00563589 0.99997987 -0.1123449 ] [ 0. 0. 0. 1. ]] SLAMing on 1.714012739 meters Centerline goodness : 0.101557 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.11 [[ 0.99999244 -0.00212261 -0.00325824 0.26363276] [ 0.00214016 0.99998317 0.00539186 -0.02289363] [ 0.00324674 -0.00539879 0.99998016 -0.11334669] [ 0. 0. 0. 1. ]] SLAMing on 1.744012739 meters Centerline goodness : 0.059030 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.02, Z:-0.11 [[ 0.9999893 -0.00294996 -0.00356332 0.26748407] [ 0.00296902 0.99998125 0.0053564 -0.02374326] [ 0.00354746 -0.00536692 0.99997931 -0.11395804] [ 0. 0. 0. 1. ]] SLAMing on 1.774012739 meters Centerline goodness : 0.124574 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.12 [[ 0.9999776 -0.00486268 -0.00459891 0.27686743] [ 0.00488326 0.99997806 0.00447493 -0.02447498] [ 0.00457705 -0.00449729 0.99997941 -0.11828157] [ 0. 0. 0. 1. ]] SLAMing on 1.8040127389999998 meters Centerline goodness : 0.103216 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.12 [[ 0.9999763 -0.00490486 -0.00483153 0.27893141] [ 0.00492734 0.99997704 0.00465127 -0.02609031] [ 0.00480861 -0.00467497 0.99997751 -0.11918069] [ 0. 0. 0. 1. ]] SLAMing on 1.8340127389999998 meters Centerline goodness : 0.060052 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.12 [[ 0.99997403 -0.00507465 -0.0051179 0.28130741] [ 0.00509814 0.99997648 0.00458805 -0.02594963] [ 0.00509449 -0.00461403 0.99997638 -0.12005699] [ 0. 0. 0. 1. ]] SLAMing on 1.8640127389999999 meters Centerline goodness : 0.059745 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.03, Z:-0.12 [[ 0.99997077 -0.00536397 -0.00544934 0.28493335] [ 0.00538903 0.99997492 0.00459522 -0.02607317] [ 0.00542456 -0.00462445 0.99997459 -0.12074118] [ 0. 0. 0. 1. ]] SLAMing on 1.894012739 meters Centerline goodness : 0.059897 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.12 [[ 0.99996955 -0.00535555 -0.00567675 0.28669682] [ 0.00538311 0.99997375 0.0048497 -0.02831329] [ 0.00565063 -0.00488011 0.99997213 -0.12103485] [ 0. 0. 0. 1. ]] SLAMing on 1.924012739 meters Centerline goodness : 0.060723 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.12 [[ 0.99996473 -0.00555839 -0.00629632 0.29167579] [ 0.0055919 0.99997022 0.00531813 -0.03347735] [ 0.00626658 -0.00535315 0.99996604 -0.12267626] [ 0. 0. 0. 1. ]] SLAMing on 1.954012739 meters Centerline goodness : 0.060747 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.04, Z:-0.12 [[ 0.99996332 -0.00551783 -0.00655112 0.29388893] [ 0.00555472 0.99996874 0.00562722 -0.03590972] [ 0.00651986 -0.0056634 0.99996271 -0.12369343] [ 0. 0. 0. 1. ]] SLAMing on 1.984012739 meters Centerline goodness : 0.531241 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.04, Z:-0.12 [[ 0.99996172 -0.00547773 -0.00682331 0.29595894] [ 0.00551874 0.99996673 0.00600646 -0.03896661] [ 0.00679018 -0.00604388 0.99995868 -0.12440288] [ 0. 0. 0. 1. ]] SLAMing on 2.014012739 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 2.0440127390000002 meters Centerline goodness : 0.578707 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.04, Z:-0.13 [[ 0.99993393 -0.00939382 -0.00662554 0.29967458] [ 0.00941014 0.99995275 0.00243668 -0.04334705] [ 0.00660234 -0.00249886 0.99997508 -0.12508979] [ 0. 0. 0. 1. ]] SLAMing on 2.074012739 meters Centerline goodness : 0.201798 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.05, Z:-0.13 [[ 0.99993382 -0.00909936 -0.00704039 0.30356063] [ 0.00912278 0.99995294 0.00330094 -0.05032885] [ 0.00701002 -0.00336495 0.99996977 -0.12602158] [ 0. 0. 0. 1. ]] SLAMing on 2.1040127390000003 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 2.134012739 meters Centerline goodness : 0.529404 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:-0.12 [[ 9.99910558e-01 -7.63686236e-03 -1.09797635e-02 3.31324212e-01] [ 7.63179700e-03 9.99970751e-01 -5.03161573e-04 -5.78630510e-02] [ 1.09832850e-02 4.19321243e-04 9.99939594e-01 -1.23872527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1640127390000004 meters Centerline goodness : 0.519007 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.06, Z:-0.12 [[ 9.99909912e-01 -7.35534417e-03 -1.12279440e-02 3.33214640e-01] [ 7.35655621e-03 9.99972938e-01 6.66515850e-05 -6.19142475e-02] [ 1.12271499e-02 -1.49244582e-04 9.99936962e-01 -1.24331153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.194012739 meters Centerline goodness : 0.519203 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.07, Z:-0.12 [[ 9.99909734e-01 -7.02851301e-03 -1.14509303e-02 3.34927957e-01] [ 7.03696424e-03 9.99974997e-01 6.97914147e-04 -6.65219072e-02] [ 1.14457387e-02 -7.78430936e-04 9.99934192e-01 -1.24831679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.224012739 meters Centerline goodness : 0.107754 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:-0.13 [[ 0.99996782 -0.00712751 -0.00368132 0.36784052] [ 0.0071442 0.99996417 0.00453984 -0.07981039] [ 0.00364883 -0.004566 0.99998292 -0.13316988] [ 0. 0. 0. 1. ]] SLAMing on 2.254012739 meters Centerline goodness : 0.529039 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.08, Z:-0.13 [[ 0.99996898 -0.00681959 -0.00394106 0.36979679] [ 0.00683917 0.99996424 0.00497489 -0.08266038] [ 0.00390699 -0.00500169 0.99997986 -0.13375398] [ 0. 0. 0. 1. ]] SLAMing on 2.284012739 meters Centerline goodness : 0.101009 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.09, Z:-0.13 [[ 0.99997293 -0.00587304 -0.00443267 0.37373992] [ 0.00589798 0.99996673 0.0056352 -0.08630441] [ 0.00439943 -0.00566119 0.9999743 -0.13414882] [ 0. 0. 0. 1. ]] SLAMing on 2.3140127390000003 meters Centerline goodness : 0.102727 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.13 [[ 0.99997376 -0.00544541 -0.00477696 0.37587398] [ 0.00547322 0.99996803 0.00582872 -0.0873215 ] [ 0.00474507 -0.00585471 0.9999716 -0.1341601 ] [ 0. 0. 0. 1. ]] SLAMing on 2.344012739 meters Centerline goodness : 0.184060 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.09, Z:-0.13 [[ 0.99997458 -0.00497846 -0.00510448 0.37796757] [ 0.0050085 0.99997011 0.00589023 -0.08690645] [ 0.005075 -0.00591565 0.99996962 -0.1343615 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3740127390000003 meters Centerline goodness : 0.147680 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.09, Z:-0.13 [[ 0.99996007 0.00275116 -0.00850179 0.40345713] [-0.00270633 0.9999824 0.00527951 -0.08840312] [ 0.00851617 -0.00525629 0.99994992 -0.12960543] [ 0. 0. 0. 1. ]] SLAMing on 2.404012739 meters Centerline goodness : 0.179865 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.13 [[ 0.99995561 0.00319236 -0.00886456 0.40589779] [-0.00314611 0.99998139 0.00522661 -0.08691601] [ 0.00888108 -0.00519848 0.99994705 -0.13026798] [ 0. 0. 0. 1. ]] SLAMing on 2.434012739 meters Centerline goodness : 0.081068 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.09, Z:-0.13 [[ 0.99994715 0.00403122 -0.00945793 0.41005802] [-0.00397979 0.99997723 0.00544964 -0.0872042 ] [ 0.00947969 -0.00541171 0.99994042 -0.13097262] [ 0. 0. 0. 1. ]] SLAMing on 2.464012739 meters Centerline goodness : 0.173704 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.09, Z:-0.14 [[ 0.99998274 0.00431745 0.00398396 0.41518889] [-0.00434271 0.99997039 0.00635291 -0.088514 ] [-0.00395641 -0.0063701 0.99997188 -0.14096728] [ 0. 0. 0. 1. ]] SLAMing on 2.494012739 meters Centerline goodness : 0.079683 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.09, Z:-0.14 [[ 0.99998371 0.00428239 0.00377374 0.41660764] [-0.00430617 0.99997077 0.00631713 -0.08833831] [-0.00374657 -0.00633328 0.99997293 -0.14122783] [ 0. 0. 0. 1. ]] SLAMing on 2.5240127390000002 meters Centerline goodness : 0.079184 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.09, Z:-0.14 [[ 0.99998596 0.00418809 0.00324741 0.42046299] [-0.0042089 0.99997049 0.00642748 -0.08962594] [-0.0032204 -0.00644106 0.99997407 -0.14234833] [ 0. 0. 0. 1. ]] SLAMing on 2.554012739 meters Centerline goodness : 0.079696 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.09, Z:-0.14 [[ 0.99998681 0.00414768 0.00303077 0.42207727] [-0.00416741 0.99996999 0.00653085 -0.09062234] [-0.00300359 -0.00654339 0.99997408 -0.14298118] [ 0. 0. 0. 1. ]] SLAMing on 2.5840127390000003 meters Centerline goodness : 0.080441 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.09, Z:-0.14 [[ 0.9999891 0.0039171 0.00253923 0.42542209] [-0.00393313 0.99997217 0.00633878 -0.08959962] [-0.00251433 -0.0063487 0.99997669 -0.14340213] [ 0. 0. 0. 1. ]] SLAMing on 2.614012739 meters Centerline goodness : 0.078975 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.09, Z:-0.14 [[ 0.99999035 0.00377292 0.00225214 0.42691327] [-0.00378655 0.99997436 0.00607776 -0.08793004] [-0.00222915 -0.00608623 0.99997899 -0.14315037] [ 0. 0. 0. 1. ]] SLAMing on 2.644012739 meters Centerline goodness : 0.078975 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.09, Z:-0.14 [[ 0.99999035 0.00377292 0.00225214 0.42691327] [-0.00378655 0.99997436 0.00607776 -0.08793004] [-0.00222915 -0.00608623 0.99997899 -0.14315037] [ 0. 0. 0. 1. ]] SLAMing on 2.674012739 meters Centerline goodness : 0.080971 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.09, Z:-0.14 [[ 0.99999115 0.00370878 0.00198858 0.4283202 ] [-0.00372064 0.99997511 0.00599497 -0.08734927] [-0.00196629 -0.00600231 0.99998005 -0.14289469] [ 0. 0. 0. 1. ]] SLAMing on 2.704012739 meters Centerline goodness : 0.079981 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.15 [[ 9.99998544e-01 1.42978845e-03 9.31658060e-04 4.37114501e-01] [-1.43227495e-03 9.99995400e-01 2.67372002e-03 -8.43545146e-02] [-9.27830920e-04 -2.67505051e-03 9.99995992e-01 -1.46305584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.734012739 meters Centerline goodness : 0.079627 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.15 [[ 9.99999546e-01 9.49938136e-04 7.42581520e-05 4.46974318e-01] [-9.50116554e-04 9.99996570e-01 2.44073867e-03 -8.43217390e-02] [-7.19393465e-05 -2.44080811e-03 9.99997019e-01 -1.52218258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.764012739 meters Centerline goodness : 0.080000 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.15 [[ 9.99999592e-01 8.91218406e-04 -1.45752038e-04 4.48373029e-01] [-8.90873397e-04 9.99996841e-01 2.35027491e-03 -8.38068816e-02] [ 1.47846186e-04 -2.35014410e-03 9.99997227e-01 -1.52736701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7940127390000002 meters Centerline goodness : 0.079623 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.15 [[ 9.99999577e-01 8.38733884e-04 -3.76786947e-04 4.49801019e-01] [-8.37856567e-04 9.99996952e-01 2.32257091e-03 -8.36990694e-02] [ 3.78733817e-04 -2.32225423e-03 9.99997232e-01 -1.53185177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.824012739 meters Centerline goodness : 0.080207 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.15 [[ 9.99999505e-01 7.46404175e-04 -6.57680301e-04 4.51579563e-01] [-7.44904842e-04 9.99997130e-01 2.27703175e-03 -8.36062380e-02] [ 6.59378000e-04 -2.27654071e-03 9.99997191e-01 -1.53716781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8540127390000003 meters Centerline goodness : 0.079988 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.08, Z:-0.15 [[ 9.99999244e-01 4.85597010e-04 -1.13002748e-03 4.54451516e-01] [-4.83114290e-04 9.99997471e-01 2.19628078e-03 -8.33062194e-02] [ 1.13109113e-03 -2.19573318e-03 9.99996950e-01 -1.53745306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.884012739 meters Centerline goodness : 0.080536 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.15 [[ 9.99998784e-01 3.31009552e-04 -1.52407802e-03 4.56831619e-01] [-3.27343914e-04 9.99997055e-01 2.40477211e-03 -8.54230612e-02] [ 1.52486953e-03 -2.40427029e-03 9.99995947e-01 -1.53554299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.914012739 meters Centerline goodness : 0.080564 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.15 [[ 9.99998265e-01 3.34903748e-04 -1.83265314e-03 4.58470694e-01] [-3.30291711e-04 9.99996780e-01 2.51631411e-03 -8.63869437e-02] [ 1.83348996e-03 -2.51570443e-03 9.99995155e-01 -1.53621967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.944012739 meters Centerline goodness : 0.081258 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.15 [[ 9.99997844e-01 3.06447467e-04 -2.05403908e-03 4.59701064e-01] [-3.01537760e-04 9.99997098e-01 2.39015282e-03 -8.55728482e-02] [ 2.05476557e-03 -2.38952830e-03 9.99995034e-01 -1.53826254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.974012739 meters Centerline goodness : 0.079974 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.08, Z:-0.15 [[ 9.99996648e-01 4.50704122e-04 -2.54948936e-03 4.62722513e-01] [-4.46397324e-04 9.99998473e-01 1.68959580e-03 -7.96530735e-02] [ 2.55024698e-03 -1.68845205e-03 9.99995323e-01 -1.54394892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.004012739 meters Centerline goodness : 0.080650 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.08, Z:-0.15 [[ 9.99995956e-01 3.75878846e-04 -2.81915152e-03 4.64071715e-01] [-3.72573800e-04 9.99999243e-01 1.17278828e-03 -7.59875992e-02] [ 2.81959022e-03 -1.17173320e-03 9.99995338e-01 -1.54411572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.034012739 meters Centerline goodness : 0.080565 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.15 [[ 9.99994148e-01 5.15648855e-04 -3.38203812e-03 4.67295134e-01] [-5.13248593e-04 9.99999616e-01 7.10538287e-04 -7.22252523e-02] [ 3.38240321e-03 -7.08798303e-04 9.99994028e-01 -1.54301932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0640127390000003 meters Centerline goodness : 0.081250 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.15 [[ 9.99993399e-01 4.62306321e-04 -3.60392999e-03 4.68489151e-01] [-4.60634440e-04 9.99999786e-01 4.64721335e-04 -7.05644732e-02] [ 3.60414406e-03 -4.63058173e-04 9.99993398e-01 -1.54493326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.094012739 meters Centerline goodness : 0.080945 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.15 [[ 9.99992629e-01 3.68232994e-04 -3.82180474e-03 4.69644265e-01] [-3.67616429e-04 9.99999919e-01 1.62029254e-04 -6.86065296e-02] [ 3.82186409e-03 -1.60623101e-04 9.99992684e-01 -1.54653457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1240127390000003 meters Centerline goodness : 0.082045 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.07, Z:-0.15 [[ 9.99991242e-01 1.13892339e-04 -4.18366923e-03 4.71629227e-01] [-1.15317535e-04 9.99999935e-01 -3.40417141e-04 -6.53296110e-02] [ 4.18363019e-03 3.40896610e-04 9.99991190e-01 -1.54648968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.154012739 meters Centerline goodness : 0.082817 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.06, Z:-0.15 [[ 9.99990252e-01 1.95755797e-05 -4.41528219e-03 4.72631073e-01] [-2.14636992e-05 9.99999908e-01 -4.27585826e-04 -6.49287494e-02] [ 4.41527341e-03 4.27676426e-04 9.99990161e-01 -1.54440873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.184012739 meters Centerline goodness : 0.083780 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.15 [[ 9.99987761e-01 -2.45985462e-04 -4.94129382e-03 4.75511036e-01] [ 2.44663252e-04 9.99999934e-01 -2.68186368e-04 -6.68950158e-02] [ 4.94135947e-03 2.66974133e-04 9.99987756e-01 -1.54320381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.214012739 meters Centerline goodness : 0.084854 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.15 [[ 9.99986775e-01 -2.38766367e-04 -5.13734041e-03 4.76511523e-01] [ 2.38503158e-04 9.99999970e-01 -5.18471149e-05 -6.84514971e-02] [ 5.13735263e-03 5.06211574e-05 9.99986802e-01 -1.54372415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.244012739 meters Centerline goodness : 0.084270 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.15 [[ 9.99985343e-01 -2.55109499e-04 -5.40824476e-03 4.78074397e-01] [ 2.55139206e-04 9.99999967e-01 4.80315027e-06 -6.88780827e-02] [ 5.40824336e-03 -6.18293515e-06 9.99985375e-01 -1.54814885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2740127390000002 meters Centerline goodness : 0.095991 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.07, Z:-0.16 [[ 9.99983429e-01 -8.91529121e-05 -5.75620428e-03 4.80152924e-01] [ 8.76646963e-05 9.99999963e-01 -2.58792952e-04 -6.64459889e-02] [ 5.75622714e-03 2.58284048e-04 9.99983399e-01 -1.55365058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.304012739 meters Centerline goodness : 0.132707 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.16 [[ 9.99981896e-01 3.81216530e-06 -6.01722220e-03 4.81299629e-01] [-6.71345078e-06 9.99999884e-01 -4.82143468e-04 -6.46364440e-02] [ 6.01721967e-03 4.82175136e-04 9.99981780e-01 -1.55385639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3340127390000003 meters Centerline goodness : 0.133327 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.16 [[ 9.99979215e-01 1.00640421e-03 -6.36837253e-03 4.83317804e-01] [-1.00973765e-03 9.99999355e-01 -5.20242986e-04 -6.17485652e-02] [ 6.36784484e-03 5.26662558e-04 9.99979586e-01 -1.55363376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.364012739 meters Centerline goodness : 0.130292 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.06, Z:-0.16 [[ 9.99977591e-01 1.09002537e-03 -6.60530984e-03 4.84421748e-01] [-1.09597053e-03 9.99998998e-01 -8.96503688e-04 -5.89128927e-02] [ 6.60432601e-03 9.03722823e-04 9.99977783e-01 -1.55436825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.394012739 meters Centerline goodness : 0.126443 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:-0.16 [[ 0.99997518 0.00130165 -0.00692457 0.48616884] [-0.00131167 0.9999981 -0.00144296 -0.05421014] [ 0.00692267 0.001452 0.99997498 -0.1556693 ] [ 0. 0. 0. 1. ]] SLAMing on 3.424012739 meters Centerline goodness : 0.128229 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:-0.16 [[ 0.99997373 0.00124548 -0.00714092 0.48714461] [-0.00125683 0.99999795 -0.00158581 -0.05330633] [ 0.00713893 0.00159474 0.99997325 -0.15575232] [ 0. 0. 0. 1. ]] SLAMing on 3.454012739 meters Centerline goodness : 0.122712 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:-0.16 [[ 0.9999724 0.00118843 -0.00733414 0.48816314] [-0.00120072 0.99999788 -0.00167086 -0.05283815] [ 0.00733214 0.00167962 0.99997171 -0.15599775] [ 0. 0. 0. 1. ]] SLAMing on 3.484012739 meters Centerline goodness : 0.115215 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:-0.16 [[ 0.9999705 0.00105016 -0.00760932 0.48983085] [-0.00106547 0.99999742 -0.00200826 -0.05086007] [ 0.00760719 0.00201631 0.99996903 -0.15637134] [ 0. 0. 0. 1. ]] SLAMing on 3.514012739 meters Centerline goodness : 0.112606 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.05, Z:-0.16 [[ 9.99969093e-01 9.05657218e-04 -7.80981764e-03 4.90581960e-01] [-9.24293572e-04 9.99996734e-01 -2.38299353e-03 -4.86567312e-02] [ 7.80763395e-03 2.39013844e-03 9.99966663e-01 -1.56205955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5440127390000002 meters Centerline goodness : 0.101038 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.04, Z:-0.16 [[ 9.99967064e-01 7.56501127e-04 -8.08073305e-03 4.92001088e-01] [-7.81971058e-04 9.99994735e-01 -3.14923881e-03 -4.36543788e-02] [ 8.07830811e-03 3.15545399e-03 9.99962391e-01 -1.56004487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.574012739 meters Centerline goodness : 0.098761 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.04, Z:-0.16 [[ 9.99965330e-01 6.21118094e-04 -8.30382290e-03 4.92936043e-01] [-6.51120991e-04 9.99993269e-01 -3.61092763e-03 -4.07694991e-02] [ 8.30152420e-03 3.61620923e-03 9.99959003e-01 -1.55946084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.604012739 meters Centerline goodness : 0.099382 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:-0.16 [[ 9.99963751e-01 4.48441902e-04 -8.50263058e-03 4.94033263e-01] [-4.87037538e-04 9.99989586e-01 -4.53773116e-03 -3.47327464e-02] [ 8.50050713e-03 4.54170777e-03 9.99953556e-01 -1.55877004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.634012739 meters Centerline goodness : 0.098081 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:-0.16 [[ 9.99962137e-01 2.54148563e-04 -8.69831551e-03 4.94885713e-01] [-2.97827641e-04 9.99987352e-01 -5.02062908e-03 -3.18777974e-02] [ 8.69692951e-03 5.02302958e-03 9.99949565e-01 -1.55943327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.664012739 meters Centerline goodness : 0.099040 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:-0.16 [[ 9.99959939e-01 1.18561821e-04 -8.95015960e-03 4.96307743e-01] [-1.68255901e-04 9.99984575e-01 -5.55176339e-03 -2.86975727e-02] [ 8.94936331e-03 5.55304690e-03 9.99944535e-01 -1.56331508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.694012739 meters Centerline goodness : 0.100221 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:-0.16 [[ 9.99958645e-01 7.41680042e-05 -9.09408895e-03 4.97017089e-01] [-1.25535929e-04 9.99984042e-01 -5.64805521e-03 -2.81419306e-02] [ 9.09352492e-03 5.64896327e-03 9.99942697e-01 -1.56534702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.724012739 meters Centerline goodness : 0.102451 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.15 [[ 0.99993585 -0.00261583 -0.01102088 0.51612896] [ 0.00263096 0.99999562 0.00135909 -0.03054866] [ 0.01101728 -0.001388 0.99993834 -0.15048674] [ 0. 0. 0. 1. ]] SLAMing on 3.754012739 meters Centerline goodness : 0.104919 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.15 [[ 9.99931362e-01 -2.98633047e-03 -1.13293204e-02 5.17502735e-01] [ 2.99670307e-03 9.99995106e-01 8.98688838e-04 -2.83268549e-02] [ 1.13265812e-02 -9.32577763e-04 9.99935417e-01 -1.50605083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.784012739 meters Centerline goodness : 0.103378 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.16 [[ 9.99991271e-01 -3.42517225e-03 2.39313896e-03 5.22016524e-01] [ 3.42357990e-03 9.99993916e-01 6.69159589e-04 -2.73700756e-02] [-2.39541638e-03 -6.60960645e-04 9.99996913e-01 -1.57328366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8140127390000003 meters Centerline goodness : 0.108177 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.16 [[ 9.99990707e-01 -3.71447146e-03 2.18831406e-03 5.23069729e-01] [ 3.71314693e-03 9.99992921e-01 6.09024988e-04 -2.76953635e-02] [-2.19056078e-03 -6.00893796e-04 9.99997420e-01 -1.56914383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.844012739 meters Centerline goodness : 0.098211 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.03, Z:-0.16 [[ 9.99990531e-01 -3.85232995e-03 2.02434199e-03 5.23849485e-01] [ 3.85172086e-03 9.99992536e-01 3.04693102e-04 -2.62575110e-02] [-2.02550065e-03 -2.96893016e-04 9.99997905e-01 -1.57107013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.874012739 meters Centerline goodness : 0.097947 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.02, Z:-0.16 [[ 9.99990444e-01 -3.96478362e-03 1.84194945e-03 5.24522387e-01] [ 3.96497607e-03 9.99992134e-01 -1.00840851e-04 -2.39716442e-02] [-1.84153515e-03 1.08143173e-04 9.99998299e-01 -1.57114682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.904012739 meters Centerline goodness : 0.106544 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:-0.16 [[ 0.99999342 -0.00152051 0.00329427 0.50893565] [ 0.00154713 0.99996605 -0.00809353 -0.0164171 ] [-0.00328185 0.00809857 0.99996182 -0.16449163] [ 0. 0. 0. 1. ]] SLAMing on 3.934012739 meters Centerline goodness : 0.105700 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:-0.16 [[ 0.99999394 0.00167868 0.00304853 0.51003755] [-0.00166708 0.99999138 -0.00380334 -0.02006727] [-0.00305489 0.00379823 0.99998812 -0.16494562] [ 0. 0. 0. 1. ]] SLAMing on 3.964012739 meters Centerline goodness : 0.107498 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:-0.16 [[ 0.9999944 0.00143472 0.00302406 0.51011173] [-0.00142125 0.99998908 -0.00445101 -0.01643232] [-0.00303042 0.00444669 0.99998552 -0.16408889] [ 0. 0. 0. 1. ]] SLAMing on 3.994012739 meters Centerline goodness : 0.105411 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:-0.16 [[ 9.99998982e-01 1.16101039e-03 -8.29652768e-04 5.59273957e-01] [-1.16492232e-03 9.99988133e-01 -4.73032509e-03 -1.48046488e-02] [ 8.24150967e-04 4.73128675e-03 9.99988468e-01 -1.63630361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.024012739 meters Centerline goodness : 0.106469 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.01, Z:-0.17 [[ 9.99988322e-01 -4.75602821e-03 8.57618132e-04 5.36595071e-01] [ 4.75677618e-03 9.99988306e-01 -8.72226589e-04 -1.48672167e-02] [-8.53459768e-04 8.76295901e-04 9.99999252e-01 -1.65981619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.054012739 meters Centerline goodness : 0.105772 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:-0.17 [[ 9.99987529e-01 -4.94990585e-03 6.63773471e-04 5.37335067e-01] [ 4.95030019e-03 9.99987571e-01 -5.93769632e-04 -1.71534497e-02] [-6.60826117e-04 5.97048105e-04 9.99999603e-01 -1.66154793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.084012739 meters Centerline goodness : 0.106079 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:-0.17 [[ 9.99979515e-01 -5.92532486e-03 -2.42077590e-03 5.84978502e-01] [ 5.92450868e-03 9.99982391e-01 -3.44190170e-04 -1.92555634e-02] [ 2.42277271e-03 3.29841211e-04 9.99997011e-01 -1.65517353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.114012739 meters Centerline goodness : 0.104998 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.02, Z:-0.17 [[ 9.99930978e-01 -1.17490219e-02 9.79693156e-06 6.03932641e-01] [ 1.17488149e-02 9.99917664e-01 5.16049661e-03 -2.37418168e-02] [-7.04269128e-05 -5.16002532e-03 9.99986685e-01 -1.65124940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.144012739 meters Centerline goodness : 0.105263 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:-0.17 [[ 0.99994866 -0.00992614 -0.00203768 0.58634297] [ 0.00991718 0.99994132 -0.00435936 -0.01987085] [ 0.00208083 0.00433893 0.99998842 -0.16656761] [ 0. 0. 0. 1. ]] SLAMing on 4.174012739 meters Centerline goodness : 0.105620 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.02, Z:-0.17 [[ 0.99994858 -0.0099265 -0.00207243 0.5865334 ] [ 0.00991879 0.99994396 -0.0036994 -0.02411792] [ 0.00210904 0.00367866 0.99999101 -0.16672249] [ 0. 0. 0. 1. ]] SLAMing on 4.204012739 meters Centerline goodness : 0.107152 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.17 [[ 0.99994976 -0.0098005 -0.00210577 0.58684813] [ 0.00979393 0.9999472 -0.00310927 -0.02740731] [ 0.00213614 0.00308849 0.99999295 -0.16719853] [ 0. 0. 0. 1. ]] SLAMing on 4.234012739 meters Centerline goodness : 0.106174 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.03, Z:-0.17 [[ 0.99994685 -0.01000778 -0.00247908 0.58825657] [ 0.01000217 0.99994741 -0.00226678 -0.03340781] [ 0.00250164 0.00224186 0.99999436 -0.16782925] [ 0. 0. 0. 1. ]] SLAMing on 4.264012739 meters Centerline goodness : 0.105579 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.04, Z:-0.17 [[ 0.9999483 -0.00982531 -0.00261924 0.58865176] [ 0.00982125 0.99995056 -0.0015586 -0.03732462] [ 0.00263442 0.0015328 0.99999536 -0.16778128] [ 0. 0. 0. 1. ]] SLAMing on 4.294012739 meters Centerline goodness : 0.966388 Centerline is valid? [False, True] Translation: X:0.59, Y:-0.04, Z:-0.17 [[ 9.99950568e-01 -9.56899297e-03 -2.70125551e-03 5.88813648e-01] [ 9.56714930e-03 9.99953993e-01 -6.94621614e-04 -4.20312476e-02] [ 2.70777806e-03 6.68743962e-04 9.99996110e-01 -1.67591627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3240127390000005 meters Centerline goodness : 0.967983 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.05, Z:-0.16 [[ 9.99947338e-01 -9.90261413e-03 -2.69417462e-03 6.19333415e-01] [ 9.90272135e-03 9.99950967e-01 2.64589433e-05 -5.13038186e-02] [ 2.69378050e-03 -5.31372105e-05 9.99996370e-01 -1.59607228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.354012739 meters Centerline goodness : 0.973665 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.05, Z:-0.16 [[ 9.99949913e-01 -9.63916319e-03 -2.69417469e-03 6.48300369e-01] [ 9.63926943e-03 9.99953541e-01 2.64517074e-05 -5.37725516e-02] [ 2.69379455e-03 -5.24202582e-05 9.99996370e-01 -1.61107909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.384012739 meters Centerline goodness : 0.975896 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.06, Z:-0.15 [[ 9.99965905e-01 -7.80574806e-03 -2.69417845e-03 6.78462784e-01] [ 7.80584660e-03 9.99969534e-01 2.60631821e-05 -5.88145596e-02] [ 2.69389293e-03 -4.70926372e-05 9.99996370e-01 -1.54135380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.414012739 meters Centerline goodness : 0.976044 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.06, Z:-0.16 [[ 9.99980271e-01 -5.67439475e-03 -2.69417872e-03 7.07433043e-01] [ 5.67448548e-03 9.99983900e-01 2.60354607e-05 -6.20289815e-02] [ 2.69398761e-03 -4.13230250e-05 9.99996370e-01 -1.58144709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.444012739 meters Centerline goodness : 0.975142 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.06, Z:-0.16 [[ 9.99989078e-01 -3.81905800e-03 -2.69418232e-03 7.36370156e-01] [ 3.81914098e-03 9.99992707e-01 2.56575697e-05 -6.45818621e-02] [ 2.69406468e-03 -3.59467516e-05 9.99996370e-01 -1.58179341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.474012739 meters Centerline goodness : 0.976940 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.07, Z:-0.15 [[ 9.99996369e-01 5.71016616e-05 -2.69418597e-03 7.65517379e-01] [-5.70337930e-05 9.99999998e-01 2.52675596e-05 -6.66635227e-02] [ 2.69418741e-03 -2.51138082e-05 9.99996370e-01 -1.51151741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.504012739 meters Centerline goodness : 0.976473 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.07, Z:-0.15 [[ 9.99989797e-01 3.62602326e-03 -2.69418682e-03 7.92890811e-01] [-3.62596859e-03 9.99993426e-01 2.51768354e-05 -6.96215877e-02] [ 2.69426040e-03 -1.54075417e-05 9.99996370e-01 -1.50974052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5340127390000005 meters Centerline goodness : 0.977547 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.07, Z:-0.15 [[ 9.99980686e-01 5.60088792e-03 -2.69418893e-03 8.21432511e-01] [-5.60084103e-03 9.99984315e-01 2.49492494e-05 -7.15495631e-02] [ 2.69428641e-03 -9.85904365e-06 9.99996370e-01 -1.49257216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.564012739 meters Centerline goodness : 0.977547 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.07, Z:-0.15 [[ 9.99980934e-01 5.55633413e-03 -2.69419274e-03 8.50759570e-01] [-5.55628820e-03 9.99984563e-01 2.45302790e-05 -7.17248245e-02] [ 2.69428745e-03 -9.56009989e-06 9.99996370e-01 -1.49178200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.594012739 meters Centerline goodness : 0.979368 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.07, Z:-0.15 [[ 9.99964443e-01 7.99091110e-03 -2.69419383e-03 8.79437110e-01] [-7.99087433e-03 9.99968072e-01 2.44102427e-05 -7.15649964e-02] [ 2.69430287e-03 -2.88041041e-06 9.99996370e-01 -1.48759851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.624012739 meters Centerline goodness : 0.981204 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.07, Z:-0.15 [[ 9.99900801e-01 1.38249925e-02 -2.69419493e-03 9.07656659e-01] [-1.38249772e-02 9.99904430e-01 2.42883717e-05 -6.75045057e-02] [ 2.69427323e-03 1.29612212e-05 9.99996370e-01 -1.50542797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.654012739 meters Centerline goodness : 0.979796 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.07, Z:-0.15 [[ 9.99862473e-01 1.63638575e-02 -2.69419629e-03 9.36171274e-01] [-1.63638519e-02 9.99866103e-01 2.41370712e-05 -6.64994126e-02] [ 2.69423052e-03 1.99536773e-05 9.99996370e-01 -1.48859762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.684012739 meters Centerline goodness : 0.984284 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.07, Z:-0.15 [[ 9.99831159e-01 1.81767527e-02 -2.69419736e-03 9.64473862e-01] [-1.81767540e-02 9.99834789e-01 2.40163398e-05 -6.62424092e-02] [ 2.69418879e-03 2.49594779e-05 9.99996370e-01 -1.48666863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.714012739 meters Centerline goodness : 0.984313 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.07, Z:-0.15 [[ 9.99826857e-01 1.84118557e-02 -2.69419816e-03 9.93928402e-01] [-1.84118581e-02 9.99830487e-01 2.39261509e-05 -6.54944338e-02] [ 2.69418199e-03 2.56831861e-05 9.99996370e-01 -1.47346233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.744012739 meters Centerline goodness : 0.984290 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.06, Z:-0.15 [[ 9.99829442e-01 1.82709438e-02 -2.69419870e-03 1.02397431e+00] [-1.82709458e-02 9.99833072e-01 2.38660439e-05 -6.41434495e-02] [ 2.69418501e-03 2.53635851e-05 9.99996370e-01 -1.46550109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.774012739 meters Centerline goodness : 0.988961 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.06, Z:-0.15 [[ 9.99825860e-01 1.84659316e-02 -2.69419923e-03 1.05273201e+00] [-1.84659345e-02 9.99829490e-01 2.38060783e-05 -6.28208414e-02] [ 2.69417944e-03 2.59489737e-05 9.99996370e-01 -1.52435003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.804012739 meters Centerline goodness : 0.990108 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.06, Z:-0.15 [[ 9.99814257e-01 1.90838140e-02 -2.69419982e-03 1.08261786e+00] [-1.90838193e-02 9.99817887e-01 2.37388352e-05 -6.27043768e-02] [ 2.69416220e-03 2.76811966e-05 9.99996370e-01 -1.53356997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.834012739 meters Centerline goodness : 0.989726 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.06, Z:-0.15 [[ 9.99793436e-01 2.01451262e-02 -2.69420035e-03 1.11156632e+00] [-2.01451355e-02 9.99797066e-01 2.36788696e-05 -5.93880357e-02] [ 2.69413061e-03 3.06010527e-05 9.99996370e-01 -1.51583129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.864012739 meters Centerline goodness : 0.989209 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.06, Z:-0.15 [[ 9.99767548e-01 2.13913680e-02 -2.69420091e-03 1.14072879e+00] [-2.13913820e-02 9.99771178e-01 2.36144499e-05 -5.78711455e-02] [ 2.69408956e-03 3.40237201e-05 9.99996370e-01 -1.51479862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.894012739 meters Centerline goodness : 0.991053 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.06, Z:-0.16 [[ 9.99721059e-01 2.34636870e-02 -2.69420144e-03 1.16981049e+00] [-2.34637087e-02 9.99724689e-01 2.35533796e-05 -5.62252092e-02] [ 2.69401235e-03 3.96691483e-05 9.99996370e-01 -1.55607859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.924012739 meters Centerline goodness : 0.990345 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.06, Z:-0.15 [[ 9.99706224e-01 2.40875051e-02 -2.69420221e-03 1.19862960e+00] [-2.40875294e-02 9.99709853e-01 2.34656861e-05 -5.55552067e-02] [ 2.69398572e-03 4.14378823e-05 9.99996370e-01 -1.54171228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.954012739 meters Centerline goodness : 0.991025 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.05, Z:-0.15 [[ 9.99700702e-01 2.43155978e-02 -2.69420322e-03 1.22722931e+00] [-2.43156231e-02 9.99704331e-01 2.33483455e-05 -5.41517803e-02] [ 2.69397436e-03 4.21698728e-05 9.99996370e-01 -1.54653298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.984012739 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.05, Z:-0.16 [[ 9.99711328e-01 2.38747103e-02 -2.69420398e-03 1.25701839e+00] [-2.38747343e-02 9.99714958e-01 2.32605514e-05 -5.13168250e-02] [ 2.69399136e-03 4.10695675e-05 9.99996370e-01 -1.58861579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.014012739 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.05, Z:-0.16 [[ 9.99705969e-01 2.40980857e-02 -2.69420448e-03 1.28629006e+00] [-2.40981106e-02 9.99709598e-01 2.32026056e-05 -5.09266783e-02] [ 2.69398122e-03 4.17294543e-05 9.99996370e-01 -1.59683992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.044012739 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.05, Z:-0.16 [[ 9.99674510e-01 2.53695929e-02 -2.69420498e-03 1.31479191e+00] [-2.53696226e-02 9.99678139e-01 2.31446416e-05 -4.74788741e-02] [ 2.69392499e-03 4.52138554e-05 9.99996370e-01 -1.57921224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.074012739 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.04, Z:-0.16 [[ 9.99664009e-01 2.57800549e-02 -2.69420603e-03 1.34486603e+00] [-2.57800864e-02 9.99667638e-01 2.30215596e-05 -4.45261675e-02] [ 2.69390408e-03 4.64430398e-05 9.99996370e-01 -1.59806973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.104012739 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.04, Z:-0.16 [[ 9.99652321e-01 2.62293449e-02 -2.69420656e-03 1.37405515e+00] [-2.62293782e-02 9.99655950e-01 2.29596462e-05 -4.04140997e-02] [ 2.69388183e-03 4.77156993e-05 9.99996370e-01 -1.59916461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.134012739 meters Centerline goodness : 0.996355 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.04, Z:-0.16 [[ 9.99663627e-01 2.57948291e-02 -2.69420734e-03 1.40359235e+00] [-2.57948611e-02 9.99667257e-01 2.28671208e-05 -3.90299735e-02] [ 2.69390072e-03 4.66372754e-05 9.99996370e-01 -1.57512191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.164012739 meters Centerline goodness : 0.997182 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.03, Z:-0.15 [[ 9.99709598e-01 2.39470628e-02 -2.69420786e-03 1.43179361e+00] [-2.39470883e-02 9.99713227e-01 2.28058487e-05 -3.45019781e-02] [ 2.69398137e-03 4.17192078e-05 9.99996370e-01 -1.52922894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.194012739 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.03, Z:-0.15 [[ 9.99747403e-01 2.23130242e-02 -2.69420837e-03 1.46147645e+00] [-2.23130439e-02 9.99751033e-01 2.27463341e-05 -3.23074333e-02] [ 2.69404514e-03 3.73754011e-05 9.99996370e-01 -1.50599270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.224012739 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.03, Z:-0.15 [[ 9.99780327e-01 2.07855665e-02 -2.69420888e-03 1.49000078e+00] [-2.07855808e-02 9.99783956e-01 2.26848689e-05 -3.10123584e-02] [ 2.69409833e-03 3.33208109e-05 9.99996370e-01 -1.51138174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.254012739 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.03, Z:-0.15 [[ 9.99836860e-01 1.78604015e-02 -2.69420965e-03 1.52008903e+00] [-1.78604055e-02 9.99840490e-01 2.25935113e-05 -2.97399515e-02] [ 2.69418342e-03 2.55298513e-05 9.99996370e-01 -1.54796236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.284012739 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.03, Z:-0.16 [[ 9.99858854e-01 1.65835293e-02 -2.69421016e-03 1.54945347e+00] [-1.65835288e-02 9.99862484e-01 2.25322963e-05 -2.95940158e-02] [ 2.69421333e-03 2.21503957e-05 9.99996370e-01 -1.57290141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.314012739 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.03, Z:-0.16 [[ 9.99906492e-01 1.34070568e-02 -2.69417093e-03 1.57829655e+00] [-1.34070320e-02 9.99910121e-01 2.72573943e-05 -2.79169163e-02] [ 2.69429422e-03 8.86599032e-06 9.99996370e-01 -1.57518944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.344012739 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.03, Z:-0.16 [[ 9.99927013e-01 1.17774798e-02 -2.69421157e-03 1.60720438e+00] [-1.17774623e-02 9.99930643e-01 2.23608856e-05 -2.81550453e-02] [ 2.69428806e-03 9.37172157e-06 9.99996370e-01 -1.57408262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.374012739 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.03, Z:-0.16 [[ 9.99949101e-01 9.72302480e-03 -2.69421215e-03 1.63647745e+00] [-9.72300003e-03 9.99952730e-01 2.22909616e-05 -2.86422027e-02] [ 2.69430153e-03 3.90599782e-06 9.99996370e-01 -1.57450008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.404012739 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.03, Z:-0.16 [[ 9.99985601e-01 4.64096561e-03 -2.69421314e-03 1.66537006e+00] [-4.64092272e-03 9.99989231e-01 2.21699980e-05 -2.87837804e-02] [ 2.69428702e-03 -9.66604382e-06 9.99996370e-01 -1.56048323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.434012739 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.03, Z:-0.16 [[ 9.99994132e-01 2.11593192e-03 -2.69421388e-03 1.69407981e+00] [-2.11588011e-03 9.99997761e-01 2.20800150e-05 -2.95969170e-02] [ 2.69425457e-03 -1.63792519e-05 9.99996370e-01 -1.56403145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.464012739 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.03, Z:-0.16 [[ 9.99993030e-01 -2.58475464e-03 -2.69421489e-03 1.72377846e+00] [ 2.58482317e-03 9.99996659e-01 2.19554186e-05 -3.31606816e-02] [ 2.69414914e-03 -2.89193347e-05 9.99996370e-01 -1.56888928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.494012739 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.04, Z:-0.16 [[ 9.99986686e-01 -4.40106359e-03 -2.69421541e-03 1.75278808e+00] [ 4.40113854e-03 9.99990315e-01 2.18916536e-05 -3.56592211e-02] [ 2.69409297e-03 -3.37489774e-05 9.99996370e-01 -1.56733572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.524012739 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.04, Z:-0.16 [[ 9.99971275e-01 -7.08450719e-03 -2.69421644e-03 1.78189086e+00] [ 7.08459154e-03 9.99974904e-01 2.17644649e-05 -3.97564973e-02] [ 2.69399464e-03 -4.08512628e-05 9.99996370e-01 -1.56157396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.554012739 meters Centerline goodness : 0.996146 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.04, Z:-0.15 [[ 9.99964611e-01 -7.96982088e-03 -2.69421720e-03 1.81066649e+00] [ 7.96990818e-03 9.99968240e-01 2.16697601e-05 -4.17151687e-02] [ 2.69395893e-03 -4.31416570e-05 9.99996370e-01 -1.45326097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.584012739 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.04, Z:-0.16 [[ 9.99965950e-01 -7.79999093e-03 -2.69422085e-03 1.83896569e+00] [ 7.80007637e-03 9.99969579e-01 2.12059831e-05 -4.27453234e-02] [ 2.69397348e-03 -4.22203894e-05 9.99996370e-01 -1.55901698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.614012739 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.04, Z:-0.16 [[ 9.99966784e-01 -7.69229613e-03 -2.69422162e-03 1.86773811e+00] [ 7.69238092e-03 9.99970413e-01 2.11076348e-05 -4.46227120e-02] [ 2.69397954e-03 -4.18319127e-05 9.99996370e-01 -1.55787336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.644012739 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.05, Z:-0.16 [[ 9.99973661e-01 -6.73924829e-03 -2.69422502e-03 1.89672697e+00] [ 6.73932842e-03 9.99977290e-01 2.06648604e-05 -4.84992925e-02] [ 2.69402457e-03 -3.88215834e-05 9.99996370e-01 -1.57235542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.674012739 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.05, Z:-0.16 [[ 9.99968203e-01 -7.50559761e-03 -2.69422842e-03 1.92557958e+00] [ 7.50567930e-03 9.99971832e-01 2.02108904e-05 -5.25875069e-02] [ 2.69400084e-03 -4.04322622e-05 9.99996370e-01 -1.57191533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.704012739 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.05, Z:-0.16 [[ 9.99959709e-01 -8.56281943e-03 -2.69423180e-03 1.95453232e+00] [ 8.56290372e-03 9.99963337e-01 1.97509995e-05 -5.47793123e-02] [ 2.69396389e-03 -4.28206512e-05 9.99996370e-01 -1.56972072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.734012739 meters Centerline goodness : 0.994791 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.06, Z:-0.14 [[ 9.99951284e-01 -9.49578179e-03 -2.69423512e-03 1.98282730e+00] [ 9.49586821e-03 9.99954913e-01 1.92860545e-05 -5.78732468e-02] [ 2.69393051e-03 -4.48692167e-05 9.99996370e-01 -1.42244984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.764012739 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.06, Z:-0.15 [[ 9.99936141e-01 -1.09752307e-02 -2.69423841e-03 2.01100398e+00] [ 1.09753212e-02 9.99939769e-01 1.88157947e-05 -6.15662534e-02] [ 2.69386962e-03 -4.83847250e-05 9.99996370e-01 -1.54506235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.794012739 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.06, Z:-0.15 [[ 9.99931751e-01 -1.13681193e-02 -2.69423931e-03 2.03997738e+00] [ 1.13682109e-02 9.99935380e-01 1.86854807e-05 -6.39766574e-02] [ 2.69385279e-03 -4.93128862e-05 9.99996370e-01 -1.53811251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.824012739 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.07, Z:-0.15 [[ 9.99928485e-01 -1.16518722e-02 -2.69424242e-03 2.06798618e+00] [ 1.16519636e-02 9.99932113e-01 1.82267990e-05 -6.76063027e-02] [ 2.69384714e-03 -4.96187100e-05 9.99996370e-01 -1.53319618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.854012739 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.07, Z:-0.15 [[ 9.99937498e-01 -1.08508680e-02 -2.69424351e-03 2.09723409e+00] [ 1.08509561e-02 9.99941126e-01 1.80639400e-05 -6.88983646e-02] [ 2.69388888e-03 -4.72979289e-05 9.99996370e-01 -1.54601451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.884012739 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:2.12, Y:-0.07, Z:-0.14 [[ 9.99952227e-01 -9.39602627e-03 -2.69424646e-03 2.12462112e+00] [ 9.39610783e-03 9.99955855e-01 1.76121130e-05 -7.12626473e-02] [ 2.69396204e-03 -4.29267019e-05 9.99996370e-01 -1.43375191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.914012739 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.07, Z:-0.16 [[ 9.99976237e-01 -6.34555985e-03 -2.69424750e-03 2.15239127e+00] [ 6.34562990e-03 9.99979866e-01 1.74515244e-05 -7.47758787e-02] [ 2.69408252e-03 -3.45478072e-05 9.99996370e-01 -1.60954340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.944012739 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.08, Z:-0.16 [[ 9.99984258e-01 -4.92176854e-03 -2.69424848e-03 2.18101970e+00] [ 4.92183302e-03 9.99987888e-01 1.72995691e-05 -7.59356305e-02] [ 2.69413070e-03 -3.05599379e-05 9.99996370e-01 -1.57347017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.974012739 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.08, Z:-0.16 [[ 9.99995684e-01 -1.17208779e-03 -2.69425129e-03 2.20990934e+00] [ 1.17213744e-03 9.99999313e-01 1.68489102e-05 -7.60139671e-02] [ 2.69422970e-03 -2.00068703e-05 9.99996370e-01 -1.55235407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.004012739 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.08, Z:-0.16 [[ 9.99995738e-01 1.12483555e-03 -2.69425409e-03 2.23753289e+00] [-1.12479548e-03 9.99999367e-01 1.63890156e-05 -7.64546254e-02] [ 2.69427082e-03 -1.33584609e-05 9.99996370e-01 -1.56342762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.034012739 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.08, Z:-0.16 [[ 9.99980192e-01 5.68836126e-03 -2.69425681e-03 2.26642941e+00] [-5.68833899e-03 9.99983821e-01 1.59296902e-05 -7.66919321e-02] [ 2.69430383e-03 -6.03528583e-07 9.99996370e-01 -1.61098623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.064012739 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.08, Z:-0.16 [[ 9.99960668e-01 8.45007764e-03 -2.69425938e-03 2.29546008e+00] [-8.45006659e-03 9.99964297e-01 1.54827691e-05 -7.56767882e-02] [ 2.69429401e-03 7.28451099e-06 9.99996370e-01 -1.60326434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.094012739 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.07, Z:-0.15 [[ 9.99935796e-01 1.10065801e-02 -2.69426013e-03 2.32471841e+00] [-1.10065787e-02 9.99939426e-01 1.53505812e-05 -7.46619742e-02] [ 2.69426588e-03 1.43049905e-05 9.99996370e-01 -1.51136775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.124012739 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.07, Z:-0.15 [[ 9.99862486e-01 1.63630976e-02 -2.69426087e-03 2.35380541e+00] [-1.63631160e-02 9.99866115e-01 1.52190386e-05 -7.30555907e-02] [ 2.69414918e-03 2.88695574e-05 9.99996370e-01 -1.54915209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.154012739 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.07, Z:-0.15 [[ 9.99828432e-01 1.83261458e-02 -2.69426161e-03 2.38278885e+00] [-1.83261717e-02 9.99832061e-01 1.50877030e-05 -7.20652105e-02] [ 2.69408564e-03 3.42903864e-05 9.99996370e-01 -1.53307189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.184012739 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.07, Z:-0.15 [[ 9.99774021e-01 2.10866736e-02 -2.69426235e-03 2.41098026e+00] [-2.10867099e-02 9.99777651e-01 1.49535028e-05 -6.79981236e-02] [ 2.69397860e-03 4.18630049e-05 9.99996370e-01 -1.53805424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.214012739 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.07, Z:-0.15 [[ 9.99769116e-01 2.13179459e-02 -2.69426221e-03 2.44004042e+00] [-2.13179829e-02 9.99772746e-01 1.49799554e-05 -6.64024583e-02] [ 2.69396927e-03 4.24597390e-05 9.99996370e-01 -1.54794973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.244012739 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.07, Z:-0.16 [[ 9.99782316e-01 2.06896312e-02 -2.69426294e-03 2.46895786e+00] [-2.06896663e-02 9.99785946e-01 1.48457852e-05 -6.55468278e-02] [ 2.69399338e-03 4.09008477e-05 9.99996370e-01 -1.55373126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.274012739 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.06, Z:-0.15 [[ 9.99827832e-01 1.83588745e-02 -2.69426334e-03 2.49806035e+00] [-1.83589014e-02 9.99831461e-01 1.47737316e-05 -6.36346387e-02] [ 2.69408048e-03 3.46925268e-05 9.99996370e-01 -1.54906618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.304012739 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.06, Z:-0.15 [[ 9.99854863e-01 1.68224036e-02 -2.69426388e-03 2.52725238e+00] [-1.68224251e-02 9.99858493e-01 1.46752620e-05 -6.16725490e-02] [ 2.69412949e-03 3.06509201e-05 9.99996370e-01 -1.54311849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.334012739 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.06, Z:-0.15 [[ 9.99909943e-01 1.31471600e-02 -2.69426422e-03 2.55688191e+00] [-1.31471683e-02 9.99913572e-01 1.46121977e-05 -5.85865005e-02] [ 2.69422347e-03 2.08110635e-05 9.99996370e-01 -1.54351351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.364012739 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.06, Z:-0.15 [[ 9.99932062e-01 1.13407029e-02 -2.69426458e-03 2.58568023e+00] [-1.13407049e-02 9.99935692e-01 1.45448583e-05 -5.83113463e-02] [ 2.69425627e-03 1.60109893e-05 9.99996370e-01 -1.52781129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.394012739 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.06, Z:-0.15 [[ 9.99952487e-01 9.36832303e-03 -2.69426500e-03 2.61422810e+00] [-9.36831805e-03 9.99956116e-01 1.44679170e-05 -5.83709288e-02] [ 2.69428230e-03 1.07735018e-05 9.99996370e-01 -1.50329034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.424012739 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.06, Z:-0.14 [[ 9.99977560e-01 6.13346867e-03 -2.69426550e-03 2.64336636e+00] [-6.13345220e-03 9.99981190e-01 1.43739932e-05 -5.88198274e-02] [ 2.69430298e-03 2.15147800e-06 9.99996370e-01 -1.43790136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.454012739 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.06, Z:-0.15 [[ 9.99989218e-01 3.78208236e-03 -2.69426582e-03 2.67275230e+00] [-3.78205752e-03 9.99992848e-01 1.43129320e-05 -6.02774351e-02] [ 2.69430068e-03 -4.12290939e-06 9.99996370e-01 -1.47655980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.484012739 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.06, Z:-0.15 [[ 9.99989463e-01 3.71685150e-03 -2.69426697e-03 2.70107895e+00] [-3.71682701e-03 9.99993092e-01 1.40956246e-05 -6.03349329e-02] [ 2.69430075e-03 -4.08135184e-06 9.99996370e-01 -1.47579656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.514012739 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.06, Z:-0.15 [[ 9.99994180e-01 2.09326257e-03 -2.69426789e-03 2.72975096e+00] [-2.09323266e-03 9.99997809e-01 1.39189705e-05 -6.19743319e-02] [ 2.69429113e-03 -8.27915991e-06 9.99996370e-01 -1.51154604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.544012739 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.06, Z:-0.15 [[ 9.99996098e-01 7.38035130e-04 -2.69426776e-03 2.75879089e+00] [-7.38000237e-04 9.99999728e-01 1.39449742e-05 -6.33988657e-02] [ 2.69427732e-03 -1.19565495e-05 9.99996370e-01 -1.53501603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.574012739 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.06, Z:-0.15 [[ 9.99996018e-01 -8.39394941e-04 -2.69426842e-03 2.78731449e+00] [ 8.39435212e-04 9.99999648e-01 1.38159300e-05 -6.42327786e-02] [ 2.69425588e-03 -1.60775387e-05 9.99996370e-01 -1.54742770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.604012739 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.07, Z:-0.15 [[ 9.99994154e-01 -2.10564169e-03 -2.69426908e-03 2.81529975e+00] [ 2.10568621e-03 9.99997783e-01 1.36866038e-05 -6.65876260e-02] [ 2.69423429e-03 -1.93598090e-05 9.99996370e-01 -1.53463289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.634012739 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.07, Z:-0.15 [[ 9.99994009e-01 -2.17337053e-03 -2.69426989e-03 2.84415480e+00] [ 2.17341486e-03 9.99997638e-01 1.35255848e-05 -6.91501496e-02] [ 2.69423413e-03 -1.93812699e-05 9.99996370e-01 -1.51973106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.664012739 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.07, Z:-0.15 [[ 9.99995045e-01 -1.62787262e-03 -2.69427211e-03 2.87314990e+00] [ 1.62791374e-03 9.99998675e-01 1.30683133e-05 -6.96344581e-02] [ 2.69424726e-03 -1.74542912e-05 9.99996370e-01 -1.51587747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.694012739 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.07, Z:-0.15 [[ 9.99996158e-01 -6.51787580e-04 -2.69427428e-03 2.90122022e+00] [ 6.51823903e-04 9.99999787e-01 1.26034342e-05 -7.02093232e-02] [ 2.69426549e-03 -1.43595781e-05 9.99996370e-01 -1.52012442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.724012739 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.07, Z:-0.15 [[ 9.99994321e-01 2.02463580e-03 -2.69427504e-03 2.92951889e+00] [-2.02460963e-03 9.99997950e-01 1.24382852e-05 -7.18075647e-02] [ 2.69429470e-03 -6.98335933e-06 9.99996370e-01 -1.51888965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.754012739 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.07, Z:-0.15 [[ 9.99989533e-01 3.69783005e-03 -2.69427577e-03 2.95840056e+00] [-3.69781039e-03 9.99993163e-01 1.22794416e-05 -7.17471257e-02] [ 2.69430275e-03 -2.31639211e-06 9.99996370e-01 -1.52634648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.784012739 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.07, Z:-0.15 [[ 9.99970099e-01 7.24863597e-03 -2.69427765e-03 2.98685696e+00] [-7.24863035e-03 9.99973728e-01 1.18503835e-05 -7.05169202e-02] [ 2.69429277e-03 7.67979359e-06 9.99996370e-01 -1.54916404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.814012739 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.07, Z:-0.16 [[ 9.99961847e-01 8.30936671e-03 -2.69427946e-03 3.01589079e+00] [-8.30936609e-03 9.99965477e-01 1.14240416e-05 -7.03217126e-02] [ 2.69428137e-03 1.09641487e-05 9.99996370e-01 -1.55395378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.844012739 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.07, Z:-0.16 [[ 9.99952994e-01 9.31395918e-03 -2.69428001e-03 3.04384746e+00] [-9.31396256e-03 9.99956624e-01 1.12932299e-05 -7.04979331e-02] [ 2.69426833e-03 1.38017241e-05 9.99996370e-01 -1.56506796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.874012739 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.07, Z:-0.16 [[ 9.99934021e-01 1.11666948e-02 -2.69428068e-03 3.07225210e+00] [-1.11667053e-02 9.99937650e-01 1.11303686e-05 -7.07867062e-02] [ 2.69423698e-03 1.89566042e-05 9.99996370e-01 -1.58138741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.904012739 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.07, Z:-0.16 [[ 9.99916095e-01 1.26705875e-02 -2.69428121e-03 3.09963134e+00] [-1.26706039e-02 9.99919725e-01 1.10008498e-05 -7.06780553e-02] [ 2.69420431e-03 2.31382431e-05 9.99996370e-01 -1.58343196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.934012739 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.07, Z:-0.16 [[ 9.99870406e-01 1.58717188e-02 -2.69428186e-03 3.12837947e+00] [-1.58717472e-02 9.99874036e-01 1.08394334e-05 -6.89821448e-02] [ 2.69411452e-03 3.19249319e-05 9.99996370e-01 -1.57317411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.964012739 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.07, Z:-0.16 [[ 9.99841492e-01 1.75992183e-02 -2.69428237e-03 3.15735847e+00] [-1.75992534e-02 9.99845121e-01 1.07123646e-05 -6.77123120e-02] [ 2.69405361e-03 3.67066914e-05 9.99996370e-01 -1.56149853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9940127389999995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.07, Z:-0.15 [[ 9.99810911e-01 1.92583272e-02 -2.69428274e-03 3.18655201e+00] [-1.92583685e-02 9.99814540e-01 1.06175726e-05 -6.57349081e-02] [ 2.69398754e-03 4.12719248e-05 9.99996370e-01 -1.53313380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.024012739 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.06, Z:-0.15 [[ 9.99723745e-01 2.33489569e-02 -2.69428299e-03 3.21550326e+00] [-2.33490132e-02 9.99727375e-01 1.05545078e-05 -6.19219538e-02] [ 2.69379489e-03 5.23572570e-05 9.99996370e-01 -1.49890980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.054012739 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.06, Z:-0.15 [[ 9.99660241e-01 2.59257465e-02 -2.69428347e-03 3.24388816e+00] [-2.59258125e-02 9.99663870e-01 1.04286857e-05 -5.92784582e-02] [ 2.69364821e-03 5.94263457e-05 9.99996370e-01 -1.49872080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.084012739 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.05, Z:-0.15 [[ 9.99544563e-01 3.00567461e-02 -2.69428383e-03 3.27217669e+00] [-3.00568273e-02 9.99548191e-01 1.03353922e-05 -5.24310024e-02] [ 2.69337718e-03 7.06509388e-05 9.99996370e-01 -1.49907303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.114012739 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.05, Z:-0.15 [[ 9.99506058e-01 3.13110465e-02 -2.69428441e-03 3.30112010e+00] [-3.13111327e-02 9.99509686e-01 1.01810822e-05 -4.90813029e-02] [ 2.69328215e-03 7.41850436e-05 9.99996370e-01 -1.49167238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.144012739 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.04, Z:-0.15 [[ 9.99524608e-01 3.07131579e-02 -2.69428490e-03 3.32968651e+00] [-3.07132423e-02 9.99528237e-01 1.00516820e-05 -4.27672158e-02] [ 2.69332255e-03 7.27033213e-05 9.99996370e-01 -1.49725149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.174012739 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.04, Z:-0.15 [[ 9.99571512e-01 2.91467590e-02 -2.69428525e-03 3.35846553e+00] [-2.91468380e-02 9.99575141e-01 9.95480025e-06 -4.03349213e-02] [ 2.69343071e-03 6.85793610e-05 9.99996370e-01 -1.49292088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2040127389999995 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.04, Z:-0.15 [[ 9.99634364e-01 2.69050051e-02 -2.69428561e-03 3.38633513e+00] [-2.69050762e-02 9.99637993e-01 9.85856902e-06 -3.78398256e-02] [ 2.69357550e-03 6.26349952e-05 9.99996370e-01 -1.48068648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.234012739 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.03, Z:-0.15 [[ 9.99760378e-01 2.17238794e-02 -2.69428604e-03 3.41453605e+00] [-2.17239321e-02 9.99764007e-01 9.73752282e-06 -3.35092290e-02] [ 2.69386175e-03 4.87952975e-05 9.99996370e-01 -1.49274083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.264012739 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.03, Z:-0.15 [[ 9.99807508e-01 1.94341768e-02 -2.69428628e-03 3.44390555e+00] [-1.94342213e-02 9.99811138e-01 9.67113107e-06 -3.17805624e-02] [ 2.69396538e-03 4.26920864e-05 9.99996370e-01 -1.49174360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.294012739 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:3.47, Y:-0.03, Z:-0.15 [[ 9.99859301e-01 1.65565405e-02 -2.69428650e-03 3.47295348e+00] [-1.65565747e-02 9.99862930e-01 9.60928280e-06 -2.86654623e-02] [ 2.69407630e-03 3.50002250e-05 9.99996370e-01 -1.49724301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.324012739 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.03, Z:-0.15 [[ 9.99883445e-01 1.50279037e-02 -2.69428672e-03 3.50137606e+00] [-1.50279325e-02 9.99887074e-01 9.54694454e-06 -2.68188032e-02] [ 2.69412594e-03 3.09437272e-05 9.99996370e-01 -1.48461223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.354012739 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.02, Z:-0.15 [[ 9.99922956e-01 1.21170870e-02 -2.69428716e-03 3.52986803e+00] [-1.21171056e-02 9.99926585e-01 9.42133810e-06 -2.48522536e-02] [ 2.69420352e-03 2.32263500e-05 9.99996370e-01 -1.47547780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.384012739 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.03, Z:-0.15 [[ 9.99939781e-01 1.06383476e-02 -2.69428761e-03 3.55890023e+00] [-1.06383612e-02 9.99943411e-01 9.29232938e-06 -2.58145868e-02] [ 2.69423400e-03 1.93710350e-05 9.99996370e-01 -1.48005476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.414012739 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.03, Z:-0.15 [[ 9.99964942e-01 7.92811570e-03 -2.69428794e-03 3.58768569e+00] [-7.92811970e-03 9.99968572e-01 9.19621249e-06 -2.82063998e-02] [ 2.69427617e-03 1.21647472e-05 9.99996370e-01 -1.50175989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.444012739 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.03, Z:-0.15 [[ 9.99974236e-01 6.65340697e-03 -2.69428837e-03 3.61551550e+00] [-6.65340668e-03 9.99977866e-01 9.06771011e-06 -2.86101294e-02] [ 2.69428906e-03 8.85871975e-06 9.99996370e-01 -1.51110392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.474012739 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.03, Z:-0.15 [[ 9.99981667e-01 5.42275668e-03 -2.69428890e-03 3.64441838e+00] [-5.42275236e-03 9.99985297e-01 8.90804713e-06 -2.89295599e-02] [ 2.69429759e-03 5.70257766e-06 9.99996370e-01 -1.54122569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.504012739 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.03, Z:-0.16 [[ 9.99985225e-01 4.72138558e-03 -2.69428971e-03 3.67204213e+00] [-4.72137939e-03 9.99988854e-01 8.65829692e-06 -2.86613606e-02] [ 2.69430056e-03 4.06259492e-06 9.99996370e-01 -1.55453541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.534012739 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.03, Z:-0.15 [[ 9.99985019e-01 4.76468891e-03 -2.69428923e-03 3.70035494e+00] [-4.76468248e-03 9.99988649e-01 8.80775739e-06 -2.79778701e-02] [ 2.69430061e-03 4.02980725e-06 9.99996370e-01 -1.54072683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.564012739 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.03, Z:-0.15 [[ 9.99983501e-01 5.07334056e-03 -2.69428994e-03 3.72953023e+00] [-5.07333585e-03 9.99987131e-01 8.58144832e-06 -2.56128611e-02] [ 2.69429881e-03 5.08773102e-06 9.99996370e-01 -1.49501194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.594012739 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.02, Z:-0.15 [[ 9.99984923e-01 4.78482938e-03 -2.69429054e-03 3.75693897e+00] [-4.78482414e-03 9.99988553e-01 8.39083313e-06 -2.41383496e-02] [ 2.69429984e-03 4.50099978e-06 9.99996370e-01 -1.50790867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.624012739 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.02, Z:-0.15 [[ 9.99990191e-01 3.51542822e-03 -2.69429104e-03 3.78596350e+00] [-3.51541882e-03 9.99993821e-01 8.22701669e-06 -2.06980304e-02] [ 2.69430331e-03 1.24462543e-06 9.99996370e-01 -1.52661974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.654012739 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.02, Z:-0.16 [[ 9.99994084e-01 2.13847069e-03 -2.69429142e-03 3.81506215e+00] [-2.13845663e-03 9.99997713e-01 8.09909681e-06 -1.84874944e-02] [ 2.69430258e-03 -2.33742353e-06 9.99996370e-01 -1.55463982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.684012739 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.01, Z:-0.15 [[ 9.99995380e-01 -1.40761288e-03 -2.69429396e-03 3.84487157e+00] [ 1.40763753e-03 9.99999009e-01 7.25001370e-06 -1.46837453e-02] [ 2.69428108e-03 -1.10425695e-05 9.99996370e-01 -1.52926183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.714012739 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.01, Z:-0.15 [[ 9.99988709e-01 -3.91429624e-03 -2.69428861e-03 3.87342503e+00] [ 3.91433474e-03 9.99992339e-01 9.01420564e-06 -1.20194998e-02] [ 2.69423269e-03 -1.95604514e-05 9.99996370e-01 -1.48545075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7440127389999995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.01, Z:-0.15 [[ 9.99972064e-01 -6.97228394e-03 -2.69429124e-03 3.90185701e+00] [ 6.97233119e-03 9.99975693e-01 8.14689325e-06 -1.01821442e-02] [ 2.69416894e-03 -2.69321565e-05 9.99996370e-01 -1.48188085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.774012739 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.01, Z:-0.15 [[ 9.99907864e-01 -1.33043049e-02 -2.69429160e-03 3.93066769e+00] [ 1.33043748e-02 9.99911493e-01 8.02348434e-06 -8.27788753e-03] [ 2.69394639e-03 -4.38686104e-05 9.99996370e-01 -1.50084968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.804012739 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.01, Z:-0.15 [[ 9.99809047e-01 -1.93548616e-02 -2.69429198e-03 3.96082367e+00] [ 1.93549532e-02 9.99812675e-01 7.89607081e-06 -7.88207047e-03] [ 2.69363444e-03 -6.00424580e-05 9.99996370e-01 -1.50517562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.834012739 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.01, Z:-0.14 [[ 9.99762037e-01 -2.16474158e-02 -2.69429216e-03 3.98995622e+00] [ 2.16475155e-02 9.99765665e-01 7.83312250e-06 -8.32781913e-03] [ 2.69349123e-03 -6.61559897e-05 9.99996370e-01 -1.41517118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.864012739 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.01, Z:-0.15 [[ 9.99705944e-01 -2.40991077e-02 -2.69429225e-03 4.01912236e+00] [ 2.40992162e-02 9.99709572e-01 7.80188880e-06 -8.53511222e-03] [ 2.69332173e-03 -7.27299259e-05 9.99996370e-01 -1.48151952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.894012739 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.01, Z:-0.15 [[ 9.99595679e-01 -2.83058014e-02 -2.69429234e-03 4.04841652e+00] [ 2.83059251e-02 9.99599307e-01 7.77090210e-06 -1.17895373e-02] [ 2.69299279e-03 -8.40321972e-05 9.99996370e-01 -1.48046956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.924012739 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.01, Z:-0.15 [[ 9.99560955e-01 -2.95065768e-02 -2.69429252e-03 4.07845868e+00] [ 2.95067047e-02 9.99564582e-01 7.70911186e-06 -1.37358396e-02] [ 2.69289190e-03 -8.72054208e-05 9.99996370e-01 -1.48736105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9540127389999995 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.02, Z:-0.15 [[ 9.99562951e-01 -2.94388912e-02 -2.69429269e-03 4.10843330e+00] [ 2.94390186e-02 9.99566578e-01 7.64688551e-06 -1.66377296e-02] [ 2.69289981e-03 -8.69608761e-05 9.99996370e-01 -1.45187622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.984012739 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.02, Z:-0.15 [[ 9.99594565e-01 -2.83451312e-02 -2.69429278e-03 4.13846219e+00] [ 2.83452546e-02 9.99598193e-01 7.61593111e-06 -1.82308791e-02] [ 2.69299432e-03 -8.39832580e-05 9.99996370e-01 -1.48220709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.014012739 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.02, Z:-0.15 [[ 9.99674741e-01 -2.53604519e-02 -2.69429295e-03 4.16692148e+00] [ 2.53605642e-02 9.99678369e-01 7.55377652e-06 -2.28490744e-02] [ 2.69323482e-03 -7.58801091e-05 9.99996370e-01 -1.46744527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.044012739 meters Centerline goodness : 0.997043 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.03, Z:-0.13 [[ 9.99717610e-01 -2.36101984e-02 -2.69429413e-03 4.19692571e+00] [ 2.36103033e-02 9.99721238e-01 7.10959761e-06 -2.50261718e-02] [ 2.69337520e-03 -7.07206913e-05 9.99996370e-01 -1.29173954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.074012739 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.03, Z:-0.15 [[ 9.99764108e-01 -2.15515282e-02 -2.69429429e-03 4.22572091e+00] [ 2.15516254e-02 9.99767737e-01 7.04613953e-06 -2.58869404e-02] [ 2.69351665e-03 -6.51108986e-05 9.99996370e-01 -1.45705756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.104012739 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.03, Z:-0.14 [[ 9.99866916e-01 -1.60900946e-02 -2.69429454e-03 4.25415239e+00] [ 1.60901718e-02 9.99870545e-01 6.95142574e-06 -2.83779321e-02] [ 2.69383390e-03 -5.03021625e-05 9.99996370e-01 -1.43929361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.134012739 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.03, Z:-0.13 [[ 9.99915983e-01 -1.26793918e-02 -2.69429553e-03 4.28264036e+00] [ 1.26794554e-02 9.99919612e-01 6.54133912e-06 -3.01709184e-02] [ 2.69399600e-03 -4.07029896e-05 9.99996370e-01 -1.26521740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.164012739 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.03, Z:-0.15 [[ 9.99973171e-01 -6.81165393e-03 -2.69429576e-03 4.31218118e+00] [ 6.81169602e-03 9.99976800e-01 6.44676847e-06 -3.07735302e-02] [ 2.69418934e-03 -2.47993192e-05 9.99996370e-01 -1.45263885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.194012739 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.03, Z:-0.15 [[ 9.99988916e-01 -3.86105597e-03 -2.69429591e-03 4.34057331e+00] [ 3.86108718e-03 9.99992546e-01 6.38411691e-06 -3.12517927e-02] [ 2.69425117e-03 -1.67869575e-05 9.99996370e-01 -1.45033133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.224012738999999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.03, Z:-0.15 [[ 9.99995467e-01 -1.34409023e-03 -2.69429613e-03 4.36979809e+00] [ 1.34411206e-03 9.99999097e-01 6.29016625e-06 -3.15862342e-02] [ 2.69428524e-03 -9.91157365e-06 9.99996370e-01 -1.48284400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.254012739 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.03, Z:-0.15 [[ 9.99990021e-01 3.56347751e-03 -2.69429844e-03 4.39818196e+00] [-3.56347631e-03 9.99993651e-01 5.24319070e-06 -3.17434799e-02] [ 2.69430002e-03 4.35793028e-06 9.99996370e-01 -1.46169368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.284012739 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.03, Z:-0.15 [[ 9.99981419e-01 5.46822868e-03 -2.69429733e-03 4.42696899e+00] [-5.46823300e-03 9.99985049e-01 5.76289644e-06 -3.12224920e-02] [ 2.69428856e-03 8.97025618e-06 9.99996370e-01 -1.46051885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.314012739 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.03, Z:-0.15 [[ 9.99947092e-01 9.92742234e-03 -2.69429819e-03 4.45481568e+00] [-9.92744403e-03 9.99950722e-01 5.32501986e-06 -2.94990251e-02] [ 2.69421828e-03 2.14227564e-05 9.99996370e-01 -1.48481503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.344012739 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.03, Z:-0.15 [[ 9.99947532e-01 9.88299231e-03 -2.69429898e-03 4.48414211e+00] [-9.88301501e-03 9.99951162e-01 4.89016455e-06 -2.94592697e-02] [ 2.69421573e-03 2.17378893e-05 9.99996370e-01 -1.48402468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.374012739 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.03, Z:-0.15 [[ 9.99918362e-01 1.24903680e-02 -2.69429919e-03 4.51301494e+00] [-1.24904005e-02 9.99921992e-01 4.77045317e-06 -2.85554734e-02] [ 2.69414860e-03 2.88828122e-05 9.99996370e-01 -1.46089691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.404012739 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.03, Z:-0.14 [[ 9.99881010e-01 1.51890349e-02 -2.69429941e-03 4.54164122e+00] [-1.51890775e-02 9.99884639e-01 4.64664410e-06 -2.73890554e-02] [ 2.69405917e-03 3.62778312e-05 9.99996370e-01 -1.43276716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.434012739 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.02, Z:-0.14 [[ 9.99778592e-01 2.08688445e-02 -2.69429962e-03 4.57093877e+00] [-2.08689081e-02 9.99782221e-01 4.52148288e-06 -2.40314236e-02] [ 2.69380721e-03 5.17066092e-05 9.99996370e-01 -1.40159520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.464012739 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.02, Z:-0.14 [[ 9.99655309e-01 2.61152171e-02 -2.69429982e-03 4.60026418e+00] [-2.61153001e-02 9.99658937e-01 4.39644077e-06 -1.78025771e-02] [ 2.69349571e-03 6.59675230e-05 9.99996370e-01 -1.40422949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.494012739 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.01, Z:-0.14 [[ 9.99588223e-01 2.85679042e-02 -2.69430002e-03 4.62903766e+00] [-2.85679964e-02 9.99591851e-01 4.26951239e-06 -1.48687762e-02] [ 2.69332232e-03 7.27029990e-05 9.99996370e-01 -1.41378332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.524012739 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.01, Z:-0.14 [[ 9.99519628e-01 3.08747999e-02 -2.69430022e-03 4.65668973e+00] [-3.08749008e-02 9.99523257e-01 4.14205442e-06 -1.16778687e-02] [ 2.69314361e-03 7.90461872e-05 9.99996370e-01 -1.41991855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.554012739 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.01, Z:-0.14 [[ 9.99453820e-01 3.29363282e-02 -2.69430045e-03 4.68582770e+00] [-3.29364370e-02 9.99457448e-01 3.98315458e-06 -6.22091272e-03] [ 2.69296985e-03 8.47596781e-05 9.99996370e-01 -1.41878296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.584012739 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.00, Z:-0.14 [[ 9.99463838e-01 3.26309259e-02 -2.69430063e-03 4.71373603e+00] [-3.26310339e-02 9.99467466e-01 3.85935346e-06 -4.01769377e-03] [ 2.69299176e-03 8.40605310e-05 9.99996370e-01 -1.42651395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.614012739 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:4.74, Y:0.00, Z:-0.14 [[ 9.99529572e-01 3.05512002e-02 -2.69430084e-03 4.74288635e+00] [-3.05513011e-02 9.99533200e-01 3.70549796e-06 8.41137141e-04] [ 2.69315635e-03 7.86106414e-05 9.99996370e-01 -1.42971203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.644012739 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:4.77, Y:0.00, Z:-0.14 [[ 9.99575345e-01 2.90150128e-02 -2.69430100e-03 4.77173106e+00] [-2.90151084e-02 9.99578973e-01 3.58629231e-06 3.30920655e-03] [ 2.69327068e-03 7.45906663e-05 9.99996370e-01 -1.42293003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.674012739 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:4.80, Y:0.01, Z:-0.14 [[ 9.99616766e-01 2.75510731e-02 -2.69430116e-03 4.79941698e+00] [-2.75511638e-02 9.99620395e-01 3.46098550e-06 5.55244624e-03] [ 2.69337374e-03 7.07714734e-05 9.99996370e-01 -1.42389736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.704012739 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:4.83, Y:0.01, Z:-0.14 [[ 9.99715664e-01 2.36924501e-02 -2.69430135e-03 4.82781234e+00] [-2.36925272e-02 9.99719293e-01 3.30508957e-06 9.65488291e-03] [ 2.69362335e-03 6.05306582e-05 9.99996370e-01 -1.41731344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.734012739 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:4.86, Y:0.01, Z:-0.14 [[ 9.99766706e-01 2.14306669e-02 -2.69430149e-03 4.85668478e+00] [-2.14307361e-02 9.99770335e-01 3.18777481e-06 1.09723809e-02] [ 2.69375102e-03 5.45538332e-05 9.99996370e-01 -1.41834813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.764012739 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:4.88, Y:0.01, Z:-0.15 [[ 9.99857100e-01 1.66889268e-02 -2.69430163e-03 4.88473474e+00] [-1.66889791e-02 9.99860729e-01 3.06164912e-06 1.24258482e-02] [ 2.69397749e-03 4.19039321e-05 9.99996370e-01 -1.46158546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.794012739 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:4.91, Y:0.01, Z:-0.15 [[ 9.99894409e-01 1.42797344e-02 -2.69430180e-03 4.91378741e+00] [-1.42797784e-02 9.99898039e-01 2.90472894e-06 1.27706886e-02] [ 2.69406857e-03 3.55696104e-05 9.99996370e-01 -1.47286830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.824012739 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:4.94, Y:0.01, Z:-0.14 [[ 9.99925313e-01 1.19209918e-02 -2.69430193e-03 4.94261291e+00] [-1.19210276e-02 9.99928942e-01 2.78067640e-06 1.28031642e-02] [ 2.69414363e-03 2.93383789e-05 9.99996370e-01 -1.37049499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.854012739 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:4.97, Y:0.01, Z:-0.15 [[ 9.99964709e-01 7.95750247e-03 -2.69430206e-03 4.97101467e+00] [-7.95752420e-03 9.99968338e-01 2.65500017e-06 1.33273470e-02] [ 2.69423788e-03 1.87850673e-05 9.99996370e-01 -1.45005776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.884012739 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:5.00, Y:0.01, Z:-0.14 [[ 9.99978404e-01 5.99427443e-03 -2.69430214e-03 4.99990217e+00] [-5.99428929e-03 9.99982034e-01 2.56129279e-06 1.22595916e-02] [ 2.69426909e-03 1.35891890e-05 9.99996370e-01 -1.42314363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.914012739 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:5.03, Y:0.01, Z:-0.14 [[ 9.99994336e-01 2.01696969e-03 -2.69430226e-03 5.02901066e+00] [-2.01697045e-03 9.99997966e-01 2.43306805e-06 8.38485159e-03] [ 2.69430169e-03 3.00127378e-06 9.99996370e-01 -1.41453636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.944012739 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:5.06, Y:0.01, Z:-0.14 [[ 9.99996345e-01 -2.24702940e-04 -2.69430234e-03 5.05701470e+00] [ 2.24710054e-04 9.99999975e-01 2.33773018e-06 6.31143243e-03] [ 2.69430175e-03 -2.94315846e-06 9.99996370e-01 -1.42251112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.974012738999999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:5.09, Y:0.00, Z:-0.14 [[ 9.99990666e-01 -3.37768538e-03 -2.69430247e-03 5.08559805e+00] [ 3.37770352e-03 9.99994296e-01 2.18029279e-06 1.04256909e-03] [ 2.69427974e-03 -1.12808274e-05 9.99996370e-01 -1.41690692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.004012739 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.00, Z:-0.14 [[ 9.99985275e-01 -4.71063478e-03 -2.69430257e-03 5.11419154e+00] [ 4.71065741e-03 9.99988905e-01 2.05271944e-06 -1.31306731e-03] [ 2.69426300e-03 -1.47446256e-05 9.99996370e-01 -1.41410060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.034012739 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.00, Z:-0.14 [[ 9.99984569e-01 -4.85822371e-03 -2.69430283e-03 5.14262932e+00] [ 4.85824567e-03 9.99988199e-01 1.60498058e-06 -3.64426384e-03] [ 2.69426324e-03 -1.46945409e-05 9.99996370e-01 -1.43928075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.064012739 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.01, Z:-0.15 [[ 9.99989213e-01 -3.78353803e-03 -2.69430236e-03 5.17152616e+00] [ 3.78355863e-03 9.99992842e-01 2.54874897e-06 -5.87476118e-03] [ 2.69427343e-03 -1.27427724e-05 9.99996370e-01 -1.47471961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.094012739 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.01, Z:-0.15 [[ 9.99992085e-01 -2.92746386e-03 -2.69430265e-03 5.19983117e+00] [ 2.92747956e-03 9.99995715e-01 1.88468394e-06 -6.95617324e-03] [ 2.69428559e-03 -9.77218498e-06 9.99996370e-01 -1.48401380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.124012739 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.01, Z:-0.14 [[ 9.99995618e-01 1.22684928e-03 -2.69430295e-03 5.22851330e+00] [-1.22685137e-03 9.99999247e-01 8.76093770e-07 -9.22151879e-03] [ 2.69430200e-03 2.42941933e-06 9.99996370e-01 -1.42910404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.154012739 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.01, Z:-0.14 [[ 9.99989121e-01 3.80772376e-03 -2.69430299e-03 5.25633256e+00] [-3.80773567e-03 9.99992751e-01 7.10859796e-07 -8.87576845e-03] [ 2.69428617e-03 9.54834154e-06 9.99996370e-01 -1.41091329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.184012739 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.01, Z:-0.14 [[ 9.99976586e-01 6.29028160e-03 -2.69430303e-03 5.28521055e+00] [-6.29030293e-03 9.99980216e-01 5.54772975e-07 -7.29492634e-03] [ 2.69425321e-03 1.63932222e-05 9.99996370e-01 -1.40965402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.214012739 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.01, Z:-0.14 [[ 9.99939028e-01 1.07089492e-02 -2.69430304e-03 5.31290294e+00] [-1.07089878e-02 9.99942657e-01 1.10658833e-07 -5.04675276e-03] [ 2.69414973e-03 2.87426064e-05 9.99996370e-01 -1.43354212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.244012739 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.00, Z:-0.14 [[ 9.99921940e-01 1.22006163e-02 -2.69430304e-03 5.34163888e+00] [-1.22006607e-02 9.99925569e-01 -4.67682194e-08 -4.57025831e-03] [ 2.69410193e-03 3.29190418e-05 9.99996370e-01 -1.40879129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.274012739 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.00, Z:-0.14 [[ 9.99924907e-01 1.19550002e-02 -2.69430303e-03 5.37032600e+00] [-1.19550441e-02 9.99928536e-01 -1.75073625e-07 -3.70125243e-03] [ 2.69410839e-03 3.23855721e-05 9.99996370e-01 -1.38438379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.304012739 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.00, Z:-0.14 [[ 9.99928966e-01 1.16105377e-02 -2.69430302e-03 5.39894822e+00] [-1.16105806e-02 9.99932595e-01 -3.03847539e-07 -2.38598012e-03] [ 2.69411788e-03 3.15862484e-05 9.99996370e-01 -1.36880668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.334012739 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.00, Z:-0.14 [[ 9.99927769e-01 1.17131372e-02 -2.69430300e-03 5.42749304e+00] [-1.17131808e-02 9.99931398e-01 -4.00227650e-07 -1.55935770e-03] [ 2.69411348e-03 3.19590569e-05 9.99996370e-01 -1.36853697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.364012739 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.00, Z:-0.14 [[ 9.99925068e-01 1.19414960e-02 -2.69430298e-03 5.45624991e+00] [-1.19415408e-02 9.99928697e-01 -5.24870225e-07 -8.07282541e-04] [ 2.69410460e-03 3.26989598e-05 9.99996370e-01 -1.38811089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.394012738999999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:5.48, Y:0.00, Z:-0.14 [[ 9.99924572e-01 1.19829388e-02 -2.69430295e-03 5.48455578e+00] [-1.19829841e-02 9.99928201e-01 -6.49149454e-07 9.23909944e-04] [ 2.69410172e-03 3.29348898e-05 9.99996370e-01 -1.43385009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.424012739 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:5.51, Y:0.00, Z:-0.14 [[ 9.99928975e-01 1.16097230e-02 -2.69430292e-03 5.51323912e+00] [-1.16097673e-02 9.99932604e-01 -7.72842124e-07 1.12649507e-03] [ 2.69411236e-03 3.20530170e-05 9.99996370e-01 -1.44061079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.454012739 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:5.54, Y:0.00, Z:-0.14 [[ 9.99935655e-01 1.10193565e-02 -2.69430287e-03 5.54236555e+00] [-1.10193990e-02 9.99939285e-01 -8.95887433e-07 2.66591601e-04] [ 2.69412942e-03 3.05854281e-05 9.99996370e-01 -1.42103735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.484012739 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.00, Z:-0.14 [[ 9.99953878e-01 9.21857658e-03 -2.69430283e-03 5.57127893e+00] [-9.21861279e-03 9.99957508e-01 -1.02273706e-06 -6.69305742e-04] [ 2.69417891e-03 2.58604244e-05 9.99996370e-01 -1.37905601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.514012739 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.00, Z:-0.14 [[ 9.99953346e-01 9.27616471e-03 -2.69430279e-03 5.60025402e+00] [-9.27620139e-03 9.99956975e-01 -1.11764731e-06 -4.39706768e-04] [ 2.69417650e-03 2.61104904e-05 9.99996370e-01 -1.36756718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.544012739 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:5.63, Y:0.00, Z:-0.14 [[ 9.99941251e-01 1.04993455e-02 -2.69430273e-03 5.62824490e+00] [-1.04993870e-02 9.99944880e-01 -1.24583611e-06 5.58843721e-06] [ 2.69414114e-03 2.95342899e-05 9.99996370e-01 -1.38973169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.574012739 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:5.66, Y:0.00, Z:-0.14 [[ 9.99930234e-01 1.15008003e-02 -2.69430264e-03 5.65634848e+00] [-1.15008459e-02 9.99933863e-01 -1.40564460e-06 3.80699853e-04] [ 2.69410829e-03 3.23923059e-05 9.99996370e-01 -1.40389029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.604012739 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:5.69, Y:0.00, Z:-0.14 [[ 9.99919798e-01 1.23748689e-02 -2.69430255e-03 5.68533706e+00] [-1.23749180e-02 9.99923428e-01 -1.56210413e-06 1.02057713e-03] [ 2.69407691e-03 3.49037521e-05 9.99996370e-01 -1.39885461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.634012739 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:5.71, Y:0.00, Z:-0.14 [[ 9.99924725e-01 1.19702091e-02 -2.69430247e-03 5.71410362e+00] [-1.19702571e-02 9.99928354e-01 -1.69155055e-06 1.73613439e-03] [ 2.69408919e-03 3.39429166e-05 9.99996370e-01 -1.38043239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.664012739 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:5.74, Y:0.00, Z:-0.12 [[ 9.99937522e-01 1.08485897e-02 -2.69430238e-03 5.74312593e+00] [-1.08486339e-02 9.99941152e-01 -1.82056866e-06 8.71097280e-04] [ 2.69412408e-03 3.10499552e-05 9.99996370e-01 -1.23194819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.694012739 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.00, Z:-0.14 [[ 9.99966177e-01 7.77081043e-03 -2.69430232e-03 5.77180901e+00] [-7.77084380e-03 9.99969807e-01 -1.91700948e-06 -1.51593276e-03] [ 2.69420607e-03 2.28539471e-05 9.99996370e-01 -1.38163271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.724012738999999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.00, Z:-0.14 [[ 9.99981892e-01 5.38102294e-03 -2.69430222e-03 5.80084867e+00] [-5.38104798e-03 9.99985522e-01 -2.04458281e-06 -2.13422448e-03] [ 2.69425221e-03 1.65427153e-05 9.99996370e-01 -1.39125154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.754012739 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.00, Z:-0.14 [[ 9.99996312e-01 3.40890847e-04 -2.69430212e-03 5.83047887e+00] [-3.40897934e-04 9.99999942e-01 -2.17123978e-06 -4.49302755e-03] [ 2.69430122e-03 3.08971380e-06 9.99996370e-01 -1.37514451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.784012739 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.01, Z:-0.14 [[ 9.99994359e-01 -2.00550753e-03 -2.69430206e-03 5.85937568e+00] [ 2.00550879e-03 9.99997989e-01 -2.23460582e-06 -7.15358084e-03] [ 2.69430113e-03 -3.16885326e-06 9.99996370e-01 -1.35596814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.814012739 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.01, Z:-0.14 [[ 9.99978871e-01 -5.91600134e-03 -2.69430195e-03 5.88858380e+00] [ 5.91601644e-03 9.99982500e-01 -2.36346100e-06 -1.38811734e-02] [ 2.69426878e-03 -1.35761236e-05 9.99996370e-01 -1.35020945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.844012739 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.02, Z:-0.14 [[ 9.99970565e-01 -7.18399920e-03 -2.69430183e-03 5.91757054e+00] [ 7.18401857e-03 9.99974195e-01 -2.49165834e-06 -1.61865593e-02] [ 2.69425021e-03 -1.68643294e-05 9.99996370e-01 -1.36513537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.874012739 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.02, Z:-0.14 [[ 9.99971677e-01 -7.02749651e-03 -2.69430134e-03 5.94600751e+00] [ 7.02751409e-03 9.99975307e-01 -2.94446065e-06 -1.88383731e-02] [ 2.69425550e-03 -1.59898634e-05 9.99996370e-01 -1.37936962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.904012739 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.03, Z:-0.14 [[ 9.99981180e-01 -5.51188953e-03 -2.69430120e-03 5.97511176e+00] [ 5.51190128e-03 9.99984809e-01 -3.06221957e-06 -2.57327274e-02] [ 2.69427715e-03 -1.17885603e-05 9.99996370e-01 -1.36765279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.934012739 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.03, Z:-0.13 [[ 9.99989988e-01 -3.57282272e-03 -2.69430062e-03 6.00366856e+00] [ 3.57282622e-03 9.99993617e-01 -3.51405558e-06 -2.90159398e-02] [ 2.69429597e-03 -6.11224748e-06 9.99996370e-01 -1.34345026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.964012739 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.03, Z:-0.13 [[ 9.99995521e-01 1.30373167e-03 -2.69430049e-03 6.03283854e+00] [-1.30374613e-03 9.99999150e-01 -3.61048984e-06 -3.14002492e-02] [ 2.69429349e-03 7.12315750e-06 9.99996370e-01 -1.32464319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.994012739 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:6.06, Y:-0.03, Z:-0.13 [[ 9.99987264e-01 4.26756872e-03 -2.69429981e-03 6.06091819e+00] [-4.26759515e-03 9.99990894e-01 -4.05917691e-06 -3.19980965e-02] [ 2.69425795e-03 1.55573060e-05 9.99996370e-01 -1.34242467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.024012739 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.03, Z:-0.14 [[ 9.99947786e-01 9.85730741e-03 -2.69429956e-03 6.08830263e+00] [-9.85735456e-03 9.99951415e-01 -4.21874064e-06 -3.42301070e-02] [ 2.69412707e-03 3.07771864e-05 9.99996370e-01 -1.38270510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.054012739 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.03, Z:-0.14 [[ 9.99923400e-01 1.20803863e-02 -2.69429931e-03 6.11681569e+00] [-1.20804420e-02 9.99927029e-01 -4.37404483e-06 -3.47706554e-02] [ 2.69404986e-03 3.69220362e-05 9.99996370e-01 -1.36753130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.084012739 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.03, Z:-0.14 [[ 9.99909715e-01 1.31644596e-02 -2.69429910e-03 6.14578888e+00] [-1.31645195e-02 9.99913344e-01 -4.50002299e-06 -3.41422760e-02] [ 2.69400638e-03 3.99687696e-05 9.99996370e-01 -1.35399515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.114012739 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.03, Z:-0.13 [[ 9.99924129e-01 1.20198374e-02 -2.69429888e-03 6.17415443e+00] [-1.20198935e-02 9.99927758e-01 -4.62529533e-06 -3.23962144e-02] [ 2.69404865e-03 3.70101301e-05 9.99996370e-01 -1.34408823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.144012738999999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.03, Z:-0.13 [[ 9.99944831e-01 1.01526219e-02 -2.69429872e-03 6.20321237e+00] [-1.01526714e-02 9.99948460e-01 -4.71913703e-06 -3.29414860e-02] [ 2.69411194e-03 3.20732063e-05 9.99996370e-01 -1.33563473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.174012739 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.03, Z:-0.13 [[ 9.99978446e-01 5.98740939e-03 -2.69429849e-03 6.23183985e+00] [-5.98744418e-03 9.99982075e-01 -4.84496808e-06 -3.32635581e-02] [ 2.69422119e-03 2.09768255e-05 9.99996370e-01 -1.34325389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.204012739 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.03, Z:-0.13 [[ 9.99986966e-01 4.33696097e-03 -2.69429832e-03 6.26027229e+00] [-4.33699002e-03 9.99990595e-01 -4.93878407e-06 -3.22230501e-02] [ 2.69425156e-03 1.66238646e-05 9.99996370e-01 -1.33358307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.234012739 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.03, Z:-0.13 [[ 9.99993341e-01 2.46147214e-03 -2.69429809e-03 6.28874466e+00] [-2.46149472e-03 9.99996971e-01 -5.06357072e-06 -3.15149715e-02] [ 2.69427746e-03 1.16955375e-05 9.99996370e-01 -1.34192953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.264012739 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.03, Z:-0.13 [[ 9.99993460e-01 2.41254367e-03 -2.69429783e-03 6.31807126e+00] [-2.41256642e-03 9.99997090e-01 -5.19515307e-06 -3.13715747e-02] [ 2.69427746e-03 1.16952916e-05 9.99996370e-01 -1.34113933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.294012739 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.03, Z:-0.13 [[ 9.99993701e-01 2.31055486e-03 -2.69429757e-03 6.34592816e+00] [-2.31057760e-03 9.99997331e-01 -5.32698133e-06 -3.22822666e-02] [ 2.69427807e-03 1.15523314e-05 9.99996370e-01 -1.34258349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.324012739 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.03, Z:-0.14 [[ 9.99992049e-01 2.94000485e-03 -2.69429724e-03 6.37401992e+00] [-2.94003031e-03 9.99995678e-01 -5.49085639e-06 -3.33786189e-02] [ 2.69426945e-03 1.34121283e-05 9.99996370e-01 -1.35645258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.354012739 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.03, Z:-0.14 [[ 9.99984083e-01 4.95734729e-03 -2.69429690e-03 6.40266855e+00] [-4.95738051e-03 9.99987712e-01 -5.65208062e-06 -3.36520951e-02] [ 2.69423577e-03 1.90086456e-05 9.99996370e-01 -1.35307307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.384012739 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.03, Z:-0.14 [[ 9.99976419e-01 6.31687811e-03 -2.69429587e-03 6.43011112e+00] [-6.31691748e-03 9.99980048e-01 -6.10557593e-06 -3.34848166e-02] [ 2.69420355e-03 2.31250766e-05 9.99996370e-01 -1.35246447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.414012739 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.03, Z:-0.14 [[ 9.99963461e-01 8.11279403e-03 -2.69429550e-03 6.45802001e+00] [-8.11284037e-03 9.99967090e-01 -6.26719778e-06 -3.49559501e-02] [ 2.69415598e-03 2.81253580e-05 9.99996370e-01 -1.37122215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.444012739 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.04, Z:-0.14 [[ 9.99960009e-01 8.52772338e-03 -2.69429512e-03 6.48682034e+00] [-8.52777164e-03 9.99963638e-01 -6.42365687e-06 -3.63561190e-02] [ 2.69414237e-03 2.93997335e-05 9.99996370e-01 -1.36682504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.474012738999999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.04, Z:-0.13 [[ 9.99956327e-01 8.94896218e-03 -2.69429482e-03 6.51549574e+00] [-8.94901230e-03 9.99959957e-01 -6.54822298e-06 -3.82492772e-02] [ 2.69412833e-03 3.06592145e-05 9.99996370e-01 -1.34588334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.504012739 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.04, Z:-0.13 [[ 9.99956827e-01 8.89299649e-03 -2.69429451e-03 6.54438445e+00] [-8.89304674e-03 9.99960456e-01 -6.67334969e-06 -3.83753270e-02] [ 2.69412862e-03 3.06335486e-05 9.99996370e-01 -1.34033431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.534012739 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.04, Z:-0.13 [[ 9.99958066e-01 8.75254474e-03 -2.69429420e-03 6.57311953e+00] [-8.75259482e-03 9.99961695e-01 -6.79784789e-06 -3.84514496e-02] [ 2.69413149e-03 3.03796282e-05 9.99996370e-01 -1.32805442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.564012738999999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.04, Z:-0.13 [[ 9.99956995e-01 8.87408821e-03 -2.69429387e-03 6.60236201e+00] [-8.87413907e-03 9.99960624e-01 -6.92263434e-06 -3.91668601e-02] [ 2.69412635e-03 3.08318752e-05 9.99996370e-01 -1.32931129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.594012739 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.04, Z:-0.13 [[ 9.99954197e-01 9.18390324e-03 -2.69429354e-03 6.63058845e+00] [-9.18395556e-03 9.99957827e-01 -7.04948353e-06 -3.81626682e-02] [ 2.69411517e-03 3.17934328e-05 9.99996370e-01 -1.33937848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.624012739 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.03, Z:-0.13 [[ 9.99941622e-01 1.04638961e-02 -2.69429312e-03 6.65891400e+00] [-1.04639535e-02 9.99945251e-01 -7.20743053e-06 -3.48331244e-02] [ 2.69407019e-03 3.53999677e-05 9.99996370e-01 -1.31668098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.654012739 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.03, Z:-0.13 [[ 9.99937431e-01 1.08570515e-02 -2.69429278e-03 6.68648320e+00] [-1.08571106e-02 9.99941060e-01 -7.33277953e-06 -3.39733328e-02] [ 2.69405436e-03 3.65845555e-05 9.99996370e-01 -1.30413975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.684012739 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.03, Z:-0.13 [[ 9.99940201e-01 1.05988047e-02 -2.69429235e-03 6.71576504e+00] [-1.05988634e-02 9.99943830e-01 -7.48877028e-06 -3.33381326e-02] [ 2.69406164e-03 3.60447589e-05 9.99996370e-01 -1.28522232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.714012739 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.03, Z:-0.13 [[ 9.99953387e-01 9.27168418e-03 -2.69429217e-03 6.74469275e+00] [-9.27173818e-03 9.99957016e-01 -7.55074013e-06 -3.09857890e-02] [ 2.69410635e-03 3.25311598e-05 9.99996370e-01 -1.28309120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.744012739 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.03, Z:-0.13 [[ 9.99960526e-01 8.46680114e-03 -2.69429191e-03 6.77344670e+00] [-8.46685246e-03 9.99964156e-01 -7.64329343e-06 -2.92422496e-02] [ 2.69413062e-03 3.04551638e-05 9.99996370e-01 -1.30573637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.774012739 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.03, Z:-0.13 [[ 9.99963178e-01 8.14757027e-03 -2.69429165e-03 6.80177308e+00] [-8.14762068e-03 9.99966808e-01 -7.73441769e-06 -2.93503748e-02] [ 2.69413920e-03 2.96861992e-05 9.99996370e-01 -1.30481544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.804012739 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.03, Z:-0.13 [[ 9.99969060e-01 7.39057165e-03 -2.69429121e-03 6.83038822e+00] [-7.39061972e-03 9.99972689e-01 -7.88572349e-06 -2.90109089e-02] [ 2.69415934e-03 2.77979612e-05 9.99996370e-01 -1.31136850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.834012739 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.03, Z:-0.13 [[ 9.99971997e-01 6.98185648e-03 -2.69429085e-03 6.85851749e+00] [-6.98190339e-03 9.99975626e-01 -8.00673020e-06 -2.86715553e-02] [ 2.69416927e-03 2.68177844e-05 9.99996370e-01 -1.32059820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.864012739 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.03, Z:-0.13 [[ 9.99970063e-01 7.25356973e-03 -2.69429039e-03 6.88785640e+00] [-7.25361803e-03 9.99973692e-01 -8.15670926e-06 -2.70239803e-02] [ 2.69416035e-03 2.76998184e-05 9.99996370e-01 -1.33954172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.894012738999999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.03, Z:-0.13 [[ 9.99966201e-01 7.76776251e-03 -2.69429012e-03 6.91620404e+00] [-7.76781292e-03 9.99969830e-01 -8.24686202e-06 -2.68921812e-02] [ 2.69414477e-03 2.91753249e-05 9.99996370e-01 -1.33461768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.924012739 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.03, Z:-0.13 [[ 9.99966880e-01 7.67980221e-03 -2.69428972e-03 6.94424255e+00] [-7.67985265e-03 9.99970509e-01 -8.37431949e-06 -2.73431348e-02] [ 2.69414595e-03 2.90657902e-05 9.99996370e-01 -1.33845861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.954012739 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.03, Z:-0.14 [[ 9.99967034e-01 7.65975921e-03 -2.69428916e-03 6.97162714e+00] [-7.65981005e-03 9.99970663e-01 -8.55103046e-06 -2.80182400e-02] [ 2.69414462e-03 2.91884918e-05 9.99996370e-01 -1.36541238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.984012739 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.03, Z:-0.14 [[ 9.99959657e-01 8.56884614e-03 -2.69428865e-03 7.00015758e+00] [-8.56890070e-03 9.99963286e-01 -8.70781036e-06 -2.86174801e-02] [ 2.69411512e-03 3.17945510e-05 9.99996370e-01 -1.37091337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.014012739 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.03, Z:-0.13 [[ 9.99957381e-01 8.83044427e-03 -2.69428822e-03 7.02802299e+00] [-8.83050014e-03 9.99961010e-01 -8.83975237e-06 -2.79995495e-02] [ 2.69410511e-03 3.26312881e-05 9.99996370e-01 -1.31462830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.044012739 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.03, Z:-0.14 [[ 9.99950039e-01 9.62598595e-03 -2.69428767e-03 7.05721268e+00] [-9.62604514e-03 9.99953669e-01 -9.00352164e-06 -2.64476515e-02] [ 2.69407617e-03 3.49384066e-05 9.99996370e-01 -1.36601576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.074012739 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.03, Z:-0.14 [[ 9.99941960e-01 1.04315691e-02 -2.69428724e-03 7.08646219e+00] [-1.04316316e-02 9.99945589e-01 -9.13163781e-06 -2.57582240e-02] [ 2.69404538e-03 3.72369197e-05 9.99996370e-01 -1.35411524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.104012739 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.03, Z:-0.13 [[ 9.99937713e-01 1.08309827e-02 -2.69428680e-03 7.11507583e+00] [-1.08310469e-02 9.99941342e-01 -9.26032973e-06 -2.58158765e-02] [ 2.69402846e-03 3.84416996e-05 9.99996370e-01 -1.34253489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.134012739 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:7.14, Y:-0.03, Z:-0.13 [[ 9.99944305e-01 1.02043041e-02 -2.69428635e-03 7.14359629e+00] [-1.02043665e-02 9.99947934e-01 -9.38945648e-06 -2.62643132e-02] [ 2.69405025e-03 3.68824188e-05 9.99996370e-01 -1.31433222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.164012739 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.03, Z:-0.13 [[ 9.99949942e-01 9.63605969e-03 -2.69428601e-03 7.17279771e+00] [-9.63612022e-03 9.99953571e-01 -9.48589671e-06 -2.60992413e-02] [ 2.69406951e-03 3.54478857e-05 9.99996370e-01 -1.29558370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.194012739 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.03, Z:-0.13 [[ 9.99960626e-01 8.45495692e-03 -2.69428578e-03 7.20235057e+00] [-8.45501334e-03 9.99964256e-01 -9.55016841e-06 -2.64436804e-02] [ 2.69410873e-03 3.23300146e-05 9.99996370e-01 -1.27260109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.224012738999999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.03, Z:-0.13 [[ 9.99963019e-01 8.16713469e-03 -2.69428555e-03 7.23032599e+00] [-8.16719024e-03 9.99966648e-01 -9.61397496e-06 -2.66498122e-02] [ 2.69411717e-03 3.16183621e-05 9.99996370e-01 -1.28424754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.254012739 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.03, Z:-0.13 [[ 9.99960895e-01 8.42309013e-03 -2.69428498e-03 7.25965203e+00] [-8.42314703e-03 9.99964525e-01 -9.77234707e-06 -2.73301856e-02] [ 2.69410708e-03 3.24663234e-05 9.99996370e-01 -1.28103809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.284012739 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.03, Z:-0.13 [[ 9.99957029e-01 8.87022064e-03 -2.69428463e-03 7.28881701e+00] [-8.87027942e-03 9.99960658e-01 -9.86667959e-06 -2.81384013e-02] [ 2.69409111e-03 3.37653131e-05 9.99996370e-01 -1.27815810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.314012738999999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.03, Z:-0.13 [[ 9.99952504e-01 9.36642195e-03 -2.69428417e-03 7.31808794e+00] [-9.36648286e-03 9.99956133e-01 -9.99198561e-06 -2.90221357e-02] [ 2.69407239e-03 3.52274775e-05 9.99996370e-01 -1.27765299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.344012739 meters Centerline goodness : 0.996141 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.03, Z:-0.12 [[ 9.99948163e-01 9.81894728e-03 -2.69428369e-03 7.34675670e+00] [-9.81901018e-03 9.99951792e-01 -1.01174801e-05 -3.06440668e-02] [ 2.69405447e-03 3.65721547e-05 9.99996370e-01 -1.16533873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.374012739 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.03, Z:-0.13 [[ 9.99948650e-01 9.76923233e-03 -2.69428320e-03 7.37449398e+00] [-9.76929540e-03 9.99952279e-01 -1.02474853e-05 -3.20351523e-02] [ 2.69405452e-03 3.65682076e-05 9.99996370e-01 -1.29753935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.404012739 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.04, Z:-0.13 [[ 9.99955116e-01 9.08332435e-03 -2.69428252e-03 7.40290043e+00] [-9.08338539e-03 9.99958745e-01 -1.04221984e-05 -3.53471775e-02] [ 2.69407670e-03 3.48949371e-05 9.99996370e-01 -1.27241852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.434012739 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.04, Z:-0.13 [[ 9.99960357e-01 8.48680698e-03 -2.69428201e-03 7.43117346e+00] [-8.48686622e-03 9.99963986e-01 -1.05534882e-05 -3.64619722e-02] [ 2.69409541e-03 3.34190808e-05 9.99996370e-01 -1.25644637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.464012739 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.04, Z:-0.12 [[ 9.99966175e-01 7.77107435e-03 -2.69428136e-03 7.46025226e+00] [-7.77113143e-03 9.99969804e-01 -1.07163495e-05 -3.70119448e-02] [ 2.69411673e-03 3.16536016e-05 9.99996370e-01 -1.22814333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.494012739 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.04, Z:-0.12 [[ 9.99976169e-01 6.35620257e-03 -2.69428086e-03 7.48886882e+00] [-6.35625485e-03 9.99979799e-01 -1.08418357e-05 -3.85565389e-02] [ 2.69415752e-03 2.79671131e-05 9.99996370e-01 -1.22177499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.524012739 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.04, Z:-0.11 [[ 9.99985443e-01 4.67497711e-03 -2.69428034e-03 7.51630190e+00] [-4.67502363e-03 9.99989072e-01 -1.09691776e-05 -3.98357638e-02] [ 2.69419961e-03 2.35648422e-05 9.99996370e-01 -1.09840357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.554012739 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.04, Z:-0.13 [[ 9.99989478e-01 3.71277207e-03 -2.69427969e-03 7.54563081e+00] [-3.71281553e-03 9.99993107e-01 -1.11273635e-05 -4.11115023e-02] [ 2.69421980e-03 2.11306099e-05 9.99996370e-01 -1.25680179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.584012739 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.04, Z:-0.13 [[ 9.99992363e-01 2.83106352e-03 -2.69427916e-03 7.57477524e+00] [-2.83110412e-03 9.99995992e-01 -1.12540980e-05 -4.25277337e-02] [ 2.69423650e-03 1.88817969e-05 9.99996370e-01 -1.26264536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.614012739 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.05, Z:-0.13 [[ 9.99995448e-01 1.35853211e-03 -2.69427862e-03 7.60273751e+00] [-1.35856771e-03 9.99999077e-01 -1.13803006e-05 -4.67690768e-02] [ 2.69426068e-03 1.50406088e-05 9.99996370e-01 -1.27706587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.644012738999999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.05, Z:-0.13 [[ 9.99996355e-01 1.73026114e-04 -2.69427795e-03 7.63128596e+00] [-1.73057827e-04 9.99999985e-01 -1.15376395e-05 -4.89753524e-02] [ 2.69427591e-03 1.20038633e-05 9.99996370e-01 -1.25707885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.674012739 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.05, Z:-0.12 [[ 9.99994801e-01 -1.77150417e-03 -2.69427738e-03 7.65990428e+00] [ 1.77147916e-03 9.99998431e-01 -1.16686010e-05 -5.32328010e-02] [ 2.69429383e-03 6.89568413e-06 9.99996370e-01 -1.23182028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.704012739 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.05, Z:-0.12 [[ 9.99992873e-01 -2.64477550e-03 -2.69427696e-03 7.68881722e+00] [ 2.64475340e-03 9.99996503e-01 -1.17657494e-05 -5.47579831e-02] [ 2.69429865e-03 4.63996740e-06 9.99996370e-01 -1.22592255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.734012739 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.06, Z:-0.12 [[ 9.99991862e-01 -3.00268402e-03 -2.69427645e-03 7.71801174e+00] [ 3.00266291e-03 9.99995492e-01 -1.18809576e-05 -5.66280321e-02] [ 2.69429998e-03 3.79085694e-06 9.99996370e-01 -1.20896362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.764012739 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.06, Z:-0.12 [[ 9.99996112e-01 -7.19494314e-04 -2.69427436e-03 7.74665971e+00] [ 7.19463686e-04 9.99999741e-01 -1.23370322e-05 -5.91540170e-02] [ 2.69428254e-03 1.03985517e-05 9.99996370e-01 -1.17579411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.794012739 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.06, Z:-0.13 [[ 9.99991885e-01 2.99500251e-03 -2.69427391e-03 7.77534882e+00] [-2.99504688e-03 9.99995515e-01 -1.24340024e-05 -5.87622884e-02] [ 2.69422459e-03 2.05033781e-05 9.99996370e-01 -1.26619984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.824012739 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.06, Z:-0.13 [[ 9.99984830e-01 4.80427152e-03 -2.69427348e-03 7.80457052e+00] [-4.80432271e-03 9.99988459e-01 -1.25276514e-05 -5.78416013e-02] [ 2.69418220e-03 2.54716206e-05 9.99996370e-01 -1.26386126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.854012739 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.06, Z:-0.13 [[ 9.99976594e-01 6.28902267e-03 -2.69427133e-03 7.83264118e+00] [-6.28908045e-03 9.99980223e-01 -1.29742372e-05 -5.63614353e-02] [ 2.69413645e-03 2.99184226e-05 9.99996370e-01 -1.26792945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.884012739 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.05, Z:-0.13 [[ 9.99960806e-01 8.43364577e-03 -2.69427056e-03 7.86206766e+00] [-8.43371176e-03 9.99964436e-01 -1.31324663e-05 -5.49816503e-02] [ 2.69406398e-03 3.58546529e-05 9.99996370e-01 -1.28191144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.914012739 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.05, Z:-0.12 [[ 9.99959158e-01 8.62690635e-03 -2.69428956e-03 7.88954600e+00] [-8.62696263e-03 9.99962787e-01 -9.26664253e-06 -5.43943180e-02] [ 2.69410935e-03 3.25097994e-05 9.99996370e-01 -1.24353682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.944012739 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.05, Z:-0.12 [[ 9.99962160e-01 8.27162933e-03 -2.69426908e-03 7.91852174e+00] [-8.27169542e-03 9.99965789e-01 -1.33880737e-05 -5.35647286e-02] [ 2.69406616e-03 3.56737403e-05 9.99996370e-01 -1.22766362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.974012738999999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.05, Z:-0.12 [[ 9.99970099e-01 7.24856948e-03 -2.69426845e-03 7.94658140e+00] [-7.24863219e-03 9.99973728e-01 -1.35141199e-05 -5.22770411e-02] [ 2.69409971e-03 3.30434769e-05 9.99996370e-01 -1.21335702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.004012739 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.05, Z:-0.12 [[ 9.99970286e-01 7.22276466e-03 -2.69426765e-03 7.97556235e+00] [-7.22282771e-03 9.99973915e-01 -1.36705672e-05 -5.12574603e-02] [ 2.69409863e-03 3.31303920e-05 9.99996370e-01 -1.21710759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.034012739 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.05, Z:-0.12 [[ 9.99960425e-01 8.47881643e-03 -2.69426701e-03 8.00431444e+00] [-8.47888437e-03 9.99964054e-01 -1.37956844e-05 -4.69258992e-02] [ 2.69405319e-03 3.66395169e-05 9.99996370e-01 -1.24842721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.064012738999999 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.04, Z:-0.11 [[ 9.99946636e-01 9.97328659e-03 -2.69426637e-03 8.03333042e+00] [-9.97336029e-03 9.99950265e-01 -1.39209896e-05 -4.46996925e-02] [ 2.69399353e-03 4.07911359e-05 9.99996370e-01 -1.11089984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.094012739 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.04, Z:-0.13 [[ 9.99934936e-01 1.10844538e-02 -2.69426570e-03 8.06112499e+00] [-1.10845319e-02 9.99938565e-01 -1.40477939e-05 -4.22796941e-02] [ 2.69394447e-03 4.39115540e-05 9.99996370e-01 -1.25851081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.124012739 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.04, Z:-0.13 [[ 9.99916317e-01 1.26530366e-02 -2.69426488e-03 8.09085413e+00] [-1.26531208e-02 9.99919946e-01 -1.42049917e-05 -3.91492582e-02] [ 2.69386945e-03 4.82946619e-05 9.99996370e-01 -1.27710346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.154012739 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.04, Z:-0.12 [[ 9.99918314e-01 1.24942079e-02 -2.69429775e-03 8.11940323e+00] [-1.24942749e-02 9.99921943e-01 -8.02545638e-06 -3.61633993e-02] [ 2.69398717e-03 4.16880976e-05 9.99996370e-01 -1.22009948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.184012739 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.04, Z:-0.12 [[ 9.99918619e-01 1.24698216e-02 -2.69426254e-03 8.14956596e+00] [-1.24699061e-02 9.99922248e-01 -1.45473680e-05 -3.59522447e-02] [ 2.69387165e-03 4.81433849e-05 9.99996370e-01 -1.21928524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.214012739 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.03, Z:-0.12 [[ 9.99929740e-01 1.15436920e-02 -2.69426218e-03 8.17783453e+00] [-1.15437733e-02 9.99933368e-01 -1.46130294e-05 -3.17984313e-02] [ 2.69391397e-03 4.57139544e-05 9.99996370e-01 -1.21557995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.244012739 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.03, Z:-0.12 [[ 9.99942416e-01 1.03878037e-02 -2.69426165e-03 8.20793969e+00] [-1.03878810e-02 9.99946044e-01 -1.47109800e-05 -3.02038773e-02] [ 2.69396346e-03 4.26978023e-05 9.99996370e-01 -1.21938243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.274012739 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.03, Z:-0.12 [[ 9.99957149e-01 8.85669061e-03 -2.69426129e-03 8.23636932e+00] [-8.85676256e-03 9.99960778e-01 -1.47759573e-05 -2.88903781e-02] [ 2.69402475e-03 3.86377567e-05 9.99996370e-01 -1.23841439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.304012739 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.03, Z:-0.12 [[ 9.99978772e-01 5.93268402e-03 -2.69426075e-03 8.26631151e+00] [-5.93274563e-03 9.99982401e-01 -1.48730710e-05 -2.67801901e-02] [ 2.69412510e-03 3.08571190e-05 9.99996370e-01 -1.24192343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.334012739 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.03, Z:-0.12 [[ 9.99985365e-01 4.69149039e-03 -2.69426039e-03 8.29422064e+00] [-4.69154766e-03 9.99988995e-01 -1.49384326e-05 -2.56365474e-02] [ 2.69416066e-03 2.75784650e-05 9.99996370e-01 -1.24666899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.364012739 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.02, Z:-0.12 [[ 9.99988849e-01 3.87838132e-03 -2.69425948e-03 8.32294586e+00] [-3.87843608e-03 9.99992479e-01 -1.51005899e-05 -2.37182512e-02] [ 2.69418065e-03 2.55499347e-05 9.99996370e-01 -1.20294418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.394012738999999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.02, Z:-0.12 [[ 9.99989064e-01 3.82267041e-03 -2.69425874e-03 8.35065114e+00] [-3.82272533e-03 9.99992693e-01 -1.52320009e-05 -2.28460986e-02] [ 2.69418083e-03 2.55312455e-05 9.99996370e-01 -1.19695241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.424012739 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.02, Z:-0.12 [[ 9.99990327e-01 3.47670343e-03 -2.69425781e-03 8.37862343e+00] [-3.47675752e-03 9.99993956e-01 -1.53950579e-05 -2.22769966e-02] [ 2.69418800e-03 2.47621901e-05 9.99996370e-01 -1.20494281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.454012739 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.02, Z:-0.12 [[ 9.99992213e-01 2.88344066e-03 -2.69425688e-03 8.40694889e+00] [-2.88349304e-03 9.99995843e-01 -1.55556471e-05 -2.22067259e-02] [ 2.69420083e-03 2.33243969e-05 9.99996370e-01 -1.18794766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.484012739 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.02, Z:-0.12 [[ 9.99995422e-01 1.37718646e-03 -2.69425590e-03 8.43442029e+00] [-1.37723382e-03 9.99999051e-01 -1.57242077e-05 -2.22435408e-02] [ 2.69423169e-03 1.94347561e-05 9.99996370e-01 -1.17916045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.514012739 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.02, Z:-0.12 [[ 9.99991947e-01 -2.97435938e-03 -2.69425491e-03 8.46307717e+00] [ 2.97432736e-03 9.99995577e-01 -1.58911234e-05 -2.44725831e-02] [ 2.69429026e-03 7.87739930e-06 9.99996370e-01 -1.15716419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.544012739 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.03, Z:-0.12 [[ 9.99981671e-01 -5.42202647e-03 -2.69425434e-03 8.49172211e+00] [ 5.42200307e-03 9.99985301e-01 -1.59871185e-05 -2.59103573e-02] [ 2.69430142e-03 1.37857013e-06 9.99996370e-01 -1.16008679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.574012739 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.03, Z:-0.12 [[ 9.99950506e-01 -9.57741466e-03 -2.69425378e-03 8.52020852e+00] [ 9.57740609e-03 9.99954135e-01 -1.60821386e-05 -2.79949901e-02] [ 2.69428423e-03 -9.72261994e-06 9.99996370e-01 -1.16282405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.604012739 meters Centerline goodness : 0.993203 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.03, Z:-0.10 [[ 9.99938709e-01 -1.07386729e-02 -2.69425302e-03 8.54925810e+00] [ 1.07386682e-02 9.99942339e-01 -1.62083051e-05 -2.94413754e-02] [ 2.69427172e-03 -1.27253775e-05 9.99996370e-01 -1.02193352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.634012739 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.03, Z:-0.12 [[ 9.99919165e-01 -1.24259711e-02 -2.69425026e-03 8.57804466e+00] [ 1.24259713e-02 9.99922794e-01 -1.66549544e-05 -2.99683988e-02] [ 2.69424920e-03 -1.68250684e-05 9.99996370e-01 -1.16031146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.664012739 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.04, Z:-0.10 [[ 9.99918595e-01 -1.24717352e-02 -2.69424738e-03 8.60704361e+00] [ 1.24717344e-02 9.99922225e-01 -1.71072641e-05 -3.52902275e-02] [ 2.69425120e-03 -1.64960664e-05 9.99996370e-01 -1.03625985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.694012739 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.04, Z:-0.12 [[ 9.99932857e-01 -1.12703877e-02 -2.69424444e-03 8.63602752e+00] [ 1.12703813e-02 9.99936487e-01 -1.75592278e-05 -3.95529273e-02] [ 2.69427122e-03 -1.28071133e-05 9.99996370e-01 -1.17619261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.724012738999999 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.04, Z:-0.12 [[ 9.99940228e-01 -1.05962821e-02 -2.69424875e-03 8.66513659e+00] [ 1.05962750e-02 9.99943858e-01 -1.69059418e-05 -4.10465423e-02] [ 2.69427663e-03 -1.16440694e-05 9.99996370e-01 -1.15488305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.754012739 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.04, Z:-0.12 [[ 9.99944427e-01 -1.01923706e-02 -2.69424053e-03 8.69354917e+00] [ 1.01923587e-02 9.99948056e-01 -1.81272750e-05 -4.29776573e-02] [ 2.69428534e-03 -9.33439839e-06 9.99996370e-01 -1.15677159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.784012739 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.05, Z:-0.12 [[ 9.99942733e-01 -1.03572151e-02 -2.69423735e-03 8.72270941e+00] [ 1.03572026e-02 9.99946363e-01 -1.85882414e-05 -4.73551553e-02] [ 2.69428536e-03 -9.31758521e-06 9.99996370e-01 -1.18614480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.814012738999999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.05, Z:-0.12 [[ 9.99944965e-01 -1.01394553e-02 -2.69423650e-03 8.75155574e+00] [ 1.01394417e-02 9.99948594e-01 -1.87107327e-05 -4.85246370e-02] [ 2.69428772e-03 -8.60835098e-06 9.99996370e-01 -1.23224243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.844012739 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.05, Z:-0.11 [[ 9.99955671e-01 -9.02206388e-03 -2.69424691e-03 8.78011818e+00] [ 9.02205020e-03 9.99959300e-01 -1.72319416e-05 -4.91621302e-02] [ 2.69429273e-03 -7.07645320e-06 9.99996370e-01 -1.08866948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.874012739 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.05, Z:-0.12 [[ 9.99959639e-01 -8.57091078e-03 -2.69423236e-03 8.80914933e+00] [ 8.57088998e-03 9.99963269e-01 -1.92668328e-05 -4.95257345e-02] [ 2.69429854e-03 -3.82591395e-06 9.99996370e-01 -1.17485995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.904012739 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.05, Z:-0.12 [[ 9.99959300e-01 -8.61041811e-03 -2.69423167e-03 8.83834626e+00] [ 8.61039719e-03 9.99962930e-01 -1.93635902e-05 -4.99892873e-02] [ 2.69429852e-03 -3.83560271e-06 9.99996370e-01 -1.17299191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.934012739 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.05, Z:-0.12 [[ 9.99946596e-01 -9.97730703e-03 -2.69422833e-03 8.86576046e+00] [ 9.97728985e-03 9.99950225e-01 -1.98167269e-05 -4.83798969e-02] [ 2.69429195e-03 -7.06542841e-06 9.99996370e-01 -1.19778299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.964012739 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.05, Z:-0.12 [[ 9.99928813e-01 -1.16237024e-02 -2.69422660e-03 8.89505423e+00] [ 1.16236905e-02 9.99932442e-01 -2.00504565e-05 -4.76023944e-02] [ 2.69427764e-03 -1.12678270e-05 9.99996370e-01 -1.20141356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.994012739 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.05, Z:-0.12 [[ 9.99890293e-01 -1.45651148e-02 -2.69422315e-03 8.92342024e+00] [ 1.45651124e-02 9.99893923e-01 -2.05026934e-05 -4.97681503e-02] [ 2.69423598e-03 -1.87412190e-05 9.99996370e-01 -1.23314816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.024012739 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.05, Z:-0.12 [[ 9.99864291e-01 -1.62523980e-02 -2.69421965e-03 8.95136663e+00] [ 1.62524005e-02 9.99867921e-01 -2.09528679e-05 -5.02265429e-02] [ 2.69420434e-03 -2.28375125e-05 9.99996370e-01 -1.22844779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.054012739 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:8.98, Y:-0.05, Z:-0.12 [[ 9.99843190e-01 -1.75024484e-02 -2.69421783e-03 8.98055989e+00] [ 1.75024548e-02 9.99846820e-01 -2.11842130e-05 -4.98115954e-02] [ 2.69417591e-03 -2.59745348e-05 9.99996370e-01 -1.19629747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.084012739 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.05, Z:-0.12 [[ 9.99833947e-01 -1.80227706e-02 -2.69421431e-03 9.00930531e+00] [ 1.80227777e-02 9.99837576e-01 -2.16234404e-05 -4.88099297e-02] [ 2.69416642e-03 -2.69373759e-05 9.99996370e-01 -1.15232497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.114012739 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.05, Z:-0.12 [[ 9.99844154e-01 -1.74473301e-02 -2.69421075e-03 9.03768100e+00] [ 1.74473340e-02 9.99847783e-01 -2.20580910e-05 -5.00302446e-02] [ 2.69418550e-03 -2.49521413e-05 9.99996370e-01 -1.15019216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.144012738999999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.05, Z:-0.12 [[ 9.99871941e-01 -1.57747341e-02 -2.69420710e-03 9.06675266e+00] [ 1.57747308e-02 9.99875571e-01 -2.24954363e-05 -5.30425090e-02] [ 2.69422672e-03 -2.00078361e-05 9.99996370e-01 -1.16475525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.174012739 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.05, Z:-0.11 [[ 9.99881518e-01 -1.51555823e-02 -2.69422043e-03 9.09489506e+00] [ 1.51555809e-02 9.99885147e-01 -2.09106335e-05 -5.27280602e-02] [ 2.69422790e-03 -1.99243197e-05 9.99996370e-01 -1.12377081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.204012739 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.05, Z:-0.11 [[ 9.99893387e-01 -1.43511776e-02 -2.69420388e-03 9.12234940e+00] [ 1.43511681e-02 9.99897016e-01 -2.28603142e-05 -5.27573432e-02] [ 2.69425450e-03 -1.58070958e-05 9.99996370e-01 -1.10136672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.234012738999999 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.05, Z:-0.11 [[ 9.99899533e-01 -1.39163284e-02 -2.69420259e-03 9.15148057e+00] [ 1.39163169e-02 9.99903163e-01 -2.30115749e-05 -5.36743056e-02] [ 2.69426193e-03 -1.44841140e-05 9.99996370e-01 -1.07742195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.264012739 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.05, Z:-0.11 [[ 9.99895189e-01 -1.42250748e-02 -2.69419889e-03 9.17886065e+00] [ 1.42250633e-02 9.99898818e-01 -2.34366792e-05 -5.44769090e-02] [ 2.69425968e-03 -1.48909270e-05 9.99996370e-01 -1.08816238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.294012739 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.06, Z:-0.10 [[ 9.99884241e-01 -1.49748750e-02 -2.69419758e-03 9.20731031e+00] [ 1.49748658e-02 9.99887870e-01 -2.35872048e-05 -5.72372700e-02] [ 2.69424869e-03 -1.67607729e-05 9.99996370e-01 -1.02765432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.324012739 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.06, Z:-0.12 [[ 9.99875241e-01 -1.55642046e-02 -2.69419356e-03 9.23513599e+00] [ 1.55641963e-02 9.99878870e-01 -2.40373749e-05 -5.70105369e-02] [ 2.69424134e-03 -1.78985815e-05 9.99996370e-01 -1.17752376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.354012739 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.06, Z:-0.11 [[ 9.99885339e-01 -1.49013357e-02 -2.69419212e-03 9.26393951e+00] [ 1.49013246e-02 9.99888969e-01 -2.41977133e-05 -6.00625668e-02] [ 2.69425356e-03 -1.59520926e-05 9.99996370e-01 -1.14713101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.384012739 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.06, Z:-0.11 [[ 9.99893210e-01 -1.43634968e-02 -2.69418806e-03 9.29296743e+00] [ 1.43634825e-02 9.99896840e-01 -2.46414755e-05 -6.05300956e-02] [ 2.69426407e-03 -1.40590791e-05 9.99996370e-01 -1.13182934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.414012739 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.06, Z:-0.11 [[ 9.99902482e-01 -1.37028775e-02 -2.69418392e-03 9.32036398e+00] [ 1.37028596e-02 9.99906111e-01 -2.50863703e-05 -6.04863064e-02] [ 2.69427472e-03 -1.18341001e-05 9.99996370e-01 -1.12828608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.444012739 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.06, Z:-0.12 [[ 9.99902148e-01 -1.37271685e-02 -2.69418243e-03 9.34855190e+00] [ 1.37271503e-02 9.99905778e-01 -2.52449774e-05 -6.16700405e-02] [ 2.69427512e-03 -1.17409402e-05 9.99996370e-01 -1.15217970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.474012738999999 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.06, Z:-0.12 [[ 9.99893540e-01 -1.43405013e-02 -2.69418096e-03 9.37768974e+00] [ 1.43404849e-02 9.99897170e-01 -2.54016547e-05 -6.26664687e-02] [ 2.69426818e-03 -1.32369109e-05 9.99996370e-01 -1.16945977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.504012739 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.06, Z:-0.12 [[ 9.99901461e-01 -1.37771282e-02 -2.69417669e-03 9.40575732e+00] [ 1.37771085e-02 9.99905091e-01 -2.58462806e-05 -6.41254748e-02] [ 2.69427708e-03 -1.12742310e-05 9.99996370e-01 -1.18614505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.534012739 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.06, Z:-0.12 [[ 9.99909108e-01 -1.32104829e-02 -2.69417516e-03 9.43316725e+00] [ 1.32104608e-02 9.99912738e-01 -2.60043623e-05 -6.45174407e-02] [ 2.69428359e-03 -9.58929665e-06 9.99996370e-01 -1.18194012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.564012738999999 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.07, Z:-0.12 [[ 9.99926165e-01 -1.18493077e-02 -2.69417365e-03 9.46242288e+00] [ 1.18492803e-02 9.99929794e-01 -2.61599858e-05 -6.62771602e-02] [ 2.69429448e-03 -5.76596444e-06 9.99996370e-01 -1.15563592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.594012739 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.07, Z:-0.11 [[ 9.99935137e-01 -1.10662870e-02 -2.69416932e-03 9.49096745e+00] [ 1.10662555e-02 9.99938767e-01 -2.65989448e-05 -6.70532443e-02] [ 2.69429870e-03 -3.21714659e-06 9.99996370e-01 -1.14945195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.624012739 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.07, Z:-0.12 [[ 9.99946069e-01 -1.00300064e-02 -2.69416490e-03 9.51922148e+00] [ 1.00299700e-02 9.99949698e-01 -2.70390120e-05 -6.77149468e-02] [ 2.69430058e-03 1.51606625e-08 9.99996370e-01 -1.15596269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.654012739 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.07, Z:-0.10 [[ 9.99971403e-01 -7.06643822e-03 -2.69416332e-03 9.54784965e+00] [ 7.06639059e-03 9.99975032e-01 -2.71957416e-05 -7.10639141e-02] [ 2.69428823e-03 8.15695356e-06 9.99996370e-01 -1.02845194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.684012739 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.07, Z:-0.11 [[ 9.99977636e-01 -6.12118248e-03 -2.69415882e-03 9.57717142e+00] [ 6.12113025e-03 9.99981265e-01 -2.76342444e-05 -7.04799828e-02] [ 2.69427750e-03 1.11423293e-05 9.99996370e-01 -1.14879374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.714012739 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.07, Z:-0.11 [[ 9.99991522e-01 -3.11406569e-03 -2.69415418e-03 9.60588107e+00] [ 3.11400134e-03 9.99995151e-01 -2.80800044e-05 -7.21082855e-02] [ 2.69422856e-03 1.96901666e-05 9.99996370e-01 -1.12612772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.744012739 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.07, Z:-0.11 [[ 9.99995106e-01 -1.59046833e-03 -2.69414935e-03 9.63410513e+00] [ 1.59039722e-03 9.99998735e-01 -2.85354279e-05 -7.24082832e-02] [ 2.69419133e-03 2.42505206e-05 9.99996370e-01 -1.12001767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.774012739 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.07, Z:-0.11 [[ 9.99996311e-01 -3.44366669e-04 -2.69414763e-03 9.66246539e+00] [ 3.44290604e-04 9.99999940e-01 -2.86972350e-05 -7.21608272e-02] [ 2.69415735e-03 2.77695594e-05 9.99996370e-01 -1.11370742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.804012739 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.07, Z:-0.11 [[ 9.99995054e-01 1.62305070e-03 -2.69414273e-03 9.69069577e+00] [-1.62313512e-03 9.99998682e-01 -2.91501506e-05 -7.10491028e-02] [ 2.69409187e-03 3.35229641e-05 9.99996370e-01 -1.11231283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.834012739 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:9.72, Y:-0.07, Z:-0.11 [[ 9.99993573e-01 2.36560776e-03 -2.69414141e-03 9.71985228e+00] [-2.36569521e-03 9.99997201e-01 -2.92717635e-05 -7.10332694e-02] [ 2.69406462e-03 3.56450928e-05 9.99996370e-01 -1.10932309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.864012739 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:9.75, Y:-0.07, Z:-0.11 [[ 9.99992122e-01 2.91501780e-03 -2.69414037e-03 9.74840746e+00] [-2.91510750e-03 9.99995751e-01 -2.93669505e-05 -7.12026870e-02] [ 2.69404332e-03 3.72204280e-05 9.99996370e-01 -1.09608521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.894012738999999 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.07, Z:-0.11 [[ 9.99989969e-01 3.57811745e-03 -2.69413959e-03 9.77725818e+00] [-3.57820975e-03 9.99993598e-01 -2.94383229e-05 -7.17186679e-02] [ 2.69401701e-03 3.90782241e-05 9.99996370e-01 -1.06469286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.924012739 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.07, Z:-0.11 [[ 9.99991142e-01 3.23367660e-03 -2.69413821e-03 9.80582573e+00] [-3.23376798e-03 9.99994771e-01 -2.95644492e-05 -7.13644811e-02] [ 2.69402852e-03 3.82764052e-05 9.99996370e-01 -1.06907406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.954012739 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.07, Z:-0.11 [[ 9.99994472e-01 1.94882181e-03 -2.69413717e-03 9.83453727e+00] [-1.94890879e-03 9.99998100e-01 -2.96588133e-05 -7.12573601e-02] [ 2.69407425e-03 3.49092770e-05 9.99996370e-01 -1.08219299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.984012738999999 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.07, Z:-0.11 [[ 9.99995808e-01 1.06083432e-03 -2.69413576e-03 9.86360741e+00] [-1.06091841e-03 9.99999437e-01 -2.97858046e-05 -7.13297697e-02] [ 2.69410265e-03 3.26439379e-05 9.99996370e-01 -1.07585120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.014012739 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.07, Z:-0.11 [[ 9.99996367e-01 9.08978427e-05 -2.69413471e-03 9.89208484e+00] [-9.09786760e-05 9.99999995e-01 -2.98808795e-05 -7.14794179e-02] [ 2.69413198e-03 3.01258797e-05 9.99996370e-01 -1.05760270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.044012739 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.07, Z:-0.11 [[ 9.99996014e-01 -8.45137354e-04 -2.69413327e-03 9.92059276e+00] [ 8.45059571e-04 9.99999642e-01 -3.00097629e-05 -7.20203043e-02] [ 2.69415767e-03 2.77329402e-05 9.99996370e-01 -1.08489790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.074012739 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.07, Z:-0.11 [[ 9.99996158e-01 -6.51895978e-04 -2.69413220e-03 9.94891922e+00] [ 6.51817235e-04 9.99999787e-01 -3.01057870e-05 -7.22176718e-02] [ 2.69415125e-03 2.83495896e-05 9.99996370e-01 -1.11956520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.104012739 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.07, Z:-0.11 [[ 9.99996048e-01 -8.03647794e-04 -2.69413114e-03 9.97823860e+00] [ 8.03569346e-04 9.99999677e-01 -3.02004104e-05 -7.17274026e-02] [ 2.69415454e-03 2.80353698e-05 9.99996370e-01 -1.11877517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.134012739 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.07, Z:-0.11 [[ 9.99996344e-01 2.33448086e-04 -2.69412649e-03 1.00068547e+01] [-2.33531399e-04 9.99999972e-01 -3.06092513e-05 -7.21536592e-02] [ 2.69411927e-03 3.12383026e-05 9.99996370e-01 -1.09174875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.164012739 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.07, Z:-0.11 [[ 9.99995592e-01 1.24816609e-03 -2.69412137e-03 1.00355689e+01] [-1.24825428e-03 9.99999220e-01 -3.10541359e-05 -7.11367315e-02] [ 2.69408051e-03 3.44169475e-05 9.99996370e-01 -1.06228106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.194012739 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.07, Z:-0.10 [[ 9.99993049e-01 2.57740547e-03 -2.69412027e-03 1.00641812e+01] [-2.57749874e-03 9.99996678e-01 -3.11489222e-05 -6.93190731e-02] [ 2.69403104e-03 3.80927973e-05 9.99996370e-01 -1.03949361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.224012738999999 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.07, Z:-0.11 [[ 9.99980657e-01 5.60604711e-03 -2.69411507e-03 1.00927948e+01] [-5.60615257e-03 9.99984285e-01 -3.15922078e-05 -6.61843693e-02] [ 2.69389563e-03 4.66952169e-05 9.99996370e-01 -1.06025002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.254012739 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:10.12, Y:-0.06, Z:-0.11 [[ 9.99973749e-01 6.72631082e-03 -2.69411368e-03 1.01213788e+01] [-6.72642066e-03 9.99977377e-01 -3.17109341e-05 -6.44256187e-02] [ 2.69383943e-03 4.98318435e-05 9.99996370e-01 -1.07640904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.284012739 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:10.15, Y:-0.06, Z:-0.11 [[ 9.99963467e-01 8.11215798e-03 -2.69411220e-03 1.01496844e+01] [-8.11227318e-03 9.99967094e-01 -3.18354239e-05 -6.13157940e-02] [ 2.69376530e-03 5.36896350e-05 9.99996370e-01 -1.07618041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.314012738999999 meters Centerline goodness : 0.992938 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.06, Z:-0.10 [[ 9.99957601e-01 8.80561379e-03 -2.69411073e-03 1.01782539e+01] [-8.80573184e-03 9.99961228e-01 -3.19598797e-05 -6.01794428e-02] [ 2.69372485e-03 5.56821412e-05 9.99996370e-01 -9.50910481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.344012739 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.05, Z:-0.11 [[ 9.99952279e-01 9.39048854e-03 -2.69410998e-03 1.02072628e+01] [-9.39060889e-03 9.99955907e-01 -3.20224338e-05 -5.24332349e-02] [ 2.69369049e-03 5.73202388e-05 9.99996370e-01 -1.09425942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.374012739 meters Centerline goodness : 0.998107 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.05, Z:-0.11 [[ 9.99948774e-01 9.75657025e-03 -2.69410852e-03 1.02356007e+01] [-9.75669225e-03 9.99952402e-01 -3.21452890e-05 -4.84460215e-02] [ 2.69366666e-03 5.84292300e-05 9.99996370e-01 -1.08523046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.404012738999999 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.04, Z:-0.11 [[ 9.99945041e-01 1.01320036e-02 -2.69410702e-03 1.02648042e+01] [-1.01321273e-02 9.99948668e-01 -3.22699905e-05 -4.47254144e-02] [ 2.69364177e-03 5.95652523e-05 9.99996370e-01 -1.06938044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.434012739 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.04, Z:-0.10 [[ 9.99949790e-01 9.65193002e-03 -2.69410552e-03 1.02934780e+01] [-9.65205232e-03 9.99953417e-01 -3.23953996e-05 -4.01867252e-02] [ 2.69366734e-03 5.83974204e-05 9.99996370e-01 -1.04864178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.464012739 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.04, Z:-0.11 [[ 9.99961616e-01 8.33711449e-03 -2.69410396e-03 1.03223605e+01] [-8.33723237e-03 9.99965244e-01 -3.25244360e-05 -3.88411413e-02] [ 2.69373916e-03 5.49845583e-05 9.99996370e-01 -1.05382320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.494012739 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.04, Z:-0.11 [[ 9.99987683e-01 4.16829940e-03 -2.69410279e-03 1.03507074e+01] [-4.16840241e-03 9.99991312e-01 -3.26210120e-05 -3.72409663e-02] [ 2.69394341e-03 4.38507148e-05 9.99996370e-01 -1.05781965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.524012739 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.04, Z:-0.10 [[ 9.99992730e-01 2.69842257e-03 -2.69410200e-03 1.03790893e+01] [-2.69852042e-03 9.99996358e-01 -3.26860428e-05 -3.70947706e-02] [ 2.69400399e-03 3.99558945e-05 9.99996370e-01 -9.67029808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.554012739 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.04, Z:-0.10 [[ 9.99995682e-01 1.17340966e-03 -2.69410043e-03 1.04080088e+01] [-1.17350232e-03 9.99999311e-01 -3.28151971e-05 -3.50694461e-02] [ 2.69406007e-03 3.59765886e-05 9.99996370e-01 -1.03710676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.584012739 meters Centerline goodness : 0.992559 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.04, Z:-0.09 [[ 9.99996363e-01 -1.25665584e-04 -2.69409885e-03 1.04362692e+01] [ 1.25577284e-04 9.99999992e-01 -3.29445517e-05 -3.61890231e-02] [ 2.69410296e-03 3.26061143e-05 9.99996370e-01 -9.34137191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.614012739 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.03, Z:-0.10 [[ 9.99996226e-01 -5.38019776e-04 -2.69409766e-03 1.04645248e+01] [ 5.37932712e-04 9.99999855e-01 -3.30409852e-05 -3.41274951e-02] [ 2.69411505e-03 3.15916173e-05 9.99996370e-01 -1.04766870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.644012738999999 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.03, Z:-0.10 [[ 9.99996339e-01 -2.54252779e-04 -2.69409679e-03 1.04929628e+01] [ 2.54164494e-04 9.99999967e-01 -3.31119068e-05 -3.48338906e-02] [ 2.69410512e-03 3.24270418e-05 9.99996370e-01 -1.04788046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.674012739 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:10.52, Y:-0.04, Z:-0.11 [[ 9.99996369e-01 6.42988433e-05 -2.69409563e-03 1.05219031e+01] [-6.43885373e-05 9.99999997e-01 -3.32061014e-05 -3.62430366e-02] [ 2.69409349e-03 3.33794497e-05 9.99996370e-01 -1.05598151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.704012739 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.04, Z:-0.10 [[ 9.99996196e-01 5.90872139e-04 -2.69409448e-03 1.05503463e+01] [-5.90963994e-04 9.99999825e-01 -3.32988412e-05 -3.87386634e-02] [ 2.69407434e-03 3.48908274e-05 9.99996370e-01 -1.03643193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.734012738999999 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.04, Z:-0.10 [[ 9.99995991e-01 8.71496050e-04 -2.69408897e-03 1.05789205e+01] [-8.71590109e-04 9.99999620e-01 -3.37393538e-05 -3.96290559e-02] [ 2.69405854e-03 3.60873598e-05 9.99996370e-01 -9.52183474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.764012739 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.04, Z:-0.10 [[ 9.99996216e-01 -5.55769346e-04 -2.69408779e-03 1.06077930e+01] [ 5.55680213e-04 9.99999845e-01 -3.38330220e-05 -3.94480257e-02] [ 2.69410618e-03 3.23358427e-05 9.99996370e-01 -1.00760879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.794012739 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.04, Z:-0.10 [[ 9.99995615e-01 -1.22956898e-03 -2.69408617e-03 1.06363914e+01] [ 1.22948195e-03 9.99999244e-01 -3.39617942e-05 -4.09116738e-02] [ 2.69412589e-03 3.06493150e-05 9.99996370e-01 -9.93210607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.824012739 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.04, Z:-0.10 [[ 9.99994201e-01 -2.08317756e-03 -2.69408496e-03 1.06649994e+01] [ 2.08309336e-03 9.99997830e-01 -3.40577027e-05 -4.23147191e-02] [ 2.69415006e-03 2.84454747e-05 9.99996370e-01 -9.89409670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.854012739 meters Centerline goodness : 0.997346 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.05, Z:-0.10 [[ 9.99991717e-01 -3.05076534e-03 -2.69408339e-03 1.06937703e+01] [ 3.05068433e-03 9.99995346e-01 -3.41806717e-05 -4.58807636e-02] [ 2.69417513e-03 2.59615906e-05 9.99996370e-01 -1.00179330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.884012739 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.05, Z:-0.10 [[ 9.99990655e-01 -3.38112439e-03 -2.69408177e-03 1.07225992e+01] [ 3.38104423e-03 9.99994284e-01 -3.43083501e-05 -4.74079907e-02] [ 2.69418237e-03 2.51992199e-05 9.99996370e-01 -1.00666211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.914012739 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.05, Z:-0.10 [[ 9.99992925e-01 -2.62524647e-03 -2.69407600e-03 1.07503002e+01] [ 2.62516236e-03 9.99996554e-01 -3.47553078e-05 -5.07767696e-02] [ 2.69415796e-03 2.76826750e-05 9.99996370e-01 -1.00934187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.944012739 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.05, Z:-0.09 [[ 9.99995814e-01 -1.05541986e-03 -2.69407395e-03 1.07793302e+01] [ 1.05532963e-03 9.99999443e-01 -3.49139966e-05 -5.27862915e-02] [ 2.69410929e-03 3.20707143e-05 9.99996370e-01 -9.01988061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.974012738999999 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.05, Z:-0.10 [[ 9.99996354e-01 1.86100963e-04 -2.69406816e-03 1.08083325e+01] [-1.86196888e-04 9.99999982e-01 -3.53552279e-05 -5.16670272e-02] [ 2.69406153e-03 3.58567261e-05 9.99996370e-01 -1.01181403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.004012739 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.05, Z:-0.10 [[ 9.99987709e-01 4.16213377e-03 -2.69406657e-03 1.08373278e+01] [-4.16224444e-03 9.99991337e-01 -3.54753825e-05 -5.32004990e-02] [ 2.69389558e-03 4.66883101e-05 9.99996370e-01 -1.02258942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.034012739 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.05, Z:-0.10 [[ 9.99974583e-01 6.60115920e-03 -2.69406534e-03 1.08663158e+01] [-6.60127897e-03 9.99978211e-01 -3.55687508e-05 -5.35056591e-02] [ 2.69377184e-03 5.33521236e-05 9.99996370e-01 -1.01810969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.064012738999999 meters Centerline goodness : 0.997231 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.05, Z:-0.10 [[ 9.99937439e-01 1.08562957e-02 -2.69405943e-03 1.08946463e+01] [-1.08564321e-02 9.99941067e-01 -3.60111012e-05 -5.20141152e-02] [ 2.69350971e-03 6.52567216e-05 9.99996370e-01 -9.83370211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.094012739 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.05, Z:-0.10 [[ 9.99915347e-01 1.27294940e-02 -2.69405350e-03 1.09236635e+01] [-1.27296384e-02 9.99918974e-01 -3.64490025e-05 -5.02969099e-02] [ 2.69337124e-03 7.07402438e-05 9.99996370e-01 -9.50790312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.124012739 meters Centerline goodness : 0.997411 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.05, Z:-0.09 [[ 9.99894796e-01 1.42527045e-02 -2.69405255e-03 1.09526612e+01] [-1.42528546e-02 9.99898422e-01 -3.65192154e-05 -4.91731283e-02] [ 2.69325840e-03 7.49133126e-05 9.99996370e-01 -9.16301224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.154012738999999 meters Centerline goodness : 0.997000 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.05, Z:-0.09 [[ 9.99881219e-01 1.51752904e-02 -2.69405088e-03 1.09822983e+01] [-1.51754442e-02 9.99884846e-01 -3.66417885e-05 -4.95071072e-02] [ 2.69318460e-03 7.75208549e-05 9.99996370e-01 -9.08703222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.184012739 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.05, Z:-0.09 [[ 9.99881913e-01 1.51294909e-02 -2.69405005e-03 1.10106111e+01] [-1.51296447e-02 9.99885540e-01 -3.67029999e-05 -4.90169065e-02] [ 2.69318639e-03 7.74586857e-05 9.99996370e-01 -9.19916140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.214012739 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.05, Z:-0.09 [[ 9.99850879e-01 1.70576041e-02 -2.69404880e-03 1.10392422e+01] [-1.70577651e-02 9.99854505e-01 -3.67942731e-05 -4.59292784e-02] [ 2.69302921e-03 8.27432380e-05 9.99996370e-01 -9.45101627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.244012739 meters Centerline goodness : 0.997537 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.04, Z:-0.10 [[ 9.99828203e-01 1.83386680e-02 -2.69404759e-03 1.10684547e+01] [-1.83388339e-02 9.99831829e-01 -3.68832666e-05 -4.35006408e-02] [ 2.69291813e-03 8.62826214e-05 9.99996370e-01 -9.56930730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.274012739 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.04, Z:-0.10 [[ 9.99800601e-01 1.97863607e-02 -2.69404673e-03 1.10979898e+01] [-1.97865320e-02 9.99804227e-01 -3.69453439e-05 -3.99412055e-02] [ 2.69278830e-03 9.02438190e-05 9.99996370e-01 -9.79677240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.304012739 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.04, Z:-0.10 [[ 9.99800111e-01 1.98111194e-02 -2.69404585e-03 1.11268380e+01] [-1.98112910e-02 9.99803736e-01 -3.70100958e-05 -3.87024671e-02] [ 2.69278389e-03 9.03752241e-05 9.99996370e-01 -9.73662179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.334012739 meters Centerline goodness : 0.997226 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.04, Z:-0.10 [[ 9.99815202e-01 1.90343033e-02 -2.69404451e-03 1.11552197e+01] [-1.90344723e-02 9.99818827e-01 -3.71071401e-05 -3.79937683e-02] [ 2.69285011e-03 8.83799982e-05 9.99996370e-01 -9.52490629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.364012739 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.04, Z:-0.09 [[ 9.99858293e-01 1.66173175e-02 -2.69404322e-03 1.11847794e+01] [-1.66174780e-02 9.99861919e-01 -3.72002045e-05 -3.74969099e-02] [ 2.69305306e-03 8.19631369e-05 9.99996370e-01 -9.19688575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.394012738999999 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.04, Z:-0.09 [[ 9.99876886e-01 1.54581685e-02 -2.69404279e-03 1.12133285e+01] [-1.54583249e-02 9.99880512e-01 -3.72314215e-05 -3.66629000e-02] [ 2.69314536e-03 7.88722266e-05 9.99996370e-01 -9.23728932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.424012739 meters Centerline goodness : 0.997231 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.03, Z:-0.09 [[ 9.99901799e-01 1.37525962e-02 -2.69404149e-03 1.12424677e+01] [-1.37527466e-02 9.99905426e-01 -3.73251198e-05 -3.43330663e-02] [ 2.69327339e-03 7.43719246e-05 9.99996370e-01 -9.26896173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.454012739 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.03, Z:-0.09 [[ 9.99912728e-01 1.29336427e-02 -2.69404062e-03 1.12712798e+01] [-1.29337903e-02 9.99916354e-01 -3.73881359e-05 -3.27871012e-02] [ 2.69333171e-03 7.22290294e-05 9.99996370e-01 -9.20985662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.484012738999999 meters Centerline goodness : 0.997225 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.03, Z:-0.09 [[ 9.99931054e-01 1.14293095e-02 -2.69403931e-03 1.13011575e+01] [-1.14294519e-02 9.99934681e-01 -3.74821672e-05 -3.19878414e-02] [ 2.69343494e-03 6.82709758e-05 9.99996370e-01 -9.24103578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.514012739 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.03, Z:-0.09 [[ 9.99938815e-01 1.07288826e-02 -2.69403843e-03 1.13293772e+01] [-1.07290227e-02 9.99942442e-01 -3.75452437e-05 -3.15847359e-02] [ 2.69348055e-03 6.64473460e-05 9.99996370e-01 -9.32572061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.544012739 meters Centerline goodness : 0.997174 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.03, Z:-0.10 [[ 9.99946126e-01 1.00243649e-02 -2.69403712e-03 1.13593475e+01] [-1.00245027e-02 9.99949753e-01 -3.76393525e-05 -3.06613919e-02] [ 2.69352444e-03 6.46437070e-05 9.99996370e-01 -9.50338633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.574012739 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.03, Z:-0.10 [[ 9.99957014e-01 8.87199560e-03 -2.69403624e-03 1.13888058e+01] [-8.87212936e-03 9.99960641e-01 -3.77019809e-05 -3.07262223e-02] [ 2.69359571e-03 6.16021982e-05 9.99996370e-01 -9.77475599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.604012739 meters Centerline goodness : 0.997673 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.03, Z:-0.10 [[ 9.99962426e-01 8.23940557e-03 -2.69403536e-03 1.14174497e+01] [-8.23953721e-03 9.99966054e-01 -3.77648885e-05 -3.13734057e-02] [ 2.69363275e-03 5.99610741e-05 9.99996370e-01 -9.64996437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.634012739 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.03, Z:-0.09 [[ 9.99975802e-01 6.41390811e-03 -2.69403358e-03 1.14462767e+01] [-6.41403346e-03 9.99979429e-01 -3.78915328e-05 -3.14811141e-02] [ 2.69373513e-03 5.51702375e-05 9.99996370e-01 -9.29367904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.664012739 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.03, Z:-0.09 [[ 9.99978921e-01 5.90752360e-03 -2.69403270e-03 1.14745179e+01] [-5.90764728e-03 9.99982549e-01 -3.79537570e-05 -3.08236645e-02] [ 2.69376147e-03 5.38683520e-05 9.99996370e-01 -9.22594688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.694012739 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.03, Z:-0.09 [[ 9.99980314e-01 5.66686689e-03 -2.69403139e-03 1.15030827e+01] [-5.66698995e-03 9.99983942e-01 -3.80467392e-05 -3.06217287e-02] [ 2.69377252e-03 5.33130390e-05 9.99996370e-01 -9.25869656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.724012738999999 meters Centerline goodness : 0.997631 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.03, Z:-0.09 [[ 9.99976325e-01 6.33174465e-03 -2.69402964e-03 1.15315177e+01] [-6.33187045e-03 9.99979953e-01 -3.81703110e-05 -3.18991130e-02] [ 2.69373394e-03 5.52276539e-05 9.99996370e-01 -9.45489874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.754012739 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.03, Z:-0.10 [[ 9.99971871e-01 6.99996663e-03 -2.69402785e-03 1.15605253e+01] [-7.00009520e-03 9.99975498e-01 -3.82962070e-05 -3.16476670e-02] [ 2.69369377e-03 5.71535812e-05 9.99996370e-01 -9.52402253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.784012739 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.03, Z:-0.09 [[ 9.99963875e-01 8.06169185e-03 -2.69402650e-03 1.15898373e+01] [-8.06182452e-03 9.99967502e-01 -3.83905153e-05 -3.09152332e-02] [ 2.69362946e-03 6.01078974e-05 9.99996370e-01 -9.49456756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.814012738999999 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.03, Z:-0.09 [[ 9.99963760e-01 8.07593443e-03 -2.69402471e-03 1.16190772e+01] [-8.07606749e-03 9.99967387e-01 -3.85162906e-05 -3.11283740e-02] [ 2.69362579e-03 6.02720202e-05 9.99996370e-01 -9.40744151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.844012739 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.03, Z:-0.09 [[ 9.99963753e-01 8.07682367e-03 -2.69402288e-03 1.16481274e+01] [-8.07695708e-03 9.99967380e-01 -3.86432060e-05 -3.16411254e-02] [ 2.69362289e-03 6.04013125e-05 9.99996370e-01 -9.28800166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.874012739 meters Centerline goodness : 0.991940 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.03, Z:-0.08 [[ 9.99941744e-01 1.04522891e-02 -2.69402096e-03 1.16764837e+01] [-1.04524315e-02 9.99945371e-01 -3.87766028e-05 -3.25415685e-02] [ 2.69346849e-03 6.69334135e-05 9.99996370e-01 -8.06380853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.904012738999999 meters Centerline goodness : 0.997094 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.03, Z:-0.09 [[ 9.99885532e-01 1.48883979e-02 -2.69401952e-03 1.17056637e+01] [-1.48885566e-02 9.99889159e-01 -3.88765519e-05 -2.65634090e-02] [ 2.69314210e-03 7.89821641e-05 9.99996370e-01 -8.83755719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.934012739 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.02, Z:-0.09 [[ 9.99847873e-01 1.72329269e-02 -2.69401771e-03 1.17343143e+01] [-1.72330945e-02 9.99851498e-01 -3.90017344e-05 -2.42428404e-02] [ 2.69294553e-03 8.54220629e-05 9.99996370e-01 -8.85164341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.964012739 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.02, Z:-0.09 [[ 9.99848274e-01 1.72096482e-02 -2.69401589e-03 1.17644750e+01] [-1.72098160e-02 9.99851899e-01 -3.91273627e-05 -2.37612790e-02] [ 2.69294353e-03 8.54849438e-05 9.99996370e-01 -8.84351634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.994012739 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.02, Z:-0.08 [[ 9.99798659e-01 1.98842616e-02 -2.69401497e-03 1.17931733e+01] [-1.98844393e-02 9.99802284e-01 -3.91900847e-05 -2.25821312e-02] [ 2.69270306e-03 9.27511714e-05 9.99996370e-01 -8.35256084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.024012739 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.02, Z:-0.09 [[ 9.99754771e-01 2.19804305e-02 -2.69401310e-03 1.18220620e+01] [-2.19806161e-02 9.99758396e-01 -3.93182683e-05 -1.86617470e-02] [ 2.69249799e-03 9.85246942e-05 9.99996370e-01 -8.86345398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.054012739 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.01, Z:-0.09 [[ 9.99685348e-01 2.49388654e-02 -2.69401170e-03 1.18518861e+01] [-2.49390620e-02 9.99688972e-01 -3.94139675e-05 -1.30189719e-02] [ 2.69219085e-03 1.06587691e-04 9.99996370e-01 -9.11873373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.084012739 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.01, Z:-0.09 [[ 9.99677412e-01 2.52549847e-02 -2.69401077e-03 1.18810787e+01] [-2.52551826e-02 9.99681036e-01 -3.94774365e-05 -7.63883113e-03] [ 2.69215448e-03 1.07502436e-04 9.99996370e-01 -9.21269934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.114012739 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.00, Z:-0.09 [[ 9.99689871e-01 2.47568926e-02 -2.69400984e-03 1.19094464e+01] [-2.47570889e-02 9.99693496e-01 -3.95406037e-05 -4.46944060e-03] [ 2.69220522e-03 1.06224182e-04 9.99996370e-01 -9.15062244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.144012739 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.00, Z:-0.09 [[ 9.99716574e-01 2.36540524e-02 -2.69400887e-03 1.19384154e+01] [-2.36542449e-02 9.99720198e-01 -3.96071289e-05 -1.30311956e-03] [ 2.69231821e-03 1.03320649e-04 9.99996370e-01 -9.04333377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.174012739 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:11.97, Y:0.00, Z:-0.09 [[ 9.99763330e-01 2.15876465e-02 -2.69400795e-03 1.19684954e+01] [-2.15878316e-02 9.99766955e-01 -3.96691391e-05 2.16483958e-03] [ 2.69252376e-03 9.78175407e-05 9.99996370e-01 -9.08746477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.204012739 meters Centerline goodness : 0.997238 Centerline is valid? [True, True] Translation: X:12.00, Y:0.00, Z:-0.09 [[ 9.99786356e-01 2.04935247e-02 -2.69400703e-03 1.19982831e+01] [-2.04937061e-02 9.99789981e-01 -3.97318183e-05 3.97721905e-03] [ 2.69262699e-03 9.49335181e-05 9.99996370e-01 -9.26268491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.234012739 meters Centerline goodness : 0.997777 Centerline is valid? [True, True] Translation: X:12.03, Y:0.01, Z:-0.10 [[ 9.99843422e-01 1.74892347e-02 -2.69400611e-03 1.20278276e+01] [-1.74894053e-02 9.99847048e-01 -3.97942966e-05 8.55799578e-03] [ 2.69289808e-03 8.69046305e-05 9.99996370e-01 -9.57498201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.264012738999998 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:12.06, Y:0.01, Z:-0.10 [[ 9.99872467e-01 1.57413957e-02 -2.69400518e-03 1.20576832e+01] [-1.57415602e-02 9.99876093e-01 -3.98569242e-05 1.03616663e-02] [ 2.69304397e-03 8.22596858e-05 9.99996370e-01 -9.66168347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.294012739 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:12.09, Y:0.01, Z:-0.10 [[ 9.99890268e-01 1.45669241e-02 -2.69400421e-03 1.20859229e+01] [-1.45670844e-02 9.99893894e-01 -3.99225838e-05 1.07203502e-02] [ 2.69313681e-03 7.91619898e-05 9.99996370e-01 -9.74844785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.324012739 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:12.12, Y:0.01, Z:-0.10 [[ 9.99900288e-01 1.38620139e-02 -2.69400313e-03 1.21151639e+01] [-1.38621720e-02 9.99903915e-01 -3.99950781e-05 1.11448385e-02] [ 2.69318986e-03 7.73358248e-05 9.99996370e-01 -9.76547821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.354012738999998 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:12.14, Y:0.01, Z:-0.10 [[ 9.99890246e-01 1.45684322e-02 -2.69400219e-03 1.21440052e+01] [-1.45685929e-02 9.99893872e-01 -4.00586083e-05 1.46653512e-02] [ 2.69313268e-03 7.93020329e-05 9.99996370e-01 -9.59312000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.384012739 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:12.17, Y:0.02, Z:-0.09 [[ 9.99884226e-01 1.49758803e-02 -2.69400077e-03 1.21733400e+01] [-1.49760428e-02 9.99887852e-01 -4.01537049e-05 1.66168843e-02] [ 2.69309730e-03 8.04945270e-05 9.99996370e-01 -9.35897582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.414012739 meters Centerline goodness : 0.997341 Centerline is valid? [True, True] Translation: X:12.20, Y:0.02, Z:-0.09 [[ 9.99874361e-01 1.56206581e-02 -2.69399983e-03 1.22015174e+01] [-1.56208231e-02 9.99877987e-01 -4.02167805e-05 1.80348948e-02] [ 2.69304291e-03 8.22942225e-05 9.99996370e-01 -9.29505875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.444012738999998 meters Centerline goodness : 0.997489 Centerline is valid? [True, True] Translation: X:12.23, Y:0.02, Z:-0.09 [[ 9.99879496e-01 1.52884278e-02 -2.69399842e-03 1.22300177e+01] [-1.52885918e-02 9.99883122e-01 -4.03107270e-05 2.09334510e-02] [ 2.69306726e-03 8.14933116e-05 9.99996370e-01 -9.35790591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.474012739 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:12.26, Y:0.02, Z:-0.09 [[ 9.99896890e-01 1.41050377e-02 -2.69399704e-03 1.22594134e+01] [-1.41051977e-02 9.99900516e-01 -4.04030030e-05 2.26384676e-02] [ 2.69315914e-03 7.83981978e-05 9.99996370e-01 -9.41627183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.504012739 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:12.29, Y:0.03, Z:-0.09 [[ 9.99932676e-01 1.12865663e-02 -2.69399608e-03 1.22885077e+01] [-1.12867162e-02 9.99936302e-01 -4.04669763e-05 2.58040598e-02] [ 2.69336774e-03 7.08706211e-05 9.99996370e-01 -9.22168568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.534012739 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:12.32, Y:0.03, Z:-0.09 [[ 9.99947190e-01 9.91761933e-03 -2.69399464e-03 1.23183211e+01] [-9.91776458e-03 9.99950817e-01 -4.05626215e-05 2.74799651e-02] [ 2.69345985e-03 6.72788839e-05 9.99996370e-01 -9.04084884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.564012739 meters Centerline goodness : 0.997637 Centerline is valid? [True, True] Translation: X:12.35, Y:0.03, Z:-0.09 [[ 9.99960125e-01 8.51417436e-03 -2.69399363e-03 1.23470452e+01] [-8.51431470e-03 9.99963752e-01 -4.06292542e-05 2.96755872e-02] [ 2.69355005e-03 6.35651437e-05 9.99996370e-01 -8.84751131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.594012739 meters Centerline goodness : 0.997440 Centerline is valid? [True, True] Translation: X:12.38, Y:0.03, Z:-0.09 [[ 9.99976196e-01 6.35220263e-03 -2.69399263e-03 1.23763580e+01] [-6.35233531e-03 9.99979823e-01 -4.06957673e-05 3.36126465e-02] [ 2.69367976e-03 5.78079430e-05 9.99996370e-01 -8.67879474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.624012739 meters Centerline goodness : 0.997876 Centerline is valid? [True, True] Translation: X:12.40, Y:0.04, Z:-0.09 [[ 9.99981309e-01 5.48847169e-03 -2.69399168e-03 1.24041069e+01] [-5.48860140e-03 9.99984937e-01 -4.07585619e-05 3.55693737e-02] [ 2.69372739e-03 5.55440466e-05 9.99996370e-01 -8.69530298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.654012739 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:12.43, Y:0.04, Z:-0.09 [[ 9.99986253e-01 4.49839469e-03 -2.69398903e-03 1.24326207e+01] [-4.49852128e-03 9.99989881e-01 -4.09330488e-05 3.81586189e-02] [ 2.69377763e-03 5.30514531e-05 9.99996370e-01 -8.79742170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.684012739 meters Centerline goodness : 0.997476 Centerline is valid? [True, True] Translation: X:12.46, Y:0.04, Z:-0.09 [[ 9.99986231e-01 4.50339683e-03 -2.69398708e-03 1.24611795e+01] [-4.50352379e-03 9.99989858e-01 -4.10607940e-05 3.97555293e-02] [ 2.69377484e-03 5.31926636e-05 9.99996370e-01 -8.81567807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.714012739 meters Centerline goodness : 0.997566 Centerline is valid? [True, True] Translation: X:12.49, Y:0.04, Z:-0.09 [[ 9.99984268e-01 4.91993065e-03 -2.69398511e-03 1.24892414e+01] [-4.92005946e-03 9.99987896e-01 -4.11895528e-05 4.15084490e-02] [ 2.69374985e-03 5.44434717e-05 9.99996370e-01 -8.86969812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.744012739 meters Centerline goodness : 0.997719 Centerline is valid? [True, True] Translation: X:12.52, Y:0.04, Z:-0.09 [[ 9.99983070e-01 5.15764521e-03 -2.69398239e-03 1.25178568e+01] [-5.15777536e-03 9.99986698e-01 -4.13667225e-05 4.40711922e-02] [ 2.69373320e-03 5.52609782e-05 9.99996370e-01 -9.16615010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.774012739 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:12.55, Y:0.04, Z:-0.09 [[ 9.99984238e-01 4.92600902e-03 -2.69398042e-03 1.25466074e+01] [-4.92613867e-03 9.99987866e-01 -4.14945560e-05 4.48997399e-02] [ 2.69374333e-03 5.47648232e-05 9.99996370e-01 -9.28721478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.804012739 meters Centerline goodness : 0.997444 Centerline is valid? [True, True] Translation: X:12.57, Y:0.05, Z:-0.09 [[ 9.99990483e-01 3.43160592e-03 -2.69397846e-03 1.25740083e+01] [-3.43173050e-03 9.99994111e-01 -4.16217250e-05 4.80774957e-02] [ 2.69381976e-03 5.08663369e-05 9.99996370e-01 -9.25050651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.834012739 meters Centerline goodness : 0.989314 Centerline is valid? [True, True] Translation: X:12.60, Y:0.05, Z:-0.08 [[ 9.99991343e-01 3.17119797e-03 -2.69397600e-03 1.26027706e+01] [-3.17132203e-03 9.99994970e-01 -4.17802213e-05 4.70593395e-02] [ 2.69382995e-03 5.03233251e-05 9.99996370e-01 -7.90362850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.864012739 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:12.63, Y:0.05, Z:-0.09 [[ 9.99994429e-01 1.97069243e-03 -2.69397402e-03 1.26320053e+01] [-1.97081248e-03 9.99998057e-01 -4.19070119e-05 4.98748842e-02] [ 2.69388620e-03 4.72160960e-05 9.99996370e-01 -9.07305953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.894012739 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:12.66, Y:0.05, Z:-0.09 [[ 9.99996215e-01 5.59170420e-04 -2.69397206e-03 1.26597765e+01] [-5.59285685e-04 9.99999843e-01 -4.20331221e-05 5.00231863e-02] [ 2.69394813e-03 4.35396630e-05 9.99996370e-01 -8.72003337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.924012739 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:12.69, Y:0.05, Z:-0.09 [[ 9.99996370e-01 4.79931639e-05 -2.69396960e-03 1.26882473e+01] [-4.81069980e-05 9.99999998e-01 -4.21903460e-05 5.13033762e-02] [ 2.69396756e-03 4.23197916e-05 9.99996370e-01 -8.60096200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.954012739 meters Centerline goodness : 0.997321 Centerline is valid? [True, True] Translation: X:12.72, Y:0.05, Z:-0.09 [[ 9.99996292e-01 -3.98745392e-04 -2.69396813e-03 1.27166489e+01] [ 3.98632928e-04 9.99999920e-01 -4.22836540e-05 5.37568852e-02] [ 2.69398477e-03 4.12095928e-05 9.99996370e-01 -8.83030098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.984012739 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:12.74, Y:0.05, Z:-0.09 [[ 9.99996025e-01 -8.32541425e-04 -2.69396616e-03 1.27449250e+01] [ 8.32430197e-04 9.99999653e-01 -4.24089109e-05 5.44818226e-02] [ 2.69400053e-03 4.01662035e-05 9.99996370e-01 -9.08574123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.014012738999998 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:12.77, Y:0.05, Z:-0.09 [[ 9.99995604e-01 -1.23904032e-03 -2.69396468e-03 1.27735146e+01] [ 1.23893032e-03 9.99999232e-01 -4.25026004e-05 5.49191803e-02] [ 2.69401527e-03 3.91647791e-05 9.99996370e-01 -9.16700232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.044012739 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:12.80, Y:0.06, Z:-0.09 [[ 9.99995228e-01 -1.51216497e-03 -2.69396271e-03 1.28023499e+01] [ 1.51205562e-03 9.99998856e-01 -4.26271851e-05 5.72172113e-02] [ 2.69402409e-03 3.85535603e-05 9.99996370e-01 -9.07573827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.074012739 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:12.83, Y:0.06, Z:-0.09 [[ 9.99995993e-01 -8.69848575e-04 -2.69395570e-03 1.28304810e+01] [ 8.69735713e-04 9.99999621e-01 -4.30655903e-05 5.92597030e-02] [ 2.69399214e-03 4.07223883e-05 9.99996370e-01 -8.95936694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.104012738999998 meters Centerline goodness : 0.996939 Centerline is valid? [True, True] Translation: X:12.86, Y:0.06, Z:-0.09 [[ 9.99996168e-01 -6.36893340e-04 -2.69395420e-03 1.28592680e+01] [ 6.36779381e-04 9.99999796e-01 -4.31591455e-05 6.21401339e-02] [ 2.69398114e-03 4.14435256e-05 9.99996370e-01 -8.94250505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.134012739 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:12.89, Y:0.06, Z:-0.09 [[ 9.99993825e-01 -2.25659037e-03 -2.69395273e-03 1.28879979e+01] [ 2.25648204e-03 9.99997453e-01 -4.32508355e-05 6.30716927e-02] [ 2.69404347e-03 3.71717124e-05 9.99996370e-01 -9.01049132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.164012739 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:12.92, Y:0.06, Z:-0.09 [[ 9.99985198e-01 -4.72722863e-03 -2.69395078e-03 1.29172961e+01] [ 4.72712894e-03 9.99988826e-01 -4.33719705e-05 6.34428702e-02] [ 2.69412571e-03 3.06366759e-05 9.99996370e-01 -8.96494938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.194012738999998 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:12.95, Y:0.06, Z:-0.08 [[ 9.99934215e-01 -1.11493668e-02 -2.69394882e-03 1.29457744e+01] [ 1.11492901e-02 9.99937844e-01 -4.34935555e-05 6.36964352e-02] [ 2.69426630e-03 1.34550775e-05 9.99996370e-01 -8.44001308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.224012739 meters Centerline goodness : 0.997211 Centerline is valid? [True, True] Translation: X:12.97, Y:0.06, Z:-0.09 [[ 9.99822390e-01 -1.86529219e-02 -2.69394735e-03 1.29742664e+01] [ 1.86528722e-02 9.99826019e-01 -4.35844574e-05 6.13817323e-02] [ 2.69429163e-03 -6.67313926e-06 9.99996370e-01 -8.53697384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.254012739 meters Centerline goodness : 0.997485 Centerline is valid? [True, True] Translation: X:13.00, Y:0.06, Z:-0.09 [[ 9.99744627e-01 -2.24371116e-02 -2.69394534e-03 1.30034245e+01] [ 2.24370753e-02 9.99748256e-01 -4.37080253e-05 6.01644501e-02] [ 2.69424784e-03 -1.67473909e-05 9.99996370e-01 -8.58894472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.284012739 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:13.03, Y:0.06, Z:-0.09 [[ 9.99659599e-01 -2.59504928e-02 -2.69394338e-03 1.30335578e+01] [ 2.59504690e-02 9.99663229e-01 -4.38283526e-05 5.94400529e-02] [ 2.69417351e-03 -2.60956607e-05 9.99996370e-01 -8.72769611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.314012739 meters Centerline goodness : 0.997461 Centerline is valid? [True, True] Translation: X:13.06, Y:0.06, Z:-0.09 [[ 9.99599148e-01 -2.81830699e-02 -2.69394233e-03 1.30621893e+01] [ 2.81830540e-02 9.99602778e-01 -4.38930470e-05 5.85179786e-02] [ 2.69410928e-03 -3.20480697e-05 9.99996370e-01 -8.74935004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.344012739 meters Centerline goodness : 0.997773 Centerline is valid? [True, True] Translation: X:13.09, Y:0.06, Z:-0.09 [[ 9.99541850e-01 -3.01468574e-02 -2.69394075e-03 1.30904159e+01] [ 3.01468483e-02 9.99545480e-01 -4.39898278e-05 5.68676723e-02] [ 2.69404245e-03 -3.72441492e-05 9.99996370e-01 -8.77851047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.374012739 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:13.12, Y:0.05, Z:-0.09 [[ 9.99569550e-01 -2.92139854e-02 -2.69393925e-03 1.31192368e+01] [ 2.92139727e-02 9.99573180e-01 -4.40814624e-05 5.49210019e-02] [ 2.69407722e-03 -3.46381801e-05 9.99996370e-01 -8.75832791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.404012739 meters Centerline goodness : 0.997958 Centerline is valid? [True, True] Translation: X:13.15, Y:0.05, Z:-0.09 [[ 9.99599694e-01 -2.81637051e-02 -2.69393259e-03 1.31484545e+01] [ 2.81636875e-02 9.99603324e-01 -4.44849416e-05 5.42855563e-02] [ 2.69411683e-03 -3.14039415e-05 9.99996370e-01 -8.82591806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.434012739 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:13.18, Y:0.05, Z:-0.09 [[ 9.99637834e-01 -2.67758107e-02 -2.69393151e-03 1.31768851e+01] [ 2.67757879e-02 9.99641463e-01 -4.45498555e-05 5.34414494e-02] [ 2.69415850e-03 -2.75984177e-05 9.99996370e-01 -8.82029695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.464012739 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:13.21, Y:0.05, Z:-0.09 [[ 9.99698819e-01 -2.43929000e-02 -2.69392942e-03 1.32062132e+01] [ 2.43928682e-02 9.99702449e-01 -4.46758116e-05 5.27960540e-02] [ 2.69421762e-03 -2.10503093e-05 9.99996370e-01 -8.86189007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.494012739 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:13.23, Y:0.05, Z:-0.09 [[ 9.99718252e-01 -2.35830299e-02 -2.69392838e-03 1.32347102e+01] [ 2.35829950e-02 9.99721881e-01 -4.47390160e-05 5.32931771e-02] [ 2.69423423e-03 -1.88044885e-05 9.99996370e-01 -8.87647049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.524012739 meters Centerline goodness : 0.997589 Centerline is valid? [True, True] Translation: X:13.26, Y:0.05, Z:-0.09 [[ 9.99746246e-01 -2.23648599e-02 -2.69392680e-03 1.32647104e+01] [ 2.23648203e-02 9.99749875e-01 -4.48334570e-05 5.24146288e-02] [ 2.69425568e-03 -1.54271085e-05 9.99996370e-01 -8.58948842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.554012739 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:13.29, Y:0.05, Z:-0.08 [[ 9.99743451e-01 -2.24894295e-02 -2.69392575e-03 1.32936733e+01] [ 2.24893902e-02 9.99747081e-01 -4.48964571e-05 5.23396742e-02] [ 2.69425410e-03 -1.56998083e-05 9.99996370e-01 -8.45263990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.584012739 meters Centerline goodness : 0.989881 Centerline is valid? [True, True] Translation: X:13.32, Y:0.05, Z:-0.07 [[ 9.99732613e-01 -2.29661920e-02 -2.69392418e-03 1.33226773e+01] [ 2.29661542e-02 9.99736242e-01 -4.49905619e-05 5.15606413e-02] [ 2.69424690e-03 -1.68905460e-05 9.99996370e-01 -7.47132436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.614012739 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:13.35, Y:0.05, Z:-0.09 [[ 9.99730541e-01 -2.30562028e-02 -2.69392262e-03 1.33527511e+01] [ 2.30561651e-02 9.99734170e-01 -4.50839192e-05 5.15890843e-02] [ 2.69424596e-03 -1.70397536e-05 9.99996370e-01 -8.50429084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.644012739 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:13.38, Y:0.05, Z:-0.09 [[ 9.99740348e-01 -2.26269635e-02 -2.69392152e-03 1.33817820e+01] [ 2.26269240e-02 9.99743977e-01 -4.51496569e-05 5.06849641e-02] [ 2.69425341e-03 -1.58172237e-05 9.99996370e-01 -8.76419955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.674012739 meters Centerline goodness : 0.987698 Centerline is valid? [True, True] Translation: X:13.41, Y:0.05, Z:-0.08 [[ 9.99779244e-01 -2.08375963e-02 -2.69391377e-03 1.34107417e+01] [ 2.08375491e-02 9.99782874e-01 -4.56073618e-05 4.84618403e-02] [ 2.69427920e-03 -1.05372667e-05 9.99996370e-01 -7.57512791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.704012739 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:13.44, Y:0.05, Z:-0.09 [[ 9.99800182e-01 -1.98075284e-02 -2.69390585e-03 1.34391543e+01] [ 1.98074761e-02 9.99803812e-01 -4.60706494e-05 5.13789761e-02] [ 2.69428988e-03 -7.29803212e-06 9.99996370e-01 -8.79072968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.734012739 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:13.47, Y:0.05, Z:-0.09 [[ 9.99833002e-01 -1.80751518e-02 -2.69390415e-03 1.34683115e+01] [ 1.80750930e-02 9.99836631e-01 -4.61697515e-05 5.27081678e-02] [ 2.69429857e-03 -2.53052673e-06 9.99996370e-01 -8.65728941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.764012738999998 meters Centerline goodness : 0.988087 Centerline is valid? [True, True] Translation: X:13.50, Y:0.05, Z:-0.07 [[ 9.99866091e-01 -1.61413366e-02 -2.69390302e-03 1.34982787e+01] [ 1.61412706e-02 9.99869720e-01 -4.62356967e-05 5.23885235e-02] [ 2.69429836e-03 2.74648774e-06 9.99996370e-01 -7.33856359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.794012739 meters Centerline goodness : 0.995845 Centerline is valid? [True, True] Translation: X:13.53, Y:0.06, Z:-0.08 [[ 9.99931064e-01 -1.14285053e-02 -2.69390188e-03 1.35267188e+01] [ 1.14284220e-02 9.99934692e-01 -4.63017035e-05 5.68638790e-02] [ 2.69425511e-03 1.55114641e-05 9.99996370e-01 -8.30270762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.824012739 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:13.56, Y:0.06, Z:-0.08 [[ 9.99950249e-01 -9.60433552e-03 -2.69390019e-03 1.35550848e+01] [ 9.60424536e-03 9.99953877e-01 -4.63999487e-05 6.27027354e-02] [ 2.69422158e-03 2.05247619e-05 9.99996370e-01 -8.15863463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.854012738999998 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:13.58, Y:0.06, Z:-0.08 [[ 9.99945146e-01 -1.01216988e-02 -2.69389243e-03 1.35833352e+01] [ 1.01216093e-02 9.99948774e-01 -4.68462709e-05 6.47575150e-02] [ 2.69422859e-03 1.95771746e-05 9.99996370e-01 -7.77405285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.884012739 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:13.61, Y:0.07, Z:-0.08 [[ 9.99943472e-01 -1.02856633e-02 -2.69389076e-03 1.36126395e+01] [ 1.02855741e-02 9.99947101e-01 -4.69417930e-05 6.54115728e-02] [ 2.69423109e-03 1.92309263e-05 9.99996370e-01 -7.76615508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.914012739 meters Centerline goodness : 0.996045 Centerline is valid? [True, True] Translation: X:13.64, Y:0.07, Z:-0.08 [[ 9.99931093e-01 -1.14259531e-02 -2.69388299e-03 1.36416428e+01] [ 1.14258669e-02 9.99934722e-01 -4.73835197e-05 6.80908580e-02] [ 2.69424854e-03 1.66003061e-05 9.99996370e-01 -8.38034884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.944012738999998 meters Centerline goodness : 0.996742 Centerline is valid? [True, True] Translation: X:13.67, Y:0.07, Z:-0.09 [[ 9.99918367e-01 -1.24900935e-02 -2.69387478e-03 1.36705476e+01] [ 1.24900099e-02 9.99921996e-01 -4.78459340e-05 6.94416242e-02] [ 2.69426225e-03 1.41955055e-05 9.99996370e-01 -8.68628591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.974012739 meters Centerline goodness : 0.997308 Centerline is valid? [True, True] Translation: X:13.70, Y:0.07, Z:-0.09 [[ 9.99874584e-01 -1.56063782e-02 -2.69387303e-03 1.36992788e+01] [ 1.56063057e-02 9.99878213e-01 -4.79444177e-05 7.38400632e-02] [ 2.69429319e-03 5.89699868e-06 9.99996370e-01 -9.10092846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.004012739 meters Centerline goodness : 0.996378 Centerline is valid? [True, True] Translation: X:13.73, Y:0.08, Z:-0.09 [[ 9.99834258e-01 -1.80055429e-02 -2.69387078e-03 1.37284281e+01] [ 1.80054788e-02 9.99837887e-01 -4.80705911e-05 7.85792435e-02] [ 2.69429960e-03 -4.41809237e-07 9.99996370e-01 -8.93381954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.034012738999998 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:13.76, Y:0.08, Z:-0.09 [[ 9.99818907e-01 -1.88386919e-02 -2.69386963e-03 1.37580364e+01] [ 1.88386306e-02 9.99822536e-01 -4.81346734e-05 7.95929883e-02] [ 2.69429836e-03 -2.62285823e-06 9.99996370e-01 -8.87062238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.064012739 meters Centerline goodness : 0.985080 Centerline is valid? [True, True] Translation: X:13.79, Y:0.08, Z:-0.07 [[ 9.99816617e-01 -1.89598195e-02 -2.69386845e-03 1.37865647e+01] [ 1.89597585e-02 9.99820246e-01 -4.82006368e-05 7.79918902e-02] [ 2.69429809e-03 -2.88329755e-06 9.99996370e-01 -7.41741703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.094012739 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:13.82, Y:0.08, Z:-0.09 [[ 9.99809260e-01 -1.93438916e-02 -2.69386669e-03 1.38163869e+01] [ 1.93438317e-02 9.99812889e-01 -4.82990919e-05 8.37104515e-02] [ 2.69429693e-03 -3.81982447e-06 9.99996370e-01 -8.85228218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.124012739 meters Centerline goodness : 0.996700 Centerline is valid? [True, True] Translation: X:13.84, Y:0.09, Z:-0.09 [[ 9.99817217e-01 -1.89281885e-02 -2.69386552e-03 1.38446048e+01] [ 1.89281269e-02 9.99820846e-01 -4.83638255e-05 8.57107447e-02] [ 2.69429835e-03 -2.63484321e-06 9.99996370e-01 -8.88988153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.154012739 meters Centerline goodness : 0.997252 Centerline is valid? [True, True] Translation: X:13.87, Y:0.08, Z:-0.09 [[ 9.99823457e-01 -1.85956247e-02 -2.69386379e-03 1.38728146e+01] [ 1.85955616e-02 9.99827086e-01 -4.84603320e-05 8.46992249e-02] [ 2.69429913e-03 -1.64213338e-06 9.99996370e-01 -8.90682497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.184012739 meters Centerline goodness : 0.996451 Centerline is valid? [True, True] Translation: X:13.90, Y:0.09, Z:-0.09 [[ 9.99814326e-01 -1.90802528e-02 -2.69386164e-03 1.39027436e+01] [ 1.90801912e-02 9.99817955e-01 -4.85793625e-05 8.50723824e-02] [ 2.69429814e-03 -2.82905249e-06 9.99996370e-01 -8.73642218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.214012739 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:13.93, Y:0.09, Z:-0.09 [[ 9.99799820e-01 -1.98258123e-02 -2.69386046e-03 1.39318229e+01] [ 1.98257532e-02 9.99803449e-01 -4.86445890e-05 8.68491355e-02] [ 2.69429540e-03 -4.77296147e-06 9.99996370e-01 -8.64962035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.244012739 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:13.96, Y:0.09, Z:-0.09 [[ 9.99751278e-01 -2.21387776e-02 -2.69385827e-03 1.39600585e+01] [ 2.21387266e-02 9.99754907e-01 -4.87657465e-05 8.89821331e-02] [ 2.69427764e-03 -1.08849743e-05 9.99996370e-01 -8.64601977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.274012739 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:13.99, Y:0.09, Z:-0.08 [[ 9.99730389e-01 -2.30628002e-02 -2.69385652e-03 1.39899254e+01] [ 2.30627522e-02 9.99734018e-01 -4.88619624e-05 8.85023862e-02] [ 2.69426690e-03 -1.32789569e-05 9.99996370e-01 -8.46548747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.304012739 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:14.02, Y:0.09, Z:-0.08 [[ 9.99715175e-01 -2.37131393e-02 -2.69385534e-03 1.40199065e+01] [ 2.37130935e-02 9.99718804e-01 -4.89273703e-05 8.93739026e-02] [ 2.69425806e-03 -1.49662090e-05 9.99996370e-01 -8.23562561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.334012739 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:14.05, Y:0.09, Z:-0.08 [[ 9.99716471e-01 -2.36584222e-02 -2.69385475e-03 1.40490861e+01] [ 2.36583761e-02 9.99720100e-01 -4.89595594e-05 9.14611754e-02] [ 2.69425905e-03 -1.47865510e-05 9.99996370e-01 -8.31957274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.364012739 meters Centerline goodness : 0.996882 Centerline is valid? [True, True] Translation: X:14.08, Y:0.09, Z:-0.09 [[ 9.99722247e-01 -2.34130843e-02 -2.69385361e-03 1.40790305e+01] [ 2.34130372e-02 9.99725876e-01 -4.90222949e-05 9.30278435e-02] [ 2.69426292e-03 -1.40626159e-05 9.99996370e-01 -8.53696269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.394012739 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:14.11, Y:0.09, Z:-0.09 [[ 9.99742407e-01 -2.25358035e-02 -2.69385374e-03 1.41088803e+01] [ 2.25357533e-02 9.99746036e-01 -4.90150369e-05 9.34433679e-02] [ 2.69427419e-03 -1.17056123e-05 9.99996370e-01 -8.62085814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.424012739 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:14.14, Y:0.10, Z:-0.09 [[ 9.99759410e-01 -2.17684311e-02 -2.69385261e-03 1.41382021e+01] [ 2.17683779e-02 9.99763040e-01 -4.90770889e-05 9.53633591e-02] [ 2.69428261e-03 -9.57552018e-06 9.99996370e-01 -8.50140991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.454012739 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:14.17, Y:0.10, Z:-0.09 [[ 9.99794485e-01 -2.00930396e-02 -2.69385143e-03 1.41671649e+01] [ 2.00929802e-02 9.99798114e-01 -4.91418361e-05 1.00358002e-01] [ 2.69429499e-03 -4.99576661e-06 9.99996370e-01 -8.56700689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.484012739 meters Centerline goodness : 0.997046 Centerline is valid? [True, True] Translation: X:14.20, Y:0.10, Z:-0.09 [[ 9.99801422e-01 -1.97448561e-02 -2.69385084e-03 1.41969062e+01] [ 1.97447953e-02 9.99805051e-01 -4.91739192e-05 1.01853554e-01] [ 2.69429661e-03 -4.02537914e-06 9.99996370e-01 -8.75126952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.514012738999998 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:14.23, Y:0.10, Z:-0.09 [[ 9.99792790e-01 -2.01772242e-02 -2.69385028e-03 1.42266515e+01] [ 2.01771649e-02 9.99796419e-01 -4.92046310e-05 1.02484843e-01] [ 2.69429468e-03 -5.15982596e-06 9.99996370e-01 -8.79556903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.544012739 meters Centerline goodness : 0.996247 Centerline is valid? [True, True] Translation: X:14.26, Y:0.10, Z:-0.09 [[ 9.99743808e-01 -2.24735713e-02 -2.69384911e-03 1.42566906e+01] [ 2.24735202e-02 9.99747437e-01 -4.92685966e-05 1.02504721e-01] [ 2.69427599e-03 -1.12842981e-05 9.99996370e-01 -8.79354858e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.574012739 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:14.29, Y:0.10, Z:-0.09 [[ 9.99708143e-01 -2.40077390e-02 -2.69384793e-03 1.42859257e+01] [ 2.40076932e-02 9.99711773e-01 -4.93332111e-05 1.02756430e-01] [ 2.69425587e-03 -1.53542618e-05 9.99996370e-01 -8.63994873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.604012738999998 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:14.32, Y:0.10, Z:-0.08 [[ 9.99638581e-01 -2.67479015e-02 -2.69384675e-03 1.43155782e+01] [ 2.67478655e-02 9.99642211e-01 -4.93976260e-05 1.02286951e-01] [ 2.69420420e-03 -2.26748777e-05 9.99996370e-01 -8.46195912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.634012739 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:14.34, Y:0.10, Z:-0.09 [[ 9.99605744e-01 -2.79481791e-02 -2.69384616e-03 1.43447741e+01] [ 2.79481473e-02 9.99609373e-01 -4.94297069e-05 1.01936230e-01] [ 2.69417534e-03 -2.58777905e-05 9.99996370e-01 -8.50050398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.664012739 meters Centerline goodness : 0.995908 Centerline is valid? [True, True] Translation: X:14.37, Y:0.10, Z:-0.09 [[ 9.99584157e-01 -2.87098701e-02 -2.69384498e-03 1.43738875e+01] [ 2.87098409e-02 9.99587786e-01 -4.94940267e-05 1.00069666e-01] [ 2.69415551e-03 -2.78664159e-05 9.99996370e-01 -8.57515761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.694012738999998 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:14.40, Y:0.10, Z:-0.09 [[ 9.99592617e-01 -2.84137820e-02 -2.69384439e-03 1.44037770e+01] [ 2.84137517e-02 9.99596247e-01 -4.95258779e-05 9.96482092e-02] [ 2.69416396e-03 -2.70365238e-05 9.99996370e-01 -8.58922003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.724012739 meters Centerline goodness : 0.996585 Centerline is valid? [True, True] Translation: X:14.43, Y:0.10, Z:-0.09 [[ 9.99615810e-01 -2.75857970e-02 -2.69384323e-03 1.44336052e+01] [ 2.75857635e-02 9.99619439e-01 -4.95890063e-05 9.94914441e-02] [ 2.69418601e-03 -2.47417676e-05 9.99996370e-01 -8.50613687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.754012739 meters Centerline goodness : 0.996663 Centerline is valid? [True, True] Translation: X:14.46, Y:0.10, Z:-0.09 [[ 9.99667518e-01 -2.56436358e-02 -2.69384206e-03 1.44623588e+01] [ 2.56435951e-02 9.99671148e-01 -4.96524361e-05 9.83477894e-02] [ 2.69422945e-03 -1.94438675e-05 9.99996370e-01 -8.50092198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.784012738999998 meters Centerline goodness : 0.996356 Centerline is valid? [True, True] Translation: X:14.49, Y:0.10, Z:-0.08 [[ 9.99683721e-01 -2.50040417e-02 -2.69383977e-03 1.44905728e+01] [ 2.50039983e-02 9.99687350e-01 -4.97764647e-05 9.86948867e-02] [ 2.69424215e-03 -1.75960437e-05 9.99996370e-01 -8.42067249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.814012739 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:14.52, Y:0.10, Z:-0.08 [[ 9.99693942e-01 -2.45919807e-02 -2.69383802e-03 1.45199690e+01] [ 2.45919356e-02 9.99697571e-01 -4.98707664e-05 9.87711685e-02] [ 2.69424975e-03 -1.63911880e-05 9.99996370e-01 -8.27510673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.844012739 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:14.55, Y:0.10, Z:-0.08 [[ 9.99693913e-01 -2.45931494e-02 -2.69383684e-03 1.45496908e+01] [ 2.45931041e-02 9.99697543e-01 -4.99347539e-05 9.89207959e-02] [ 2.69425012e-03 -1.63303403e-05 9.99996370e-01 -8.13715331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.874012739 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:14.58, Y:0.10, Z:-0.08 [[ 9.99693954e-01 -2.45915121e-02 -2.69383625e-03 1.45798407e+01] [ 2.45914667e-02 9.99697583e-01 -4.99665763e-05 9.89312384e-02] [ 2.69425034e-03 -1.62941002e-05 9.99996370e-01 -8.11530244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.904012739 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:14.61, Y:0.10, Z:-0.08 [[ 9.99702172e-01 -2.42551133e-02 -2.69383507e-03 1.46090876e+01] [ 2.42550665e-02 9.99705801e-01 -5.00302527e-05 9.88146119e-02] [ 2.69425603e-03 -1.53237964e-05 9.99996370e-01 -7.97237381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.934012739 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:14.64, Y:0.10, Z:-0.08 [[ 9.99713117e-01 -2.37997359e-02 -2.69383448e-03 1.46390505e+01] [ 2.37996874e-02 9.99716746e-01 -5.00619694e-05 9.90799698e-02] [ 2.69426290e-03 -1.40648110e-05 9.99996370e-01 -7.95969216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.964012739 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:14.67, Y:0.10, Z:-0.08 [[ 9.99744942e-01 -2.24230517e-02 -2.69383335e-03 1.46691741e+01] [ 2.24229981e-02 9.99748572e-01 -5.01224250e-05 1.01136828e-01] [ 2.69427994e-03 -1.02941792e-05 9.99996370e-01 -8.22302712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.994012739 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:14.70, Y:0.10, Z:-0.08 [[ 9.99775187e-01 -2.10313884e-02 -2.69383216e-03 1.46984379e+01] [ 2.10313295e-02 9.99778816e-01 -5.01863321e-05 1.03054904e-01] [ 2.69429182e-03 -6.47982223e-06 9.99996370e-01 -8.35360231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.024012739 meters Centerline goodness : 0.996896 Centerline is valid? [True, True] Translation: X:14.73, Y:0.10, Z:-0.08 [[ 9.99801501e-01 -1.97408471e-02 -2.69383157e-03 1.47277919e+01] [ 1.97407835e-02 9.99805130e-01 -5.02181258e-05 1.04976898e-01] [ 2.69429797e-03 -2.97018819e-06 9.99996370e-01 -8.35491018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.054012739 meters Centerline goodness : 0.988488 Centerline is valid? [True, True] Translation: X:14.76, Y:0.11, Z:-0.07 [[ 9.99827478e-01 -1.83781722e-02 -2.69383098e-03 1.47574883e+01] [ 1.83781035e-02 9.99831107e-01 -5.02496245e-05 1.05299922e-01] [ 2.69429951e-03 7.33450795e-07 9.99996370e-01 -7.25540269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.084012739 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:14.79, Y:0.11, Z:-0.08 [[ 9.99830242e-01 -1.82271824e-02 -2.69383040e-03 1.47873554e+01] [ 1.82271131e-02 9.99833871e-01 -5.02809189e-05 1.08376476e-01] [ 2.69429935e-03 1.17163205e-06 9.99996370e-01 -7.94882033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.114012739 meters Centerline goodness : 0.996100 Centerline is valid? [True, True] Translation: X:14.82, Y:0.11, Z:-0.08 [[ 9.99825678e-01 -1.84758577e-02 -2.69382921e-03 1.48155655e+01] [ 1.84757891e-02 9.99829307e-01 -5.03443484e-05 1.09427102e-01] [ 2.69429955e-03 5.64951898e-07 9.99996370e-01 -7.90554401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.144012739 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:14.84, Y:0.11, Z:-0.08 [[ 9.99802475e-01 -1.96914520e-02 -2.69382744e-03 1.48443116e+01] [ 1.96913876e-02 9.99806105e-01 -5.04389548e-05 1.11358526e-01] [ 2.69429833e-03 -2.61620832e-06 9.99996370e-01 -8.06795436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.174012739 meters Centerline goodness : 0.995768 Centerline is valid? [True, True] Translation: X:14.87, Y:0.11, Z:-0.08 [[ 9.99782993e-01 -2.06569544e-02 -2.69382569e-03 1.48735144e+01] [ 2.06568933e-02 9.99786622e-01 -5.05320369e-05 1.12892696e-01] [ 2.69429473e-03 -5.12499871e-06 9.99996370e-01 -8.18397265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.204012739 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:14.90, Y:0.12, Z:-0.08 [[ 9.99747381e-01 -2.23140513e-02 -2.69382512e-03 1.49028276e+01] [ 2.23139961e-02 9.99751011e-01 -5.05627484e-05 1.16095900e-01] [ 2.69428264e-03 -9.56002775e-06 9.99996370e-01 -8.36553844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.234012739 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:14.93, Y:0.12, Z:-0.08 [[ 9.99732251e-01 -2.29819215e-02 -2.69382395e-03 1.49324713e+01] [ 2.29818685e-02 9.99735881e-01 -5.06250569e-05 1.17524625e-01] [ 2.69427592e-03 -1.12976056e-05 9.99996370e-01 -8.40050697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.264012738999998 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:14.96, Y:0.12, Z:-0.08 [[ 9.99717582e-01 -2.36114089e-02 -2.69382277e-03 1.49620792e+01] [ 2.36113580e-02 9.99721212e-01 -5.06876590e-05 1.18314204e-01] [ 2.69426857e-03 -1.29314699e-05 9.99996370e-01 -8.35965631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.294012739 meters Centerline goodness : 0.996351 Centerline is valid? [True, True] Translation: X:14.99, Y:0.12, Z:-0.08 [[ 9.99693601e-01 -2.46058321e-02 -2.69382218e-03 1.49922160e+01] [ 2.46057848e-02 9.99697231e-01 -5.07188321e-05 1.18695967e-01] [ 2.69425455e-03 -1.55803170e-05 9.99996370e-01 -8.31244440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.324012739 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:15.02, Y:0.12, Z:-0.08 [[ 9.99645523e-01 -2.64872170e-02 -2.69382099e-03 1.50217359e+01] [ 2.64871763e-02 9.99649152e-01 -5.07822438e-05 1.17752091e-01] [ 2.69422094e-03 -2.05874687e-05 9.99996370e-01 -8.44950646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.354012738999998 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:15.05, Y:0.12, Z:-0.09 [[ 9.99610904e-01 -2.77629960e-02 -2.69381976e-03 1.50507704e+01] [ 2.77629597e-02 9.99614533e-01 -5.08470130e-05 1.17753672e-01] [ 2.69419305e-03 -2.39611810e-05 9.99996370e-01 -8.76182035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.384012739 meters Centerline goodness : 0.997337 Centerline is valid? [True, True] Translation: X:15.08, Y:0.11, Z:-0.09 [[ 9.99519412e-01 -3.08818335e-02 -2.69381915e-03 1.50805358e+01] [ 3.08818085e-02 9.99523042e-01 -5.08792107e-05 1.14530900e-01] [ 2.69410556e-03 -3.23352485e-05 9.99996370e-01 -8.91715950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.414012739 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:15.11, Y:0.11, Z:-0.09 [[ 9.99474610e-01 -3.22993306e-02 -2.69381858e-03 1.51106493e+01] [ 3.22993107e-02 9.99478240e-01 -5.09098339e-05 1.11405668e-01] [ 2.69405740e-03 -3.61253968e-05 9.99996370e-01 -8.67728045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.444012738999998 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:15.14, Y:0.11, Z:-0.09 [[ 9.99422635e-01 -3.38694500e-02 -2.69381737e-03 1.51389476e+01] [ 3.38694356e-02 9.99426265e-01 -5.09734744e-05 1.08588338e-01] [ 2.69399828e-03 -4.02940299e-05 9.99996370e-01 -8.52186296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.474012739 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:15.17, Y:0.10, Z:-0.08 [[ 9.99368368e-01 -3.54345585e-02 -2.69381503e-03 1.51688691e+01] [ 3.54345495e-02 9.99371998e-01 -5.10969430e-05 1.04547417e-01] [ 2.69393391e-03 -4.43894534e-05 9.99996370e-01 -8.40003772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.504012739 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:15.20, Y:0.10, Z:-0.08 [[ 9.99361960e-01 -3.56148270e-02 -2.69381385e-03 1.51981869e+01] [ 3.56148184e-02 9.99365590e-01 -5.11589019e-05 1.02602006e-01] [ 2.69392689e-03 -4.48134308e-05 9.99996370e-01 -8.33865340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.534012738999998 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:15.23, Y:0.10, Z:-0.08 [[ 9.99356228e-01 -3.57753167e-02 -2.69380542e-03 1.52272531e+01] [ 3.57753075e-02 9.99359857e-01 -5.15993681e-05 9.97420603e-02] [ 2.69392698e-03 -4.48055673e-05 9.99996370e-01 -8.24114609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.564012739 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:15.26, Y:0.09, Z:-0.08 [[ 9.99337029e-01 -3.63076430e-02 -2.69379695e-03 1.52554144e+01] [ 3.63076346e-02 9.99340659e-01 -5.20376163e-05 9.28470158e-02] [ 2.69391018e-03 -4.58022784e-05 9.99996370e-01 -8.12527023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.594012739 meters Centerline goodness : 0.997289 Centerline is valid? [True, True] Translation: X:15.28, Y:0.09, Z:-0.08 [[ 9.99331865e-01 -3.64495035e-02 -2.69379394e-03 1.52834823e+01] [ 3.64494952e-02 9.99335495e-01 -5.21931654e-05 9.13736501e-02] [ 2.69390631e-03 -4.60291357e-05 9.99996370e-01 -8.06709830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.624012739 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:15.31, Y:0.09, Z:-0.09 [[ 9.99348538e-01 -3.59894977e-02 -2.69379093e-03 1.53127180e+01] [ 3.59894873e-02 9.99352167e-01 -5.23478114e-05 8.83553652e-02] [ 2.69392978e-03 -4.46344457e-05 9.99996370e-01 -8.50914580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.654012739 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:15.34, Y:0.09, Z:-0.09 [[ 9.99356434e-01 -3.57695640e-02 -2.69378248e-03 1.53415344e+01] [ 3.57695516e-02 9.99360063e-01 -5.27789766e-05 8.63583577e-02] [ 2.69394651e-03 -4.36103818e-05 9.99996370e-01 -8.67685665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.684012739 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:15.37, Y:0.08, Z:-0.09 [[ 9.99362450e-01 -3.56010738e-02 -2.69377393e-03 1.53707094e+01] [ 3.56010597e-02 9.99366080e-01 -5.32122208e-05 8.38290358e-02] [ 2.69396070e-03 -4.27229110e-05 9.99996370e-01 -8.61390990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.714012739 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:15.40, Y:0.08, Z:-0.08 [[ 9.99336513e-01 -3.63218461e-02 -2.69376515e-03 1.53988466e+01] [ 3.63218334e-02 9.99340143e-01 -5.36527457e-05 7.96182573e-02] [ 2.69393642e-03 -4.42253414e-05 9.99996370e-01 -8.22530745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.744012739 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:15.43, Y:0.08, Z:-0.08 [[ 9.99304895e-01 -3.71815810e-02 -2.69376202e-03 1.54269904e+01] [ 3.71815710e-02 9.99308525e-01 -5.38095379e-05 7.83328632e-02] [ 2.69390007e-03 -4.63861691e-05 9.99996370e-01 -8.12614898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.774012739 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:15.46, Y:0.08, Z:-0.08 [[ 9.99298689e-01 -3.73479974e-02 -2.69375238e-03 1.54562971e+01] [ 3.73479867e-02 9.99302319e-01 -5.42877331e-05 7.90576734e-02] [ 2.69390054e-03 -4.63565676e-05 9.99996370e-01 -8.11824965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.804012739 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:15.48, Y:0.07, Z:-0.08 [[ 9.99292120e-01 -3.75233556e-02 -2.69374327e-03 1.54842712e+01] [ 3.75233443e-02 9.99295750e-01 -5.47363275e-05 7.42970098e-02] [ 2.69390009e-03 -4.63806753e-05 9.99996370e-01 -8.17899958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.834012739 meters Centerline goodness : 0.997462 Centerline is valid? [True, True] Translation: X:15.51, Y:0.07, Z:-0.08 [[ 9.99309126e-01 -3.70677064e-02 -2.69374002e-03 1.55121679e+01] [ 3.70676931e-02 9.99312755e-01 -5.48955699e-05 7.19193186e-02] [ 2.69392362e-03 -4.49930843e-05 9.99996370e-01 -8.26903949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.864012739 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:15.54, Y:0.07, Z:-0.08 [[ 9.99326306e-01 -3.66016227e-02 -2.69372992e-03 1.55387710e+01] [ 3.66016064e-02 9.99329935e-01 -5.53866543e-05 7.00089816e-02] [ 2.69395219e-03 -4.32455018e-05 9.99996370e-01 -8.39736511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.894012739 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:15.57, Y:0.07, Z:-0.09 [[ 9.99361114e-01 -3.56385642e-02 -2.69372550e-03 1.55671757e+01] [ 3.56385438e-02 9.99364744e-01 -5.56010183e-05 6.60235388e-02] [ 2.69399583e-03 -4.04349585e-05 9.99996370e-01 -8.69097611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.924012739 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:15.60, Y:0.06, Z:-0.09 [[ 9.99379603e-01 -3.51162675e-02 -2.69371554e-03 1.55955017e+01] [ 3.51162439e-02 9.99383233e-01 -5.60791961e-05 6.46949799e-02] [ 2.69402344e-03 -3.85487673e-05 9.99996370e-01 -8.76057040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.954012739 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:15.62, Y:0.06, Z:-0.09 [[ 9.99404849e-01 -3.43902757e-02 -2.69370457e-03 1.56233420e+01] [ 3.43902480e-02 9.99408479e-01 -5.66016575e-05 6.38504384e-02] [ 2.69405773e-03 -3.60691971e-05 9.99996370e-01 -8.87428981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.984012739 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:15.65, Y:0.06, Z:-0.09 [[ 9.99429497e-01 -3.36663566e-02 -2.69370114e-03 1.56513005e+01] [ 3.36663259e-02 9.99433127e-01 -5.67642871e-05 6.34005595e-02] [ 2.69408520e-03 -3.39551175e-05 9.99996370e-01 -8.78053977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.014012738999998 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:15.68, Y:0.06, Z:-0.09 [[ 9.99469230e-01 -3.24653894e-02 -2.69369000e-03 1.56786735e+01] [ 3.24653529e-02 9.99472860e-01 -5.72880228e-05 6.13791775e-02] [ 2.69412993e-03 -3.01939803e-05 9.99996370e-01 -8.61342277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.044012739 meters Centerline goodness : 0.987459 Centerline is valid? [True, True] Translation: X:15.71, Y:0.06, Z:-0.07 [[ 9.99435515e-01 -3.34872370e-02 -2.69368403e-03 1.57071356e+01] [ 3.34872034e-02 9.99439145e-01 -5.75673617e-05 5.82116438e-02] [ 2.69410104e-03 -3.26690793e-05 9.99996370e-01 -6.71686988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.074012739 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:15.73, Y:0.06, Z:-0.08 [[ 9.99453869e-01 -3.29349085e-02 -2.69367291e-03 1.57344968e+01] [ 3.29348715e-02 9.99457498e-01 -5.80832550e-05 5.92916384e-02] [ 2.69412455e-03 -3.06642372e-05 9.99996370e-01 -7.91624279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.104012738999998 meters Centerline goodness : 0.997679 Centerline is valid? [True, True] Translation: X:15.76, Y:0.06, Z:-0.08 [[ 9.99435260e-01 -3.34948599e-02 -2.69366944e-03 1.57627353e+01] [ 3.34948245e-02 9.99438889e-01 -5.82435065e-05 5.90067380e-02] [ 2.69410885e-03 -3.20133712e-05 9.99996370e-01 -7.88909098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.134012739 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:15.79, Y:0.06, Z:-0.08 [[ 9.99413681e-01 -3.41326718e-02 -2.69365824e-03 1.57895574e+01] [ 3.41326374e-02 9.99417310e-01 -5.87568388e-05 5.84366847e-02] [ 2.69409420e-03 -3.32192717e-05 9.99996370e-01 -7.91993671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.164012739 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:15.82, Y:0.06, Z:-0.08 [[ 9.99385832e-01 -3.49385695e-02 -2.69365335e-03 1.58164528e+01] [ 3.49385374e-02 9.99389461e-01 -5.89803825e-05 5.71448464e-02] [ 2.69406946e-03 -3.51681499e-05 9.99996370e-01 -7.67593094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.194012738999998 meters Centerline goodness : 0.997183 Centerline is valid? [True, True] Translation: X:15.84, Y:0.06, Z:-0.08 [[ 9.99369140e-01 -3.54127995e-02 -2.69364852e-03 1.58447438e+01] [ 3.54127685e-02 9.99372769e-01 -5.92000230e-05 5.72517197e-02] [ 2.69405542e-03 -3.62268755e-05 9.99996370e-01 -7.58410661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.224012739 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:15.87, Y:0.06, Z:-0.08 [[ 9.99390577e-01 -3.48025738e-02 -2.69363730e-03 1.58728343e+01] [ 3.48025393e-02 9.99394206e-01 -5.97064389e-05 5.61668549e-02] [ 2.69408345e-03 -3.40753654e-05 9.99996370e-01 -7.73984448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.254012739 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:15.90, Y:0.06, Z:-0.08 [[ 9.99398754e-01 -3.45669762e-02 -2.69362601e-03 1.58994041e+01] [ 3.45669395e-02 9.99402383e-01 -6.02114926e-05 5.55781078e-02] [ 2.69409758e-03 -3.29351166e-05 9.99996370e-01 -7.90496835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.284012738999998 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:15.93, Y:0.05, Z:-0.08 [[ 9.99404948e-01 -3.43874294e-02 -2.69362110e-03 1.59276622e+01] [ 3.43873914e-02 9.99408577e-01 -6.04302918e-05 5.39847354e-02] [ 2.69410607e-03 -3.22322704e-05 9.99996370e-01 -7.95145304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.314012739 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:15.96, Y:0.05, Z:-0.08 [[ 9.99385240e-01 -3.49554989e-02 -2.69360976e-03 1.59553377e+01] [ 3.49554616e-02 9.99388869e-01 -6.09315055e-05 5.39562842e-02] [ 2.69409350e-03 -3.32623254e-05 9.99996370e-01 -7.84891925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.344012739 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:15.98, Y:0.05, Z:-0.08 [[ 9.99358876e-01 -3.57012803e-02 -2.69359824e-03 1.59826219e+01] [ 3.57012443e-02 9.99362505e-01 -6.14368403e-05 5.39755682e-02] [ 2.69407446e-03 -3.47673570e-05 9.99996370e-01 -7.67205873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.374012739 meters Centerline goodness : 0.997589 Centerline is valid? [True, True] Translation: X:16.01, Y:0.05, Z:-0.08 [[ 9.99303540e-01 -3.72180021e-02 -2.69359324e-03 1.60105585e+01] [ 3.72179711e-02 9.99307169e-01 -6.16552358e-05 5.37687502e-02] [ 2.69402172e-03 -3.86377799e-05 9.99996370e-01 -7.66080776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.404012739 meters Centerline goodness : 0.997480 Centerline is valid? [True, True] Translation: X:16.04, Y:0.05, Z:-0.08 [[ 9.99178073e-01 -4.04465340e-02 -2.69358154e-03 1.60382639e+01] [ 4.04465133e-02 9.99181703e-01 -6.21619292e-05 5.02668714e-02] [ 2.69389163e-03 -4.68351451e-05 9.99996370e-01 -7.90652938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.434012739 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:16.07, Y:0.05, Z:-0.08 [[ 9.99096333e-01 -4.24176994e-02 -2.69356975e-03 1.60667167e+01] [ 4.24176845e-02 9.99099963e-01 -6.26687875e-05 4.79963183e-02] [ 2.69380370e-03 -5.16428361e-05 9.99996370e-01 -8.04811758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.464012739 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:16.09, Y:0.04, Z:-0.08 [[ 9.99002003e-01 -4.45841059e-02 -2.69355781e-03 1.60947708e+01] [ 4.45840975e-02 9.99005633e-01 -6.31780152e-05 4.33204237e-02] [ 2.69369616e-03 -5.69748802e-05 9.99996370e-01 -7.98667273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.494012739 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:16.12, Y:0.04, Z:-0.08 [[ 9.98998758e-01 -4.46567580e-02 -2.69354579e-03 1.61218233e+01] [ 4.46567485e-02 9.99002388e-01 -6.36861549e-05 4.25619917e-02] [ 2.69370269e-03 -5.66626074e-05 9.99996370e-01 -7.94818348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.524012739 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:16.15, Y:0.04, Z:-0.08 [[ 9.99006999e-01 -4.44720205e-02 -2.69354055e-03 1.61499407e+01] [ 4.44720098e-02 9.99010629e-01 -6.39069657e-05 4.22891203e-02] [ 2.69371771e-03 -5.59436558e-05 9.99996370e-01 -7.99253461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.554012739 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:16.18, Y:0.04, Z:-0.08 [[ 9.99073375e-01 -4.29550562e-02 -2.69352849e-03 1.61782656e+01] [ 4.29550386e-02 9.99077004e-01 -6.44113837e-05 3.77502111e-02] [ 2.69380917e-03 -5.13489218e-05 9.99996370e-01 -8.01002579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.584012739 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:16.21, Y:0.04, Z:-0.08 [[ 9.99095465e-01 -4.24381630e-02 -2.69351617e-03 1.62054608e+01] [ 4.24381422e-02 9.99099094e-01 -6.49223640e-05 3.56043173e-02] [ 2.69384476e-03 -4.94441830e-05 9.99996370e-01 -7.92509607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.614012739 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:16.23, Y:0.03, Z:-0.08 [[ 9.99133429e-01 -4.15347578e-02 -2.69351078e-03 1.62334478e+01] [ 4.15347331e-02 9.99137059e-01 -6.51453049e-05 3.39786027e-02] [ 2.69389223e-03 -4.67853995e-05 9.99996370e-01 -7.84921165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.644012739 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:16.26, Y:0.03, Z:-0.08 [[ 9.99153066e-01 -4.10596523e-02 -2.69349811e-03 1.62614486e+01] [ 4.10596244e-02 9.99156696e-01 -6.56651424e-05 3.31699556e-02] [ 2.69392286e-03 -4.49844925e-05 9.99996370e-01 -7.92684248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.674012739 meters Centerline goodness : 0.997425 Centerline is valid? [True, True] Translation: X:16.29, Y:0.03, Z:-0.08 [[ 9.99159062e-01 -4.09135023e-02 -2.69348512e-03 1.62896837e+01] [ 4.09134725e-02 9.99162691e-01 -6.61935641e-05 3.15295171e-02] [ 2.69393805e-03 -4.40619301e-05 9.99996370e-01 -8.03773862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.704012739 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:16.32, Y:0.03, Z:-0.08 [[ 9.99201974e-01 -3.98517238e-02 -2.69347203e-03 1.63171954e+01] [ 3.98516887e-02 9.99205604e-01 -6.67219832e-05 2.77669843e-02] [ 2.69399133e-03 -4.06706716e-05 9.99996370e-01 -8.05397593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.734012739 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:16.35, Y:0.03, Z:-0.08 [[ 9.99231148e-01 -3.91133918e-02 -2.69346634e-03 1.63454955e+01] [ 3.91133534e-02 9.99234778e-01 -6.69509180e-05 2.87388702e-02] [ 2.69402392e-03 -3.84510581e-05 9.99996370e-01 -7.99135793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.764012738999998 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:16.37, Y:0.03, Z:-0.08 [[ 9.99317220e-01 -3.68488684e-02 -2.69345398e-03 1.63730013e+01] [ 3.68488205e-02 9.99320849e-01 -6.74444510e-05 3.05440645e-02] [ 2.69410997e-03 -3.18522011e-05 9.99996370e-01 -8.25086673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.794012739 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:16.40, Y:0.03, Z:-0.08 [[ 9.99327669e-01 -3.65644055e-02 -2.69343010e-03 1.64008511e+01] [ 3.65643540e-02 9.99331298e-01 -6.83912856e-05 2.99622983e-02] [ 2.69412968e-03 -3.01382275e-05 9.99996370e-01 -7.88960139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.824012739 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:16.43, Y:0.03, Z:-0.08 [[ 9.99330813e-01 -3.64783813e-02 -2.69343606e-03 1.64292516e+01] [ 3.64783300e-02 9.99334442e-01 -6.81555825e-05 2.91242480e-02] [ 2.69412963e-03 -3.01420759e-05 9.99996370e-01 -7.86892405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.854012738999998 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:16.46, Y:0.03, Z:-0.08 [[ 9.99322652e-01 -3.67012572e-02 -2.69342274e-03 1.64565716e+01] [ 3.67012054e-02 9.99326281e-01 -6.86779005e-05 2.90396661e-02] [ 2.69412870e-03 -3.02204798e-05 9.99996370e-01 -7.82211052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.884012739 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:16.48, Y:0.03, Z:-0.08 [[ 9.99347698e-01 -3.60128308e-02 -2.69341694e-03 1.64845971e+01] [ 3.60127759e-02 9.99351327e-01 -6.89047269e-05 3.09981950e-02] [ 2.69415125e-03 -2.81376405e-05 9.99996370e-01 -7.86580476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.914012739 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:16.51, Y:0.03, Z:-0.08 [[ 9.99363717e-01 -3.55655207e-02 -2.69340373e-03 1.65111722e+01] [ 3.55654628e-02 9.99367346e-01 -6.94171636e-05 3.18297249e-02] [ 2.69416860e-03 -2.64191555e-05 9.99996370e-01 -7.89043131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.944012738999998 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:16.54, Y:0.03, Z:-0.08 [[ 9.99361710e-01 -3.56218803e-02 -2.69339451e-03 1.65380003e+01] [ 3.56218216e-02 9.99365339e-01 -6.97730568e-05 3.07446381e-02] [ 2.69417057e-03 -2.62150976e-05 9.99996370e-01 -7.89571016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.974012739 meters Centerline goodness : 0.997488 Centerline is valid? [True, True] Translation: X:16.57, Y:0.03, Z:-0.08 [[ 9.99355919e-01 -3.57839681e-02 -2.69338883e-03 1.65658749e+01] [ 3.57839094e-02 9.99359548e-01 -6.99918229e-05 3.15949564e-02] [ 2.69416843e-03 -2.64332394e-05 9.99996370e-01 -7.91179318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.004012739 meters Centerline goodness : 0.997607 Centerline is valid? [True, True] Translation: X:16.59, Y:0.03, Z:-0.08 [[ 9.99352176e-01 -3.58883651e-02 -2.69337606e-03 1.65937865e+01] [ 3.58883055e-02 9.99355805e-01 -7.04799812e-05 3.29472859e-02] [ 2.69417041e-03 -2.62263801e-05 9.99996370e-01 -7.78879601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.034012738999998 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:16.62, Y:0.03, Z:-0.08 [[ 9.99378410e-01 -3.51502526e-02 -2.69336225e-03 1.66219715e+01] [ 3.51501889e-02 9.99382039e-01 -7.10034748e-05 3.33106132e-02] [ 2.69419365e-03 -2.37128522e-05 9.99996370e-01 -7.89113139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.064012739 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:16.65, Y:0.03, Z:-0.08 [[ 9.99394681e-01 -3.46845441e-02 -2.69334832e-03 1.66488122e+01] [ 3.46844772e-02 9.99398310e-01 -7.15281182e-05 3.25838433e-02] [ 2.69420868e-03 -2.19325577e-05 9.99996370e-01 -8.08146012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.094012739 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:16.68, Y:0.03, Z:-0.08 [[ 9.99416096e-01 -3.40618889e-02 -2.69333864e-03 1.66769475e+01] [ 3.40618189e-02 9.99419725e-01 -7.18907615e-05 3.33976998e-02] [ 2.69422450e-03 -1.98912287e-05 9.99996370e-01 -8.15478885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.124012738999998 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:16.70, Y:0.04, Z:-0.08 [[ 9.99450805e-01 -3.30277951e-02 -2.69332470e-03 1.67040808e+01] [ 3.30277199e-02 9.99454433e-01 -7.24095217e-05 3.52955927e-02] [ 2.69424683e-03 -1.65846189e-05 9.99996370e-01 -8.05124175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.154012739 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:16.73, Y:0.04, Z:-0.08 [[ 9.99470539e-01 -3.24251092e-02 -2.69331860e-03 1.67316157e+01] [ 3.24250312e-02 9.99474168e-01 -7.26355729e-05 3.69653697e-02] [ 2.69425758e-03 -1.47338245e-05 9.99996370e-01 -7.95272026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.184012739 meters Centerline goodness : 0.997473 Centerline is valid? [True, True] Translation: X:16.76, Y:0.04, Z:-0.08 [[ 9.99497497e-01 -3.15832290e-02 -2.69330431e-03 1.67583018e+01] [ 3.15831465e-02 9.99501125e-01 -7.31615857e-05 3.76140035e-02] [ 2.69427137e-03 -1.19382029e-05 9.99996370e-01 -7.93766946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.214012739 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:16.79, Y:0.04, Z:-0.08 [[ 9.99502439e-01 -3.14264396e-02 -2.69329807e-03 1.67860202e+01] [ 3.14263559e-02 9.99506067e-01 -7.33904250e-05 3.94141659e-02] [ 2.69427417e-03 -1.12866351e-05 9.99996370e-01 -7.90175236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.244012739 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:16.81, Y:0.04, Z:-0.08 [[ 9.99472438e-01 -3.23665325e-02 -2.69328387e-03 1.68137560e+01] [ 3.23664509e-02 9.99476066e-01 -7.39079241e-05 4.15994232e-02] [ 2.69426491e-03 -1.33031071e-05 9.99996370e-01 -8.11560032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.274012739 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:16.84, Y:0.04, Z:-0.08 [[ 9.99447888e-01 -3.31159502e-02 -2.69326958e-03 1.68404818e+01] [ 3.31158698e-02 9.99451516e-01 -7.44250331e-05 4.13444619e-02] [ 2.69425703e-03 -1.48060229e-05 9.99996370e-01 -8.16702743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.304012739 meters Centerline goodness : 0.997871 Centerline is valid? [True, True] Translation: X:16.87, Y:0.04, Z:-0.08 [[ 9.99404701e-01 -3.43946231e-02 -2.69326337e-03 1.68680311e+01] [ 3.43945468e-02 9.99408330e-01 -7.46491684e-05 4.09519595e-02] [ 2.69423738e-03 -1.80288433e-05 9.99996370e-01 -8.00740532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.334012739 meters Centerline goodness : 0.997724 Centerline is valid? [True, True] Translation: X:16.90, Y:0.04, Z:-0.08 [[ 9.99363316e-01 -3.55768059e-02 -2.69324919e-03 1.68964000e+01] [ 3.55767326e-02 9.99366945e-01 -7.51574201e-05 4.12236358e-02] [ 2.69421807e-03 -2.07074375e-05 9.99996370e-01 -7.83465154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.364012739 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:16.92, Y:0.04, Z:-0.08 [[ 9.99337396e-01 -3.62975836e-02 -2.69323482e-03 1.69242009e+01] [ 3.62975115e-02 9.99341025e-01 -7.56688103e-05 4.16857033e-02] [ 2.69420664e-03 -2.21390499e-05 9.99996370e-01 -7.82010549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.394012739 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:16.95, Y:0.04, Z:-0.08 [[ 9.99360586e-01 -3.56534074e-02 -2.69322037e-03 1.69514847e+01] [ 3.56533316e-02 9.99364215e-01 -7.61796496e-05 4.16195948e-02] [ 2.69422413e-03 -1.98913397e-05 9.99996370e-01 -7.94518166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.424012739 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:16.98, Y:0.04, Z:-0.08 [[ 9.99423653e-01 -3.38394472e-02 -2.69320998e-03 1.69797489e+01] [ 3.38393638e-02 9.99427282e-01 -7.65451761e-05 3.95848428e-02] [ 2.69425778e-03 -1.46354529e-05 9.99996370e-01 -7.88025797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.454012739 meters Centerline goodness : 0.997532 Centerline is valid? [True, True] Translation: X:17.01, Y:0.04, Z:-0.08 [[ 9.99456100e-01 -3.28671764e-02 -2.69319556e-03 1.70074941e+01] [ 3.28670881e-02 9.99459728e-01 -7.70493291e-05 3.96774083e-02] [ 2.69427290e-03 -1.15100738e-05 9.99996370e-01 -7.72019891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.484012739 meters Centerline goodness : 0.992157 Centerline is valid? [True, True] Translation: X:17.03, Y:0.04, Z:-0.07 [[ 9.99527420e-01 -3.06216212e-02 -2.69318050e-03 1.70348661e+01] [ 3.06215234e-02 9.99531048e-01 -7.75719952e-05 3.70062352e-02] [ 2.69429291e-03 -4.93395357e-06 9.99996370e-01 -6.55188517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.514012738999998 meters Centerline goodness : 0.997056 Centerline is valid? [True, True] Translation: X:17.06, Y:0.04, Z:-0.08 [[ 9.99590890e-01 -2.84745453e-02 -2.69317396e-03 1.70624039e+01] [ 2.84744390e-02 9.99594518e-01 -7.77983850e-05 3.67744382e-02] [ 2.69429720e-03 1.07993901e-06 9.99996370e-01 -7.54431816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.544012739 meters Centerline goodness : 0.997376 Centerline is valid? [True, True] Translation: X:17.09, Y:0.04, Z:-0.08 [[ 9.99628145e-01 -2.71351944e-02 -2.69316375e-03 1.70901886e+01] [ 2.71350823e-02 9.99631773e-01 -7.81502355e-05 3.71184033e-02] [ 2.69429268e-03 5.04195475e-06 9.99996370e-01 -7.63399019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.574012739 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:17.12, Y:0.04, Z:-0.08 [[ 9.99718381e-01 -2.35776453e-02 -2.69314889e-03 1.71166531e+01] [ 2.35775189e-02 9.99722009e-01 -7.86592173e-05 3.95985595e-02] [ 2.69425482e-03 1.51392966e-05 9.99996370e-01 -7.88107495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.604012738999998 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:17.14, Y:0.04, Z:-0.08 [[ 9.99757330e-01 -2.18638481e-02 -2.69314241e-03 1.71444967e+01] [ 2.18637150e-02 9.99760957e-01 -7.88803154e-05 4.07290519e-02] [ 2.69422326e-03 1.99790755e-05 9.99996370e-01 -7.89201627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.634012739 meters Centerline goodness : 0.997378 Centerline is valid? [True, True] Translation: X:17.17, Y:0.04, Z:-0.08 [[ 9.99816327e-01 -1.89752443e-02 -2.69312760e-03 1.71710449e+01] [ 1.89750993e-02 9.99819953e-01 -7.93827787e-05 4.10789846e-02] [ 2.69414902e-03 2.82658344e-05 9.99996370e-01 -7.77080477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.664012739 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:17.20, Y:0.04, Z:-0.08 [[ 9.99837238e-01 -1.78394000e-02 -2.69312117e-03 1.71987826e+01] [ 1.78392503e-02 9.99840865e-01 -7.96004984e-05 4.32666289e-02] [ 2.69411262e-03 3.15442798e-05 9.99996370e-01 -7.75561695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.694012738999998 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:17.23, Y:0.04, Z:-0.08 [[ 9.99833922e-01 -1.80242952e-02 -2.69310637e-03 1.72272604e+01] [ 1.80241449e-02 9.99837549e-01 -8.00980816e-05 4.43057771e-02] [ 2.69411258e-03 3.15438398e-05 9.99996370e-01 -7.74794277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.724012739 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:17.25, Y:0.05, Z:-0.08 [[ 9.99844127e-01 -1.74490452e-02 -2.69309146e-03 1.72538739e+01] [ 1.74488914e-02 9.99847753e-01 -8.05961014e-05 4.78841936e-02] [ 2.69408777e-03 3.35920780e-05 9.99996370e-01 -7.72921893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.754012739 meters Centerline goodness : 0.997194 Centerline is valid? [True, True] Translation: X:17.28, Y:0.05, Z:-0.08 [[ 9.99866659e-01 -1.61062297e-02 -2.69308070e-03 1.72802927e+01] [ 1.61060701e-02 9.99870286e-01 -8.09543440e-05 5.29607358e-02] [ 2.69403523e-03 3.75686031e-05 9.99996370e-01 -7.75366191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.784012738999998 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:17.31, Y:0.06, Z:-0.08 [[ 9.99873633e-01 -1.56673347e-02 -2.69307421e-03 1.73082391e+01] [ 1.56671729e-02 9.99877259e-01 -8.11694612e-05 5.57369214e-02] [ 2.69401537e-03 3.89663449e-05 9.99996370e-01 -7.73354033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.814012739 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:17.34, Y:0.06, Z:-0.08 [[ 9.99915719e-01 -1.27004615e-02 -2.69305905e-03 1.73356215e+01] [ 1.27002876e-02 9.99919345e-01 -8.16694028e-05 6.19511236e-02] [ 2.69387908e-03 4.74598953e-05 9.99996370e-01 -7.81644845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.844012739 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:17.36, Y:0.07, Z:-0.08 [[ 9.99941240e-01 -1.05006654e-02 -2.69305433e-03 1.73631050e+01] [ 1.05004831e-02 9.99944865e-01 -8.18245931e-05 6.64170012e-02] [ 2.69376507e-03 5.35414135e-05 9.99996370e-01 -7.90905167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.874012738999998 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:17.39, Y:0.07, Z:-0.08 [[ 9.99958030e-01 -8.75704833e-03 -2.69304965e-03 1.73907309e+01] [ 8.75685929e-03 9.99961655e-01 -8.19785629e-05 7.04922673e-02] [ 2.69366427e-03 5.83924654e-05 9.99996370e-01 -7.95392921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.904012739 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:17.42, Y:0.08, Z:-0.08 [[ 9.99976169e-01 -6.35678546e-03 -2.69303479e-03 1.74192580e+01] [ 6.35658641e-03 9.99979793e-01 -8.24638734e-05 7.67953831e-02] [ 2.69350458e-03 6.53433999e-05 9.99996370e-01 -7.81601314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.934012739 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:17.45, Y:0.08, Z:-0.08 [[ 9.99982123e-01 -5.33863415e-03 -2.69302158e-03 1.74469493e+01] [ 5.33843026e-03 9.99985747e-01 -8.28927932e-05 8.09384253e-02] [ 2.69342574e-03 6.85148034e-05 9.99996370e-01 -7.74981268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.964012739 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:17.48, Y:0.09, Z:-0.08 [[ 9.99985580e-01 -4.64626774e-03 -2.69301691e-03 1.74754849e+01] [ 4.64606093e-03 9.99989204e-01 -8.30445483e-05 8.58801050e-02] [ 2.69337368e-03 7.05314302e-05 9.99996370e-01 -7.74556290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.994012739 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:17.50, Y:0.10, Z:-0.08 [[ 9.99993426e-01 -2.42806512e-03 -2.69300380e-03 1.75029397e+01] [ 2.42784914e-03 9.99997049e-01 -8.34672201e-05 9.53603134e-02] [ 2.69319852e-03 7.69284644e-05 9.99996370e-01 -7.55780974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.024012739 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:17.53, Y:0.10, Z:-0.07 [[ 9.99996000e-01 -8.65230905e-04 -2.69299914e-03 1.75316893e+01] [ 8.65008856e-04 9.99999622e-01 -8.36175107e-05 1.01040143e-01] [ 2.69307047e-03 8.12877081e-05 9.99996370e-01 -7.39045117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.054012739 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:17.56, Y:0.11, Z:-0.07 [[ 9.99991614e-01 3.08532379e-03 -2.69298609e-03 1.75604737e+01] [-3.08556128e-03 9.99995236e-01 -8.40355840e-05 1.12641996e-01] [ 2.69271399e-03 9.23442529e-05 9.99996370e-01 -7.27489075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.084012739 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:17.59, Y:0.12, Z:-0.07 [[ 9.99985254e-01 4.71598325e-03 -2.69297301e-03 1.75891208e+01] [-4.71622776e-03 9.99988875e-01 -8.44527141e-05 1.19211990e-01] [ 2.69254477e-03 9.71521428e-05 9.99996370e-01 -7.37341496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.114012739 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:17.62, Y:0.13, Z:-0.07 [[ 9.99979401e-01 5.82632686e-03 -2.69296921e-03 1.76177189e+01] [-5.82657572e-03 9.99983022e-01 -8.45738693e-05 1.25744462e-01] [ 2.69243073e-03 1.00262916e-04 9.99996370e-01 -7.44048654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.144012739 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:17.65, Y:0.14, Z:-0.07 [[ 9.99981466e-01 5.46027517e-03 -2.69296538e-03 1.76458959e+01] [-5.46052303e-03 9.99985088e-01 -8.46954823e-05 1.36908883e-01] [ 2.69246276e-03 9.93989121e-05 9.99996370e-01 -7.15872259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.174012739 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:17.67, Y:0.14, Z:-0.07 [[ 9.99987351e-01 4.24791802e-03 -2.69296252e-03 1.76743084e+01] [-4.24816173e-03 9.99990973e-01 -8.47863510e-05 1.43469409e-01] [ 2.69257805e-03 9.62254189e-05 9.99996370e-01 -6.97025553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.204012739 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:17.70, Y:0.15, Z:-0.07 [[ 9.99992408e-01 2.81629893e-03 -2.69295852e-03 1.77030777e+01] [-2.81653780e-03 9.99996030e-01 -8.49132514e-05 1.50026482e-01] [ 2.69270869e-03 9.24974262e-05 9.99996370e-01 -6.92767782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.234012739 meters Centerline goodness : 0.998364 Centerline is valid? [True, True] Translation: X:17.73, Y:0.16, Z:-0.07 [[ 9.99995585e-01 -1.25626334e-03 -2.69295451e-03 1.77310806e+01] [ 1.25603889e-03 9.99999208e-01 -8.50401432e-05 1.58515990e-01] [ 2.69305921e-03 8.16573122e-05 9.99996370e-01 -7.37277893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.264012738999998 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:17.76, Y:0.16, Z:-0.08 [[ 9.99990340e-01 -3.47387688e-03 -2.69295152e-03 1.77599622e+01] [ 3.47366020e-03 9.99993963e-01 -8.51348622e-05 1.61943414e-01] [ 2.69323101e-03 7.57796413e-05 9.99996370e-01 -7.61932767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.294012739 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:17.79, Y:0.17, Z:-0.08 [[ 9.99959972e-01 -8.53247446e-03 -2.69294932e-03 1.77887876e+01] [ 8.53227592e-03 9.99963596e-01 -8.52041527e-05 1.68653239e-01] [ 2.69357829e-03 6.22237554e-05 9.99996370e-01 -7.88939769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.324012739 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:17.82, Y:0.17, Z:-0.08 [[ 9.99933866e-01 -1.11808356e-02 -2.69294525e-03 1.78169386e+01] [ 1.11806463e-02 9.99937491e-01 -8.53327805e-05 1.72726819e-01] [ 2.69373101e-03 5.52182688e-05 9.99996370e-01 -7.99435292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.354012738999998 meters Centerline goodness : 0.992800 Centerline is valid? [True, True] Translation: X:17.85, Y:0.18, Z:-0.06 [[ 9.99901508e-01 -1.37739770e-02 -2.69294146e-03 1.78459343e+01] [ 1.37737968e-02 9.99905133e-01 -8.54522870e-05 1.75173736e-01] [ 2.69386300e-03 4.83518422e-05 9.99996370e-01 -6.47344192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.384012739 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:17.87, Y:0.18, Z:-0.08 [[ 9.99877161e-01 -1.54405467e-02 -2.69292676e-03 1.78746630e+01] [ 1.54403713e-02 9.99880787e-01 -8.59130292e-05 1.78972141e-01] [ 2.69393227e-03 4.43226867e-05 9.99996370e-01 -7.54533077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.414012739 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:17.90, Y:0.18, Z:-0.08 [[ 9.99848992e-01 -1.71680073e-02 -2.69292363e-03 1.79045658e+01] [ 1.71678379e-02 9.99852618e-01 -8.60110848e-05 1.82980535e-01] [ 2.69400338e-03 3.97664202e-05 9.99996370e-01 -7.65625670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.444012738999998 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:17.93, Y:0.19, Z:-0.08 [[ 9.99842806e-01 -1.75245747e-02 -2.69292158e-03 1.79335573e+01] [ 1.75244065e-02 9.99846432e-01 -8.60750505e-05 1.85513149e-01] [ 2.69401646e-03 3.88696677e-05 9.99996370e-01 -7.87244857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.474012739 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:17.96, Y:0.19, Z:-0.08 [[ 9.99812056e-01 -1.91989781e-02 -2.69291853e-03 1.79619327e+01] [ 1.91988157e-02 9.99815682e-01 -8.61704785e-05 1.89190303e-01] [ 2.69407656e-03 3.44534369e-05 9.99996370e-01 -8.09475053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.504012739 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:17.99, Y:0.19, Z:-0.08 [[ 9.99773260e-01 -2.11229073e-02 -2.69291551e-03 1.79917837e+01] [ 2.11227516e-02 9.99776886e-01 -8.62648320e-05 1.91267263e-01] [ 2.69413684e-03 2.93634870e-05 9.99996370e-01 -8.02446711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.534012738999998 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:18.02, Y:0.19, Z:-0.08 [[ 9.99726537e-01 -2.32292936e-02 -2.69291348e-03 1.80201802e+01] [ 2.32291454e-02 9.99730163e-01 -8.63278996e-05 1.92598351e-01] [ 2.69419217e-03 2.37502133e-05 9.99996370e-01 -8.04005251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.564012739 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:18.05, Y:0.19, Z:-0.08 [[ 9.99607460e-01 -2.78868148e-02 -2.69290966e-03 1.80498362e+01] [ 2.78866831e-02 9.99611087e-01 -8.64468880e-05 1.94076345e-01] [ 2.69427308e-03 1.13166357e-05 9.99996370e-01 -8.06744200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.594012739 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:18.08, Y:0.20, Z:-0.08 [[ 9.99553500e-01 -2.97581842e-02 -2.69290767e-03 1.80793228e+01] [ 2.97580591e-02 9.99557127e-01 -8.65090106e-05 1.96155644e-01] [ 2.69428940e-03 6.33467872e-06 9.99996370e-01 -8.13982234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.624012738999998 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:18.11, Y:0.20, Z:-0.08 [[ 9.99515699e-01 -3.10018685e-02 -2.69290565e-03 1.81086309e+01] [ 3.10017478e-02 9.99519327e-01 -8.65717971e-05 2.00170390e-01] [ 2.69429513e-03 3.04508852e-06 9.99996370e-01 -7.88400685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.654012739 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:18.14, Y:0.20, Z:-0.08 [[ 9.99520330e-01 -3.08522020e-02 -2.69290364e-03 1.81369521e+01] [ 3.08520806e-02 9.99523958e-01 -8.66342328e-05 2.03761256e-01] [ 2.69429456e-03 3.51099682e-06 9.99996370e-01 -7.62129090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.684012739 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:18.17, Y:0.21, Z:-0.08 [[ 9.99526332e-01 -3.06571383e-02 -2.69290064e-03 1.81660203e+01] [ 3.06570159e-02 9.99529959e-01 -8.67274217e-05 2.07769091e-01] [ 2.69429368e-03 4.13004405e-06 9.99996370e-01 -7.51562865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.714012739 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:18.19, Y:0.21, Z:-0.08 [[ 9.99546414e-01 -2.99952522e-02 -2.69288666e-03 1.81942387e+01] [ 2.99951263e-02 9.99550041e-01 -8.71591978e-05 2.11576436e-01] [ 2.69428934e-03 6.34618807e-06 9.99996370e-01 -7.64891791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.744012739 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:18.22, Y:0.21, Z:-0.08 [[ 9.99549483e-01 -2.98928004e-02 -2.69288368e-03 1.82241026e+01] [ 2.98926738e-02 9.99553110e-01 -8.72512197e-05 2.13067876e-01] [ 2.69428844e-03 6.71441803e-06 9.99996370e-01 -7.74027446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.774012739 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:18.25, Y:0.22, Z:-0.08 [[ 9.99537673e-01 -3.02851347e-02 -2.69288170e-03 1.82528816e+01] [ 3.02850094e-02 9.99541300e-01 -8.73125109e-05 2.15527289e-01] [ 2.69429074e-03 5.71819662e-06 9.99996370e-01 -7.74867300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.804012739 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:18.28, Y:0.22, Z:-0.07 [[ 9.99483392e-01 -3.20265011e-02 -2.69287778e-03 1.82818911e+01] [ 3.20263818e-02 9.99487020e-01 -8.74330617e-05 2.22471880e-01] [ 2.69429656e-03 1.14476112e-06 9.99996370e-01 -7.48116283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.834012739 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:18.31, Y:0.22, Z:-0.07 [[ 9.99376031e-01 -3.52178581e-02 -2.69287581e-03 1.83110016e+01] [ 3.52177502e-02 9.99379659e-01 -8.74936195e-05 2.24476640e-01] [ 2.69428665e-03 -7.39800152e-06 9.99996370e-01 -7.49404226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.864012739 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:18.34, Y:0.22, Z:-0.08 [[ 9.99292435e-01 -3.75150420e-02 -2.69287288e-03 1.83393046e+01] [ 3.75149422e-02 9.99296063e-01 -8.75838886e-05 2.24028364e-01] [ 2.69426298e-03 -1.35010532e-05 9.99996370e-01 -7.57259257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.894012739 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:18.37, Y:0.22, Z:-0.08 [[ 9.99187128e-01 -4.02222715e-02 -2.69286932e-03 1.83684296e+01] [ 4.02221812e-02 9.99190757e-01 -8.76930166e-05 2.24556460e-01] [ 2.69421735e-03 -2.06913445e-05 9.99996370e-01 -7.53268518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.924012739 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:18.40, Y:0.23, Z:-0.07 [[ 9.98994762e-01 -4.47461126e-02 -2.69285554e-03 1.83972705e+01] [ 4.47460376e-02 9.98998391e-01 -8.81144028e-05 2.27679503e-01] [ 2.69410112e-03 -3.24687884e-05 9.99996370e-01 -7.46480381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.954012739 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:18.43, Y:0.23, Z:-0.07 [[ 9.98958097e-01 -4.55573212e-02 -2.69285259e-03 1.84273698e+01] [ 4.55572490e-02 9.98961726e-01 -8.82043111e-05 2.28748435e-01] [ 2.69407502e-03 -3.45665452e-05 9.99996370e-01 -7.45662176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.984012739 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:18.46, Y:0.23, Z:-0.07 [[ 9.98964024e-01 -4.54271667e-02 -2.69285058e-03 1.84556165e+01] [ 4.54270937e-02 9.98967653e-01 -8.82655522e-05 2.26933074e-01] [ 2.69408028e-03 -3.41542647e-05 9.99996370e-01 -7.40210812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.014012738999998 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:18.49, Y:0.23, Z:-0.07 [[ 9.98989598e-01 -4.48612532e-02 -2.69284758e-03 1.84856284e+01] [ 4.48611780e-02 9.98993227e-01 -8.83571801e-05 2.28051900e-01] [ 2.69410030e-03 -3.25364106e-05 9.99996370e-01 -7.28985427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.044012739 meters Centerline goodness : 0.991502 Centerline is valid? [True, True] Translation: X:18.51, Y:0.23, Z:-0.06 [[ 9.99006236e-01 -4.44891987e-02 -2.69284552e-03 1.85137995e+01] [ 4.44891220e-02 9.99009865e-01 -8.84199307e-05 2.29206346e-01] [ 2.69411297e-03 -3.14702705e-05 9.99996370e-01 -5.92549807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.074012739 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:18.54, Y:0.23, Z:-0.07 [[ 9.98928663e-01 -4.61982212e-02 -2.69284244e-03 1.85423978e+01] [ 4.61981504e-02 9.98932292e-01 -8.85135812e-05 2.31369005e-01] [ 2.69405644e-03 -3.59855867e-05 9.99996370e-01 -6.95145812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.104012738999998 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:18.57, Y:0.23, Z:-0.07 [[ 9.98817474e-01 -4.85427935e-02 -2.69283953e-03 1.85712110e+01] [ 4.85427310e-02 9.98821103e-01 -8.86018891e-05 2.30715921e-01] [ 2.69396594e-03 -4.22206701e-05 9.99996370e-01 -7.12899259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.134012739 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:18.60, Y:0.23, Z:-0.07 [[ 9.98683188e-01 -5.12312368e-02 -2.69282613e-03 1.85999662e+01] [ 5.12311830e-02 9.98686817e-01 -8.90075096e-05 2.28782525e-01] [ 2.69384992e-03 -4.90663647e-05 9.99996370e-01 -7.33127975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.164012739 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:18.63, Y:0.22, Z:-0.07 [[ 9.98317855e-01 -5.79155335e-02 -2.69282327e-03 1.86284409e+01] [ 5.79155037e-02 9.98321485e-01 -8.90937288e-05 2.24800118e-01] [ 2.69346324e-03 -6.70123562e-05 9.99996370e-01 -7.17839687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.194012738999998 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:18.66, Y:0.22, Z:-0.07 [[ 9.98115484e-01 -6.13043995e-02 -2.69280863e-03 1.86568255e+01] [ 6.13043809e-02 9.98119114e-01 -8.95341623e-05 2.22289175e-01] [ 2.69323260e-03 -7.57155321e-05 9.99996370e-01 -6.97621864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.224012739 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:18.69, Y:0.21, Z:-0.07 [[ 9.97817580e-01 -6.59759490e-02 -2.69280345e-03 1.86854245e+01] [ 6.59759470e-02 9.97821210e-01 -8.96897491e-05 2.14955847e-01] [ 2.69285376e-03 -8.81662490e-05 9.99996370e-01 -6.75279638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.254012739 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:18.71, Y:0.21, Z:-0.07 [[ 9.97759507e-01 -6.68484497e-02 -2.69278614e-03 1.87135498e+01] [ 6.68484494e-02 9.97763137e-01 -9.02065044e-05 2.13048749e-01] [ 2.69279291e-03 -9.00041804e-05 9.99996370e-01 -6.81241559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.284012738999998 meters Centerline goodness : 0.986600 Centerline is valid? [True, True] Translation: X:18.74, Y:0.21, Z:-0.05 [[ 9.97748357e-01 -6.70146592e-02 -2.69278077e-03 1.87415334e+01] [ 6.70146591e-02 9.97751987e-01 -9.03664230e-05 2.11326449e-01] [ 2.69278324e-03 -9.02928350e-05 9.99996370e-01 -5.24867236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.314012739 meters Centerline goodness : 0.998371 Centerline is valid? [True, True] Translation: X:18.77, Y:0.21, Z:-0.07 [[ 9.97829883e-01 -6.57896113e-02 -2.69277545e-03 1.87689260e+01] [ 6.57896063e-02 9.97833513e-01 -9.05246187e-05 2.12116672e-01] [ 2.69289717e-03 -8.68284671e-05 9.99996370e-01 -7.08974909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.344012739 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:18.80, Y:0.21, Z:-0.07 [[ 9.98076009e-01 -6.19437666e-02 -2.69276806e-03 1.87964103e+01] [ 6.19437471e-02 9.98079638e-01 -9.07438574e-05 2.07733364e-01] [ 2.69321799e-03 -7.62308768e-05 9.99996370e-01 -6.92524196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.374012738999998 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:18.82, Y:0.21, Z:-0.07 [[ 9.98206435e-01 -5.98052094e-02 -2.69275136e-03 1.88244227e+01] [ 5.98051807e-02 9.98210064e-01 -9.12368304e-05 2.05619947e-01] [ 2.69338795e-03 -6.99672906e-05 9.99996370e-01 -6.70478143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.404012739 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:18.85, Y:0.20, Z:-0.07 [[ 9.98332194e-01 -5.76678467e-02 -2.69273372e-03 1.88518764e+01] [ 5.76678089e-02 9.98335823e-01 -9.17545244e-05 2.02574829e-01] [ 2.69354382e-03 -6.36825579e-05 9.99996370e-01 -6.82854693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.434012739 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:18.88, Y:0.20, Z:-0.07 [[ 9.98346024e-01 -5.74279247e-02 -2.69272606e-03 1.88795814e+01] [ 5.74278854e-02 9.98349653e-01 -9.19788187e-05 2.01978600e-01] [ 2.69356428e-03 -6.28108755e-05 9.99996370e-01 -7.20729176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.464012739 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:18.91, Y:0.20, Z:-0.08 [[ 9.98341399e-01 -5.75082690e-02 -2.69270913e-03 1.89076968e+01] [ 5.75082286e-02 9.98345028e-01 -9.24717839e-05 1.99006310e-01] [ 2.69357066e-03 -6.25345222e-05 9.99996370e-01 -7.63965633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.494012739 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:18.94, Y:0.20, Z:-0.07 [[ 9.98344157e-01 -5.74603702e-02 -2.69269175e-03 1.89354114e+01] [ 5.74603283e-02 9.98347786e-01 -9.29750626e-05 1.98631244e-01] [ 2.69358523e-03 -6.19018415e-05 9.99996370e-01 -7.44804127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.524012739 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:18.96, Y:0.20, Z:-0.07 [[ 9.98390563e-01 -5.66483218e-02 -2.69267365e-03 1.89624533e+01] [ 5.66482756e-02 9.98394193e-01 -9.34963584e-05 1.99217626e-01] [ 2.69364615e-03 -5.91894370e-05 9.99996370e-01 -7.22363894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.554012739 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:18.99, Y:0.20, Z:-0.07 [[ 9.98616071e-01 -5.25232525e-02 -2.69266576e-03 1.89906783e+01] [ 5.25231907e-02 9.98619700e-01 -9.37231216e-05 2.00218128e-01] [ 2.69387171e-03 -4.78339816e-05 9.99996370e-01 -6.99415399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.584012739 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:19.02, Y:0.20, Z:-0.07 [[ 9.98606283e-01 -5.27090259e-02 -2.69264826e-03 1.90191337e+01] [ 5.27089634e-02 9.98609912e-01 -9.42232675e-05 2.01394421e-01] [ 2.69387165e-03 -4.78347515e-05 9.99996370e-01 -6.98647973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.614012739 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:19.05, Y:0.20, Z:-0.07 [[ 9.98767683e-01 -4.95566832e-02 -2.69263063e-03 1.90459998e+01] [ 4.95566079e-02 9.98771312e-01 -9.47241806e-05 2.02271073e-01] [ 2.69401645e-03 -3.88301901e-05 9.99996370e-01 -6.94408185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.644012739 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:19.07, Y:0.20, Z:-0.07 [[ 9.99082670e-01 -4.27383669e-02 -2.69262296e-03 1.90735086e+01] [ 4.27382662e-02 9.99086298e-01 -9.49419194e-05 2.04092041e-01] [ 2.69422037e-03 -2.02232104e-05 9.99996370e-01 -7.08532657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.674012739 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:19.10, Y:0.21, Z:-0.07 [[ 9.99188255e-01 -4.01942776e-02 -2.69260537e-03 1.91017175e+01] [ 4.01941664e-02 9.99191883e-01 -9.54381769e-05 2.06989357e-01] [ 2.69426550e-03 -1.28663227e-05 9.99996370e-01 -7.11505977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.704012739 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:19.13, Y:0.21, Z:-0.07 [[ 9.99274248e-01 -3.79964072e-02 -2.69258724e-03 1.91296546e+01] [ 3.79962866e-02 9.99277876e-01 -9.59469683e-05 2.10014318e-01] [ 2.69428849e-03 -6.43098185e-06 9.99996370e-01 -7.07021414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.734012739 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:19.16, Y:0.21, Z:-0.07 [[ 9.99340269e-01 -3.62184668e-02 -2.69258159e-03 1.91578631e+01] [ 3.62183393e-02 9.99343896e-01 -9.61051964e-05 2.13014236e-01] [ 2.69429576e-03 -1.47904088e-06 9.99996370e-01 -6.89371009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.764012738999998 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:19.19, Y:0.22, Z:-0.07 [[ 9.99377305e-01 -3.51817167e-02 -2.69257608e-03 1.91859658e+01] [ 3.51815850e-02 9.99380932e-01 -9.62594502e-05 2.17635179e-01] [ 2.69429576e-03 1.47041579e-06 9.99996370e-01 -6.90359262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.794012739 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:19.21, Y:0.22, Z:-0.07 [[ 9.99292406e-01 -3.75158394e-02 -2.69255825e-03 1.92144211e+01] [ 3.75157149e-02 9.99296033e-01 -9.67554228e-05 2.22094171e-01] [ 2.69429264e-03 -4.32628858e-06 9.99996370e-01 -6.81444800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.824012739 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:19.24, Y:0.22, Z:-0.07 [[ 9.99229263e-01 -3.91615817e-02 -2.69254238e-03 1.92418136e+01] [ 3.91614620e-02 9.99232891e-01 -9.71952250e-05 2.24703152e-01] [ 2.69428322e-03 -8.32358290e-06 9.99996370e-01 -6.70570907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.854012738999998 meters Centerline goodness : 0.998321 Centerline is valid? [True, True] Translation: X:19.27, Y:0.23, Z:-0.07 [[ 9.99151722e-01 -4.10924255e-02 -2.69253673e-03 1.92705650e+01] [ 4.10923123e-02 9.99155349e-01 -9.73515289e-05 2.27372811e-01] [ 2.69426288e-03 -1.33736124e-05 9.99996370e-01 -6.66548726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.884012739 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:19.30, Y:0.23, Z:-0.07 [[ 9.99075742e-01 -4.29000347e-02 -2.69252068e-03 1.92979517e+01] [ 4.28999270e-02 9.99079370e-01 -9.77932309e-05 2.29774754e-01] [ 2.69423720e-03 -1.78060959e-05 9.99996370e-01 -6.63823531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.914012739 meters Centerline goodness : 0.998197 Centerline is valid? [True, True] Translation: X:19.33, Y:0.23, Z:-0.07 [[ 9.98953497e-01 -4.56580893e-02 -2.69251208e-03 1.93264439e+01] [ 4.56579909e-02 9.98957125e-01 -9.80295111e-05 2.32841665e-01] [ 2.69417997e-03 -2.50077691e-05 9.99996370e-01 -6.67396441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.944012738999998 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:19.35, Y:0.23, Z:-0.07 [[ 9.98912536e-01 -4.65456320e-02 -2.69249538e-03 1.93540537e+01] [ 4.65455356e-02 9.98916164e-01 -9.84860582e-05 2.34737344e-01] [ 2.69416125e-03 -2.69446815e-05 9.99996370e-01 -6.51436180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.974012739 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:19.38, Y:0.24, Z:-0.06 [[ 9.98857685e-01 -4.77082392e-02 -2.69248947e-03 1.93815240e+01] [ 4.77081466e-02 9.98861313e-01 -9.86474694e-05 2.37999315e-01] [ 2.69412986e-03 -2.99188993e-05 9.99996370e-01 -6.49384358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.004012739 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:19.41, Y:0.24, Z:-0.07 [[ 9.98865997e-01 -4.75338913e-02 -2.69247166e-03 1.94102880e+01] [ 4.75337967e-02 9.98869625e-01 -9.91311664e-05 2.40398268e-01] [ 2.69414025e-03 -2.89646492e-05 9.99996370e-01 -6.53454721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.034012738999998 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:19.44, Y:0.25, Z:-0.07 [[ 9.98893075e-01 -4.69614323e-02 -2.69245509e-03 1.94387714e+01] [ 4.69613344e-02 9.98896703e-01 -9.95790043e-05 2.45460733e-01] [ 2.69416089e-03 -2.69725064e-05 9.99996370e-01 -6.54889753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.064012739 meters Centerline goodness : 0.997566 Centerline is valid? [True, True] Translation: X:19.47, Y:0.25, Z:-0.07 [[ 9.98888638e-01 -4.70557090e-02 -2.69243848e-03 1.94678566e+01] [ 4.70556103e-02 9.98892266e-01 -1.00026299e-04 2.48123626e-01] [ 2.69416278e-03 -2.67792024e-05 9.99996370e-01 -6.59998541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.094012739 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:19.50, Y:0.25, Z:-0.07 [[ 9.98869774e-01 -4.74544660e-02 -2.69242177e-03 1.94952366e+01] [ 4.74543676e-02 9.98873402e-01 -1.00473997e-04 2.50198608e-01] [ 2.69415643e-03 -2.74067343e-05 9.99996370e-01 -6.60902099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.124012738999998 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:19.52, Y:0.25, Z:-0.07 [[ 9.98866359e-01 -4.75262890e-02 -2.69241581e-03 1.95239709e+01] [ 4.75261903e-02 9.98869987e-01 -1.00633449e-04 2.50854251e-01] [ 2.69415608e-03 -2.74408999e-05 9.99996370e-01 -6.64729048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.154012739 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:19.55, Y:0.25, Z:-0.07 [[ 9.98870790e-01 -4.74330569e-02 -2.69239938e-03 1.95516500e+01] [ 4.74329567e-02 9.98874419e-01 -1.01071017e-04 2.51997200e-01] [ 2.69416298e-03 -2.67515772e-05 9.99996370e-01 -6.50513155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.184012739 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:19.58, Y:0.25, Z:-0.06 [[ 9.98853320e-01 -4.77995490e-02 -2.69239054e-03 1.95800555e+01] [ 4.77994495e-02 9.98856948e-01 -1.01305992e-04 2.54069843e-01] [ 2.69415538e-03 -2.75049598e-05 9.99996370e-01 -6.45781809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.214012739 meters Centerline goodness : 0.997473 Centerline is valid? [True, True] Translation: X:19.61, Y:0.26, Z:-0.07 [[ 9.98825537e-01 -4.83766223e-02 -2.69237403e-03 1.96081642e+01] [ 4.83765237e-02 9.98829165e-01 -1.01743104e-04 2.55178597e-01] [ 2.69414369e-03 -2.86240859e-05 9.99996370e-01 -6.59226540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.244012739 meters Centerline goodness : 0.997523 Centerline is valid? [True, True] Translation: X:19.64, Y:0.26, Z:-0.07 [[ 9.98795351e-01 -4.89958931e-02 -2.69236816e-03 1.96371855e+01] [ 4.89957964e-02 9.98798980e-01 -1.01898118e-04 2.56404048e-01] [ 2.69412716e-03 -3.01393557e-05 9.99996370e-01 -6.80434247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.274012739 meters Centerline goodness : 0.995060 Centerline is valid? [True, True] Translation: X:19.66, Y:0.26, Z:-0.06 [[ 9.98781121e-01 -4.92851349e-02 -2.69235149e-03 1.96649445e+01] [ 4.92850381e-02 9.98784749e-01 -1.02336520e-04 2.56013366e-01] [ 2.69412328e-03 -3.04808617e-05 9.99996370e-01 -6.04756973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.304012739 meters Centerline goodness : 0.997608 Centerline is valid? [True, True] Translation: X:19.69, Y:0.26, Z:-0.07 [[ 9.98795729e-01 -4.89881924e-02 -2.69234554e-03 1.96939830e+01] [ 4.89880941e-02 9.98799357e-01 -1.02492856e-04 2.56866525e-01] [ 2.69413394e-03 -2.95234503e-05 9.99996370e-01 -6.51148907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.334012739 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:19.72, Y:0.26, Z:-0.06 [[ 9.98883828e-01 -4.71577108e-02 -2.69232893e-03 1.97222262e+01] [ 4.71576046e-02 9.98887456e-01 -1.02927330e-04 2.57769852e-01] [ 2.69418742e-03 -2.41513384e-05 9.99996370e-01 -6.39969306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.364012739 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:19.75, Y:0.26, Z:-0.06 [[ 9.98920538e-01 -4.63735862e-02 -2.69232305e-03 1.97510602e+01] [ 4.63734768e-02 9.98924166e-01 -1.03081082e-04 2.59693957e-01] [ 2.69420679e-03 -2.18825703e-05 9.99996370e-01 -6.40897948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.394012739 meters Centerline goodness : 0.997528 Centerline is valid? [True, True] Translation: X:19.78, Y:0.26, Z:-0.06 [[ 9.98970378e-01 -4.52872518e-02 -2.69230670e-03 1.97799917e+01] [ 4.52871374e-02 9.98974006e-01 -1.03506193e-04 2.61227754e-01] [ 2.69423192e-03 -1.85272426e-05 9.99996370e-01 -6.43942425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.424012739 meters Centerline goodness : 0.996310 Centerline is valid? [True, True] Translation: X:19.81, Y:0.26, Z:-0.06 [[ 9.99065136e-01 -4.31463305e-02 -2.69229001e-03 1.98089020e+01] [ 4.31462070e-02 9.99068763e-01 -1.03938630e-04 2.63090513e-01] [ 2.69426742e-03 -1.23206403e-05 9.99996370e-01 -5.81820721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.454012739 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:19.84, Y:0.27, Z:-0.06 [[ 9.99131586e-01 -4.15791405e-02 -2.69228644e-03 1.98372786e+01] [ 4.15790112e-02 9.99135214e-01 -1.04031040e-04 2.65040478e-01] [ 2.69428371e-03 -8.00190997e-06 9.99996370e-01 -5.99302493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.484012739 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:19.87, Y:0.27, Z:-0.06 [[ 9.99302257e-01 -3.72525288e-02 -2.69227013e-03 1.98654515e+01] [ 3.72523826e-02 9.99305884e-01 -1.04451495e-04 2.69009837e-01] [ 2.69429246e-03 4.08513825e-06 9.99996370e-01 -5.92212350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.514012738999998 meters Centerline goodness : 0.996632 Centerline is valid? [True, True] Translation: X:19.89, Y:0.27, Z:-0.06 [[ 9.99384812e-01 -3.49678223e-02 -2.69226663e-03 1.98939662e+01] [ 3.49676676e-02 9.99388439e-01 -1.04541461e-04 2.71290271e-01] [ 2.69427573e-03 1.03348634e-05 9.99996370e-01 -5.85744184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.544012739 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:19.92, Y:0.27, Z:-0.06 [[ 9.99461082e-01 -3.27154032e-02 -2.69225018e-03 1.99224704e+01] [ 3.27152392e-02 9.99464708e-01 -1.04963351e-04 2.73521764e-01] [ 2.69424296e-03 1.68291760e-05 9.99996370e-01 -5.76522590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.574012739 meters Centerline goodness : 0.996251 Centerline is valid? [True, True] Translation: X:19.95, Y:0.28, Z:-0.06 [[ 9.99550995e-01 -2.98422447e-02 -2.69223365e-03 1.99514690e+01] [ 2.98420691e-02 9.99554621e-01 -1.05385722e-04 2.76827630e-01] [ 2.69417953e-03 2.49965810e-05 9.99996370e-01 -5.65073762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.604012738999998 meters Centerline goodness : 0.996354 Centerline is valid? [True, True] Translation: X:19.98, Y:0.28, Z:-0.06 [[ 9.99533676e-01 -3.04168130e-02 -2.69223015e-03 1.99802059e+01] [ 3.04166392e-02 9.99537301e-01 -1.05475182e-04 2.78980655e-01] [ 2.69419267e-03 2.35374037e-05 9.99996370e-01 -5.63890135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.634012739 meters Centerline goodness : 0.996290 Centerline is valid? [True, True] Translation: X:20.01, Y:0.28, Z:-0.06 [[ 9.99458370e-01 -3.27981347e-02 -2.69221393e-03 2.00102921e+01] [ 3.27979684e-02 9.99461996e-01 -1.05887432e-04 2.78883705e-01] [ 2.69423842e-03 1.75309326e-05 9.99996370e-01 -5.89648885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.664012739 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:20.04, Y:0.28, Z:-0.06 [[ 9.99411664e-01 -3.41917944e-02 -2.69221146e-03 2.00392898e+01] [ 3.41916330e-02 9.99415290e-01 -1.05950164e-04 2.79247776e-01] [ 2.69425992e-03 1.38367229e-05 9.99996370e-01 -5.98072519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.694012738999998 meters Centerline goodness : 0.997157 Centerline is valid? [True, True] Translation: X:20.07, Y:0.28, Z:-0.06 [[ 9.99381318e-01 -3.50675461e-02 -2.69220778e-03 2.00682579e+01] [ 3.50673877e-02 9.99384944e-01 -1.06043544e-04 2.80145763e-01] [ 2.69427061e-03 1.15692427e-05 9.99996370e-01 -6.13530662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.724012739 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:20.10, Y:0.28, Z:-0.06 [[ 9.99363504e-01 -3.55716161e-02 -2.69219158e-03 2.00970729e+01] [ 3.55714584e-02 9.99367130e-01 -1.06453280e-04 2.81839046e-01] [ 2.69427449e-03 1.06203419e-05 9.99996370e-01 -6.29435166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.754012739 meters Centerline goodness : 0.997168 Centerline is valid? [True, True] Translation: X:20.13, Y:0.28, Z:-0.06 [[ 9.99382963e-01 -3.50206484e-02 -2.69218721e-03 2.01256190e+01] [ 3.50204884e-02 9.99386589e-01 -1.06563822e-04 2.82497004e-01] [ 2.69426772e-03 1.22163573e-05 9.99996370e-01 -6.31786588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.784012738999998 meters Centerline goodness : 0.996974 Centerline is valid? [True, True] Translation: X:20.15, Y:0.28, Z:-0.06 [[ 9.99456759e-01 -3.28472238e-02 -2.69216996e-03 2.01546726e+01] [ 3.28470547e-02 9.99460384e-01 -1.06997888e-04 2.83048973e-01] [ 2.69423180e-03 1.85099084e-05 9.99996370e-01 -6.21306794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.814012739 meters Centerline goodness : 0.996830 Centerline is valid? [True, True] Translation: X:20.18, Y:0.28, Z:-0.06 [[ 9.99496970e-01 -3.15999743e-02 -2.69216626e-03 2.01836711e+01] [ 3.15998005e-02 9.99500596e-01 -1.07090806e-04 2.84543857e-01] [ 2.69420585e-03 2.19650192e-05 9.99996370e-01 -6.21893935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.844012739 meters Centerline goodness : 0.996651 Centerline is valid? [True, True] Translation: X:20.21, Y:0.29, Z:-0.06 [[ 9.99529308e-01 -3.05600206e-02 -2.69214832e-03 2.02120153e+01] [ 3.05598418e-02 9.99532933e-01 -1.07539883e-04 2.86362880e-01] [ 2.69417733e-03 2.52176381e-05 9.99996370e-01 -6.14192002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.874012738999998 meters Centerline goodness : 0.996504 Centerline is valid? [True, True] Translation: X:20.24, Y:0.29, Z:-0.06 [[ 9.99559195e-01 -2.95663391e-02 -2.69214371e-03 2.02403456e+01] [ 2.95661564e-02 9.99562820e-01 -1.07655121e-04 2.88060041e-01] [ 2.69414973e-03 2.80113243e-05 9.99996370e-01 -6.26229761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.904012739 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:20.27, Y:0.29, Z:-0.06 [[ 9.99598792e-01 -2.81958759e-02 -2.69212765e-03 2.02694887e+01] [ 2.81956871e-02 9.99602417e-01 -1.08055426e-04 2.88970975e-01] [ 2.69410402e-03 3.21056848e-05 9.99996370e-01 -5.68123113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.934012739 meters Centerline goodness : 0.997336 Centerline is valid? [True, True] Translation: X:20.30, Y:0.29, Z:-0.07 [[ 9.99621589e-01 -2.73757437e-02 -2.69211014e-03 2.02993906e+01] [ 2.73755508e-02 9.99625213e-01 -1.08489801e-04 2.92003949e-01] [ 2.69407116e-03 3.47507498e-05 9.99996370e-01 -6.68695949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.964012739 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:20.33, Y:0.30, Z:-0.07 [[ 9.99677136e-01 -2.52661191e-02 -2.69210764e-03 2.03267900e+01] [ 2.52659184e-02 9.99680760e-01 -1.08551885e-04 2.96492784e-01] [ 2.69399089e-03 4.04982652e-05 9.99996370e-01 -6.63495565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.994012739 meters Centerline goodness : 0.991155 Centerline is valid? [True, True] Translation: X:20.36, Y:0.30, Z:-0.06 [[ 9.99705613e-01 -2.41130465e-02 -2.69209012e-03 2.03561961e+01] [ 2.41128404e-02 9.99709237e-01 -1.08984478e-04 2.98332891e-01] [ 2.69393531e-03 4.40384552e-05 9.99996370e-01 -5.55719765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.024012739 meters Centerline goodness : 0.996639 Centerline is valid? [True, True] Translation: X:20.39, Y:0.30, Z:-0.06 [[ 9.99738674e-01 -2.27010146e-02 -2.69208758e-03 2.03858894e+01] [ 2.27008032e-02 9.99742298e-01 -1.09047246e-04 3.02245690e-01] [ 2.69386931e-03 4.79061985e-05 9.99996370e-01 -6.36946292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.054012739 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:20.41, Y:0.31, Z:-0.06 [[ 9.99779323e-01 -2.08340720e-02 -2.69208500e-03 2.04139465e+01] [ 2.08338537e-02 9.99782946e-01 -1.09110960e-04 3.10219879e-01] [ 2.69377390e-03 5.30003771e-05 9.99996370e-01 -6.28913444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.084012739 meters Centerline goodness : 0.996095 Centerline is valid? [True, True] Translation: X:20.44, Y:0.31, Z:-0.06 [[ 9.99780586e-01 -2.07733401e-02 -2.69208114e-03 2.04437292e+01] [ 2.07731213e-02 9.99784209e-01 -1.09206022e-04 3.14043501e-01] [ 2.69376879e-03 5.32591325e-05 9.99996370e-01 -6.37638086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.114012739 meters Centerline goodness : 0.996031 Centerline is valid? [True, True] Translation: X:20.47, Y:0.32, Z:-0.06 [[ 9.99745339e-01 -2.24055598e-02 -2.69207988e-03 2.04730699e+01] [ 2.24053468e-02 9.99748963e-01 -1.09237149e-04 3.18486536e-01] [ 2.69385159e-03 4.88923475e-05 9.99996370e-01 -6.26722847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.144012739 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:20.50, Y:0.32, Z:-0.06 [[ 9.99724462e-01 -2.33185089e-02 -2.69207737e-03 2.05016123e+01] [ 2.33182991e-02 9.99728086e-01 -1.09298980e-04 3.22348069e-01] [ 2.69389404e-03 4.64941991e-05 9.99996370e-01 -6.12335684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.174012739 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:20.53, Y:0.33, Z:-0.06 [[ 9.99713920e-01 -2.37661821e-02 -2.69207488e-03 2.05322066e+01] [ 2.37659738e-02 9.99717543e-01 -1.09360343e-04 3.26946693e-01] [ 2.69391356e-03 4.53492767e-05 9.99996370e-01 -5.98372105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.204012739 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:20.56, Y:0.33, Z:-0.06 [[ 9.99692951e-01 -2.46324357e-02 -2.69207488e-03 2.05624336e+01] [ 2.46322305e-02 9.99696575e-01 -1.09360343e-04 3.32496550e-01] [ 2.69395184e-03 4.30149556e-05 9.99996370e-01 -5.89855824e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.234012739 meters Centerline goodness : 0.995920 Centerline is valid? [True, True] Translation: X:20.59, Y:0.33, Z:-0.06 [[ 9.99678600e-01 -2.52081300e-02 -2.69207488e-03 2.05919030e+01] [ 2.52079268e-02 9.99682224e-01 -1.09360343e-04 3.34363302e-01] [ 2.69397617e-03 4.14635684e-05 9.99996370e-01 -6.14551031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.264012738999998 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:20.62, Y:0.34, Z:-0.07 [[ 9.99616848e-01 -2.75483331e-02 -2.69207362e-03 2.06225409e+01] [ 2.75481384e-02 9.99620472e-01 -1.09391252e-04 3.37870414e-01] [ 2.69406545e-03 3.51877220e-05 9.99996370e-01 -6.62659707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.294012739 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:20.65, Y:0.34, Z:-0.07 [[ 9.99569257e-01 -2.92241961e-02 -2.69207362e-03 2.06514775e+01] [ 2.92240074e-02 9.99572881e-01 -1.09391252e-04 3.39964777e-01] [ 2.69412066e-03 3.06709532e-05 9.99996370e-01 -6.71278398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.324012739 meters Centerline goodness : 0.995990 Centerline is valid? [True, True] Translation: X:20.68, Y:0.34, Z:-0.06 [[ 9.99498945e-01 -3.15374548e-02 -2.69206985e-03 2.06820636e+01] [ 3.15372743e-02 9.99502570e-01 -1.09483979e-04 3.42026166e-01] [ 2.69418358e-03 2.45285760e-05 9.99996370e-01 -6.49747431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.354012738999998 meters Centerline goodness : 0.996051 Centerline is valid? [True, True] Translation: X:20.71, Y:0.34, Z:-0.06 [[ 9.99471476e-01 -3.23963119e-02 -2.69206985e-03 2.07109971e+01] [ 3.23961345e-02 9.99475101e-01 -1.09483979e-04 3.43265189e-01] [ 2.69420366e-03 2.22134569e-05 9.99996370e-01 -6.46541017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.384012739 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:20.74, Y:0.35, Z:-0.06 [[ 9.99442671e-01 -3.32731280e-02 -2.69204052e-03 2.07402855e+01] [ 3.32729518e-02 9.99446296e-01 -1.10202737e-04 3.45323076e-01] [ 2.69421672e-03 2.05691836e-05 9.99996370e-01 -6.21603607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.414012739 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:20.77, Y:0.35, Z:-0.06 [[ 9.99402987e-01 -3.44444784e-02 -2.69205133e-03 2.07693699e+01] [ 3.44443072e-02 9.99406613e-01 -1.09938139e-04 3.48852056e-01] [ 2.69424066e-03 1.71466615e-05 9.99996370e-01 -6.10255044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.444012738999998 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:20.80, Y:0.35, Z:-0.06 [[ 9.99379211e-01 -3.51275557e-02 -2.69204878e-03 2.07986123e+01] [ 3.51273868e-02 9.99382837e-01 -1.10000372e-04 3.50602357e-01] [ 2.69425139e-03 1.53674464e-05 9.99996370e-01 -6.23992387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.474012739 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:20.83, Y:0.35, Z:-0.07 [[ 9.99289740e-01 -3.75868011e-02 -2.69204752e-03 2.08279834e+01] [ 3.75866410e-02 9.99293366e-01 -1.10031171e-04 3.52950479e-01] [ 2.69428095e-03 8.76799617e-06 9.99996370e-01 -6.64286740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.504012739 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:20.86, Y:0.35, Z:-0.07 [[ 9.99289740e-01 -3.75868012e-02 -2.69204499e-03 2.08589574e+01] [ 3.75866410e-02 9.99293366e-01 -1.10093164e-04 3.54217228e-01] [ 2.69428075e-03 8.83004091e-06 9.99996370e-01 -6.63451448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.534012738999998 meters Centerline goodness : 0.996534 Centerline is valid? [True, True] Translation: X:20.89, Y:0.36, Z:-0.07 [[ 9.99239172e-01 -3.89079740e-02 -2.69204499e-03 2.08885098e+01] [ 3.89078186e-02 9.99242798e-01 -1.10093164e-04 3.56530095e-01] [ 2.69429007e-03 5.26780410e-06 9.99996370e-01 -6.85145224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.564012739 meters Centerline goodness : 0.996469 Centerline is valid? [True, True] Translation: X:20.92, Y:0.36, Z:-0.07 [[ 9.99182274e-01 -4.03427263e-02 -2.69204373e-03 2.09181431e+01] [ 4.03425760e-02 9.99185901e-01 -1.10124000e-04 3.59343369e-01] [ 2.69429484e-03 1.42997010e-06 9.99996370e-01 -6.92944044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.594012739 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:20.95, Y:0.36, Z:-0.07 [[ 9.99066492e-01 -4.31149346e-02 -2.69204387e-03 2.09480707e+01] [ 4.31147944e-02 9.99070119e-01 -1.10120436e-04 3.62060776e-01] [ 2.69428843e-03 -6.04928010e-06 9.99996370e-01 -6.56472314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.624012738999998 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:20.98, Y:0.36, Z:-0.07 [[ 9.99018867e-01 -4.42046999e-02 -2.69204387e-03 2.09788626e+01] [ 4.42045636e-02 9.99022494e-01 -1.10120436e-04 3.62791903e-01] [ 2.69428023e-03 -8.98823108e-06 9.99996370e-01 -6.51910132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.654012739 meters Centerline goodness : 0.996420 Centerline is valid? [True, True] Translation: X:21.01, Y:0.36, Z:-0.07 [[ 9.98904499e-01 -4.67178249e-02 -2.69204387e-03 2.10090290e+01] [ 4.67176977e-02 9.98908126e-01 -1.10120436e-04 3.63460702e-01] [ 2.69424909e-03 -1.57662927e-05 9.99996370e-01 -6.88168188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.684012739 meters Centerline goodness : 0.996149 Centerline is valid? [True, True] Translation: X:21.04, Y:0.36, Z:-0.07 [[ 9.98834970e-01 -4.81814829e-02 -2.69204387e-03 2.10391237e+01] [ 4.81813611e-02 9.98838598e-01 -1.10120436e-04 3.64342488e-01] [ 2.69422309e-03 -1.97141953e-05 9.99996370e-01 -6.88648008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.714012738999998 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:21.07, Y:0.36, Z:-0.07 [[ 9.98772985e-01 -4.94497476e-02 -2.69204387e-03 2.10696940e+01] [ 4.94496304e-02 9.98776613e-01 -1.10120436e-04 3.64690028e-01] [ 2.69419589e-03 -2.31352576e-05 9.99996370e-01 -6.80033424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.744012739 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:21.10, Y:0.36, Z:-0.06 [[ 9.98743859e-01 -5.00345576e-02 -2.69204387e-03 2.10993680e+01] [ 5.00344426e-02 9.98747487e-01 -1.10120436e-04 3.63572490e-01] [ 2.69418188e-03 -2.47128050e-05 9.99996370e-01 -6.25424367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.774012739 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:21.13, Y:0.36, Z:-0.06 [[ 9.98708698e-01 -5.07315333e-02 -2.69204145e-03 2.11298742e+01] [ 5.07314206e-02 9.98712326e-01 -1.10179653e-04 3.63691233e-01] [ 2.69416456e-03 -2.65337095e-05 9.99996370e-01 -5.63183732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.804012739 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:21.16, Y:0.36, Z:-0.06 [[ 9.98645845e-01 -5.19541102e-02 -2.69204145e-03 2.11595004e+01] [ 5.19540019e-02 9.98649473e-01 -1.10179653e-04 3.63649585e-01] [ 2.69413006e-03 -2.98318741e-05 9.99996370e-01 -5.60363649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.834012739 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:21.19, Y:0.36, Z:-0.06 [[ 9.98560434e-01 -5.35706299e-02 -2.69204019e-03 2.11903232e+01] [ 5.35705275e-02 9.98564062e-01 -1.10210488e-04 3.63008940e-01] [ 2.69407863e-03 -3.41621796e-05 9.99996370e-01 -5.68525969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.864012739 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:21.22, Y:0.36, Z:-0.06 [[ 9.98370641e-01 -5.69983828e-02 -2.69204019e-03 2.12199552e+01] [ 5.69982928e-02 9.98374270e-01 -1.10210488e-04 3.59098307e-01] [ 2.69394548e-03 -4.34107787e-05 9.99996370e-01 -6.01539786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.894012739 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:21.25, Y:0.36, Z:-0.06 [[ 9.98282805e-01 -5.85166113e-02 -2.69203893e-03 2.12505341e+01] [ 5.85165267e-02 9.98286434e-01 -1.10241100e-04 3.57849250e-01] [ 2.69387688e-03 -4.74769740e-05 9.99996370e-01 -5.94702352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.924012739 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:21.28, Y:0.35, Z:-0.06 [[ 9.98191655e-01 -6.00514248e-02 -2.69203893e-03 2.12804326e+01] [ 6.00513458e-02 9.98195283e-01 -1.10241100e-04 3.54583208e-01] [ 2.69380070e-03 -5.16188153e-05 9.99996370e-01 -5.77497633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.954012739 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:21.31, Y:0.35, Z:-0.06 [[ 9.98197522e-01 -5.99538175e-02 -2.69203925e-03 2.13086854e+01] [ 5.99537381e-02 9.98201151e-01 -1.10233445e-04 3.53958513e-01] [ 2.69380559e-03 -5.13630648e-05 9.99996370e-01 -5.80378604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.984012739 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:21.34, Y:0.35, Z:-0.06 [[ 9.98226326e-01 -5.94722964e-02 -2.69203542e-03 2.13377541e+01] [ 5.94722151e-02 9.98229955e-01 -1.10326933e-04 3.53445226e-01] [ 2.69383179e-03 -4.99700600e-05 9.99996370e-01 -5.97576682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.014012738999998 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:21.37, Y:0.35, Z:-0.07 [[ 9.98319930e-01 -5.78797951e-02 -2.69203163e-03 2.13668649e+01] [ 5.78797077e-02 9.98323558e-01 -1.10419117e-04 3.50214919e-01] [ 2.69390964e-03 -4.55803989e-05 9.99996370e-01 -6.52474038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.044012739 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:21.40, Y:0.35, Z:-0.07 [[ 9.98353718e-01 -5.72940404e-02 -2.69201368e-03 2.13962054e+01] [ 5.72939497e-02 9.98357346e-01 -1.10855076e-04 3.49601847e-01] [ 2.69394297e-03 -4.35635194e-05 9.99996370e-01 -6.69527921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.074012739 meters Centerline goodness : 0.996896 Centerline is valid? [True, True] Translation: X:21.43, Y:0.35, Z:-0.07 [[ 9.98439283e-01 -5.57830729e-02 -2.69199561e-03 2.14250476e+01] [ 5.57829756e-02 9.98442911e-01 -1.11292126e-04 3.47351199e-01] [ 2.69401216e-03 -3.90490947e-05 9.99996370e-01 -6.69497149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.104012738999998 meters Centerline goodness : 0.997050 Centerline is valid? [True, True] Translation: X:21.45, Y:0.35, Z:-0.07 [[ 9.98458431e-01 -5.54392813e-02 -2.69197729e-03 2.14539176e+01] [ 5.54391816e-02 9.98462060e-01 -1.11733541e-04 3.47119692e-01] [ 2.69403162e-03 -3.76797222e-05 9.99996370e-01 -6.75280814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.134012739 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:21.48, Y:0.35, Z:-0.07 [[ 9.98470069e-01 -5.52292888e-02 -2.69197340e-03 2.14832277e+01] [ 5.52291879e-02 9.98473697e-01 -1.11827244e-04 3.46876234e-01] [ 2.69404077e-03 -3.70193490e-05 9.99996370e-01 -6.67490069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.164012739 meters Centerline goodness : 0.996661 Centerline is valid? [True, True] Translation: X:21.51, Y:0.34, Z:-0.07 [[ 9.98461993e-01 -5.53751047e-02 -2.69197079e-03 2.15122318e+01] [ 5.53750043e-02 9.98465621e-01 -1.11890026e-04 3.44032529e-01] [ 2.69403621e-03 -3.73499559e-05 9.99996370e-01 -6.51394047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.194012738999998 meters Centerline goodness : 0.996633 Centerline is valid? [True, True] Translation: X:21.54, Y:0.34, Z:-0.06 [[ 9.98434962e-01 -5.58603603e-02 -2.69196689e-03 2.15412854e+01] [ 5.58602614e-02 9.98438590e-01 -1.11983786e-04 3.42730657e-01] [ 2.69401908e-03 -3.85654466e-05 9.99996370e-01 -6.43690083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.224012739 meters Centerline goodness : 0.996720 Centerline is valid? [True, True] Translation: X:21.57, Y:0.34, Z:-0.06 [[ 9.98461543e-01 -5.53832122e-02 -2.69196301e-03 2.15694779e+01] [ 5.53831113e-02 9.98465171e-01 -1.12077050e-04 3.38767106e-01] [ 2.69403849e-03 -3.71846622e-05 9.99996370e-01 -6.23626170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.254012739 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:21.60, Y:0.34, Z:-0.06 [[ 9.98518705e-01 -5.43428915e-02 -2.69195381e-03 2.15986645e+01] [ 5.43427862e-02 9.98522333e-01 -1.12297614e-04 3.37532096e-01] [ 2.69407857e-03 -3.41570020e-05 9.99996370e-01 -6.24316033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.284012738999998 meters Centerline goodness : 0.996703 Centerline is valid? [True, True] Translation: X:21.63, Y:0.34, Z:-0.06 [[ 9.98596218e-01 -5.28994097e-02 -2.69193584e-03 2.16273840e+01] [ 5.28992980e-02 9.98599846e-01 -1.12726734e-04 3.35905483e-01] [ 2.69412989e-03 -2.98330259e-05 9.99996370e-01 -6.49273360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.314012739 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:21.66, Y:0.33, Z:-0.07 [[ 9.98747330e-01 -4.99652360e-02 -2.69191705e-03 2.16555499e+01] [ 4.99651124e-02 9.98750957e-01 -1.13173604e-04 3.32399142e-01] [ 2.69420948e-03 -2.14701032e-05 9.99996370e-01 -6.78124086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.344012739 meters Centerline goodness : 0.991551 Centerline is valid? [True, True] Translation: X:21.68, Y:0.33, Z:-0.06 [[ 9.98769306e-01 -4.95240097e-02 -2.69190737e-03 2.16834229e+01] [ 4.95238839e-02 9.98772933e-01 -1.13403312e-04 3.31381610e-01] [ 2.69422041e-03 -2.00499609e-05 9.99996370e-01 -5.65178967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.374012738999998 meters Centerline goodness : 0.996834 Centerline is valid? [True, True] Translation: X:21.71, Y:0.33, Z:-0.06 [[ 9.98769408e-01 -4.95219563e-02 -2.69188693e-03 2.17120958e+01] [ 4.95218292e-02 9.98773035e-01 -1.13886600e-04 3.28401703e-01] [ 2.69422396e-03 -1.95607129e-05 9.99996370e-01 -6.23245885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.404012739 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:21.74, Y:0.33, Z:-0.06 [[ 9.98753661e-01 -4.98385174e-02 -2.69186794e-03 2.17403202e+01] [ 4.98383902e-02 9.98757289e-01 -1.14333663e-04 3.27027148e-01] [ 2.69422094e-03 -1.99672002e-05 9.99996370e-01 -6.07118691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.434012739 meters Centerline goodness : 0.996984 Centerline is valid? [True, True] Translation: X:21.77, Y:0.33, Z:-0.06 [[ 9.98739254e-01 -5.01263996e-02 -2.69184625e-03 2.17672603e+01] [ 5.01262721e-02 9.98742882e-01 -1.14842024e-04 3.26130869e-01] [ 2.69421890e-03 -2.02349802e-05 9.99996370e-01 -6.03727268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.464012738999998 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:21.80, Y:0.32, Z:-0.06 [[ 9.98715842e-01 -5.05907174e-02 -2.69183679e-03 2.17952555e+01] [ 5.05905910e-02 9.98719470e-01 -1.15063412e-04 3.24637489e-01] [ 2.69421095e-03 -2.12659618e-05 9.99996370e-01 -6.27990657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.494012739 meters Centerline goodness : 0.997266 Centerline is valid? [True, True] Translation: X:21.82, Y:0.32, Z:-0.06 [[ 9.98696348e-01 -5.09740932e-02 -2.69181530e-03 2.18236428e+01] [ 5.09739669e-02 9.98699976e-01 -1.15563928e-04 3.24596595e-01] [ 2.69420664e-03 -2.17992307e-05 9.99996370e-01 -6.25687393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.524012739 meters Centerline goodness : 0.996643 Centerline is valid? [True, True] Translation: X:21.85, Y:0.32, Z:-0.06 [[ 9.98665934e-01 -5.15665284e-02 -2.69179362e-03 2.18515740e+01] [ 5.15664028e-02 9.98669561e-01 -1.16066673e-04 3.21454124e-01] [ 2.69419751e-03 -2.28942820e-05 9.99996370e-01 -5.99004468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.554012739 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:21.88, Y:0.32, Z:-0.06 [[ 9.98624661e-01 -5.23597213e-02 -2.69177150e-03 2.18783548e+01] [ 5.23595972e-02 9.98628289e-01 -1.16577530e-04 3.20721945e-01] [ 2.69418313e-03 -2.45228748e-05 9.99996370e-01 -6.01039005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.584012739 meters Centerline goodness : 0.997033 Centerline is valid? [True, True] Translation: X:21.91, Y:0.32, Z:-0.06 [[ 9.98558933e-01 -5.35986251e-02 -2.69175617e-03 2.19060666e+01] [ 5.35985047e-02 9.98562560e-01 -1.16930357e-04 3.20135996e-01] [ 2.69415424e-03 -2.75122532e-05 9.99996370e-01 -6.13339066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.614012739 meters Centerline goodness : 0.993798 Centerline is valid? [True, True] Translation: X:21.93, Y:0.32, Z:-0.05 [[ 9.98449809e-01 -5.55943661e-02 -2.69173462e-03 2.19343459e+01] [ 5.55942515e-02 9.98453437e-01 -1.17424281e-04 3.17363116e-01] [ 2.69409981e-03 -3.24027211e-05 9.99996370e-01 -5.26046693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.644012739 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:21.96, Y:0.32, Z:-0.06 [[ 9.98449896e-01 -5.55928100e-02 -2.69171296e-03 2.19623587e+01] [ 5.55926941e-02 9.98453523e-01 -1.17918713e-04 3.16672063e-01] [ 2.69410572e-03 -3.19036488e-05 9.99996370e-01 -5.69457868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.674012739 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:21.99, Y:0.32, Z:-0.06 [[ 9.98529967e-01 -5.41355761e-02 -2.69169094e-03 2.19897147e+01] [ 5.41354536e-02 9.98533594e-01 -1.18419288e-04 3.15664670e-01] [ 2.69415452e-03 -2.74707022e-05 9.99996370e-01 -5.72753257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.704012739 meters Centerline goodness : 0.996890 Centerline is valid? [True, True] Translation: X:22.02, Y:0.32, Z:-0.06 [[ 9.98641183e-01 -5.20436600e-02 -2.69168132e-03 2.20172125e+01] [ 5.20435292e-02 9.98644810e-01 -1.18637469e-04 3.16792505e-01] [ 2.69420791e-03 -2.16083334e-05 9.99996370e-01 -6.05177716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.734012739 meters Centerline goodness : 0.997489 Centerline is valid? [True, True] Translation: X:22.04, Y:0.32, Z:-0.06 [[ 9.98915574e-01 -4.64804363e-02 -2.69165917e-03 2.20442489e+01] [ 4.64802841e-02 9.98919200e-01 -1.19137956e-04 3.18781080e-01] [ 2.69428761e-03 -6.10032264e-06 9.99996370e-01 -6.37120684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.764012738999998 meters Centerline goodness : 0.997526 Centerline is valid? [True, True] Translation: X:22.07, Y:0.32, Z:-0.06 [[ 9.99008433e-01 -4.44399179e-02 -2.69164954e-03 2.20719152e+01] [ 4.44397576e-02 9.99012059e-01 -1.19355174e-04 3.20934980e-01] [ 2.69429448e-03 -3.79427791e-07 9.99996370e-01 -6.33298954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.794012739 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:22.10, Y:0.32, Z:-0.06 [[ 9.99070250e-01 -4.30277977e-02 -2.69162750e-03 2.20986162e+01] [ 4.30276310e-02 9.99073875e-01 -1.19850025e-04 3.23354599e-01] [ 2.69429160e-03 3.92423906e-06 9.99996370e-01 -6.30775722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.824012739 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:22.13, Y:0.33, Z:-0.06 [[ 9.99050141e-01 -4.34922046e-02 -2.69161786e-03 2.21263464e+01] [ 4.34920390e-02 9.99053766e-01 -1.20066170e-04 3.26340994e-01] [ 2.69429291e-03 2.88817508e-06 9.99996370e-01 -6.44326696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.854012738999998 meters Centerline goodness : 0.996866 Centerline is valid? [True, True] Translation: X:22.15, Y:0.33, Z:-0.06 [[ 9.98947251e-01 -4.57945950e-02 -2.69159578e-03 2.21541781e+01] [ 4.57944364e-02 9.98950877e-01 -1.20559204e-04 3.28194771e-01] [ 2.69429292e-03 -2.82782611e-06 9.99996370e-01 -6.41278176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.884012739 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:22.18, Y:0.33, Z:-0.06 [[ 9.98592929e-01 -5.29614801e-02 -2.69157362e-03 2.21807352e+01] [ 5.29613462e-02 9.98596556e-01 -1.21051883e-04 3.28302307e-01] [ 2.69420723e-03 -2.16678085e-05 9.99996370e-01 -6.39726613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.914012739 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:22.21, Y:0.33, Z:-0.05 [[ 9.98343758e-01 -5.74673480e-02 -2.69156399e-03 2.22083738e+01] [ 5.74672299e-02 9.98347386e-01 -1.21265646e-04 3.28286141e-01] [ 2.69408469e-03 -3.36119258e-05 9.99996370e-01 -5.48550624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.944012738999998 meters Centerline goodness : 0.984665 Centerline is valid? [True, True] Translation: X:22.24, Y:0.33, Z:-0.05 [[ 9.97943632e-01 -6.40410996e-02 -2.69154101e-03 2.22366682e+01] [ 6.40410040e-02 9.97947261e-01 -1.21773575e-04 3.25998370e-01] [ 2.69381449e-03 -5.08458245e-05 9.99996370e-01 -4.62594616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.974012739 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:22.27, Y:0.33, Z:-0.06 [[ 9.97816672e-01 -6.59897329e-02 -2.69151785e-03 2.22651451e+01] [ 6.59896431e-02 9.97820300e-01 -1.22283338e-04 3.26166170e-01] [ 2.69372059e-03 -5.55959491e-05 9.99996370e-01 -6.12474827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.004012739 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:22.29, Y:0.33, Z:-0.06 [[ 9.97695059e-01 -6.78035831e-02 -2.69149471e-03 2.22923010e+01] [ 6.78034984e-02 9.97698687e-01 -1.22790466e-04 3.26346722e-01] [ 2.69362638e-03 -5.99853164e-05 9.99996370e-01 -6.04462313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.034012738999998 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:22.32, Y:0.32, Z:-0.05 [[ 9.97549857e-01 -6.99073521e-02 -2.69148463e-03 2.23203082e+01] [ 6.99072746e-02 9.97553486e-01 -1.23011169e-04 3.24606178e-01] [ 2.69349926e-03 -6.54445804e-05 9.99996370e-01 -5.42125453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.064012739 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:22.35, Y:0.32, Z:-0.06 [[ 9.97525891e-01 -7.02485011e-02 -2.69146182e-03 2.23485567e+01] [ 7.02484234e-02 9.97529520e-01 -1.23508251e-04 3.24134096e-01] [ 2.69348888e-03 -6.58682706e-05 9.99996370e-01 -6.09921951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.094012739 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:22.38, Y:0.32, Z:-0.06 [[ 9.97537879e-01 -7.00780783e-02 -2.69143893e-03 2.23765109e+01] [ 7.00779987e-02 9.97541507e-01 -1.24004891e-04 3.21453762e-01] [ 2.69351208e-03 -6.49110778e-05 9.99996370e-01 -6.18987178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.124012738999998 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:22.40, Y:0.32, Z:-0.06 [[ 9.97575317e-01 -6.95431023e-02 -2.69141561e-03 2.24037783e+01] [ 6.95430194e-02 9.97578946e-01 -1.24509162e-04 3.19704040e-01] [ 2.69355830e-03 -6.29619009e-05 9.99996370e-01 -6.12545358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.154012739 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:22.43, Y:0.31, Z:-0.06 [[ 9.97659837e-01 -6.83198797e-02 -2.69140544e-03 2.24315873e+01] [ 6.83197917e-02 9.97663466e-01 -1.24728545e-04 3.14323106e-01] [ 2.69363832e-03 -5.94395991e-05 9.99996370e-01 -5.79500059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.184012739 meters Centerline goodness : 0.990126 Centerline is valid? [True, True] Translation: X:22.46, Y:0.31, Z:-0.05 [[ 9.97699058e-01 -6.77447141e-02 -2.69138102e-03 2.24587233e+01] [ 6.77446225e-02 9.97702686e-01 -1.25253293e-04 3.12485475e-01] [ 2.69368332e-03 -5.73614986e-05 9.99996370e-01 -4.71034828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.214012738999998 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:22.49, Y:0.31, Z:-0.06 [[ 9.97758781e-01 -6.68593477e-02 -2.69137043e-03 2.24867237e+01] [ 6.68592523e-02 9.97762409e-01 -1.25480365e-04 3.11380831e-01] [ 2.69373778e-03 -5.47438792e-05 9.99996370e-01 -5.66178456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.244012739 meters Centerline goodness : 0.996494 Centerline is valid? [True, True] Translation: X:22.51, Y:0.31, Z:-0.06 [[ 9.97874570e-01 -6.51083673e-02 -2.69134625e-03 2.25138676e+01] [ 6.51082642e-02 9.97878198e-01 -1.25996931e-04 3.05999024e-01] [ 2.69383920e-03 -4.94997496e-05 9.99996370e-01 -5.72953127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.274012739 meters Centerline goodness : 0.988178 Centerline is valid? [True, True] Translation: X:22.54, Y:0.30, Z:-0.05 [[ 9.97924622e-01 -6.43366650e-02 -2.69132945e-03 2.25422761e+01] [ 6.43365582e-02 9.97928250e-01 -1.26354739e-04 3.03043721e-01] [ 2.69388293e-03 -4.70583690e-05 9.99996370e-01 -4.50862504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.304012739 meters Centerline goodness : 0.986309 Centerline is valid? [True, True] Translation: X:22.57, Y:0.30, Z:-0.04 [[ 9.98164665e-01 -6.04984147e-02 -2.69130473e-03 2.25692268e+01] [ 6.04982924e-02 9.98168293e-01 -1.26878984e-04 2.99586983e-01] [ 2.69405103e-03 -3.61732223e-05 9.99996370e-01 -4.30415983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.334012739 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:22.60, Y:0.30, Z:-0.06 [[ 9.98347592e-01 -5.74007120e-02 -2.69129395e-03 2.25976162e+01] [ 5.74005779e-02 9.98351220e-01 -1.27107230e-04 3.00744448e-01] [ 2.69415265e-03 -2.75846315e-05 9.99996370e-01 -5.60699720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.364012739 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:22.62, Y:0.30, Z:-0.06 [[ 9.98684008e-01 -5.12153247e-02 -2.69127007e-03 2.26246074e+01] [ 5.12151668e-02 9.98687634e-01 -1.27610940e-04 3.01744278e-01] [ 2.69427377e-03 -1.03908410e-05 9.99996370e-01 -5.68765964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.394012739 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:22.65, Y:0.30, Z:-0.06 [[ 9.98674535e-01 -5.13997104e-02 -2.69124627e-03 2.26530559e+01] [ 5.13995518e-02 9.98678161e-01 -1.28110988e-04 3.03294149e-01] [ 2.69427374e-03 -1.03876705e-05 9.99996370e-01 -5.67998546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.424012739 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:22.68, Y:0.30, Z:-0.06 [[ 9.98790353e-01 -4.90977398e-02 -2.69122252e-03 2.26809500e+01] [ 4.90975715e-02 9.98793979e-01 -1.28607865e-04 3.04822322e-01] [ 2.69429121e-03 -3.68019527e-06 9.99996370e-01 -5.53083960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.454012739 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:22.71, Y:0.31, Z:-0.05 [[ 9.99035398e-01 -4.38295614e-02 -2.69119864e-03 2.27081273e+01] [ 4.38293726e-02 9.99039023e-01 -1.29105696e-04 3.09210995e-01] [ 2.69427110e-03 1.10276126e-05 9.99996370e-01 -5.15571480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.484012739 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:22.74, Y:0.31, Z:-0.05 [[ 9.99138082e-01 -4.14228259e-02 -2.69119120e-03 2.27362420e+01] [ 4.14226280e-02 9.99141706e-01 -1.29260548e-04 3.13080432e-01] [ 2.69423571e-03 1.76729243e-05 9.99996370e-01 -5.23048982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.514012738999998 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:22.76, Y:0.32, Z:-0.05 [[ 9.99220104e-01 -3.93946809e-02 -2.69116652e-03 2.27626444e+01] [ 3.93944742e-02 9.99223728e-01 -1.29772304e-04 3.16346487e-01] [ 2.69418978e-03 2.36540045e-05 9.99996370e-01 -5.34857733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.544012739 meters Centerline goodness : 0.994916 Centerline is valid? [True, True] Translation: X:22.79, Y:0.32, Z:-0.06 [[ 9.99283274e-01 -3.77583892e-02 -2.69114942e-03 2.27900615e+01] [ 3.77581756e-02 9.99286897e-01 -1.30125930e-04 3.21537879e-01] [ 2.69414370e-03 2.84197732e-05 9.99996370e-01 -5.55090992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.574012739 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:22.82, Y:0.33, Z:-0.06 [[ 9.99260479e-01 -3.83569245e-02 -2.69112543e-03 2.28179600e+01] [ 3.83567118e-02 9.99264102e-01 -1.30620255e-04 3.26028735e-01] [ 2.69415523e-03 2.73009360e-05 9.99996370e-01 -5.56954776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.604012738999998 meters Centerline goodness : 0.995391 Centerline is valid? [True, True] Translation: X:22.85, Y:0.33, Z:-0.06 [[ 9.99216439e-01 -3.94875334e-02 -2.69110092e-03 2.28452195e+01] [ 3.94873234e-02 9.99220063e-01 -1.31123236e-04 3.33471920e-01] [ 2.69417977e-03 2.47561207e-05 9.99996370e-01 -5.93656204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.634012739 meters Centerline goodness : 0.989020 Centerline is valid? [True, True] Translation: X:22.87, Y:0.34, Z:-0.05 [[ 9.99162347e-01 -4.08333410e-02 -2.69109331e-03 2.28727214e+01] [ 4.08331355e-02 9.99165971e-01 -1.31279275e-04 3.36517177e-01] [ 2.69420943e-03 2.12835310e-05 9.99996370e-01 -5.15180520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.664012739 meters Centerline goodness : 0.996794 Centerline is valid? [True, True] Translation: X:22.90, Y:0.34, Z:-0.06 [[ 9.99104593e-01 -4.22228545e-02 -2.69106840e-03 2.28994111e+01] [ 4.22226527e-02 9.99108217e-01 -1.31787864e-04 3.39317037e-01] [ 2.69423302e-03 1.80458136e-05 9.99996370e-01 -6.45617088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.694012738999998 meters Centerline goodness : 0.997141 Centerline is valid? [True, True] Translation: X:22.93, Y:0.34, Z:-0.06 [[ 9.98860301e-01 -4.76535078e-02 -2.69105074e-03 2.29279253e+01] [ 4.76533247e-02 9.98863926e-01 -1.32147626e-04 3.43066643e-01] [ 2.69429080e-03 3.75950274e-06 9.99996370e-01 -6.38163939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.724012739 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:22.96, Y:0.35, Z:-0.06 [[ 9.98685865e-01 -5.11791073e-02 -2.69110193e-03 2.29550775e+01] [ 5.11789398e-02 9.98689491e-01 -1.31107179e-04 3.45260516e-01] [ 2.69428516e-03 -6.79285743e-06 9.99996370e-01 -6.00745448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.754012739 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:22.98, Y:0.35, Z:-0.06 [[ 9.98521175e-01 -5.42975310e-02 -2.69101695e-03 2.29823651e+01] [ 5.42973702e-02 9.98524801e-01 -1.32828679e-04 3.47664243e-01] [ 2.69425944e-03 -1.34828952e-05 9.99996370e-01 -5.85110747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.784012738999998 meters Centerline goodness : 0.995991 Centerline is valid? [True, True] Translation: X:23.01, Y:0.35, Z:-0.06 [[ 9.98297169e-01 -5.82710905e-02 -2.69100607e-03 2.30097886e+01] [ 5.82709436e-02 9.98300796e-01 -1.33048888e-04 3.52217889e-01] [ 2.69418640e-03 -2.39851344e-05 9.99996370e-01 -5.76269475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.814012739 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:23.04, Y:0.36, Z:-0.06 [[ 9.98260440e-01 -5.88969692e-02 -2.69098060e-03 2.30363320e+01] [ 5.88968232e-02 9.98264066e-01 -1.33561920e-04 3.55198478e-01] [ 2.69417563e-03 -2.51606279e-05 9.99996370e-01 -5.80682621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.844012739 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:23.06, Y:0.36, Z:-0.06 [[ 9.98200408e-01 -5.99057892e-02 -2.69096955e-03 2.30632971e+01] [ 5.99056462e-02 9.98204035e-01 -1.33784249e-04 3.56312408e-01] [ 2.69415111e-03 -2.76607781e-05 9.99996370e-01 -5.89740498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.874012738999998 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:23.09, Y:0.36, Z:-0.06 [[ 9.98132056e-01 -6.10340749e-02 -2.69095856e-03 2.30907987e+01] [ 6.10339354e-02 9.98135683e-01 -1.34004909e-04 3.56991657e-01] [ 2.69412062e-03 -3.04851958e-05 9.99996370e-01 -5.95478188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.904012739 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:23.12, Y:0.36, Z:-0.06 [[ 9.98072842e-01 -6.19948506e-02 -2.69093380e-03 2.31190761e+01] [ 6.19947132e-02 9.98076469e-01 -1.34500342e-04 3.58096408e-01] [ 2.69409603e-03 -3.25825304e-05 9.99996370e-01 -5.90120904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.934012739 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:23.15, Y:0.36, Z:-0.05 [[ 9.98036453e-01 -6.25779261e-02 -2.69090882e-03 2.31465479e+01] [ 6.25777896e-02 9.98040080e-01 -1.34998200e-04 3.60462432e-01] [ 2.69408276e-03 -3.36580008e-05 9.99996370e-01 -5.34907406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.964012738999998 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:23.18, Y:0.36, Z:-0.05 [[ 9.98047662e-01 -6.23989067e-02 -2.69090107e-03 2.31750077e+01] [ 6.23987691e-02 9.98051289e-01 -1.35152493e-04 3.62190880e-01] [ 2.69409065e-03 -3.30202847e-05 9.99996370e-01 -4.97285558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.994012739 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:23.20, Y:0.36, Z:-0.05 [[ 9.98128644e-01 -6.10898402e-02 -2.69087945e-03 2.32036552e+01] [ 6.10896967e-02 9.98132271e-01 -1.35581694e-04 3.63615781e-01] [ 2.69413628e-03 -2.90570365e-05 9.99996370e-01 -4.60472042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.024012739 meters Centerline goodness : 0.994131 Centerline is valid? [True, True] Translation: X:23.23, Y:0.37, Z:-0.05 [[ 9.98153716e-01 -6.06788082e-02 -2.69085748e-03 2.32309261e+01] [ 6.06786620e-02 9.98157343e-01 -1.36016313e-04 3.65484325e-01] [ 2.69415246e-03 -2.75124425e-05 9.99996370e-01 -4.66314590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.054012739 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:23.26, Y:0.37, Z:-0.05 [[ 9.98188872e-01 -6.00977179e-02 -2.69084811e-03 2.32588954e+01] [ 6.00975691e-02 9.98192498e-01 -1.36201305e-04 3.67004601e-01] [ 2.69416979e-03 -2.57588033e-05 9.99996370e-01 -4.77603606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.084012739 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:23.29, Y:0.37, Z:-0.05 [[ 9.98259294e-01 -5.89163944e-02 -2.69084038e-03 2.32878631e+01] [ 5.89162409e-02 9.98262920e-01 -1.36353948e-04 3.67656937e-01] [ 2.69419966e-03 -2.24176036e-05 9.99996370e-01 -5.17815153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.114012739 meters Centerline goodness : 0.995615 Centerline is valid? [True, True] Translation: X:23.31, Y:0.37, Z:-0.05 [[ 9.98287828e-01 -5.84309240e-02 -2.69081880e-03 2.33144824e+01] [ 5.84307676e-02 9.98291454e-01 -1.36778459e-04 3.68996959e-01] [ 2.69421350e-03 -2.06823373e-05 9.99996370e-01 -5.27313424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.144012739 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:23.34, Y:0.37, Z:-0.05 [[ 9.98367901e-01 -5.70464117e-02 -2.69079414e-03 2.33424328e+01] [ 5.70462490e-02 9.98371527e-01 -1.37261778e-04 3.71320232e-01] [ 2.69424255e-03 -1.64619591e-05 9.99996370e-01 -5.46351338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.174012739 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:23.37, Y:0.37, Z:-0.05 [[ 9.98384455e-01 -5.67559646e-02 -2.69078645e-03 2.33702927e+01] [ 5.67558003e-02 9.98388081e-01 -1.37412410e-04 3.72565191e-01] [ 2.69424810e-03 -1.55273244e-05 9.99996370e-01 -5.27963643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.204012739 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:23.40, Y:0.37, Z:-0.06 [[ 9.98400905e-01 -5.64658594e-02 -2.69076129e-03 2.33970790e+01] [ 5.64656928e-02 9.98404530e-01 -1.37903302e-04 3.73239729e-01] [ 2.69425509e-03 -1.42529189e-05 9.99996370e-01 -5.85639204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.234012739 meters Centerline goodness : 0.995615 Centerline is valid? [True, True] Translation: X:23.42, Y:0.37, Z:-0.06 [[ 9.98507562e-01 -5.45473038e-02 -2.69075029e-03 2.34245258e+01] [ 5.45471297e-02 9.98511188e-01 -1.38117673e-04 3.74022713e-01] [ 2.69427821e-03 -8.86116373e-06 9.99996370e-01 -5.89475682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.264012738999998 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:23.45, Y:0.38, Z:-0.06 [[ 9.98606149e-01 -5.27116559e-02 -2.69078698e-03 2.34525211e+01] [ 5.27114770e-02 9.98609774e-01 -1.37405512e-04 3.76183973e-01] [ 2.69428905e-03 -4.62136742e-06 9.99996370e-01 -5.81373774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.294012739 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:23.48, Y:0.38, Z:-0.05 [[ 9.98820813e-01 -4.84741590e-02 -2.69059249e-03 2.34802907e+01] [ 4.84739547e-02 9.98824437e-01 -1.41163257e-04 3.79029996e-01] [ 2.69427230e-03 1.05731412e-05 9.99996370e-01 -5.33408489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.324012739 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:23.51, Y:0.38, Z:-0.05 [[ 9.98884960e-01 -4.71338126e-02 -2.69067325e-03 2.35070082e+01] [ 4.71336076e-02 9.98888584e-01 -1.39606744e-04 3.81138208e-01] [ 2.69426299e-03 1.26299395e-05 9.99996370e-01 -5.14227741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.354012738999998 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:23.54, Y:0.38, Z:-0.05 [[ 9.98927983e-01 -4.62130387e-02 -2.69066150e-03 2.35357501e+01] [ 4.62128297e-02 9.98931607e-01 -1.39832700e-04 3.84682919e-01] [ 2.69424891e-03 1.53397145e-05 9.99996370e-01 -5.41111939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.384012739 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:23.56, Y:0.39, Z:-0.06 [[ 9.98955546e-01 -4.56133591e-02 -2.69063817e-03 2.35638367e+01] [ 4.56131467e-02 9.98959169e-01 -1.40280303e-04 3.87256458e-01] [ 2.69423632e-03 1.74053128e-05 9.99996370e-01 -5.63305073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.414012739 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:23.59, Y:0.39, Z:-0.06 [[ 9.98998539e-01 -4.46618305e-02 -2.69061085e-03 2.35906913e+01] [ 4.46616132e-02 9.99002162e-01 -1.40802381e-04 3.88398942e-01] [ 2.69421455e-03 2.04943522e-05 9.99996370e-01 -5.67212943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.444012738999998 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:23.62, Y:0.39, Z:-0.05 [[ 9.99007112e-01 -4.44696685e-02 -2.69055089e-03 2.36192165e+01] [ 4.44694475e-02 9.99010735e-01 -1.41943875e-04 3.88765054e-01] [ 2.69420142e-03 2.21556292e-05 9.99996370e-01 -5.36770238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.474012739 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:23.65, Y:0.39, Z:-0.05 [[ 9.98991278e-01 -4.48239506e-02 -2.69057415e-03 2.36469219e+01] [ 4.48237321e-02 9.98994901e-01 -1.41501696e-04 3.90985962e-01] [ 2.69421252e-03 2.07573856e-05 9.99996370e-01 -5.25112955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.504012739 meters Centerline goodness : 0.993617 Centerline is valid? [True, True] Translation: X:23.67, Y:0.39, Z:-0.05 [[ 9.99016622e-01 -4.42555181e-02 -2.69054656e-03 2.36746570e+01] [ 4.42552961e-02 9.99020244e-01 -1.42024335e-04 3.94953918e-01] [ 2.69419584e-03 2.28137373e-05 9.99996370e-01 -4.99240261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.534012738999998 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:23.70, Y:0.40, Z:-0.05 [[ 9.99049279e-01 -4.35120524e-02 -2.69051898e-03 2.37017681e+01] [ 4.35118263e-02 9.99052902e-01 -1.42544861e-04 3.96186898e-01] [ 2.69417321e-03 2.53399460e-05 9.99996370e-01 -5.02347976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.564012739 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:23.73, Y:0.40, Z:-0.05 [[ 9.99092969e-01 -4.24970726e-02 -2.69050696e-03 2.37286976e+01] [ 4.24968422e-02 9.99096591e-01 -1.42771427e-04 3.97137399e-01] [ 2.69414370e-03 2.83038793e-05 9.99996370e-01 -5.04677142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.594012739 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:23.76, Y:0.40, Z:-0.05 [[ 9.99106948e-01 -4.21671464e-02 -2.69049510e-03 2.37562503e+01] [ 4.21669142e-02 9.99110570e-01 -1.42994521e-04 3.99825578e-01] [ 2.69413176e-03 2.94169437e-05 9.99996370e-01 -5.11100969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.624012738999998 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:23.78, Y:0.40, Z:-0.05 [[ 9.99080287e-01 -4.27941696e-02 -2.69046798e-03 2.37835202e+01] [ 4.27939383e-02 9.99083910e-01 -1.43502997e-04 4.02447870e-01] [ 2.69414436e-03 2.82352944e-05 9.99996370e-01 -5.00563017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.654012739 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:23.81, Y:0.40, Z:-0.05 [[ 9.99019940e-01 -4.41805596e-02 -2.69045617e-03 2.38116025e+01] [ 4.41803327e-02 9.99023562e-01 -1.43724087e-04 4.04841879e-01] [ 2.69417892e-03 2.47179798e-05 9.99996370e-01 -4.99479359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.684012739 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:23.84, Y:0.41, Z:-0.05 [[ 9.98997513e-01 -4.46847914e-02 -2.69042877e-03 2.38393429e+01] [ 4.46845649e-02 9.99001136e-01 -1.44235238e-04 4.07194310e-01] [ 2.69418651e-03 2.38700047e-05 9.99996370e-01 -5.07009005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.714012738999998 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:23.87, Y:0.41, Z:-0.05 [[ 9.98975473e-01 -4.51748346e-02 -2.69040123e-03 2.38662015e+01] [ 4.51746086e-02 9.98979096e-01 -1.44747103e-04 4.09951023e-01] [ 2.69419351e-03 2.30609833e-05 9.99996370e-01 -5.08654848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.744012739 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:23.89, Y:0.41, Z:-0.05 [[ 9.98963391e-01 -4.54412193e-02 -2.69038134e-03 2.38931951e+01] [ 4.54409933e-02 9.98967014e-01 -1.45115732e-04 4.14159377e-01] [ 2.69419645e-03 2.27117030e-05 9.99996370e-01 -5.24765618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.774012739 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:23.92, Y:0.42, Z:-0.05 [[ 9.98951040e-01 -4.57119317e-02 -2.69036945e-03 2.39206132e+01] [ 4.57117061e-02 9.98954663e-01 -1.45335949e-04 4.16593719e-01] [ 2.69420069e-03 2.22021204e-05 9.99996370e-01 -5.21020933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.804012738999997 meters Centerline goodness : 0.993622 Centerline is valid? [True, True] Translation: X:23.95, Y:0.42, Z:-0.05 [[ 9.98948258e-01 -4.57726926e-02 -2.69034233e-03 2.39483796e+01] [ 4.57724658e-02 9.98951881e-01 -1.45836274e-04 4.18765625e-01] [ 2.69419785e-03 2.25392895e-05 9.99996370e-01 -5.13696281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.834012739 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:23.98, Y:0.42, Z:-0.05 [[ 9.98968762e-01 -4.53230051e-02 -2.69031523e-03 2.39765297e+01] [ 4.53227753e-02 9.98972384e-01 -1.46334462e-04 4.21362618e-01] [ 2.69418294e-03 2.42510039e-05 9.99996370e-01 -5.28819621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.864012739 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:24.00, Y:0.42, Z:-0.05 [[ 9.98956070e-01 -4.56018936e-02 -2.69028703e-03 2.40040805e+01] [ 4.56016635e-02 9.98959692e-01 -1.46851124e-04 4.24107531e-01] [ 2.69418499e-03 2.40162585e-05 9.99996370e-01 -5.45040758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.894012739 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:24.03, Y:0.43, Z:-0.06 [[ 9.98930176e-01 -4.61656368e-02 -2.69027826e-03 2.40319509e+01] [ 4.61654083e-02 9.98933798e-01 -1.47011522e-04 4.29186128e-01] [ 2.69419676e-03 2.26564509e-05 9.99996370e-01 -5.66670683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.924012739 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:24.06, Y:0.43, Z:-0.06 [[ 9.98908625e-01 -4.66296094e-02 -2.69025031e-03 2.40589631e+01] [ 4.66293812e-02 9.98912248e-01 -1.47521167e-04 4.32178340e-01] [ 2.69420284e-03 2.19154583e-05 9.99996370e-01 -5.50181257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.954012739 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:24.09, Y:0.43, Z:-0.05 [[ 9.98856787e-01 -4.77271659e-02 -2.69023818e-03 2.40875765e+01] [ 4.77269411e-02 9.98860409e-01 -1.47742163e-04 4.33823191e-01] [ 2.69422372e-03 1.91764233e-05 9.99996370e-01 -5.34331525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.984012739 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:24.11, Y:0.43, Z:-0.05 [[ 9.98682358e-01 -5.12475408e-02 -2.69031395e-03 2.41141950e+01] [ 5.12473325e-02 9.98685981e-01 -1.46365265e-04 4.34043848e-01] [ 2.69427969e-03 8.30099499e-06 9.99996370e-01 -5.07329406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.014012738999998 meters Centerline goodness : 0.993731 Centerline is valid? [True, True] Translation: X:24.14, Y:0.44, Z:-0.05 [[ 9.98596850e-01 -5.28875644e-02 -2.69020022e-03 2.41411207e+01] [ 5.28873564e-02 9.98600473e-01 -1.48426576e-04 4.35179926e-01] [ 2.69428513e-03 5.94073368e-06 9.99996370e-01 -4.96546454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.044012739 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:24.17, Y:0.44, Z:-0.05 [[ 9.98529944e-01 -5.41360686e-02 -2.69018816e-03 2.41701922e+01] [ 5.41358646e-02 9.98533568e-01 -1.48644770e-04 4.36284460e-01] [ 2.69429023e-03 2.79059127e-06 9.99996370e-01 -5.33642996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.074012739 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:24.20, Y:0.44, Z:-0.06 [[ 9.98512056e-01 -5.44650057e-02 -2.69016428e-03 2.41982318e+01] [ 5.44648017e-02 9.98515680e-01 -1.49075732e-04 4.37238181e-01] [ 2.69429063e-03 2.33465168e-06 9.99996370e-01 -5.50910531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.104012738999998 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:24.23, Y:0.44, Z:-0.06 [[ 9.98487997e-01 -5.49043076e-02 -2.69013687e-03 2.42254091e+01] [ 5.49041039e-02 9.98491621e-01 -1.49568657e-04 4.38286027e-01] [ 2.69429109e-03 1.64295441e-06 9.99996370e-01 -5.52675803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.134012739 meters Centerline goodness : 0.995041 Centerline is valid? [True, True] Translation: X:24.25, Y:0.44, Z:-0.05 [[ 9.98441144e-01 -5.57498373e-02 -2.69012494e-03 2.42530983e+01] [ 5.57496361e-02 9.98444768e-01 -1.49782992e-04 4.39176214e-01] [ 2.69429155e-03 -4.23984402e-07 9.99996370e-01 -5.42234727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.164012739 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:24.28, Y:0.44, Z:-0.05 [[ 9.98440960e-01 -5.57531440e-02 -2.69009741e-03 2.42801694e+01] [ 5.57529414e-02 9.98444584e-01 -1.50275752e-04 4.40256357e-01] [ 2.69429154e-03 6.06223628e-08 9.99996370e-01 -5.39482171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.194012738999998 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:24.31, Y:0.44, Z:-0.06 [[ 9.98509891e-01 -5.45046913e-02 -2.69007840e-03 2.43080019e+01] [ 5.45044834e-02 9.98513514e-01 -1.50615427e-04 4.40491463e-01] [ 2.69428888e-03 3.76966060e-06 9.99996370e-01 -5.51440253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.224012739 meters Centerline goodness : 0.994463 Centerline is valid? [True, True] Translation: X:24.34, Y:0.44, Z:-0.05 [[ 9.98561514e-01 -5.35506017e-02 -2.69004991e-03 2.43361585e+01] [ 5.35503889e-02 9.98565137e-01 -1.51122451e-04 4.42074539e-01] [ 2.69428276e-03 6.85184410e-06 9.99996370e-01 -5.36844536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.254012739 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:24.36, Y:0.44, Z:-0.05 [[ 9.98623930e-01 -5.23737602e-02 -2.69002089e-03 2.43640873e+01] [ 5.23735417e-02 9.98627553e-01 -1.51637260e-04 4.43872696e-01] [ 2.69427079e-03 1.05426752e-05 9.99996370e-01 -5.17547120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.284012738999998 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:24.39, Y:0.45, Z:-0.05 [[ 9.98622750e-01 -5.23962494e-02 -2.69001188e-03 2.43906289e+01] [ 5.23960306e-02 9.98626373e-01 -1.51797014e-04 4.47497597e-01] [ 2.69427040e-03 1.06420072e-05 9.99996370e-01 -5.21710928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.314012739 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:24.42, Y:0.45, Z:-0.05 [[ 9.98612947e-01 -5.25827605e-02 -2.68999950e-03 2.44190542e+01] [ 5.25825418e-02 9.98616570e-01 -1.52016028e-04 4.49297127e-01] [ 2.69427150e-03 1.03581622e-05 9.99996370e-01 -5.20943536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.344012739 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:24.45, Y:0.45, Z:-0.05 [[ 9.98556720e-01 -5.36399155e-02 -2.68997101e-03 2.44470035e+01] [ 5.36396992e-02 9.98560343e-01 -1.52518432e-04 4.52341451e-01] [ 2.69427946e-03 8.00906880e-06 9.99996370e-01 -5.38107310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.374012738999998 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:24.48, Y:0.46, Z:-0.06 [[ 9.98430371e-01 -5.59424560e-02 -2.68994201e-03 2.44750018e+01] [ 5.59422468e-02 9.98433995e-01 -1.53028357e-04 4.55544579e-01] [ 2.69429032e-03 2.30675963e-06 9.99996370e-01 -5.50426699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.404012739 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:24.50, Y:0.46, Z:-0.05 [[ 9.98337331e-01 -5.75789712e-02 -2.68993301e-03 2.45028437e+01] [ 5.75787675e-02 9.98340955e-01 -1.53186287e-04 4.57289384e-01] [ 2.69429060e-03 -1.95143798e-06 9.99996370e-01 -5.47872561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.434012739 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:24.53, Y:0.46, Z:-0.05 [[ 9.98233441e-01 -5.93528658e-02 -2.68990443e-03 2.45302348e+01] [ 5.93526671e-02 9.98237065e-01 -1.53686530e-04 4.59215998e-01] [ 2.69428404e-03 -6.23796837e-06 9.99996370e-01 -5.40481542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.464012738999998 meters Centerline goodness : 0.994809 Centerline is valid? [True, True] Translation: X:24.56, Y:0.46, Z:-0.06 [[ 9.97939199e-01 -6.41102078e-02 -2.68989202e-03 2.45576426e+01] [ 6.41100258e-02 9.97942824e-01 -1.53903356e-04 4.62323279e-01] [ 2.69422522e-03 -1.88628553e-05 9.99996370e-01 -5.51091146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.494012739 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:24.59, Y:0.46, Z:-0.06 [[ 9.97788333e-01 -6.64169197e-02 -2.68986355e-03 2.45857542e+01] [ 6.64167448e-02 9.97791958e-01 -1.54399348e-04 4.64388716e-01] [ 2.69417895e-03 -2.45941128e-05 9.99996370e-01 -5.71634018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.524012739 meters Centerline goodness : 0.996533 Centerline is valid? [True, True] Translation: X:24.61, Y:0.46, Z:-0.06 [[ 9.97570433e-01 -6.96131880e-02 -2.68983512e-03 2.46133852e+01] [ 6.96130233e-02 9.97574059e-01 -1.54893082e-04 4.64845318e-01] [ 2.69409234e-03 -3.27307960e-05 9.99996370e-01 -5.91422457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.554012738999997 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:24.64, Y:0.47, Z:-0.06 [[ 9.97505030e-01 -7.05441696e-02 -2.68980578e-03 2.46413377e+01] [ 7.05440069e-02 9.97508656e-01 -1.55401058e-04 4.66239581e-01] [ 2.69406718e-03 -3.47363403e-05 9.99996370e-01 -5.78184215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.584012739 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:24.67, Y:0.47, Z:-0.06 [[ 9.97481231e-01 -7.08798844e-02 -2.68977568e-03 2.46681389e+01] [ 7.08797216e-02 9.97484857e-01 -1.55920265e-04 4.67890996e-01] [ 2.69406212e-03 -3.51230134e-05 9.99996370e-01 -5.52172608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.614012739 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:24.69, Y:0.47, Z:-0.05 [[ 9.97532361e-01 -7.01566376e-02 -2.68976257e-03 2.46947768e+01] [ 7.01564716e-02 9.97535987e-01 -1.56146145e-04 4.69245094e-01] [ 2.69408964e-03 -3.29434180e-05 9.99996370e-01 -5.39556529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.644012739 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:24.72, Y:0.47, Z:-0.06 [[ 9.97594120e-01 -6.92729155e-02 -2.68975015e-03 2.47223843e+01] [ 6.92727457e-02 9.97597746e-01 -1.56359765e-04 4.71137066e-01] [ 2.69412018e-03 -3.03427961e-05 9.99996370e-01 -5.61373417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.674012739 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:24.75, Y:0.47, Z:-0.06 [[ 9.97765692e-01 -6.67561991e-02 -2.68972028e-03 2.47500842e+01] [ 6.67560187e-02 9.97769317e-01 -1.56871795e-04 4.74303559e-01] [ 2.69419253e-03 -2.30337226e-05 9.99996370e-01 -5.80476805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.704012739 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:24.78, Y:0.48, Z:-0.06 [[ 9.97871416e-01 -6.51567581e-02 -2.68971096e-03 2.47775417e+01] [ 6.51565715e-02 9.97875041e-01 -1.57031476e-04 4.76678639e-01] [ 2.69422710e-03 -1.85551235e-05 9.99996370e-01 -5.75811354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.734012739 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:24.81, Y:0.48, Z:-0.06 [[ 9.97964647e-01 -6.37128565e-02 -2.68968131e-03 2.48051099e+01] [ 6.37126633e-02 9.97968272e-01 -1.57537807e-04 4.79003636e-01] [ 2.69425379e-03 -1.41495974e-05 9.99996370e-01 -5.65332977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.764012738999998 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:24.83, Y:0.48, Z:-0.05 [[ 9.98035284e-01 -6.25966317e-02 -2.68965135e-03 2.48324831e+01] [ 6.25964331e-02 9.98038908e-01 -1.58047508e-04 4.82899347e-01] [ 2.69426994e-03 -1.06255918e-05 9.99996370e-01 -5.35646981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.794012739 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:24.86, Y:0.49, Z:-0.05 [[ 9.97999034e-01 -6.31719418e-02 -2.68962080e-03 2.48593126e+01] [ 6.31717438e-02 9.98002658e-01 -1.58565734e-04 4.86189541e-01] [ 2.69426562e-03 -1.16595871e-05 9.99996370e-01 -5.15314733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.824012739 meters Centerline goodness : 0.995553 Centerline is valid? [True, True] Translation: X:24.89, Y:0.49, Z:-0.05 [[ 9.97852694e-01 -6.54428531e-02 -2.68960747e-03 2.48860354e+01] [ 6.54426628e-02 9.97856319e-01 -1.58791601e-04 4.88900005e-01] [ 2.69423358e-03 -1.75644473e-05 9.99996370e-01 -5.06019180e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.854012738999998 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:24.91, Y:0.49, Z:-0.05 [[ 9.97773365e-01 -6.66414156e-02 -2.68958690e-03 2.49131130e+01] [ 6.66412288e-02 9.97776990e-01 -1.59139256e-04 4.89902153e-01] [ 2.69421318e-03 -2.04524650e-05 9.99996370e-01 -5.05148546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.884012739 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:24.94, Y:0.49, Z:-0.05 [[ 9.97818090e-01 -6.59683609e-02 -2.68957399e-03 2.49412862e+01] [ 6.59681710e-02 9.97821715e-01 -1.59357133e-04 4.91463462e-01] [ 2.69422786e-03 -1.84168472e-05 9.99996370e-01 -5.00648451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.914012739 meters Centerline goodness : 0.995434 Centerline is valid? [True, True] Translation: X:24.97, Y:0.49, Z:-0.05 [[ 9.97907297e-01 -6.46048966e-02 -2.68954431e-03 2.49687229e+01] [ 6.46047004e-02 9.97910921e-01 -1.59856422e-04 4.93897682e-01] [ 2.69425315e-03 -1.42353148e-05 9.99996370e-01 -5.06701130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.944012738999998 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:25.00, Y:0.50, Z:-0.05 [[ 9.98021895e-01 -6.28097444e-02 -2.68951403e-03 2.49966168e+01] [ 6.28095403e-02 9.98025519e-01 -1.60364342e-04 4.95880915e-01] [ 2.69427608e-03 -8.88001500e-06 9.99996370e-01 -5.17032032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.974012739 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:25.02, Y:0.50, Z:-0.05 [[ 9.98235392e-01 -5.93200605e-02 -2.68948310e-03 2.50243193e+01] [ 5.93198423e-02 9.98239015e-01 -1.60881411e-04 4.97530653e-01] [ 2.69429045e-03 1.05780542e-06 9.99996370e-01 -5.30009614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.004012739 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:25.05, Y:0.50, Z:-0.05 [[ 9.98339812e-01 -5.75359547e-02 -2.68947350e-03 2.50522608e+01] [ 5.75357296e-02 9.98343435e-01 -1.61041761e-04 5.00305462e-01] [ 2.69428390e-03 6.03358109e-06 9.99996370e-01 -5.34506186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.034012738999998 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:25.08, Y:0.50, Z:-0.05 [[ 9.98450960e-01 -5.55737954e-02 -2.68944352e-03 2.50800219e+01] [ 5.55735618e-02 9.98454582e-01 -1.61540751e-04 5.03642577e-01] [ 2.69426464e-03 1.18285620e-05 9.99996370e-01 -5.47226914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.064012739 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:25.11, Y:0.50, Z:-0.05 [[ 9.98433362e-01 -5.58890757e-02 -2.68941269e-03 2.51069296e+01] [ 5.58888420e-02 9.98436984e-01 -1.62052428e-04 5.04264243e-01] [ 2.69426606e-03 1.14903900e-05 9.99996370e-01 -5.45671138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.094012739 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:25.14, Y:0.50, Z:-0.05 [[ 9.98344494e-01 -5.74546597e-02 -2.68939140e-03 2.51353147e+01] [ 5.74544307e-02 9.98348117e-01 -1.62404945e-04 5.04338824e-01] [ 2.69427976e-03 7.61863086e-06 9.99996370e-01 -5.36804778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.124012738999998 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:25.16, Y:0.51, Z:-0.05 [[ 9.98113539e-01 -6.13362132e-02 -2.68936119e-03 2.51645040e+01] [ 6.13359969e-02 9.98117162e-01 -1.62903677e-04 5.05089158e-01] [ 2.69428946e-03 -2.35828429e-06 9.99996370e-01 -4.89921026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.154012739 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:25.19, Y:0.51, Z:-0.05 [[ 9.98003686e-01 -6.30984137e-02 -2.68933464e-03 2.51926478e+01] [ 6.30982026e-02 9.98007310e-01 -1.63340811e-04 5.07135723e-01] [ 2.69428218e-03 -6.67745064e-06 9.99996370e-01 -4.79153307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.184012739 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:25.22, Y:0.51, Z:-0.05 [[ 9.97852186e-01 -6.54506081e-02 -2.68930373e-03 2.52194511e+01] [ 6.54504042e-02 9.97855810e-01 -1.63848151e-04 5.07661612e-01] [ 2.69426132e-03 -1.25197811e-05 9.99996370e-01 -4.87414896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.214012738999998 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:25.25, Y:0.51, Z:-0.05 [[ 9.97798389e-01 -6.62656990e-02 -2.68929029e-03 2.52477022e+01] [ 6.62654975e-02 9.97802013e-01 -1.64068477e-04 5.08350739e-01] [ 2.69425138e-03 -1.44998973e-05 9.99996370e-01 -4.98963467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.244012739 meters Centerline goodness : 0.994305 Centerline is valid? [True, True] Translation: X:25.28, Y:0.51, Z:-0.05 [[ 9.97764955e-01 -6.67672298e-02 -2.68925881e-03 2.52750683e+01] [ 6.67670288e-02 9.97768579e-01 -1.64582929e-04 5.09466691e-01] [ 2.69424669e-03 -1.53387414e-05 9.99996370e-01 -4.84648298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.274012739 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:25.30, Y:0.51, Z:-0.05 [[ 9.97866519e-01 -6.52317334e-02 -2.68924513e-03 2.53042275e+01] [ 6.52315262e-02 9.97870142e-01 -1.64806184e-04 5.11779213e-01] [ 2.69426801e-03 -1.09689904e-05 9.99996370e-01 -5.06613605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.304012738999997 meters Centerline goodness : 0.995652 Centerline is valid? [True, True] Translation: X:25.33, Y:0.51, Z:-0.05 [[ 9.97983817e-01 -6.34119065e-02 -2.68921797e-03 2.53324257e+01] [ 6.34116915e-02 9.97987440e-01 -1.65248136e-04 5.12766552e-01] [ 2.69428446e-03 -5.61289497e-06 9.99996370e-01 -5.15042903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.334012739 meters Centerline goodness : 0.995923 Centerline is valid? [True, True] Translation: X:25.36, Y:0.51, Z:-0.05 [[ 9.98197856e-01 -5.99483856e-02 -2.68920830e-03 2.53600612e+01] [ 5.99481575e-02 9.98201478e-01 -1.65405276e-04 5.11976457e-01] [ 2.69428748e-03 3.89410836e-06 9.99996370e-01 -5.18921912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.364012739 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:25.39, Y:0.51, Z:-0.05 [[ 9.98308292e-01 -5.80803163e-02 -2.68919867e-03 2.53880727e+01] [ 5.80800810e-02 9.98311914e-01 -1.65561706e-04 5.13777704e-01] [ 2.69427495e-03 9.09274712e-06 9.99996370e-01 -5.32120212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.394012739 meters Centerline goodness : 0.996858 Centerline is valid? [True, True] Translation: X:25.42, Y:0.52, Z:-0.06 [[ 9.98395727e-01 -5.65574053e-02 -2.68916749e-03 2.54177145e+01] [ 5.65571631e-02 9.98399349e-01 -1.66066745e-04 5.16593668e-01] [ 2.69425537e-03 1.37086445e-05 9.99996370e-01 -5.52222735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.424012739 meters Centerline goodness : 0.996112 Centerline is valid? [True, True] Translation: X:25.44, Y:0.52, Z:-0.06 [[ 9.98666686e-01 -5.15520804e-02 -2.68950277e-03 2.54448434e+01] [ 5.15518347e-02 9.98670307e-01 -1.60645386e-04 5.19589644e-01] [ 2.69420817e-03 2.17823925e-05 9.99996370e-01 -5.50102055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.454012739 meters Centerline goodness : 0.996497 Centerline is valid? [True, True] Translation: X:25.47, Y:0.52, Z:-0.05 [[ 9.98795377e-01 -4.89955378e-02 -2.68910703e-03 2.54718170e+01] [ 4.89952657e-02 9.98798997e-01 -1.67017199e-04 5.21924925e-01] [ 2.69406050e-03 3.50624930e-05 9.99996370e-01 -5.45647787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.484012739 meters Centerline goodness : 0.996345 Centerline is valid? [True, True] Translation: X:25.50, Y:0.53, Z:-0.05 [[ 9.99037803e-01 -4.37748549e-02 -2.68909341e-03 2.54998877e+01] [ 4.37745633e-02 9.99041420e-01 -1.67236213e-04 5.26915381e-01] [ 2.69383644e-03 4.93614093e-05 9.99996370e-01 -5.43528307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.514012738999998 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:25.53, Y:0.53, Z:-0.05 [[ 9.99136236e-01 -4.14674658e-02 -2.68906143e-03 2.55275534e+01] [ 4.14671645e-02 9.99139853e-01 -1.67748755e-04 5.30984768e-01] [ 2.69370456e-03 5.60961068e-05 9.99996370e-01 -5.45497734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.544012739 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:25.55, Y:0.54, Z:-0.06 [[ 9.99191248e-01 -4.01200689e-02 -2.68902944e-03 2.55549952e+01] [ 4.01197613e-02 9.99194864e-01 -1.68260104e-04 5.35485913e-01] [ 2.69361501e-03 6.02408038e-05 9.99996370e-01 -5.62984583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.574012739 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:25.58, Y:0.54, Z:-0.06 [[ 9.99240598e-01 -3.88715258e-02 -2.68915457e-03 2.55818745e+01] [ 3.88712190e-02 9.99244215e-01 -1.66263807e-04 5.39772246e-01] [ 2.69358507e-03 6.16068299e-05 9.99996370e-01 -5.55774006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.604012738999998 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:25.61, Y:0.55, Z:-0.05 [[ 9.99202495e-01 -3.98389795e-02 -2.68898948e-03 2.56117469e+01] [ 3.98386691e-02 9.99206111e-01 -1.68892160e-04 5.47379359e-01] [ 2.69358321e-03 6.16317054e-05 9.99996370e-01 -5.26275838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.634012739 meters Centerline goodness : 0.995281 Centerline is valid? [True, True] Translation: X:25.64, Y:0.55, Z:-0.05 [[ 9.99042245e-01 -4.36733180e-02 -2.68946969e-03 2.56396828e+01] [ 4.36730421e-02 9.99045865e-01 -1.61251654e-04 5.51925557e-01] [ 2.69394597e-03 4.36398914e-05 9.99996370e-01 -5.13805765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.664012739 meters Centerline goodness : 0.995790 Centerline is valid? [True, True] Translation: X:25.67, Y:0.55, Z:-0.05 [[ 9.98859848e-01 -4.76631247e-02 -2.68895511e-03 2.56682370e+01] [ 4.76628413e-02 9.98863467e-01 -1.69418877e-04 5.54185849e-01] [ 2.69397406e-03 4.10624732e-05 9.99996370e-01 -5.32434227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.694012738999998 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:25.70, Y:0.56, Z:-0.06 [[ 9.98634546e-01 -5.21709952e-02 -2.68892772e-03 2.56952621e+01] [ 5.21707270e-02 9.98638166e-01 -1.69852484e-04 5.55347899e-01] [ 2.69412722e-03 2.93372438e-05 9.99996370e-01 -5.50613202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.724012739 meters Centerline goodness : 0.996300 Centerline is valid? [True, True] Translation: X:25.72, Y:0.56, Z:-0.06 [[ 9.98382725e-01 -5.67864855e-02 -2.68891408e-03 2.57227717e+01] [ 5.67862334e-02 9.98386345e-01 -1.70068223e-04 5.56345889e-01] [ 2.69423268e-03 1.70998733e-05 9.99996370e-01 -5.57257239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.754012739 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:25.75, Y:0.56, Z:-0.05 [[ 9.98098838e-01 -6.15749972e-02 -2.68888282e-03 2.57495672e+01] [ 6.15747611e-02 9.98102460e-01 -1.70560997e-04 5.55184354e-01] [ 2.69428285e-03 4.66941591e-06 9.99996370e-01 -5.36788835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.784012738999998 meters Centerline goodness : 0.995815 Centerline is valid? [True, True] Translation: X:25.78, Y:0.56, Z:-0.05 [[ 9.98067592e-01 -6.20793961e-02 -2.68886127e-03 2.57777930e+01] [ 6.20791610e-02 9.98071214e-01 -1.70899978e-04 5.55828047e-01] [ 2.69428440e-03 3.64747722e-06 9.99996370e-01 -5.28661723e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.814012739 meters Centerline goodness : 0.995763 Centerline is valid? [True, True] Translation: X:25.81, Y:0.56, Z:-0.05 [[ 9.98237818e-01 -5.92792369e-02 -2.68883014e-03 2.58059157e+01] [ 5.92789903e-02 9.98241440e-01 -1.71388390e-04 5.56027058e-01] [ 2.69426145e-03 1.16952366e-05 9.99996370e-01 -5.06693398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.844012739 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:25.83, Y:0.56, Z:-0.05 [[ 9.98376926e-01 -5.68883481e-02 -2.68882048e-03 2.58334299e+01] [ 5.68880924e-02 9.98380546e-01 -1.71539818e-04 5.57326116e-01] [ 2.69422468e-03 1.82995285e-05 9.99996370e-01 -4.96106548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.874012738999998 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:25.86, Y:0.56, Z:-0.05 [[ 9.98516366e-01 -5.43860027e-02 -2.68878965e-03 2.58617105e+01] [ 5.43857367e-02 9.98519986e-01 -1.72021724e-04 5.58795295e-01] [ 2.69416578e-03 2.55347005e-05 9.99996370e-01 -4.93485654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.904012739 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:25.89, Y:0.56, Z:-0.05 [[ 9.98741320e-01 -5.00853937e-02 -2.68875877e-03 2.58905471e+01] [ 5.00851107e-02 9.98744938e-01 -1.72503026e-04 5.58474053e-01] [ 2.69402410e-03 3.76191195e-05 9.99996370e-01 -4.78484327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.934012739 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:25.92, Y:0.56, Z:-0.05 [[ 9.98820002e-01 -4.84909683e-02 -2.68873065e-03 2.59198006e+01] [ 4.84906784e-02 9.98823620e-01 -1.72940257e-04 5.59726830e-01] [ 2.69395372e-03 4.23578150e-05 9.99996370e-01 -4.81266816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.964012738999998 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:25.95, Y:0.56, Z:-0.05 [[ 9.98837424e-01 -4.81307777e-02 -2.68873941e-03 2.59483872e+01] [ 4.81304868e-02 9.98841042e-01 -1.72804182e-04 5.61095611e-01] [ 2.69394047e-03 4.31929469e-05 9.99996370e-01 -5.12837708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.994012739 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:25.98, Y:0.56, Z:-0.05 [[ 9.98784180e-01 -4.92232982e-02 -2.68869553e-03 2.59756962e+01] [ 4.92230095e-02 9.98787798e-01 -1.73484280e-04 5.62859851e-01] [ 2.69397575e-03 4.09276688e-05 9.99996370e-01 -5.18132777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.024012739 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:26.00, Y:0.57, Z:-0.06 [[ 9.98726336e-01 -5.03833005e-02 -2.68868542e-03 2.60036062e+01] [ 5.03830156e-02 9.98729954e-01 -1.73640681e-04 5.65358966e-01] [ 2.69401926e-03 3.79554409e-05 9.99996370e-01 -5.68151691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.054012738999997 meters Centerline goodness : 0.996562 Centerline is valid? [True, True] Translation: X:26.03, Y:0.57, Z:-0.06 [[ 9.98695576e-01 -5.09893924e-02 -2.68856030e-03 2.60323595e+01] [ 5.09891044e-02 9.98699194e-01 -1.75574980e-04 5.69460844e-01] [ 2.69401547e-03 3.82586738e-05 9.99996370e-01 -5.75922765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.084012739 meters Centerline goodness : 0.996890 Centerline is valid? [True, True] Translation: X:26.06, Y:0.57, Z:-0.06 [[ 9.98709160e-01 -5.07226213e-02 -2.68864945e-03 2.60602697e+01] [ 5.07223361e-02 9.98712779e-01 -1.74199068e-04 5.73589043e-01] [ 2.69402440e-03 3.75996243e-05 9.99996370e-01 -5.79648819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.114012739 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:26.09, Y:0.58, Z:-0.06 [[ 9.98757136e-01 -4.97690124e-02 -2.68861574e-03 2.60883037e+01] [ 4.97687224e-02 9.98760754e-01 -1.74717788e-04 5.81055048e-01] [ 2.69397942e-03 4.06916674e-05 9.99996370e-01 -5.91103552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.144012739 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:26.12, Y:0.59, Z:-0.06 [[ 9.98775518e-01 -4.93987351e-02 -2.68885163e-03 2.61154735e+01] [ 4.93984535e-02 9.98779137e-01 -1.71091476e-04 5.85152291e-01] [ 2.69402061e-03 3.80568649e-05 9.99996370e-01 -5.72657890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.174012739 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:26.14, Y:0.59, Z:-0.05 [[ 9.98726121e-01 -5.03875676e-02 -2.68856922e-03 2.61433242e+01] [ 5.03872779e-02 9.98729739e-01 -1.75419908e-04 5.90331361e-01] [ 2.69399302e-03 3.97267598e-05 9.99996370e-01 -5.37474546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.204012739 meters Centerline goodness : 0.995716 Centerline is valid? [True, True] Translation: X:26.17, Y:0.59, Z:-0.05 [[ 9.98716693e-01 -5.05740981e-02 -2.68855328e-03 2.61717275e+01] [ 5.05738084e-02 9.98720311e-01 -1.75663843e-04 5.92379730e-01] [ 2.69399681e-03 3.94680340e-05 9.99996370e-01 -5.36707231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.234012739 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:26.20, Y:0.60, Z:-0.05 [[ 9.98668997e-01 -5.15073369e-02 -2.68852038e-03 2.61980996e+01] [ 5.15070492e-02 9.98672615e-01 -1.76165976e-04 5.95313599e-01] [ 2.69402552e-03 3.74537475e-05 9.99996370e-01 -5.37873985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.264012738999998 meters Centerline goodness : 0.995765 Centerline is valid? [True, True] Translation: X:26.23, Y:0.60, Z:-0.06 [[ 9.98581962e-01 -5.31680104e-02 -2.68850606e-03 2.62258934e+01] [ 5.31677282e-02 9.98585580e-01 -1.76384167e-04 5.98173287e-01] [ 2.69408138e-03 3.31922877e-05 9.99996370e-01 -5.59207408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.294012739 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:26.25, Y:0.60, Z:-0.06 [[ 9.98392578e-01 -5.66130114e-02 -2.68849594e-03 2.62541160e+01] [ 5.66127412e-02 9.98396197e-01 -1.76538373e-04 6.01087409e-01] [ 2.69417849e-03 2.40514769e-05 9.99996370e-01 -5.95888471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.324012739 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:26.28, Y:0.60, Z:-0.06 [[ 9.98300218e-01 -5.82189631e-02 -2.68846711e-03 2.62808482e+01] [ 5.82186976e-02 9.98303837e-01 -1.76976339e-04 6.03214837e-01] [ 2.69421041e-03 2.01564640e-05 9.99996370e-01 -5.88218118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.354012738999998 meters Centerline goodness : 0.995749 Centerline is valid? [True, True] Translation: X:26.31, Y:0.61, Z:-0.06 [[ 9.98071271e-01 -6.20202369e-02 -2.68845278e-03 2.63094339e+01] [ 6.20199846e-02 9.98074892e-01 -1.77193755e-04 6.05320915e-01] [ 2.69426681e-03 1.01141960e-05 9.99996370e-01 -5.53327862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.384012739 meters Centerline goodness : 0.995679 Centerline is valid? [True, True] Translation: X:26.34, Y:0.61, Z:-0.05 [[ 9.97974605e-01 -6.35567417e-02 -2.68842416e-03 2.63369603e+01] [ 6.35564938e-02 9.97978226e-01 -1.77626836e-04 6.07393777e-01] [ 2.69427816e-03 6.40025738e-06 9.99996370e-01 -5.42778086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.414012739 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:26.36, Y:0.61, Z:-0.06 [[ 9.97939093e-01 -6.41119349e-02 -2.68839133e-03 2.63649391e+01] [ 6.41116877e-02 9.97942714e-01 -1.78122316e-04 6.09618076e-01] [ 2.69428031e-03 5.39791708e-06 9.99996370e-01 -5.61071844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.444012738999998 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:26.39, Y:0.61, Z:-0.06 [[ 9.97867220e-01 -6.52210513e-02 -2.68812945e-03 2.63937861e+01] [ 6.52207975e-02 9.97870841e-01 -1.82070268e-04 6.11128444e-01] [ 2.69428081e-03 6.36000567e-06 9.99996370e-01 -6.17361197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.474012739 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:26.42, Y:0.61, Z:-0.06 [[ 9.97857548e-01 -6.53688456e-02 -2.68836814e-03 2.64212178e+01] [ 6.53686020e-02 9.97861170e-01 -1.78474829e-04 6.11732836e-01] [ 2.69428487e-03 2.35758766e-06 9.99996370e-01 -6.25529947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.504012739 meters Centerline goodness : 0.997009 Centerline is valid? [True, True] Translation: X:26.45, Y:0.61, Z:-0.06 [[ 9.97856505e-01 -6.53847769e-02 -2.68835763e-03 2.64497174e+01] [ 6.53845329e-02 9.97860126e-01 -1.78633038e-04 6.11299599e-01] [ 2.69428476e-03 2.47313106e-06 9.99996370e-01 -5.91528453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.534012738999998 meters Centerline goodness : 0.996870 Centerline is valid? [True, True] Translation: X:26.48, Y:0.61, Z:-0.06 [[ 9.97821993e-01 -6.59093608e-02 -2.68813337e-03 2.64771126e+01] [ 6.59091096e-02 9.97825614e-01 -1.81999224e-04 6.12975722e-01] [ 2.69428378e-03 4.43035201e-06 9.99996370e-01 -5.78640352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.564012739 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:26.51, Y:0.62, Z:-0.06 [[ 9.97695197e-01 -6.78016902e-02 -2.68790091e-03 2.65069247e+01] [ 6.78014366e-02 9.97698818e-01 -1.85477129e-04 6.15253518e-01] [ 2.69429123e-03 2.80609700e-06 9.99996370e-01 -5.72700219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.594012739 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:26.54, Y:0.62, Z:-0.06 [[ 9.97649750e-01 -6.84671224e-02 -2.68863449e-03 2.65351146e+01] [ 6.84669007e-02 9.97653373e-01 -1.74507857e-04 6.15297987e-01] [ 2.69427332e-03 -9.98475075e-06 9.99996370e-01 -5.57572568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.624012738999998 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:26.56, Y:0.62, Z:-0.05 [[ 9.97655096e-01 -6.83892036e-02 -2.68825580e-03 2.65621846e+01] [ 6.83889664e-02 9.97658718e-01 -1.80158518e-04 6.16946133e-01] [ 2.69428273e-03 -4.11097173e-06 9.99996370e-01 -5.37276620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.654012739 meters Centerline goodness : 0.995247 Centerline is valid? [True, True] Translation: X:26.59, Y:0.62, Z:-0.05 [[ 9.97697233e-01 -6.77717041e-02 -2.68824104e-03 2.65911395e+01] [ 6.77714641e-02 9.97700855e-01 -1.80378501e-04 6.21286261e-01] [ 2.69428494e-03 -2.22289970e-06 9.99996370e-01 -5.00032866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.684012739 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:26.62, Y:0.62, Z:-0.05 [[ 9.97749019e-01 -6.70049933e-02 -2.68821205e-03 2.66193270e+01] [ 6.70047494e-02 9.97752640e-01 -1.80809590e-04 6.24362896e-01] [ 2.69428581e-03 2.79616812e-07 9.99996370e-01 -4.92543424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.714012738999998 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:26.65, Y:0.63, Z:-0.05 [[ 9.97781970e-01 -6.65125132e-02 -2.68817854e-03 2.66472549e+01] [ 6.65122661e-02 9.97785591e-01 -1.81306424e-04 6.27191168e-01] [ 2.69428496e-03 2.10743455e-06 9.99996370e-01 -4.97481115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.744012739 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:26.68, Y:0.63, Z:-0.05 [[ 9.97831331e-01 -6.57678465e-02 -2.68814394e-03 2.66753018e+01] [ 6.57675953e-02 9.97834951e-01 -1.81817984e-04 6.30800618e-01] [ 2.69428175e-03 4.63091775e-06 9.99996370e-01 -5.05784031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.774012739 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:26.70, Y:0.63, Z:-0.05 [[ 9.97820994e-01 -6.59244829e-02 -2.68812764e-03 2.67039930e+01] [ 6.59242317e-02 9.97824615e-01 -1.82058594e-04 6.34375014e-01] [ 2.69428205e-03 4.44913828e-06 9.99996370e-01 -5.21964839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.804012738999997 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:26.73, Y:0.64, Z:-0.05 [[ 9.97829141e-01 -6.58010538e-02 -2.68809792e-03 2.67313178e+01] [ 6.58008010e-02 9.97832762e-01 -1.82496435e-04 6.39447783e-01] [ 2.69428063e-03 5.22126531e-06 9.99996370e-01 -5.41352657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.834012739 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:26.76, Y:0.64, Z:-0.06 [[ 9.97844362e-01 -6.55698298e-02 -2.68808737e-03 2.67587011e+01] [ 6.55695757e-02 9.97847983e-01 -1.82651707e-04 6.42072864e-01] [ 2.69427900e-03 6.00122824e-06 9.99996370e-01 -5.55123734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.864012739 meters Centerline goodness : 0.995921 Centerline is valid? [True, True] Translation: X:26.79, Y:0.64, Z:-0.06 [[ 9.97868319e-01 -6.52042384e-02 -2.68805327e-03 2.67864199e+01] [ 6.52039816e-02 9.97871939e-01 -1.83152050e-04 6.44611478e-01] [ 2.69427522e-03 7.48985203e-06 9.99996370e-01 -5.51473928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.894012739 meters Centerline goodness : 0.996578 Centerline is valid? [True, True] Translation: X:26.81, Y:0.65, Z:-0.06 [[ 9.97918763e-01 -6.44276154e-02 -2.68804269e-03 2.68137662e+01] [ 6.44273553e-02 9.97922383e-01 -1.83307267e-04 6.50026813e-01] [ 2.69426802e-03 9.74227960e-06 9.99996370e-01 -5.65907994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.924012739 meters Centerline goodness : 0.996742 Centerline is valid? [True, True] Translation: X:26.84, Y:0.65, Z:-0.06 [[ 9.97958402e-01 -6.38106829e-02 -2.68800896e-03 2.68418300e+01] [ 6.38104193e-02 9.97962022e-01 -1.83800507e-04 6.54850704e-01] [ 2.69425929e-03 1.19022813e-05 9.99996370e-01 -5.77085933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.954012739 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:26.87, Y:0.66, Z:-0.06 [[ 9.98080860e-01 -6.18657532e-02 -2.68797368e-03 2.68694617e+01] [ 6.18654812e-02 9.98084480e-01 -1.84315097e-04 6.59933278e-01] [ 2.69422760e-03 1.76685859e-05 9.99996370e-01 -5.52225933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.984012739 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:26.90, Y:0.66, Z:-0.05 [[ 9.98110561e-01 -6.13847193e-02 -2.68795766e-03 2.68974416e+01] [ 6.13844449e-02 9.98114180e-01 -1.84548416e-04 6.63244094e-01] [ 2.69421711e-03 1.92009342e-05 9.99996370e-01 -5.47826081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.014012738999995 meters Centerline goodness : 0.996028 Centerline is valid? [True, True] Translation: X:26.92, Y:0.67, Z:-0.06 [[ 9.98113273e-01 -6.13405975e-02 -2.68792405e-03 2.69247504e+01] [ 6.13403216e-02 9.98116892e-01 -1.85036586e-04 6.67933393e-01] [ 2.69421266e-03 1.98093470e-05 9.99996370e-01 -5.65793576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.044012738999996 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:26.95, Y:0.68, Z:-0.06 [[ 9.98125216e-01 -6.11459553e-02 -2.68789004e-03 2.69527262e+01] [ 6.11456774e-02 9.98128835e-01 -1.85529293e-04 6.76119592e-01] [ 2.69420492e-03 2.08286087e-05 9.99996370e-01 -6.22921341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.074012739 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:26.98, Y:0.68, Z:-0.06 [[ 9.98105997e-01 -6.14588745e-02 -2.68785967e-03 2.69804480e+01] [ 6.14585965e-02 9.98109616e-01 -1.85968331e-04 6.80400795e-01] [ 2.69420799e-03 2.04240235e-05 9.99996370e-01 -6.40808877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.104012739 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:27.01, Y:0.68, Z:-0.07 [[ 9.98060653e-01 -6.21909011e-02 -2.68784883e-03 2.70089227e+01] [ 6.21906253e-02 9.98064272e-01 -1.86124779e-04 6.84415545e-01] [ 2.69422116e-03 1.86048186e-05 9.99996370e-01 -6.56628990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13401273899999 meters Centerline goodness : 0.996893 Centerline is valid? [True, True] Translation: X:27.04, Y:0.69, Z:-0.07 [[ 9.97893851e-01 -6.48123211e-02 -2.68781883e-03 2.70368337e+01] [ 6.48120537e-02 9.97897471e-01 -1.86557002e-04 6.91418040e-01] [ 2.69425881e-03 1.19610270e-05 9.99996370e-01 -6.63335897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16401273899999 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:27.06, Y:0.70, Z:-0.07 [[ 9.97787411e-01 -6.64308533e-02 -2.68778750e-03 2.70645635e+01] [ 6.64305906e-02 9.97791031e-01 -1.87007402e-04 6.95903265e-01] [ 2.69427332e-03 8.04232109e-06 9.99996370e-01 -6.54223420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.194012738999994 meters Centerline goodness : 0.997048 Centerline is valid? [True, True] Translation: X:27.09, Y:0.70, Z:-0.06 [[ 9.97481868e-01 -7.08710009e-02 -2.68777637e-03 2.70919145e+01] [ 7.08707538e-02 9.97485489e-01 -1.87167113e-04 7.01854304e-01] [ 2.69428265e-03 -3.78893599e-06 9.99996370e-01 -6.30273215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.224012738999996 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:27.12, Y:0.71, Z:-0.06 [[ 9.97303830e-01 -7.33337964e-02 -2.68776541e-03 2.71202687e+01] [ 7.33335579e-02 9.97307452e-01 -1.87324396e-04 7.05428219e-01] [ 2.69426569e-03 -1.02840630e-05 9.99996370e-01 -6.28494817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.254012739 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:27.15, Y:0.71, Z:-0.06 [[ 9.97133789e-01 -7.56107300e-02 -2.68773434e-03 2.71484098e+01] [ 7.56104986e-02 9.97137411e-01 -1.87769160e-04 7.09262269e-01] [ 2.69423783e-03 -1.59899593e-05 9.99996370e-01 -6.26305507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.284012739 meters Centerline goodness : 0.997293 Centerline is valid? [True, True] Translation: X:27.18, Y:0.71, Z:-0.06 [[ 9.96874978e-01 -7.89496924e-02 -2.68770316e-03 2.71762745e+01] [ 7.89494719e-02 9.96878601e-01 -1.88214457e-04 7.14127877e-01] [ 2.69417324e-03 -2.45664623e-05 9.99996370e-01 -6.45527752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.314012739 meters Centerline goodness : 0.997269 Centerline is valid? [True, True] Translation: X:27.20, Y:0.72, Z:-0.06 [[ 9.96724406e-01 -8.08284276e-02 -2.68769210e-03 2.72038808e+01] [ 8.08282135e-02 9.96728029e-01 -1.88372202e-04 7.16733890e-01] [ 2.69412388e-03 -2.94861800e-05 9.99996370e-01 -6.41105238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34401273899999 meters Centerline goodness : 0.996795 Centerline is valid? [True, True] Translation: X:27.23, Y:0.72, Z:-0.06 [[ 9.96539374e-01 -8.30785884e-02 -2.68768116e-03 2.72321577e+01] [ 8.30783821e-02 9.96542998e-01 -1.88528128e-04 7.19643914e-01] [ 2.69405250e-03 -3.54124996e-05 9.99996370e-01 -5.91315246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.374012738999994 meters Centerline goodness : 0.996020 Centerline is valid? [True, True] Translation: X:27.26, Y:0.72, Z:-0.06 [[ 9.96550358e-01 -8.29467290e-02 -2.68765064e-03 2.72600079e+01] [ 8.29465210e-02 9.96553982e-01 -1.88962230e-04 7.22500952e-01] [ 2.69406275e-03 -3.46208929e-05 9.99996370e-01 -5.61921928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.404012738999995 meters Centerline goodness : 0.995666 Centerline is valid? [True, True] Translation: X:27.29, Y:0.73, Z:-0.05 [[ 9.96562280e-01 -8.28033699e-02 -2.68763983e-03 2.72889402e+01] [ 8.28031610e-02 9.96565904e-01 -1.89115973e-04 7.26874917e-01] [ 2.69406965e-03 -3.40792278e-05 9.99996370e-01 -5.38118396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.434012738999996 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:27.32, Y:0.73, Z:-0.05 [[ 9.96587552e-01 -8.24986493e-02 -2.68760930e-03 2.73164531e+01] [ 8.24984380e-02 9.96591176e-01 -1.89548734e-04 7.33825543e-01] [ 2.69408523e-03 -3.28216613e-05 9.99996370e-01 -5.15467587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.464012739 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:27.35, Y:0.74, Z:-0.05 [[ 9.96577557e-01 -8.26193045e-02 -2.68759848e-03 2.73454351e+01] [ 8.26190933e-02 9.96581181e-01 -1.89702072e-04 7.37844608e-01] [ 2.69408312e-03 -3.29941217e-05 9.99996370e-01 -5.03890925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.494012739 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:27.37, Y:0.74, Z:-0.05 [[ 9.96516822e-01 -8.33486688e-02 -2.68756835e-03 2.73729502e+01] [ 8.33484591e-02 9.96520445e-01 -1.90127964e-04 7.41759062e-01] [ 2.69406372e-03 -3.45389663e-05 9.99996370e-01 -4.88680716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52401273899999 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:27.40, Y:0.75, Z:-0.05 [[ 9.96403744e-01 -8.46897672e-02 -2.68755761e-03 2.74017703e+01] [ 8.46895619e-02 9.96407367e-01 -1.90279632e-04 7.45166632e-01] [ 2.69401694e-03 -3.80127389e-05 9.99996370e-01 -4.91348376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.554012738999994 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:27.43, Y:0.75, Z:-0.05 [[ 9.96248384e-01 -8.64981769e-02 -2.68752765e-03 2.74297733e+01] [ 8.64979771e-02 9.96252008e-01 -1.90701866e-04 7.49066647e-01] [ 2.69395018e-03 -4.24792793e-05 9.99996370e-01 -5.18078387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.584012738999995 meters Centerline goodness : 0.996237 Centerline is valid? [True, True] Translation: X:27.46, Y:0.75, Z:-0.06 [[ 9.95890437e-01 -9.05263199e-02 -2.68751701e-03 2.74583526e+01] [ 9.05261344e-02 9.95894062e-01 -1.90851723e-04 7.53406789e-01] [ 2.69375934e-03 -5.32231200e-05 9.99996370e-01 -5.64464494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.614012738999996 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:27.49, Y:0.76, Z:-0.06 [[ 9.95676016e-01 -9.28549871e-02 -2.68748739e-03 2.74859643e+01] [ 9.28548090e-02 9.95679641e-01 -1.91267885e-04 7.55759324e-01] [ 2.69363666e-03 -5.91052826e-05 9.99996370e-01 -5.62979174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.644012739 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:27.51, Y:0.76, Z:-0.05 [[ 9.95366339e-01 -9.61177875e-02 -2.68745328e-03 2.75136622e+01] [ 9.61176199e-02 9.95369965e-01 -1.91745944e-04 7.58257982e-01] [ 2.69344048e-03 -6.74541552e-05 9.99996370e-01 -5.29046495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.674012739 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:27.54, Y:0.76, Z:-0.05 [[ 9.95336882e-01 -9.64223517e-02 -2.68744274e-03 2.75417670e+01] [ 9.64221849e-02 9.95340507e-01 -1.91893657e-04 7.60982605e-01] [ 2.69342345e-03 -6.81302661e-05 9.99996370e-01 -5.37276529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70401273899999 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:27.57, Y:0.76, Z:-0.06 [[ 9.95497659e-01 -9.47480313e-02 -2.68740919e-03 2.75693249e+01] [ 9.47478571e-02 9.95501284e-01 -1.92362372e-04 7.62836430e-01] [ 2.69354525e-03 -6.31299704e-05 9.99996370e-01 -5.99667671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73401273899999 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:27.60, Y:0.76, Z:-0.06 [[ 9.95597379e-01 -9.36943818e-02 -2.68739879e-03 2.75970401e+01] [ 9.36942033e-02 9.95601004e-01 -1.92507440e-04 7.64392678e-01] [ 2.69361380e-03 -6.01337861e-05 9.99996370e-01 -6.24502828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.764012738999995 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:27.62, Y:0.77, Z:-0.06 [[ 9.95686558e-01 -9.27418752e-02 -2.68736549e-03 2.76249550e+01] [ 9.27416920e-02 9.95690183e-01 -1.92971299e-04 7.66557316e-01] [ 2.69367995e-03 -5.70918934e-05 9.99996370e-01 -6.35779741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.794012738999996 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:27.65, Y:0.77, Z:-0.06 [[ 9.95837369e-01 -9.11082449e-02 -2.68733190e-03 2.76515647e+01] [ 9.11080545e-02 9.95840994e-01 -1.93437915e-04 7.70899056e-01] [ 2.69377906e-03 -5.22048765e-05 9.99996370e-01 -6.27897185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.824012739 meters Centerline goodness : 0.996619 Centerline is valid? [True, True] Translation: X:27.68, Y:0.77, Z:-0.06 [[ 9.95923078e-01 -9.01665184e-02 -2.68730874e-03 2.76782840e+01] [ 9.01663237e-02 9.95926702e-01 -1.93759061e-04 7.73453870e-01] [ 2.69383312e-03 -4.93356293e-05 9.99996370e-01 -6.18770805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.854012739 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:27.71, Y:0.77, Z:-0.06 [[ 9.96093314e-01 -8.82660126e-02 -2.68729417e-03 2.77067458e+01] [ 8.82658105e-02 9.96096938e-01 -1.93960937e-04 7.74152458e-01] [ 2.69392565e-03 -4.39930062e-05 9.99996370e-01 -6.08703425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88401273899999 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:27.73, Y:0.78, Z:-0.06 [[ 9.96062747e-01 -8.86102800e-02 -2.68725961e-03 2.77343477e+01] [ 8.86100778e-02 9.96066371e-01 -1.94438555e-04 7.75635863e-01] [ 2.69391819e-03 -4.44452821e-05 9.99996370e-01 -6.07021811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91401273899999 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:27.76, Y:0.78, Z:-0.06 [[ 9.95842384e-01 -9.10534240e-02 -2.68722500e-03 2.77617162e+01] [ 9.10532294e-02 9.95846008e-01 -1.94915762e-04 7.77704848e-01] [ 2.69381004e-03 -5.05751369e-05 9.99996370e-01 -5.89490451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.944012738999994 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:27.79, Y:0.78, Z:-0.06 [[ 9.95725918e-01 -9.23183359e-02 -2.68721427e-03 2.77896222e+01] [ 9.23181455e-02 9.95729543e-01 -1.95063540e-04 7.79661412e-01] [ 2.69374658e-03 -5.38488161e-05 9.99996370e-01 -5.96378736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.974012738999996 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:27.82, Y:0.78, Z:-0.06 [[ 9.95675651e-01 -9.28589136e-02 -2.68717868e-03 2.78169779e+01] [ 9.28587239e-02 9.95679275e-01 -1.95552692e-04 7.80871118e-01] [ 2.69372693e-03 -5.48209295e-05 9.99996370e-01 -5.92922571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.004012739 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:27.84, Y:0.78, Z:-0.06 [[ 9.95787420e-01 -9.16525703e-02 -2.68716768e-03 2.78448218e+01] [ 9.16523758e-02 9.95791044e-01 -1.95703727e-04 7.81538437e-01] [ 2.69379426e-03 -5.14059924e-05 9.99996370e-01 -5.67467243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.034012739 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:27.87, Y:0.78, Z:-0.06 [[ 9.95851546e-01 -9.09531563e-02 -2.68715716e-03 2.78725506e+01] [ 9.09529588e-02 9.95855171e-01 -1.95847986e-04 7.83012167e-01] [ 2.69383235e-03 -4.93693754e-05 9.99996370e-01 -5.60590674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.064012739 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:27.90, Y:0.78, Z:-0.06 [[ 9.95962058e-01 -8.97349343e-02 -2.68712367e-03 2.79004351e+01] [ 8.97347311e-02 9.95965682e-01 -1.96306512e-04 7.84291278e-01] [ 2.69389851e-03 -4.56144817e-05 9.99996370e-01 -5.67548207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09401273899999 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:27.93, Y:0.79, Z:-0.06 [[ 9.96004853e-01 -8.92586793e-02 -2.68708877e-03 2.79278207e+01] [ 8.92584732e-02 9.96008477e-01 -1.96782962e-04 7.85879986e-01] [ 2.69392778e-03 -4.38486564e-05 9.99996370e-01 -5.78933593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.124012738999994 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:27.96, Y:0.79, Z:-0.06 [[ 9.95989105e-01 -8.94342394e-02 -2.68707793e-03 2.79561971e+01] [ 8.94340335e-02 9.95992728e-01 -1.96930980e-04 7.88144474e-01] [ 2.69392245e-03 -4.41751067e-05 9.99996370e-01 -5.78166492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.154012738999995 meters Centerline goodness : 0.996181 Centerline is valid? [True, True] Translation: X:27.99, Y:0.79, Z:-0.06 [[ 9.96046947e-01 -8.87877252e-02 -2.68704313e-03 2.79854273e+01] [ 8.87875157e-02 9.96050570e-01 -1.97404614e-04 7.88700197e-01] [ 2.69395795e-03 -4.19516207e-05 9.99996370e-01 -6.00517162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.184012738999996 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:28.01, Y:0.79, Z:-0.06 [[ 9.96074911e-01 -8.84734478e-02 -2.68701084e-03 2.80134431e+01] [ 8.84732360e-02 9.96078535e-01 -1.97843122e-04 7.89277945e-01] [ 2.69397769e-03 -4.06619739e-05 9.99996370e-01 -5.89249483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.214012739 meters Centerline goodness : 0.995920 Centerline is valid? [True, True] Translation: X:28.04, Y:0.79, Z:-0.06 [[ 9.96067731e-01 -8.85542544e-02 -2.68699937e-03 2.80422078e+01] [ 8.85540424e-02 9.96071354e-01 -1.97998871e-04 7.90156475e-01] [ 2.69397674e-03 -4.07243696e-05 9.99996370e-01 -5.90631204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.244012739 meters Centerline goodness : 0.996056 Centerline is valid? [True, True] Translation: X:28.07, Y:0.79, Z:-0.06 [[ 9.96088651e-01 -8.83186200e-02 -2.68696637e-03 2.80710881e+01] [ 8.83184059e-02 9.96092275e-01 -1.98445662e-04 7.90640298e-01] [ 2.69399289e-03 -3.96391149e-05 9.99996370e-01 -5.78769103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27401273899999 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:28.10, Y:0.79, Z:-0.06 [[ 9.96119368e-01 -8.79715000e-02 -2.68693334e-03 2.80996195e+01] [ 8.79712835e-02 9.96122991e-01 -1.98891905e-04 7.91283770e-01] [ 2.69401289e-03 -3.82528953e-05 9.99996370e-01 -5.64384719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.304012738999994 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:28.13, Y:0.79, Z:-0.05 [[ 9.96212241e-01 -8.69134669e-02 -2.68690024e-03 2.81287079e+01] [ 8.69132453e-02 9.96215864e-01 -1.99338077e-04 7.88109411e-01] [ 2.69405780e-03 -3.49441873e-05 9.99996370e-01 -5.38361189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.334012738999995 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:28.16, Y:0.79, Z:-0.05 [[ 9.96253744e-01 -8.64364437e-02 -2.68686726e-03 2.81556235e+01] [ 8.64362192e-02 9.96257366e-01 -1.99781631e-04 7.87768396e-01] [ 2.69407971e-03 -3.32094496e-05 9.99996370e-01 -5.30903181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.364012738999996 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:28.18, Y:0.79, Z:-0.05 [[ 9.96351069e-01 -8.53072522e-02 -2.68685081e-03 2.81834379e+01] [ 8.53070230e-02 9.96354692e-01 -2.00002608e-04 7.87600375e-01] [ 2.69411808e-03 -2.99344309e-05 9.99996370e-01 -5.41024754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.394012739 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:28.21, Y:0.79, Z:-0.05 [[ 9.96407446e-01 -8.46462175e-02 -2.68681352e-03 2.82116139e+01] [ 8.46459846e-02 9.96411068e-01 -2.00502276e-04 7.88900887e-01] [ 2.69414249e-03 -2.76460146e-05 9.99996370e-01 -5.39748520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.424012739 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:28.24, Y:0.79, Z:-0.05 [[ 9.96491333e-01 -8.36528769e-02 -2.68677611e-03 2.82384608e+01] [ 8.36526390e-02 9.96494955e-01 -2.01002300e-04 7.89237219e-01] [ 2.69417326e-03 -2.44588622e-05 9.99996370e-01 -5.14584509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45401273899999 meters Centerline goodness : 0.996005 Centerline is valid? [True, True] Translation: X:28.27, Y:0.79, Z:-0.05 [[ 9.96585939e-01 -8.25181648e-02 -2.68675981e-03 2.82661374e+01] [ 8.25179222e-02 9.96589560e-01 -2.01220022e-04 7.89203765e-01] [ 2.69420108e-03 -2.11727916e-05 9.99996370e-01 -5.37105346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48401273899999 meters Centerline goodness : 0.996039 Centerline is valid? [True, True] Translation: X:28.29, Y:0.79, Z:-0.06 [[ 9.96836620e-01 -7.94325844e-02 -2.68672237e-03 2.82944451e+01] [ 7.94323293e-02 9.96840240e-01 -2.01718625e-04 7.87488513e-01] [ 2.69425600e-03 -1.23321033e-05 9.99996370e-01 -5.55721468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.514012738999995 meters Centerline goodness : 0.995717 Centerline is valid? [True, True] Translation: X:28.32, Y:0.79, Z:-0.05 [[ 9.97017494e-01 -7.71291071e-02 -2.68671076e-03 2.83228420e+01] [ 7.71288431e-02 9.97021114e-01 -2.01873178e-04 7.87327026e-01] [ 2.69427765e-03 -5.95180266e-06 9.99996370e-01 -5.49433313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.544012738999996 meters Centerline goodness : 0.995835 Centerline is valid? [True, True] Translation: X:28.35, Y:0.79, Z:-0.06 [[ 9.97120351e-01 -7.57877835e-02 -2.68667300e-03 2.83509520e+01] [ 7.57875133e-02 9.97123970e-01 -2.02374437e-04 7.88376027e-01] [ 2.69428356e-03 -1.82459617e-06 9.99996370e-01 -5.55359817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.574012739 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:28.38, Y:0.79, Z:-0.06 [[ 9.97251277e-01 -7.40450750e-02 -2.68663434e-03 2.83792830e+01] [ 7.40447971e-02 9.97254896e-01 -2.02886345e-04 7.89023439e-01] [ 2.69428199e-03 3.39737189e-06 9.99996370e-01 -5.60983706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.604012739 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:28.41, Y:0.79, Z:-0.06 [[ 9.97371031e-01 -7.24141486e-02 -2.68662232e-03 2.84069015e+01] [ 7.24138644e-02 9.97374649e-01 -2.03045454e-04 7.89839594e-01] [ 2.69427236e-03 7.96294991e-06 9.99996370e-01 -5.81222405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63401273899999 meters Centerline goodness : 0.995920 Centerline is valid? [True, True] Translation: X:28.43, Y:0.79, Z:-0.06 [[ 9.97675004e-01 -6.80982334e-02 -2.68658525e-03 2.84349469e+01] [ 6.80979323e-02 9.97678621e-01 -2.03534732e-04 7.93276097e-01] [ 2.69420902e-03 2.01106142e-05 9.99996370e-01 -6.11640942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66401273899999 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:28.46, Y:0.80, Z:-0.06 [[ 9.97817543e-01 -6.59767616e-02 -2.68657370e-03 2.84622650e+01] [ 6.59764523e-02 9.97821159e-01 -2.03687042e-04 7.97324910e-01] [ 2.69415870e-03 2.59919021e-05 9.99996370e-01 -6.18697664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.694012738999994 meters Centerline goodness : 0.996302 Centerline is valid? [True, True] Translation: X:28.49, Y:0.80, Z:-0.06 [[ 9.98003873e-01 -6.30955733e-02 -2.68653463e-03 2.84901329e+01] [ 6.30952522e-02 9.98007489e-01 -2.04201098e-04 8.00832352e-01] [ 2.69406586e-03 3.42859069e-05 9.99996370e-01 -6.02208415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.724012738999996 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:28.52, Y:0.80, Z:-0.06 [[ 9.97980100e-01 -6.34704883e-02 -2.68652248e-03 2.85175971e+01] [ 6.34701681e-02 9.97983715e-01 -2.04360779e-04 8.01779834e-01] [ 2.69407657e-03 3.34339573e-05 9.99996370e-01 -5.81258877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.754012739 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:28.54, Y:0.80, Z:-0.06 [[ 9.97862954e-01 -6.52863521e-02 -2.68651053e-03 2.85443404e+01] [ 6.52860381e-02 9.97866570e-01 -2.04517761e-04 8.02956419e-01] [ 2.69413127e-03 2.86890686e-05 9.99996370e-01 -5.62948133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.784012739 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:28.57, Y:0.81, Z:-0.06 [[ 9.97526595e-01 -7.02386963e-02 -2.68649460e-03 2.85725612e+01] [ 7.02383996e-02 9.97530213e-01 -2.04726884e-04 8.05021948e-01] [ 2.69423928e-03 1.55254302e-05 9.99996370e-01 -5.50684455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.814012739 meters Centerline goodness : 0.987436 Centerline is valid? [True, True] Translation: X:28.60, Y:0.81, Z:-0.04 [[ 9.97366951e-01 -7.24703246e-02 -2.68648325e-03 2.86009594e+01] [ 7.24700356e-02 9.97370569e-01 -2.04875669e-04 8.07304220e-01] [ 2.69426673e-03 9.64668440e-06 9.99996370e-01 -4.33845120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84401273899999 meters Centerline goodness : 0.995859 Centerline is valid? [True, True] Translation: X:28.63, Y:0.80, Z:-0.06 [[ 9.97147402e-01 -7.54310387e-02 -2.68644912e-03 2.86298873e+01] [ 7.54307593e-02 9.97151021e-01 -2.05322170e-04 8.02300808e-01] [ 2.69428315e-03 2.09557092e-06 9.99996370e-01 -5.82790185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.874012738999994 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:28.66, Y:0.80, Z:-0.06 [[ 9.97040912e-01 -7.68257907e-02 -2.68641008e-03 2.86568403e+01] [ 7.68255150e-02 9.97044532e-01 -2.05831717e-04 8.02229948e-01] [ 2.69428367e-03 -1.16219499e-06 9.99996370e-01 -5.69745649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.904012738999995 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:28.69, Y:0.80, Z:-0.06 [[ 9.96925174e-01 -7.83133484e-02 -2.68639308e-03 2.86853539e+01] [ 7.83130775e-02 9.96928794e-01 -2.06053392e-04 7.99692316e-01] [ 2.69427934e-03 -4.95989598e-06 9.99996370e-01 -5.70977965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.934012738999996 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:28.71, Y:0.80, Z:-0.06 [[ 9.96923847e-01 -7.83302398e-02 -2.68635736e-03 2.87133809e+01] [ 7.83299677e-02 9.96927467e-01 -2.06517983e-04 7.98353586e-01] [ 2.69428004e-03 -4.53958334e-06 9.99996370e-01 -5.98129325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.964012739 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:28.74, Y:0.80, Z:-0.06 [[ 9.96987276e-01 -7.75187404e-02 -2.68631678e-03 2.87407606e+01] [ 7.75184639e-02 9.96990895e-01 -2.07044505e-04 7.96982581e-01] [ 2.69428320e-03 -1.81841324e-06 9.99996370e-01 -5.81854370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.994012739 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:28.77, Y:0.80, Z:-0.06 [[ 9.97270120e-01 -7.37908701e-02 -2.68629911e-03 2.87693700e+01] [ 7.37905795e-02 9.97273737e-01 -2.07273534e-04 7.95470708e-01] [ 2.69427045e-03 8.48413395e-06 9.99996370e-01 -5.66046445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02401273899999 meters Centerline goodness : 0.990335 Centerline is valid? [True, True] Translation: X:28.80, Y:0.80, Z:-0.05 [[ 9.97478051e-01 -7.09247657e-02 -2.68626289e-03 2.87975236e+01] [ 7.09244634e-02 9.97481668e-01 -2.07741857e-04 7.97593332e-01] [ 2.69423203e-03 1.66961879e-05 9.99996370e-01 -4.79111651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.054012738999994 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:28.82, Y:0.80, Z:-0.06 [[ 9.97807497e-01 -6.61285321e-02 -2.68625082e-03 2.88242675e+01] [ 6.61282121e-02 9.97811113e-01 -2.07897796e-04 7.96889245e-01] [ 2.69411890e-03 2.98050150e-05 9.99996370e-01 -5.98184494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.084012738999995 meters Centerline goodness : 0.996591 Centerline is valid? [True, True] Translation: X:28.85, Y:0.80, Z:-0.06 [[ 9.97928923e-01 -6.42701311e-02 -2.68622339e-03 2.88507372e+01] [ 6.42698034e-02 9.97932537e-01 -2.08251688e-04 7.98397593e-01] [ 2.69405408e-03 3.51773334e-05 9.99996370e-01 -6.10434978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.114012738999996 meters Centerline goodness : 0.996004 Centerline is valid? [True, True] Translation: X:28.88, Y:0.80, Z:-0.06 [[ 9.98116514e-01 -6.12879247e-02 -2.68620676e-03 2.88777974e+01] [ 6.12875855e-02 9.98120127e-01 -2.08465954e-04 8.02063836e-01] [ 2.69393348e-03 4.34421850e-05 9.99996370e-01 -6.03726305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.144012739 meters Centerline goodness : 0.996743 Centerline is valid? [True, True] Translation: X:28.91, Y:0.81, Z:-0.06 [[ 9.98176608e-01 -6.03012699e-02 -2.68619025e-03 2.89052031e+01] [ 6.03009266e-02 9.98180222e-01 -2.08678427e-04 8.05376257e-01] [ 2.69388556e-03 4.63181631e-05 9.99996370e-01 -6.15628821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.174012739 meters Centerline goodness : 0.996402 Centerline is valid? [True, True] Translation: X:28.93, Y:0.81, Z:-0.06 [[ 9.98206424e-01 -5.98056865e-02 -2.68615211e-03 2.89329691e+01] [ 5.98053401e-02 9.98210037e-01 -2.09168243e-04 8.08476184e-01] [ 2.69385345e-03 4.81468435e-05 9.99996370e-01 -6.15369983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20401273899999 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:28.96, Y:0.81, Z:-0.06 [[ 9.98179406e-01 -6.02549391e-02 -2.68611404e-03 2.89601544e+01] [ 6.02545931e-02 9.98183019e-01 -2.09656007e-04 8.11962380e-01] [ 2.69386623e-03 4.74236002e-05 9.99996370e-01 -6.34310204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23401273899999 meters Centerline goodness : 0.996283 Centerline is valid? [True, True] Translation: X:28.99, Y:0.82, Z:-0.06 [[ 9.98137945e-01 -6.09379013e-02 -2.68610223e-03 2.89871050e+01] [ 6.09375573e-02 9.98141558e-01 -2.09807282e-04 8.15385285e-01] [ 2.69389548e-03 4.57321015e-05 9.99996370e-01 -6.42126353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.264012738999995 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:29.01, Y:0.82, Z:-0.06 [[ 9.97974439e-01 -6.35594598e-02 -2.68608595e-03 2.90146328e+01] [ 6.35591247e-02 9.97978053e-01 -2.10015501e-04 8.19792552e-01] [ 2.69400329e-03 3.88648306e-05 9.99996370e-01 -6.46427528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.294012738999996 meters Centerline goodness : 0.996256 Centerline is valid? [True, True] Translation: X:29.04, Y:0.82, Z:-0.06 [[ 9.97819426e-01 -6.59482950e-02 -2.68604798e-03 2.90424640e+01] [ 6.59479672e-02 9.97823041e-01 -2.10499893e-04 8.22655937e-01] [ 2.69408268e-03 3.29014782e-05 9.99996370e-01 -6.20857006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.324012739 meters Centerline goodness : 0.995327 Centerline is valid? [True, True] Translation: X:29.07, Y:0.82, Z:-0.06 [[ 9.97384410e-01 -7.22296607e-02 -2.68603620e-03 2.90701828e+01] [ 7.22293553e-02 9.97388027e-01 -2.10650219e-04 8.24695288e-01] [ 2.69423553e-03 1.60885821e-05 9.99996370e-01 -5.79212077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.354012739 meters Centerline goodness : 0.996039 Centerline is valid? [True, True] Translation: X:29.10, Y:0.83, Z:-0.06 [[ 9.97172341e-01 -7.51006505e-02 -2.68602455e-03 2.90980495e+01] [ 7.51003551e-02 9.97175959e-01 -2.10798603e-04 8.26784874e-01] [ 2.69427022e-03 8.48113839e-06 9.99996370e-01 -5.93777651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38401273899999 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:29.13, Y:0.83, Z:-0.06 [[ 9.96996456e-01 -7.74005909e-02 -2.68598609e-03 2.91269853e+01] [ 7.74003025e-02 9.97000074e-01 -2.11287537e-04 8.28623698e-01] [ 2.69428211e-03 2.75678982e-06 9.99996370e-01 -6.18713121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41401273899999 meters Centerline goodness : 0.996388 Centerline is valid? [True, True] Translation: X:29.15, Y:0.83, Z:-0.06 [[ 9.96918815e-01 -7.83942746e-02 -2.68595166e-03 2.91545644e+01] [ 7.83939887e-02 9.96922433e-01 -2.11724252e-04 8.28920174e-01] [ 2.69428344e-03 5.09425919e-07 9.99996370e-01 -6.40230688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.444012738999994 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:29.18, Y:0.83, Z:-0.07 [[ 9.96929925e-01 -7.82528586e-02 -2.68593945e-03 2.91822116e+01] [ 7.82525718e-02 9.96933543e-01 -2.11879116e-04 8.31020865e-01] [ 2.69428328e-03 1.04696208e-06 9.99996370e-01 -6.64788334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.474012738999996 meters Centerline goodness : 0.997228 Centerline is valid? [True, True] Translation: X:29.21, Y:0.83, Z:-0.07 [[ 9.97070884e-01 -7.64358447e-02 -2.68590120e-03 2.92095427e+01] [ 7.64355500e-02 9.97074502e-01 -2.12362878e-04 8.34815568e-01] [ 2.69427574e-03 6.44250687e-06 9.99996370e-01 -6.87638513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.504012739 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:29.24, Y:0.84, Z:-0.07 [[ 9.97138666e-01 -7.55464567e-02 -2.68588930e-03 2.92374871e+01] [ 7.55461584e-02 9.97142283e-01 -2.12513236e-04 8.38525286e-01] [ 2.69426841e-03 8.99654550e-06 9.99996370e-01 -6.75029456e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.534012739 meters Centerline goodness : 0.997189 Centerline is valid? [True, True] Translation: X:29.26, Y:0.84, Z:-0.06 [[ 9.97249673e-01 -7.40666943e-02 -2.68584956e-03 2.92647720e+01] [ 7.40663892e-02 9.97253290e-01 -2.13014341e-04 8.42262435e-01] [ 2.69424958e-03 1.34973031e-05 9.99996370e-01 -6.47240726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.564012739 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:29.29, Y:0.85, Z:-0.06 [[ 9.97269868e-01 -7.37942844e-02 -2.68580981e-03 2.92915110e+01] [ 7.37939770e-02 9.97273485e-01 -2.13514348e-04 8.45120196e-01] [ 2.69424305e-03 1.47348381e-05 9.99996370e-01 -6.38726692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59401273899999 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:29.32, Y:0.85, Z:-0.07 [[ 9.97257479e-01 -7.39615305e-02 -2.68578233e-03 2.93193207e+01] [ 7.39612228e-02 9.97261095e-01 -2.13859535e-04 8.47553317e-01] [ 2.69424360e-03 1.46292754e-05 9.99996370e-01 -6.50402148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.624012738999994 meters Centerline goodness : 0.997088 Centerline is valid? [True, True] Translation: X:29.35, Y:0.85, Z:-0.07 [[ 9.97123492e-01 -7.57464744e-02 -2.68574222e-03 2.93503477e+01] [ 7.57461717e-02 9.97127109e-01 -2.14362045e-04 8.45904912e-01] [ 2.69426354e-03 1.03107398e-05 9.99996370e-01 -6.74855546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.654012738999995 meters Centerline goodness : 0.997130 Centerline is valid? [True, True] Translation: X:29.38, Y:0.85, Z:-0.07 [[ 9.96903953e-01 -7.85830179e-02 -2.68677430e-03 2.93771838e+01] [ 7.85827605e-02 9.96907573e-01 -2.01401664e-04 8.48020794e-01] [ 2.69429239e-03 -1.03560265e-05 9.99996370e-01 -6.64202104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.684012738999996 meters Centerline goodness : 0.996775 Centerline is valid? [True, True] Translation: X:29.41, Y:0.84, Z:-0.06 [[ 9.96667072e-01 -8.15323892e-02 -2.68640772e-03 2.94057160e+01] [ 8.15321301e-02 9.96670693e-01 -2.05996323e-04 8.44742739e-01] [ 2.69425921e-03 -1.37187916e-05 9.99996370e-01 -6.26605973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.714012739 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:29.43, Y:0.85, Z:-0.06 [[ 9.96473021e-01 -8.38707351e-02 -2.68653068e-03 2.94314373e+01] [ 8.38704886e-02 9.96476643e-01 -2.04461901e-04 8.46782058e-01] [ 2.69421345e-03 -2.15798730e-05 9.99996370e-01 -6.32041409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.744012739 meters Centerline goodness : 0.996573 Centerline is valid? [True, True] Translation: X:29.46, Y:0.85, Z:-0.06 [[ 9.96380999e-01 -8.49570025e-02 -2.68561535e-03 2.94585195e+01] [ 8.49567293e-02 9.96384618e-01 -2.15850539e-04 8.46011939e-01] [ 2.69424384e-03 -1.30917198e-05 9.99996370e-01 -6.41058617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77401273899999 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:29.49, Y:0.84, Z:-0.07 [[ 9.96379228e-01 -8.49777660e-02 -2.68559769e-03 2.94874888e+01] [ 8.49774923e-02 9.96382848e-01 -2.16070049e-04 8.41764419e-01] [ 2.69424462e-03 -1.29276477e-05 9.99996370e-01 -7.06806828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.804012738999994 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:29.52, Y:0.84, Z:-0.07 [[ 9.96405059e-01 -8.46743561e-02 -2.68556295e-03 2.95155198e+01] [ 8.46740801e-02 9.96408678e-01 -2.16500966e-04 8.41438431e-01] [ 2.69425030e-03 -1.16749148e-05 9.99996370e-01 -7.36705332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.834012738999995 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:29.54, Y:0.84, Z:-0.08 [[ 9.96514568e-01 -8.33756731e-02 -2.68552223e-03 2.95426735e+01] [ 8.33753910e-02 9.96518187e-01 -2.17004868e-04 8.39182644e-01] [ 2.69426467e-03 -7.65795340e-06 9.99996370e-01 -7.59358469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.864012738999996 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:29.57, Y:0.84, Z:-0.08 [[ 9.96566170e-01 -8.27566142e-02 -2.68550449e-03 2.95711996e+01] [ 8.27563293e-02 9.96569788e-01 -2.17224160e-04 8.39137649e-01] [ 2.69426938e-03 -5.76424460e-06 9.99996370e-01 -7.55598935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.894012739 meters Centerline goodness : 0.997905 Centerline is valid? [True, True] Translation: X:29.60, Y:0.84, Z:-0.07 [[ 9.96612007e-01 -8.22027740e-02 -2.68546706e-03 2.95981577e+01] [ 8.22024858e-02 9.96615625e-01 -2.17685857e-04 8.39013220e-01] [ 2.69427282e-03 -3.80372996e-06 9.99996370e-01 -7.43086979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.924012739 meters Centerline goodness : 0.997749 Centerline is valid? [True, True] Translation: X:29.63, Y:0.84, Z:-0.08 [[ 9.96793291e-01 -7.99745109e-02 -2.68544960e-03 2.96264219e+01] [ 7.99742140e-02 9.96796909e-01 -2.17901115e-04 8.38588046e-01] [ 2.69427439e-03 2.43564906e-06 9.99996370e-01 -7.52214812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95401273899999 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:29.65, Y:0.84, Z:-0.08 [[ 9.96930553e-01 -7.82448816e-02 -2.68541030e-03 2.96538722e+01] [ 7.82445772e-02 9.96934170e-01 -2.18384297e-04 8.40115101e-01] [ 2.69426475e-03 7.59518369e-06 9.99996370e-01 -7.53786716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98401273899999 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:29.68, Y:0.84, Z:-0.08 [[ 9.97075093e-01 -7.63809420e-02 -2.68539312e-03 2.96823248e+01] [ 7.63806302e-02 9.97078709e-01 -2.18595430e-04 8.40910126e-01] [ 2.69424483e-03 1.28440402e-05 9.99996370e-01 -7.51763586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.014012738999995 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:29.71, Y:0.84, Z:-0.08 [[ 9.97061476e-01 -7.65584850e-02 -2.68535390e-03 2.97106964e+01] [ 7.65581726e-02 9.97065092e-01 -2.19076124e-04 8.43425845e-01] [ 2.69424477e-03 1.28465756e-05 9.99996370e-01 -7.50996170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.044012738999996 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:29.74, Y:0.84, Z:-0.07 [[ 9.97125023e-01 -7.57263279e-02 -2.68531481e-03 2.97389635e+01] [ 7.57260112e-02 9.97128639e-01 -2.19554283e-04 8.44690838e-01] [ 2.69423034e-03 1.55748899e-05 9.99996370e-01 -7.49571786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.074012739 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:29.77, Y:0.85, Z:-0.07 [[ 9.97190625e-01 -7.48575132e-02 -2.68527572e-03 2.97666333e+01] [ 7.48571921e-02 9.97194240e-01 -2.20031367e-04 8.45630314e-01] [ 2.69421248e-03 1.84010157e-05 9.99996370e-01 -7.41008350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.104012739 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:29.79, Y:0.85, Z:-0.07 [[ 9.97308466e-01 -7.32708150e-02 -2.68523601e-03 2.97949729e+01] [ 7.32704868e-02 9.97312081e-01 -2.20514856e-04 8.46236530e-01] [ 2.69417562e-03 2.31727827e-05 9.99996370e-01 -7.29552160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13401273899999 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:29.82, Y:0.85, Z:-0.07 [[ 9.97403690e-01 -7.19629704e-02 -2.68519588e-03 2.98231777e+01] [ 7.19626362e-02 9.97407304e-01 -2.21002453e-04 8.48498393e-01] [ 2.69413798e-03 2.71948875e-05 9.99996370e-01 -6.93851956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16401273899999 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:29.85, Y:0.85, Z:-0.07 [[ 9.97398054e-01 -7.20410474e-02 -2.68518344e-03 2.98504157e+01] [ 7.20407130e-02 9.97401668e-01 -2.21153546e-04 8.50493903e-01] [ 2.69413857e-03 2.71355874e-05 9.99996370e-01 -6.77471940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.194012738999994 meters Centerline goodness : 0.997251 Centerline is valid? [True, True] Translation: X:29.88, Y:0.85, Z:-0.07 [[ 9.97421866e-01 -7.17106023e-02 -2.68515648e-03 2.98780361e+01] [ 7.17102659e-02 9.97425480e-01 -2.21480376e-04 8.52040077e-01] [ 2.69412598e-03 2.83560849e-05 9.99996370e-01 -6.65447241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.224012738999996 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:29.91, Y:0.85, Z:-0.07 [[ 9.97540961e-01 -7.00344223e-02 -2.68511742e-03 2.99061907e+01] [ 7.00340786e-02 9.97544575e-01 -2.21952875e-04 8.53135251e-01] [ 2.69406866e-03 3.33573602e-05 9.99996370e-01 -6.93486272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.254012739 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:29.93, Y:0.86, Z:-0.07 [[ 9.97575691e-01 -6.95379879e-02 -2.68510525e-03 2.99342711e+01] [ 6.95376419e-02 9.97579304e-01 -2.22100051e-04 8.55508136e-01] [ 2.69404981e-03 3.48457247e-05 9.99996370e-01 -7.34120457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.284012739 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:29.96, Y:0.86, Z:-0.08 [[ 9.97562541e-01 -6.97263716e-02 -2.68506635e-03 2.99626199e+01] [ 6.97260250e-02 9.97566154e-01 -2.22569243e-04 8.58332613e-01] [ 2.69405026e-03 3.48077357e-05 9.99996370e-01 -7.93710796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31401273899999 meters Centerline goodness : 0.998030 Centerline is valid? [True, True] Translation: X:29.99, Y:0.86, Z:-0.08 [[ 9.97506639e-01 -7.05215961e-02 -2.68502724e-03 2.99899950e+01] [ 7.05212512e-02 9.97510252e-01 -2.23040071e-04 8.60128214e-01] [ 2.69407135e-03 3.31324713e-05 9.99996370e-01 -7.98176387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34401273899999 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:30.02, Y:0.86, Z:-0.08 [[ 9.97371806e-01 -7.24035258e-02 -2.68501020e-03 3.00176430e+01] [ 7.24031871e-02 9.97375420e-01 -2.23245020e-04 8.60603601e-01] [ 2.69412691e-03 2.82549923e-05 9.99996370e-01 -8.16342595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.374012738999994 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:30.05, Y:0.86, Z:-0.08 [[ 9.97343479e-01 -7.27926960e-02 -2.68497127e-03 3.00455256e+01] [ 7.27923575e-02 9.97347092e-01 -2.23712317e-04 8.63215413e-01] [ 2.69413291e-03 2.76726320e-05 9.99996370e-01 -8.25254621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.404012738999995 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:30.07, Y:0.87, Z:-0.08 [[ 9.97319824e-01 -7.31160666e-02 -2.68493241e-03 3.00733852e+01] [ 7.31157281e-02 9.97323438e-01 -2.24177744e-04 8.67300312e-01] [ 2.69413701e-03 2.72661209e-05 9.99996370e-01 -8.39177510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.434012738999996 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:30.10, Y:0.87, Z:-0.09 [[ 9.97357236e-01 -7.26039642e-02 -2.68489356e-03 3.01034556e+01] [ 7.26036225e-02 9.97360849e-01 -2.24642012e-04 8.71476943e-01] [ 2.69411762e-03 2.91153377e-05 9.99996370e-01 -8.79047590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.464012739 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:30.13, Y:0.88, Z:-0.06 [[ 9.97426163e-01 -7.16507968e-02 -2.68550138e-03 3.01300062e+01] [ 7.16504712e-02 9.97429778e-01 -2.17378004e-04 8.75134215e-01] [ 2.69417435e-03 2.44010696e-05 9.99996370e-01 -6.38877657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.494012739 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:30.16, Y:0.88, Z:-0.08 [[ 9.97377056e-01 -7.23311757e-02 -2.68484387e-03 3.01581565e+01] [ 7.23308315e-02 9.97380670e-01 -2.25216230e-04 8.77386501e-01] [ 2.69410153e-03 3.04285109e-05 9.99996370e-01 -7.87240669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52401273899999 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:30.19, Y:0.88, Z:-0.08 [[ 9.97356301e-01 -7.26168014e-02 -2.68483063e-03 3.01855592e+01] [ 7.26164578e-02 9.97359915e-01 -2.25373949e-04 8.80948856e-01] [ 2.69410839e-03 2.98152374e-05 9.99996370e-01 -7.81149431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.554012738999994 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:30.21, Y:0.89, Z:-0.08 [[ 9.97366549e-01 -7.24759124e-02 -2.68478898e-03 3.02132653e+01] [ 7.24755669e-02 9.97370163e-01 -2.25869005e-04 8.86412818e-01] [ 2.69409849e-03 3.06925868e-05 9.99996370e-01 -7.89890358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.584012738999995 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:30.24, Y:0.89, Z:-0.08 [[ 9.97355129e-01 -7.26329096e-02 -2.68474681e-03 3.02409516e+01] [ 7.26325634e-02 9.97358742e-01 -2.26369177e-04 8.89403905e-01] [ 2.69409755e-03 3.07704169e-05 9.99996370e-01 -7.92059031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.614012738999996 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:30.27, Y:0.89, Z:-0.08 [[ 9.97174553e-01 -7.50713192e-02 -2.68470450e-03 3.02685262e+01] [ 7.50709804e-02 9.97178167e-01 -2.26869868e-04 8.92660173e-01] [ 2.69416013e-03 2.46854607e-05 9.99996370e-01 -7.88030266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.644012739 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:30.30, Y:0.90, Z:-0.08 [[ 9.97034130e-01 -7.69138225e-02 -2.68466076e-03 3.02950910e+01] [ 7.69134890e-02 9.97037744e-01 -2.27386271e-04 8.96591594e-01] [ 2.69419726e-03 2.02252473e-05 9.99996370e-01 -7.82017843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.674012739 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:30.32, Y:0.90, Z:-0.08 [[ 9.96924638e-01 -7.83202287e-02 -2.68464174e-03 3.03221467e+01] [ 7.83198998e-02 9.96928253e-01 -2.27610630e-04 9.00096409e-01] [ 2.69422172e-03 1.66497732e-05 9.99996370e-01 -7.68729400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70401273899999 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:30.35, Y:0.90, Z:-0.08 [[ 9.96871770e-01 -7.89902962e-02 -2.68462286e-03 3.03489722e+01] [ 7.89899690e-02 9.96875385e-01 -2.27833161e-04 9.00528816e-01] [ 2.69423105e-03 1.50621700e-05 9.99996370e-01 -7.52903830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73401273899999 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:30.38, Y:0.90, Z:-0.08 [[ 9.96886115e-01 -7.88090546e-02 -2.68460435e-03 3.03775718e+01] [ 7.88087263e-02 9.96889729e-01 -2.28051034e-04 9.00100097e-01] [ 2.69422699e-03 1.57706605e-05 9.99996370e-01 -7.54985322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.764012738999995 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:30.41, Y:0.90, Z:-0.08 [[ 9.96862496e-01 -7.91072556e-02 -2.68456265e-03 3.04050810e+01] [ 7.91069270e-02 9.96866110e-01 -2.28540796e-04 9.03098088e-01] [ 2.69422877e-03 1.54562460e-05 9.99996370e-01 -7.57613832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.794012738999996 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:30.43, Y:0.91, Z:-0.08 [[ 9.96846109e-01 -7.93134834e-02 -2.68451996e-03 3.04326419e+01] [ 7.93131542e-02 9.96849723e-01 -2.29041207e-04 9.05392519e-01] [ 2.69422903e-03 1.54010907e-05 9.99996370e-01 -7.67855614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.824012739 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:30.46, Y:0.90, Z:-0.08 [[ 9.96717218e-01 -8.09171278e-02 -2.68447696e-03 3.04596763e+01] [ 8.09168031e-02 9.96720833e-01 -2.29544013e-04 9.04234104e-01] [ 2.69424816e-03 1.15711756e-05 9.99996370e-01 -8.02099348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.854012739 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:30.49, Y:0.90, Z:-0.08 [[ 9.96570688e-01 -8.27022215e-02 -2.68445823e-03 3.04875371e+01] [ 8.27019026e-02 9.96574304e-01 -2.29762844e-04 9.04525237e-01] [ 2.69426399e-03 6.96511158e-06 9.99996370e-01 -8.13647350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88401273899999 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:30.51, Y:0.90, Z:-0.08 [[ 9.96429637e-01 -8.43846703e-02 -2.68441567e-03 3.05148560e+01] [ 8.43843562e-02 9.96433253e-01 -2.30259062e-04 9.04991225e-01] [ 2.69427137e-03 2.91426530e-06 9.99996370e-01 -8.26361944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91401273899999 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:30.54, Y:0.90, Z:-0.08 [[ 9.96162595e-01 -8.74807363e-02 -2.68439718e-03 3.05435550e+01] [ 8.74804328e-02 9.96166211e-01 -2.30474425e-04 9.03051877e-01] [ 2.69426784e-03 -5.24222609e-06 9.99996370e-01 -7.89100862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.944012738999994 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:30.57, Y:0.90, Z:-0.08 [[ 9.96084631e-01 -8.83640298e-02 -2.68435497e-03 3.05722850e+01] [ 8.83637283e-02 9.96088248e-01 -2.30965003e-04 9.02307994e-01] [ 2.69426344e-03 -7.13892337e-06 9.99996370e-01 -7.69514257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.974012738999996 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:30.60, Y:0.90, Z:-0.07 [[ 9.96065604e-01 -8.85782488e-02 -2.68443610e-03 3.06001034e+01] [ 8.85779505e-02 9.96069221e-01 -2.30023124e-04 9.00044772e-01] [ 2.69425922e-03 -8.66372651e-06 9.99996370e-01 -7.36579600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.004012739 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:30.63, Y:0.90, Z:-0.08 [[ 9.96108494e-01 -8.80946244e-02 -2.68429956e-03 3.06284556e+01] [ 8.80943201e-02 9.96112111e-01 -2.31605655e-04 8.99898361e-01] [ 2.69426651e-03 -5.76718432e-06 9.99996370e-01 -7.53654673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.034012739 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:30.66, Y:0.90, Z:-0.08 [[ 9.96366135e-01 -8.51311970e-02 -2.68425795e-03 3.06561681e+01] [ 8.51308807e-02 9.96369750e-01 -2.32086824e-04 8.96102924e-01] [ 2.69427126e-03 2.73020775e-06 9.99996370e-01 -7.64770335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06401273899999 meters Centerline goodness : 0.998518 Centerline is valid? [True, True] Translation: X:30.68, Y:0.90, Z:-0.07 [[ 9.96539527e-01 -8.30768632e-02 -2.68423979e-03 3.06842216e+01] [ 8.30765389e-02 9.96543142e-01 -2.32296675e-04 8.96717314e-01] [ 2.69425924e-03 8.49546716e-06 9.99996370e-01 -7.49681067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09401273899999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:30.71, Y:0.90, Z:-0.08 [[ 9.96760633e-01 -8.03805657e-02 -2.68419738e-03 3.07119372e+01] [ 8.03802303e-02 9.96764247e-01 -2.32785709e-04 8.97706760e-01] [ 2.69422343e-03 1.62752270e-05 9.99996370e-01 -7.54076129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.124012738999994 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:30.74, Y:0.90, Z:-0.08 [[ 9.97261295e-01 -7.39101055e-02 -2.68443835e-03 3.07399116e+01] [ 7.39097541e-02 9.97264907e-01 -2.30011563e-04 8.98542678e-01] [ 2.69409635e-03 3.09754503e-05 9.99996370e-01 -7.65659442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.154012738999995 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:30.77, Y:0.90, Z:-0.08 [[ 9.97546478e-01 -6.99558392e-02 -2.68431508e-03 3.07677755e+01] [ 6.99554696e-02 9.97550088e-01 -2.31428003e-04 9.00263411e-01] [ 2.69392849e-03 4.30776670e-05 9.99996370e-01 -7.75457854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.184012738999996 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:30.80, Y:0.90, Z:-0.08 [[ 9.98007696e-01 -6.30351880e-02 -2.68410156e-03 3.07968792e+01] [ 6.30347868e-02 9.98011303e-01 -2.33878495e-04 9.04279096e-01] [ 2.69350627e-03 6.42207686e-05 9.99996370e-01 -8.35476868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.214012739 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:30.82, Y:0.91, Z:-0.08 [[ 9.98195970e-01 -5.99800022e-02 -2.68406674e-03 3.08241990e+01] [ 5.99795890e-02 9.98199576e-01 -2.34277391e-04 9.08311839e-01] [ 2.69328624e-03 7.28655278e-05 9.99996370e-01 -8.31388083e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.244012739 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:30.85, Y:0.91, Z:-0.08 [[ 9.98539140e-01 -5.39664827e-02 -2.68402380e-03 3.08513586e+01] [ 5.39660464e-02 9.98542744e-01 -2.34768337e-04 9.13549211e-01] [ 2.69278211e-03 8.95792207e-05 9.99996370e-01 -7.78177560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27401273899999 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:30.88, Y:0.92, Z:-0.08 [[ 9.98631462e-01 -5.22302588e-02 -2.68400423e-03 3.08788009e+01] [ 5.22298156e-02 9.98635064e-01 -2.34991897e-04 9.18443194e-01] [ 2.69261442e-03 9.44852553e-05 9.99996370e-01 -7.59913396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.304012738999994 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:30.91, Y:0.92, Z:-0.08 [[ 9.98662196e-01 -5.16392689e-02 -2.68396105e-03 3.09066577e+01] [ 5.16388223e-02 9.98665798e-01 -2.35484042e-04 9.23774920e-01] [ 2.69254033e-03 9.65724227e-05 9.99996370e-01 -7.61195633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.334012738999995 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:30.93, Y:0.93, Z:-0.08 [[ 9.98588787e-01 -5.30398924e-02 -2.68391677e-03 3.09335058e+01] [ 5.30394495e-02 9.98592390e-01 -2.35987560e-04 9.32465357e-01] [ 2.69265562e-03 9.33010634e-05 9.99996370e-01 -8.03694278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.364012738999996 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:30.96, Y:0.94, Z:-0.08 [[ 9.98524239e-01 -5.42415040e-02 -2.68390304e-03 3.09609393e+01] [ 5.42410650e-02 9.98527842e-01 -2.36143683e-04 9.38391917e-01] [ 2.69276070e-03 9.02174318e-05 9.99996370e-01 -8.33653943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.394012739 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:30.99, Y:0.95, Z:-0.08 [[ 9.98463661e-01 -5.53454062e-02 -2.68385931e-03 3.09872753e+01] [ 5.53449698e-02 9.98467265e-01 -2.36639601e-04 9.46751862e-01] [ 2.69284258e-03 8.77379300e-05 9.99996370e-01 -8.37360148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.424012739 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:31.02, Y:0.95, Z:-0.08 [[ 9.98448566e-01 -5.56170738e-02 -2.68384024e-03 3.10153080e+01] [ 5.56166378e-02 9.98452169e-01 -2.36855690e-04 9.52241259e-01] [ 2.69285933e-03 8.72220534e-05 9.99996370e-01 -8.11812402e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45401273899999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:31.04, Y:0.96, Z:-0.08 [[ 9.98418265e-01 -5.61583921e-02 -2.68379583e-03 3.10420240e+01] [ 5.61579567e-02 9.98421869e-01 -2.37357837e-04 9.61577427e-01] [ 2.69289008e-03 8.62659093e-05 9.99996370e-01 -8.09280932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48401273899999 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:31.07, Y:0.97, Z:-0.08 [[ 9.98401840e-01 -5.64496490e-02 -2.68378202e-03 3.10693869e+01] [ 5.64492143e-02 9.98405444e-01 -2.37513952e-04 9.67222268e-01] [ 2.69291015e-03 8.56369807e-05 9.99996370e-01 -8.22889487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.514012738999995 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:31.10, Y:0.98, Z:-0.08 [[ 9.98312388e-01 -5.80101216e-02 -2.68373793e-03 3.10967486e+01] [ 5.80096911e-02 9.98315992e-01 -2.38011003e-04 9.76021518e-01] [ 2.69302554e-03 8.19265242e-05 9.99996370e-01 -8.29243949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.544012738999996 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:31.12, Y:0.98, Z:-0.08 [[ 9.98274492e-01 -5.86586513e-02 -2.68369356e-03 3.11228347e+01] [ 5.86582219e-02 9.98278096e-01 -2.38510254e-04 9.81814533e-01] [ 2.69306319e-03 8.06780096e-05 9.99996370e-01 -8.27351372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.574012739 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:31.15, Y:0.99, Z:-0.08 [[ 9.98252145e-01 -5.90377322e-02 -2.68366286e-03 3.11498122e+01] [ 5.90373032e-02 9.98255749e-01 -2.38855168e-04 9.87577654e-01] [ 2.69308335e-03 8.00014655e-05 9.99996370e-01 -8.42537286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.604012739 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:31.18, Y:1.00, Z:-0.08 [[ 9.98157699e-01 -6.06135740e-02 -2.68364908e-03 3.11770454e+01] [ 6.06131503e-02 9.98161304e-01 -2.39009995e-04 9.96020797e-01] [ 2.69320191e-03 7.59052418e-05 9.99996370e-01 -8.44193694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63401273899999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:31.20, Y:1.00, Z:-0.09 [[ 9.98040927e-01 -6.25068565e-02 -2.68360329e-03 3.12033577e+01] [ 6.25064383e-02 9.98044532e-01 -2.39523021e-04 1.00106936e+00] [ 2.69332742e-03 7.13112950e-05 9.99996370e-01 -8.55684203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66401273899999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:31.23, Y:1.01, Z:-0.08 [[ 9.97695666e-01 -6.77949538e-02 -2.68357171e-03 3.12319961e+01] [ 6.77945537e-02 9.97699274e-01 -2.39876240e-04 1.00869340e+00] [ 2.69365995e-03 5.73919380e-05 9.99996370e-01 -8.22249046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.694012738999994 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:31.26, Y:1.01, Z:-0.08 [[ 9.97473751e-01 -7.09853065e-02 -2.68353061e-03 3.12591140e+01] [ 7.09849168e-02 9.97477360e-01 -2.40335159e-04 1.01304464e+00] [ 2.69382130e-03 4.92378153e-05 9.99996370e-01 -8.17750838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.724012738999996 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:31.29, Y:1.02, Z:-0.08 [[ 9.97152534e-01 -7.53632656e-02 -2.68351597e-03 3.12859999e+01] [ 7.53628912e-02 9.97156145e-01 -2.40498519e-04 1.01723627e+00] [ 2.69400919e-03 3.75761852e-05 9.99996370e-01 -8.08592805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.754012739 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:31.31, Y:1.02, Z:-0.08 [[ 9.97046858e-01 -7.67486978e-02 -2.68349662e-03 3.13142047e+01] [ 7.67483278e-02 9.97050468e-01 -2.40714260e-04 1.02051859e+00] [ 2.69405607e-03 3.40495177e-05 9.99996370e-01 -8.04706306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.784012739 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:31.34, Y:1.02, Z:-0.08 [[ 9.96975406e-01 -7.76713474e-02 -2.68345191e-03 3.13411715e+01] [ 7.76709795e-02 9.96979017e-01 -2.41211617e-04 1.02440563e+00] [ 2.69408048e-03 3.20557112e-05 9.99996370e-01 -8.09603849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81401273899999 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:31.37, Y:1.03, Z:-0.08 [[ 9.96931394e-01 -7.82342257e-02 -2.68343245e-03 3.13689424e+01] [ 7.82338592e-02 9.96935005e-01 -2.41427981e-04 1.02905342e+00] [ 2.69409567e-03 3.07518571e-05 9.99996370e-01 -7.91838995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84401273899999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:31.40, Y:1.03, Z:-0.07 [[ 9.96920478e-01 -7.83732107e-02 -2.68338605e-03 3.13968794e+01] [ 7.83728433e-02 9.96924089e-01 -2.41942547e-04 1.03258058e+00] [ 2.69409401e-03 3.08928850e-05 9.99996370e-01 -7.48059937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.874012738999994 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:31.42, Y:1.04, Z:-0.07 [[ 9.96957531e-01 -7.79004558e-02 -2.68337165e-03 3.14248415e+01] [ 7.79000863e-02 9.96961142e-01 -2.42102197e-04 1.03586597e+00] [ 2.69407713e-03 3.23307252e-05 9.99996370e-01 -7.30400101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.904012738999995 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:31.45, Y:1.04, Z:-0.07 [[ 9.97015784e-01 -7.71513157e-02 -2.68335745e-03 3.14525193e+01] [ 7.71509430e-02 9.97019395e-01 -2.42259459e-04 1.03934276e+00] [ 2.69405006e-03 3.45129467e-05 9.99996370e-01 -7.13606852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.934012738999996 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:31.48, Y:1.04, Z:-0.07 [[ 9.97000562e-01 -7.73477858e-02 -2.68330959e-03 3.14808629e+01] [ 7.73474125e-02 9.97004172e-01 -2.42788453e-04 1.04208364e+00] [ 2.69405000e-03 3.45131707e-05 9.99996370e-01 -7.12839433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.964012739 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:31.51, Y:1.04, Z:-0.07 [[ 9.97093493e-01 -7.61404348e-02 -2.68326164e-03 3.15073511e+01] [ 7.61400557e-02 9.97097103e-01 -2.43317214e-04 1.04443760e+00] [ 2.69399868e-03 3.83063203e-05 9.99996370e-01 -7.25518029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.994012739 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:31.54, Y:1.05, Z:-0.08 [[ 9.97098060e-01 -7.60806138e-02 -2.68324078e-03 3.15353202e+01] [ 7.60802338e-02 9.97101669e-01 -2.43546969e-04 1.04660443e+00] [ 2.69399307e-03 3.86986240e-05 9.99996370e-01 -7.70653185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02401273899999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:31.56, Y:1.05, Z:-0.09 [[ 9.97076486e-01 -7.63628325e-02 -2.68322657e-03 3.15639323e+01] [ 7.63624531e-02 9.97080095e-01 -2.43703426e-04 1.04860086e+00] [ 2.69400169e-03 3.80931923e-05 9.99996370e-01 -8.75435066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.054012738999994 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:31.59, Y:1.05, Z:-0.09 [[ 9.97042465e-01 -7.68057544e-02 -2.68318537e-03 3.15913494e+01] [ 7.68053754e-02 9.97046075e-01 -2.44156230e-04 1.05030580e+00] [ 2.69401204e-03 3.73510699e-05 9.99996370e-01 -9.17767010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.084012738999995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:31.62, Y:1.05, Z:-0.09 [[ 9.96841980e-01 -7.93653999e-02 -2.68317070e-03 3.16200179e+01] [ 7.93650297e-02 9.96845591e-01 -2.44317378e-04 1.04912851e+00] [ 2.69409723e-03 3.05958969e-05 9.99996370e-01 -8.97004511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.114012738999996 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:31.65, Y:1.05, Z:-0.09 [[ 9.96714095e-01 -8.09556298e-02 -2.68313018e-03 3.16482237e+01] [ 8.09552642e-02 9.96717706e-01 -2.44761582e-04 1.05003998e+00] [ 2.69413818e-03 2.67438066e-05 9.99996370e-01 -8.60478952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.144012739 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:31.68, Y:1.05, Z:-0.08 [[ 9.96587331e-01 -8.25014667e-02 -2.68308998e-03 3.16773725e+01] [ 8.25011056e-02 9.96590943e-01 -2.45201474e-04 1.05137393e+00] [ 2.69417265e-03 2.30067933e-05 9.99996370e-01 -8.12958097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.174012739 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:31.71, Y:1.05, Z:-0.08 [[ 9.96441454e-01 -8.42450554e-02 -2.68304802e-03 3.17050994e+01] [ 8.42446994e-02 9.96445066e-01 -2.45659670e-04 1.05238013e+00] [ 2.69420558e-03 1.87529051e-05 9.99996370e-01 -8.17588653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20401273899999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:31.73, Y:1.05, Z:-0.08 [[ 9.96396680e-01 -8.47729771e-02 -2.68303314e-03 3.17340545e+01] [ 8.47726224e-02 9.96400292e-01 -2.45822094e-04 1.05411502e+00] [ 2.69421408e-03 1.74885631e-05 9.99996370e-01 -8.36758601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23401273899999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:31.76, Y:1.05, Z:-0.09 [[ 9.96364742e-01 -8.51475283e-02 -2.68299337e-03 3.17620642e+01] [ 8.51471739e-02 9.96368355e-01 -2.46255380e-04 1.05420852e+00] [ 2.69421773e-03 1.69108750e-05 9.99996370e-01 -8.84597897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.264012738999995 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:31.79, Y:1.06, Z:-0.09 [[ 9.96397474e-01 -8.47636401e-02 -2.68297927e-03 3.17903069e+01] [ 8.47632839e-02 9.96401086e-01 -2.46408908e-04 1.05629819e+00] [ 2.69420998e-03 1.81030800e-05 9.99996370e-01 -8.81470752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.294012738999996 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:31.82, Y:1.06, Z:-0.09 [[ 9.96527842e-01 -8.32169525e-02 -2.68293226e-03 3.18175506e+01] [ 8.32165893e-02 9.96531454e-01 -2.46919732e-04 1.06007448e+00] [ 2.69417429e-03 2.27979155e-05 9.99996370e-01 -8.82196229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.324012739 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:31.85, Y:1.06, Z:-0.09 [[ 9.96577344e-01 -8.26220271e-02 -2.68291179e-03 3.18455585e+01] [ 8.26216611e-02 9.96580955e-01 -2.47141981e-04 1.06341837e+00] [ 2.69415816e-03 2.46294708e-05 9.99996370e-01 -8.76992065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.354012739 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:31.87, Y:1.07, Z:-0.08 [[ 9.96580242e-01 -8.25870698e-02 -2.68289739e-03 3.18733325e+01] [ 8.25867033e-02 9.96583853e-01 -2.47298184e-04 1.06677588e+00] [ 2.69415585e-03 2.48808334e-05 9.99996370e-01 -8.41403153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38401273899999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:31.90, Y:1.07, Z:-0.08 [[ 9.96592200e-01 -8.24426441e-02 -2.68288313e-03 3.19023684e+01] [ 8.24422767e-02 9.96595811e-01 -2.47452736e-04 1.06997760e+00] [ 2.69415075e-03 2.54264730e-05 9.99996370e-01 -8.15156308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41401273899999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:31.93, Y:1.07, Z:-0.09 [[ 9.96617458e-01 -8.21367493e-02 -2.68284232e-03 3.19308706e+01] [ 8.21363796e-02 9.96621068e-01 -2.47894432e-04 1.07296990e+00] [ 2.69413842e-03 2.66969633e-05 9.99996370e-01 -8.78165595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.444012738999994 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:31.96, Y:1.08, Z:-0.08 [[ 9.96705512e-01 -8.10612331e-02 -2.68298851e-03 3.19591556e+01] [ 8.10608637e-02 9.96709123e-01 -2.46314149e-04 1.07706706e+00] [ 2.69412565e-03 2.80173047e-05 9.99996370e-01 -8.21753980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.474012738999996 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:31.99, Y:1.08, Z:-0.08 [[ 9.96751781e-01 -8.04903096e-02 -2.68279080e-03 3.19872517e+01] [ 8.04899324e-02 9.96755391e-01 -2.48449014e-04 1.08077085e+00] [ 2.69408393e-03 3.17043469e-05 9.99996370e-01 -8.12634043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.504012739 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:32.01, Y:1.09, Z:-0.08 [[ 9.96769226e-01 -8.02739858e-02 -2.68274772e-03 3.20143187e+01] [ 8.02736066e-02 9.96772836e-01 -2.48913281e-04 1.08657474e+00] [ 2.69407132e-03 3.27552632e-05 9.99996370e-01 -7.97452714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.534012739 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:32.04, Y:1.09, Z:-0.08 [[ 9.96737803e-01 -8.06632255e-02 -2.68273337e-03 3.20416001e+01] [ 8.06628472e-02 9.96741412e-01 -2.49067835e-04 1.09121977e+00] [ 2.69408207e-03 3.18584138e-05 9.99996370e-01 -7.99786435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56401273899999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:32.07, Y:1.10, Z:-0.08 [[ 9.96726436e-01 -8.08035534e-02 -2.68268713e-03 3.20684917e+01] [ 8.08031744e-02 9.96730046e-01 -2.49564969e-04 1.09529592e+00] [ 2.69408060e-03 3.19783669e-05 9.99996370e-01 -8.11637352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59401273899999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:32.10, Y:1.10, Z:-0.08 [[ 9.96666342e-01 -8.15414382e-02 -2.68266696e-03 3.20965226e+01] [ 8.15410612e-02 9.96669952e-01 -2.49781594e-04 1.10139747e+00] [ 2.69410110e-03 3.02013968e-05 9.99996370e-01 -8.08682179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.624012738999994 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:32.12, Y:1.11, Z:-0.08 [[ 9.96663632e-01 -8.15745535e-02 -2.68262297e-03 3.21243451e+01] [ 8.15741753e-02 9.96667242e-01 -2.50253124e-04 1.10591456e+00] [ 2.69409672e-03 3.05854306e-05 9.99996370e-01 -8.16501600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.654012738999995 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:32.15, Y:1.11, Z:-0.07 [[ 9.96681794e-01 -8.13523483e-02 -2.68260125e-03 3.21520959e+01] [ 8.13519687e-02 9.96685404e-01 -2.50485758e-04 1.11223579e+00] [ 2.69408711e-03 3.14197019e-05 9.99996370e-01 -6.76313042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.684012738999996 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:32.18, Y:1.12, Z:-0.08 [[ 9.96601300e-01 -8.23325734e-02 -2.68258707e-03 3.21807689e+01] [ 8.23321970e-02 9.96604910e-01 -2.50637538e-04 1.11799475e+00] [ 2.69411507e-03 2.89224098e-05 9.99996370e-01 -8.08449427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.714012739 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:32.21, Y:1.12, Z:-0.08 [[ 9.96559551e-01 -8.28363773e-02 -2.68254450e-03 3.22082200e+01] [ 8.28360015e-02 9.96563161e-01 -2.51092328e-04 1.12357185e+00] [ 2.69412460e-03 2.80171982e-05 9.99996370e-01 -8.09436739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.744012739 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:32.24, Y:1.13, Z:-0.08 [[ 9.96404900e-01 -8.46763266e-02 -2.68252940e-03 3.22368006e+01] [ 8.46759570e-02 9.96408510e-01 -2.51253529e-04 1.12936996e+00] [ 2.69417035e-03 2.32045034e-05 9.99996370e-01 -7.75004928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77401273899999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:32.26, Y:1.13, Z:-0.08 [[ 9.96047492e-01 -8.87817445e-02 -2.68248730e-03 3.22641211e+01] [ 8.87813886e-02 9.96051104e-01 -2.51702152e-04 1.13083164e+00] [ 2.69424100e-03 1.25523498e-05 9.99996370e-01 -7.74311633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.804012738999994 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:32.29, Y:1.13, Z:-0.08 [[ 9.95870340e-01 -9.07472839e-02 -2.68246446e-03 3.22921090e+01] [ 9.07469344e-02 9.95873953e-01 -2.51945320e-04 1.13262495e+00] [ 2.69425984e-03 7.47944490e-06 9.99996370e-01 -7.70355347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.834012738999995 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:32.32, Y:1.13, Z:-0.08 [[ 9.95706482e-01 -9.25278718e-02 -2.68241906e-03 3.23197534e+01] [ 9.25275275e-02 9.95710095e-01 -2.52427811e-04 1.13438893e+00] [ 2.69426834e-03 3.14640437e-06 9.99996370e-01 -7.68471265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.864012738999996 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:32.35, Y:1.13, Z:-0.08 [[ 9.95540754e-01 -9.42942850e-02 -2.68237246e-03 3.23470200e+01] [ 9.42939458e-02 9.95544368e-01 -2.52921987e-04 1.13475394e+00] [ 2.69426990e-03 -1.13733803e-06 9.99996370e-01 -7.72838068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.894012739 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:32.37, Y:1.14, Z:-0.08 [[ 9.95558158e-01 -9.41103572e-02 -2.68235223e-03 3.23736269e+01] [ 9.41100168e-02 9.95561771e-01 -2.53136377e-04 1.13632627e+00] [ 2.69427009e-03 -4.24228228e-07 9.99996370e-01 -7.75595038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.924012739 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:32.40, Y:1.14, Z:-0.08 [[ 9.95823355e-01 -9.12614420e-02 -2.68233220e-03 3.24014873e+01] [ 9.12610907e-02 9.95826967e-01 -2.53348488e-04 1.13814439e+00] [ 2.69425969e-03 7.49777944e-06 9.99996370e-01 -7.62862199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95401273899999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:32.43, Y:1.14, Z:-0.08 [[ 9.96042847e-01 -8.88338496e-02 -2.68228466e-03 3.24295652e+01] [ 8.88334881e-02 9.96046458e-01 -2.53850800e-04 1.14066040e+00] [ 2.69423068e-03 1.45695717e-05 9.99996370e-01 -7.74097972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98401273899999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:32.46, Y:1.14, Z:-0.08 [[ 9.96243070e-01 -8.65595209e-02 -2.68223693e-03 3.24571676e+01] [ 8.65591498e-02 9.96246681e-01 -2.54354086e-04 1.14271508e+00] [ 2.69418641e-03 2.12263476e-05 9.99996370e-01 -7.84520333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.014012738999995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:32.48, Y:1.15, Z:-0.08 [[ 9.96577237e-01 -8.26233372e-02 -2.68218815e-03 3.24849678e+01] [ 8.26229504e-02 9.96580846e-01 -2.54867483e-04 1.14524941e+00] [ 2.69407534e-03 3.23848337e-05 9.99996370e-01 -8.23616032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.044012738999996 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:32.51, Y:1.15, Z:-0.09 [[ 9.96743824e-01 -8.05887992e-02 -2.68217302e-03 3.25127635e+01] [ 8.05884047e-02 9.96747432e-01 -2.55026627e-04 1.14876714e+00] [ 2.69400136e-03 3.80441712e-05 9.99996370e-01 -8.62186607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.074012739 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:32.54, Y:1.15, Z:-0.09 [[ 9.96707732e-01 -8.10339639e-02 -2.68215831e-03 3.25408018e+01] [ 8.10335705e-02 9.96711340e-01 -2.55181190e-04 1.15095069e+00] [ 2.69401595e-03 3.69962000e-05 9.99996370e-01 -8.68796798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.104012739 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:32.57, Y:1.15, Z:-0.09 [[ 9.96607706e-01 -8.22550113e-02 -2.68211129e-03 3.25690057e+01] [ 8.22546210e-02 9.96611314e-01 -2.55674450e-04 1.15285517e+00] [ 2.69405296e-03 3.41910790e-05 9.99996370e-01 -8.69032029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13401273899999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:32.60, Y:1.15, Z:-0.09 [[ 9.96404613e-01 -8.46797118e-02 -2.68206418e-03 3.25966651e+01] [ 8.46793290e-02 9.96408222e-01 -2.56167701e-04 1.15423166e+00] [ 2.69412301e-03 2.81312840e-05 9.99996370e-01 -8.81313064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16401273899999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:32.62, Y:1.16, Z:-0.09 [[ 9.96366709e-01 -8.51245460e-02 -2.68204957e-03 3.26245230e+01] [ 8.51241644e-02 9.96370318e-01 -2.56320549e-04 1.15677971e+00] [ 2.69413376e-03 2.70820333e-05 9.99996370e-01 -8.79787245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.194012738999994 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:32.65, Y:1.16, Z:-0.09 [[ 9.96261734e-01 -8.63444481e-02 -2.68203512e-03 3.26528264e+01] [ 8.63440705e-02 9.96265344e-01 -2.56471685e-04 1.15877817e+00] [ 2.69416355e-03 2.39350966e-05 9.99996370e-01 -8.50301227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.224012738999996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:32.68, Y:1.16, Z:-0.08 [[ 9.96146975e-01 -8.76584924e-02 -2.68199349e-03 3.26814613e+01] [ 8.76581184e-02 9.96150585e-01 -2.56906278e-04 1.16131456e+00] [ 2.69418940e-03 2.08179089e-05 9.99996370e-01 -8.31923849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.254012739 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:32.71, Y:1.16, Z:-0.08 [[ 9.95821347e-01 -9.12833654e-02 -2.68195099e-03 3.27097294e+01] [ 9.12830034e-02 9.95824958e-01 -2.57349153e-04 1.16338549e+00] [ 2.69424543e-03 1.14572384e-05 9.99996370e-01 -7.88663586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.284012739 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:32.74, Y:1.17, Z:-0.08 [[ 9.95634398e-01 -9.33003404e-02 -2.68193589e-03 3.27377528e+01] [ 9.32999853e-02 9.95638010e-01 -2.57506429e-04 1.16584772e+00] [ 2.69426275e-03 6.15767946e-06 9.99996370e-01 -7.65351539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31401273899999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:32.77, Y:1.17, Z:-0.07 [[ 9.95465907e-01 -9.50812065e-02 -2.68192089e-03 3.27663520e+01] [ 9.50808574e-02 9.95469519e-01 -2.57662586e-04 1.16840154e+00] [ 2.69426937e-03 1.49498179e-06 9.99996370e-01 -7.30139938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34401273899999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:32.79, Y:1.17, Z:-0.07 [[ 9.95232982e-01 -9.74890734e-02 -2.68187891e-03 3.27944224e+01] [ 9.74887319e-02 9.95236595e-01 -2.58098767e-04 1.16892745e+00] [ 2.69426585e-03 -4.58456934e-06 9.99996370e-01 -7.35396165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.374012738999994 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:32.82, Y:1.17, Z:-0.08 [[ 9.95175104e-01 -9.80781294e-02 -2.68182988e-03 3.28212833e+01] [ 9.80777886e-02 9.95178718e-01 -2.58607276e-04 1.17026378e+00] [ 2.69426374e-03 -5.66842071e-06 9.99996370e-01 -7.53240196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.404012738999995 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:32.85, Y:1.17, Z:-0.08 [[ 9.95138946e-01 -9.84443331e-02 -2.68180861e-03 3.28495365e+01] [ 9.84439930e-02 9.95142559e-01 -2.58827656e-04 1.17129998e+00] [ 2.69426200e-03 -6.43846730e-06 9.99996370e-01 -7.54862766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.434012738999996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:32.88, Y:1.17, Z:-0.07 [[ 9.95129494e-01 -9.85398305e-02 -2.68176012e-03 3.28768091e+01] [ 9.85394894e-02 9.95133108e-01 -2.59329056e-04 1.17308884e+00] [ 2.69426253e-03 -6.19328124e-06 9.99996370e-01 -7.46779312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.464012739 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:32.90, Y:1.17, Z:-0.07 [[ 9.95144004e-01 -9.83931846e-02 -2.68173907e-03 3.29046554e+01] [ 9.83928425e-02 9.95147618e-01 -2.59546580e-04 1.17461272e+00] [ 2.69426386e-03 -5.57770686e-06 9.99996370e-01 -7.31921076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.494012739 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:32.93, Y:1.18, Z:-0.07 [[ 9.95439052e-01 -9.53619505e-02 -2.68172418e-03 3.29326414e+01] [ 9.53615969e-02 9.95442665e-01 -2.59700347e-04 1.17569572e+00] [ 2.69426819e-03 2.78236683e-06 9.99996370e-01 -6.97599700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52401273899999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:32.96, Y:1.18, Z:-0.07 [[ 9.95734244e-01 -9.22286522e-02 -2.68167385e-03 3.29606414e+01] [ 9.22282858e-02 9.95737855e-01 -2.60219034e-04 1.17929685e+00] [ 2.69424382e-03 1.17828205e-05 9.99996370e-01 -7.24548522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.554012738999994 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:32.99, Y:1.19, Z:-0.07 [[ 9.96369566e-01 -8.50911061e-02 -2.68165819e-03 3.29886777e+01] [ 8.50907135e-02 9.96373174e-01 -2.60380284e-04 1.18588324e+00] [ 2.69408833e-03 3.12507821e-05 9.99996370e-01 -7.31913033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.584012738999995 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:33.02, Y:1.19, Z:-0.07 [[ 9.96626653e-01 -8.20251350e-02 -2.68161417e-03 3.30154068e+01] [ 8.20247301e-02 9.96630260e-01 -2.60832892e-04 1.19052810e+00] [ 2.69397268e-03 3.99943342e-05 9.99996370e-01 -7.39571609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.614012738999996 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:33.04, Y:1.20, Z:-0.07 [[ 9.97016270e-01 -7.71450955e-02 -2.68159226e-03 3.30422550e+01] [ 7.71446723e-02 9.97019875e-01 -2.61057880e-04 1.19749353e+00] [ 2.69374012e-03 5.34083977e-05 9.99996370e-01 -7.12228344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.644012739 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:33.07, Y:1.20, Z:-0.07 [[ 9.97145090e-01 -7.54617757e-02 -2.68157689e-03 3.30695543e+01] [ 7.54613460e-02 9.97148694e-01 -2.61215691e-04 1.20324364e+00] [ 2.69364269e-03 5.81145420e-05 9.99996370e-01 -7.00774436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.674012739 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:33.10, Y:1.21, Z:-0.07 [[ 9.97339482e-01 -7.28475555e-02 -2.68152685e-03 3.30963798e+01] [ 7.28471150e-02 9.97343085e-01 -2.61728406e-04 1.21275823e+00] [ 2.69346853e-03 6.56905787e-05 9.99996370e-01 -7.19822030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70401273899999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:33.12, Y:1.22, Z:-0.07 [[ 9.97360459e-01 -7.25597927e-02 -2.68150327e-03 3.31242215e+01] [ 7.25593505e-02 9.97364062e-01 -2.61969718e-04 1.21892573e+00] [ 2.69344346e-03 6.67101027e-05 9.99996370e-01 -7.08805394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73401273899999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:33.15, Y:1.22, Z:-0.07 [[ 9.97329936e-01 -7.29781334e-02 -2.68144986e-03 3.31512767e+01] [ 7.29776912e-02 9.97333539e-01 -2.62515294e-04 1.22400624e+00] [ 2.69345776e-03 6.61283410e-05 9.99996370e-01 -7.28098653e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.764012738999995 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:33.18, Y:1.23, Z:-0.07 [[ 9.97073007e-01 -7.64083038e-02 -2.68142658e-03 3.31773637e+01] [ 7.64078733e-02 9.97076611e-01 -2.62752887e-04 1.23065775e+00] [ 2.69366423e-03 5.71017084e-05 9.99996370e-01 -7.35159855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.794012738999996 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:33.20, Y:1.23, Z:-0.07 [[ 9.96795507e-01 -7.99470299e-02 -2.68140526e-03 3.32049508e+01] [ 7.99466117e-02 9.96799112e-01 -2.62970308e-04 1.23496584e+00] [ 2.69384607e-03 4.77583570e-05 9.99996370e-01 -7.32777779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.824012739 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:33.23, Y:1.24, Z:-0.07 [[ 9.96780553e-01 -8.01332609e-02 -2.68135611e-03 3.32332660e+01] [ 8.01328420e-02 9.96784158e-01 -2.63470457e-04 1.23794428e+00] [ 2.69384604e-03 4.77575419e-05 9.99996370e-01 -7.32010384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.854012739 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:33.26, Y:1.24, Z:-0.08 [[ 9.95993556e-01 -8.93848204e-02 -2.68130679e-03 3.32610632e+01] [ 8.93844336e-02 9.95997165e-01 -2.63971406e-04 1.24112567e+00] [ 2.69416900e-03 2.32467308e-05 9.99996370e-01 -7.67564997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88401273899999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:33.29, Y:1.24, Z:-0.08 [[ 9.95538550e-01 -9.43175794e-02 -2.68129147e-03 3.32887993e+01] [ 9.43172101e-02 9.95542161e-01 -2.64126920e-04 1.24245897e+00] [ 2.69425052e-03 1.00565993e-05 9.99996370e-01 -7.51924528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91401273899999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:33.32, Y:1.24, Z:-0.07 [[ 9.95108037e-01 -9.87562980e-02 -2.68124275e-03 3.33181002e+01] [ 9.87559435e-02 9.95111649e-01 -2.64620569e-04 1.24374043e+00] [ 2.69426885e-03 -1.46260324e-06 9.99996370e-01 -7.28543686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.944012738999994 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:33.35, Y:1.24, Z:-0.07 [[ 9.94624118e-01 -1.03516544e-01 -2.68119834e-03 3.33456718e+01] [ 1.03516205e-01 9.94627732e-01 -2.65069865e-04 1.24338010e+00] [ 2.69423334e-03 -1.39025971e-05 9.99996370e-01 -7.23587722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.974012738999996 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:33.37, Y:1.24, Z:-0.07 [[ 9.94600868e-01 -1.03739698e-01 -2.68117636e-03 3.33726110e+01] [ 1.03739360e-01 9.94604482e-01 -2.65291970e-04 1.24457770e+00] [ 2.69423133e-03 -1.42838949e-05 9.99996370e-01 -7.25760746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.004012739 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:33.40, Y:1.24, Z:-0.07 [[ 9.94697267e-01 -1.02811276e-01 -2.68115463e-03 3.34005292e+01] [ 1.02810934e-01 9.94700880e-01 -2.65511373e-04 1.24339297e+00] [ 2.69424444e-03 -1.15485737e-05 9.99996370e-01 -7.42399665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.034012739 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:33.43, Y:1.24, Z:-0.08 [[ 9.94706348e-01 -1.02723379e-01 -2.68113927e-03 3.34275292e+01] [ 1.02723036e-01 9.94709961e-01 -2.65666371e-04 1.24360098e+00] [ 2.69424609e-03 -1.11547413e-05 9.99996370e-01 -7.51928783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06401273899999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:33.46, Y:1.24, Z:-0.08 [[ 9.94799547e-01 -1.01816864e-01 -2.68110634e-03 3.34554580e+01] [ 1.01816517e-01 9.94803159e-01 -2.65998296e-04 1.24395959e+00] [ 2.69425617e-03 -8.36592466e-06 9.99996370e-01 -7.70570019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09401273899999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:33.48, Y:1.25, Z:-0.07 [[ 9.94893246e-01 -1.00897193e-01 -2.68076455e-03 3.34845208e+01] [ 1.00896833e-01 9.94896857e-01 -2.69435783e-04 1.24616090e+00] [ 2.69426954e-03 -2.42081256e-06 9.99996370e-01 -7.34045389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.124012738999994 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:33.51, Y:1.25, Z:-0.07 [[ 9.94963917e-01 -1.00197881e-01 -2.68104678e-03 3.35120434e+01] [ 1.00197527e-01 9.94967529e-01 -2.66597518e-04 1.24806591e+00] [ 2.69426700e-03 -3.37934535e-06 9.99996370e-01 -7.43901850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.154012738999995 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:33.54, Y:1.25, Z:-0.07 [[ 9.94969966e-01 -1.00137802e-01 -2.68099640e-03 3.35394568e+01] [ 1.00137446e-01 9.94973578e-01 -2.67103206e-04 1.24601827e+00] [ 2.69426771e-03 -2.70846426e-06 9.99996370e-01 -7.42080835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.184012738999996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:33.57, Y:1.25, Z:-0.07 [[ 9.94850841e-01 -1.01314442e-01 -2.68097442e-03 3.35672174e+01] [ 1.01314090e-01 9.94854454e-01 -2.67323639e-04 1.24593066e+00] [ 2.69426309e-03 -5.67333593e-06 9.99996370e-01 -7.14910498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.214012739 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:33.60, Y:1.25, Z:-0.07 [[ 9.94806845e-01 -1.01745530e-01 -2.68095893e-03 3.35950698e+01] [ 1.01745179e-01 9.94810458e-01 -2.67478858e-04 1.24829745e+00] [ 2.69426076e-03 -6.68484771e-06 9.99996370e-01 -7.07396173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.244012739 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:33.62, Y:1.25, Z:-0.07 [[ 9.94775557e-01 -1.02050989e-01 -2.68090935e-03 3.36216561e+01] [ 1.02050637e-01 9.94779169e-01 -2.67974947e-04 1.25021554e+00] [ 2.69425988e-03 -7.01358029e-06 9.99996370e-01 -7.15102975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27401273899999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:33.65, Y:1.25, Z:-0.07 [[ 9.94773284e-01 -1.02073146e-01 -2.68088773e-03 3.36504580e+01] [ 1.02072794e-01 9.94776896e-01 -2.68190988e-04 1.24983733e+00] [ 2.69426028e-03 -6.85647147e-06 9.99996370e-01 -6.95714547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.304012738999994 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:33.68, Y:1.25, Z:-0.06 [[ 9.94834690e-01 -1.01472917e-01 -2.68084478e-03 3.36789249e+01] [ 1.01472562e-01 9.94838302e-01 -2.68619708e-04 1.25206256e+00] [ 2.69426469e-03 -4.79998344e-06 9.99996370e-01 -6.43292448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.334012738999995 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:33.71, Y:1.26, Z:-0.06 [[ 9.94949857e-01 -1.00337409e-01 -2.68080183e-03 3.37070244e+01] [ 1.00337048e-01 9.94953468e-01 -2.69047612e-04 1.25606994e+00] [ 2.69426862e-03 -1.29485888e-06 9.99996370e-01 -6.19402902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.364012738999996 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:33.73, Y:1.26, Z:-0.06 [[ 9.95179653e-01 -9.80319918e-02 -2.68075083e-03 3.37347745e+01] [ 9.80316214e-02 9.95183264e-01 -2.69554793e-04 1.25954535e+00] [ 2.69426336e-03 5.45709435e-06 9.99996370e-01 -6.11318033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.394012739 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:33.76, Y:1.26, Z:-0.06 [[ 9.95661129e-01 -9.30146757e-02 -2.68073500e-03 3.37616877e+01] [ 9.30142867e-02 9.95664738e-01 -2.69712183e-04 1.26354268e+00] [ 2.69420050e-03 1.91952834e-05 9.99996370e-01 -6.32940526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.424012739 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:33.79, Y:1.27, Z:-0.06 [[ 9.95870297e-01 -9.07478137e-02 -2.68071343e-03 3.37892706e+01] [ 9.07474159e-02 9.95873904e-01 -2.69926385e-04 1.26819351e+00] [ 2.69414778e-03 2.55438524e-05 9.99996370e-01 -6.38907623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45401273899999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:33.82, Y:1.28, Z:-0.07 [[ 9.96272587e-01 -8.62191774e-02 -2.68066093e-03 3.38157050e+01] [ 8.62187617e-02 9.96276193e-01 -2.70446709e-04 1.27659559e+00] [ 2.69399636e-03 3.83153765e-05 9.99996370e-01 -6.51628834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48401273899999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:33.84, Y:1.28, Z:-0.06 [[ 9.96332011e-01 -8.55297456e-02 -2.68063817e-03 3.38436230e+01] [ 8.55293269e-02 9.96335617e-01 -2.70672173e-04 1.28207004e+00] [ 2.69396580e-03 4.04061726e-05 9.99996370e-01 -6.26235048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.514012738999995 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:33.87, Y:1.29, Z:-0.06 [[ 9.96343952e-01 -8.53905321e-02 -2.68058514e-03 3.38707658e+01] [ 8.53901115e-02 9.96347557e-01 -2.71196370e-04 1.28916417e+00] [ 2.69395205e-03 4.13093999e-05 9.99996370e-01 -5.94018277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.544012738999996 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:33.90, Y:1.30, Z:-0.06 [[ 9.96316137e-01 -8.57144668e-02 -2.68056870e-03 3.38986807e+01] [ 8.57140468e-02 9.96319742e-01 -2.71358749e-04 1.29513958e+00] [ 2.69396288e-03 4.05967096e-05 9.99996370e-01 -5.94761221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.574012739 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:33.93, Y:1.30, Z:-0.06 [[ 9.96287720e-01 -8.60441380e-02 -2.68051653e-03 3.39259526e+01] [ 8.60437179e-02 9.96291325e-01 -2.71873063e-04 1.30191279e+00] [ 2.69396845e-03 4.02221861e-05 9.99996370e-01 -6.23123333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.604012739 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:33.95, Y:1.31, Z:-0.07 [[ 9.96289135e-01 -8.60277481e-02 -2.68050030e-03 3.39539882e+01] [ 8.60273275e-02 9.96292741e-01 -2.72032967e-04 1.31340545e+00] [ 2.69396538e-03 4.04272122e-05 9.99996370e-01 -6.61815295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63401273899999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:33.98, Y:1.32, Z:-0.06 [[ 9.96224013e-01 -8.67786377e-02 -2.68045538e-03 3.39819437e+01] [ 8.67782186e-02 9.96227618e-01 -2.72474865e-04 1.32320586e+00] [ 2.69398868e-03 3.88408596e-05 9.99996370e-01 -6.02027716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66401273899999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:34.01, Y:1.33, Z:-0.06 [[ 9.96161289e-01 -8.74957240e-02 -2.68040954e-03 3.40096682e+01] [ 8.74953063e-02 9.96164894e-01 -2.72925059e-04 1.32877164e+00] [ 2.69400967e-03 3.73541239e-05 9.99996370e-01 -5.79910166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.694012738999994 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:34.04, Y:1.33, Z:-0.06 [[ 9.96039948e-01 -8.88664021e-02 -2.68039333e-03 3.40377160e+01] [ 8.88659890e-02 9.96043554e-01 -2.73084242e-04 1.33417407e+00] [ 2.69405651e-03 3.38070099e-05 9.99996370e-01 -5.62499629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.724012738999996 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:34.07, Y:1.34, Z:-0.06 [[ 9.95739249e-01 -9.21746346e-02 -2.68034094e-03 3.40652765e+01] [ 9.21742320e-02 9.95742856e-01 -2.73597457e-04 1.34177859e+00] [ 2.69414909e-03 2.53733584e-05 9.99996370e-01 -6.14039632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.754012739 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:34.09, Y:1.35, Z:-0.07 [[ 9.95537993e-01 -9.43234872e-02 -2.68032464e-03 3.40937040e+01] [ 9.43230920e-02 9.95541601e-01 -2.73757059e-04 1.34579424e+00] [ 2.69419640e-03 1.97190460e-05 9.99996370e-01 -6.54055626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.784012739 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:34.12, Y:1.35, Z:-0.07 [[ 9.95243526e-01 -9.73814164e-02 -2.68027920e-03 3.41223587e+01] [ 9.73810311e-02 9.95247135e-01 -2.74201193e-04 1.34931207e+00] [ 2.69424230e-03 1.18886095e-05 9.99996370e-01 -6.75352422e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81401273899999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:34.15, Y:1.35, Z:-0.07 [[ 9.95137544e-01 -9.84585399e-02 -2.68023292e-03 3.41501830e+01] [ 9.84581573e-02 9.95141154e-01 -2.74652873e-04 1.35327709e+00] [ 2.69425200e-03 9.42659190e-06 9.99996370e-01 -6.67557017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84401273899999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:34.18, Y:1.36, Z:-0.06 [[ 9.94950956e-01 -1.00326529e-01 -2.68021654e-03 3.41784354e+01] [ 1.00326153e-01 9.94954566e-01 -2.74812570e-04 1.35902619e+00] [ 2.69426468e-03 4.52921422e-06 9.99996370e-01 -6.34509303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.874012738999994 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:34.20, Y:1.36, Z:-0.06 [[ 9.94940544e-01 -1.00429726e-01 -2.68016977e-03 3.42049555e+01] [ 1.00429348e-01 9.94944154e-01 -2.75267940e-04 1.36230389e+00] [ 2.69426433e-03 4.70752984e-06 9.99996370e-01 -6.39726147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.904012738999995 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:34.23, Y:1.37, Z:-0.06 [[ 9.94945256e-01 -1.00383036e-01 -2.68014663e-03 3.42324404e+01] [ 1.00382658e-01 9.94948866e-01 -2.75493092e-04 1.36573183e+00] [ 2.69426368e-03 5.06030258e-06 9.99996370e-01 -6.49766100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.934012738999996 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:34.26, Y:1.37, Z:-0.06 [[ 9.94861615e-01 -1.01208613e-01 -2.68009503e-03 3.42595736e+01] [ 1.01208237e-01 9.94865225e-01 -2.75994180e-04 1.37098375e+00] [ 2.69426633e-03 3.32832306e-06 9.99996370e-01 -6.38465868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.964012739 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:34.29, Y:1.37, Z:-0.06 [[ 9.94675771e-01 -1.03019065e-01 -2.68004313e-03 3.42881799e+01] [ 1.03018694e-01 9.94679382e-01 -2.76497220e-04 1.37465933e+00] [ 2.69426813e-03 -1.06945890e-06 9.99996370e-01 -6.05666716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.994012739 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:34.32, Y:1.37, Z:-0.06 [[ 9.94042906e-01 -1.08956503e-01 -2.67999796e-03 3.43168472e+01] [ 1.08956152e-01 9.94046518e-01 -2.76934323e-04 1.37471515e+00] [ 2.69421644e-03 -1.67176662e-05 9.99996370e-01 -5.69115626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02401273899999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:34.34, Y:1.38, Z:-0.06 [[ 9.93589317e-01 -1.13018082e-01 -2.67995221e-03 3.43438702e+01] [ 1.13017745e-01 9.93592931e-01 -2.77376337e-04 1.37500913e+00] [ 2.69413012e-03 -2.72839894e-05 9.99996370e-01 -5.77629102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.054012738999994 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:34.37, Y:1.37, Z:-0.06 [[ 9.92628642e-01 -1.21165987e-01 -2.67992952e-03 3.43724400e+01] [ 1.21165679e-01 9.92632259e-01 -2.77595444e-04 1.37337108e+00] [ 2.69381962e-03 -4.91662908e-05 9.99996370e-01 -5.97696925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.084012738999995 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:34.40, Y:1.37, Z:-0.06 [[ 9.92148951e-01 -1.25033109e-01 -2.67987845e-03 3.44003777e+01] [ 1.25032813e-01 9.92152568e-01 -2.78087544e-04 1.37377524e+00] [ 2.69361844e-03 -5.91684773e-05 9.99996370e-01 -6.01300018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.114012738999996 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:34.43, Y:1.37, Z:-0.06 [[ 9.91724097e-01 -1.28359395e-01 -2.67982730e-03 3.44281208e+01] [ 1.28359111e-01 9.91727715e-01 -2.78579635e-04 1.37373557e+00] [ 2.69341732e-03 -6.77061119e-05 9.99996370e-01 -5.96492582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.144012739 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:34.46, Y:1.37, Z:-0.05 [[ 9.91115530e-01 -1.32976781e-01 -2.67977598e-03 3.44574207e+01] [ 1.32976513e-01 9.91119150e-01 -2.79072386e-04 1.36976610e+00] [ 2.69308744e-03 -7.97542886e-05 9.99996370e-01 -5.47487323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.174012739 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:34.48, Y:1.37, Z:-0.05 [[ 9.90732097e-01 -1.35804017e-01 -2.67973089e-03 3.44848041e+01] [ 1.35803758e-01 9.90735717e-01 -2.79504764e-04 1.36553280e+00] [ 2.69286297e-03 -8.70031824e-05 9.99996370e-01 -5.35758694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20401273899999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:34.51, Y:1.36, Z:-0.05 [[ 9.90644944e-01 -1.36438314e-01 -2.67969529e-03 3.45135991e+01] [ 1.36438056e-01 9.90648565e-01 -2.79845573e-04 1.36264803e+00] [ 2.69281796e-03 -8.83848154e-05 9.99996370e-01 -5.42936096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23401273899999 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:34.54, Y:1.36, Z:-0.06 [[ 9.90553352e-01 -1.37101699e-01 -2.67964442e-03 3.45419109e+01] [ 1.37101441e-01 9.90556973e-01 -2.80331895e-04 1.35856860e+00] [ 2.69277444e-03 -8.96994139e-05 9.99996370e-01 -5.55945533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.264012738999995 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:34.57, Y:1.35, Z:-0.06 [[ 9.90648259e-01 -1.36414244e-01 -2.67959344e-03 3.45695390e+01] [ 1.36413983e-01 9.90651880e-01 -2.80818285e-04 1.34928826e+00] [ 2.69285190e-03 -8.73418687e-05 9.99996370e-01 -5.73224268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.294012738999996 meters Centerline goodness : 0.992002 Centerline is valid? [True, True] Translation: X:34.60, Y:1.35, Z:-0.05 [[ 9.90874985e-01 -1.34757502e-01 -2.67957125e-03 3.45976493e+01] [ 1.34757234e-01 9.90878605e-01 -2.81029938e-04 1.34753935e+00] [ 2.69300071e-03 -8.26260740e-05 9.99996370e-01 -4.54565259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.324012739 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:34.63, Y:1.34, Z:-0.06 [[ 9.91499394e-01 -1.30083709e-01 -2.67951903e-03 3.46262583e+01] [ 1.30083423e-01 9.91503012e-01 -2.81526926e-04 1.34364686e+00] [ 2.69337326e-03 -6.94272318e-05 9.99996370e-01 -6.32127475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.354012739 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:34.65, Y:1.34, Z:-0.06 [[ 9.91899613e-01 -1.26995979e-01 -2.67949460e-03 3.46539943e+01] [ 1.26995681e-01 9.91903230e-01 -2.81759297e-04 1.34236765e+00] [ 2.69358164e-03 -6.08073032e-05 9.99996370e-01 -6.41945686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38401273899999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:34.68, Y:1.34, Z:-0.06 [[ 9.92345142e-01 -1.23466350e-01 -2.67945937e-03 3.46829256e+01] [ 1.23466038e-01 9.92348758e-01 -2.82093921e-04 1.34227406e+00] [ 2.69378728e-03 -5.08877006e-05 9.99996370e-01 -6.19328271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41401273899999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:34.71, Y:1.34, Z:-0.06 [[ 9.93174677e-01 -1.16605671e-01 -2.67941487e-03 3.47118709e+01] [ 1.16605333e-01 9.93178290e-01 -2.82515966e-04 1.34254185e+00] [ 2.69407964e-03 -3.18463602e-05 9.99996370e-01 -5.61906967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.444012738999994 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:34.74, Y:1.34, Z:-0.06 [[ 9.93464141e-01 -1.14113198e-01 -2.67936841e-03 3.47397797e+01] [ 1.14112850e-01 9.93467754e-01 -2.82955904e-04 1.33795859e+00] [ 2.69415511e-03 -2.46438219e-05 9.99996370e-01 -5.63944951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.474012738999996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:34.77, Y:1.34, Z:-0.06 [[ 9.93404134e-01 -1.14634413e-01 -2.67934533e-03 3.47674615e+01] [ 1.14634066e-01 9.93407746e-01 -2.83174244e-04 1.33648413e+00] [ 2.69414392e-03 -2.58377841e-05 9.99996370e-01 -5.84743036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.504012739 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:34.80, Y:1.33, Z:-0.06 [[ 9.92934940e-01 -1.18629782e-01 -2.67932269e-03 3.47973579e+01] [ 1.18629450e-01 9.92938555e-01 -2.83388277e-04 1.33189742e+00] [ 2.69402109e-03 -3.64604546e-05 9.99996370e-01 -6.31509315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.534012739 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:34.83, Y:1.33, Z:-0.06 [[ 9.92610605e-01 -1.21313678e-01 -2.67927730e-03 3.48260281e+01] [ 1.21313354e-01 9.92614220e-01 -2.83816746e-04 1.33090895e+00] [ 2.69391961e-03 -4.33126031e-05 9.99996370e-01 -6.27495995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56401273899999 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:34.85, Y:1.32, Z:-0.06 [[ 9.92175961e-01 -1.24818609e-01 -2.67922454e-03 3.48542563e+01] [ 1.24818296e-01 9.92179577e-01 -2.84313957e-04 1.32360602e+00] [ 2.69375954e-03 -5.23267682e-05 9.99996370e-01 -5.57053817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59401273899999 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:34.88, Y:1.32, Z:-0.05 [[ 9.92059557e-01 -1.25740436e-01 -2.67920491e-03 3.48825423e+01] [ 1.25740126e-01 9.92063173e-01 -2.84498796e-04 1.32291669e+00] [ 2.69371353e-03 -5.46438152e-05 9.99996370e-01 -5.31099697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.624012738999994 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:34.91, Y:1.32, Z:-0.05 [[ 9.92143554e-01 -1.25075936e-01 -2.67915229e-03 3.49098715e+01] [ 1.25075622e-01 9.92147170e-01 -2.84993525e-04 1.32272099e+00] [ 2.69375919e-03 -5.23421511e-05 9.99996370e-01 -5.27847096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.654012738999995 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:34.94, Y:1.32, Z:-0.05 [[ 9.92482831e-01 -1.22354615e-01 -2.67912939e-03 3.49385009e+01] [ 1.22354291e-01 9.92486446e-01 -2.85208595e-04 1.31816547e+00] [ 2.69389620e-03 -4.47383428e-05 9.99996370e-01 -5.38827127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.684012738999996 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:34.97, Y:1.32, Z:-0.05 [[ 9.92690784e-01 -1.20655829e-01 -2.67908055e-03 3.49661710e+01] [ 1.20655497e-01 9.92694399e-01 -2.85666646e-04 1.31660813e+00] [ 2.69397560e-03 -3.96671494e-05 9.99996370e-01 -5.36367221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.714012739 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:34.99, Y:1.31, Z:-0.05 [[ 9.93227501e-01 -1.16154870e-01 -2.67905777e-03 3.49945352e+01] [ 1.16154521e-01 9.93231114e-01 -2.85880157e-04 1.31304029e+00] [ 2.69412990e-03 -2.72406384e-05 9.99996370e-01 -5.45793031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.744012739 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:35.02, Y:1.32, Z:-0.05 [[ 9.93205828e-01 -1.16340043e-01 -2.67900461e-03 3.50228462e+01] [ 1.16339693e-01 9.93209441e-01 -2.86377408e-04 1.31625835e+00] [ 2.69412983e-03 -2.72428638e-05 9.99996370e-01 -5.45025619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77401273899999 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:35.05, Y:1.32, Z:-0.06 [[ 9.93517089e-01 -1.13651295e-01 -2.67895113e-03 3.50497648e+01] [ 1.13650935e-01 9.93520701e-01 -2.86876863e-04 1.31652049e+00] [ 2.69419733e-03 -1.94482335e-05 9.99996370e-01 -5.51097380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.804012738999994 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:35.08, Y:1.31, Z:-0.05 [[ 9.94074278e-01 -1.08669931e-01 -2.67892787e-03 3.50773602e+01] [ 1.08669551e-01 9.94077887e-01 -2.87093892e-04 1.31426157e+00] [ 2.69426143e-03 -5.72523663e-06 9.99996370e-01 -5.28307794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.834012738999995 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:35.11, Y:1.32, Z:-0.05 [[ 9.94257049e-01 -1.06984781e-01 -2.67887643e-03 3.51051845e+01] [ 1.06984395e-01 9.94260658e-01 -2.87573091e-04 1.31511516e+00] [ 2.69426739e-03 -6.76400195e-07 9.99996370e-01 -5.09467027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.864012738999996 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:35.13, Y:1.31, Z:-0.05 [[ 9.94501795e-01 -1.04685264e-01 -2.67882017e-03 3.51329662e+01] [ 1.04684868e-01 9.94505402e-01 -2.88096186e-04 1.31351228e+00] [ 2.69426056e-03 6.08023798e-06 9.99996370e-01 -5.25655971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.894012739 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:35.16, Y:1.31, Z:-0.05 [[ 9.94599079e-01 -1.03756905e-01 -2.67879575e-03 3.51600627e+01] [ 1.03756505e-01 9.94602687e-01 -2.88323097e-04 1.31364047e+00] [ 2.69425296e-03 8.82340249e-06 9.99996370e-01 -5.36906809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.924012739 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:35.19, Y:1.31, Z:-0.05 [[ 9.94765051e-01 -1.02153404e-01 -2.67877300e-03 3.51885258e+01] [ 1.02152997e-01 9.94768657e-01 -2.88534309e-04 1.31276076e+00] [ 2.69423418e-03 1.33791562e-05 9.99996370e-01 -5.40163098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95401273899999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:35.22, Y:1.32, Z:-0.06 [[ 9.94868143e-01 -1.01144465e-01 -2.67871796e-03 3.52153855e+01] [ 1.01144053e-01 9.94871749e-01 -2.89044416e-04 1.31501362e+00] [ 2.69421606e-03 1.66246902e-05 9.99996370e-01 -5.51441047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98401273899999 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:35.24, Y:1.32, Z:-0.06 [[ 9.95089019e-01 -9.89478063e-02 -2.67869410e-03 3.52437886e+01] [ 9.89473862e-02 9.95092624e-01 -2.89265317e-04 1.31742490e+00] [ 2.69417091e-03 2.27949611e-05 9.99996370e-01 -5.59725613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.014012738999995 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:35.27, Y:1.32, Z:-0.06 [[ 9.95208969e-01 -9.77339924e-02 -2.67864686e-03 3.52714127e+01] [ 9.77335666e-02 9.95212573e-01 -2.89702126e-04 1.32059460e+00] [ 2.69413678e-03 2.65204429e-05 9.99996370e-01 -5.60300263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.044012738999996 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:35.30, Y:1.32, Z:-0.06 [[ 9.95373407e-01 -9.60448104e-02 -2.67859653e-03 3.52983648e+01] [ 9.60443773e-02 9.95377011e-01 -2.90166769e-04 1.32473367e+00] [ 2.69408242e-03 3.15601504e-05 9.99996370e-01 -5.69645886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.074012739 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:35.33, Y:1.33, Z:-0.06 [[ 9.95346217e-01 -9.63261848e-02 -2.67856232e-03 3.53257141e+01] [ 9.63257518e-02 9.95349820e-01 -2.90482140e-04 1.32863150e+00] [ 2.69408757e-03 3.11157691e-05 9.99996370e-01 -5.68726471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.104012739 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:35.35, Y:1.33, Z:-0.06 [[ 9.95214487e-01 -9.76777909e-02 -2.67850726e-03 3.53526288e+01] [ 9.76773614e-02 9.95218091e-01 -2.90988980e-04 1.33140598e+00] [ 2.69412204e-03 2.79669261e-05 9.99996370e-01 -5.69211963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13401273899999 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:35.38, Y:1.33, Z:-0.05 [[ 9.95082780e-01 -9.90105357e-02 -2.67848324e-03 3.53800010e+01] [ 9.90101105e-02 9.95086385e-01 -2.91209940e-04 1.33414771e+00] [ 2.69415506e-03 2.45810753e-05 9.99996370e-01 -5.43458287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16401273899999 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:35.41, Y:1.34, Z:-0.05 [[ 9.94810759e-01 -1.01707329e-01 -2.67842826e-03 3.54070333e+01] [ 1.01706912e-01 9.94814364e-01 -2.91714773e-04 1.33811881e+00] [ 2.69420843e-03 1.77863272e-05 9.99996370e-01 -5.05277772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.194012738999994 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:35.43, Y:1.34, Z:-0.05 [[ 9.94514153e-01 -1.04567806e-01 -2.67840427e-03 3.54344723e+01] [ 1.04567399e-01 9.94517759e-01 -2.91934858e-04 1.34276487e+00] [ 2.69424760e-03 1.02595815e-05 9.99996370e-01 -5.09345400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.224012738999996 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:35.46, Y:1.34, Z:-0.05 [[ 9.94386210e-01 -1.05777558e-01 -2.67834900e-03 3.54617269e+01] [ 1.05777154e-01 9.94389817e-01 -2.92441043e-04 1.34485397e+00] [ 2.69425667e-03 7.49120596e-06 9.99996370e-01 -5.35375121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.254012739 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:35.49, Y:1.34, Z:-0.06 [[ 9.94240649e-01 -1.07137103e-01 -2.67831121e-03 3.54926680e+01] [ 1.07136703e-01 9.94244256e-01 -2.92786706e-04 1.34458537e+00] [ 2.69426386e-03 4.15501221e-06 9.99996370e-01 -6.16762370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.284012739 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:35.52, Y:1.35, Z:-0.06 [[ 9.94197518e-01 -1.07536580e-01 -2.67930592e-03 3.55193692e+01] [ 1.07536206e-01 9.94201128e-01 -2.83688538e-04 1.34740030e+00] [ 2.69427586e-03 -6.07995359e-06 9.99996370e-01 -5.72218100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31401273899999 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:35.54, Y:1.35, Z:-0.05 [[ 9.94271052e-01 -1.06854589e-01 -2.67823298e-03 3.55440159e+01] [ 1.06854186e-01 9.94274659e-01 -2.93479906e-04 1.34803695e+00] [ 2.69425886e-03 5.61816911e-06 9.99996370e-01 -5.49305896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34401273899999 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:35.58, Y:1.35, Z:-0.06 [[ 9.94097182e-01 -1.08460264e-01 -2.67668948e-03 3.55750179e+01] [ 1.08459829e-01 9.94100785e-01 -3.07537926e-04 1.34890056e+00] [ 2.69425475e-03 1.54093031e-05 9.99996370e-01 -5.59609574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.374012738999994 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:35.60, Y:1.35, Z:-0.06 [[ 9.94025907e-01 -1.09111522e-01 -2.67817751e-03 3.56021809e+01] [ 1.09111126e-01 9.94029515e-01 -2.93981972e-04 1.35119788e+00] [ 2.69426431e-03 6.73407796e-09 9.99996370e-01 -5.62771219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.404012738999995 meters Centerline goodness : 0.989700 Centerline is valid? [True, True] Translation: X:35.63, Y:1.35, Z:-0.04 [[ 9.94078150e-01 -1.08634521e-01 -2.67813980e-03 3.56303649e+01] [ 1.08634122e-01 9.94081758e-01 -2.94325096e-04 1.34980139e+00] [ 2.69426378e-03 1.64478183e-06 9.99996370e-01 -4.23407777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.434012738999996 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:35.66, Y:1.35, Z:-0.05 [[ 9.94032236e-01 -1.09053845e-01 -2.67808471e-03 3.56583045e+01] [ 1.09053446e-01 9.94035844e-01 -2.94825444e-04 1.35290703e+00] [ 2.69426405e-03 1.01162813e-06 9.99996370e-01 -5.23817840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.464012739 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:35.68, Y:1.35, Z:-0.05 [[ 9.94185733e-01 -1.07645514e-01 -2.67802993e-03 3.56849055e+01] [ 1.07645109e-01 9.94189340e-01 -2.95322236e-04 1.35353053e+00] [ 2.69425892e-03 5.32832952e-06 9.99996370e-01 -5.19853528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.494012739 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:35.71, Y:1.36, Z:-0.05 [[ 9.94341158e-01 -1.06200233e-01 -2.67799244e-03 3.57129343e+01] [ 1.06199822e-01 9.94344764e-01 -2.95661771e-04 1.35655435e+00] [ 2.69424711e-03 9.58634698e-06 9.99996370e-01 -5.25673416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52401273899999 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:35.74, Y:1.36, Z:-0.05 [[ 9.94482844e-01 -1.04865161e-01 -2.67793836e-03 3.57406854e+01] [ 1.04864744e-01 9.94486449e-01 -2.96150828e-04 1.35974034e+00] [ 2.69422932e-03 1.36955985e-05 9.99996370e-01 -5.31966496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.554012738999994 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:35.77, Y:1.36, Z:-0.05 [[ 9.94747309e-01 -1.02326045e-01 -2.67788433e-03 3.57682388e+01] [ 1.02325617e-01 9.94750914e-01 -2.96638599e-04 1.36248753e+00] [ 2.69418174e-03 2.10642818e-05 9.99996370e-01 -5.46698834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.584012738999995 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:35.79, Y:1.37, Z:-0.05 [[ 9.94953488e-01 -1.00301471e-01 -2.67783016e-03 3.57946438e+01] [ 1.00301035e-01 9.94957092e-01 -2.97126785e-04 1.36651219e+00] [ 2.69412836e-03 2.70381957e-05 9.99996370e-01 -5.15087303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.614012738999996 meters Centerline goodness : 0.997968 Centerline is valid? [True, True] Translation: X:35.82, Y:1.37, Z:-0.05 [[ 9.95076325e-01 -9.90754143e-02 -2.67780665e-03 3.58227929e+01] [ 9.90749728e-02 9.95079927e-01 -2.97338538e-04 1.36988545e+00] [ 2.69409058e-03 3.05709189e-05 9.99996370e-01 -5.08356681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.644012739 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:35.85, Y:1.37, Z:-0.05 [[ 9.95188006e-01 -9.79472466e-02 -2.67775256e-03 3.58509732e+01] [ 9.79467998e-02 9.95191608e-01 -2.97824861e-04 1.37247981e+00] [ 2.69404800e-03 3.41144358e-05 9.99996370e-01 -5.08169927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.674012739 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:35.88, Y:1.37, Z:-0.05 [[ 9.95428081e-01 -9.54765188e-02 -2.67769639e-03 3.58780097e+01] [ 9.54760617e-02 9.95431682e-01 -2.98329019e-04 1.37248477e+00] [ 2.69394723e-03 4.13091774e-05 9.99996370e-01 -5.17062901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70401273899999 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:35.91, Y:1.37, Z:-0.05 [[ 9.95550708e-01 -9.41892639e-02 -2.67767201e-03 3.59058820e+01] [ 9.41888016e-02 9.95554308e-01 -2.98547672e-04 1.37385410e+00] [ 2.69388789e-03 4.50126283e-05 9.99996370e-01 -4.94519810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73401273899999 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:35.93, Y:1.38, Z:-0.05 [[ 9.95609654e-01 -9.35641375e-02 -2.67761734e-03 3.59326301e+01] [ 9.35636715e-02 9.95613253e-01 -2.99037210e-04 1.37612043e+00] [ 2.69385047e-03 4.71966244e-05 9.99996370e-01 -4.96495867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.764012738999995 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:35.96, Y:1.38, Z:-0.05 [[ 9.95684639e-01 -9.27627638e-02 -2.67759356e-03 3.59601397e+01] [ 9.27622943e-02 9.95688238e-01 -2.99249992e-04 1.37907031e+00] [ 2.69380767e-03 4.95788982e-05 9.99996370e-01 -5.22090272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.794012738999996 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:35.99, Y:1.38, Z:-0.06 [[ 9.95996085e-01 -8.93567537e-02 -2.67753936e-03 3.59880989e+01] [ 8.93562707e-02 9.95999682e-01 -2.99734100e-04 1.38160813e+00] [ 2.69361162e-03 5.92790576e-05 9.99996370e-01 -5.70312147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.824012739 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:36.01, Y:1.38, Z:-0.06 [[ 9.96205455e-01 -8.69915065e-02 -2.67748510e-03 3.60148582e+01] [ 8.69910136e-02 9.96209051e-01 -3.00218010e-04 1.38408266e+00] [ 2.69345131e-03 6.61616761e-05 9.99996370e-01 -5.73793341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.854012739 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:36.04, Y:1.39, Z:-0.06 [[ 9.96701374e-01 -8.11122772e-02 -2.67746162e-03 3.60427600e+01] [ 8.11117625e-02 9.96704967e-01 -3.00427331e-04 1.38780560e+00] [ 2.69300764e-03 8.22627032e-05 9.99996370e-01 -5.54582441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88401273899999 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:36.07, Y:1.39, Z:-0.05 [[ 9.96899061e-01 -7.86453608e-02 -2.67740642e-03 3.60698583e+01] [ 7.86448359e-02 9.96902653e-01 -3.00918432e-04 1.39219266e+00] [ 2.69277940e-03 8.94211141e-05 9.99996370e-01 -5.41429096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91401273899999 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:36.10, Y:1.40, Z:-0.05 [[ 9.97295325e-01 -7.34497490e-02 -2.67738242e-03 3.60972231e+01] [ 7.34492049e-02 9.97298914e-01 -3.01131809e-04 1.39770218e+00] [ 2.69226864e-03 1.03665736e-04 9.99996370e-01 -5.22018971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.944012738999994 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:36.12, Y:1.40, Z:-0.05 [[ 9.97460908e-01 -7.11657840e-02 -2.67732746e-03 3.61249342e+01] [ 7.11652303e-02 9.97464495e-01 -3.01619670e-04 1.40208975e+00] [ 2.69200408e-03 1.10321204e-04 9.99996370e-01 -5.31830455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.974012738999996 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:36.15, Y:1.41, Z:-0.06 [[ 9.97637675e-01 -6.86432960e-02 -2.67727181e-03 3.61515449e+01] [ 6.86427320e-02 9.97641260e-01 -3.02112826e-04 1.40776267e+00] [ 2.69169484e-03 1.17623886e-04 9.99996370e-01 -5.55908430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.004012739 meters Centerline goodness : 0.998072 Centerline is valid? [True, True] Translation: X:36.18, Y:1.41, Z:-0.05 [[ 9.97658054e-01 -6.83464735e-02 -2.67724768e-03 3.61793495e+01] [ 6.83459078e-02 9.97661639e-01 -3.02326493e-04 1.41264682e+00] [ 2.69165026e-03 1.18639537e-04 9.99996370e-01 -5.40813632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.034012739 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:36.21, Y:1.42, Z:-0.05 [[ 9.97675135e-01 -6.80966775e-02 -2.67719203e-03 3.62056788e+01] [ 6.80961096e-02 9.97678720e-01 -3.02818531e-04 1.41767412e+00] [ 2.69159845e-03 1.19808157e-04 9.99996370e-01 -5.28333552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06401273899999 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:36.23, Y:1.43, Z:-0.05 [[ 9.97695682e-01 -6.77949763e-02 -2.67716779e-03 3.62328536e+01] [ 6.77944067e-02 9.97699267e-01 -3.03032636e-04 1.42714653e+00] [ 2.69155244e-03 1.20837350e-04 9.99996370e-01 -4.95689211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.09401273899999 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:36.26, Y:1.44, Z:-0.05 [[ 9.97653271e-01 -6.84162592e-02 -2.67711261e-03 3.62595591e+01] [ 6.84156906e-02 9.97656855e-01 -3.03519342e-04 1.43641044e+00] [ 2.69160541e-03 1.19650556e-04 9.99996370e-01 -4.53141578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.124012738999994 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:36.29, Y:1.44, Z:-0.04 [[ 9.97573276e-01 -6.95729352e-02 -2.67705764e-03 3.62870916e+01] [ 6.95723695e-02 9.97576861e-01 -3.04003440e-04 1.44167376e+00] [ 2.69172117e-03 1.17016464e-04 9.99996370e-01 -4.47409802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.154012738999995 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:36.31, Y:1.45, Z:-0.05 [[ 9.97457546e-01 -7.12129082e-02 -2.67700163e-03 3.63135803e+01] [ 7.12123470e-02 9.97461132e-01 -3.04495875e-04 1.44602501e+00] [ 2.69188911e-03 1.13086140e-04 9.99996370e-01 -4.50923965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.184012738999996 meters Centerline goodness : 0.997876 Centerline is valid? [True, True] Translation: X:36.34, Y:1.45, Z:-0.05 [[ 9.97167982e-01 -7.51588337e-02 -2.67697731e-03 3.63407661e+01] [ 7.51582861e-02 9.97171570e-01 -3.04709520e-04 1.45155648e+00] [ 2.69230728e-03 1.02649551e-04 9.99996370e-01 -4.91106811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.214012739 meters Centerline goodness : 0.997843 Centerline is valid? [True, True] Translation: X:36.37, Y:1.46, Z:-0.05 [[ 9.96784458e-01 -8.00848242e-02 -2.67696038e-03 3.63683098e+01] [ 8.00842939e-02 9.96788048e-01 -3.04858195e-04 1.45726822e+00] [ 2.69277663e-03 8.94954283e-05 9.99996370e-01 -4.71285907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24401273899999 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:36.40, Y:1.46, Z:-0.05 [[ 9.96564890e-01 -8.27723004e-02 -2.67690595e-03 3.63956055e+01] [ 8.27717786e-02 9.96568482e-01 -3.05335411e-04 1.46119224e+00] [ 2.69299341e-03 8.27142840e-05 9.99996370e-01 -4.50614756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.27401273899999 meters Centerline goodness : 0.997359 Centerline is valid? [True, True] Translation: X:36.42, Y:1.46, Z:-0.04 [[ 9.96089468e-01 -8.83097143e-02 -2.67685141e-03 3.64226453e+01] [ 8.83092111e-02 9.96093063e-01 -3.05812800e-04 1.46404823e+00] [ 2.69339936e-03 6.82262735e-05 9.99996370e-01 -4.44744558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.304012738999994 meters Centerline goodness : 0.997235 Centerline is valid? [True, True] Translation: X:36.45, Y:1.47, Z:-0.05 [[ 9.95857997e-01 -9.08828081e-02 -2.67682762e-03 3.64491660e+01] [ 9.08823137e-02 9.95861592e-01 -3.06020829e-04 1.46715587e+00] [ 2.69356185e-03 6.14770023e-05 9.99996370e-01 -4.52466935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.334012738999995 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:36.48, Y:1.47, Z:-0.05 [[ 9.95600711e-01 -9.36592900e-02 -2.67608073e-03 3.64790732e+01] [ 9.36587881e-02 9.95604306e-01 -3.12540416e-04 1.47123924e+00] [ 2.69358981e-03 6.05269830e-05 9.99996370e-01 -4.56956952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.364012738999996 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:36.51, Y:1.47, Z:-0.05 [[ 9.95399510e-01 -9.57739582e-02 -2.67672410e-03 3.65068792e+01] [ 9.57734790e-02 9.95403108e-01 -3.06929551e-04 1.47434795e+00] [ 2.69381535e-03 4.91583454e-05 9.99996370e-01 -4.84314509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.394012739 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:36.53, Y:1.48, Z:-0.05 [[ 9.95375207e-01 -9.60262056e-02 -2.67666689e-03 3.65334946e+01] [ 9.60257259e-02 9.95378805e-01 -3.07427693e-04 1.47746996e+00] [ 2.69381860e-03 4.89770232e-05 9.99996370e-01 -5.11752037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.424012739 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:36.56, Y:1.48, Z:-0.06 [[ 9.95361288e-01 -9.61703788e-02 -2.67664194e-03 3.65613878e+01] [ 9.61698991e-02 9.95364886e-01 -3.07644715e-04 1.48079590e+00] [ 2.69382171e-03 4.88052536e-05 9.99996370e-01 -5.67796943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.45401273899999 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:36.59, Y:1.48, Z:-0.06 [[ 9.95219002e-01 -9.76318305e-02 -2.67661580e-03 3.65893369e+01] [ 9.76313555e-02 9.95222600e-01 -3.07872013e-04 1.48392363e+00] [ 2.69388664e-03 4.50784487e-05 9.99996370e-01 -5.64231315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48401273899999 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:36.62, Y:1.49, Z:-0.05 [[ 9.95065828e-01 -9.91808161e-02 -2.67659859e-03 3.66162565e+01] [ 9.91803463e-02 9.95069427e-01 -3.08021516e-04 1.48632353e+00] [ 2.69395125e-03 4.10357091e-05 9.99996370e-01 -5.44408157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.514012738999995 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:36.64, Y:1.49, Z:-0.05 [[ 9.94836253e-01 -1.01457708e-01 -2.67657525e-03 3.66439284e+01] [ 1.01457246e-01 9.94839853e-01 -3.08224196e-04 1.48954557e+00] [ 2.69403545e-03 3.50746505e-05 9.99996370e-01 -5.27809019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.544012738999996 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:36.67, Y:1.49, Z:-0.05 [[ 9.94353720e-01 -1.06082592e-01 -2.67652195e-03 3.66722344e+01] [ 1.06082146e-01 9.94357322e-01 -3.08686393e-04 1.49271122e+00] [ 2.69416545e-03 2.30122721e-05 9.99996370e-01 -5.10202142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.574012739 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:36.70, Y:1.50, Z:-0.05 [[ 9.94150730e-01 -1.07968339e-01 -2.67646372e-03 3.66994207e+01] [ 1.07967898e-01 9.94154333e-01 -3.09190486e-04 1.49617863e+00] [ 2.69420078e-03 1.84097859e-05 9.99996370e-01 -5.13719894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.604012739 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:36.73, Y:1.50, Z:-0.05 [[ 9.93668935e-01 -1.12315999e-01 -2.67643837e-03 3.67269690e+01] [ 1.12315573e-01 9.93672540e-01 -3.09409698e-04 1.49993366e+00] [ 2.69425498e-03 6.84509639e-06 9.99996370e-01 -4.95292875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63401273899999 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:36.76, Y:1.50, Z:-0.05 [[ 9.93649608e-01 -1.12486860e-01 -2.67638505e-03 3.67552507e+01] [ 1.12486433e-01 9.93653212e-01 -3.09870283e-04 1.50341853e+00] [ 2.69425493e-03 6.84547698e-06 9.99996370e-01 -4.94525462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66401273899999 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:36.78, Y:1.51, Z:-0.05 [[ 9.93394671e-01 -1.14716457e-01 -2.67633169e-03 3.67825903e+01] [ 1.14716037e-01 9.93398276e-01 -3.10330480e-04 1.50760082e+00] [ 2.69426330e-03 1.26247922e-06 9.99996370e-01 -4.72531258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.694012738999994 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:36.81, Y:1.51, Z:-0.05 [[ 9.92869489e-01 -1.19176400e-01 -2.67627354e-03 3.68107912e+01] [ 1.19175996e-01 9.92873096e-01 -3.10831137e-04 1.51113635e+00] [ 2.69424373e-03 -1.03328108e-05 9.99996370e-01 -4.73689268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.724012738999996 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:36.84, Y:1.51, Z:-0.05 [[ 9.92647058e-01 -1.21015109e-01 -2.67621509e-03 3.68376631e+01] [ 1.21014710e-01 9.92650665e-01 -3.11333578e-04 1.51331894e+00] [ 2.69422275e-03 -1.48170317e-05 9.99996370e-01 -4.77844736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.754012739 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:36.87, Y:1.52, Z:-0.05 [[ 9.92205507e-01 -1.24583584e-01 -2.67618958e-03 3.68652358e+01] [ 1.24583197e-01 9.92209116e-01 -3.11552696e-04 1.51592530e+00] [ 2.69415405e-03 -2.42839518e-05 9.99996370e-01 -4.87798895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.784012739 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:36.89, Y:1.52, Z:-0.05 [[ 9.91975631e-01 -1.26400891e-01 -2.67613118e-03 3.68925857e+01] [ 1.26400509e-01 9.91979241e-01 -3.12053490e-04 1.51969913e+00] [ 2.69411042e-03 -2.87148852e-05 9.99996370e-01 -4.85900050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81401273899999 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:36.92, Y:1.52, Z:-0.05 [[ 9.91604275e-01 -1.29281864e-01 -2.67607263e-03 3.69191076e+01] [ 1.29281491e-01 9.91607885e-01 -3.12554803e-04 1.52183386e+00] [ 2.69402239e-03 -3.60359805e-05 9.99996370e-01 -4.84510780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.84401273899999 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:36.95, Y:1.52, Z:-0.05 [[ 9.91446566e-01 -1.30485807e-01 -2.67604712e-03 3.69474662e+01] [ 1.30485438e-01 9.91450177e-01 -3.12773069e-04 1.52292306e+00] [ 2.69397984e-03 -3.90873947e-05 9.99996370e-01 -4.85293451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.874012738999994 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:36.97, Y:1.52, Z:-0.05 [[ 9.90978710e-01 -1.33992666e-01 -2.67598683e-03 3.69748754e+01] [ 1.33992309e-01 9.90982322e-01 -3.13288016e-04 1.52318019e+00] [ 2.69383394e-03 -4.80998996e-05 9.99996370e-01 -4.69183448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.904012738999995 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:37.00, Y:1.53, Z:-0.05 [[ 9.90704375e-01 -1.36006179e-01 -2.67596066e-03 3.70017696e+01] [ 1.36005829e-01 9.90707987e-01 -3.13511383e-04 1.52521986e+00] [ 2.69373509e-03 -5.33491491e-05 9.99996370e-01 -4.65408660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.934012738999996 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:37.03, Y:1.52, Z:-0.05 [[ 9.90549143e-01 -1.37132183e-01 -2.67593471e-03 3.70304059e+01] [ 1.37131836e-01 9.90552755e-01 -3.13732730e-04 1.52353140e+00] [ 2.69367736e-03 -5.61881522e-05 9.99996370e-01 -4.80121536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.964012739 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:37.06, Y:1.52, Z:-0.05 [[ 9.90711775e-01 -1.35952268e-01 -2.67587452e-03 3.70570472e+01] [ 1.35951915e-01 9.90715387e-01 -3.14245301e-04 1.52418227e+00] [ 2.69375242e-03 -5.24637443e-05 9.99996370e-01 -5.04369151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99401273899999 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:37.08, Y:1.53, Z:-0.05 [[ 9.90937619e-01 -1.34296221e-01 -2.67583348e-03 3.70838702e+01] [ 1.34295861e-01 9.90941231e-01 -3.14594342e-04 1.52662674e+00] [ 2.69384256e-03 -4.76099936e-05 9.99996370e-01 -5.22702581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.02401273899999 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:37.11, Y:1.53, Z:-0.05 [[ 9.91376138e-01 -1.31019817e-01 -2.67579384e-03 3.71121453e+01] [ 1.31019444e-01 9.91379749e-01 -3.14931171e-04 1.52933093e+00] [ 2.69399005e-03 -3.83657733e-05 9.99996370e-01 -5.16106436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.054012738999994 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:37.14, Y:1.53, Z:-0.05 [[ 9.91561945e-01 -1.29606130e-01 -2.67573554e-03 3.71397791e+01] [ 1.29605751e-01 9.91565555e-01 -3.15425705e-04 1.53210238e+00] [ 2.69404830e-03 -3.40265873e-05 9.99996370e-01 -4.91190695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.084012738999995 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:37.17, Y:1.53, Z:-0.05 [[ 9.91825541e-01 -1.27573264e-01 -2.67567707e-03 3.71679113e+01] [ 1.27572876e-01 9.91829149e-01 -3.15920942e-04 1.53390366e+00] [ 2.69411758e-03 -2.80053585e-05 9.99996370e-01 -4.57358518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.114012738999996 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:37.20, Y:1.54, Z:-0.05 [[ 9.91884213e-01 -1.27116283e-01 -2.67561531e-03 3.71953274e+01] [ 1.27115892e-01 9.91887821e-01 -3.16443102e-04 1.53610864e+00] [ 2.69413531e-03 -2.62383098e-05 9.99996370e-01 -4.58453510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.144012739 meters Centerline goodness : 0.994182 Centerline is valid? [True, True] Translation: X:37.22, Y:1.54, Z:-0.04 [[ 9.91913336e-01 -1.26888832e-01 -2.67558845e-03 3.72234338e+01] [ 1.26888439e-01 9.91916944e-01 -3.16670081e-04 1.53584843e+00] [ 2.69414341e-03 -2.53919659e-05 9.99996370e-01 -4.09962310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.174012739 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:37.25, Y:1.54, Z:-0.05 [[ 9.91919821e-01 -1.26838124e-01 -2.67553000e-03 3.72509567e+01] [ 1.26837730e-01 9.91923429e-01 -3.17163112e-04 1.54133529e+00] [ 2.69414927e-03 -2.47577737e-05 9.99996370e-01 -4.68091963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.20401273899999 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:37.28, Y:1.55, Z:-0.05 [[ 9.92070020e-01 -1.25657938e-01 -2.67547043e-03 3.72769805e+01] [ 1.25657538e-01 9.92073627e-01 -3.17664844e-04 1.54853489e+00] [ 2.69418076e-03 -2.10472602e-05 9.99996370e-01 -4.50384490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23401273899999 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:37.30, Y:1.55, Z:-0.05 [[ 9.92193668e-01 -1.24677853e-01 -2.67544447e-03 3.73036379e+01] [ 1.24677449e-01 9.92197275e-01 -3.17883329e-04 1.55245824e+00] [ 2.69420173e-03 -1.81657662e-05 9.99996370e-01 -4.57108486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.264012738999995 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:37.33, Y:1.56, Z:-0.05 [[ 9.92326459e-01 -1.23616509e-01 -2.67541879e-03 3.73331771e+01] [ 1.23616101e-01 9.92330065e-01 -3.18099368e-04 1.55625632e+00] [ 2.69422083e-03 -1.50664187e-05 9.99996370e-01 -4.73038951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.294012738999996 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:37.36, Y:1.56, Z:-0.05 [[ 9.92161017e-01 -1.24937406e-01 -2.67611859e-03 3.73599060e+01] [ 1.24937018e-01 9.92164625e-01 -3.12215865e-04 1.56252348e+00] [ 2.69415764e-03 -2.45778670e-05 9.99996370e-01 -4.52718350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.324012739 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:37.39, Y:1.57, Z:-0.05 [[ 9.91994876e-01 -1.26249786e-01 -2.67532954e-03 3.73874570e+01] [ 1.26249386e-01 9.91998483e-01 -3.18836705e-04 1.56815351e+00] [ 2.69417592e-03 -2.14743340e-05 9.99996370e-01 -4.54263348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.354012739 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:37.42, Y:1.57, Z:-0.04 [[ 9.91578199e-01 -1.29481729e-01 -2.67526963e-03 3.74155418e+01] [ 1.29481339e-01 9.91581807e-01 -3.19338601e-04 1.57255581e+00] [ 2.69409721e-03 -2.97482998e-05 9.99996370e-01 -4.42456910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38401273899999 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:37.44, Y:1.58, Z:-0.04 [[ 9.91343729e-01 -1.31264828e-01 -2.67520930e-03 3.74432989e+01] [ 1.31264443e-01 9.91347338e-01 -3.19843198e-04 1.57547405e+00] [ 2.69404578e-03 -3.40853096e-05 9.99996370e-01 -4.36410782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41401273899999 meters Centerline goodness : 0.997316 Centerline is valid? [True, True] Translation: X:37.47, Y:1.58, Z:-0.04 [[ 9.90956424e-01 -1.34157404e-01 -2.67514922e-03 3.74697701e+01] [ 1.34157028e-01 9.90960034e-01 -3.20344989e-04 1.57989493e+00] [ 2.69394261e-03 -4.14421434e-05 9.99996370e-01 -4.47652493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.444012738999994 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:37.50, Y:1.58, Z:-0.05 [[ 9.90790707e-01 -1.35375843e-01 -2.67512310e-03 3.74965093e+01] [ 1.35375470e-01 9.90794317e-01 -3.20562925e-04 1.58359774e+00] [ 2.69389324e-03 -4.45352810e-05 9.99996370e-01 -4.57226976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.474012738999996 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:37.52, Y:1.59, Z:-0.05 [[ 9.90620525e-01 -1.36615592e-01 -2.67509720e-03 3.75246969e+01] [ 1.36615224e-01 9.90624135e-01 -3.20778939e-04 1.58566196e+00] [ 2.69383925e-03 -4.76888015e-05 9.99996370e-01 -4.62029711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.504012739 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:37.55, Y:1.59, Z:-0.04 [[ 9.90896915e-01 -1.34596242e-01 -2.67503688e-03 3.75514082e+01] [ 1.34595865e-01 9.90900525e-01 -3.21281158e-04 1.58833941e+00] [ 2.69393868e-03 -4.16923944e-05 9.99996370e-01 -4.49200339e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.534012739 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] Translation: X:37.58, Y:1.59, Z:-0.05 [[ 9.91106378e-01 -1.33045073e-01 -2.67501057e-03 3.75786010e+01] [ 1.33044690e-01 9.91109987e-01 -3.21500059e-04 1.59225466e+00] [ 2.69400369e-03 -3.72551942e-05 9.99996370e-01 -4.61969735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56401273899999 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:37.61, Y:1.60, Z:-0.05 [[ 9.91310050e-01 -1.31518934e-01 -2.67498478e-03 3.76053922e+01] [ 1.31518544e-01 9.91313658e-01 -3.21714479e-04 1.59533999e+00] [ 2.69406050e-03 -3.28913086e-05 9.99996370e-01 -4.80591621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.59401273899999 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:37.63, Y:1.60, Z:-0.05 [[ 9.91706286e-01 -1.28497034e-01 -2.67495910e-03 3.76317416e+01] [ 1.28496633e-01 9.91709893e-01 -3.21927905e-04 1.59832677e+00] [ 2.69415018e-03 -2.44653093e-05 9.99996370e-01 -5.04623708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.624012738999994 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:37.66, Y:1.60, Z:-0.05 [[ 9.91955135e-01 -1.26561667e-01 -2.67491926e-03 3.76596364e+01] [ 1.26561258e-01 9.91958741e-01 -3.22258580e-04 1.60264649e+00] [ 2.69419512e-03 -1.88750934e-05 9.99996370e-01 -4.91836978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.654012738999995 meters Centerline goodness : 0.997719 Centerline is valid? [True, True] Translation: X:37.69, Y:1.61, Z:-0.05 [[ 9.92537600e-01 -1.21909628e-01 -2.67486063e-03 3.76874504e+01] [ 1.21909201e-01 9.92541204e-01 -3.22744532e-04 1.60690922e+00] [ 2.69425505e-03 -5.75403843e-06 9.99996370e-01 -4.60500145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.684012738999996 meters Centerline goodness : 0.997039 Centerline is valid? [True, True] Translation: X:37.71, Y:1.61, Z:-0.04 [[ 9.92802058e-01 -1.19736872e-01 -2.67479812e-03 3.77149244e+01] [ 1.19736436e-01 9.92805661e-01 -3.23261714e-04 1.60597346e+00] [ 2.69426106e-03 6.64100730e-07 9.99996370e-01 -4.42416144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.714012739 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:37.74, Y:1.61, Z:-0.04 [[ 9.92813113e-01 -1.19645178e-01 -2.67477095e-03 3.77432587e+01] [ 1.19644740e-01 9.92816716e-01 -3.23486350e-04 1.60713511e+00] [ 2.69426090e-03 1.13921413e-06 9.99996370e-01 -4.44152609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74401273899999 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:37.77, Y:1.61, Z:-0.05 [[ 9.93000962e-01 -1.18075971e-01 -2.67471061e-03 3.77702271e+01] [ 1.18075526e-01 9.93004564e-01 -3.23984490e-04 1.60908489e+00] [ 2.69425463e-03 5.89904670e-06 9.99996370e-01 -4.58131615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.77401273899999 meters Centerline goodness : 0.997292 Centerline is valid? [True, True] Translation: X:37.80, Y:1.61, Z:-0.05 [[ 9.93226098e-01 -1.16166969e-01 -2.67466940e-03 3.77981149e+01] [ 1.16166516e-01 9.93229699e-01 -3.24324420e-04 1.61341205e+00] [ 2.69423686e-03 1.14204519e-05 9.99996370e-01 -4.67915068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.804012738999994 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:37.82, Y:1.62, Z:-0.05 [[ 9.93902999e-01 -1.10225564e-01 -2.67461034e-03 3.78246647e+01] [ 1.10225089e-01 9.93906597e-01 -3.24810671e-04 1.61781430e+00] [ 2.69411531e-03 2.80211381e-05 9.99996370e-01 -4.78029396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.834012738999995 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:37.85, Y:1.62, Z:-0.05 [[ 9.94322122e-01 -1.06378399e-01 -2.67458470e-03 3.78527686e+01] [ 1.06377910e-01 9.94325719e-01 -3.25021679e-04 1.62250920e+00] [ 2.69398364e-03 3.86595164e-05 9.99996370e-01 -4.63345542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.864012738999996 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:37.88, Y:1.63, Z:-0.04 [[ 9.95257371e-01 -9.72399742e-02 -2.67452686e-03 3.78784428e+01] [ 9.72394504e-02 9.95260962e-01 -3.25496961e-04 1.63167637e+00] [ 2.69350349e-03 6.38837276e-05 9.99996370e-01 -4.48680384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.894012739 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:37.91, Y:1.64, Z:-0.05 [[ 9.95720489e-01 -9.23772445e-02 -2.67448750e-03 3.79087414e+01] [ 9.23767023e-02 9.95724078e-01 -3.25820017e-04 1.63802105e+00] [ 2.69314996e-03 7.73653307e-05 9.99996370e-01 -4.70308109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.924012739 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:37.93, Y:1.65, Z:-0.05 [[ 9.96226828e-01 -8.67464566e-02 -2.67563489e-03 3.79343988e+01] [ 8.67459194e-02 9.96230418e-01 -3.16405000e-04 1.64864928e+00] [ 2.69299588e-03 8.31107407e-05 9.99996370e-01 -4.78639948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.95401273899999 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:37.96, Y:1.66, Z:-0.05 [[ 9.96301236e-01 -8.58876816e-02 -2.67439785e-03 3.79618505e+01] [ 8.58871141e-02 9.96304821e-01 -3.26536644e-04 1.65550842e+00] [ 2.69256094e-03 9.56325490e-05 9.99996370e-01 -4.85020166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98401273899999 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:37.99, Y:1.66, Z:-0.05 [[ 9.96322557e-01 -8.56400063e-02 -2.67433757e-03 3.79883138e+01] [ 8.56394366e-02 9.96326141e-01 -3.27029535e-04 1.66295052e+00] [ 2.69251925e-03 9.67981390e-05 9.99996370e-01 -4.92308137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.014012738999995 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:38.01, Y:1.68, Z:-0.05 [[ 9.96210549e-01 -8.69332528e-02 -2.67431139e-03 3.80145714e+01] [ 8.69326871e-02 9.96214134e-01 -3.27243526e-04 1.67575598e+00] [ 2.69263515e-03 9.35183776e-05 9.99996370e-01 -5.00274124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.044012738999996 meters Centerline goodness : 0.997460 Centerline is valid? [True, True] Translation: X:38.04, Y:1.69, Z:-0.05 [[ 9.96023621e-01 -8.90493945e-02 -2.67425114e-03 3.80412781e+01] [ 8.90488351e-02 9.96027207e-01 -3.27735103e-04 1.68837880e+00] [ 2.69281151e-03 8.82929548e-05 9.99996370e-01 -4.68028326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.074012739 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:38.07, Y:1.70, Z:-0.05 [[ 9.95870074e-01 -9.07504556e-02 -2.67419475e-03 3.80688815e+01] [ 9.07499012e-02 9.95873661e-01 -3.28194650e-04 1.69687690e+00] [ 2.69294392e-03 8.41563211e-05 9.99996370e-01 -4.60201247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.104012739 meters Centerline goodness : 0.997292 Centerline is valid? [True, True] Translation: X:38.10, Y:1.71, Z:-0.05 [[ 9.95591145e-01 -9.37609779e-02 -2.67413351e-03 3.80964542e+01] [ 9.37604330e-02 9.95594733e-01 -3.28692845e-04 1.70537162e+00] [ 2.69317180e-03 7.65157698e-05 9.99996370e-01 -4.50072019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13401273899999 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:38.12, Y:1.72, Z:-0.04 [[ 9.94733282e-01 -1.02462419e-01 -2.67407203e-03 3.81216891e+01] [ 1.02461904e-01 9.94736875e-01 -3.29192279e-04 1.71726187e+00] [ 2.69372789e-03 5.34680044e-05 9.99996370e-01 -4.45529408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16401273899999 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:38.15, Y:1.73, Z:-0.05 [[ 9.93699092e-01 -1.12048935e-01 -2.67401068e-03 3.81486645e+01] [ 1.12048453e-01 9.93702690e-01 -3.29689846e-04 1.72605160e+00] [ 2.69411300e-03 2.79937407e-05 9.99996370e-01 -4.64876023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.194012738999994 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:38.18, Y:1.73, Z:-0.05 [[ 9.93119992e-01 -1.17070628e-01 -2.67394828e-03 3.81755986e+01] [ 1.17070163e-01 9.93123591e-01 -3.30195199e-04 1.73044701e+00] [ 2.69421727e-03 1.48838919e-05 9.99996370e-01 -4.76849551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.224012738999996 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:38.20, Y:1.73, Z:-0.05 [[ 9.92493404e-01 -1.22268940e-01 -2.67392102e-03 3.82031962e+01] [ 1.22268493e-01 9.92497006e-01 -3.30415783e-04 1.73467993e+00] [ 2.69425819e-03 9.99191193e-07 9.99996370e-01 -4.82811404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.254012739 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:38.23, Y:1.74, Z:-0.05 [[ 9.91273392e-01 -1.31794968e-01 -2.67385820e-03 3.82304187e+01] [ 1.31794555e-01 9.91276998e-01 -3.30923325e-04 1.73864022e+00] [ 2.69414816e-03 -2.43644645e-05 9.99996370e-01 -4.80879684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.284012739 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:38.26, Y:1.74, Z:-0.05 [[ 9.90439296e-01 -1.37923354e-01 -2.67379476e-03 3.82578223e+01] [ 1.37922961e-01 9.90442904e-01 -3.31435115e-04 1.74034270e+00] [ 2.69395369e-03 -4.05113303e-05 9.99996370e-01 -4.72038199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31401273899999 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:38.29, Y:1.74, Z:-0.05 [[ 9.90185447e-01 -1.39734144e-01 -2.67375177e-03 3.82850434e+01] [ 1.39733757e-01 9.90189056e-01 -3.31781601e-04 1.74281214e+00] [ 2.69388096e-03 -4.50880679e-05 9.99996370e-01 -4.78274682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.34401273899999 meters Centerline goodness : 0.986563 Centerline is valid? [True, True] Translation: X:38.31, Y:1.74, Z:-0.03 [[ 9.90029175e-01 -1.40837086e-01 -2.67372511e-03 3.83131559e+01] [ 1.40836703e-01 9.90032784e-01 -3.31996296e-04 1.74264441e+00] [ 2.69383291e-03 -4.78726099e-05 9.99996370e-01 -3.45733115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.374012738999994 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:38.34, Y:1.75, Z:-0.05 [[ 9.90203327e-01 -1.39607385e-01 -2.67366170e-03 3.83401571e+01] [ 1.39606996e-01 9.90206936e-01 -3.32506196e-04 1.74521896e+00] [ 2.69389868e-03 -4.40131365e-05 9.99996370e-01 -5.27033089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.404012738999995 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:38.37, Y:1.75, Z:-0.05 [[ 9.90558588e-01 -1.37063986e-01 -2.67361849e-03 3.83668633e+01] [ 1.37063587e-01 9.90562195e-01 -3.32853233e-04 1.74586476e+00] [ 2.69400759e-03 -3.67451132e-05 9.99996370e-01 -5.18255055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.434012738999996 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:38.39, Y:1.75, Z:-0.05 [[ 9.91568493e-01 -1.29556068e-01 -2.67359144e-03 3.83946818e+01] [ 1.29555641e-01 9.91572098e-01 -3.33070405e-04 1.74703169e+00] [ 2.69420996e-03 -1.61167334e-05 9.99996370e-01 -4.90703693e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.464012739 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:38.42, Y:1.75, Z:-0.05 [[ 9.92109866e-01 -1.25342993e-01 -2.67352681e-03 3.84235757e+01] [ 1.25342549e-01 9.92113468e-01 -3.33588385e-04 1.75003565e+00] [ 2.69425492e-03 -4.15033774e-06 9.99996370e-01 -5.28752841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49401273899999 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:38.45, Y:1.75, Z:-0.05 [[ 9.92714514e-01 -1.20460548e-01 -2.67405295e-03 3.84504438e+01] [ 1.20460098e-01 9.92718115e-01 -3.29373094e-04 1.75200787e+00] [ 2.69425727e-03 4.85677027e-06 9.99996370e-01 -4.93560246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.52401273899999 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:38.48, Y:1.75, Z:-0.05 [[ 9.92862087e-01 -1.19238115e-01 -2.67345221e-03 3.84788025e+01] [ 1.19237648e-01 9.92865687e-01 -3.34179085e-04 1.75462809e+00] [ 2.69422584e-03 1.30175925e-05 9.99996370e-01 -4.92884047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.554012738999994 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:38.51, Y:1.76, Z:-0.05 [[ 9.92840095e-01 -1.19421102e-01 -2.67339068e-03 3.85070469e+01] [ 1.19420634e-01 9.92843694e-01 -3.34670583e-04 1.75836196e+00] [ 2.69422580e-03 1.30163645e-05 9.99996370e-01 -4.92116640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.584012738999995 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:38.54, Y:1.76, Z:-0.05 [[ 9.92972157e-01 -1.18317999e-01 -2.67332891e-03 3.85353447e+01] [ 1.18317525e-01 9.92975755e-01 -3.35163288e-04 1.76158569e+00] [ 2.69420664e-03 1.65061527e-05 9.99996370e-01 -4.92836567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.614012738999996 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:38.56, Y:1.77, Z:-0.05 [[ 9.93379123e-01 -1.14851082e-01 -2.67326685e-03 3.85632986e+01] [ 1.14850595e-01 9.93382720e-01 -3.35657526e-04 1.76603198e+00] [ 2.69412772e-03 2.64088908e-05 9.99996370e-01 -4.86768547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.644012739 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:38.59, Y:1.77, Z:-0.05 [[ 9.93581846e-01 -1.13083905e-01 -2.67320505e-03 3.85905970e+01] [ 1.13083410e-01 9.93585441e-01 -3.36148989e-04 1.77049612e+00] [ 2.69407066e-03 3.16963914e-05 9.99996370e-01 -4.73353604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.674012739 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:38.62, Y:1.78, Z:-0.05 [[ 9.93889370e-01 -1.10348426e-01 -2.67313906e-03 3.86180573e+01] [ 1.10347919e-01 9.93892964e-01 -3.36672929e-04 1.77862897e+00] [ 2.69396543e-03 3.96403117e-05 9.99996370e-01 -4.82142601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.70401273899999 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:38.64, Y:1.78, Z:-0.05 [[ 9.93951142e-01 -1.09790629e-01 -2.67307312e-03 3.86444583e+01] [ 1.09790119e-01 9.93954735e-01 -3.37195657e-04 1.78455668e+00] [ 2.69393461e-03 4.16789924e-05 9.99996370e-01 -4.93794620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73401273899999 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:38.67, Y:1.79, Z:-0.05 [[ 9.93547437e-01 -1.13385828e-01 -2.67302824e-03 3.86724012e+01] [ 1.13385330e-01 9.93551032e-01 -3.37551064e-04 1.79215342e+00] [ 2.69406347e-03 3.22908046e-05 9.99996370e-01 -4.70180207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.764012738999995 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:38.70, Y:1.80, Z:-0.04 [[ 9.93123561e-01 -1.17040357e-01 -2.67329355e-03 3.86995728e+01] [ 1.17039878e-01 9.93127159e-01 -3.35452649e-04 1.79615755e+00] [ 2.69418192e-03 2.02639789e-05 9.99996370e-01 -4.34549455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.794012738999996 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:38.73, Y:1.80, Z:-0.04 [[ 9.92061356e-01 -1.25726370e-01 -2.67309873e-03 3.87279145e+01] [ 1.25725919e-01 9.92064957e-01 -3.36991383e-04 1.79631817e+00] [ 2.69425628e-03 -1.76166554e-06 9.99996370e-01 -4.28999403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.824012739 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:38.76, Y:1.80, Z:-0.05 [[ 9.91547408e-01 -1.29717363e-01 -2.67286838e-03 3.87567558e+01] [ 1.29716921e-01 9.91551010e-01 -3.38808577e-04 1.79803181e+00] [ 2.69423470e-03 -1.07714919e-05 9.99996370e-01 -4.80329269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.854012739 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:38.78, Y:1.80, Z:-0.05 [[ 9.90661394e-01 -1.36318951e-01 -2.67302433e-03 3.87842188e+01] [ 1.36318537e-01 9.90665000e-01 -3.37579342e-04 1.79802433e+00] [ 2.69409011e-03 -2.99559433e-05 9.99996370e-01 -4.92653740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88401273899999 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:38.81, Y:1.80, Z:-0.05 [[ 9.90331451e-01 -1.38695613e-01 -2.67291065e-03 3.88130196e+01] [ 1.38695204e-01 9.90335057e-01 -3.38474002e-04 1.79934334e+00] [ 2.69402198e-03 -3.55184393e-05 9.99996370e-01 -4.52161198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91401273899999 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:38.84, Y:1.80, Z:-0.05 [[ 9.90119687e-01 -1.40199365e-01 -2.67272520e-03 3.88417570e+01] [ 1.40198958e-01 9.90123294e-01 -3.39932150e-04 1.79681355e+00] [ 2.69398575e-03 -3.81397730e-05 9.99996370e-01 -4.65276440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.944012738999994 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:38.87, Y:1.79, Z:-0.05 [[ 9.90390852e-01 -1.38270810e-01 -2.67266100e-03 3.88702876e+01] [ 1.38270394e-01 9.90394458e-01 -3.40436183e-04 1.79497148e+00] [ 2.69406102e-03 -3.23850081e-05 9.99996370e-01 -5.05428397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.974012738999996 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:38.90, Y:1.80, Z:-0.05 [[ 9.90609396e-01 -1.36696310e-01 -2.67264109e-03 3.88972291e+01] [ 1.36695888e-01 9.90613001e-01 -3.40592398e-04 1.79595972e+00] [ 2.69411073e-03 -2.79450176e-05 9.99996370e-01 -4.98402344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.004012739 meters Centerline goodness : 0.997529 Centerline is valid? [True, True] Translation: X:38.93, Y:1.80, Z:-0.05 [[ 9.91228162e-01 -1.32134733e-01 -2.67257785e-03 3.89254509e+01] [ 1.32134294e-01 9.91231765e-01 -3.41087937e-04 1.79525064e+00] [ 2.69421362e-03 -1.50432172e-05 9.99996370e-01 -4.59776408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.034012739 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:38.95, Y:1.80, Z:-0.05 [[ 9.91467611e-01 -1.30325876e-01 -2.67251404e-03 3.89522491e+01] [ 1.30325428e-01 9.91471213e-01 -3.41587162e-04 1.79833793e+00] [ 2.69423838e-03 -9.62392936e-06 9.99996370e-01 -4.66217591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06401273899999 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:38.98, Y:1.80, Z:-0.05 [[ 9.91953962e-01 -1.26570909e-01 -2.67248618e-03 3.89800252e+01] [ 1.26570448e-01 9.91957562e-01 -3.41804943e-04 1.80124353e+00] [ 2.69425544e-03 7.96994246e-07 9.99996370e-01 -4.88549744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.09401273899999 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:39.01, Y:1.80, Z:-0.05 [[ 9.92077109e-01 -1.25602019e-01 -2.67242113e-03 3.90079492e+01] [ 1.25601552e-01 9.92080709e-01 -3.42312841e-04 1.80362719e+00] [ 2.69425263e-03 3.94049305e-06 9.99996370e-01 -4.91620771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.124012738999994 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:39.04, Y:1.81, Z:-0.05 [[ 9.92201231e-01 -1.24617719e-01 -2.67235554e-03 3.90351325e+01] [ 1.24617248e-01 9.92204830e-01 -3.42824060e-04 1.80557167e+00] [ 2.69424603e-03 7.12886173e-06 9.99996370e-01 -5.04883393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.154012738999995 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:39.06, Y:1.81, Z:-0.05 [[ 9.92559056e-01 -1.21734869e-01 -2.67231085e-03 3.90632760e+01] [ 1.21734386e-01 9.92562654e-01 -3.43172069e-04 1.81019244e+00] [ 2.69421196e-03 1.53064242e-05 9.99996370e-01 -5.12573899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.184012738999996 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:39.09, Y:1.82, Z:-0.05 [[ 9.93213687e-01 -1.16273092e-01 -2.67227052e-03 3.90901774e+01] [ 1.16272588e-01 9.93217281e-01 -3.43485867e-04 1.81692765e+00] [ 2.69408342e-03 3.04430536e-05 9.99996370e-01 -4.97903882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.214012739 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:39.12, Y:1.82, Z:-0.05 [[ 9.93626950e-01 -1.12686929e-01 -2.67225051e-03 3.91182302e+01] [ 1.12686412e-01 9.93630542e-01 -3.43641460e-04 1.82164084e+00] [ 2.69395362e-03 4.03250925e-05 9.99996370e-01 -4.84555854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24401273899999 meters Centerline goodness : 0.997904 Centerline is valid? [True, True] Translation: X:39.15, Y:1.83, Z:-0.05 [[ 9.94499949e-01 -1.04702965e-01 -2.67218700e-03 3.91453636e+01] [ 1.04702418e-01 9.94503537e-01 -3.44134627e-04 1.82895091e+00] [ 2.69353134e-03 6.24574291e-05 9.99996370e-01 -4.71781446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.27401273899999 meters Centerline goodness : 0.997252 Centerline is valid? [True, True] Translation: X:39.17, Y:1.84, Z:-0.05 [[ 9.94929373e-01 -1.00540552e-01 -2.67212353e-03 3.91713622e+01] [ 1.00539989e-01 9.94932959e-01 -3.44626756e-04 1.83629803e+00] [ 2.69323273e-03 7.42240132e-05 9.99996370e-01 -4.60274423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.304012738999994 meters Centerline goodness : 0.997724 Centerline is valid? [True, True] Translation: X:39.20, Y:1.85, Z:-0.05 [[ 9.95625134e-01 -9.33994200e-02 -2.67209610e-03 3.91976881e+01] [ 9.33988305e-02 9.95628716e-01 -3.44839271e-04 1.84829133e+00] [ 2.69262340e-03 9.37599949e-05 9.99996370e-01 -4.56628215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.334012738999995 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:39.22, Y:1.86, Z:-0.04 [[ 9.95814144e-01 -9.13621916e-02 -2.67203120e-03 3.92246549e+01] [ 9.13615934e-02 9.95817724e-01 -3.45341460e-04 1.85575506e+00] [ 2.69240718e-03 9.97748823e-05 9.99996370e-01 -4.47909175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.364012738999996 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:39.25, Y:1.86, Z:-0.04 [[ 9.95894522e-01 -9.04818294e-02 -2.67196686e-03 3.92505730e+01] [ 9.04812267e-02 9.95898101e-01 -3.45838529e-04 1.86296019e+00] [ 2.69229883e-03 1.02655857e-04 9.99996370e-01 -4.33565525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.394012739 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:39.28, Y:1.87, Z:-0.04 [[ 9.95710242e-01 -9.24877001e-02 -2.67192248e-03 3.92769685e+01] [ 9.24871037e-02 9.95713822e-01 -3.46181105e-04 1.87426784e+00] [ 2.69248764e-03 9.75777004e-05 9.99996370e-01 -4.12385555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.424012739 meters Centerline goodness : 0.997196 Centerline is valid? [True, True] Translation: X:39.30, Y:1.88, Z:-0.04 [[ 9.95264324e-01 -9.71688538e-02 -2.67185836e-03 3.93040422e+01] [ 9.71682729e-02 9.95267907e-01 -3.46675278e-04 1.88430560e+00] [ 2.69290091e-03 8.54136742e-05 9.99996370e-01 -4.16912765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.45401273899999 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:39.33, Y:1.89, Z:-0.04 [[ 9.94964971e-01 -1.00187660e-01 -2.67181783e-03 3.93313525e+01] [ 1.00187089e-01 9.94968556e-01 -3.46987343e-04 1.89029453e+00] [ 2.69313858e-03 7.75586010e-05 9.99996370e-01 -4.24621458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48401273899999 meters Centerline goodness : 0.997435 Centerline is valid? [True, True] Translation: X:39.36, Y:1.90, Z:-0.04 [[ 9.94668381e-01 -1.03090604e-01 -2.67175166e-03 3.93581709e+01] [ 1.03090042e-01 9.94671967e-01 -3.47496123e-04 1.89605594e+00] [ 2.69334006e-03 7.02124147e-05 9.99996370e-01 -4.30387078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.514012738999995 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:39.38, Y:1.90, Z:-0.04 [[ 9.94163195e-01 -1.07853617e-01 -2.67172293e-03 3.93839132e+01] [ 1.07853072e-01 9.94166784e-01 -3.47716861e-04 1.90485524e+00] [ 2.69364071e-03 5.75337812e-05 9.99996370e-01 -4.07632844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.544012738999996 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:39.41, Y:1.91, Z:-0.04 [[ 9.93747677e-01 -1.11617274e-01 -2.67165995e-03 3.94111105e+01] [ 1.11616741e-01 9.93751268e-01 -3.48200059e-04 1.91104914e+00] [ 2.69383060e-03 4.78210239e-05 9.99996370e-01 -3.79634209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.574012739 meters Centerline goodness : 0.996771 Centerline is valid? [True, True] Translation: X:39.44, Y:1.92, Z:-0.04 [[ 9.93525436e-01 -1.13578476e-01 -2.67159476e-03 3.94380493e+01] [ 1.13577949e-01 9.93529027e-01 -3.48699558e-04 1.91512374e+00] [ 2.69391170e-03 4.30076283e-05 9.99996370e-01 -3.69368439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.604012739 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:39.47, Y:1.92, Z:-0.04 [[ 9.93006936e-01 -1.18025793e-01 -2.67156639e-03 3.94654098e+01] [ 1.18025281e-01 9.93010529e-01 -3.48916759e-04 1.91959898e+00] [ 2.69407473e-03 3.11643881e-05 9.99996370e-01 -3.94711174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63401273899999 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:39.49, Y:1.92, Z:-0.04 [[ 9.92841821e-01 -1.19406787e-01 -2.67150071e-03 3.94925157e+01] [ 1.19406279e-01 9.92845415e-01 -3.49418930e-04 1.92293064e+00] [ 2.69411022e-03 2.79237694e-05 9.99996370e-01 -4.12364636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66401273899999 meters Centerline goodness : 0.989887 Centerline is valid? [True, True] Translation: X:39.52, Y:1.93, Z:-0.03 [[ 9.92709727e-01 -1.20500043e-01 -2.67147207e-03 3.95199792e+01] [ 1.20499538e-01 9.92713322e-01 -3.49637736e-04 1.92502957e+00] [ 2.69413728e-03 2.51776308e-05 9.99996370e-01 -3.16788259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.694012738999994 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:39.55, Y:1.93, Z:-0.04 [[ 9.92855197e-01 -1.19295517e-01 -2.67140624e-03 3.95472943e+01] [ 1.19295007e-01 9.92858791e-01 -3.50139973e-04 1.93036489e+00] [ 2.69409930e-03 2.89528650e-05 9.99996370e-01 -4.37515727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.724012738999996 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:39.57, Y:1.93, Z:-0.04 [[ 9.92866435e-01 -1.19201954e-01 -2.67134043e-03 3.95744014e+01] [ 1.19201442e-01 9.92870028e-01 -3.50641379e-04 1.93436672e+00] [ 2.69409098e-03 2.97124258e-05 9.99996370e-01 -4.38506079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.754012739 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:39.60, Y:1.94, Z:-0.05 [[ 9.92731870e-01 -1.20317491e-01 -2.67131179e-03 3.96018255e+01] [ 1.20316983e-01 9.92735464e-01 -3.50859392e-04 1.93702918e+00] [ 2.69412047e-03 2.69051251e-05 9.99996370e-01 -4.61480777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.784012739 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:39.63, Y:1.94, Z:-0.05 [[ 9.92563917e-01 -1.21695257e-01 -2.67124675e-03 3.96280860e+01] [ 1.21694752e-01 9.92567511e-01 -3.51353889e-04 1.94060188e+00] [ 2.69415084e-03 2.36644813e-05 9.99996370e-01 -4.75563984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81401273899999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:39.66, Y:1.94, Z:-0.05 [[ 9.92020122e-01 -1.26051344e-01 -2.67121850e-03 3.96554278e+01] [ 1.26050855e-01 9.92023719e-01 -3.51568513e-04 1.94430070e+00] [ 2.69422780e-03 1.20536635e-05 9.99996370e-01 -5.13154742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.84401273899999 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:39.68, Y:1.95, Z:-0.05 [[ 9.91742025e-01 -1.28220981e-01 -2.67115146e-03 3.96818685e+01] [ 1.28220498e-01 9.91745623e-01 -3.52077178e-04 1.94649603e+00] [ 2.69424645e-03 6.67336435e-06 9.99996370e-01 -5.17711580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.874012738999994 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:39.71, Y:1.94, Z:-0.04 [[ 9.91338193e-01 -1.31306713e-01 -2.67112226e-03 3.97081472e+01] [ 1.31306241e-01 9.91341791e-01 -3.52298527e-04 1.94491523e+00] [ 2.69425429e-03 -1.48803748e-06 9.99996370e-01 -4.49993407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.904012738999995 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:39.74, Y:1.95, Z:-0.04 [[ 9.91040709e-01 -1.33533455e-01 -2.67022987e-03 3.97371123e+01] [ 1.33532972e-01 9.91044306e-01 -3.59051648e-04 1.94751096e+00] [ 2.69426151e-03 -7.28929869e-07 9.99996370e-01 -4.44824669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.934012738999996 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:39.77, Y:1.95, Z:-0.05 [[ 9.90767192e-01 -1.35547915e-01 -2.67103092e-03 3.97672872e+01] [ 1.35547456e-01 9.90770792e-01 -3.52990181e-04 1.94993918e+00] [ 2.69422650e-03 -1.23203562e-05 9.99996370e-01 -4.92459507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.964012739 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:39.79, Y:1.95, Z:-0.05 [[ 9.90690398e-01 -1.36108039e-01 -2.67167922e-03 3.97919897e+01] [ 1.36107596e-01 9.90694000e-01 -3.48087630e-04 1.95289953e+00] [ 2.69419410e-03 -1.87887629e-05 9.99996370e-01 -4.69948878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99401273899999 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:39.82, Y:1.96, Z:-0.05 [[ 9.90880640e-01 -1.34716105e-01 -2.66980068e-03 3.98199628e+01] [ 1.34715618e-01 9.90884237e-01 -3.62234567e-04 1.95502317e+00] [ 2.69426224e-03 -7.32629466e-07 9.99996370e-01 -5.27699889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.02401273899999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:39.85, Y:1.96, Z:-0.05 [[ 9.91108198e-01 -1.33031620e-01 -2.66967718e-03 3.98519287e+01] [ 1.33031124e-01 9.91111794e-01 -3.63166486e-04 1.95905891e+00] [ 2.69426117e-03 4.78712458e-06 9.99996370e-01 -5.44854098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.054012738999994 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:39.88, Y:1.97, Z:-0.05 [[ 9.91687788e-01 -1.28639779e-01 -2.67183646e-03 3.98778401e+01] [ 1.28639311e-01 9.91691387e-01 -3.46863293e-04 1.96555799e+00] [ 2.69425762e-03 2.76890540e-07 9.99996370e-01 -4.86306584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.084012738999995 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:39.91, Y:1.97, Z:-0.05 [[ 9.92013808e-01 -1.26101033e-01 -2.67084006e-03 3.99058024e+01] [ 1.26100536e-01 9.92017404e-01 -3.54372985e-04 1.97062880e+00] [ 2.69420662e-03 1.47485325e-05 9.99996371e-01 -4.63763480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.114012738999996 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:39.93, Y:1.98, Z:-0.05 [[ 9.92568623e-01 -1.21656879e-01 -2.67077246e-03 3.99318133e+01] [ 1.21656364e-01 9.92572216e-01 -3.54881701e-04 1.97798252e+00] [ 2.69410834e-03 2.73279746e-05 9.99996371e-01 -4.67151986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.144012739 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:39.96, Y:1.98, Z:-0.05 [[ 9.92693583e-01 -1.20632985e-01 -2.67072624e-03 3.99579497e+01] [ 1.20632466e-01 9.92697175e-01 -3.55229218e-04 1.98419877e+00] [ 2.69407475e-03 3.04574738e-05 9.99996371e-01 -4.85921953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.174012739 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:39.99, Y:1.99, Z:-0.05 [[ 9.92631141e-01 -1.21145720e-01 -2.67069836e-03 3.99854276e+01] [ 1.21145202e-01 9.92634733e-01 -3.55438657e-04 1.99154018e+00] [ 2.69408783e-03 2.92771868e-05 9.99996371e-01 -4.92433535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.20401273899999 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:40.01, Y:2.00, Z:-0.05 [[ 9.92463926e-01 -1.22508050e-01 -2.67063173e-03 4.00131687e+01] [ 1.22507536e-01 9.92467519e-01 -3.55938586e-04 1.99602071e+00] [ 2.69412059e-03 2.60836936e-05 9.99996371e-01 -4.76236162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23401273899999 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:40.04, Y:2.00, Z:-0.04 [[ 9.91869549e-01 -1.27230761e-01 -2.67061107e-03 4.00408357e+01] [ 1.27230263e-01 9.91873144e-01 -3.56093532e-04 1.99968646e+00] [ 2.69421345e-03 1.34157805e-05 9.99996371e-01 -4.40867711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.264012738999995 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:40.07, Y:2.00, Z:-0.04 [[ 9.91536519e-01 -1.29800616e-01 -2.67054515e-03 4.00682327e+01] [ 1.29800126e-01 9.91540115e-01 -3.56587267e-04 2.00340942e+00] [ 2.69423789e-03 6.93219925e-06 9.99996371e-01 -4.48687586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.294012738999996 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:40.10, Y:2.01, Z:-0.05 [[ 9.91096895e-01 -1.33115792e-01 -2.67047957e-03 4.00962750e+01] [ 1.33115313e-01 9.91100492e-01 -3.57077720e-04 2.00693175e+00] [ 2.69424630e-03 -1.58310376e-06 9.99996371e-01 -4.72800595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.324012739 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:40.12, Y:2.01, Z:-0.05 [[ 9.91083598e-01 -1.33214751e-01 -2.67041389e-03 4.01233196e+01] [ 1.33214271e-01 9.91087196e-01 -3.57568240e-04 2.00859725e+00] [ 2.69424638e-03 -1.35722268e-06 9.99996371e-01 -4.53502880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.354012739 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:40.15, Y:2.01, Z:-0.04 [[ 9.91163639e-01 -1.32617909e-01 -2.67038533e-03 4.01515923e+01] [ 1.32617426e-01 9.91167236e-01 -3.57781372e-04 2.01153247e+00] [ 2.69424667e-03 4.80257137e-07 9.99996371e-01 -4.39495473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38401273899999 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:40.18, Y:2.01, Z:-0.04 [[ 9.91524850e-01 -1.29889724e-01 -2.67032024e-03 4.01780110e+01] [ 1.29889230e-01 9.91528446e-01 -3.58266500e-04 2.01429731e+00] [ 2.69423362e-03 8.38429651e-06 9.99996371e-01 -4.08674405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41401273899999 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:40.21, Y:2.02, Z:-0.04 [[ 9.91757658e-01 -1.28100030e-01 -2.67029183e-03 4.02063483e+01] [ 1.28099529e-01 9.91761253e-01 -3.58478150e-04 2.01709346e+00] [ 2.69421303e-03 1.34603246e-05 9.99996371e-01 -4.02019931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.444012738999994 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:40.23, Y:2.02, Z:-0.04 [[ 9.91734597e-01 -1.28278446e-01 -2.67022734e-03 4.02345522e+01] [ 1.28277944e-01 9.91738191e-01 -3.58957851e-04 2.02108646e+00] [ 2.69421299e-03 1.34596454e-05 9.99996371e-01 -4.01252524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.474012738999996 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:40.26, Y:2.02, Z:-0.04 [[ 9.91928137e-01 -1.26773191e-01 -2.67016268e-03 4.02626682e+01] [ 1.26772682e-01 9.91931730e-01 -3.59438213e-04 2.02407089e+00] [ 2.69418622e-03 1.80331915e-05 9.99996371e-01 -4.03703896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.504012739 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:40.29, Y:2.03, Z:-0.04 [[ 9.92317360e-01 -1.23689646e-01 -2.67009811e-03 4.02902091e+01] [ 1.23689125e-01 9.92320952e-01 -3.59917254e-04 2.02747836e+00] [ 2.69411233e-03 2.68900406e-05 9.99996371e-01 -4.42801191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.534012739 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:40.32, Y:2.03, Z:-0.05 [[ 9.92737306e-01 -1.20272660e-01 -2.67003780e-03 4.03177102e+01] [ 1.20272126e-01 9.92740896e-01 -3.60364099e-04 2.03201729e+00] [ 2.69399767e-03 3.66157631e-05 9.99996371e-01 -4.84875212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56401273899999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:40.35, Y:2.04, Z:-0.05 [[ 9.92925828e-01 -1.18706241e-01 -2.67001771e-03 4.03451191e+01] [ 1.18705701e-01 9.92929417e-01 -3.60512892e-04 2.03550153e+00] [ 2.69393426e-03 4.10162384e-05 9.99996371e-01 -4.98451392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.59401273899999 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:40.37, Y:2.04, Z:-0.05 [[ 9.93059456e-01 -1.17583111e-01 -2.66995417e-03 4.03727306e+01] [ 1.17582565e-01 9.93063044e-01 -3.60982868e-04 2.03840545e+00] [ 2.69387830e-03 4.45373911e-05 9.99996371e-01 -4.87559238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.624012738999994 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:40.40, Y:2.04, Z:-0.05 [[ 9.93023519e-01 -1.17886223e-01 -2.66989065e-03 4.03994741e+01] [ 1.17885677e-01 9.93027108e-01 -3.61452045e-04 2.04180510e+00] [ 2.69388401e-03 4.41885143e-05 9.99996371e-01 -4.74595872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.654012738999995 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:40.43, Y:2.04, Z:-0.05 [[ 9.92790072e-01 -1.19836323e-01 -2.66986308e-03 4.04271201e+01] [ 1.19835784e-01 9.92793661e-01 -3.61655615e-04 2.04478019e+00] [ 2.69396262e-03 3.91029688e-05 9.99996371e-01 -4.62017176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.684012738999996 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:40.45, Y:2.05, Z:-0.05 [[ 9.92619741e-01 -1.21239112e-01 -2.66980037e-03 4.04548561e+01] [ 1.21238577e-01 9.92623331e-01 -3.62117896e-04 2.04725609e+00] [ 2.69400899e-03 3.57625740e-05 9.99996371e-01 -4.63092103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.714012739 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:40.48, Y:2.05, Z:-0.05 [[ 9.92169204e-01 -1.24872510e-01 -2.66973183e-03 4.04824098e+01] [ 1.24871987e-01 9.92172795e-01 -3.62622536e-04 2.04830358e+00] [ 2.69411688e-03 2.64081948e-05 9.99996371e-01 -4.77322326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74401273899999 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:40.51, Y:2.05, Z:-0.05 [[ 9.91946929e-01 -1.26626072e-01 -2.66970210e-03 4.05102335e+01] [ 1.26625554e-01 9.91950522e-01 -3.62841317e-04 2.05220452e+00] [ 2.69415756e-03 2.18668233e-05 9.99996371e-01 -4.91287409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.77401273899999 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:40.54, Y:2.05, Z:-0.05 [[ 9.91612567e-01 -1.29218384e-01 -2.66964001e-03 4.05367474e+01] [ 1.29217874e-01 9.91616160e-01 -3.63297536e-04 2.05444530e+00] [ 2.69420290e-03 1.52851955e-05 9.99996371e-01 -5.05967207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.804012738999994 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:40.56, Y:2.06, Z:-0.05 [[ 9.91556738e-01 -1.29646091e-01 -2.66961291e-03 4.05646081e+01] [ 1.29645582e-01 9.91560331e-01 -3.63496552e-04 2.05661973e+00] [ 2.69420817e-03 1.43239349e-05 9.99996371e-01 -4.84918865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.834012738999995 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:40.59, Y:2.06, Z:-0.05 [[ 9.91787579e-01 -1.27868181e-01 -2.66954563e-03 4.05912937e+01] [ 1.27867664e-01 9.91791172e-01 -3.63990021e-04 2.06071718e+00] [ 2.69417453e-03 1.96522188e-05 9.99996371e-01 -4.56777394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.864012738999996 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:40.62, Y:2.07, Z:-0.05 [[ 9.91951293e-01 -1.26591884e-01 -2.66951644e-03 4.06175250e+01] [ 1.26591362e-01 9.91954885e-01 -3.64203945e-04 2.06701789e+00] [ 2.69414514e-03 2.33348519e-05 9.99996371e-01 -4.64672739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.894012739 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:40.64, Y:2.07, Z:-0.05 [[ 9.92120476e-01 -1.25259072e-01 -2.66948738e-03 4.06438739e+01] [ 1.25258545e-01 9.92124067e-01 -3.64416821e-04 2.07350635e+00] [ 2.69410919e-03 2.71692854e-05 9.99996371e-01 -4.68428450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.924012739 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:40.67, Y:2.08, Z:-0.04 [[ 9.92334246e-01 -1.23554110e-01 -2.66946046e-03 4.06708909e+01] [ 1.23553576e-01 9.92337836e-01 -3.64613962e-04 2.08034398e+00] [ 2.69405617e-03 3.19975368e-05 9.99996371e-01 -4.47706249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.95401273899999 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:40.70, Y:2.08, Z:-0.04 [[ 9.92283639e-01 -1.23959891e-01 -2.66939411e-03 4.06971845e+01] [ 1.23959358e-01 9.92287229e-01 -3.65099033e-04 2.08448208e+00] [ 2.69406332e-03 3.13854175e-05 9.99996371e-01 -4.35186706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98401273899999 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:40.72, Y:2.09, Z:-0.04 [[ 9.91872228e-01 -1.27209896e-01 -2.66936538e-03 4.07243484e+01] [ 1.27209374e-01 9.91875820e-01 -3.65308976e-04 2.08914648e+00] [ 2.69414989e-03 2.27715292e-05 9.99996371e-01 -4.29786552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.014012738999995 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:40.75, Y:2.09, Z:-0.04 [[ 9.91513307e-01 -1.29977829e-01 -2.66929943e-03 4.07514977e+01] [ 1.29977315e-01 9.91516900e-01 -3.65790271e-04 2.09365859e+00] [ 2.69420012e-03 1.57375494e-05 9.99996371e-01 -4.26254897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.044012738999996 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:40.78, Y:2.10, Z:-0.04 [[ 9.90679337e-01 -1.36188572e-01 -2.66923192e-03 4.07774452e+01] [ 1.36188079e-01 9.90682933e-01 -3.66282221e-04 2.10028624e+00] [ 2.69424596e-03 -6.49341143e-07 9.99996371e-01 -4.31333139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.074012739 meters Centerline goodness : 0.997477 Centerline is valid? [True, True] Translation: X:40.80, Y:2.10, Z:-0.04 [[ 9.89869264e-01 -1.41956741e-01 -2.66918580e-03 4.08037858e+01] [ 1.41956268e-01 9.89872862e-01 -3.66617952e-04 2.10406213e+00] [ 2.69419848e-03 -1.60038145e-05 9.99996371e-01 -4.17598150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.104012739 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:40.83, Y:2.11, Z:-0.05 [[ 9.89454944e-01 -1.44816399e-01 -2.66914026e-03 4.08312889e+01] [ 1.44815936e-01 9.89458544e-01 -3.66949204e-04 2.10737041e+00] [ 2.69414390e-03 -2.34543422e-05 9.99996371e-01 -4.82470505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13401273899999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:40.86, Y:2.11, Z:-0.05 [[ 9.89039164e-01 -1.47629291e-01 -2.66907473e-03 4.08595339e+01] [ 1.47628837e-01 9.89042765e-01 -3.67425281e-04 2.10938392e+00] [ 2.69407178e-03 -3.06344052e-05 9.99996371e-01 -5.07813386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16401273899999 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:40.89, Y:2.11, Z:-0.05 [[ 9.88450615e-01 -1.51519829e-01 -2.66900945e-03 4.08873035e+01] [ 1.51519388e-01 9.88454217e-01 -3.67898852e-04 2.11157421e+00] [ 2.69393762e-03 -4.07568324e-05 9.99996371e-01 -4.92907352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.194012738999994 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:40.91, Y:2.12, Z:-0.05 [[ 9.88382154e-01 -1.51965767e-01 -2.66894452e-03 4.09146763e+01] [ 1.51965326e-01 9.88385757e-01 -3.68369296e-04 2.11503749e+00] [ 2.69392627e-03 -4.14973868e-05 9.99996371e-01 -4.65300121e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.224012738999996 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:40.94, Y:2.12, Z:-0.04 [[ 9.88752774e-01 -1.49535377e-01 -2.66887946e-03 4.09428556e+01] [ 1.49534926e-01 9.88756375e-01 -3.68840052e-04 2.11619578e+00] [ 2.69402622e-03 -3.43990683e-05 9.99996371e-01 -4.34252899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.254012739 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:40.97, Y:2.12, Z:-0.04 [[ 9.89391937e-01 -1.45246244e-01 -2.66885929e-03 4.09710997e+01] [ 1.45245777e-01 9.89395537e-01 -3.68985971e-04 2.11977450e+00] [ 2.69415129e-03 -2.25687958e-05 9.99996371e-01 -4.38976672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.284012739 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:41.00, Y:2.12, Z:-0.05 [[ 9.89726301e-01 -1.42950081e-01 -2.66879895e-03 4.09987337e+01] [ 1.42949605e-01 9.89729900e-01 -3.69421834e-04 2.12445108e+00] [ 2.69419900e-03 -1.58772492e-05 9.99996371e-01 -4.55277007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31401273899999 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:41.03, Y:2.13, Z:-0.05 [[ 9.90036796e-01 -1.40783595e-01 -2.66873443e-03 4.10272693e+01] [ 1.40783109e-01 9.90040393e-01 -3.69887395e-04 2.12890292e+00] [ 2.69422896e-03 -9.51059777e-06 9.99996371e-01 -4.58226586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.34401273899999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:41.05, Y:2.13, Z:-0.05 [[ 9.90275943e-01 -1.39091461e-01 -2.66877978e-03 4.10546688e+01] [ 1.39090970e-01 9.90279539e-01 -3.69560305e-04 2.13148340e+00] [ 2.69424069e-03 -5.23648959e-06 9.99996371e-01 -4.73068945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.374012738999994 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:41.08, Y:2.14, Z:-0.05 [[ 9.90202838e-01 -1.39610950e-01 -2.66865908e-03 4.10813856e+01] [ 1.39610459e-01 9.90206434e-01 -3.70429809e-04 2.13503995e+00] [ 2.69423945e-03 -5.77207091e-06 9.99996371e-01 -4.58054728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.404012738999995 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:41.11, Y:2.14, Z:-0.04 [[ 9.89872252e-01 -1.41935915e-01 -2.66863110e-03 4.11079991e+01] [ 1.41935431e-01 9.89875849e-01 -3.70631324e-04 2.13918834e+00] [ 2.69421937e-03 -1.18956420e-05 9.99996371e-01 -4.24662606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.434012738999996 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:41.14, Y:2.14, Z:-0.04 [[ 9.89365719e-01 -1.45424729e-01 -2.66858765e-03 4.11370471e+01] [ 1.45424257e-01 9.89369318e-01 -3.70943893e-04 2.14163736e+00] [ 2.69416316e-03 -2.10782045e-05 9.99996371e-01 -4.03041251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.464012739 meters Centerline goodness : 0.988623 Centerline is valid? [True, True] Translation: X:41.17, Y:2.14, Z:-0.02 [[ 9.89212335e-01 -1.46464444e-01 -2.66894010e-03 4.11651106e+01] [ 1.46463983e-01 9.89215935e-01 -3.68410761e-04 2.14168773e+00] [ 2.69411715e-03 -2.64671301e-05 9.99996371e-01 -2.36915469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49401273899999 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:41.19, Y:2.15, Z:-0.04 [[ 9.88779414e-01 -1.49359132e-01 -2.66846563e-03 4.11941589e+01] [ 1.49358673e-01 9.88783014e-01 -3.71815967e-04 2.14865655e+00] [ 2.69406760e-03 -3.09145107e-05 9.99996371e-01 -4.11912544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.52401273899999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:41.22, Y:2.15, Z:-0.04 [[ 9.88623515e-01 -1.50387565e-01 -2.66938410e-03 4.12200855e+01] [ 1.50387127e-01 9.88627118e-01 -3.65224577e-04 2.15337009e+00] [ 2.69395074e-03 -4.03713989e-05 9.99996370e-01 -4.44676548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.554012738999994 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:41.25, Y:2.16, Z:-0.05 [[ 9.88586057e-01 -1.50633620e-01 -2.66839408e-03 4.12478363e+01] [ 1.50633164e-01 9.88589658e-01 -3.72319936e-04 2.15751559e+00] [ 2.69403069e-03 -3.38783448e-05 9.99996371e-01 -4.73029223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.584012738999995 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:41.28, Y:2.16, Z:-0.05 [[ 9.88669233e-01 -1.50086736e-01 -2.66833175e-03 4.12761566e+01] [ 1.50086276e-01 9.88672833e-01 -3.72766101e-04 2.15959960e+00] [ 2.69405436e-03 -3.19376017e-05 9.99996371e-01 -4.55014504e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.614012738999996 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:41.30, Y:2.16, Z:-0.05 [[ 9.88586272e-01 -1.50632209e-01 -2.66826277e-03 4.13033195e+01] [ 1.50631750e-01 9.88589873e-01 -3.73259254e-04 2.16228493e+00] [ 2.69404242e-03 -3.29261159e-05 9.99996371e-01 -4.71707842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.644012739 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:41.33, Y:2.16, Z:-0.05 [[ 9.88433860e-01 -1.51629102e-01 -2.66823281e-03 4.13315058e+01] [ 1.51628646e-01 9.88437461e-01 -3.73473320e-04 2.16489057e+00] [ 2.69401068e-03 -3.54268525e-05 9.99996371e-01 -4.61545336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.674012739 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:41.36, Y:2.17, Z:-0.05 [[ 9.88028880e-01 -1.54245953e-01 -2.66816301e-03 4.13589564e+01] [ 1.54245506e-01 9.88032481e-01 -3.73971288e-04 2.16631698e+00] [ 2.69391528e-03 -4.20577198e-05 9.99996371e-01 -4.82304939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.70401273899999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:41.39, Y:2.17, Z:-0.05 [[ 9.87776018e-01 -1.55857047e-01 -2.66813271e-03 4.13855962e+01] [ 1.55856605e-01 9.87779620e-01 -3.74187310e-04 2.16910431e+00] [ 2.69384685e-03 -4.62328557e-05 9.99996371e-01 -4.83517362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73401273899999 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:41.41, Y:2.17, Z:-0.05 [[ 9.87394504e-01 -1.58256044e-01 -2.66810378e-03 4.14137086e+01] [ 1.58255610e-01 9.87398107e-01 -3.74393545e-04 2.16940916e+00] [ 2.69373066e-03 -5.25682617e-05 9.99996371e-01 -4.63309491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.764012738999995 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:41.44, Y:2.17, Z:-0.05 [[ 9.87197190e-01 -1.59482257e-01 -2.66803604e-03 4.14418137e+01] [ 1.59481826e-01 9.87200793e-01 -3.74875595e-04 2.17144865e+00] [ 2.69367331e-03 -5.54271270e-05 9.99996371e-01 -4.57113741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.794012738999996 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:41.47, Y:2.17, Z:-0.05 [[ 9.86947690e-01 -1.61019067e-01 -2.66796575e-03 4.14685083e+01] [ 1.61018641e-01 9.86951294e-01 -3.75375226e-04 2.17317166e+00] [ 2.69359482e-03 -5.91165059e-05 9.99996371e-01 -4.56907867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.824012739 meters Centerline goodness : 0.993988 Centerline is valid? [True, True] Translation: X:41.50, Y:2.17, Z:-0.04 [[ 9.86233105e-01 -1.65339484e-01 -2.66793522e-03 4.14969442e+01] [ 1.65339072e-01 9.86236711e-01 -3.75592057e-04 2.16977681e+00] [ 2.69331586e-03 -7.06926129e-05 9.99996371e-01 -3.92714897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.854012739 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:41.52, Y:2.17, Z:-0.05 [[ 9.85328034e-01 -1.70650365e-01 -2.66786513e-03 4.15240070e+01] [ 1.70649971e-01 9.85331643e-01 -3.76089247e-04 2.16970585e+00] [ 2.69291170e-03 -8.46998305e-05 9.99996371e-01 -4.89585227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88401273899999 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:41.55, Y:2.17, Z:-0.05 [[ 9.84935783e-01 -1.72899931e-01 -2.66783476e-03 4.15522287e+01] [ 1.72899546e-01 9.84939392e-01 -3.76304601e-04 2.17115764e+00] [ 2.69271858e-03 -9.06315511e-05 9.99996371e-01 -4.71715994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91401273899999 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:41.58, Y:2.17, Z:-0.05 [[ 9.84695129e-01 -1.74265273e-01 -2.66776581e-03 4.15794944e+01] [ 1.74264891e-01 9.84698739e-01 -3.76792764e-04 2.17209824e+00] [ 2.69260752e-03 -9.38719179e-05 9.99996371e-01 -4.59090908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.944012738999994 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:41.61, Y:2.17, Z:-0.05 [[ 9.84569753e-01 -1.74972239e-01 -2.66773573e-03 4.16080341e+01] [ 1.74971859e-01 9.84573363e-01 -3.77005615e-04 2.16835171e+00] [ 2.69254705e-03 -9.55903544e-05 9.99996371e-01 -4.78439598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.974012738999996 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:41.64, Y:2.17, Z:-0.05 [[ 9.84607487e-01 -1.74759777e-01 -2.66766851e-03 4.16356191e+01] [ 1.74759395e-01 9.84611097e-01 -3.77480672e-04 2.16790170e+00] [ 2.69258445e-03 -9.45298383e-05 9.99996371e-01 -5.01242881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.004012739 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:41.66, Y:2.17, Z:-0.05 [[ 9.85256155e-01 -1.71064877e-01 -2.66763716e-03 4.16636101e+01] [ 1.71064481e-01 9.85259763e-01 -3.77702072e-04 2.16556918e+00] [ 2.69292711e-03 -8.42046756e-05 9.99996371e-01 -4.66282973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.034012739 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:41.69, Y:2.17, Z:-0.05 [[ 9.85799407e-01 -1.67905963e-01 -2.66760715e-03 4.16919620e+01] [ 1.67905554e-01 9.85803014e-01 -3.77913932e-04 2.16700570e+00] [ 2.69318917e-03 -7.53587262e-05 9.99996371e-01 -4.51657204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06401273899999 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:41.72, Y:2.17, Z:-0.05 [[ 9.86985191e-01 -1.60789042e-01 -2.66758584e-03 4.17196444e+01] [ 1.60788607e-01 9.86988795e-01 -3.78064254e-04 2.16547531e+00] [ 2.69366592e-03 -5.57735918e-05 9.99996371e-01 -4.65228647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.09401273899999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:41.75, Y:2.17, Z:-0.05 [[ 9.87592729e-01 -1.57014287e-01 -2.66751809e-03 4.17475776e+01] [ 1.57013837e-01 9.87596330e-01 -3.78541680e-04 2.16822058e+00] [ 2.69386753e-03 -4.49922392e-05 9.99996371e-01 -4.74818049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.124012738999994 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:41.77, Y:2.17, Z:-0.05 [[ 9.88712830e-01 -1.49799280e-01 -2.66744606e-03 4.17746602e+01] [ 1.49798803e-01 9.88716428e-01 -3.79048549e-04 2.17195727e+00] [ 2.69412894e-03 -2.48100633e-05 9.99996371e-01 -4.79304836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.154012738999995 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:41.80, Y:2.17, Z:-0.05 [[ 9.89137145e-01 -1.46971402e-01 -2.66742364e-03 4.18040458e+01] [ 1.46970914e-01 9.89140742e-01 -3.79206290e-04 2.17498140e+00] [ 2.69418988e-03 -1.69466627e-05 9.99996371e-01 -5.06458232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.184012738999996 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:41.83, Y:2.18, Z:-0.04 [[ 9.89734525e-01 -1.42893149e-01 -2.66809121e-03 4.18307445e+01] [ 1.42892659e-01 9.89738121e-01 -3.74513109e-04 2.17613779e+00] [ 2.69422694e-03 -1.05820938e-05 9.99996371e-01 -4.42082364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.214012739 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:41.86, Y:2.18, Z:-0.04 [[ 9.89950651e-01 -1.41388094e-01 -2.66733860e-03 4.18582068e+01] [ 1.41387584e-01 9.89954245e-01 -3.79798671e-04 2.18016982e+00] [ 2.69424218e-03 -1.14661949e-06 9.99996371e-01 -4.44073828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24401273899999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:41.89, Y:2.19, Z:-0.05 [[ 9.90399674e-01 -1.38207710e-01 -2.66726661e-03 4.18874947e+01] [ 1.38207187e-01 9.90403266e-01 -3.80303589e-04 2.18594424e+00] [ 2.69423045e-03 8.01713406e-06 9.99996371e-01 -4.77161999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.27401273899999 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:41.91, Y:2.19, Z:-0.04 [[ 9.90558073e-01 -1.37067817e-01 -2.66803806e-03 4.19143585e+01] [ 1.37067304e-01 9.90561666e-01 -3.74897032e-04 2.19028619e+00] [ 2.69424254e-03 5.65649661e-06 9.99996371e-01 -4.39091277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.304012738999994 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:41.94, Y:2.19, Z:-0.04 [[ 9.90678117e-01 -1.36197482e-01 -2.66717480e-03 4.19410542e+01] [ 1.36196950e-01 9.90681708e-01 -3.80941128e-04 2.19392330e+00] [ 2.69420451e-03 1.41289659e-05 9.99996371e-01 -4.23148884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.334012738999995 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:41.97, Y:2.20, Z:-0.04 [[ 9.90936748e-01 -1.34302821e-01 -2.66714360e-03 4.19687360e+01] [ 1.34302282e-01 9.90940337e-01 -3.81159505e-04 2.19926641e+00] [ 2.69417097e-03 1.95014898e-05 9.99996371e-01 -3.95807673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.364012738999996 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:42.00, Y:2.20, Z:-0.04 [[ 9.90912379e-01 -1.34482506e-01 -2.66707907e-03 4.19969179e+01] [ 1.34481966e-01 9.90915968e-01 -3.81610468e-04 2.20350190e+00] [ 2.69417117e-03 1.94684982e-05 9.99996371e-01 -3.95040239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.394012739 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:42.02, Y:2.21, Z:-0.04 [[ 9.91215226e-01 -1.32231854e-01 -2.66700979e-03 4.20236516e+01] [ 1.32231305e-01 9.91218813e-01 -3.82094078e-04 2.21091498e+00] [ 2.69411528e-03 2.60752830e-05 9.99996371e-01 -3.81701463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.424012739 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:42.05, Y:2.22, Z:-0.04 [[ 9.91319628e-01 -1.31446880e-01 -2.66694041e-03 4.20509765e+01] [ 1.31446327e-01 9.91323215e-01 -3.82577675e-04 2.21588071e+00] [ 2.69408859e-03 2.86972378e-05 9.99996371e-01 -3.79274980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.45401273899999 meters Centerline goodness : 0.997290 Centerline is valid? [True, True] Translation: X:42.08, Y:2.22, Z:-0.04 [[ 9.91351108e-01 -1.31209258e-01 -2.66686939e-03 4.20788007e+01] [ 1.31208702e-01 9.91354694e-01 -3.83072155e-04 2.22106905e+00] [ 2.69407610e-03 2.98425354e-05 9.99996371e-01 -3.86359718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48401273899999 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:42.11, Y:2.23, Z:-0.04 [[ 9.91272853e-01 -1.31799163e-01 -2.66680295e-03 4.21056491e+01] [ 1.31798608e-01 9.91276440e-01 -3.83534071e-04 2.22668676e+00] [ 2.69408841e-03 2.87059941e-05 9.99996371e-01 -4.43039828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.514012738999995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:42.14, Y:2.23, Z:-0.05 [[ 9.91273097e-01 -1.31797331e-01 -2.66677197e-03 4.21351825e+01] [ 1.31796775e-01 9.91276683e-01 -3.83749353e-04 2.23125465e+00] [ 2.69408602e-03 2.89284627e-05 9.99996371e-01 -5.14781716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.544012738999996 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:42.16, Y:2.24, Z:-0.05 [[ 9.91364872e-01 -1.31105210e-01 -2.66742291e-03 4.21626076e+01] [ 1.31104664e-01 9.91368460e-01 -3.79227761e-04 2.23635524e+00] [ 2.69411767e-03 2.62414976e-05 9.99996371e-01 -5.03575269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.574012739 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:42.19, Y:2.24, Z:-0.04 [[ 9.91914837e-01 -1.26877273e-01 -2.66722023e-03 4.21889527e+01] [ 1.26876708e-01 9.91918422e-01 -3.80633786e-04 2.24452365e+00] [ 2.69395866e-03 3.91481763e-05 9.99996371e-01 -4.24929419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.604012739 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:42.22, Y:2.25, Z:-0.04 [[ 9.92287317e-01 -1.23930506e-01 -2.66662577e-03 4.22164356e+01] [ 1.23929919e-01 9.92290898e-01 -3.84753880e-04 2.25236631e+00] [ 2.69375122e-03 5.13116809e-05 9.99996371e-01 -4.18374159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63401273899999 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:42.24, Y:2.26, Z:-0.04 [[ 9.92723908e-01 -1.20383274e-01 -2.66655629e-03 4.22439183e+01] [ 1.20382673e-01 9.92727487e-01 -3.85234757e-04 2.26066562e+00] [ 2.69353955e-03 6.14245783e-05 9.99996371e-01 -4.22134976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66401273899999 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:42.27, Y:2.27, Z:-0.04 [[ 9.93658853e-01 -1.12405399e-01 -2.66648707e-03 4.22698677e+01] [ 1.12404768e-01 9.93662427e-01 -3.85713300e-04 2.27258249e+00] [ 2.69294427e-03 8.35415742e-05 9.99996371e-01 -4.26451842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.694012738999994 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:42.30, Y:2.28, Z:-0.04 [[ 9.93983291e-01 -1.09499352e-01 -2.66645694e-03 4.22970076e+01] [ 1.09498710e-01 9.93986863e-01 -3.85921516e-04 2.28133202e+00] [ 2.69268132e-03 9.16259422e-05 9.99996371e-01 -4.37406455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.724012738999996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:42.32, Y:2.30, Z:-0.05 [[ 9.94337331e-01 -1.06236350e-01 -2.66638881e-03 4.23228646e+01] [ 1.06235695e-01 9.94340901e-01 -3.86391655e-04 2.29525545e+00] [ 2.69234829e-03 1.00937979e-04 9.99996371e-01 -4.64548202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.754012739 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:42.35, Y:2.31, Z:-0.05 [[ 9.94252804e-01 -1.07024544e-01 -2.66631846e-03 4.23491091e+01] [ 1.07023891e-01 9.94256374e-01 -3.86876476e-04 2.30642232e+00] [ 2.69240940e-03 9.92932434e-05 9.99996371e-01 -4.86549019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.784012739 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:42.38, Y:2.31, Z:-0.05 [[ 9.94059528e-01 -1.08805082e-01 -2.66629660e-03 4.23761144e+01] [ 1.08804435e-01 9.94063099e-01 -3.87027074e-04 2.31334594e+00] [ 2.69257758e-03 9.46230552e-05 9.99996371e-01 -4.79642016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81401273899999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:42.40, Y:2.32, Z:-0.04 [[ 9.93652350e-01 -1.12462879e-01 -2.66622626e-03 4.24031771e+01] [ 1.12462244e-01 9.93655923e-01 -3.87511038e-04 2.32484691e+00] [ 2.69289212e-03 8.52014651e-05 9.99996371e-01 -4.29817625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84401273899999 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:42.43, Y:2.33, Z:-0.04 [[ 9.93476846e-01 -1.14002838e-01 -2.66619020e-03 4.24296970e+01] [ 1.14002207e-01 9.93480421e-01 -3.87758989e-04 2.33274318e+00] [ 2.69301339e-03 8.12780095e-05 9.99996371e-01 -4.15339828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.874012738999994 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:42.46, Y:2.34, Z:-0.04 [[ 9.93237155e-01 -1.16072591e-01 -2.66614019e-03 4.24561469e+01] [ 1.16071967e-01 9.93240730e-01 -3.88102522e-04 2.34217441e+00] [ 2.69316710e-03 7.60137088e-05 9.99996371e-01 -4.31092873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.904012738999995 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:42.48, Y:2.35, Z:-0.04 [[ 9.93125154e-01 -1.17027007e-01 -2.66606900e-03 4.24833348e+01] [ 1.17026385e-01 9.93128730e-01 -3.88590958e-04 2.34838418e+00] [ 2.69322536e-03 7.39190387e-05 9.99996371e-01 -4.46803617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.934012738999996 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:42.51, Y:2.36, Z:-0.05 [[ 9.93046347e-01 -1.17693865e-01 -2.66599721e-03 4.25102171e+01] [ 1.17693245e-01 9.93049923e-01 -3.89082904e-04 2.35510355e+00] [ 2.69326099e-03 7.26074947e-05 9.99996371e-01 -4.54695378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.964012739 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:42.54, Y:2.37, Z:-0.04 [[ 9.92835831e-01 -1.19456710e-01 -2.66592545e-03 4.25369313e+01] [ 1.19456094e-01 9.92839408e-01 -3.89573971e-04 2.36531624e+00] [ 2.69337307e-03 6.83219558e-05 9.99996371e-01 -4.35437385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99401273899999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:42.56, Y:2.37, Z:-0.04 [[ 9.92495253e-01 -1.22254105e-01 -2.66585308e-03 4.25634751e+01] [ 1.22253498e-01 9.92498831e-01 -3.90068549e-04 2.37296658e+00] [ 2.69354355e-03 6.12313179e-05 9.99996371e-01 -4.01863777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.02401273899999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:42.59, Y:2.38, Z:-0.04 [[ 9.92298612e-01 -1.23840054e-01 -2.66583052e-03 4.25914498e+01] [ 1.23839452e-01 9.92302191e-01 -3.90222661e-04 2.37826843e+00] [ 2.69363466e-03 5.70824139e-05 9.99996371e-01 -4.11323395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.054012738999994 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:42.62, Y:2.38, Z:-0.05 [[ 9.92064216e-01 -1.25703960e-01 -2.66575845e-03 4.26213868e+01] [ 1.25703364e-01 9.92067796e-01 -3.90714404e-04 2.38323222e+00] [ 2.69372745e-03 5.25189738e-05 9.99996371e-01 -4.62701380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.084012738999995 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:42.65, Y:2.39, Z:-0.04 [[ 9.91907671e-01 -1.26933293e-01 -2.66667352e-03 4.26479748e+01] [ 1.26932718e-01 9.91911255e-01 -3.84470363e-04 2.38825644e+00] [ 2.69390556e-03 4.28709851e-05 9.99996371e-01 -4.10298177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.114012738999996 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:42.67, Y:2.39, Z:-0.04 [[ 9.91724699e-01 -1.28355036e-01 -2.66571789e-03 4.26740992e+01] [ 1.28354448e-01 9.91728281e-01 -3.90985758e-04 2.39480726e+00] [ 2.69385281e-03 4.55934829e-05 9.99996371e-01 -3.99627784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.144012739 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:42.70, Y:2.40, Z:-0.05 [[ 9.91824703e-01 -1.27579986e-01 -2.66566902e-03 4.27032899e+01] [ 1.27579395e-01 9.91828284e-01 -3.91318667e-04 2.39972857e+00] [ 2.69381036e-03 4.80350803e-05 9.99996371e-01 -4.54142439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.174012739 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:42.73, Y:2.41, Z:-0.04 [[ 9.92148647e-01 -1.25035800e-01 -2.66663984e-03 4.27294623e+01] [ 1.25035218e-01 9.92152229e-01 -3.84707009e-04 2.40646505e+00] [ 2.69381481e-03 4.82626458e-05 9.99996371e-01 -4.18376634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.20401273899999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:42.76, Y:2.41, Z:-0.04 [[ 9.92314098e-01 -1.23715904e-01 -2.66557150e-03 4.27572545e+01] [ 1.23715297e-01 9.92317677e-01 -3.91972120e-04 2.41295328e+00] [ 2.69358691e-03 5.91874893e-05 9.99996371e-01 -4.06325293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23401273899999 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:42.79, Y:2.42, Z:-0.04 [[ 9.92435609e-01 -1.22737346e-01 -2.66550114e-03 4.27850136e+01] [ 1.22736735e-01 9.92439187e-01 -3.92450001e-04 2.42233547e+00] [ 2.69351606e-03 6.23264499e-05 9.99996371e-01 -3.60177922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.264012738999995 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:42.81, Y:2.43, Z:-0.04 [[ 9.92241685e-01 -1.24295347e-01 -2.66543832e-03 4.28122924e+01] [ 1.24294740e-01 9.92245264e-01 -3.92876196e-04 2.42756464e+00] [ 2.69360124e-03 5.85281759e-05 9.99996371e-01 -3.63926424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.294012738999996 meters Centerline goodness : 0.996888 Centerline is valid? [True, True] Translation: X:42.83, Y:2.43, Z:-0.04 [[ 9.91586287e-01 -1.29419982e-01 -2.66536133e-03 4.28324715e+01] [ 1.29419392e-01 9.91589868e-01 -3.93397813e-04 2.42873252e+00] [ 2.69385883e-03 4.51384333e-05 9.99996371e-01 -4.02256297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.324012739 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:42.87, Y:2.44, Z:-0.04 [[ 9.90768141e-01 -1.35541207e-01 -2.65920829e-03 4.28686621e+01] [ 1.35540529e-01 9.90771707e-01 -4.34695921e-04 2.43630440e+00] [ 2.69358755e-03 7.02523727e-05 9.99996370e-01 -4.28195889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.354012739 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:42.90, Y:2.44, Z:-0.04 [[ 9.90041097e-01 -1.40753419e-01 -2.66496155e-03 4.28961423e+01] [ 1.40752863e-01 9.90044683e-01 -3.95975873e-04 2.44220219e+00] [ 2.69416597e-03 1.69314197e-05 9.99996371e-01 -3.88911898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38401273899999 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:42.92, Y:2.45, Z:-0.04 [[ 9.89894051e-01 -1.41783870e-01 -2.66488748e-03 4.29241283e+01] [ 1.41783316e-01 9.89897638e-01 -3.96473674e-04 2.44553605e+00] [ 2.69417940e-03 1.46303454e-05 9.99996371e-01 -3.62935256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41401273899999 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:42.95, Y:2.45, Z:-0.03 [[ 9.89856154e-01 -1.42048204e-01 -2.66486450e-03 4.29515360e+01] [ 1.42047651e-01 9.89859741e-01 -3.96628097e-04 2.44872426e+00] [ 2.69418239e-03 1.40670208e-05 9.99996371e-01 -3.37347118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.444012738999994 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:42.98, Y:2.46, Z:-0.03 [[ 9.90063688e-01 -1.40594423e-01 -2.66479144e-03 4.29786966e+01] [ 1.40593863e-01 9.90067274e-01 -3.97118366e-04 2.45509418e+00] [ 2.69415542e-03 1.85191501e-05 9.99996371e-01 -3.26619996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.474012738999996 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:43.01, Y:2.46, Z:-0.04 [[ 9.90353728e-01 -1.38536610e-01 -2.66471231e-03 4.30051341e+01] [ 1.38536041e-01 9.90357313e-01 -3.97648593e-04 2.46370672e+00] [ 2.69410622e-03 2.46540718e-05 9.99996371e-01 -3.69843663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.504012739 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:43.03, Y:2.47, Z:-0.04 [[ 9.90521420e-01 -1.37332503e-01 -2.66465793e-03 4.30322777e+01] [ 1.37331930e-01 9.90525004e-01 -3.98012659e-04 2.46895576e+00] [ 2.69407039e-03 2.82974482e-05 9.99996371e-01 -3.64779646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.534012739 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:43.06, Y:2.47, Z:-0.04 [[ 9.90660414e-01 -1.36326244e-01 -2.66458323e-03 4.30584564e+01] [ 1.36325665e-01 9.90663997e-01 -3.98512185e-04 2.47410684e+00] [ 2.69403434e-03 3.15391666e-05 9.99996371e-01 -3.56630475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56401273899999 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:43.08, Y:2.48, Z:-0.03 [[ 9.90793284e-01 -1.35357191e-01 -2.66455068e-03 4.30849236e+01] [ 1.35356608e-01 9.90796866e-01 -3.98729706e-04 2.48429493e+00] [ 2.69399939e-03 3.43941739e-05 9.99996371e-01 -3.40182702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.59401273899999 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:43.11, Y:2.49, Z:-0.03 [[ 9.90847040e-01 -1.34963120e-01 -2.66447678e-03 4.31119446e+01] [ 1.34962534e-01 9.90850622e-01 -3.99222870e-04 2.49190283e+00] [ 2.69397884e-03 3.59642595e-05 9.99996371e-01 -3.37071401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.624012738999994 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:43.14, Y:2.50, Z:-0.03 [[ 9.90913852e-01 -1.34471703e-01 -2.66440224e-03 4.31390914e+01] [ 1.34471114e-01 9.90917433e-01 -3.99719775e-04 2.50072147e+00] [ 2.69395363e-03 3.78027254e-05 9.99996371e-01 -3.21005182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.654012738999995 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:43.17, Y:2.51, Z:-0.03 [[ 9.90684102e-01 -1.36153997e-01 -2.66432445e-03 4.31653229e+01] [ 1.36153413e-01 9.90687684e-01 -4.00237625e-04 2.50951244e+00] [ 2.69400737e-03 3.37521849e-05 9.99996371e-01 -3.34615729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.684012738999996 meters Centerline goodness : 0.998446 Centerline is valid? [True, True] Translation: X:43.19, Y:2.52, Z:-0.04 [[ 9.90488025e-01 -1.37573158e-01 -2.66429058e-03 4.31930258e+01] [ 1.37572578e-01 9.90491608e-01 -4.00462955e-04 2.51574397e+00] [ 2.69405041e-03 3.01204373e-05 9.99996371e-01 -3.56068233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.714012739 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:43.22, Y:2.52, Z:-0.04 [[ 9.90051909e-01 -1.40677361e-01 -2.66421514e-03 4.32242254e+01] [ 1.40676791e-01 9.90055493e-01 -4.00964206e-04 2.52243472e+00] [ 2.69412742e-03 2.21821410e-05 9.99996371e-01 -3.89789251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74401273899999 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:43.25, Y:2.53, Z:-0.04 [[ 9.89750915e-01 -1.42779579e-01 -2.66780565e-03 4.32481398e+01] [ 1.42779081e-01 9.89754511e-01 -3.77042808e-04 2.52526069e+00] [ 2.69430669e-03 -7.72837557e-06 9.99996370e-01 -4.20891626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.77401273899999 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:43.28, Y:2.53, Z:-0.04 [[ 9.89443798e-01 -1.44892627e-01 -2.66416884e-03 4.32753307e+01] [ 1.44892072e-01 9.89447384e-01 -4.01193455e-04 2.53056005e+00] [ 2.69418487e-03 1.09414327e-05 9.99996371e-01 -4.15357284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.804012738999994 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:43.30, Y:2.53, Z:-0.04 [[ 9.88998731e-01 -1.47900012e-01 -2.66409246e-03 4.33018521e+01] [ 1.47899466e-01 9.89002319e-01 -4.01700062e-04 2.53497663e+00] [ 2.69420506e-03 3.26299884e-06 9.99996371e-01 -4.14441364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.834012738999995 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:43.33, Y:2.54, Z:-0.04 [[ 9.88873982e-01 -1.48731809e-01 -2.66405928e-03 4.33293732e+01] [ 1.48731266e-01 9.88877570e-01 -4.01919955e-04 2.53830828e+00] [ 2.69420675e-03 1.21927683e-06 9.99996371e-01 -4.10199545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.864012738999996 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:43.36, Y:2.54, Z:-0.04 [[ 9.89001435e-01 -1.47881930e-01 -2.66398395e-03 4.33566337e+01] [ 1.47881382e-01 9.89005023e-01 -4.02418639e-04 2.54292289e+00] [ 2.69420395e-03 4.03898254e-06 9.99996371e-01 -3.76815888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.894012739 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:43.38, Y:2.55, Z:-0.04 [[ 9.89175558e-01 -1.46712710e-01 -2.66396062e-03 4.33839521e+01] [ 1.46712158e-01 9.89179145e-01 -4.02573053e-04 2.54792367e+00] [ 2.69419687e-03 7.38001298e-06 9.99996371e-01 -3.77517153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.924012739 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:43.41, Y:2.55, Z:-0.04 [[ 9.89564296e-01 -1.44067370e-01 -2.66388616e-03 4.34111840e+01] [ 1.44066807e-01 9.89567882e-01 -4.03065122e-04 2.55300120e+00] [ 2.69416472e-03 1.50812791e-05 9.99996371e-01 -4.42510325e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.95401273899999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:43.44, Y:2.56, Z:-0.04 [[ 9.89737731e-01 -1.42871019e-01 -2.66378814e-03 4.34386995e+01] [ 1.42870450e-01 9.89741315e-01 -4.03712207e-04 2.55826757e+00] [ 2.69413995e-03 1.89925928e-05 9.99996371e-01 -4.41856257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98401273899999 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:43.47, Y:2.57, Z:-0.04 [[ 9.90006479e-01 -1.40996721e-01 -2.66378780e-03 4.34660148e+01] [ 1.40996145e-01 9.90010063e-01 -4.03714391e-04 2.56522544e+00] [ 2.69409914e-03 2.40960501e-05 9.99996371e-01 -4.27837347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.014012738999995 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:43.49, Y:2.57, Z:-0.04 [[ 9.90021052e-01 -1.40894362e-01 -2.66370899e-03 4.34932118e+01] [ 1.40893785e-01 9.90024635e-01 -4.04233744e-04 2.56933974e+00] [ 2.69409178e-03 2.48998754e-05 9.99996371e-01 -4.12222331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.044012738999996 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:43.52, Y:2.57, Z:-0.04 [[ 9.89835572e-01 -1.42191577e-01 -2.66368446e-03 4.35216342e+01] [ 1.42191003e-01 9.89839156e-01 -4.04395307e-04 2.57289202e+00] [ 2.69412079e-03 2.15328937e-05 9.99996371e-01 -3.73499957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.074012739 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:43.55, Y:2.58, Z:-0.04 [[ 9.89709913e-01 -1.43063599e-01 -2.66361843e-03 4.35493719e+01] [ 1.43063027e-01 9.89713497e-01 -4.04829738e-04 2.57853912e+00] [ 2.69413552e-03 1.95986881e-05 9.99996371e-01 -3.62051599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.104012739 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:43.58, Y:2.59, Z:-0.03 [[ 9.89776551e-01 -1.42601840e-01 -2.66354287e-03 4.35767030e+01] [ 1.42601265e-01 9.89780135e-01 -4.05326321e-04 2.58721095e+00] [ 2.69412210e-03 2.13579043e-05 9.99996371e-01 -3.27638430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13401273899999 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:43.60, Y:2.59, Z:-0.03 [[ 9.89873155e-01 -1.41929707e-01 -2.66351899e-03 4.36028188e+01] [ 1.41929130e-01 9.89876739e-01 -4.05483166e-04 2.59238914e+00] [ 2.69410560e-03 2.33459686e-05 9.99996371e-01 -3.19217721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16401273899999 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:43.63, Y:2.60, Z:-0.03 [[ 9.90033624e-01 -1.40805997e-01 -2.66348577e-03 4.36299426e+01] [ 1.40805415e-01 9.90037207e-01 -4.05701243e-04 2.59889130e+00] [ 2.69407518e-03 2.66246515e-05 9.99996371e-01 -3.18392441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.194012738999994 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:43.66, Y:2.61, Z:-0.03 [[ 9.90312295e-01 -1.38832503e-01 -2.66340954e-03 4.36563038e+01] [ 1.38831912e-01 9.90315876e-01 -4.06201079e-04 2.60874976e+00] [ 2.69401067e-03 3.24996834e-05 9.99996371e-01 -3.30640278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.224012738999996 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:43.68, Y:2.61, Z:-0.03 [[ 9.90446186e-01 -1.37874070e-01 -2.66333161e-03 4.36823743e+01] [ 1.37873475e-01 9.90449766e-01 -4.06711418e-04 2.61457753e+00] [ 2.69397113e-03 3.56229901e-05 9.99996371e-01 -3.27145818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.254012739 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:43.71, Y:2.62, Z:-0.03 [[ 9.90419917e-01 -1.38062646e-01 -2.66327767e-03 4.37104898e+01] [ 1.38062050e-01 9.90423498e-01 -4.07064310e-04 2.61905942e+00] [ 2.69397316e-03 3.54670236e-05 9.99996371e-01 -3.26378531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.284012739 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:43.74, Y:2.63, Z:-0.03 [[ 9.90564544e-01 -1.37021132e-01 -2.66320007e-03 4.37372225e+01] [ 1.37020531e-01 9.90568124e-01 -4.07571376e-04 2.62682899e+00] [ 2.69392699e-03 3.88126661e-05 9.99996371e-01 -2.91059731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31401273899999 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:43.76, Y:2.63, Z:-0.03 [[ 9.90477204e-01 -1.37651067e-01 -2.66317597e-03 4.37641873e+01] [ 1.37650468e-01 9.90480783e-01 -4.07728768e-04 2.63242321e+00] [ 2.69394893e-03 3.72586291e-05 9.99996371e-01 -2.80197093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34401273899999 meters Centerline goodness : 0.996800 Centerline is valid? [True, True] Translation: X:43.79, Y:2.64, Z:-0.03 [[ 9.90310138e-01 -1.38847900e-01 -2.66309798e-03 4.37904218e+01] [ 1.38847304e-01 9.90313718e-01 -4.08237580e-04 2.63706679e+00] [ 2.69398539e-03 3.45178388e-05 9.99996371e-01 -2.89765065e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.374012738999994 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:43.82, Y:2.64, Z:-0.04 [[ 9.89992091e-01 -1.41097727e-01 -2.66306411e-03 4.38187791e+01] [ 1.41097139e-01 9.89995672e-01 -4.08458385e-04 2.64062473e+00] [ 2.69405449e-03 2.86198450e-05 9.99996371e-01 -3.55273806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.404012738999995 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:43.84, Y:2.65, Z:-0.03 [[ 9.90013355e-01 -1.40948448e-01 -2.66299711e-03 4.38445346e+01] [ 1.40947858e-01 9.90016936e-01 -4.08894722e-04 2.64792843e+00] [ 2.69404532e-03 2.94674972e-05 9.99996371e-01 -3.47025573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.434012738999996 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:43.87, Y:2.65, Z:-0.03 [[ 9.90132774e-01 -1.40107095e-01 -2.66294417e-03 4.38713221e+01] [ 1.40106501e-01 9.90136355e-01 -4.09239214e-04 2.65472602e+00] [ 2.69401515e-03 3.21053677e-05 9.99996371e-01 -3.23586358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.464012739 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:43.90, Y:2.66, Z:-0.03 [[ 9.90345608e-01 -1.38594683e-01 -2.66286756e-03 4.38980000e+01] [ 1.38594083e-01 9.90349187e-01 -4.09737081e-04 2.66001416e+00] [ 2.69395611e-03 3.67236316e-05 9.99996371e-01 -3.14957354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49401273899999 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:43.93, Y:2.67, Z:-0.03 [[ 9.90540663e-01 -1.37193671e-01 -2.66283421e-03 4.39251662e+01] [ 1.37193065e-01 9.90544242e-01 -4.09953746e-04 2.66694041e+00] [ 2.69389815e-03 4.07534707e-05 9.99996371e-01 -3.34339367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52401273899999 meters Centerline goodness : 0.997489 Centerline is valid? [True, True] Translation: X:43.95, Y:2.67, Z:-0.03 [[ 9.90471110e-01 -1.37694918e-01 -2.66275762e-03 4.39521913e+01] [ 1.37694313e-01 9.90474688e-01 -4.10450625e-04 2.67352454e+00] [ 2.69391098e-03 3.98929063e-05 9.99996371e-01 -3.46151216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.554012738999994 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:43.98, Y:2.68, Z:-0.03 [[ 9.90153169e-01 -1.39962891e-01 -2.66273388e-03 4.39783672e+01] [ 1.39962293e-01 9.90156749e-01 -4.10604568e-04 2.67925142e+00] [ 2.69399332e-03 3.38790748e-05 9.99996371e-01 -3.46327216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.584012738999995 meters Centerline goodness : 0.997577 Centerline is valid? [True, True] Translation: X:44.01, Y:2.68, Z:-0.03 [[ 9.89899903e-01 -1.41743050e-01 -2.66270112e-03 4.40062082e+01] [ 1.41742458e-01 9.89903484e-01 -4.10816889e-04 2.68216502e+00] [ 2.69404755e-03 2.92497980e-05 9.99996371e-01 -3.44088136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.614012738999996 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:44.03, Y:2.68, Z:-0.04 [[ 9.89208183e-01 -1.46492597e-01 -2.66262348e-03 4.40335556e+01] [ 1.46492021e-01 9.89211766e-01 -4.11319482e-04 2.68447203e+00] [ 2.69415373e-03 1.68275034e-05 9.99996371e-01 -3.57531998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.644012739 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:44.06, Y:2.69, Z:-0.03 [[ 9.88553738e-01 -1.50845678e-01 -2.66258983e-03 4.40599885e+01] [ 1.50845116e-01 9.88557323e-01 -4.11537171e-04 2.68894321e+00] [ 2.69420128e-03 5.18793492e-06 9.99996371e-01 -3.44518662e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67401273899999 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:44.09, Y:2.69, Z:-0.03 [[ 9.88183368e-01 -1.53253195e-01 -2.66255761e-03 4.40875788e+01] [ 1.53252642e-01 9.88186955e-01 -4.11745505e-04 2.69158501e+00] [ 2.69420602e-03 -1.16392811e-06 9.99996371e-01 -3.28738784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.70401273899999 meters Centerline goodness : 0.996592 Centerline is valid? [True, True] Translation: X:44.12, Y:2.69, Z:-0.03 [[ 9.87784581e-01 -1.55802867e-01 -2.66248405e-03 4.41151969e+01] [ 1.55802321e-01 9.87788169e-01 -4.12220662e-04 2.69360849e+00] [ 2.69419540e-03 -7.63598162e-06 9.99996371e-01 -3.17146500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73401273899999 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:44.14, Y:2.69, Z:-0.03 [[ 9.87087912e-01 -1.60157316e-01 -2.66240777e-03 4.41421254e+01] [ 1.60156785e-01 9.87091502e-01 -4.12712733e-04 2.69471654e+00] [ 2.69413905e-03 -1.90189191e-05 9.99996371e-01 -3.35318371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.764012738999995 meters Centerline goodness : 0.997073 Centerline is valid? [True, True] Translation: X:44.17, Y:2.70, Z:-0.03 [[ 9.86793562e-01 -1.61961038e-01 -2.66237459e-03 4.41703497e+01] [ 1.61960513e-01 9.86797153e-01 -4.12926646e-04 2.69782688e+00] [ 2.69410170e-03 -2.37262007e-05 9.99996371e-01 -3.47009718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.794012738999996 meters Centerline goodness : 0.996860 Centerline is valid? [True, True] Translation: X:44.20, Y:2.70, Z:-0.04 [[ 9.86373422e-01 -1.64500410e-01 -2.66229903e-03 4.41989592e+01] [ 1.64499894e-01 9.86377014e-01 -4.13413271e-04 2.69695402e+00] [ 2.69403722e-03 -3.01680447e-05 9.99996371e-01 -3.57688101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.824012739 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:44.23, Y:2.70, Z:-0.03 [[ 9.86177694e-01 -1.65669758e-01 -2.66226591e-03 4.42267501e+01] [ 1.65669245e-01 9.86181287e-01 -4.13626442e-04 2.69812921e+00] [ 2.69400221e-03 -3.31464130e-05 9.99996371e-01 -3.48416107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.854012739 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:44.26, Y:2.70, Z:-0.03 [[ 9.85866918e-01 -1.67509204e-01 -2.66219141e-03 4.42556360e+01] [ 1.67508697e-01 9.85870511e-01 -4.14105370e-04 2.69751134e+00] [ 2.69394247e-03 -3.76874281e-05 9.99996371e-01 -3.10817830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88401273899999 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:44.28, Y:2.70, Z:-0.03 [[ 9.85881533e-01 -1.67423164e-01 -2.66212204e-03 4.42833045e+01] [ 1.67422654e-01 9.85885127e-01 -4.14550859e-04 2.69958202e+00] [ 2.69395194e-03 -3.70015011e-05 9.99996371e-01 -2.97818836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91401273899999 meters Centerline goodness : 0.996549 Centerline is valid? [True, True] Translation: X:44.31, Y:2.70, Z:-0.03 [[ 9.86303493e-01 -1.64919170e-01 -2.66209741e-03 4.43112719e+01] [ 1.64918652e-01 9.86307085e-01 -4.14708956e-04 2.70083444e+00] [ 2.69403899e-03 -3.00006236e-05 9.99996371e-01 -2.69476449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.944012738999994 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:44.34, Y:2.70, Z:-0.03 [[ 9.86640530e-01 -1.62890694e-01 -2.66207504e-03 4.43386184e+01] [ 1.62890168e-01 9.86644121e-01 -4.14852465e-04 2.70418435e+00] [ 2.69409630e-03 -2.43155944e-05 9.99996371e-01 -2.63151000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.974012738999996 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:44.37, Y:2.71, Z:-0.03 [[ 9.87324315e-01 -1.58693450e-01 -2.66200322e-03 4.43668980e+01] [ 1.58692907e-01 9.87327903e-01 -4.15312845e-04 2.70552649e+00] [ 2.69417748e-03 -1.23925586e-05 9.99996371e-01 -2.58185020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.004012739 meters Centerline goodness : 0.996340 Centerline is valid? [True, True] Translation: X:44.39, Y:2.71, Z:-0.03 [[ 9.87590093e-01 -1.57030963e-01 -2.66193015e-03 4.43941298e+01] [ 1.57030413e-01 9.87593680e-01 -4.15780622e-04 2.70870382e+00] [ 2.69419583e-03 -7.38316749e-06 9.99996371e-01 -2.52053757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.034012739 meters Centerline goodness : 0.995760 Centerline is valid? [True, True] Translation: X:44.42, Y:2.71, Z:-0.02 [[ 9.87923626e-01 -1.54918765e-01 -2.66189831e-03 4.44218230e+01] [ 1.54918207e-01 9.87927212e-01 -4.15984368e-04 2.71363050e+00] [ 2.69420556e-03 -1.41572779e-06 9.99996371e-01 -2.09407050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06401273899999 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:44.45, Y:2.72, Z:-0.02 [[ 9.87901402e-01 -1.55060421e-01 -2.66181903e-03 4.44487663e+01] [ 1.55059861e-01 9.87904988e-01 -4.16491087e-04 2.71831053e+00] [ 2.69420558e-03 -1.28916114e-06 9.99996371e-01 -1.92045825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.09401273899999 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:44.48, Y:2.72, Z:-0.02 [[ 9.87815434e-01 -1.55607146e-01 -2.66178443e-03 4.44758259e+01] [ 1.55606588e-01 9.87819020e-01 -4.16712062e-04 2.72278150e+00] [ 2.69420467e-03 -2.55658682e-06 9.99996371e-01 -1.90480049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.124012738999994 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:44.50, Y:2.73, Z:-0.02 [[ 9.87641235e-01 -1.56708984e-01 -2.66175001e-03 4.45035765e+01] [ 1.56708430e-01 9.87644822e-01 -4.16931840e-04 2.72664739e+00] [ 2.69420058e-03 -5.33958732e-06 9.99996371e-01 -2.13980356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.154012738999995 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:44.53, Y:2.73, Z:-0.02 [[ 9.87380797e-01 -1.58341645e-01 -2.66167166e-03 4.45312094e+01] [ 1.58341096e-01 9.87384385e-01 -4.17431432e-04 2.73246676e+00] [ 2.69418981e-03 -9.28822641e-06 9.99996371e-01 -2.41880935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.184012738999996 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:44.56, Y:2.74, Z:-0.02 [[ 9.87263308e-01 -1.59072552e-01 -2.66159345e-03 4.45584922e+01] [ 1.59072003e-01 9.87266896e-01 -4.17929505e-04 2.73732645e+00] [ 2.69418421e-03 -1.07785353e-05 9.99996371e-01 -2.42378863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.214012739 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:44.59, Y:2.74, Z:-0.02 [[ 9.86945073e-01 -1.61035211e-01 -2.66151441e-03 4.45865217e+01] [ 1.61034668e-01 9.86948662e-01 -4.18432221e-04 2.74082059e+00] [ 2.69416041e-03 -1.56264709e-05 9.99996371e-01 -2.27083190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24401273899999 meters Centerline goodness : 0.995646 Centerline is valid? [True, True] Translation: X:44.61, Y:2.74, Z:-0.02 [[ 9.86675983e-01 -1.62675818e-01 -2.66143578e-03 4.46128701e+01] [ 1.62675279e-01 9.86679572e-01 -4.18931769e-04 2.74415435e+00] [ 2.69413439e-03 -1.95998946e-05 9.99996371e-01 -2.10201135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.27401273899999 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:44.64, Y:2.75, Z:-0.02 [[ 9.86332231e-01 -1.64747222e-01 -2.66140161e-03 4.46407814e+01] [ 1.64746690e-01 9.86335821e-01 -4.19148720e-04 2.74722963e+00] [ 2.69408933e-03 -2.50372153e-05 9.99996371e-01 -2.11098633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.304012738999994 meters Centerline goodness : 0.995912 Centerline is valid? [True, True] Translation: X:44.67, Y:2.75, Z:-0.02 [[ 9.85864343e-01 -1.67524368e-01 -2.66132315e-03 4.46683514e+01] [ 1.67523845e-01 9.85867935e-01 -4.19646299e-04 2.74681609e+00] [ 2.69401414e-03 -3.21207644e-05 9.99996371e-01 -2.45672511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.334012738999995 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:44.70, Y:2.75, Z:-0.03 [[ 9.85999496e-01 -1.66727059e-01 -2.66126973e-03 4.46969370e+01] [ 1.66726533e-01 9.86003087e-01 -4.19984797e-04 2.74884865e+00] [ 2.69404300e-03 -2.95994770e-05 9.99996371e-01 -2.75165822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.364012738999996 meters Centerline goodness : 0.996149 Centerline is valid? [True, True] Translation: X:44.72, Y:2.75, Z:-0.03 [[ 9.86248460e-01 -1.65247974e-01 -2.66120048e-03 4.47237374e+01] [ 1.65247442e-01 9.86252050e-01 -4.20423126e-04 2.75298511e+00] [ 2.69408850e-03 -2.51149110e-05 9.99996371e-01 -2.84727650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.394012739 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:44.75, Y:2.76, Z:-0.03 [[ 9.86547839e-01 -1.63451154e-01 -2.66116592e-03 4.47519882e+01] [ 1.63450614e-01 9.86551428e-01 -4.20641795e-04 2.75613816e+00] [ 2.69413143e-03 -1.99859509e-05 9.99996371e-01 -2.74641146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42401273899999 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:44.78, Y:2.76, Z:-0.02 [[ 9.87085343e-01 -1.60173172e-01 -2.66108704e-03 4.47803063e+01] [ 1.60172619e-01 9.87088930e-01 -4.21140219e-04 2.75704539e+00] [ 2.69418492e-03 -1.05319424e-05 9.99996371e-01 -2.49291217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.45401273899999 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:44.81, Y:2.76, Z:-0.03 [[ 9.87419961e-01 -1.58097246e-01 -2.66100685e-03 4.48076864e+01] [ 1.58096684e-01 9.87423547e-01 -4.21646324e-04 2.76055852e+00] [ 2.69420194e-03 -4.35436208e-06 9.99996371e-01 -2.62169942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48401273899999 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:44.83, Y:2.76, Z:-0.03 [[ 9.87616154e-01 -1.56866989e-01 -2.66096913e-03 4.48348688e+01] [ 1.56866422e-01 9.87619738e-01 -4.21884220e-04 2.76458153e+00] [ 2.69420534e-03 -7.57035996e-07 9.99996371e-01 -2.79103988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.514012738999995 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:44.86, Y:2.77, Z:-0.03 [[ 9.88005093e-01 -1.54398367e-01 -2.66089041e-03 4.48630878e+01] [ 1.54397789e-01 9.88008676e-01 -4.22380109e-04 2.76784691e+00] [ 2.69419761e-03 6.47810180e-06 9.99996371e-01 -2.51950486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.544012738999996 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:44.89, Y:2.77, Z:-0.02 [[ 9.88115841e-01 -1.53688013e-01 -2.66081090e-03 4.48907270e+01] [ 1.53687432e-01 9.88119423e-01 -4.22880436e-04 2.77299438e+00] [ 2.69419058e-03 8.92166424e-06 9.99996371e-01 -2.26448410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.574012739 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:44.92, Y:2.78, Z:-0.02 [[ 9.88337357e-01 -1.52256986e-01 -2.66072994e-03 4.49168446e+01] [ 1.52256398e-01 9.88340938e-01 -4.23389175e-04 2.77990518e+00] [ 2.69417229e-03 1.33381821e-05 9.99996371e-01 -2.24826752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.604012739 meters Centerline goodness : 0.995357 Centerline is valid? [True, True] Translation: X:44.94, Y:2.79, Z:-0.02 [[ 9.88458582e-01 -1.51467992e-01 -2.66067476e-03 4.49444908e+01] [ 1.51467401e-01 9.88462163e-01 -4.23735668e-04 2.78538029e+00] [ 2.69415872e-03 1.58396677e-05 9.99996371e-01 -2.28699947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63401273899999 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:44.97, Y:2.79, Z:-0.02 [[ 9.88548875e-01 -1.50877576e-01 -2.66059443e-03 4.49721509e+01] [ 1.50876981e-01 9.88552455e-01 -4.24239490e-04 2.79072619e+00] [ 2.69414538e-03 1.79590166e-05 9.99996371e-01 -2.23782179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66401273899999 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:45.00, Y:2.80, Z:-0.02 [[ 9.88568821e-01 -1.50746834e-01 -2.66051454e-03 4.49980042e+01] [ 1.50746237e-01 9.88572401e-01 -4.24739881e-04 2.79698605e+00] [ 2.69413944e-03 1.88220489e-05 9.99996371e-01 -1.97310251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.694012738999994 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:45.03, Y:2.80, Z:-0.02 [[ 9.88476043e-01 -1.51354002e-01 -2.66045977e-03 4.50256149e+01] [ 1.51353406e-01 9.88479623e-01 -4.25082682e-04 2.80277456e+00] [ 2.69414823e-03 1.75144001e-05 9.99996371e-01 -1.87363959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.724012738999996 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:45.05, Y:2.81, Z:-0.02 [[ 9.88049227e-01 -1.54115693e-01 -2.66037970e-03 4.50528147e+01] [ 1.54115106e-01 9.88052809e-01 -4.25583212e-04 2.80863103e+00] [ 2.69418468e-03 1.04924650e-05 9.99996371e-01 -1.79137177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.754012739 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:45.08, Y:2.81, Z:-0.02 [[ 9.87683945e-01 -1.56439596e-01 -2.66029887e-03 4.50792899e+01] [ 1.56439016e-01 9.87687528e-01 -4.26087891e-04 2.81319473e+00] [ 2.69420103e-03 4.66563155e-06 9.99996371e-01 -1.83382204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.784012739 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:45.11, Y:2.82, Z:-0.02 [[ 9.87002193e-01 -1.60684768e-01 -2.66026368e-03 4.51072037e+01] [ 1.60684203e-01 9.87005778e-01 -4.26307470e-04 2.81742788e+00] [ 2.69419674e-03 -6.69594162e-06 9.99996371e-01 -1.64456874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81401273899999 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:45.13, Y:2.82, Z:-0.01 [[ 9.86683457e-01 -1.62630500e-01 -2.66018599e-03 4.51344756e+01] [ 1.62629940e-01 9.86687043e-01 -4.26791708e-04 2.82113123e+00] [ 2.69418040e-03 -1.15175700e-05 9.99996371e-01 -1.47442623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84401273899999 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:45.16, Y:2.83, Z:-0.01 [[ 9.86321242e-01 -1.64813021e-01 -2.66010558e-03 4.51625498e+01] [ 1.64812468e-01 9.86324829e-01 -4.27292269e-04 2.82520728e+00] [ 2.69415151e-03 -1.69711240e-05 9.99996371e-01 -1.32939924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.874012738999994 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:45.19, Y:2.83, Z:-0.01 [[ 9.86325430e-01 -1.64787953e-01 -2.66002428e-03 4.51891874e+01] [ 1.64787399e-01 9.86329017e-01 -4.27797812e-04 2.82908689e+00] [ 2.69415506e-03 -1.63906203e-05 9.99996371e-01 -1.36135505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.904012738999995 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:45.22, Y:2.83, Z:-0.01 [[ 9.86639393e-01 -1.62897615e-01 -2.65998895e-03 4.52170528e+01] [ 1.62897053e-01 9.86642978e-01 -4.28017369e-04 2.83327380e+00] [ 2.69418243e-03 -1.10055650e-05 9.99996371e-01 -1.39791231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.934012738999996 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:45.24, Y:2.84, Z:-0.01 [[ 9.86896676e-01 -1.61331569e-01 -2.65990774e-03 4.52442121e+01] [ 1.61331000e-01 9.86900261e-01 -4.28521433e-04 2.83767759e+00] [ 2.69419768e-03 -6.21919953e-06 9.99996371e-01 -1.35642095e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.964012739 meters Centerline goodness : 0.993415 Centerline is valid? [True, True] Translation: X:45.27, Y:2.84, Z:-0.01 [[ 9.87293771e-01 -1.58883401e-01 -2.65982617e-03 4.52703370e+01] [ 1.58882822e-01 9.87297354e-01 -4.29027144e-04 2.84266325e+00] [ 2.69420463e-03 9.75138666e-07 9.99996371e-01 -1.36328685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99401273899999 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:45.30, Y:2.85, Z:-0.01 [[ 9.87406110e-01 -1.58183754e-01 -2.65977062e-03 4.52972259e+01] [ 1.58183172e-01 9.87409692e-01 -4.29371255e-04 2.84871181e+00] [ 2.69420285e-03 3.23284796e-06 9.99996371e-01 -1.46743198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02401273899999 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:45.32, Y:2.86, Z:-0.02 [[ 9.87740137e-01 -1.56084427e-01 -2.65968846e-03 4.53232573e+01] [ 1.56083836e-01 9.87743717e-01 -4.29879586e-04 2.85595512e+00] [ 2.69418808e-03 9.47494431e-06 9.99996371e-01 -1.68848843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.054012738999994 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:45.35, Y:2.86, Z:-0.02 [[ 9.87861863e-01 -1.55312155e-01 -2.65965263e-03 4.53498323e+01] [ 1.55311560e-01 9.87865443e-01 -4.30101188e-04 2.86143448e+00] [ 2.69417886e-03 1.18057621e-05 9.99996371e-01 -1.67570317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.084012738999995 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:45.38, Y:2.87, Z:-0.02 [[ 9.88188379e-01 -1.53220931e-01 -2.65961790e-03 4.53768464e+01] [ 1.53220328e-01 9.88191958e-01 -4.30315821e-04 2.86966982e+00] [ 2.69414641e-03 1.77255664e-05 9.99996371e-01 -1.59324147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.114012738999996 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:45.40, Y:2.88, Z:-0.02 [[ 9.88373703e-01 -1.52020885e-01 -2.65953792e-03 4.54029428e+01] [ 1.52020276e-01 9.88377281e-01 -4.30809539e-04 2.87780816e+00] [ 2.69411891e-03 2.14971316e-05 9.99996371e-01 -1.67202923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.144012739 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:45.43, Y:2.89, Z:-0.02 [[ 9.88517264e-01 -1.51084564e-01 -2.65950311e-03 4.54300034e+01] [ 1.51083951e-01 9.88520841e-01 -4.31024352e-04 2.88570300e+00] [ 2.69409538e-03 2.42667757e-05 9.99996371e-01 -1.67843302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17401273899999 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:45.46, Y:2.89, Z:-0.02 [[ 9.88487778e-01 -1.51277362e-01 -2.65941896e-03 4.54580802e+01] [ 1.51276749e-01 9.88491355e-01 -4.31542957e-04 2.89043588e+00] [ 2.69409533e-03 2.42666854e-05 9.99996371e-01 -1.67075904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20401273899999 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:45.48, Y:2.90, Z:-0.02 [[ 9.88718897e-01 -1.49759379e-01 -2.65933469e-03 4.54836859e+01] [ 1.49758758e-01 9.88722473e-01 -4.32061634e-04 2.89976450e+00] [ 2.69404925e-03 2.89288422e-05 9.99996371e-01 -1.72088444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23401273899999 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:45.51, Y:2.91, Z:-0.02 [[ 9.88811324e-01 -1.49147895e-01 -2.65929805e-03 4.55100519e+01] [ 1.49147271e-01 9.88814899e-01 -4.32287022e-04 2.91028298e+00] [ 2.69402823e-03 3.08232551e-05 9.99996371e-01 -1.51879613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.264012738999995 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:45.54, Y:2.92, Z:-0.01 [[ 9.88659749e-01 -1.50149357e-01 -2.65927374e-03 4.55373767e+01] [ 1.50148737e-01 9.88663325e-01 -4.32436529e-04 2.91890137e+00] [ 2.69405648e-03 2.82459987e-05 9.99996371e-01 -1.32116289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.294012738999996 meters Centerline goodness : 0.992702 Centerline is valid? [True, True] Translation: X:45.56, Y:2.93, Z:-0.01 [[ 9.88414036e-01 -1.51758432e-01 -2.65919051e-03 4.55637888e+01] [ 1.51757817e-01 9.88417613e-01 -4.32947688e-04 2.92684238e+00] [ 2.69409420e-03 2.43786254e-05 9.99996371e-01 -1.09324937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.324012739 meters Centerline goodness : 0.993089 Centerline is valid? [True, True] Translation: X:45.59, Y:2.94, Z:-0.01 [[ 9.87862777e-01 -1.55306354e-01 -2.65913334e-03 4.55900618e+01] [ 1.55305751e-01 9.87866355e-01 -4.33298586e-04 2.93724171e+00] [ 2.69416238e-03 1.50608457e-05 9.99996371e-01 -1.16389616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.354012739 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:45.62, Y:2.94, Z:-0.01 [[ 9.87549976e-01 -1.57283102e-01 -2.65905516e-03 4.56168889e+01] [ 1.57282504e-01 9.87553556e-01 -4.33777773e-04 2.94405589e+00] [ 2.69418530e-03 1.01543737e-05 9.99996371e-01 -1.26527003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38401273899999 meters Centerline goodness : 0.993919 Centerline is valid? [True, True] Translation: X:45.64, Y:2.95, Z:-0.02 [[ 9.86968594e-01 -1.60891032e-01 -2.65896952e-03 4.56434214e+01] [ 1.60890446e-01 9.86972176e-01 -4.34302150e-04 2.95107235e+00] [ 2.69420425e-03 8.39791968e-07 9.99996371e-01 -1.56414725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41401273899999 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:45.67, Y:2.96, Z:-0.02 [[ 9.86538760e-01 -1.63505976e-01 -2.65893227e-03 4.56700173e+01] [ 1.63505399e-01 9.86542344e-01 -4.34530052e-04 2.95531803e+00] [ 2.69419753e-03 -6.06904333e-06 9.99996371e-01 -1.50466395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.444012738999994 meters Centerline goodness : 0.994005 Centerline is valid? [True, True] Translation: X:45.70, Y:2.96, Z:-0.01 [[ 9.85640032e-01 -1.68839149e-01 -2.65887550e-03 4.56974750e+01] [ 1.68838590e-01 9.85643618e-01 -4.34877156e-04 2.95801102e+00] [ 2.69412796e-03 -2.02884573e-05 9.99996371e-01 -9.49801018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.474012738999996 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:45.72, Y:2.96, Z:-0.01 [[ 9.85215126e-01 -1.71301158e-01 -2.65879037e-03 4.57246254e+01] [ 1.71300607e-01 9.85218713e-01 -4.35397002e-04 2.96039571e+00] [ 2.69407404e-03 -2.64926930e-05 9.99996371e-01 -7.83821420e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.504012739 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:45.75, Y:2.96, Z:-0.01 [[ 9.84383133e-01 -1.76019254e-01 -2.65873204e-03 4.57521655e+01] [ 1.76018719e-01 9.84386723e-01 -4.35752889e-04 2.95737256e+00] [ 2.69392142e-03 -3.90388149e-05 9.99996371e-01 -7.53743618e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.534012739 meters Centerline goodness : 0.993486 Centerline is valid? [True, True] Translation: X:45.78, Y:2.96, Z:-0.01 [[ 9.84085207e-01 -1.77677341e-01 -2.65869684e-03 4.57799288e+01] [ 1.77676812e-01 9.84088797e-01 -4.35967578e-04 2.95846550e+00] [ 2.69385533e-03 -4.33595336e-05 9.99996371e-01 -7.98551970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56401273899999 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:45.81, Y:2.96, Z:-0.01 [[ 9.84034266e-01 -1.77959251e-01 -2.65861467e-03 4.58086233e+01] [ 1.77958722e-01 9.84037856e-01 -4.36468061e-04 2.95575484e+00] [ 2.69385101e-03 -4.36241408e-05 9.99996371e-01 -9.51533378e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.59401273899999 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:45.84, Y:2.96, Z:-0.01 [[ 9.84187170e-01 -1.77111679e-01 -2.65853261e-03 4.58365962e+01] [ 1.77111145e-01 9.84190760e-01 -4.36967346e-04 2.95622705e+00] [ 2.69389525e-03 -4.07980989e-05 9.99996371e-01 -1.17455215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.624012738999994 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:45.87, Y:2.95, Z:-0.01 [[ 9.84631557e-01 -1.74624254e-01 -2.65844993e-03 4.58653556e+01] [ 1.74623709e-01 9.84635145e-01 -4.37469770e-04 2.95197870e+00] [ 2.69399607e-03 -3.34818469e-05 9.99996371e-01 -1.47512070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.654012738999995 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:45.89, Y:2.95, Z:-0.01 [[ 9.84868076e-01 -1.73285330e-01 -2.65837241e-03 4.58926619e+01] [ 1.73284779e-01 9.84871664e-01 -4.37940334e-04 2.95300309e+00] [ 2.69404429e-03 -2.93420212e-05 9.99996371e-01 -1.49767519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.684012738999996 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:45.92, Y:2.96, Z:-0.01 [[ 9.85165482e-01 -1.71586439e-01 -2.65833626e-03 4.59211232e+01] [ 1.71585882e-01 9.85169068e-01 -4.38159693e-04 2.95519732e+00] [ 2.69409291e-03 -2.44731649e-05 9.99996371e-01 -1.37706575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.714012739 meters Centerline goodness : 0.994027 Centerline is valid? [True, True] Translation: X:45.95, Y:2.96, Z:-0.01 [[ 9.86151319e-01 -1.65826749e-01 -2.65825383e-03 4.59480236e+01] [ 1.65826169e-01 9.86154901e-01 -4.38659210e-04 2.95612809e+00] [ 2.69419147e-03 -8.22368914e-06 9.99996371e-01 -1.30493753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74401273899999 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:45.98, Y:2.96, Z:-0.01 [[ 9.87018441e-01 -1.60584966e-01 -2.65821787e-03 4.59761498e+01] [ 1.60584366e-01 9.87022020e-01 -4.38876991e-04 2.95691759e+00] [ 2.69419662e-03 6.31145178e-06 9.99996371e-01 -1.34969752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.77401273899999 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:46.00, Y:2.96, Z:-0.02 [[ 9.87386500e-01 -1.58306143e-01 -2.65813750e-03 4.60032656e+01] [ 1.58305534e-01 9.87390077e-01 -4.39363202e-04 2.96042553e+00] [ 2.69417249e-03 1.30234171e-05 9.99996371e-01 -1.53424532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.804012738999994 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:46.03, Y:2.96, Z:-0.02 [[ 9.87959009e-01 -1.54693021e-01 -2.65810256e-03 4.60309212e+01] [ 1.54692398e-01 9.87962585e-01 -4.39574491e-04 2.96449209e+00] [ 2.69410498e-03 2.30933179e-05 9.99996371e-01 -1.69306380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.834012738999995 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:46.06, Y:2.97, Z:-0.02 [[ 9.88118610e-01 -1.53670256e-01 -2.65802118e-03 4.60584152e+01] [ 1.53669628e-01 9.88122185e-01 -4.40066025e-04 2.96854621e+00] [ 2.69407476e-03 2.63803012e-05 9.99996371e-01 -1.63500745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.864012738999996 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:46.09, Y:2.97, Z:-0.02 [[ 9.88160363e-01 -1.53401538e-01 -2.65793960e-03 4.60853143e+01] [ 1.53400908e-01 9.88163938e-01 -4.40558218e-04 2.97226667e+00] [ 2.69406237e-03 2.76118218e-05 9.99996371e-01 -1.52104306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.894012739 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:46.11, Y:2.98, Z:-0.01 [[ 9.88158065e-01 -1.53416342e-01 -2.65788393e-03 4.61133626e+01] [ 1.53415711e-01 9.88161639e-01 -4.40893860e-04 2.97655173e+00] [ 2.69405926e-03 2.79116701e-05 9.99996371e-01 -1.46933317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92401273899999 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:46.14, Y:2.98, Z:-0.01 [[ 9.88167671e-01 -1.53354461e-01 -2.65780242e-03 4.61411569e+01] [ 1.53353828e-01 9.88171245e-01 -4.41384646e-04 2.98157778e+00] [ 2.69405223e-03 2.85778618e-05 9.99996371e-01 -1.15373203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.95401273899999 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:46.17, Y:2.99, Z:-0.01 [[ 9.88368908e-01 -1.52052093e-01 -2.65771882e-03 4.61689919e+01] [ 1.52051454e-01 9.88372480e-01 -4.41887469e-04 2.98648038e+00] [ 2.69400605e-03 3.26378230e-05 9.99996371e-01 -5.01757445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98401273899999 meters Centerline goodness : 0.993325 Centerline is valid? [True, True] Translation: X:46.20, Y:2.99, Z:-0.00 [[ 9.88547326e-01 -1.50887774e-01 -2.65763565e-03 4.61958788e+01] [ 1.50887130e-01 9.88550898e-01 -4.42387116e-04 2.99231692e+00] [ 2.69395891e-03 3.63175858e-05 9.99996371e-01 -2.98117197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.014012738999995 meters Centerline goodness : 0.993944 Centerline is valid? [True, True] Translation: X:46.22, Y:3.00, Z:-0.00 [[ 9.88656476e-01 -1.50170932e-01 -2.65760973e-03 4.62237032e+01] [ 1.50170284e-01 9.88660048e-01 -4.42542773e-04 2.99765830e+00] [ 2.69392962e-03 3.84287704e-05 9.99996371e-01 -4.82236512e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.044012738999996 meters Centerline goodness : 0.994993 Centerline is valid? [True, True] Translation: X:46.25, Y:3.00, Z:-0.01 [[ 9.89039691e-01 -1.47625967e-01 -2.65758401e-03 4.62507935e+01] [ 1.47625310e-01 9.89043261e-01 -4.42697143e-04 3.00364199e+00] [ 2.69381915e-03 4.55183821e-05 9.99996371e-01 -1.07111483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.074012739 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:46.28, Y:3.01, Z:-0.01 [[ 9.89230730e-01 -1.46340359e-01 -2.65755844e-03 4.62773153e+01] [ 1.46339697e-01 9.89234298e-01 -4.42850600e-04 3.00936892e+00] [ 2.69375487e-03 4.91751247e-05 9.99996371e-01 -1.29815377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.104012739 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:46.30, Y:3.02, Z:-0.01 [[ 9.89351748e-01 -1.45519949e-01 -2.65752314e-03 4.63043584e+01] [ 1.45519284e-01 9.89355316e-01 -4.43062323e-04 3.01554625e+00] [ 2.69370906e-03 5.16236190e-05 9.99996371e-01 -1.44994265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13401273899999 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:46.33, Y:3.02, Z:-0.01 [[ 9.89430958e-01 -1.44980407e-01 -2.65744165e-03 4.63299720e+01] [ 1.44979738e-01 9.89434525e-01 -4.43550539e-04 3.02317426e+00] [ 2.69367066e-03 5.35874395e-05 9.99996371e-01 -1.47195224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16401273899999 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:46.36, Y:3.03, Z:-0.01 [[ 9.89324553e-01 -1.45704728e-01 -2.65740621e-03 4.63574701e+01] [ 1.45704061e-01 9.89328120e-01 -4.43762807e-04 3.03118787e+00] [ 2.69370503e-03 5.18305637e-05 9.99996371e-01 -1.33460472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.194012738999994 meters Centerline goodness : 0.994636 Centerline is valid? [True, True] Translation: X:46.38, Y:3.04, Z:-0.01 [[ 9.89302131e-01 -1.45856891e-01 -2.65732541e-03 4.63832357e+01] [ 1.45856224e-01 9.89305698e-01 -4.44246105e-04 3.03819866e+00] [ 2.69370353e-03 5.19061679e-05 9.99996371e-01 -1.23977691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.224012738999996 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:46.41, Y:3.05, Z:-0.01 [[ 9.89297682e-01 -1.45887062e-01 -2.65729026e-03 4.64095991e+01] [ 1.45886395e-01 9.89301250e-01 -4.44456291e-04 3.04759099e+00] [ 2.69370099e-03 5.20370842e-05 9.99996371e-01 -9.56958380e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.254012739 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:46.44, Y:3.05, Z:-0.01 [[ 9.89323857e-01 -1.45709457e-01 -2.65721021e-03 4.64358218e+01] [ 1.45708787e-01 9.89327424e-01 -4.44934323e-04 3.05478389e+00] [ 2.69368207e-03 5.30052638e-05 9.99996371e-01 -9.08652866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.284012739 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:46.46, Y:3.06, Z:-0.01 [[ 9.89385981e-01 -1.45287025e-01 -2.65717537e-03 4.64632334e+01] [ 1.45286354e-01 9.89389548e-01 -4.45142291e-04 3.06299426e+00] [ 2.69365494e-03 5.43662219e-05 9.99996371e-01 -9.14801496e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31401273899999 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:46.49, Y:3.07, Z:-0.01 [[ 9.89675064e-01 -1.43304598e-01 -2.65709610e-03 4.64897641e+01] [ 1.43303918e-01 9.89678629e-01 -4.45614950e-04 3.07484259e+00] [ 2.69352990e-03 6.02417224e-05 9.99996371e-01 -1.20550836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34401273899999 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:46.52, Y:3.08, Z:-0.01 [[ 9.90007728e-01 -1.40988081e-01 -2.65701717e-03 4.65168767e+01] [ 1.40987391e-01 9.90011291e-01 -4.46085125e-04 3.08421257e+00] [ 2.69336968e-03 6.70218033e-05 9.99996371e-01 -1.17045186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.374012738999994 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:46.54, Y:3.09, Z:-0.01 [[ 9.90155685e-01 -1.39945201e-01 -2.65693832e-03 4.65432160e+01] [ 1.39944507e-01 9.90159248e-01 -4.46554242e-04 3.09059148e+00] [ 2.69328517e-03 7.03342995e-05 9.99996371e-01 -1.10405601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.404012738999995 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:46.57, Y:3.10, Z:-0.01 [[ 9.90251012e-01 -1.39269072e-01 -2.65688418e-03 4.65701345e+01] [ 1.39268374e-01 9.90254573e-01 -4.46876146e-04 3.09776964e+00] [ 2.69322773e-03 7.24996158e-05 9.99996371e-01 -9.55446842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.434012738999996 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:46.60, Y:3.11, Z:-0.01 [[ 9.90205776e-01 -1.39590339e-01 -2.65680618e-03 4.65965186e+01] [ 1.39589640e-01 9.90209338e-01 -4.47339382e-04 3.11161641e+00] [ 2.69323854e-03 7.20954210e-05 9.99996371e-01 -1.12540301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.464012739 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:46.62, Y:3.12, Z:-0.01 [[ 9.90127551e-01 -1.40144122e-01 -2.65672780e-03 4.66234544e+01] [ 1.40143424e-01 9.90131113e-01 -4.47804398e-04 3.12210657e+00] [ 2.69326601e-03 7.10605404e-05 9.99996371e-01 -1.49378160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49401273899999 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:46.65, Y:3.13, Z:-0.02 [[ 9.90064119e-01 -1.40591543e-01 -2.65664305e-03 4.66503376e+01] [ 1.40590846e-01 9.90067681e-01 -4.48306647e-04 3.12779714e+00] [ 2.69328454e-03 7.03526329e-05 9.99996371e-01 -1.53683490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52401273899999 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:46.68, Y:3.13, Z:-0.01 [[ 9.89980239e-01 -1.41180982e-01 -2.65658467e-03 4.66774303e+01] [ 1.41180286e-01 9.89983801e-01 -4.48652291e-04 3.13416146e+00] [ 2.69331696e-03 6.90995172e-05 9.99996371e-01 -1.40929043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.554012738999994 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:46.70, Y:3.14, Z:-0.01 [[ 9.89602887e-01 -1.43802190e-01 -2.65649917e-03 4.67036708e+01] [ 1.43801502e-01 9.89606450e-01 -4.49157997e-04 3.14312641e+00] [ 2.69347862e-03 6.24794787e-05 9.99996371e-01 -1.20151770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.584012738999995 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:46.73, Y:3.15, Z:-0.01 [[ 9.89333498e-01 -1.45643995e-01 -2.65646207e-03 4.67305693e+01] [ 1.45643313e-01 9.89337063e-01 -4.49377277e-04 3.14926386e+00] [ 2.69358549e-03 5.76880560e-05 9.99996371e-01 -1.27300644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.614012738999996 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:46.76, Y:3.15, Z:-0.01 [[ 9.88681957e-01 -1.50003102e-01 -2.65637720e-03 4.67571813e+01] [ 1.50002435e-01 9.88685525e-01 -4.49878405e-04 3.15422417e+00] [ 2.69380485e-03 4.63236131e-05 9.99996371e-01 -1.13017360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.644012739 meters Centerline goodness : 0.994191 Centerline is valid? [True, True] Translation: X:46.78, Y:3.16, Z:-0.01 [[ 9.88294614e-01 -1.52534260e-01 -2.65634029e-03 4.67846246e+01] [ 1.52533601e-01 9.88298183e-01 -4.50096286e-04 3.15864676e+00] [ 2.69391138e-03 3.96465870e-05 9.99996371e-01 -8.76507752e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67401273899999 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:46.81, Y:3.16, Z:-0.01 [[ 9.87423117e-01 -1.58077612e-01 -2.65625586e-03 4.68114645e+01] [ 1.58076972e-01 9.87426690e-01 -4.50593969e-04 3.16241276e+00] [ 2.69408675e-03 2.50340179e-05 9.99996371e-01 -5.84722047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70401273899999 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:46.84, Y:3.17, Z:-0.01 [[ 9.86929743e-01 -1.61129222e-01 -2.65621926e-03 4.68388865e+01] [ 1.61128592e-01 9.86933318e-01 -4.50809657e-04 3.16566427e+00] [ 2.69414989e-03 1.69245910e-05 9.99996371e-01 -8.92055125e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73401273899999 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:46.87, Y:3.17, Z:-0.01 [[ 9.86026294e-01 -1.66568580e-01 -2.65613364e-03 4.68663143e+01] [ 1.66567968e-01 9.86029872e-01 -4.51313546e-04 3.16579900e+00] [ 2.69420177e-03 2.58023969e-06 9.99996371e-01 -1.09589315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.764012738999995 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:46.89, Y:3.17, Z:-0.01 [[ 9.85629809e-01 -1.68898860e-01 -2.65607472e-03 4.68945707e+01] [ 1.68898256e-01 9.85633388e-01 -4.51659994e-04 3.16853096e+00] [ 2.69420079e-03 -3.43683513e-06 9.99996371e-01 -9.95645376e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.794012738999996 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:46.92, Y:3.17, Z:-0.01 [[ 9.84913831e-01 -1.73025120e-01 -2.65599769e-03 4.69226752e+01] [ 1.73024530e-01 9.84917412e-01 -4.52112522e-04 3.16833734e+00] [ 2.69416520e-03 -1.42608764e-05 9.99996371e-01 -7.58664064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.824012739 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:46.95, Y:3.17, Z:-0.01 [[ 9.84710949e-01 -1.74176042e-01 -2.65591306e-03 4.69499872e+01] [ 1.74175455e-01 9.84714530e-01 -4.52609171e-04 3.16987428e+00] [ 2.69414985e-03 -1.69056592e-05 9.99996371e-01 -5.90417482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.854012739 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:46.98, Y:3.17, Z:-0.00 [[ 9.84563982e-01 -1.75004892e-01 -2.65587650e-03 4.69786965e+01] [ 1.75004307e-01 9.84567564e-01 -4.52823573e-04 3.16969056e+00] [ 2.69413620e-03 -1.89560461e-05 9.99996371e-01 -4.81626490e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88401273899999 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:47.01, Y:3.17, Z:-0.01 [[ 9.84603628e-01 -1.74781701e-01 -2.65579275e-03 4.70063244e+01] [ 1.74781114e-01 9.84607209e-01 -4.53314262e-04 3.17315809e+00] [ 2.69414372e-03 -1.78475474e-05 9.99996371e-01 -5.52334199e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91401273899999 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:47.03, Y:3.18, Z:-0.01 [[ 9.84695717e-01 -1.74262134e-01 -2.65570874e-03 4.70342509e+01] [ 1.74261544e-01 9.84699299e-01 -4.53805883e-04 3.17682688e+00] [ 2.69415571e-03 -1.59271948e-05 9.99996371e-01 -7.46165362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.944012738999994 meters Centerline goodness : 0.995440 Centerline is valid? [True, True] Translation: X:47.06, Y:3.18, Z:-0.01 [[ 9.84613600e-01 -1.74725519e-01 -2.65568266e-03 4.70622756e+01] [ 1.74724930e-01 9.84617181e-01 -4.53958424e-04 3.17757484e+00] [ 2.69414890e-03 -1.70403296e-05 9.99996371e-01 -1.11459560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.974012738999996 meters Centerline goodness : 0.996600 Centerline is valid? [True, True] Translation: X:47.09, Y:3.18, Z:-0.01 [[ 9.84203922e-01 -1.77018609e-01 -2.65559861e-03 4.70911239e+01] [ 1.77018027e-01 9.84207504e-01 -4.54449590e-04 3.17607141e+00] [ 2.69410612e-03 -2.28177574e-05 9.99996371e-01 -1.11020664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.004012739 meters Centerline goodness : 0.996283 Centerline is valid? [True, True] Translation: X:47.12, Y:3.18, Z:-0.01 [[ 9.83999807e-01 -1.78149733e-01 -2.65551443e-03 4.71187351e+01] [ 1.78149154e-01 9.84003390e-01 -4.54940979e-04 3.17773150e+00] [ 2.69408281e-03 -2.54158123e-05 9.99996371e-01 -1.03200338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.034012739 meters Centerline goodness : 0.996398 Centerline is valid? [True, True] Translation: X:47.15, Y:3.18, Z:-0.01 [[ 9.83971327e-01 -1.78306975e-01 -2.65542846e-03 4.71466786e+01] [ 1.78306395e-01 9.83974909e-01 -4.55442214e-04 3.17983345e+00] [ 2.69408350e-03 -2.53377957e-05 9.99996371e-01 -1.03039303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06401273899999 meters Centerline goodness : 0.996398 Centerline is valid? [True, True] Translation: X:47.17, Y:3.18, Z:-0.01 [[ 9.83937561e-01 -1.78493209e-01 -2.65534210e-03 4.71747114e+01] [ 1.78492628e-01 9.83941143e-01 -4.55945125e-04 3.18482411e+00] [ 2.69408345e-03 -2.53374568e-05 9.99996371e-01 -1.02271911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.09401273899999 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:47.20, Y:3.18, Z:-0.01 [[ 9.84204562e-01 -1.77015057e-01 -2.65525571e-03 4.72022764e+01] [ 1.77014470e-01 9.84208143e-01 -4.56447686e-04 3.18460808e+00] [ 2.69412241e-03 -2.07807871e-05 9.99996371e-01 -1.16063894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.124012738999994 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:47.23, Y:3.19, Z:-0.01 [[ 9.84489162e-01 -1.75425310e-01 -2.65519681e-03 4.72299804e+01] [ 1.75424716e-01 9.84492743e-01 -4.56790087e-04 3.18707500e+00] [ 2.69415453e-03 -1.60822550e-05 9.99996371e-01 -1.16163224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.154012738999995 meters Centerline goodness : 0.997275 Centerline is valid? [True, True] Translation: X:47.26, Y:3.19, Z:-0.01 [[ 9.85096530e-01 -1.71981909e-01 -2.65511504e-03 4.72581412e+01] [ 1.71981301e-01 9.85100108e-01 -4.57264887e-04 3.18879705e+00] [ 2.69419540e-03 -6.18008447e-06 9.99996371e-01 -1.00161958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.184012738999996 meters Centerline goodness : 0.996941 Centerline is valid? [True, True] Translation: X:47.29, Y:3.19, Z:-0.01 [[ 9.85434558e-01 -1.70034357e-01 -2.65503088e-03 4.72852307e+01] [ 1.70033741e-01 9.85438135e-01 -4.57753009e-04 3.19254712e+00] [ 2.69420242e-03 -3.59198957e-07 9.99996371e-01 -8.86068045e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.214012739 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:47.31, Y:3.19, Z:-0.01 [[ 9.86162432e-01 -1.65760695e-01 -2.65499427e-03 4.73135565e+01] [ 1.65760062e-01 9.86166006e-01 -4.57965270e-04 3.19471696e+00] [ 2.69417773e-03 1.15361290e-05 9.99996371e-01 -6.25634066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24401273899999 meters Centerline goodness : 0.996736 Centerline is valid? [True, True] Translation: X:47.34, Y:3.20, Z:-0.01 [[ 9.86663046e-01 -1.62754367e-01 -2.65491016e-03 4.73404542e+01] [ 1.62753723e-01 9.86666618e-01 -4.58452358e-04 3.19572258e+00] [ 2.69412635e-03 2.02414881e-05 9.99996371e-01 -7.49386270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.27401273899999 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:47.37, Y:3.20, Z:-0.01 [[ 9.86827205e-01 -1.61756046e-01 -2.65487346e-03 4.73682803e+01] [ 1.61755397e-01 9.86830776e-01 -4.58664737e-04 3.19918204e+00] [ 2.69410264e-03 2.31827294e-05 9.99996371e-01 -9.21460729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.304012738999994 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:47.40, Y:3.20, Z:-0.01 [[ 9.87003986e-01 -1.60673840e-01 -2.65478954e-03 4.73958806e+01] [ 1.60673186e-01 9.87007556e-01 -4.59149990e-04 3.20326665e+00] [ 2.69407073e-03 2.66293765e-05 9.99996371e-01 -9.37050431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.334012738999995 meters Centerline goodness : 0.996836 Centerline is valid? [True, True] Translation: X:47.42, Y:3.21, Z:-0.01 [[ 9.87340308e-01 -1.58594040e-01 -2.65470469e-03 4.74239721e+01] [ 1.58593377e-01 9.87343876e-01 -4.59640045e-04 3.20735428e+00] [ 2.69400259e-03 3.28025611e-05 9.99996371e-01 -7.64108162e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.364012738999996 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:47.45, Y:3.21, Z:-0.01 [[ 9.87432002e-01 -1.58022130e-01 -2.65461977e-03 4.74512064e+01] [ 1.58021464e-01 9.87435570e-01 -4.60129970e-04 3.21117816e+00] [ 2.69397670e-03 3.48601560e-05 9.99996371e-01 -6.89492645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.394012739 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:47.48, Y:3.21, Z:-0.01 [[ 9.87639124e-01 -1.56722410e-01 -2.65453440e-03 4.74776134e+01] [ 1.56721738e-01 9.87642691e-01 -4.60621968e-04 3.21489297e+00] [ 2.69392128e-03 3.89050334e-05 9.99996371e-01 -5.64564583e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42401273899999 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:47.50, Y:3.22, Z:-0.00 [[ 9.87810188e-01 -1.55640569e-01 -2.65449713e-03 4.75039428e+01] [ 1.55639893e-01 9.87813753e-01 -4.60836638e-04 3.22222501e+00] [ 2.69387365e-03 4.20734769e-05 9.99996371e-01 -4.18064400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.45401273899999 meters Centerline goodness : 0.996878 Centerline is valid? [True, True] Translation: X:47.53, Y:3.23, Z:-0.00 [[ 9.87888007e-01 -1.55145867e-01 -2.65446009e-03 4.75310116e+01] [ 1.55145188e-01 9.87891572e-01 -4.61049915e-04 3.22746706e+00] [ 2.69384874e-03 4.36389722e-05 9.99996371e-01 -3.40427850e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48401273899999 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:47.56, Y:3.23, Z:-0.00 [[ 9.87908370e-01 -1.55016150e-01 -2.65437540e-03 4.75582504e+01] [ 1.55015469e-01 9.87911935e-01 -4.61536983e-04 3.23256734e+00] [ 2.69383482e-03 4.44870020e-05 9.99996371e-01 -4.63278700e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.514012738999995 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:47.59, Y:3.24, Z:-0.01 [[ 9.87888703e-01 -1.55141437e-01 -2.65428797e-03 4.75854897e+01] [ 1.55140755e-01 9.87892268e-01 -4.62039240e-04 3.23873085e+00] [ 2.69383199e-03 4.46551067e-05 9.99996371e-01 -8.07967083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.544012738999996 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:47.61, Y:3.25, Z:-0.01 [[ 9.87903998e-01 -1.55044012e-01 -2.65419896e-03 4.76113799e+01] [ 1.55043329e-01 9.87907563e-01 -4.62549994e-04 3.24508952e+00] [ 2.69381883e-03 4.54391470e-05 9.99996371e-01 -1.12539271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.574012739 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:47.64, Y:3.25, Z:-0.01 [[ 9.88038779e-01 -1.54182772e-01 -2.65416019e-03 4.76378366e+01] [ 1.54182085e-01 9.88042343e-01 -4.62772352e-04 3.25323306e+00] [ 2.69377417e-03 4.80130787e-05 9.99996371e-01 -1.38220961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.604012739 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:47.66, Y:3.26, Z:-0.01 [[ 9.88096115e-01 -1.53814902e-01 -2.65412215e-03 4.76639739e+01] [ 1.53814213e-01 9.88099678e-01 -4.62990381e-04 3.25926214e+00] [ 2.69375206e-03 4.92372876e-05 9.99996371e-01 -1.26689646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63401273899999 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:47.69, Y:3.27, Z:-0.01 [[ 9.88137044e-01 -1.53551744e-01 -2.65408479e-03 4.76909939e+01] [ 1.53551054e-01 9.88140607e-01 -4.63204451e-04 3.26918736e+00] [ 2.69373481e-03 5.01719605e-05 9.99996371e-01 -1.12327242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66401273899999 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:47.72, Y:3.28, Z:-0.01 [[ 9.88112134e-01 -1.53711963e-01 -2.65400213e-03 4.77180742e+01] [ 1.53711271e-01 9.88115697e-01 -4.63677584e-04 3.27776867e+00] [ 2.69373396e-03 5.02154051e-05 9.99996371e-01 -1.11743470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.694012738999994 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:47.74, Y:3.29, Z:-0.01 [[ 9.88094430e-01 -1.53825729e-01 -2.65391290e-03 4.77438242e+01] [ 1.53825037e-01 9.88097992e-01 -4.64187729e-04 3.28542359e+00] [ 2.69373003e-03 5.04230585e-05 9.99996371e-01 -1.19900885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.724012738999996 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:47.77, Y:3.29, Z:-0.01 [[ 9.88138740e-01 -1.53540835e-01 -2.65385145e-03 4.77691127e+01] [ 1.53540140e-01 9.88142302e-01 -4.64538808e-04 3.29499354e+00] [ 2.69370856e-03 5.15560679e-05 9.99996371e-01 -1.23613878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.754012739 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:47.79, Y:3.30, Z:-0.01 [[ 9.87952422e-01 -1.54735159e-01 -2.65381411e-03 4.77945769e+01] [ 1.54734469e-01 9.87955985e-01 -4.64752033e-04 3.30318993e+00] [ 2.69376501e-03 4.85163811e-05 9.99996371e-01 -1.05146655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.784012739 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:47.82, Y:3.31, Z:-0.01 [[ 9.87804036e-01 -1.55679618e-01 -2.65377747e-03 4.78216340e+01] [ 1.55678931e-01 9.87807600e-01 -4.64961164e-04 3.30971003e+00] [ 2.69380653e-03 4.61532756e-05 9.99996371e-01 -9.49074577e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81401273899999 meters Centerline goodness : 0.997693 Centerline is valid? [True, True] Translation: X:47.85, Y:3.32, Z:-0.01 [[ 9.87729570e-01 -1.56151381e-01 -2.65369269e-03 4.78477064e+01] [ 1.56150694e-01 9.87733134e-01 -4.65444529e-04 3.31672589e+00] [ 2.69382000e-03 4.53573698e-05 9.99996371e-01 -8.33127650e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84401273899999 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:47.87, Y:3.33, Z:-0.01 [[ 9.87502397e-01 -1.57581641e-01 -2.65365591e-03 4.78745875e+01] [ 1.57580959e-01 9.87505962e-01 -4.65654122e-04 3.32622903e+00] [ 2.69387957e-03 4.16689185e-05 9.99996371e-01 -9.42368864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.874012738999994 meters Centerline goodness : 0.997830 Centerline is valid? [True, True] Translation: X:47.90, Y:3.33, Z:-0.01 [[ 9.87264086e-01 -1.59067858e-01 -2.65357036e-03 4.79020889e+01] [ 1.59067180e-01 9.87267651e-01 -4.66141121e-04 3.33250006e+00] [ 2.69393225e-03 3.81084335e-05 9.99996371e-01 -9.36624038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.904012738999995 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:47.93, Y:3.34, Z:-0.01 [[ 9.86625665e-01 -1.62980847e-01 -2.65348501e-03 4.79296016e+01] [ 1.62980181e-01 9.86629233e-01 -4.66626481e-04 3.33951628e+00] [ 2.69405706e-03 2.79201950e-05 9.99996371e-01 -7.19922459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.934012738999996 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:47.96, Y:3.35, Z:-0.01 [[ 9.86112579e-01 -1.66057042e-01 -2.65339762e-03 4.79561338e+01] [ 1.66056386e-01 9.86116149e-01 -4.67122858e-04 3.34513555e+00] [ 2.69412728e-03 2.00221055e-05 9.99996371e-01 -7.66520721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.964012739 meters Centerline goodness : 0.997734 Centerline is valid? [True, True] Translation: X:47.98, Y:3.35, Z:-0.01 [[ 9.84759466e-01 -1.73901563e-01 -2.65335990e-03 4.79842162e+01] [ 1.73900935e-01 9.84763041e-01 -4.67337044e-04 3.34932655e+00] [ 2.69420140e-03 -1.20718963e-06 9.99996371e-01 -8.65367433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99401273899999 meters Centerline goodness : 0.997341 Centerline is valid? [True, True] Translation: X:48.01, Y:3.35, Z:-0.01 [[ 9.83921547e-01 -1.78581493e-01 -2.65327584e-03 4.80117863e+01] [ 1.78580881e-01 9.83925124e-01 -4.67813808e-04 3.35246379e+00] [ 2.69416765e-03 -1.35322505e-05 9.99996371e-01 -9.36399445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02401273899999 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:48.04, Y:3.35, Z:-0.01 [[ 9.83034235e-01 -1.83402980e-01 -2.65318964e-03 4.80392897e+01] [ 1.83402384e-01 9.83037815e-01 -4.68302178e-04 3.35496042e+00] [ 2.69407376e-03 -2.62442322e-05 9.99996371e-01 -9.92462153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.054012738999994 meters Centerline goodness : 0.997596 Centerline is valid? [True, True] Translation: X:48.07, Y:3.36, Z:-0.01 [[ 9.81361605e-01 -1.92151920e-01 -2.65310033e-03 4.80673814e+01] [ 1.92151355e-01 9.81365190e-01 -4.68807612e-04 3.35541113e+00] [ 2.69374259e-03 -4.97270306e-05 9.99996371e-01 -1.05185280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.084012738999995 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:48.10, Y:3.35, Z:-0.01 [[ 9.80451175e-01 -1.96744642e-01 -2.65301013e-03 4.80955780e+01] [ 1.96744092e-01 9.80454763e-01 -4.69317459e-04 3.35406809e+00] [ 2.69349212e-03 -6.18212160e-05 9.99996371e-01 -1.47996689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.114012738999996 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:48.12, Y:3.36, Z:-0.02 [[ 9.80396873e-01 -1.97015056e-01 -2.65298224e-03 4.81236926e+01] [ 1.97014506e-01 9.80400461e-01 -4.69475058e-04 3.35566700e+00] [ 2.69347867e-03 -6.24041073e-05 9.99996371e-01 -1.65131128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.144012739 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:48.15, Y:3.36, Z:-0.02 [[ 9.80517563e-01 -1.96413519e-01 -2.65289438e-03 4.81518989e+01] [ 1.96412966e-01 9.80521150e-01 -4.69971061e-04 3.35754636e+00] [ 2.69352771e-03 -6.02479725e-05 9.99996371e-01 -1.72170363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17401273899999 meters Centerline goodness : 0.998125 Centerline is valid? [True, True] Translation: X:48.18, Y:3.36, Z:-0.01 [[ 9.80889175e-01 -1.94549195e-01 -2.65280636e-03 4.81807955e+01] [ 1.94548634e-01 9.80892761e-01 -4.70467328e-04 3.35766559e+00] [ 2.69364760e-03 -5.46235457e-05 9.99996371e-01 -1.34017245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20401273899999 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:48.21, Y:3.36, Z:-0.01 [[ 9.81224196e-01 -1.92852380e-01 -2.65272691e-03 4.82085582e+01] [ 1.92851811e-01 9.81227780e-01 -4.70914923e-04 3.35678751e+00] [ 2.69374640e-03 -4.95100717e-05 9.99996371e-01 -1.43055257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23401273899999 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:48.24, Y:3.36, Z:-0.02 [[ 9.81307312e-01 -1.92429007e-01 -2.65268747e-03 4.82369983e+01] [ 1.92428436e-01 9.81310896e-01 -4.71136954e-04 3.35843607e+00] [ 2.69377154e-03 -4.81223637e-05 9.99996371e-01 -1.55551032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.264012738999995 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:48.26, Y:3.36, Z:-0.02 [[ 9.81402120e-01 -1.91944895e-01 -2.65260418e-03 4.82648170e+01] [ 1.91944322e-01 9.81405704e-01 -4.71605451e-04 3.36001082e+00] [ 2.69380313e-03 -4.63177195e-05 9.99996371e-01 -1.66234306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.294012738999996 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:48.29, Y:3.36, Z:-0.02 [[ 9.81917324e-01 -1.89291663e-01 -2.65251723e-03 4.82917848e+01] [ 1.89291079e-01 9.81920906e-01 -4.72093969e-04 3.35988004e+00] [ 2.69392557e-03 -3.85406008e-05 9.99996371e-01 -1.62729627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.324012739 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:48.32, Y:3.36, Z:-0.01 [[ 9.82166304e-01 -1.87995522e-01 -2.65247947e-03 4.83193011e+01] [ 1.87994932e-01 9.82169885e-01 -4.72306043e-04 3.36392057e+00] [ 2.69397688e-03 -3.47696167e-05 9.99996371e-01 -1.42074578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.354012739 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:48.35, Y:3.37, Z:-0.01 [[ 9.82738737e-01 -1.84979837e-01 -2.65238990e-03 4.83467886e+01] [ 1.84979234e-01 9.82742316e-01 -4.72808515e-04 3.36685239e+00] [ 2.69407583e-03 -2.59898096e-05 9.99996371e-01 -1.30492914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38401273899999 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:48.37, Y:3.37, Z:-0.01 [[ 9.82932207e-01 -1.83949017e-01 -2.65230074e-03 4.83732804e+01] [ 1.83948410e-01 9.82935786e-01 -4.73308139e-04 3.36957373e+00] [ 2.69410588e-03 -2.26566899e-05 9.99996371e-01 -1.40101965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41401273899999 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:48.40, Y:3.37, Z:-0.02 [[ 9.83228190e-01 -1.82360337e-01 -2.65223976e-03 4.84017337e+01] [ 1.82359723e-01 9.83231767e-01 -4.73649603e-04 3.37076053e+00] [ 2.69414129e-03 -1.79560661e-05 9.99996371e-01 -1.56311445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.444012738999994 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:48.43, Y:3.37, Z:-0.02 [[ 9.83461778e-01 -1.81096378e-01 -2.65214881e-03 4.84289351e+01] [ 1.81095757e-01 9.83465354e-01 -4.74158350e-04 3.37475427e+00] [ 2.69416482e-03 -1.39762823e-05 9.99996371e-01 -1.65699956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.474012738999996 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:48.46, Y:3.38, Z:-0.02 [[ 9.83792100e-01 -1.79293250e-01 -2.65205831e-03 4.84566394e+01] [ 1.79292622e-01 9.83795675e-01 -4.74663962e-04 3.37690803e+00] [ 2.69418754e-03 -8.52383340e-06 9.99996371e-01 -1.59654405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.504012739 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:48.48, Y:3.38, Z:-0.02 [[ 9.83698879e-01 -1.79804012e-01 -2.65196836e-03 4.84833215e+01] [ 1.79803384e-01 9.83702454e-01 -4.75165984e-04 3.37961402e+00] [ 2.69418453e-03 -9.41264062e-06 9.99996371e-01 -1.53263483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.534012739 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:48.51, Y:3.38, Z:-0.02 [[ 9.83321862e-01 -1.81854567e-01 -2.65192923e-03 4.85115922e+01] [ 1.81853946e-01 9.83325438e-01 -4.75384285e-04 3.38158968e+00] [ 2.69416027e-03 -1.48080340e-05 9.99996371e-01 -1.50047039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56401273899999 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:48.54, Y:3.38, Z:-0.02 [[ 9.83213391e-01 -1.82440115e-01 -2.65184115e-03 4.85387220e+01] [ 1.82439496e-01 9.83216967e-01 -4.75875110e-04 3.38433721e+00] [ 2.69415392e-03 -1.59137810e-05 9.99996371e-01 -1.58877036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.59401273899999 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:48.57, Y:3.39, Z:-0.01 [[ 9.83177482e-01 -1.82633533e-01 -2.65180297e-03 4.85670714e+01] [ 1.82632913e-01 9.83181058e-01 -4.76087801e-04 3.38699549e+00] [ 2.69415204e-03 -1.62276958e-05 9.99996371e-01 -1.46391853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.624012738999994 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:48.60, Y:3.39, Z:-0.01 [[ 9.83431773e-01 -1.81259253e-01 -2.65171343e-03 4.85950137e+01] [ 1.81258627e-01 9.83435348e-01 -4.76585970e-04 3.38787851e+00] [ 2.69417434e-03 -1.19561494e-05 9.99996371e-01 -1.12342924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.654012738999995 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:48.62, Y:3.39, Z:-0.01 [[ 9.84011667e-01 -1.78084269e-01 -2.65167134e-03 4.86219310e+01] [ 1.78083631e-01 9.84015240e-01 -4.76820046e-04 3.39260017e+00] [ 2.69419916e-03 -3.02277128e-06 9.99996371e-01 -1.00867572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.684012738999996 meters Centerline goodness : 0.998314 Centerline is valid? [True, True] Translation: X:48.65, Y:3.40, Z:-0.01 [[ 9.84420116e-01 -1.75812410e-01 -2.65163272e-03 4.86489067e+01] [ 1.75811763e-01 9.84423687e-01 -4.77034733e-04 3.39729447e+00] [ 2.69419868e-03 3.41436360e-06 9.99996371e-01 -1.10693001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.714012739 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:48.68, Y:3.40, Z:-0.01 [[ 9.85307166e-01 -1.70771069e-01 -2.65159436e-03 4.86757776e+01] [ 1.70770403e-01 9.85310734e-01 -4.77247851e-04 3.40408561e+00] [ 2.69414451e-03 1.74218913e-05 9.99996371e-01 -1.31494466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74401273899999 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:48.70, Y:3.41, Z:-0.01 [[ 9.85725904e-01 -1.68337199e-01 -2.65150842e-03 4.87025756e+01] [ 1.68336523e-01 9.85729469e-01 -4.77724857e-04 3.41180653e+00] [ 2.69408885e-03 2.45600597e-05 9.99996371e-01 -1.31480206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.77401273899999 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:48.73, Y:3.42, Z:-0.01 [[ 9.86247507e-01 -1.65253820e-01 -2.65142101e-03 4.87281138e+01] [ 1.65253132e-01 9.86251070e-01 -4.78209494e-04 3.42150548e+00] [ 2.69399275e-03 3.34772956e-05 9.99996371e-01 -1.44901098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.804012738999994 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:48.76, Y:3.43, Z:-0.01 [[ 9.86238527e-01 -1.65307402e-01 -2.65136129e-03 4.87555272e+01] [ 1.65306713e-01 9.86242091e-01 -4.78540355e-04 3.42798054e+00] [ 2.69399037e-03 3.36671153e-05 9.99996371e-01 -1.44426324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.834012738999995 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:48.78, Y:3.44, Z:-0.01 [[ 9.85901089e-01 -1.67308137e-01 -2.65127458e-03 4.87823083e+01] [ 1.67307453e-01 9.85904654e-01 -4.79020281e-04 3.43630511e+00] [ 2.69404794e-03 2.86886181e-05 9.99996371e-01 -1.47306285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.864012738999996 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:48.81, Y:3.44, Z:-0.02 [[ 9.85703048e-01 -1.68470981e-01 -2.65118802e-03 4.88090194e+01] [ 1.68470301e-01 9.85706613e-01 -4.79498874e-04 3.44415616e+00] [ 2.69407521e-03 2.59970577e-05 9.99996371e-01 -1.50565317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.894012739 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:48.84, Y:3.46, Z:-0.01 [[ 9.85558160e-01 -1.69316521e-01 -2.65110061e-03 4.88352275e+01] [ 1.69315843e-01 9.85561726e-01 -4.79981689e-04 3.45501843e+00] [ 2.69409212e-03 2.41765366e-05 9.99996371e-01 -1.38659579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92401273899999 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:48.86, Y:3.46, Z:-0.01 [[ 9.85446354e-01 -1.69966040e-01 -2.65107350e-03 4.88628847e+01] [ 1.69965363e-01 9.85449920e-01 -4.80131378e-04 3.46195280e+00] [ 2.69410619e-03 2.25530465e-05 9.99996371e-01 -1.25506977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.95401273899999 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:48.89, Y:3.47, Z:-0.01 [[ 9.84972546e-01 -1.72690635e-01 -2.65098767e-03 4.88903764e+01] [ 1.72689967e-01 9.84976114e-01 -4.80604780e-04 3.46821815e+00] [ 2.69415548e-03 1.55835399e-05 9.99996371e-01 -1.15168203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98401273899999 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:48.92, Y:3.47, Z:-0.01 [[ 9.84941785e-01 -1.72865994e-01 -2.65090157e-03 4.89183619e+01] [ 1.72865326e-01 9.84945353e-01 -4.81079231e-04 3.47349920e+00] [ 2.69415542e-03 1.55860744e-05 9.99996371e-01 -1.14400815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.014012738999995 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:48.95, Y:3.48, Z:-0.01 [[ 9.84631525e-01 -1.74624546e-01 -2.65081584e-03 4.89452043e+01] [ 1.74623883e-01 9.84635094e-01 -4.81551174e-04 3.47954778e+00] [ 2.69417695e-03 1.12547129e-05 9.99996371e-01 -1.05471985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.044012738999996 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:48.97, Y:3.49, Z:-0.01 [[ 9.84144608e-01 -1.77348143e-01 -2.65077839e-03 4.89719535e+01] [ 1.77347489e-01 9.84148178e-01 -4.81757233e-04 3.48807008e+00] [ 2.69419747e-03 4.00989292e-06 9.99996371e-01 -9.28216009e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.074012739 meters Centerline goodness : 0.997353 Centerline is valid? [True, True] Translation: X:49.00, Y:3.49, Z:-0.01 [[ 9.83984571e-01 -1.78233939e-01 -2.65069284e-03 4.89983872e+01] [ 1.78233286e-01 9.83988142e-01 -4.82227481e-04 3.49337409e+00] [ 2.69419962e-03 2.06270510e-06 9.99996371e-01 -9.00873134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.104012739 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:49.03, Y:3.50, Z:-0.01 [[ 9.83764017e-01 -1.79447301e-01 -2.65063455e-03 4.90262164e+01] [ 1.79446653e-01 9.83767587e-01 -4.82547655e-04 3.49764957e+00] [ 2.69420023e-03 -9.34477237e-07 9.99996371e-01 -7.87893327e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13401273899999 meters Centerline goodness : 0.997231 Centerline is valid? [True, True] Translation: X:49.05, Y:3.50, Z:-0.00 [[ 9.83354273e-01 -1.81679247e-01 -2.65054986e-03 4.90533911e+01] [ 1.81678605e-01 9.83357845e-01 -4.83012367e-04 3.50019868e+00] [ 2.69419233e-03 -6.57592633e-06 9.99996371e-01 -4.16164046e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16401273899999 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:49.08, Y:3.50, Z:-0.01 [[ 9.82984134e-01 -1.83671355e-01 -2.65051299e-03 4.90810957e+01] [ 1.83670720e-01 9.82987708e-01 -4.83214630e-04 3.50395447e+00] [ 2.69417437e-03 -1.18293142e-05 9.99996371e-01 -5.24087776e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.194012738999994 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:49.11, Y:3.51, Z:-0.01 [[ 9.82821808e-01 -1.84537988e-01 -2.65042913e-03 4.91074450e+01] [ 1.84537355e-01 9.82825382e-01 -4.83674146e-04 3.50731875e+00] [ 2.69416528e-03 -1.37376831e-05 9.99996371e-01 -6.31633670e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.224012738999996 meters Centerline goodness : 0.997162 Centerline is valid? [True, True] Translation: X:49.14, Y:3.51, Z:-0.01 [[ 9.82721357e-01 -1.85072176e-01 -2.65039270e-03 4.91350805e+01] [ 1.85071544e-01 9.82724931e-01 -4.83873689e-04 3.51088314e+00] [ 2.69415854e-03 -1.49992604e-05 9.99996371e-01 -7.52679634e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.254012739 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:49.16, Y:3.51, Z:-0.01 [[ 9.82923756e-01 -1.83994198e-01 -2.65030931e-03 4.91629313e+01] [ 1.83993561e-01 9.82927329e-01 -4.84330024e-04 3.51393508e+00] [ 2.69417537e-03 -1.15803603e-05 9.99996371e-01 -9.78948133e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.284012739 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:49.19, Y:3.52, Z:-0.01 [[ 9.83184948e-01 -1.82593358e-01 -2.65028353e-03 4.91905866e+01] [ 1.82592716e-01 9.83188520e-01 -4.84471039e-04 3.51892591e+00] [ 2.69418954e-03 -7.59783430e-06 9.99996371e-01 -9.31446386e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31401273899999 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:49.22, Y:3.52, Z:-0.01 [[ 9.83821969e-01 -1.79129311e-01 -2.65019520e-03 4.92175932e+01] [ 1.79128654e-01 9.83825538e-01 -4.84953767e-04 3.52464764e+00] [ 2.69419915e-03 2.38227051e-06 9.99996371e-01 -7.92723192e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34401273899999 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:49.25, Y:3.53, Z:-0.01 [[ 9.84109051e-01 -1.77545355e-01 -2.65016768e-03 4.92451186e+01] [ 1.77544692e-01 9.84112619e-01 -4.85104103e-04 3.53088692e+00] [ 2.69419144e-03 6.87213281e-06 9.99996371e-01 -7.46492940e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.374012738999994 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:49.27, Y:3.54, Z:-0.01 [[ 9.84759985e-01 -1.73898677e-01 -2.65008587e-03 4.92717695e+01] [ 1.73898000e-01 9.84763550e-01 -4.85550622e-04 3.53777662e+00] [ 2.69414458e-03 1.73061899e-05 9.99996371e-01 -1.03972645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.404012738999995 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:49.30, Y:3.54, Z:-0.01 [[ 9.85002620e-01 -1.72519028e-01 -2.65005021e-03 4.92987716e+01] [ 1.72518345e-01 9.85006185e-01 -4.85745183e-04 3.54411245e+00] [ 2.69411613e-03 2.12780015e-05 9.99996371e-01 -1.29520651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.434012738999996 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:49.33, Y:3.55, Z:-0.01 [[ 9.85261310e-01 -1.71035462e-01 -2.65002492e-03 4.93258832e+01] [ 1.71034774e-01 9.85264873e-01 -4.85883114e-04 3.55093670e+00] [ 2.69407971e-03 2.54754215e-05 9.99996371e-01 -1.40456277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.464012739 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:49.35, Y:3.56, Z:-0.01 [[ 9.85862954e-01 -1.67532723e-01 -2.64994371e-03 4.93520573e+01] [ 1.67532021e-01 9.85866515e-01 -4.86325628e-04 3.56055023e+00] [ 2.69396622e-03 3.54999944e-05 9.99996371e-01 -1.29072492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49401273899999 meters Centerline goodness : 0.997392 Centerline is valid? [True, True] Translation: X:49.38, Y:3.57, Z:-0.01 [[ 9.85991352e-01 -1.66775394e-01 -2.64986268e-03 4.93801067e+01] [ 1.66774688e-01 9.85994912e-01 -4.86766721e-04 3.56905023e+00] [ 2.69393183e-03 3.80177562e-05 9.99996371e-01 -1.11206025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52401273899999 meters Centerline goodness : 0.996743 Centerline is valid? [True, True] Translation: X:49.41, Y:3.58, Z:-0.01 [[ 9.85770346e-01 -1.68076779e-01 -2.64979160e-03 4.94074276e+01] [ 1.68076077e-01 9.85773907e-01 -4.87153358e-04 3.57626635e+00] [ 2.69397458e-03 3.48547584e-05 9.99996371e-01 -1.00721308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.554012738999994 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:49.43, Y:3.58, Z:-0.01 [[ 9.85472520e-01 -1.69814283e-01 -2.64971030e-03 4.94346446e+01] [ 1.69813586e-01 9.85476082e-01 -4.87595128e-04 3.58322921e+00] [ 2.69402675e-03 3.05547909e-05 9.99996371e-01 -7.74731920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.584012738999995 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:49.46, Y:3.59, Z:-0.00 [[ 9.84772282e-01 -1.73829033e-01 -2.64962295e-03 4.94618659e+01] [ 1.73828349e-01 9.84775846e-01 -4.88069351e-04 3.59065537e+00] [ 2.69412531e-03 2.00575866e-05 9.99996371e-01 -3.77649351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.614012738999996 meters Centerline goodness : 0.996978 Centerline is valid? [True, True] Translation: X:49.49, Y:3.60, Z:-0.00 [[ 9.84423025e-01 -1.75796155e-01 -2.64953470e-03 4.94890781e+01] [ 1.75795477e-01 9.84426590e-01 -4.88547983e-04 3.59734254e+00] [ 2.69415726e-03 1.51616674e-05 9.99996371e-01 -2.18389499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.644012739 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:49.52, Y:3.61, Z:-0.00 [[ 9.83801731e-01 -1.79240440e-01 -2.64944582e-03 4.95161637e+01] [ 1.79239773e-01 9.83805298e-01 -4.89029505e-04 3.60710840e+00] [ 2.69419270e-03 6.22200807e-06 9.99996371e-01 -3.05925531e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67401273899999 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:49.54, Y:3.61, Z:-0.01 [[ 9.83216029e-01 -1.82425933e-01 -2.64935763e-03 4.95435794e+01] [ 1.82425277e-01 9.83219598e-01 -4.89506794e-04 3.61404841e+00] [ 2.69419908e-03 -2.01887266e-06 9.99996371e-01 -6.57907429e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70401273899999 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:49.57, Y:3.62, Z:-0.01 [[ 9.82977245e-01 -1.83708236e-01 -2.64933028e-03 4.95715287e+01] [ 1.83707584e-01 9.82980816e-01 -4.89654774e-04 3.61917899e+00] [ 2.69419446e-03 -5.38256366e-06 9.99996371e-01 -6.50127677e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73401273899999 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:49.60, Y:3.62, Z:-0.01 [[ 9.82838648e-01 -1.84448295e-01 -2.64924348e-03 4.95986691e+01] [ 1.84447644e-01 9.82842218e-01 -4.90123970e-04 3.62498421e+00] [ 2.69419087e-03 -6.93393755e-06 9.99996371e-01 -5.56353008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.764012738999995 meters Centerline goodness : 0.997203 Centerline is valid? [True, True] Translation: X:49.63, Y:3.63, Z:-0.00 [[ 9.82757525e-01 -1.84880039e-01 -2.64915681e-03 4.96263466e+01] [ 1.84879388e-01 9.82761096e-01 -4.90591963e-04 3.63143743e+00] [ 2.69418891e-03 -7.64154688e-06 9.99996371e-01 -1.94792586e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.794012738999996 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:49.65, Y:3.64, Z:0.00 [[ 9.82842433e-01 -1.84428126e-01 -2.64906722e-03 4.96541413e+01] [ 1.84427472e-01 9.82846003e-01 -4.91075249e-04 3.63642294e+00] [ 2.69419322e-03 -5.91117921e-06 9.99996371e-01 1.70861151e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.824012739 meters Centerline goodness : 0.996645 Centerline is valid? [True, True] Translation: X:49.68, Y:3.64, Z:0.00 [[ 9.83058342e-01 -1.83273782e-01 -2.64897580e-03 4.96805437e+01] [ 1.83273122e-01 9.83061911e-01 -4.91567880e-04 3.64007733e+00] [ 2.69419872e-03 -2.24616174e-06 9.99996371e-01 2.29423353e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.854012739 meters Centerline goodness : 0.996733 Centerline is valid? [True, True] Translation: X:49.71, Y:3.65, Z:0.00 [[ 9.83156790e-01 -1.82744931e-01 -2.64893619e-03 4.97076011e+01] [ 1.82744269e-01 9.83160358e-01 -4.91781275e-04 3.64502192e+00] [ 2.69419959e-03 -5.79808877e-07 9.99996371e-01 1.26276827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88401273899999 meters Centerline goodness : 0.997089 Centerline is valid? [True, True] Translation: X:49.74, Y:3.65, Z:-0.00 [[ 9.83211931e-01 -1.82448025e-01 -2.64884908e-03 4.97350370e+01] [ 1.82447361e-01 9.83215499e-01 -4.92250004e-04 3.64979836e+00] [ 2.69419951e-03 7.10552786e-07 9.99996371e-01 -2.07758259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91401273899999 meters Centerline goodness : 0.996995 Centerline is valid? [True, True] Translation: X:49.76, Y:3.65, Z:-0.00 [[ 9.83125359e-01 -1.82913949e-01 -2.64875906e-03 4.97620655e+01] [ 1.82913286e-01 9.83128927e-01 -4.92733922e-04 3.65400444e+00] [ 2.69419956e-03 -7.40084955e-08 9.99996371e-01 -2.88229830e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.944012738999994 meters Centerline goodness : 0.997383 Centerline is valid? [True, True] Translation: X:49.79, Y:3.66, Z:-0.00 [[ 9.82945665e-01 -1.83877143e-01 -2.64869758e-03 4.97886113e+01] [ 1.83876482e-01 9.82949234e-01 -4.93064191e-04 3.65784932e+00] [ 2.69419849e-03 -2.37788336e-06 9.99996371e-01 -1.82008741e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.974012738999996 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:49.82, Y:3.66, Z:-0.00 [[ 9.82918704e-01 -1.84021213e-01 -2.64865969e-03 4.98164110e+01] [ 1.84020552e-01 9.82922272e-01 -4.93267615e-04 3.66254341e+00] [ 2.69419831e-03 -2.56585279e-06 9.99996371e-01 -1.17559645e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.004012739 meters Centerline goodness : 0.997203 Centerline is valid? [True, True] Translation: X:49.84, Y:3.67, Z:-0.00 [[ 9.83086811e-01 -1.83121015e-01 -2.64856819e-03 4.98437143e+01] [ 1.83120349e-01 9.83090379e-01 -4.93758427e-04 3.66644617e+00] [ 2.69419946e-03 4.00664941e-07 9.99996371e-01 -2.42799397e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.034012739 meters Centerline goodness : 0.997276 Centerline is valid? [True, True] Translation: X:49.87, Y:3.67, Z:-0.00 [[ 9.83206209e-01 -1.82478863e-01 -2.64847310e-03 4.98713455e+01] [ 1.82478193e-01 9.83209776e-01 -4.94267994e-04 3.67223065e+00] [ 2.69419810e-03 2.67877454e-06 9.99996371e-01 -3.46043264e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06401273899999 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:49.90, Y:3.68, Z:-0.00 [[ 9.83617966e-01 -1.80246176e-01 -2.64837799e-03 4.98970799e+01] [ 1.80245497e-01 9.83621531e-01 -4.94777075e-04 3.68092514e+00] [ 2.69418329e-03 9.31341287e-06 9.99996371e-01 -4.66068742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.09401273899999 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:49.92, Y:3.69, Z:-0.00 [[ 9.83760809e-01 -1.79464921e-01 -2.64833661e-03 4.99246220e+01] [ 1.79464239e-01 9.83764373e-01 -4.94998477e-04 3.68781260e+00] [ 2.69417407e-03 1.16783882e-05 9.99996371e-01 -2.60337095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.124012738999994 meters Centerline goodness : 0.997327 Centerline is valid? [True, True] Translation: X:49.95, Y:3.69, Z:-0.00 [[ 9.84085172e-01 -1.77677687e-01 -2.64824931e-03 4.99514808e+01] [ 1.77676997e-01 9.84088736e-01 -4.95465071e-04 3.69373593e+00] [ 2.69414540e-03 1.70468464e-05 9.99996371e-01 -1.39100839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.154012738999995 meters Centerline goodness : 0.996848 Centerline is valid? [True, True] Translation: X:49.98, Y:3.70, Z:0.00 [[ 9.84172989e-01 -1.77190616e-01 -2.64822024e-03 4.99786866e+01] [ 1.77189924e-01 9.84176552e-01 -4.95620414e-04 3.69954076e+00] [ 2.69413555e-03 1.85382819e-05 9.99996371e-01 4.24484774e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.184012738999996 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:50.01, Y:3.71, Z:0.00 [[ 9.84411596e-01 -1.75860166e-01 -2.64812745e-03 5.00053806e+01] [ 1.75859468e-01 9.84415157e-01 -4.96115687e-04 3.70639967e+00] [ 2.69410379e-03 2.26837516e-05 9.99996371e-01 1.29837135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.214012739 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:50.03, Y:3.71, Z:0.00 [[ 9.84501511e-01 -1.75356104e-01 -2.64803281e-03 5.00318828e+01] [ 1.75355403e-01 9.84505072e-01 -4.96620325e-04 3.71251476e+00] [ 2.69408714e-03 2.45766000e-05 9.99996371e-01 2.76467965e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24401273899999 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:50.06, Y:3.72, Z:-0.00 [[ 9.84363579e-01 -1.76128738e-01 -2.64796836e-03 5.00584591e+01] [ 1.76128038e-01 9.84367141e-01 -4.96963751e-04 3.71912687e+00] [ 2.69410264e-03 2.28115451e-05 9.99996371e-01 -2.01480165e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.27401273899999 meters Centerline goodness : 0.997238 Centerline is valid? [True, True] Translation: X:50.08, Y:3.72, Z:-0.00 [[ 9.84096182e-01 -1.77616702e-01 -2.64792767e-03 5.00846746e+01] [ 1.77616008e-01 9.84099744e-01 -4.97180434e-04 3.72478959e+00] [ 2.69413249e-03 1.89590257e-05 9.99996371e-01 -1.32870581e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.304012738999994 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:50.11, Y:3.73, Z:-0.00 [[ 9.83845607e-01 -1.78999471e-01 -2.64788771e-03 5.01108211e+01] [ 1.78998780e-01 9.83849170e-01 -4.97393183e-04 3.73068907e+00] [ 2.69415524e-03 1.53894286e-05 9.99996371e-01 -3.89123124e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.334012738999995 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:50.14, Y:3.74, Z:0.00 [[ 9.83412721e-01 -1.81362644e-01 -2.64784813e-03 5.01379627e+01] [ 1.81361962e-01 9.83416286e-01 -4.97603783e-04 3.73613787e+00] [ 2.69418371e-03 9.13095920e-06 9.99996371e-01 2.06327890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.364012738999996 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:50.17, Y:3.74, Z:0.00 [[ 9.83206100e-01 -1.82479464e-01 -2.64775425e-03 5.01658890e+01] [ 1.82478785e-01 9.83209665e-01 -4.98102835e-04 3.74108448e+00] [ 2.69419110e-03 6.57876850e-06 9.99996371e-01 3.27109873e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.394012739 meters Centerline goodness : 0.996806 Centerline is valid? [True, True] Translation: X:50.19, Y:3.75, Z:0.01 [[ 9.82956271e-01 -1.83820455e-01 -2.64766046e-03 5.01918722e+01] [ 1.83819778e-01 9.82959837e-01 -4.98600890e-04 3.74636405e+00] [ 2.69419693e-03 3.41051335e-06 9.99996371e-01 5.15983710e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42401273899999 meters Centerline goodness : 0.996942 Centerline is valid? [True, True] Translation: X:50.22, Y:3.75, Z:0.01 [[ 9.82788386e-01 -1.84715938e-01 -2.64761969e-03 5.02190422e+01] [ 1.84715264e-01 9.82791953e-01 -4.98817281e-04 3.75225831e+00] [ 2.69419882e-03 1.17606092e-06 9.99996371e-01 6.07577955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.45401273899999 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:50.25, Y:3.76, Z:0.00 [[ 9.82236226e-01 -1.87629920e-01 -2.64752721e-03 5.02467178e+01] [ 1.87629256e-01 9.82239794e-01 -4.99307626e-04 3.75746806e+00] [ 2.69419163e-03 -6.31552119e-06 9.99996371e-01 3.72982667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48401273899999 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:50.27, Y:3.76, Z:0.00 [[ 9.81861850e-01 -1.89579268e-01 -2.64743253e-03 5.02735521e+01] [ 1.89578609e-01 9.81865419e-01 -4.99809160e-04 3.76196399e+00] [ 2.69417590e-03 -1.11530303e-05 9.99996371e-01 9.57908162e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.514012738999995 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:50.30, Y:3.77, Z:0.00 [[ 9.81476982e-01 -1.91561806e-01 -2.64736798e-03 5.03008557e+01] [ 1.91561153e-01 9.81480552e-01 -5.00150829e-04 3.76696834e+00] [ 2.69414998e-03 -1.62463362e-05 9.99996371e-01 2.45612584e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.544012738999996 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:50.33, Y:3.77, Z:-0.00 [[ 9.81195207e-01 -1.92999890e-01 -2.64727436e-03 5.03276701e+01] [ 1.92999242e-01 9.81198778e-01 -5.00645862e-04 3.77192384e+00] [ 2.69412696e-03 -1.96906223e-05 9.99996371e-01 -1.43344507e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.574012739 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:50.35, Y:3.78, Z:0.00 [[ 9.81090160e-01 -1.93533176e-01 -2.64723366e-03 5.03548040e+01] [ 1.93532529e-01 9.81093731e-01 -5.00860953e-04 3.77600167e+00] [ 2.69411756e-03 -2.09360723e-05 9.99996371e-01 1.70229371e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60401273899999 meters Centerline goodness : 0.996768 Centerline is valid? [True, True] Translation: X:50.38, Y:3.78, Z:0.00 [[ 9.80951374e-01 -1.94235410e-01 -2.64720545e-03 5.03821020e+01] [ 1.94234765e-01 9.80954945e-01 -5.01010037e-04 3.78132728e+00] [ 2.69410316e-03 -2.27128444e-05 9.99996371e-01 3.63212925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63401273899999 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:50.41, Y:3.79, Z:0.00 [[ 9.80810384e-01 -1.94946106e-01 -2.64711075e-03 5.04082885e+01] [ 1.94945462e-01 9.80813955e-01 -5.01509867e-04 3.78681063e+00] [ 2.69409056e-03 -2.41561435e-05 9.99996371e-01 2.93783330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66401273899999 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:50.44, Y:3.79, Z:0.00 [[ 9.80444413e-01 -1.96778417e-01 -2.64706957e-03 5.04356239e+01] [ 1.96777780e-01 9.80447986e-01 -5.01727123e-04 3.79134116e+00] [ 2.69404310e-03 -2.89689178e-05 9.99996371e-01 3.35293990e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.694012738999994 meters Centerline goodness : 0.997975 Centerline is valid? [True, True] Translation: X:50.46, Y:3.79, Z:0.00 [[ 9.79811849e-01 -1.99904312e-01 -2.64697913e-03 5.04636889e+01] [ 1.99903684e-01 9.79815424e-01 -5.02203799e-04 3.79423569e+00] [ 2.69394369e-03 -3.70756476e-05 9.99996371e-01 8.65529583e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.724012738999996 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:50.49, Y:3.80, Z:0.00 [[ 9.79402373e-01 -2.01900930e-01 -2.64688742e-03 5.04912772e+01] [ 2.01900309e-01 9.79405949e-01 -5.02686687e-04 3.79799047e+00] [ 2.69387020e-03 -4.20748551e-05 9.99996371e-01 2.18986164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.754012739 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:50.52, Y:3.80, Z:0.00 [[ 9.79052905e-01 -2.03588811e-01 -2.64679114e-03 5.05181985e+01] [ 2.03588195e-01 9.79056481e-01 -5.03193138e-04 3.80102476e+00] [ 2.69380251e-03 -4.62027261e-05 9.99996371e-01 2.08645454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.784012739 meters Centerline goodness : 0.997529 Centerline is valid? [True, True] Translation: X:50.55, Y:3.80, Z:0.00 [[ 9.78737861e-01 -2.05098010e-01 -2.64672557e-03 5.05454718e+01] [ 2.05097398e-01 9.78741439e-01 -5.03537815e-04 3.79988715e+00] [ 2.69373459e-03 -5.00050036e-05 9.99996371e-01 5.65504550e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81401273899999 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:50.57, Y:3.80, Z:0.00 [[ 9.78864469e-01 -2.04492903e-01 -2.64666064e-03 5.05722097e+01] [ 2.04492288e-01 9.78868045e-01 -5.03878838e-04 3.80237259e+00] [ 2.69377118e-03 -4.79925996e-05 9.99996371e-01 1.45693928e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84401273899999 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:50.60, Y:3.81, Z:-0.00 [[ 9.79923758e-01 -1.99355021e-01 -2.64661989e-03 5.05990282e+01] [ 1.99354386e-01 9.79927331e-01 -5.04092798e-04 3.80576654e+00] [ 2.69398860e-03 -3.36427743e-05 9.99996371e-01 -1.01200996e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.874012738999994 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:50.63, Y:3.81, Z:-0.00 [[ 9.79889744e-01 -1.99522144e-01 -2.64657992e-03 5.06269646e+01] [ 1.99521510e-01 9.79893317e-01 -5.04302569e-04 3.81129533e+00] [ 2.69398550e-03 -3.38887055e-05 9.99996371e-01 -9.35278785e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.904012738999995 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:50.65, Y:3.82, Z:-0.00 [[ 9.80606919e-01 -1.95967006e-01 -2.64649383e-03 5.06545041e+01] [ 1.95966357e-01 9.80610489e-01 -5.04753930e-04 3.81555043e+00] [ 2.69409473e-03 -2.36585603e-05 9.99996371e-01 -5.29009989e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.934012738999996 meters Centerline goodness : 0.997924 Centerline is valid? [True, True] Translation: X:50.68, Y:3.82, Z:-0.00 [[ 9.82064837e-01 -1.88524940e-01 -2.64640210e-03 5.06821610e+01] [ 1.88524263e-01 9.82068402e-01 -5.05234406e-04 3.81790883e+00] [ 2.69419717e-03 -2.73806042e-06 9.99996371e-01 -7.39231987e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.964012739 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:50.71, Y:3.82, Z:-0.00 [[ 9.82573442e-01 -1.85855933e-01 -2.64630845e-03 5.07095034e+01] [ 1.85855245e-01 9.82577006e-01 -5.05724445e-04 3.82352578e+00] [ 2.69419372e-03 5.08110324e-06 9.99996371e-01 -4.44910436e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99401273899999 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:50.74, Y:3.83, Z:0.00 [[ 9.82914726e-01 -1.84042490e-01 -2.64621416e-03 5.07362695e+01] [ 1.84041794e-01 9.82918288e-01 -5.06217358e-04 3.83024542e+00] [ 2.69417780e-03 1.05544944e-05 9.99996371e-01 9.14088662e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02401273899999 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:50.76, Y:3.84, Z:0.00 [[ 9.83220891e-01 -1.82399773e-01 -2.64618486e-03 5.07635010e+01] [ 1.82399070e-01 9.83224452e-01 -5.06370470e-04 3.83552734e+00] [ 2.69415552e-03 1.52123664e-05 9.99996371e-01 3.72433228e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.054012738999994 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:50.79, Y:3.84, Z:0.00 [[ 9.83163461e-01 -1.82709078e-01 -2.64609642e-03 5.07916747e+01] [ 1.82708376e-01 9.83167022e-01 -5.06832200e-04 3.83921484e+00] [ 2.69415758e-03 1.48349203e-05 9.99996371e-01 4.20549268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.084012738999995 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:50.82, Y:3.84, Z:0.01 [[ 9.83142432e-01 -1.82822202e-01 -2.64599621e-03 5.08178341e+01] [ 1.82821499e-01 9.83145992e-01 -5.07354822e-04 3.84361972e+00] [ 2.69415630e-03 1.50570611e-05 9.99996371e-01 5.19102517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.114012738999996 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:50.85, Y:3.85, Z:0.01 [[ 9.83163079e-01 -1.82711133e-01 -2.64595280e-03 5.08450312e+01] [ 1.82710429e-01 9.83166640e-01 -5.07581107e-04 3.85044104e+00] [ 2.69415324e-03 1.55918330e-05 9.99996371e-01 6.64130831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.144012739 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:50.87, Y:3.86, Z:0.01 [[ 9.83380611e-01 -1.81536699e-01 -2.64585614e-03 5.08710790e+01] [ 1.81535989e-01 9.83384170e-01 -5.08084498e-04 3.85675670e+00] [ 2.69412902e-03 1.93223348e-05 9.99996371e-01 8.70369857e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17401273899999 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:50.90, Y:3.86, Z:0.01 [[ 9.83437981e-01 -1.81225653e-01 -2.64581394e-03 5.08987518e+01] [ 1.81224942e-01 9.83441540e-01 -5.08304148e-04 3.86192521e+00] [ 2.69412108e-03 2.03981282e-05 9.99996371e-01 7.01070843e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20401273899999 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:50.93, Y:3.87, Z:-0.00 [[ 9.83531774e-01 -1.80715936e-01 -2.64571831e-03 5.09257668e+01] [ 1.80715221e-01 9.83535332e-01 -5.08801391e-04 3.86696951e+00] [ 2.69410596e-03 2.23007658e-05 9.99996371e-01 -2.05575742e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23401273899999 meters Centerline goodness : 0.997670 Centerline is valid? [True, True] Translation: X:50.95, Y:3.87, Z:-0.00 [[ 9.83441600e-01 -1.81206018e-01 -2.64562294e-03 5.09527463e+01] [ 1.81205304e-01 9.83445158e-01 -5.09296837e-04 3.87291230e+00] [ 2.69411272e-03 2.14627894e-05 9.99996371e-01 -3.20699734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.264012738999995 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:50.98, Y:3.88, Z:-0.00 [[ 9.83349294e-01 -1.81706266e-01 -2.64552855e-03 5.09803667e+01] [ 1.81705552e-01 9.83352852e-01 -5.09786658e-04 3.87911704e+00] [ 2.69411947e-03 2.05911255e-05 9.99996371e-01 -2.61777258e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.294012738999996 meters Centerline goodness : 0.997600 Centerline is valid? [True, True] Translation: X:51.01, Y:3.89, Z:0.00 [[ 9.83551610e-01 -1.80607952e-01 -2.64543190e-03 5.10068737e+01] [ 1.80607232e-01 9.83555167e-01 -5.10287692e-04 3.88709413e+00] [ 2.69409023e-03 2.41101473e-05 9.99996371e-01 2.52241021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.324012739 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:51.03, Y:3.89, Z:0.00 [[ 9.83758455e-01 -1.79477865e-01 -2.64540194e-03 5.10341672e+01] [ 1.79477141e-01 9.83762012e-01 -5.10442965e-04 3.89371122e+00] [ 2.69405915e-03 2.73634056e-05 9.99996371e-01 3.74366075e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35401273899999 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:51.06, Y:3.90, Z:0.00 [[ 9.84309051e-01 -1.76433258e-01 -2.64530550e-03 5.10601925e+01] [ 1.76432521e-01 9.84312605e-01 -5.10942289e-04 3.90098449e+00] [ 2.69395476e-03 3.62072011e-05 9.99996371e-01 2.11974266e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38401273899999 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:51.09, Y:3.91, Z:0.00 [[ 9.84428222e-01 -1.75767111e-01 -2.64526354e-03 5.10869862e+01] [ 1.75766372e-01 9.84431776e-01 -5.11159397e-04 3.90786359e+00] [ 2.69392650e-03 3.82513592e-05 9.99996371e-01 9.54657073e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41401273899999 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:51.11, Y:3.91, Z:0.00 [[ 9.84095149e-01 -1.77622466e-01 -2.64516931e-03 5.11141550e+01] [ 1.77621733e-01 9.84098704e-01 -5.11646561e-04 3.91429353e+00] [ 2.69398762e-03 3.36693424e-05 9.99996371e-01 2.19921452e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.444012738999994 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:51.14, Y:3.92, Z:0.00 [[ 9.83665408e-01 -1.79987136e-01 -2.64507534e-03 5.11415943e+01] [ 1.79986409e-01 9.83668964e-01 -5.12131923e-04 3.91820336e+00] [ 2.69405568e-03 2.76888446e-05 9.99996371e-01 3.00153947e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.474012738999996 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:51.17, Y:3.92, Z:0.00 [[ 9.82618762e-01 -1.85616200e-01 -2.64497956e-03 5.11699271e+01] [ 1.85615492e-01 9.82622321e-01 -5.12626086e-04 3.92068005e+00] [ 2.69416767e-03 1.27668259e-05 9.99996371e-01 3.32829846e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.504012739 meters Centerline goodness : 0.997433 Centerline is valid? [True, True] Translation: X:51.20, Y:3.93, Z:0.00 [[ 9.82224552e-01 -1.87691061e-01 -2.64488357e-03 5.11979607e+01] [ 1.87690360e-01 9.82228113e-01 -5.13120871e-04 3.92567468e+00] [ 2.69418720e-03 7.58076828e-06 9.99996371e-01 4.15608958e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.534012739 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:51.23, Y:3.93, Z:0.00 [[ 9.82088847e-01 -1.88399845e-01 -2.64478770e-03 5.12257697e+01] [ 1.88399145e-01 9.82092408e-01 -5.13614557e-04 3.92972541e+00] [ 2.69419083e-03 6.13938756e-06 9.99996371e-01 4.87419975e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56401273899999 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:51.25, Y:3.93, Z:0.01 [[ 9.82196673e-01 -1.87836900e-01 -2.64469168e-03 5.12534339e+01] [ 1.87836196e-01 9.82200234e-01 -5.14108504e-04 3.93438425e+00] [ 2.69418533e-03 8.18683716e-06 9.99996371e-01 6.62607413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.59401273899999 meters Centerline goodness : 0.997657 Centerline is valid? [True, True] Translation: X:51.28, Y:3.94, Z:0.01 [[ 9.82428461e-01 -1.86620808e-01 -2.64459642e-03 5.12806954e+01] [ 1.86620099e-01 9.82432020e-01 -5.14598068e-04 3.93925236e+00] [ 2.69417091e-03 1.20209424e-05 9.99996371e-01 6.70255225e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.624012738999994 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:51.31, Y:3.95, Z:0.00 [[ 9.83056699e-01 -1.83282659e-01 -2.64449627e-03 5.13075274e+01] [ 1.83281936e-01 9.83060256e-01 -5.15112239e-04 3.94522271e+00] [ 2.69411032e-03 2.16961419e-05 9.99996371e-01 4.88769156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.654012738999995 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:51.33, Y:3.95, Z:0.00 [[ 9.83236213e-01 -1.82317185e-01 -2.64445260e-03 5.13348836e+01] [ 1.82316458e-01 9.83239769e-01 -5.15336304e-04 3.95090067e+00] [ 2.69408563e-03 2.45700840e-05 9.99996371e-01 3.71044730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.684012738999996 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:51.36, Y:3.96, Z:0.00 [[ 9.83217446e-01 -1.82418369e-01 -2.64435738e-03 5.13607773e+01] [ 1.82417641e-01 9.83221002e-01 -5.15824450e-04 3.95660170e+00] [ 2.69408357e-03 2.47901633e-05 9.99996371e-01 1.20505186e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.714012739 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:51.39, Y:3.96, Z:0.00 [[ 9.83023138e-01 -1.83462579e-01 -2.64431585e-03 5.13869052e+01] [ 1.83461855e-01 9.83026694e-01 -5.16037285e-04 3.96217217e+00] [ 2.69410660e-03 2.21455011e-05 9.99996371e-01 6.74579247e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74401273899999 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:51.41, Y:3.97, Z:0.00 [[ 9.82330684e-01 -1.87134802e-01 -2.64425151e-03 5.14142647e+01] [ 1.87134090e-01 9.82334243e-01 -5.16366740e-04 3.96850316e+00] [ 2.69416899e-03 1.24132925e-05 9.99996371e-01 2.49227779e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.77401273899999 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:51.44, Y:3.97, Z:0.00 [[ 9.81921289e-01 -1.89271209e-01 -2.64415730e-03 5.14420254e+01] [ 1.89270503e-01 9.81924849e-01 -5.16848710e-04 3.97385775e+00] [ 2.69418834e-03 7.04376899e-06 9.99996371e-01 3.84060181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.804012738999994 meters Centerline goodness : 0.997628 Centerline is valid? [True, True] Translation: X:51.47, Y:3.98, Z:0.00 [[ 9.81479038e-01 -1.91551317e-01 -2.64406359e-03 5.14690544e+01] [ 1.91550619e-01 9.81482599e-01 -5.17327668e-04 3.97899274e+00] [ 2.69419720e-03 1.27424587e-06 9.99996371e-01 4.78810156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.834012738999995 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:51.50, Y:3.98, Z:0.01 [[ 9.80605619e-01 -1.95973544e-01 -2.64396632e-03 5.14966669e+01] [ 1.95972860e-01 9.80609183e-01 -5.17824300e-04 3.98260649e+00] [ 2.69417752e-03 -1.03642236e-05 9.99996371e-01 5.28715967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.864012738999996 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:51.52, Y:3.99, Z:0.00 [[ 9.80223017e-01 -1.97878365e-01 -2.64386771e-03 5.15231758e+01] [ 1.97877686e-01 9.80226582e-01 -5.18327312e-04 3.98576829e+00] [ 2.69415517e-03 -1.50860636e-05 9.99996371e-01 3.97473925e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.894012739 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:51.55, Y:3.99, Z:-0.00 [[ 9.79578572e-01 -2.01044353e-01 -2.64382487e-03 5.15517202e+01] [ 2.01043686e-01 9.79582139e-01 -5.18545746e-04 3.98637084e+00] [ 2.69409431e-03 -2.35679946e-05 9.99996371e-01 -2.19111509e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92401273899999 meters Centerline goodness : 0.997912 Centerline is valid? [True, True] Translation: X:51.58, Y:3.99, Z:-0.00 [[ 9.79364204e-01 -2.02086034e-01 -2.64379578e-03 5.15794463e+01] [ 2.02085370e-01 9.79367773e-01 -5.18694010e-04 3.99035477e+00] [ 2.69406920e-03 -2.62821020e-05 9.99996371e-01 -7.16106809e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.95401273899999 meters Centerline goodness : 0.997865 Centerline is valid? [True, True] Translation: X:51.61, Y:3.99, Z:-0.00 [[ 9.79282279e-01 -2.02482663e-01 -2.64369728e-03 5.16058933e+01] [ 2.02481999e-01 9.79285847e-01 -5.19195540e-04 3.99458613e+00] [ 2.69406343e-03 -2.68621187e-05 9.99996371e-01 -3.93377266e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98401273899999 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:51.63, Y:4.00, Z:-0.00 [[ 9.79457409e-01 -2.01633813e-01 -2.64365459e-03 5.16338501e+01] [ 2.01633145e-01 9.79460977e-01 -5.19412844e-04 3.99622742e+00] [ 2.69408770e-03 -2.43056310e-05 9.99996371e-01 -1.73790579e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.014012738999995 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:51.66, Y:4.00, Z:-0.00 [[ 9.79362972e-01 -2.02092012e-01 -2.64355363e-03 5.16619737e+01] [ 2.02091345e-01 9.79366539e-01 -5.19926180e-04 3.99910240e+00] [ 2.69408089e-03 -2.50428574e-05 9.99996371e-01 -4.12994561e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.044012738999996 meters Centerline goodness : 0.998200 Centerline is valid? [True, True] Translation: X:51.69, Y:4.00, Z:0.00 [[ 9.79257712e-01 -2.02601443e-01 -2.64352226e-03 5.16895241e+01] [ 2.02600777e-01 9.79261280e-01 -5.20085623e-04 4.00370839e+00] [ 2.69406909e-03 -2.62818060e-05 9.99996371e-01 1.00827336e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.074012739 meters Centerline goodness : 0.997719 Centerline is valid? [True, True] Translation: X:51.72, Y:4.01, Z:0.00 [[ 9.79040813e-01 -2.03646995e-01 -2.64342556e-03 5.17164543e+01] [ 2.03646332e-01 9.79044381e-01 -5.20576626e-04 4.00789345e+00] [ 2.69404481e-03 -2.86581571e-05 9.99996371e-01 8.97169249e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10401273899999 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:51.74, Y:4.01, Z:-0.00 [[ 9.78457639e-01 -2.06430768e-01 -2.64338357e-03 5.17449309e+01] [ 2.06430115e-01 9.78461209e-01 -5.20789760e-04 4.00815839e+00] [ 2.69395531e-03 -3.61032544e-05 9.99996371e-01 -1.12122453e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13401273899999 meters Centerline goodness : 0.997888 Centerline is valid? [True, True] Translation: X:51.77, Y:4.01, Z:-0.00 [[ 9.78050479e-01 -2.08351322e-01 -2.64328604e-03 5.17729911e+01] [ 2.08350674e-01 9.78054050e-01 -5.21284327e-04 4.01074844e+00] [ 2.69388689e-03 -4.08880415e-05 9.99996371e-01 -2.55051099e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16401273899999 meters Centerline goodness : 0.997768 Centerline is valid? [True, True] Translation: X:51.80, Y:4.01, Z:-0.00 [[ 9.77503682e-01 -2.10901790e-01 -2.64318841e-03 5.18007095e+01] [ 2.10901150e-01 9.77507254e-01 -5.21778876e-04 4.01039438e+00] [ 2.69377995e-03 -4.74107041e-05 9.99996371e-01 -4.05939428e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.194012738999994 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:51.83, Y:4.01, Z:-0.00 [[ 9.77273417e-01 -2.11966228e-01 -2.64314597e-03 5.18281580e+01] [ 2.11965592e-01 9.77276990e-01 -5.21993766e-04 4.01334200e+00] [ 2.69373079e-03 -5.01253684e-05 9.99996371e-01 -3.21961970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.224012738999996 meters Centerline goodness : 0.997754 Centerline is valid? [True, True] Translation: X:51.86, Y:4.02, Z:-0.00 [[ 9.77042951e-01 -2.13026023e-01 -2.64304856e-03 5.18556901e+01] [ 2.13025389e-01 9.77046524e-01 -5.22486527e-04 4.01635829e+00] [ 2.69368464e-03 -5.25446700e-05 9.99996371e-01 -2.25654362e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.254012739 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:51.88, Y:4.02, Z:-0.00 [[ 9.76851079e-01 -2.13904147e-01 -2.64294915e-03 5.18827800e+01] [ 2.13903515e-01 9.76854653e-01 -5.22988908e-04 4.01676152e+00] [ 2.69364667e-03 -5.44538335e-05 9.99996371e-01 -7.98274027e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.284012739 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:51.91, Y:4.02, Z:0.00 [[ 9.76945412e-01 -2.13472895e-01 -2.64285080e-03 5.19104889e+01] [ 2.13472260e-01 9.76948986e-01 -5.23485412e-04 4.01772115e+00] [ 2.69368036e-03 -5.27586612e-05 9.99996371e-01 3.22012044e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31401273899999 meters Centerline goodness : 0.997753 Centerline is valid? [True, True] Translation: X:51.94, Y:4.02, Z:0.01 [[ 9.77126499e-01 -2.12642470e-01 -2.64282013e-03 5.19382503e+01] [ 2.12641832e-01 9.77130072e-01 -5.23640246e-04 4.02262755e+00] [ 2.69372718e-03 -5.03113522e-05 9.99996371e-01 5.68479576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34401273899999 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:51.96, Y:4.03, Z:0.01 [[ 9.77450497e-01 -2.11148154e-01 -2.64271954e-03 5.19645674e+01] [ 2.11147508e-01 9.77454068e-01 -5.24147393e-04 4.02789106e+00] [ 2.69380972e-03 -4.56755155e-05 9.99996371e-01 7.33936875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.374012738999994 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:51.99, Y:4.03, Z:0.01 [[ 9.78143672e-01 -2.07913381e-01 -2.64267583e-03 5.19923303e+01] [ 2.07912723e-01 9.78147241e-01 -5.24367704e-04 4.03302755e+00] [ 2.69394913e-03 -3.65389759e-05 9.99996371e-01 6.54406518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.404012738999995 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:52.02, Y:4.04, Z:0.01 [[ 9.78361411e-01 -2.06886360e-01 -2.64257820e-03 5.20185529e+01] [ 2.06885697e-01 9.78364979e-01 -5.24859226e-04 4.03723250e+00] [ 2.69399218e-03 -3.32096205e-05 9.99996371e-01 5.34724311e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.434012738999996 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:52.05, Y:4.04, Z:0.01 [[ 9.78271266e-01 -2.07312195e-01 -2.64253563e-03 5.20456227e+01] [ 2.07311533e-01 9.78274835e-01 -5.25073481e-04 4.04216389e+00] [ 2.69398024e-03 -3.41638134e-05 9.99996371e-01 6.31305839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.464012739 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:52.07, Y:4.05, Z:0.01 [[ 9.77975219e-01 -2.08704311e-01 -2.64243703e-03 5.20729145e+01] [ 2.08703653e-01 9.77978788e-01 -5.25569218e-04 4.04803636e+00] [ 2.69393592e-03 -3.74925888e-05 9.99996371e-01 7.08858853e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49401273899999 meters Centerline goodness : 0.997628 Centerline is valid? [True, True] Translation: X:52.10, Y:4.05, Z:0.01 [[ 9.77284059e-01 -2.11917167e-01 -2.64233883e-03 5.21000332e+01] [ 2.11916519e-01 9.77287630e-01 -5.26062447e-04 4.05091431e+00] [ 2.69380672e-03 -4.58428040e-05 9.99996371e-01 6.12649597e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52401273899999 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:52.13, Y:4.05, Z:0.01 [[ 9.76961793e-01 -2.13397924e-01 -2.64229619e-03 5.21279274e+01] [ 2.13397281e-01 9.76965365e-01 -5.26276567e-04 4.05436425e+00] [ 2.69373818e-03 -4.97067232e-05 9.99996371e-01 5.54762658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.554012738999994 meters Centerline goodness : 0.996729 Centerline is valid? [True, True] Translation: X:52.15, Y:4.06, Z:0.01 [[ 9.76848493e-01 -2.13915967e-01 -2.64219880e-03 5.21544967e+01] [ 2.13915325e-01 9.76852065e-01 -5.26765060e-04 4.05825464e+00] [ 2.69372081e-03 -5.06371580e-05 9.99996371e-01 6.11234419e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.584012738999995 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:52.18, Y:4.06, Z:0.01 [[ 9.77316215e-01 -2.11768825e-01 -2.64215633e-03 5.21819797e+01] [ 2.11768174e-01 9.77319785e-01 -5.26977967e-04 4.06330943e+00] [ 2.69382916e-03 -4.45005102e-05 9.99996371e-01 7.76806893e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.614012738999996 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:52.21, Y:4.07, Z:0.01 [[ 9.77773586e-01 -2.09646929e-01 -2.64205815e-03 5.22087518e+01] [ 2.09646269e-01 9.77777154e-01 -5.27469748e-04 4.06873885e+00] [ 2.69392651e-03 -3.81516472e-05 9.99996371e-01 6.53907158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.644012739 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:52.24, Y:4.07, Z:0.00 [[ 9.78633554e-01 -2.05595202e-01 -2.64201544e-03 5.22377186e+01] [ 2.05594527e-01 9.78637120e-01 -5.27683583e-04 4.07267516e+00] [ 2.69406360e-03 -2.67750545e-05 9.99996371e-01 2.64243034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67401273899999 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:52.26, Y:4.08, Z:0.00 [[ 9.79009648e-01 -2.03796787e-01 -2.64192894e-03 5.22646836e+01] [ 2.03796103e-01 9.79013212e-01 -5.28116339e-04 4.07767516e+00] [ 2.69411175e-03 -2.13838313e-05 9.99996371e-01 3.17053657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70401273899999 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:52.29, Y:4.08, Z:0.01 [[ 9.79832127e-01 -1.99804964e-01 -2.64189806e-03 5.22927897e+01] [ 1.99804266e-01 9.79835688e-01 -5.28270757e-04 4.08310695e+00] [ 2.69417712e-03 -1.02458416e-05 9.99996371e-01 7.70021730e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73401273899999 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:52.32, Y:4.09, Z:0.01 [[ 9.80273339e-01 -1.97628949e-01 -2.64181259e-03 5.23198204e+01] [ 1.97628242e-01 9.80276899e-01 -5.28697831e-04 4.08854016e+00] [ 2.69419385e-03 -3.82838910e-06 9.99996371e-01 8.20018182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.764012738999995 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:52.35, Y:4.09, Z:0.00 [[ 9.81122909e-01 -1.93367158e-01 -2.64171388e-03 5.23469212e+01] [ 1.93366434e-01 9.81126466e-01 -5.29190585e-04 4.09407411e+00] [ 2.69418348e-03 8.38221387e-06 9.99996371e-01 3.37002820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.794012738999996 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:52.37, Y:4.10, Z:0.00 [[ 9.81087174e-01 -1.93548386e-01 -2.64168314e-03 5.23748167e+01] [ 1.93547662e-01 9.81090731e-01 -5.29343979e-04 4.09986108e+00] [ 2.69418452e-03 8.04099201e-06 9.99996371e-01 3.44677791e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.824012739 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:52.40, Y:4.11, Z:0.00 [[ 9.81277835e-01 -1.92579419e-01 -2.64158527e-03 5.24016853e+01] [ 1.92578691e-01 9.81281390e-01 -5.29831929e-04 4.10602185e+00] [ 2.69417319e-03 1.11992941e-05 9.99996371e-01 1.29368666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85401273899999 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:52.43, Y:4.11, Z:0.00 [[ 9.81431840e-01 -1.91793028e-01 -2.64148749e-03 5.24276960e+01] [ 1.91792295e-01 9.81435395e-01 -5.30319001e-04 4.11154474e+00] [ 2.69416080e-03 1.38550058e-05 9.99996371e-01 1.44953208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88401273899999 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:52.46, Y:4.12, Z:0.01 [[ 9.81773289e-01 -1.90037447e-01 -2.64144488e-03 5.24557984e+01] [ 1.90036707e-01 9.81776843e-01 -5.30531117e-04 4.11629465e+00] [ 2.69413020e-03 1.88897933e-05 9.99996371e-01 5.15293096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91401273899999 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:52.48, Y:4.12, Z:0.01 [[ 9.81912968e-01 -1.89314409e-01 -2.64135972e-03 5.24827231e+01] [ 1.89313666e-01 9.81916521e-01 -5.30954755e-04 4.12104828e+00] [ 2.69411214e-03 2.13058667e-05 9.99996371e-01 5.96094248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.944012738999994 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:52.51, Y:4.13, Z:0.00 [[ 9.82053974e-01 -1.88581591e-01 -2.64131733e-03 5.25100403e+01] [ 1.88580844e-01 9.82057525e-01 -5.31165567e-04 4.12547000e+00] [ 2.69409361e-03 2.35314036e-05 9.99996371e-01 3.71022793e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.974012738999996 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:52.54, Y:4.13, Z:0.00 [[ 9.81985712e-01 -1.88936721e-01 -2.64122093e-03 5.25369506e+01] [ 1.88935975e-01 9.81989264e-01 -5.31644501e-04 4.13042108e+00] [ 2.69409776e-03 2.30456534e-05 9.99996371e-01 1.17962688e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.004012739 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:52.57, Y:4.13, Z:0.00 [[ 9.81907293e-01 -1.89343845e-01 -2.64112535e-03 5.25653031e+01] [ 1.89343099e-01 9.81910845e-01 -5.32118899e-04 4.13372246e+00] [ 2.69410306e-03 2.24125701e-05 9.99996371e-01 1.62271517e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.034012739 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:52.59, Y:4.14, Z:0.00 [[ 9.81956066e-01 -1.89090744e-01 -2.64102686e-03 5.25913743e+01] [ 1.89089996e-01 9.81959617e-01 -5.32607291e-04 4.13845538e+00] [ 2.69409283e-03 2.36052032e-05 9.99996371e-01 1.96283706e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06401273899999 meters Centerline goodness : 0.997503 Centerline is valid? [True, True] Translation: X:52.62, Y:4.14, Z:0.00 [[ 9.81979978e-01 -1.88966528e-01 -2.64095027e-03 5.26186385e+01] [ 1.88965778e-01 9.81983529e-01 -5.32986789e-04 4.14427370e+00] [ 2.69408633e-03 2.43331329e-05 9.99996371e-01 4.79898223e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.09401273899999 meters Centerline goodness : 0.996933 Centerline is valid? [True, True] Translation: X:52.64, Y:4.15, Z:0.00 [[ 9.82156225e-01 -1.88048331e-01 -2.64084914e-03 5.26445220e+01] [ 1.88047576e-01 9.82159775e-01 -5.33487408e-04 4.15031869e+00] [ 2.69405721e-03 2.73626999e-05 9.99996371e-01 4.69216248e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.124012738999994 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:52.67, Y:4.16, Z:0.00 [[ 9.82226812e-01 -1.87679293e-01 -2.64078024e-03 5.26715692e+01] [ 1.87678536e-01 9.82230361e-01 -5.33828227e-04 4.15617573e+00] [ 2.69404303e-03 2.87226287e-05 9.99996371e-01 3.96052383e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.154012738999995 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:52.70, Y:4.16, Z:0.00 [[ 9.82595134e-01 -1.85741298e-01 -2.64068268e-03 5.26981225e+01] [ 1.85740532e-01 9.82598682e-01 -5.34310403e-04 4.16335237e+00] [ 2.69397482e-03 3.45289959e-05 9.99996371e-01 4.31369970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.184012738999996 meters Centerline goodness : 0.997510 Centerline is valid? [True, True] Translation: X:52.72, Y:4.17, Z:0.01 [[ 9.82816851e-01 -1.84564527e-01 -2.64065236e-03 5.27244617e+01] [ 1.84563757e-01 9.82820398e-01 -5.34460200e-04 4.17097548e+00] [ 2.69392939e-03 3.79077705e-05 9.99996371e-01 6.17169689e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.214012739 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:52.75, Y:4.18, Z:0.01 [[ 9.83056354e-01 -1.83284568e-01 -2.64061636e-03 5.27513224e+01] [ 1.83283793e-01 9.83059899e-01 -5.34638002e-04 4.17879820e+00] [ 2.69387495e-03 4.15971030e-05 9.99996371e-01 8.58753799e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24401273899999 meters Centerline goodness : 0.997186 Centerline is valid? [True, True] Translation: X:52.78, Y:4.19, Z:0.01 [[ 9.83541866e-01 -1.80661080e-01 -2.64052004e-03 5.27767752e+01] [ 1.80660294e-01 9.83545409e-01 -5.35113290e-04 4.18664337e+00] [ 2.69374551e-03 4.92691963e-05 9.99996371e-01 8.09001187e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.27401273899999 meters Centerline goodness : 0.997191 Centerline is valid? [True, True] Translation: X:52.80, Y:4.19, Z:0.01 [[ 9.83583352e-01 -1.80435080e-01 -2.64047837e-03 5.28027137e+01] [ 1.80434293e-01 9.83586895e-01 -5.35318830e-04 4.19328867e+00] [ 2.69373022e-03 5.00978426e-05 9.99996371e-01 6.98585757e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.304012738999994 meters Centerline goodness : 0.997040 Centerline is valid? [True, True] Translation: X:52.83, Y:4.20, Z:0.01 [[ 9.83285045e-01 -1.82053694e-01 -2.64043703e-03 5.28294216e+01] [ 1.82052913e-01 9.83288590e-01 -5.35522649e-04 4.20276119e+00] [ 2.69380548e-03 4.58721598e-05 9.99996371e-01 7.30077323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.334012738999995 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:52.86, Y:4.21, Z:0.01 [[ 9.82958857e-01 -1.83806733e-01 -2.64034446e-03 5.28561824e+01] [ 1.83805956e-01 9.82962402e-01 -5.35978698e-04 4.20995748e+00] [ 2.69387582e-03 4.15339723e-05 9.99996371e-01 9.33094250e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.364012738999996 meters Centerline goodness : 0.996965 Centerline is valid? [True, True] Translation: X:52.88, Y:4.22, Z:0.01 [[ 9.82599334e-01 -1.85719085e-01 -2.64024910e-03 5.28833121e+01] [ 1.85718314e-01 9.82602880e-01 -5.36448035e-04 4.21634179e+00] [ 2.69394500e-03 3.67708708e-05 9.99996371e-01 1.36152935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.394012739 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:52.91, Y:4.22, Z:0.01 [[ 9.82441059e-01 -1.86554535e-01 -2.64014736e-03 5.29103583e+01] [ 1.86553766e-01 9.82444606e-01 -5.36948271e-04 4.22364521e+00] [ 2.69396867e-03 3.49905970e-05 9.99996371e-01 1.31301023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42401273899999 meters Centerline goodness : 0.996215 Centerline is valid? [True, True] Translation: X:52.94, Y:4.23, Z:0.01 [[ 9.82345794e-01 -1.87055524e-01 -2.64028110e-03 5.29375976e+01] [ 1.87054758e-01 9.82349342e-01 -5.36290921e-04 4.23160390e+00] [ 2.69399459e-03 3.29459869e-05 9.99996371e-01 9.86976675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.45401273899999 meters Centerline goodness : 0.997093 Centerline is valid? [True, True] Translation: X:52.96, Y:4.24, Z:0.00 [[ 9.82293665e-01 -1.87329086e-01 -2.64001524e-03 5.29649195e+01] [ 1.87328317e-01 9.82297212e-01 -5.37596510e-04 4.23939438e+00] [ 2.69398708e-03 3.35280332e-05 9.99996371e-01 4.61765887e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48401273899999 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:52.99, Y:4.24, Z:0.00 [[ 9.82140173e-01 -1.88132167e-01 -2.63992640e-03 5.29914823e+01] [ 1.88131400e-01 9.82143720e-01 -5.38032445e-04 4.24467974e+00] [ 2.69400834e-03 3.17702295e-05 9.99996371e-01 4.47683143e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.514012738999995 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:53.02, Y:4.25, Z:0.01 [[ 9.81730921e-01 -1.90256219e-01 -2.63985720e-03 5.30191401e+01] [ 1.90255459e-01 9.81734470e-01 -5.38371763e-04 4.25165385e+00] [ 2.69406738e-03 2.62889635e-05 9.99996371e-01 1.09611780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.544012738999996 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:53.05, Y:4.26, Z:0.01 [[ 9.81484802e-01 -1.91521837e-01 -2.63977189e-03 5.30462005e+01] [ 1.91521081e-01 9.81488352e-01 -5.38789719e-04 4.25715037e+00] [ 2.69409536e-03 2.32419563e-05 9.99996371e-01 1.26192529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.574012739 meters Centerline goodness : 0.996872 Centerline is valid? [True, True] Translation: X:53.07, Y:4.26, Z:0.01 [[ 9.81197231e-01 -1.92989702e-01 -2.63967170e-03 5.30738202e+01] [ 1.92988950e-01 9.81200782e-01 -5.39280105e-04 4.26149821e+00] [ 2.69412345e-03 1.97126757e-05 9.99996371e-01 1.20019616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60401273899999 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:53.10, Y:4.26, Z:0.01 [[ 9.80750579e-01 -1.95246857e-01 -2.63956929e-03 5.31021527e+01] [ 1.95246112e-01 9.80754131e-01 -5.39780934e-04 4.26426323e+00] [ 2.69415901e-03 1.40248245e-05 9.99996371e-01 8.46178927e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63401273899999 meters Centerline goodness : 0.996775 Centerline is valid? [True, True] Translation: X:53.13, Y:4.27, Z:0.01 [[ 9.80628648e-01 -1.95858334e-01 -2.63953743e-03 5.31292892e+01] [ 1.95857590e-01 9.80632201e-01 -5.39936691e-04 4.27002594e+00] [ 2.69416650e-03 1.25039475e-05 9.99996371e-01 9.25304728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66401273899999 meters Centerline goodness : 0.996777 Centerline is valid? [True, True] Translation: X:53.16, Y:4.28, Z:0.01 [[ 9.80814177e-01 -1.94927121e-01 -2.63943662e-03 5.31558308e+01] [ 1.94926373e-01 9.80817729e-01 -5.40429021e-04 4.27677950e+00] [ 2.69415050e-03 1.55646387e-05 9.99996371e-01 1.10768848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.694012738999994 meters Centerline goodness : 0.997005 Centerline is valid? [True, True] Translation: X:53.18, Y:4.28, Z:0.01 [[ 9.80918312e-01 -1.94402414e-01 -2.63936778e-03 5.31834559e+01] [ 1.94401662e-01 9.80921863e-01 -5.40765003e-04 4.28141419e+00] [ 2.69413958e-03 1.73488091e-05 9.99996371e-01 1.29537460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.724012738999996 meters Centerline goodness : 0.996310 Centerline is valid? [True, True] Translation: X:53.21, Y:4.28, Z:0.02 [[ 9.80848279e-01 -1.94755456e-01 -2.63933720e-03 5.32116173e+01] [ 1.94754706e-01 9.80851830e-01 -5.40914247e-04 4.28461891e+00] [ 2.69414472e-03 1.65314697e-05 9.99996371e-01 1.56383258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.754012739 meters Centerline goodness : 0.996382 Centerline is valid? [True, True] Translation: X:53.24, Y:4.29, Z:0.01 [[ 9.80784782e-01 -1.95074976e-01 -2.63923504e-03 5.32384692e+01] [ 1.95074226e-01 9.80788333e-01 -5.41412223e-04 4.28978088e+00] [ 2.69414691e-03 1.61621371e-05 9.99996371e-01 1.35217774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.784012739 meters Centerline goodness : 0.996895 Centerline is valid? [True, True] Translation: X:53.27, Y:4.29, Z:0.01 [[ 9.80671986e-01 -1.95641232e-01 -2.63919063e-03 5.32663461e+01] [ 1.95640482e-01 9.80675537e-01 -5.41628638e-04 4.29442662e+00] [ 2.69415458e-03 1.48275048e-05 9.99996371e-01 1.14399782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81401273899999 meters Centerline goodness : 0.996361 Centerline is valid? [True, True] Translation: X:53.29, Y:4.30, Z:0.01 [[ 9.80752136e-01 -1.95239040e-01 -2.63908648e-03 5.32933342e+01] [ 1.95238288e-01 9.80755687e-01 -5.42135638e-04 4.29884333e+00] [ 2.69414511e-03 1.64499604e-05 9.99996371e-01 1.13625598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84401273899999 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:53.32, Y:4.30, Z:0.01 [[ 9.80774481e-01 -1.95126759e-01 -2.63904101e-03 5.33210616e+01] [ 1.95126006e-01 9.80778032e-01 -5.42356854e-04 4.30409350e+00] [ 2.69414179e-03 1.69842287e-05 9.99996371e-01 1.20280627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.874012738999994 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:53.35, Y:4.31, Z:0.01 [[ 9.80742240e-01 -1.95288745e-01 -2.63894452e-03 5.33482319e+01] [ 1.95287991e-01 9.80745791e-01 -5.42825958e-04 4.30965769e+00] [ 2.69414153e-03 1.70181720e-05 9.99996371e-01 1.01670337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.904012738999995 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:53.38, Y:4.31, Z:0.01 [[ 9.80602273e-01 -1.95990354e-01 -2.63891451e-03 5.33756934e+01] [ 1.95989602e-01 9.80605823e-01 -5.42971815e-04 4.31394173e+00] [ 2.69415217e-03 1.52395905e-05 9.99996371e-01 1.00559636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.934012738999996 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:53.40, Y:4.32, Z:0.01 [[ 9.80116991e-01 -1.98402926e-01 -2.63881244e-03 5.34025470e+01] [ 1.98402182e-01 9.80120543e-01 -5.43467397e-04 4.31566048e+00] [ 2.69417981e-03 9.11548396e-06 9.99996371e-01 9.87429613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.964012739 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:53.43, Y:4.32, Z:0.01 [[ 9.79768535e-01 -2.00116601e-01 -2.63876817e-03 5.34304181e+01] [ 2.00115862e-01 9.79772089e-01 -5.43682298e-04 4.32031249e+00] [ 2.69419125e-03 4.62344233e-06 9.99996371e-01 1.10812944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99401273899999 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:53.46, Y:4.32, Z:0.01 [[ 9.79208798e-01 -2.02837786e-01 -2.63866770e-03 5.34596343e+01] [ 2.02837056e-01 9.79212353e-01 -5.44169472e-04 4.32178558e+00] [ 2.69419414e-03 -2.36405338e-06 9.99996371e-01 1.39441320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02401273899999 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:53.49, Y:4.32, Z:0.01 [[ 9.79010216e-01 -2.03794098e-01 -2.63858006e-03 5.34871435e+01] [ 2.03793370e-01 9.79013772e-01 -5.44594089e-04 4.32489966e+00] [ 2.69419128e-03 -4.56194518e-06 9.99996371e-01 1.35456062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.054012738999994 meters Centerline goodness : 0.996706 Centerline is valid? [True, True] Translation: X:53.51, Y:4.33, Z:0.01 [[ 9.79017221e-01 -2.03760446e-01 -2.63847967e-03 5.35138565e+01] [ 2.03759717e-01 9.79020776e-01 -5.45080021e-04 4.32916797e+00] [ 2.69419216e-03 -3.97314250e-06 9.99996371e-01 1.31896954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.084012738999995 meters Centerline goodness : 0.997172 Centerline is valid? [True, True] Translation: X:53.54, Y:4.33, Z:0.01 [[ 9.79379786e-01 -2.02010578e-01 -2.63843609e-03 5.35414511e+01] [ 2.02009842e-01 9.79383340e-01 -5.45290901e-04 4.33423691e+00] [ 2.69419488e-03 1.05682885e-06 9.99996371e-01 1.13535702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.114012738999996 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:53.57, Y:4.34, Z:0.01 [[ 9.79830909e-01 -1.99810980e-01 -2.63840515e-03 5.35679389e+01] [ 1.99810236e-01 9.79834462e-01 -5.45440530e-04 4.33841745e+00] [ 2.69418530e-03 7.25913553e-06 9.99996371e-01 1.18840464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.144012739 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:53.60, Y:4.34, Z:0.02 [[ 9.80966670e-01 -1.94158266e-01 -2.63833753e-03 5.35952092e+01] [ 1.94157501e-01 9.80970217e-01 -5.45767448e-04 4.34265541e+00] [ 2.69409580e-03 2.31266550e-05 9.99996371e-01 1.53035812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17401273899999 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:53.62, Y:4.35, Z:0.02 [[ 9.81490810e-01 -1.91491067e-01 -2.63823929e-03 5.36219880e+01] [ 1.91490290e-01 9.81494356e-01 -5.46241917e-04 4.34921313e+00] [ 2.69401742e-03 3.09342146e-05 9.99996371e-01 1.53243093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20401273899999 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:53.65, Y:4.36, Z:0.01 [[ 9.82593383e-01 -1.85750598e-01 -2.63814149e-03 5.36486009e+01] [ 1.85749799e-01 9.82596923e-01 -5.46713830e-04 4.35740987e+00] [ 2.69378213e-03 4.71631386e-05 9.99996371e-01 1.12136443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23401273899999 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:53.68, Y:4.36, Z:0.01 [[ 9.82907243e-01 -1.84082568e-01 -2.63809614e-03 5.36758908e+01] [ 1.84081763e-01 9.82910782e-01 -5.46932564e-04 4.36352659e+00] [ 2.69369390e-03 5.19585894e-05 9.99996371e-01 9.82558135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.264012738999995 meters Centerline goodness : 0.997048 Centerline is valid? [True, True] Translation: X:53.70, Y:4.37, Z:0.01 [[ 9.83045305e-01 -1.83343857e-01 -2.63799971e-03 5.37031938e+01] [ 1.83343048e-01 9.83048843e-01 -5.47397306e-04 4.36926104e+00] [ 2.69364449e-03 5.44574459e-05 9.99996371e-01 1.00978075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.294012738999996 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:53.73, Y:4.38, Z:0.01 [[ 9.83083098e-01 -1.83141106e-01 -2.63790348e-03 5.37291851e+01] [ 1.83140294e-01 9.83086635e-01 -5.47860647e-04 4.37731754e+00] [ 2.69362346e-03 5.54861224e-05 9.99996371e-01 1.01693147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.324012739 meters Centerline goodness : 0.996688 Centerline is valid? [True, True] Translation: X:53.76, Y:4.38, Z:0.01 [[ 9.83021788e-01 -1.83469904e-01 -2.63783781e-03 5.37562218e+01] [ 1.83469093e-01 9.83025326e-01 -5.48176626e-04 4.38464087e+00] [ 2.69363529e-03 5.49078560e-05 9.99996371e-01 1.13115894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35401273899999 meters Centerline goodness : 0.996370 Centerline is valid? [True, True] Translation: X:53.78, Y:4.39, Z:0.01 [[ 9.82922921e-01 -1.83998843e-01 -2.63774260e-03 5.37845062e+01] [ 1.83998033e-01 9.82926459e-01 -5.48634391e-04 4.39172658e+00] [ 2.69365509e-03 5.39258687e-05 9.99996371e-01 1.49571345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38401273899999 meters Centerline goodness : 0.996751 Centerline is valid? [True, True] Translation: X:53.81, Y:4.40, Z:0.02 [[ 9.82793929e-01 -1.84686588e-01 -2.63765983e-03 5.38111172e+01] [ 1.84685779e-01 9.82797467e-01 -5.49032028e-04 4.39886164e+00] [ 2.69368425e-03 5.24470823e-05 9.99996371e-01 1.70409259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41401273899999 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:53.84, Y:4.41, Z:0.02 [[ 9.82477433e-01 -1.86362915e-01 -2.63756541e-03 5.38374342e+01] [ 1.86362111e-01 9.82480973e-01 -5.49485256e-04 4.40785706e+00] [ 2.69376150e-03 4.83146060e-05 9.99996371e-01 1.93888786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.444012738999994 meters Centerline goodness : 0.996217 Centerline is valid? [True, True] Translation: X:53.86, Y:4.41, Z:0.02 [[ 9.82313541e-01 -1.87224868e-01 -2.63753607e-03 5.38642226e+01] [ 1.87224067e-01 9.82317081e-01 -5.49626051e-04 4.41476534e+00] [ 2.69380040e-03 4.60948828e-05 9.99996371e-01 2.10694803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.474012738999996 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:53.89, Y:4.42, Z:0.02 [[ 9.82168175e-01 -1.87985956e-01 -2.63743468e-03 5.38900619e+01] [ 1.87985156e-01 9.82171715e-01 -5.50112140e-04 4.42142321e+00] [ 2.69382710e-03 4.45040652e-05 9.99996371e-01 2.13508114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.504012739 meters Centerline goodness : 0.996579 Centerline is valid? [True, True] Translation: X:53.92, Y:4.43, Z:0.02 [[ 9.81926824e-01 -1.89242589e-01 -2.63739061e-03 5.39161656e+01] [ 1.89241793e-01 9.81930365e-01 -5.50323376e-04 4.42991770e+00] [ 2.69387854e-03 4.12727565e-05 9.99996371e-01 2.06371839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.534012739 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:53.94, Y:4.44, Z:0.02 [[ 9.81793790e-01 -1.89931561e-01 -2.63735007e-03 5.39432576e+01] [ 1.89930767e-01 9.81797332e-01 -5.50517568e-04 4.43671979e+00] [ 2.69390392e-03 3.95808079e-05 9.99996371e-01 2.00931223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56401273899999 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:53.97, Y:4.44, Z:0.02 [[ 9.81560441e-01 -1.91133844e-01 -2.63724382e-03 5.39695206e+01] [ 1.91133053e-01 9.81563983e-01 -5.51026080e-04 4.44312006e+00] [ 2.69394328e-03 3.68009374e-05 9.99996371e-01 2.14851963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.59401273899999 meters Centerline goodness : 0.996639 Centerline is valid? [True, True] Translation: X:54.00, Y:4.45, Z:0.02 [[ 9.81356462e-01 -1.92178419e-01 -2.63629987e-03 5.39961700e+01] [ 1.92177620e-01 9.81360002e-01 -5.55536956e-04 4.45022391e+00] [ 2.69392146e-03 3.85419457e-05 9.99996371e-01 2.14618549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.624012738999994 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:54.02, Y:4.46, Z:0.02 [[ 9.81301593e-01 -1.92458383e-01 -2.63703613e-03 5.40234277e+01] [ 1.92457594e-01 9.81305136e-01 -5.52019818e-04 4.45861642e+00] [ 2.69397794e-03 3.41802989e-05 9.99996371e-01 1.95914194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.654012738999995 meters Centerline goodness : 0.997228 Centerline is valid? [True, True] Translation: X:54.05, Y:4.47, Z:0.02 [[ 9.81410577e-01 -1.91901864e-01 -2.63693389e-03 5.40500756e+01] [ 1.91901072e-01 9.81414119e-01 -5.52507769e-04 4.46505724e+00] [ 2.69395142e-03 3.62065294e-05 9.99996371e-01 1.70369666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.684012738999996 meters Centerline goodness : 0.997228 Centerline is valid? [True, True] Translation: X:54.08, Y:4.47, Z:0.02 [[ 9.81378579e-01 -1.92065438e-01 -2.63688940e-03 5.40779106e+01] [ 1.92064646e-01 9.81382120e-01 -5.52720007e-04 4.47111688e+00] [ 2.69395452e-03 3.59743456e-05 9.99996371e-01 1.71137096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.714012739 meters Centerline goodness : 0.997386 Centerline is valid? [True, True] Translation: X:54.11, Y:4.48, Z:0.02 [[ 9.81490269e-01 -1.91493860e-01 -2.63679720e-03 5.41050839e+01] [ 1.91493065e-01 9.81493811e-01 -5.53159495e-04 4.47818848e+00] [ 2.69392678e-03 3.79922843e-05 9.99996371e-01 1.74728524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74401273899999 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:54.13, Y:4.49, Z:0.02 [[ 9.81566108e-01 -1.91104742e-01 -2.63669996e-03 5.41320283e+01] [ 1.91103944e-01 9.81569649e-01 -5.53622625e-04 4.48644330e+00] [ 2.69390456e-03 3.95334432e-05 9.99996371e-01 1.96843864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.77401273899999 meters Centerline goodness : 0.997186 Centerline is valid? [True, True] Translation: X:54.16, Y:4.49, Z:0.02 [[ 9.81414523e-01 -1.91881689e-01 -2.63659535e-03 5.41590920e+01] [ 1.91880892e-01 9.81418064e-01 -5.54120387e-04 4.49172300e+00] [ 2.69392786e-03 3.79095276e-05 9.99996371e-01 1.97863984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.804012738999994 meters Centerline goodness : 0.997093 Centerline is valid? [True, True] Translation: X:54.19, Y:4.49, Z:0.02 [[ 9.80933279e-01 -1.94326920e-01 -2.63649047e-03 5.41866093e+01] [ 1.94326131e-01 9.80936821e-01 -5.54618946e-04 4.49406703e+00] [ 2.69400797e-03 3.17051885e-05 9.99996371e-01 1.85415571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.834012738999995 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:54.21, Y:4.50, Z:0.02 [[ 9.80608274e-01 -1.95960360e-01 -2.63644466e-03 5.42140383e+01] [ 1.95959576e-01 9.80611818e-01 -5.54836634e-04 4.49909136e+00] [ 2.69405477e-03 2.74408167e-05 9.99996371e-01 1.72630252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.864012738999996 meters Centerline goodness : 0.997238 Centerline is valid? [True, True] Translation: X:54.24, Y:4.50, Z:0.01 [[ 9.80303808e-01 -1.97477832e-01 -2.63634047e-03 5.42400037e+01] [ 1.97477052e-01 9.80307353e-01 -5.55331227e-04 4.50470856e+00] [ 2.69408956e-03 2.37765711e-05 9.99996371e-01 1.47099630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.894012739 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:54.27, Y:4.51, Z:0.01 [[ 9.79843836e-01 -1.99747608e-01 -2.63629520e-03 5.42672971e+01] [ 1.99746836e-01 9.79847382e-01 -5.55546059e-04 4.50979703e+00] [ 2.69413595e-03 1.77567559e-05 9.99996371e-01 1.41595530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92401273899999 meters Centerline goodness : 0.997039 Centerline is valid? [True, True] Translation: X:54.29, Y:4.51, Z:0.02 [[ 9.79596362e-01 -2.00957751e-01 -2.63618871e-03 5.42937871e+01] [ 2.00956982e-01 9.79599909e-01 -5.56050943e-04 4.51401659e+00] [ 2.69415297e-03 1.49449548e-05 9.99996371e-01 1.50952336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.95401273899999 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:54.32, Y:4.52, Z:0.01 [[ 9.79416950e-01 -2.01830348e-01 -2.63614232e-03 5.43205562e+01] [ 2.01829581e-01 9.79420497e-01 -5.56270785e-04 4.51939759e+00] [ 2.69416414e-03 1.27695356e-05 9.99996371e-01 1.41560881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98401273899999 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:54.35, Y:4.52, Z:0.02 [[ 9.79091568e-01 -2.03402934e-01 -2.63609790e-03 5.43484185e+01] [ 2.03402173e-01 9.79095116e-01 -5.56481182e-04 4.52465477e+00] [ 2.69418049e-03 8.65799221e-06 9.99996371e-01 1.55045167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.014012738999995 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:54.38, Y:4.52, Z:0.01 [[ 9.78351249e-01 -2.06934492e-01 -2.63599239e-03 5.43766185e+01] [ 2.06933743e-01 9.78354801e-01 -5.56980548e-04 4.52381256e+00] [ 2.69419429e-03 -5.53155772e-07 9.99996371e-01 1.43291232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.044012738999996 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:54.40, Y:4.53, Z:0.01 [[ 9.77944313e-01 -2.08849163e-01 -2.63594649e-03 5.44042138e+01] [ 2.08848419e-01 9.77947865e-01 -5.57197669e-04 4.52643401e+00] [ 2.69418851e-03 -5.60496685e-06 9.99996371e-01 1.45908760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.074012739 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:54.43, Y:4.53, Z:0.02 [[ 9.77463728e-01 -2.11086981e-01 -2.63584117e-03 5.44324424e+01] [ 2.11086244e-01 9.77467281e-01 -5.57695453e-04 4.52855768e+00] [ 2.69417075e-03 -1.12627371e-05 9.99996371e-01 1.58479520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10401273899999 meters Centerline goodness : 0.997533 Centerline is valid? [True, True] Translation: X:54.46, Y:4.53, Z:0.02 [[ 9.77412914e-01 -2.11322142e-01 -2.63573448e-03 5.44606022e+01] [ 2.11321405e-01 9.77416468e-01 -5.58199206e-04 4.53213840e+00] [ 2.69417014e-03 -1.13960021e-05 9.99996371e-01 1.61858234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13401273899999 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:54.49, Y:4.53, Z:0.02 [[ 9.77567017e-01 -2.10608120e-01 -2.63562791e-03 5.44885150e+01] [ 2.10607379e-01 9.77570570e-01 -5.58701937e-04 4.53039345e+00] [ 2.69417945e-03 -8.91410105e-06 9.99996371e-01 1.90210369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16401273899999 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:54.52, Y:4.53, Z:0.02 [[ 9.77877925e-01 -2.09159790e-01 -2.63558151e-03 5.45167430e+01] [ 2.09159043e-01 9.77881477e-01 -5.58920737e-04 4.53369579e+00] [ 2.69419009e-03 -4.69945795e-06 9.99996371e-01 2.03870141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.194012738999994 meters Centerline goodness : 0.997415 Centerline is valid? [True, True] Translation: X:54.54, Y:4.54, Z:0.02 [[ 9.78414984e-01 -2.06632944e-01 -2.63547720e-03 5.45446958e+01] [ 2.06632186e-01 9.78418533e-01 -5.59412167e-04 4.53756857e+00] [ 2.69419272e-03 2.76283009e-06 9.99996371e-01 2.07676157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.224012738999996 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:54.57, Y:4.54, Z:0.02 [[ 9.79475067e-01 -2.01548126e-01 -2.63537265e-03 5.45718825e+01] [ 2.01547349e-01 9.79478613e-01 -5.59904293e-04 4.53929553e+00] [ 2.69413880e-03 1.72599239e-05 9.99996371e-01 2.16016159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.254012739 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:54.60, Y:4.54, Z:0.02 [[ 9.79802318e-01 -1.99951175e-01 -2.63530150e-03 5.45983129e+01] [ 1.99950391e-01 9.79805862e-01 -5.60238951e-04 4.54281098e+00] [ 2.69410430e-03 2.19938565e-05 9.99996371e-01 2.17755425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.284012739 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:54.63, Y:4.55, Z:0.02 [[ 9.80333800e-01 -1.97328906e-01 -2.63523094e-03 5.46259133e+01] [ 1.97328112e-01 9.80337341e-01 -5.60570675e-04 4.54721443e+00] [ 2.69403209e-03 2.95412347e-05 9.99996371e-01 2.24647194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31401273899999 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:54.65, Y:4.55, Z:0.02 [[ 9.80558268e-01 -1.96210444e-01 -2.63512722e-03 5.46528939e+01] [ 1.96209644e-01 9.80561809e-01 -5.61057782e-04 4.55370052e+00] [ 2.69399051e-03 3.31124716e-05 9.99996371e-01 2.17022044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34401273899999 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:54.68, Y:4.56, Z:0.02 [[ 9.81181653e-01 -1.93068950e-01 -2.63502236e-03 5.46800517e+01] [ 1.93068138e-01 9.81185191e-01 -5.61549843e-04 4.55997813e+00] [ 2.69386276e-03 4.22435421e-05 9.99996371e-01 2.00177443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.374012738999994 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:54.71, Y:4.57, Z:0.02 [[ 9.81554712e-01 -1.91163291e-01 -2.63491630e-03 5.47068687e+01] [ 1.91162470e-01 9.81558248e-01 -5.62047087e-04 4.56553524e+00] [ 2.69376659e-03 4.79828582e-05 9.99996371e-01 1.90813750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.404012738999995 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:54.73, Y:4.57, Z:0.02 [[ 9.82050436e-01 -1.88600102e-01 -2.63487037e-03 5.47337317e+01] [ 1.88599272e-01 9.82053969e-01 -5.62262317e-04 4.57374101e+00] [ 2.69362763e-03 5.52353209e-05 9.99996371e-01 1.87891701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.434012738999996 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:54.76, Y:4.58, Z:0.02 [[ 9.82299734e-01 -1.87297334e-01 -2.63476802e-03 5.47595913e+01] [ 1.87296498e-01 9.82303265e-01 -5.62741512e-04 4.58129161e+00] [ 2.69354121e-03 5.92980152e-05 9.99996371e-01 1.95674015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.464012739 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] Translation: X:54.79, Y:4.59, Z:0.02 [[ 9.82916909e-01 -1.84030998e-01 -2.63472363e-03 5.47867844e+01] [ 1.84030150e-01 9.82920438e-01 -5.62949252e-04 4.59032335e+00] [ 2.69332382e-03 6.84637537e-05 9.99996371e-01 2.25238896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49401273899999 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:54.81, Y:4.60, Z:0.02 [[ 9.83282567e-01 -1.82067166e-01 -2.63462083e-03 5.48127994e+01] [ 1.82066309e-01 9.83286093e-01 -5.63429979e-04 4.59727451e+00] [ 2.69316812e-03 7.43351857e-05 9.99996371e-01 2.39250367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52401273899999 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:54.84, Y:4.61, Z:0.02 [[ 9.83655699e-01 -1.80040344e-01 -2.63455086e-03 5.48395180e+01] [ 1.80039479e-01 9.83659224e-01 -5.63756938e-04 4.60566260e+00] [ 2.69299925e-03 8.02195608e-05 9.99996371e-01 2.44553709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.554012738999994 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:54.86, Y:4.62, Z:0.02 [[ 9.84579889e-01 -1.74915700e-01 -2.63444839e-03 5.48642355e+01] [ 1.74914816e-01 9.84583409e-01 -5.64235396e-04 4.61829616e+00] [ 2.69252780e-03 9.47307703e-05 9.99996371e-01 2.43379605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.584012738999995 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:54.89, Y:4.63, Z:0.02 [[ 9.85454705e-01 -1.69917875e-01 -2.63440384e-03 5.48896440e+01] [ 1.69916972e-01 9.85458220e-01 -5.64443303e-04 4.63178349e+00] [ 2.69200393e-03 1.08603385e-04 9.99996371e-01 2.24406969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.614012738999996 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:54.92, Y:4.64, Z:0.02 [[ 9.85784686e-01 -1.67992896e-01 -2.63430031e-03 5.49152994e+01] [ 1.67991985e-01 9.85788199e-01 -5.64926075e-04 4.64198323e+00] [ 2.69176573e-03 1.14354136e-04 9.99996371e-01 2.21543863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.644012739 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:54.94, Y:4.65, Z:0.02 [[ 9.85980540e-01 -1.66839552e-01 -2.63425536e-03 5.49418083e+01] [ 1.66838636e-01 9.85984052e-01 -5.65135580e-04 4.65263119e+00] [ 2.69162074e-03 1.17717111e-04 9.99996371e-01 2.29172788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67401273899999 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:54.97, Y:4.67, Z:0.02 [[ 9.85952084e-01 -1.67007631e-01 -2.63415148e-03 5.49665380e+01] [ 1.67006714e-01 9.85955596e-01 -5.65619361e-04 4.66692960e+00] [ 2.69161915e-03 1.17752604e-04 9.99996371e-01 2.36731897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70401273899999 meters Centerline goodness : 0.998305 Centerline is valid? [True, True] Translation: X:54.99, Y:4.68, Z:0.02 [[ 9.85802954e-01 -1.67885669e-01 -2.63410632e-03 5.49934302e+01] [ 1.67884755e-01 9.85806466e-01 -5.65829599e-04 4.67636968e+00] [ 2.69171373e-03 1.15570194e-04 9.99996371e-01 2.48293144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73401273899999 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:55.02, Y:4.69, Z:0.03 [[ 9.85130629e-01 -1.71786802e-01 -2.63399947e-03 5.50183829e+01] [ 1.71785901e-01 9.85134145e-01 -5.66326587e-04 4.68948443e+00] [ 2.69213025e-03 1.05421696e-04 9.99996371e-01 2.62969228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.764012738999995 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:55.04, Y:4.70, Z:0.03 [[ 9.84677010e-01 -1.74368142e-01 -2.63395301e-03 5.50442681e+01] [ 1.74367249e-01 9.84680528e-01 -5.66542573e-04 4.69909976e+00] [ 2.69238922e-03 9.85863050e-05 9.99996371e-01 2.53663118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.794012738999996 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:55.07, Y:4.71, Z:0.02 [[ 9.83620910e-01 -1.80230319e-01 -2.63390692e-03 5.50699447e+01] [ 1.80229447e-01 9.83624433e-01 -5.66756770e-04 4.71153434e+00] [ 2.69292195e-03 8.27662212e-05 9.99996371e-01 2.02333004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.824012739 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:55.10, Y:4.72, Z:0.02 [[ 9.83016292e-01 -1.83499408e-01 -2.63380186e-03 5.50968450e+01] [ 1.83498546e-01 9.83019818e-01 -5.67244573e-04 4.71973244e+00] [ 2.69316847e-03 7.43118438e-05 9.99996371e-01 1.89983572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85401273899999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:55.12, Y:4.73, Z:0.02 [[ 9.82034476e-01 -1.88683207e-01 -2.63369499e-03 5.51227132e+01] [ 1.88682362e-01 9.82038005e-01 -5.67740364e-04 4.72642809e+00] [ 2.69351164e-03 6.06088200e-05 9.99996371e-01 2.07263988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88401273899999 meters Centerline goodness : 0.998315 Centerline is valid? [True, True] Translation: X:55.15, Y:4.73, Z:0.02 [[ 9.81556560e-01 -1.91153821e-01 -2.63364844e-03 5.51497734e+01] [ 1.91152985e-01 9.81560092e-01 -5.67956206e-04 4.73181604e+00] [ 2.69365120e-03 5.40513803e-05 9.99996371e-01 2.34998551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91401273899999 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:55.18, Y:4.74, Z:0.03 [[ 9.81191958e-01 -1.93016593e-01 -2.63354336e-03 5.51774341e+01] [ 1.93015762e-01 9.81195491e-01 -5.68443020e-04 4.73788295e+00] [ 2.69373981e-03 4.94363411e-05 9.99996371e-01 2.53035470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.944012738999994 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:55.20, Y:4.74, Z:0.03 [[ 9.80790995e-01 -1.95043812e-01 -2.63343841e-03 5.52036166e+01] [ 1.95042987e-01 9.80794530e-01 -5.68928800e-04 4.74404003e+00] [ 2.69382803e-03 4.43665491e-05 9.99996371e-01 2.52619420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.974012738999996 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:55.23, Y:4.75, Z:0.02 [[ 9.80575500e-01 -1.96124332e-01 -2.63336692e-03 5.52301655e+01] [ 1.96123511e-01 9.80579035e-01 -5.69259501e-04 4.74965110e+00] [ 2.69387004e-03 4.17367540e-05 9.99996371e-01 2.48426926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.004012739 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:55.26, Y:4.75, Z:0.02 [[ 9.80148216e-01 -1.98248683e-01 -2.63332449e-03 5.52581237e+01] [ 1.98247868e-01 9.80151753e-01 -5.69455713e-04 4.75462103e+00] [ 2.69395146e-03 3.61000348e-05 9.99996371e-01 2.19090898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.034012739 meters Centerline goodness : 0.998072 Centerline is valid? [True, True] Translation: X:55.29, Y:4.76, Z:0.02 [[ 9.79919556e-01 -1.99375852e-01 -2.63322825e-03 5.52853396e+01] [ 1.99375040e-01 9.79923093e-01 -5.69900399e-04 4.76024528e+00] [ 2.69398555e-03 3.34565567e-05 9.99996371e-01 2.04415145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06401273899999 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:55.31, Y:4.76, Z:0.02 [[ 9.79652407e-01 -2.00684397e-01 -2.63312084e-03 5.53127074e+01] [ 2.00683589e-01 9.79655946e-01 -5.70396246e-04 4.76433233e+00] [ 2.69402211e-03 3.03659161e-05 9.99996371e-01 1.92278379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.09401273899999 meters Centerline goodness : 0.998246 Centerline is valid? [True, True] Translation: X:55.34, Y:4.77, Z:0.02 [[ 9.79602858e-01 -2.00926124e-01 -2.63301316e-03 5.53401986e+01] [ 2.00925315e-01 9.79606396e-01 -5.70892884e-04 4.76903546e+00] [ 2.69402383e-03 3.02093022e-05 9.99996371e-01 2.08582498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.124012738999994 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:55.37, Y:4.77, Z:0.02 [[ 9.79658349e-01 -2.00655394e-01 -2.63290488e-03 5.53667727e+01] [ 2.00654583e-01 9.79661886e-01 -5.71391831e-04 4.77322949e+00] [ 2.69400941e-03 3.14643471e-05 9.99996371e-01 2.26607275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.154012738999995 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:55.39, Y:4.78, Z:0.02 [[ 9.80030973e-01 -1.98827462e-01 -2.63285761e-03 5.53927293e+01] [ 1.98826644e-01 9.80034509e-01 -5.71609541e-04 4.77892392e+00] [ 2.69394299e-03 3.67128126e-05 9.99996371e-01 2.06068549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.184012738999996 meters Centerline goodness : 0.997895 Centerline is valid? [True, True] Translation: X:55.42, Y:4.79, Z:0.02 [[ 9.80426418e-01 -1.96868248e-01 -2.63278613e-03 5.54201698e+01] [ 1.96867422e-01 9.80429952e-01 -5.71938602e-04 4.78571831e+00] [ 2.69385893e-03 4.24338981e-05 9.99996371e-01 1.84116832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.214012739 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:55.45, Y:4.79, Z:0.02 [[ 9.81235664e-01 -1.92794295e-01 -2.63267810e-03 5.54467964e+01] [ 1.92793452e-01 9.81239195e-01 -5.72435424e-04 4.79133961e+00] [ 2.69364922e-03 5.41309529e-05 9.99996371e-01 1.67509611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24401273899999 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:55.47, Y:4.80, Z:0.02 [[ 9.81397969e-01 -1.91966392e-01 -2.63263128e-03 5.54746451e+01] [ 1.91965546e-01 9.81401498e-01 -5.72650663e-04 4.79716402e+00] [ 2.69359797e-03 5.66236960e-05 9.99996371e-01 1.97093636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.27401273899999 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:55.50, Y:4.80, Z:0.02 [[ 9.81443813e-01 -1.91731876e-01 -2.63252441e-03 5.55012705e+01] [ 1.91731028e-01 9.81447342e-01 -5.73141543e-04 4.80260567e+00] [ 2.69357359e-03 5.77696110e-05 9.99996371e-01 2.21052334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.304012738999994 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:55.53, Y:4.81, Z:0.02 [[ 9.81161101e-01 -1.93173402e-01 -2.63247785e-03 5.55290681e+01] [ 1.93172559e-01 9.81164631e-01 -5.73355303e-04 4.80813021e+00] [ 2.69365116e-03 5.40314379e-05 9.99996371e-01 2.03898660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.334012738999995 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:55.56, Y:4.81, Z:0.02 [[ 9.81046609e-01 -1.93754022e-01 -2.63237107e-03 5.55574902e+01] [ 1.93753179e-01 9.81050139e-01 -5.73845122e-04 4.81091427e+00] [ 2.69367281e-03 5.29385461e-05 9.99996371e-01 1.66905654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.364012738999996 meters Centerline goodness : 0.997905 Centerline is valid? [True, True] Translation: X:55.58, Y:4.82, Z:0.02 [[ 9.81113941e-01 -1.93412786e-01 -2.63226009e-03 5.55841086e+01] [ 1.93411941e-01 9.81117471e-01 -5.74353781e-04 4.81541368e+00] [ 2.69364372e-03 5.43959709e-05 9.99996371e-01 1.70027819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.394012739 meters Centerline goodness : 0.998211 Centerline is valid? [True, True] Translation: X:55.61, Y:4.82, Z:0.02 [[ 9.81217269e-01 -1.92887903e-01 -2.63221182e-03 5.56117777e+01] [ 1.92887055e-01 9.81220798e-01 -5.74574906e-04 4.82205064e+00] [ 2.69360953e-03 5.60632338e-05 9.99996371e-01 1.90081050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42401273899999 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:55.64, Y:4.83, Z:0.02 [[ 9.81766480e-01 -1.90072752e-01 -2.63210380e-03 5.56375343e+01] [ 1.90071893e-01 9.81770006e-01 -5.75069310e-04 4.83301445e+00] [ 2.69342557e-03 6.42948210e-05 9.99996371e-01 2.00797438e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.45401273899999 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:55.66, Y:4.84, Z:0.02 [[ 9.82240809e-01 -1.87606143e-01 -2.63199588e-03 5.56637227e+01] [ 1.87605273e-01 9.82244333e-01 -5.75562808e-04 4.84161916e+00] [ 2.69324216e-03 7.15649717e-05 9.99996371e-01 1.92556416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48401273899999 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:55.69, Y:4.85, Z:0.02 [[ 9.83388160e-01 -1.81496003e-01 -2.63194904e-03 5.56891015e+01] [ 1.81495111e-01 9.83391678e-01 -5.75776905e-04 4.85100652e+00] [ 2.69273799e-03 8.85263068e-05 9.99996371e-01 1.92935317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.514012738999995 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:55.72, Y:4.86, Z:0.02 [[ 9.83974559e-01 -1.78289484e-01 -2.63190251e-03 5.57151457e+01] [ 1.78288581e-01 9.83978074e-01 -5.75989546e-04 4.85972024e+00] [ 2.69242724e-03 9.75208971e-05 9.99996371e-01 1.89907286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.544012738999996 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:55.74, Y:4.87, Z:0.02 [[ 9.85054180e-01 -1.72224667e-01 -2.63185836e-03 5.57406854e+01] [ 1.72223741e-01 9.85057689e-01 -5.76191173e-04 4.87383702e+00] [ 2.69176665e-03 1.14311030e-04 9.99996371e-01 1.93362807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.574012739 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:55.77, Y:4.88, Z:0.02 [[ 9.85236027e-01 -1.71181320e-01 -2.63175089e-03 5.57663803e+01] [ 1.71180389e-01 9.85239535e-01 -5.76681632e-04 4.88414154e+00] [ 2.69162215e-03 1.17663377e-04 9.99996371e-01 1.98622375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60401273899999 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:55.79, Y:4.89, Z:0.02 [[ 9.85204567e-01 -1.71362292e-01 -2.63170426e-03 5.57941600e+01] [ 1.71361361e-01 9.85208075e-01 -5.76894386e-04 4.89041954e+00] [ 2.69163423e-03 1.17386560e-04 9.99996371e-01 1.99389716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63401273899999 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:55.82, Y:4.90, Z:0.02 [[ 9.85187566e-01 -1.71460007e-01 -2.63159820e-03 5.58203020e+01] [ 1.71459075e-01 9.85191074e-01 -5.77377776e-04 4.90004944e+00] [ 2.69162425e-03 1.17614014e-04 9.99996371e-01 2.06688532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66401273899999 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:55.85, Y:4.91, Z:0.02 [[ 9.84960179e-01 -1.72761454e-01 -2.63149248e-03 5.58454632e+01] [ 1.72760526e-01 9.84963688e-01 -5.77859191e-04 4.91156996e+00] [ 2.69175634e-03 1.14550267e-04 9.99996371e-01 1.83664387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.694012738999994 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:55.87, Y:4.92, Z:0.02 [[ 9.84551861e-01 -1.75073439e-01 -2.63144655e-03 5.58715688e+01] [ 1.75072519e-01 9.84555371e-01 -5.78068305e-04 4.92331616e+00] [ 2.69200924e-03 1.08444251e-04 9.99996371e-01 1.53480341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.724012738999996 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:55.90, Y:4.93, Z:0.02 [[ 9.84254444e-01 -1.76737847e-01 -2.63134189e-03 5.58980845e+01] [ 1.76736930e-01 9.84257955e-01 -5.78544287e-04 4.93258624e+00] [ 2.69216986e-03 1.04379496e-04 9.99996371e-01 1.53382392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.754012739 meters Centerline goodness : 0.998063 Centerline is valid? [True, True] Translation: X:55.92, Y:4.94, Z:0.02 [[ 9.83865101e-01 -1.78892538e-01 -2.63123711e-03 5.59247532e+01] [ 1.78891628e-01 9.83868614e-01 -5.79020434e-04 4.94177034e+00] [ 2.69237405e-03 9.89717071e-05 9.99996371e-01 1.60574832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.784012739 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:55.95, Y:4.95, Z:0.02 [[ 9.83038617e-01 -1.83379809e-01 -2.63112942e-03 5.59505518e+01] [ 1.83378914e-01 9.83042134e-01 -5.79509392e-04 4.95224665e+00] [ 2.69278140e-03 8.71864541e-05 9.99996371e-01 1.83253644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81401273899999 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:55.98, Y:4.96, Z:0.02 [[ 9.82536040e-01 -1.86053774e-01 -2.63108254e-03 5.59770844e+01] [ 1.86052888e-01 9.82539560e-01 -5.79722154e-04 4.96097758e+00] [ 2.69300218e-03 8.00774043e-05 9.99996371e-01 1.91093920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84401273899999 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:56.00, Y:4.97, Z:0.02 [[ 9.81799677e-01 -1.89901219e-01 -2.63097654e-03 5.60024095e+01] [ 1.89900345e-01 9.81803199e-01 -5.80202823e-04 4.97072497e+00] [ 2.69328241e-03 7.00195904e-05 9.99996371e-01 1.86920497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.874012738999994 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:56.03, Y:4.98, Z:0.02 [[ 9.81471753e-01 -1.91588820e-01 -2.63093034e-03 5.60295929e+01] [ 1.91587952e-01 9.81475277e-01 -5.80412246e-04 4.97753339e+00] [ 2.69339358e-03 6.56036685e-05 9.99996371e-01 1.93642591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.904012738999995 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:56.06, Y:4.98, Z:0.02 [[ 9.81222329e-01 -1.92862177e-01 -2.63082298e-03 5.60554632e+01] [ 1.92861312e-01 9.81225854e-01 -5.80898479e-04 4.98415869e+00] [ 2.69346487e-03 6.26065879e-05 9.99996371e-01 2.10562023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.934012738999996 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:56.08, Y:4.99, Z:0.02 [[ 9.80784485e-01 -1.95076580e-01 -2.63077613e-03 5.60810617e+01] [ 1.95075723e-01 9.80788012e-01 -5.81110540e-04 4.99352732e+00] [ 2.69359475e-03 5.67436460e-05 9.99996371e-01 2.30929056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.964012739 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:56.11, Y:5.00, Z:0.02 [[ 9.80550242e-01 -1.96250612e-01 -2.63072998e-03 5.61083684e+01] [ 1.96249758e-01 9.80553769e-01 -5.81319416e-04 5.00121656e+00] [ 2.69365649e-03 5.37327714e-05 9.99996371e-01 2.27929544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99401273899999 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:56.14, Y:5.01, Z:0.02 [[ 9.80094862e-01 -1.98512322e-01 -2.63062395e-03 5.61355041e+01] [ 1.98511475e-01 9.80098391e-01 -5.81798842e-04 5.00974814e+00] [ 2.69376454e-03 4.80090158e-05 9.99996371e-01 2.08653626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.024012739 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:56.16, Y:5.02, Z:0.02 [[ 9.79786295e-01 -2.00029741e-01 -2.63051547e-03 5.61615718e+01] [ 2.00028899e-01 9.79789825e-01 -5.82288911e-04 5.01676050e+00] [ 2.69382739e-03 4.43395822e-05 9.99996371e-01 1.87307027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.054012739 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:56.19, Y:5.02, Z:0.02 [[ 9.79204644e-01 -2.02857945e-01 -2.63044160e-03 5.61890828e+01] [ 2.02857112e-01 9.79208176e-01 -5.82622417e-04 5.02365588e+00] [ 2.69393951e-03 3.69027906e-05 9.99996371e-01 1.63856903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.084012739 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:56.22, Y:5.03, Z:0.02 [[ 9.78857820e-01 -2.04524935e-01 -2.63033706e-03 5.62160891e+01] [ 2.04524106e-01 9.78861354e-01 -5.83093994e-04 5.03060781e+00] [ 2.69399255e-03 3.27987799e-05 9.99996371e-01 1.79437631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.114012739 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:56.24, Y:5.04, Z:0.02 [[ 9.78577777e-01 -2.05860673e-01 -2.63023011e-03 5.62423145e+01] [ 2.05859848e-01 9.78581311e-01 -5.83576020e-04 5.03732092e+00] [ 2.69402938e-03 2.96157544e-05 9.99996371e-01 2.16606785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.144012739 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:56.27, Y:5.04, Z:0.03 [[ 9.78108407e-01 -2.08079377e-01 -2.63018370e-03 5.62687708e+01] [ 2.08078559e-01 9.78111943e-01 -5.83785090e-04 5.04388129e+00] [ 2.69408773e-03 2.37202687e-05 9.99996371e-01 2.54765489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.174012739 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:56.30, Y:5.05, Z:0.02 [[ 9.77758826e-01 -2.09715903e-01 -2.63013770e-03 5.62961536e+01] [ 2.09715090e-01 9.77762364e-01 -5.83992290e-04 5.04948491e+00] [ 2.69412212e-03 1.94240502e-05 9.99996371e-01 2.46997114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.204012739 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:56.32, Y:5.05, Z:0.02 [[ 9.76880006e-01 -2.13772160e-01 -2.63003471e-03 5.63226142e+01] [ 2.13771362e-01 9.76883546e-01 -5.84455732e-04 5.05408666e+00] [ 2.69417800e-03 8.71701768e-06 9.99996371e-01 2.10709755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23401273900001 meters Centerline goodness : 0.998394 Centerline is valid? [True, True] Translation: X:56.35, Y:5.06, Z:0.02 [[ 9.76285036e-01 -2.16473118e-01 -2.62998988e-03 5.63496220e+01] [ 2.16472328e-01 9.76288579e-01 -5.84657385e-04 5.05922026e+00] [ 2.69419169e-03 1.47222276e-06 9.99996371e-01 1.97957123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.264012739 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:56.38, Y:5.06, Z:0.02 [[ 9.75679515e-01 -2.19186147e-01 -2.62988605e-03 5.63771628e+01] [ 2.19185366e-01 9.75683060e-01 -5.85124086e-04 5.06289121e+00] [ 2.69418636e-03 -5.53895092e-06 9.99996371e-01 1.89149178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.294012739 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:56.41, Y:5.06, Z:0.02 [[ 9.74439382e-01 -2.24635206e-01 -2.62978230e-03 5.64056636e+01] [ 2.24634444e-01 9.74442930e-01 -5.85589980e-04 5.06354488e+00] [ 2.69411690e-03 -2.01177463e-05 9.99996371e-01 1.66243140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.324012739 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:56.43, Y:5.07, Z:0.02 [[ 9.73878872e-01 -2.27052917e-01 -2.62967842e-03 5.64326315e+01] [ 2.27052163e-01 9.73882422e-01 -5.86056105e-04 5.06708336e+00] [ 2.69406334e-03 -2.63265135e-05 9.99996371e-01 1.65430885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.354012739 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:56.46, Y:5.07, Z:0.02 [[ 9.73183139e-01 -2.30016658e-01 -2.62963324e-03 5.64614838e+01] [ 2.30015913e-01 9.73186691e-01 -5.86258748e-04 5.06738789e+00] [ 2.69397335e-03 -3.43203622e-05 9.99996371e-01 2.26277659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.384012739 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:56.49, Y:5.07, Z:0.03 [[ 9.73108217e-01 -2.30333420e-01 -2.62952175e-03 5.64879637e+01] [ 2.30332676e-01 9.73111769e-01 -5.86758410e-04 5.07058899e+00] [ 2.69396863e-03 -3.46853493e-05 9.99996371e-01 2.61735518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.414012739 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:56.52, Y:5.07, Z:0.03 [[ 9.73338743e-01 -2.29357313e-01 -2.62947331e-03 5.65160206e+01] [ 2.29356564e-01 9.73342294e-01 -5.86975388e-04 5.07415776e+00] [ 2.69400468e-03 -3.17610786e-05 9.99996371e-01 2.61704157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.444012739 meters Centerline goodness : 0.998395 Centerline is valid? [True, True] Translation: X:56.54, Y:5.08, Z:0.02 [[ 9.73839677e-01 -2.27220971e-01 -2.62927524e-03 5.65436205e+01] [ 2.27220212e-01 9.73843226e-01 -5.87862289e-04 5.07763991e+00] [ 2.69407653e-03 -2.49408554e-05 9.99996371e-01 2.36819158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.474012739 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:56.57, Y:5.08, Z:0.02 [[ 9.74099091e-01 -2.26106272e-01 -2.62937812e-03 5.65701669e+01] [ 2.26105510e-01 9.74102640e-01 -5.87401762e-04 5.08076492e+00] [ 2.69409939e-03 -2.23293593e-05 9.99996371e-01 2.18175292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.504012739 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:56.60, Y:5.08, Z:0.02 [[ 9.74055779e-01 -2.26292798e-01 -2.62847386e-03 5.65990414e+01] [ 2.26292026e-01 9.74059325e-01 -5.91446302e-04 5.08089109e+00] [ 2.69412952e-03 -1.87009882e-05 9.99996371e-01 2.31983127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.534012739 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:56.63, Y:5.08, Z:0.03 [[ 9.73959806e-01 -2.26705501e-01 -2.62925046e-03 5.66272675e+01] [ 2.26704740e-01 9.73963354e-01 -5.87973583e-04 5.08451280e+00] [ 2.69409044e-03 -2.34009044e-05 9.99996371e-01 2.61190547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.564012739 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:56.66, Y:5.08, Z:0.03 [[ 9.73376249e-01 -2.29198100e-01 -2.62861015e-03 5.66568667e+01] [ 2.29197340e-01 9.73379797e-01 -5.90835827e-04 5.08454543e+00] [ 2.69405447e-03 -2.73648945e-05 9.99996371e-01 2.94156547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59401273900001 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:56.69, Y:5.09, Z:0.03 [[ 9.73146320e-01 -2.30172385e-01 -2.62912538e-03 5.66854483e+01] [ 2.30171635e-01 9.73149871e-01 -5.88534178e-04 5.08637084e+00] [ 2.69399734e-03 -3.24202176e-05 9.99996371e-01 2.67147707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62401273900001 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:56.71, Y:5.08, Z:0.02 [[ 9.72851282e-01 -2.31416232e-01 -2.62901251e-03 5.67136073e+01] [ 2.31415485e-01 9.72854833e-01 -5.89037941e-04 5.08479695e+00] [ 2.69396047e-03 -3.53478882e-05 9.99996371e-01 2.34148329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.654012739 meters Centerline goodness : 0.998267 Centerline is valid? [True, True] Translation: X:56.74, Y:5.09, Z:0.02 [[ 9.72820608e-01 -2.31545142e-01 -2.62896365e-03 5.67417900e+01] [ 2.31544395e-01 9.72824160e-01 -5.89255933e-04 5.08846544e+00] [ 2.69395870e-03 -3.54814825e-05 9.99996371e-01 2.32959309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.684012739 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:56.77, Y:5.09, Z:0.02 [[ 9.72998595e-01 -2.30796065e-01 -2.62885035e-03 5.67682564e+01] [ 2.30795314e-01 9.73002145e-01 -5.89760967e-04 5.09163126e+00] [ 2.69399154e-03 -3.28897507e-05 9.99996371e-01 2.38306782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.714012739 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:56.80, Y:5.09, Z:0.02 [[ 9.73812437e-01 -2.27337696e-01 -2.62880103e-03 5.67968183e+01] [ 2.27336931e-01 9.73815984e-01 -5.89980736e-04 5.09315978e+00] [ 2.69409332e-03 -2.30929810e-05 9.99996371e-01 2.21918856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.744012739 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:56.82, Y:5.10, Z:0.02 [[ 9.74396311e-01 -2.24821970e-01 -2.62873171e-03 5.68236651e+01] [ 2.24821195e-01 9.74399857e-01 -5.90289421e-04 5.09796483e+00] [ 2.69414583e-03 -1.58187708e-05 9.99996371e-01 2.15763825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.774012739 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:56.85, Y:5.10, Z:0.02 [[ 9.75831648e-01 -2.18507859e-01 -2.62865555e-03 5.68513095e+01] [ 2.18507061e-01 9.75835189e-01 -5.90628400e-04 5.10266649e+00] [ 2.69419153e-03 1.97408719e-06 9.99996371e-01 2.17446432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.804012739 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:56.88, Y:5.11, Z:0.02 [[ 9.76501240e-01 -2.15495750e-01 -2.62854473e-03 5.68782317e+01] [ 2.15494939e-01 9.76504778e-01 -5.91121170e-04 5.10896225e+00] [ 2.69417059e-03 1.07924681e-05 9.99996371e-01 2.26349954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.834012739 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:56.91, Y:5.12, Z:0.02 [[ 9.77056603e-01 -2.12963581e-01 -2.62843364e-03 5.69052999e+01] [ 2.12962760e-01 9.77060138e-01 -5.91614721e-04 5.11634495e+00] [ 2.69413012e-03 1.82825876e-05 9.99996371e-01 2.24868185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.864012739 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:56.93, Y:5.13, Z:0.02 [[ 9.77790414e-01 -2.09568599e-01 -2.62832260e-03 5.69308290e+01] [ 2.09567765e-01 9.77793946e-01 -5.92107612e-04 5.12671611e+00] [ 2.69404509e-03 2.81454544e-05 9.99996371e-01 2.23360806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.894012739 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:56.96, Y:5.14, Z:0.02 [[ 9.77711449e-01 -2.09936694e-01 -2.62827429e-03 5.69575312e+01] [ 2.09935860e-01 9.77714981e-01 -5.92321980e-04 5.13692686e+00] [ 2.69405327e-03 2.73509569e-05 9.99996371e-01 2.36527304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.924012739 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:56.98, Y:5.14, Z:0.02 [[ 9.77326889e-01 -2.11719731e-01 -2.62816065e-03 5.69849370e+01] [ 2.11718902e-01 9.77330423e-01 -5.92825787e-04 5.14456501e+00] [ 2.69409427e-03 2.29532958e-05 9.99996371e-01 2.38881101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.954012739 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:57.01, Y:5.15, Z:0.02 [[ 9.76845280e-01 -2.13930813e-01 -2.62804689e-03 5.70122775e+01] [ 2.13929991e-01 9.76848815e-01 -5.93329657e-04 5.15269567e+00] [ 2.69413599e-03 1.73732272e-05 9.99996371e-01 2.39911663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98401273900001 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:57.04, Y:5.16, Z:0.02 [[ 9.76060652e-01 -2.17482639e-01 -2.62793381e-03 5.70389444e+01] [ 2.17481829e-01 9.76064189e-01 -5.93830093e-04 5.16243358e+00] [ 2.69417982e-03 8.08633750e-06 9.99996371e-01 2.40796304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.014012739 meters Centerline goodness : 0.997836 Centerline is valid? [True, True] Translation: X:57.06, Y:5.17, Z:0.03 [[ 9.74946193e-01 -2.22425303e-01 -2.62782155e-03 5.70648877e+01] [ 2.22424509e-01 9.74949734e-01 -5.94326445e-04 5.16834139e+00] [ 2.69418716e-03 -5.05561227e-06 9.99996371e-01 2.66488847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.044012739 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:57.09, Y:5.17, Z:0.03 [[ 9.74176069e-01 -2.25774403e-01 -2.62774542e-03 5.70925696e+01] [ 2.25773621e-01 9.74179613e-01 -5.94662841e-04 5.17418107e+00] [ 2.69415567e-03 -1.39692893e-05 9.99996371e-01 2.68068159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.074012739 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:57.12, Y:5.18, Z:0.03 [[ 9.73390397e-01 -2.29138016e-01 -2.62763229e-03 5.71200087e+01] [ 2.29137244e-01 9.73393944e-01 -5.95162310e-04 5.17992839e+00] [ 2.69409567e-03 -2.27631437e-05 9.99996371e-01 2.61650991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.104012739 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:57.15, Y:5.18, Z:0.02 [[ 9.72421918e-01 -2.33213871e-01 -2.62751579e-03 5.71467663e+01] [ 2.33213112e-01 9.72425467e-01 -5.95676217e-04 5.18319306e+00] [ 2.69398322e-03 -3.35225246e-05 9.99996371e-01 2.34008114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.134012739 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:57.17, Y:5.19, Z:0.02 [[ 9.72049791e-01 -2.34760089e-01 -2.62746528e-03 5.71737201e+01] [ 2.34759336e-01 9.72053342e-01 -5.95898922e-04 5.18633161e+00] [ 2.69392969e-03 -3.75785791e-05 9.99996371e-01 2.32816578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.164012739 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:57.20, Y:5.19, Z:0.03 [[ 9.71115931e-01 -2.38593680e-01 -2.62741633e-03 5.72012632e+01] [ 2.38592941e-01 9.71119485e-01 -5.96114639e-04 5.18609304e+00] [ 2.69376438e-03 -4.79865665e-05 9.99996371e-01 2.53998049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.194012739 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:57.23, Y:5.19, Z:0.03 [[ 9.70627740e-01 -2.40572000e-01 -2.62736899e-03 5.72288456e+01] [ 2.40571267e-01 9.70631294e-01 -5.96323248e-04 5.18944011e+00] [ 2.69366524e-03 -5.32616000e-05 9.99996371e-01 2.60445137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.224012739 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:57.26, Y:5.19, Z:0.03 [[ 9.70290476e-01 -2.41928688e-01 -2.62725577e-03 5.72559512e+01] [ 2.41927958e-01 9.70294031e-01 -5.96821658e-04 5.19233726e+00] [ 2.69359887e-03 -5.65162524e-05 9.99996371e-01 2.50686781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.254012739 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:57.28, Y:5.19, Z:0.02 [[ 9.70089784e-01 -2.42732177e-01 -2.62720651e-03 5.72839875e+01] [ 2.42731449e-01 9.70093339e-01 -5.97038389e-04 5.19123824e+00] [ 2.69355597e-03 -5.85248039e-05 9.99996371e-01 2.26138523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.284012739 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:57.31, Y:5.19, Z:0.02 [[ 9.70149517e-01 -2.42493324e-01 -2.62715889e-03 5.73120620e+01] [ 2.42492596e-01 9.70153073e-01 -5.97247875e-04 5.19483496e+00] [ 2.69357489e-03 -5.76468408e-05 9.99996371e-01 2.33680252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.314012739 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:57.34, Y:5.20, Z:0.02 [[ 9.70796009e-01 -2.39892076e-01 -2.62704683e-03 5.73391652e+01] [ 2.39891336e-01 9.70799562e-01 -5.97740365e-04 5.19645203e+00] [ 2.69372909e-03 -4.99218147e-05 9.99996371e-01 2.40459724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34401273900001 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:57.37, Y:5.20, Z:0.02 [[ 9.71225054e-01 -2.38149098e-01 -2.62699812e-03 5.73654346e+01] [ 2.38148352e-01 9.71228606e-01 -5.97954380e-04 5.20078602e+00] [ 2.69381802e-03 -4.48669971e-05 9.99996371e-01 2.39276891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37401273900001 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:57.39, Y:5.20, Z:0.02 [[ 9.71820631e-01 -2.35706936e-01 -2.62695104e-03 5.73934279e+01] [ 2.35706180e-01 9.71824181e-01 -5.98161151e-04 5.20345021e+00] [ 2.69392527e-03 -3.78832471e-05 9.99996371e-01 2.37036823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.404012739 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:57.42, Y:5.21, Z:0.02 [[ 9.71948058e-01 -2.35180935e-01 -2.62683826e-03 5.74210119e+01] [ 2.35180176e-01 9.71951607e-01 -5.98655978e-04 5.20930063e+00] [ 2.69395215e-03 -3.59177697e-05 9.99996371e-01 2.41207474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.434012739 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:57.45, Y:5.22, Z:0.02 [[ 9.72007152e-01 -2.34936582e-01 -2.62672513e-03 5.74482918e+01] [ 2.34935821e-01 9.72010700e-01 -5.99151959e-04 5.21594256e+00] [ 2.69396765e-03 -3.47318362e-05 9.99996371e-01 2.48969876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.464012739 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:57.47, Y:5.22, Z:0.03 [[ 9.72248638e-01 -2.33935220e-01 -2.62661248e-03 5.74743804e+01] [ 2.33934454e-01 9.72252185e-01 -5.99645412e-04 5.22151597e+00] [ 2.69400790e-03 -3.14507197e-05 9.99996371e-01 3.06887461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.494012739 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:57.50, Y:5.23, Z:0.03 [[ 9.72207179e-01 -2.34107461e-01 -2.62650074e-03 5.75021091e+01] [ 2.34106694e-01 9.72210726e-01 -6.00134458e-04 5.22805829e+00] [ 2.69400814e-03 -3.14263765e-05 9.99996371e-01 3.07654844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.524012739 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:57.53, Y:5.23, Z:0.03 [[ 9.72482304e-01 -2.32961952e-01 -2.62639433e-03 5.75294824e+01] [ 2.32961179e-01 9.72485850e-01 -6.00599751e-04 5.23380107e+00] [ 2.69404822e-03 -2.77752911e-05 9.99996371e-01 3.28753195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.554012739 meters Centerline goodness : 0.997806 Centerline is valid? [True, True] Translation: X:57.56, Y:5.24, Z:0.03 [[ 9.73333855e-01 -2.29378091e-01 -2.62628347e-03 5.75565789e+01] [ 2.29377304e-01 9.73337398e-01 -6.01084133e-04 5.24110782e+00] [ 2.69413545e-03 -1.73542851e-05 9.99996371e-01 3.06704678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.584012739 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:57.58, Y:5.25, Z:0.03 [[ 9.73588471e-01 -2.28294975e-01 -2.62549117e-03 5.75830500e+01] [ 2.28294175e-01 9.73592011e-01 -6.04543849e-04 5.24875434e+00] [ 2.69417155e-03 -1.08074173e-05 9.99996371e-01 2.57441663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.614012739 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:57.61, Y:5.26, Z:0.02 [[ 9.73880833e-01 -2.27044547e-01 -2.62616308e-03 5.76107432e+01] [ 2.27043750e-01 9.73884374e-01 -6.01610822e-04 5.25546881e+00] [ 2.69417164e-03 -1.03566642e-05 9.99996371e-01 2.18992354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.644012739 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:57.64, Y:5.26, Z:0.02 [[ 9.74806114e-01 -2.23038435e-01 -2.62606601e-03 5.76380719e+01] [ 2.23037622e-01 9.74809651e-01 -6.02034223e-04 5.26112712e+00] [ 2.69419126e-03 1.15512305e-06 9.99996371e-01 1.96898620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.674012739 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:57.66, Y:5.27, Z:0.02 [[ 9.76033783e-01 -2.17603214e-01 -2.62603138e-03 5.76638045e+01] [ 2.17602382e-01 9.76037315e-01 -6.02185244e-04 5.27215597e+00] [ 2.69414206e-03 1.63224597e-05 9.99996371e-01 2.41898104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.704012739 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:57.69, Y:5.28, Z:0.03 [[ 9.76539087e-01 -2.15324212e-01 -2.62599702e-03 5.76914273e+01] [ 2.15323371e-01 9.76542617e-01 -6.02335028e-04 5.28179906e+00] [ 2.69409532e-03 2.27651670e-05 9.99996371e-01 2.51068222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73401273900001 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:57.72, Y:5.29, Z:0.03 [[ 9.76952318e-01 -2.13441493e-01 -2.62620090e-03 5.77181838e+01] [ 2.13440648e-01 9.76955848e-01 -6.01446554e-04 5.29007211e+00] [ 2.69405598e-03 2.70465841e-05 9.99996371e-01 2.92254586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.764012739 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:57.74, Y:5.30, Z:0.03 [[ 9.77400939e-01 -2.11377647e-01 -2.62588746e-03 5.77444198e+01] [ 2.11376790e-01 9.77404466e-01 -6.02811927e-04 5.29833536e+00] [ 2.69397510e-03 3.41372811e-05 9.99996371e-01 2.69862511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.794012739 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:57.77, Y:5.31, Z:0.02 [[ 9.77569196e-01 -2.10598129e-01 -2.62581278e-03 5.77711354e+01] [ 2.10597268e-01 9.77572722e-01 -6.03137038e-04 5.30661738e+00] [ 2.69394248e-03 3.66191904e-05 9.99996371e-01 2.44636149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.824012739 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:57.80, Y:5.32, Z:0.03 [[ 9.77937027e-01 -2.08883404e-01 -2.62570432e-03 5.77966735e+01] [ 2.08882536e-01 9.77940551e-01 -6.03608848e-04 5.31908475e+00] [ 2.69386660e-03 4.18276652e-05 9.99996371e-01 2.53378580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.854012739 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:57.82, Y:5.33, Z:0.03 [[ 9.78022257e-01 -2.08483980e-01 -2.62567064e-03 5.78227492e+01] [ 2.08483110e-01 9.78025781e-01 -6.03755343e-04 5.32811729e+00] [ 2.69384689e-03 4.30781819e-05 9.99996371e-01 2.60475318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.884012739 meters Centerline goodness : 0.997779 Centerline is valid? [True, True] Translation: X:57.85, Y:5.34, Z:0.03 [[ 9.77996856e-01 -2.08603105e-01 -2.62562402e-03 5.78491806e+01] [ 2.08602235e-01 9.78000380e-01 -6.03958018e-04 5.33583493e+00] [ 2.69384880e-03 4.29580044e-05 9.99996371e-01 2.63385580e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.914012739 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:57.88, Y:5.35, Z:0.02 [[ 9.77862947e-01 -2.09229930e-01 -2.62550601e-03 5.78758535e+01] [ 2.09229061e-01 9.77866471e-01 -6.04470574e-04 5.34535448e+00] [ 2.69386763e-03 4.17572206e-05 9.99996371e-01 2.41393573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.944012739 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:57.90, Y:5.36, Z:0.02 [[ 9.77376328e-01 -2.11491417e-01 -2.62546939e-03 5.79018998e+01] [ 2.11490556e-01 9.77379854e-01 -6.04629615e-04 5.35593269e+00] [ 2.69395486e-03 3.56886933e-05 9.99996371e-01 2.29849189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.974012739 meters Centerline goodness : 0.997975 Centerline is valid? [True, True] Translation: X:57.93, Y:5.36, Z:0.02 [[ 9.77004010e-01 -2.13204767e-01 -2.62534939e-03 5.79274519e+01] [ 2.13203910e-01 9.77007537e-01 -6.05150213e-04 5.36313792e+00] [ 2.69400705e-03 3.14994305e-05 9.99996371e-01 2.22083404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.004012739 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:57.95, Y:5.37, Z:0.02 [[ 9.76602186e-01 -2.15037853e-01 -2.62529701e-03 5.79546725e+01] [ 2.15037003e-01 9.76605714e-01 -6.05377342e-04 5.37041773e+00] [ 2.69405911e-03 2.66768346e-05 9.99996371e-01 2.32451535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.034012739 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:57.98, Y:5.38, Z:0.03 [[ 9.75970447e-01 -2.17887115e-01 -2.62526094e-03 5.79808274e+01] [ 2.17886275e-01 9.75973977e-01 -6.05533720e-04 5.37920734e+00] [ 2.69412436e-03 1.89746881e-05 9.99996371e-01 2.83356374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.064012739 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:58.01, Y:5.39, Z:0.03 [[ 9.75848955e-01 -2.18430596e-01 -2.62522587e-03 5.80080840e+01] [ 2.18429757e-01 9.75852486e-01 -6.05685712e-04 5.38707970e+00] [ 2.69413349e-03 1.76303184e-05 9.99996371e-01 3.01367995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09401273900001 meters Centerline goodness : 0.998172 Centerline is valid? [True, True] Translation: X:58.03, Y:5.39, Z:0.03 [[ 9.75776860e-01 -2.18752437e-01 -2.62511086e-03 5.80338420e+01] [ 2.18751598e-01 9.75780391e-01 -6.06183798e-04 5.39401084e+00] [ 2.69413588e-03 1.72529292e-05 9.99996371e-01 2.93162084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12401273900001 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:58.06, Y:5.40, Z:0.03 [[ 9.75633069e-01 -2.19392851e-01 -2.62503264e-03 5.80614982e+01] [ 2.19392014e-01 9.75636601e-01 -6.06522310e-04 5.40077924e+00] [ 2.69414458e-03 1.58320250e-05 9.99996371e-01 2.66149826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.154012739 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:58.09, Y:5.41, Z:0.03 [[ 9.75224072e-01 -2.21203795e-01 -2.62491825e-03 5.80884046e+01] [ 2.21202963e-01 9.75227605e-01 -6.07016975e-04 5.40841738e+00] [ 2.69416720e-03 1.13378726e-05 9.99996371e-01 2.57175130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.184012739 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:58.12, Y:5.41, Z:0.03 [[ 9.74918073e-01 -2.22548558e-01 -2.62480414e-03 5.81151932e+01] [ 2.22547728e-01 9.74921607e-01 -6.07510008e-04 5.41415436e+00] [ 2.69417875e-03 8.12828730e-06 9.99996371e-01 2.75322058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.214012739 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:58.14, Y:5.42, Z:0.03 [[ 9.74490415e-01 -2.24413773e-01 -2.62476872e-03 5.81423686e+01] [ 2.24412950e-01 9.74493950e-01 -6.07663014e-04 5.41875894e+00] [ 2.69418918e-03 3.12969101e-06 9.99996371e-01 3.08203892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.244012739 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:58.17, Y:5.42, Z:0.03 [[ 9.73274225e-01 -2.29630995e-01 -2.62465227e-03 5.81703874e+01] [ 2.29630190e-01 9.73277764e-01 -6.08165566e-04 5.42142870e+00] [ 2.69416936e-03 -1.07875289e-05 9.99996371e-01 3.31596916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.274012739 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:58.20, Y:5.43, Z:0.03 [[ 9.72486663e-01 -2.32943774e-01 -2.62453396e-03 5.81973278e+01] [ 2.32942980e-01 9.72490204e-01 -6.08675682e-04 5.42586318e+00] [ 2.69412078e-03 -1.94377790e-05 9.99996371e-01 3.26859291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.304012739 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:58.23, Y:5.43, Z:0.03 [[ 9.71005579e-01 -2.39042420e-01 -2.62445373e-03 5.82255828e+01] [ 2.39041647e-01 9.71009125e-01 -6.09021438e-04 5.42672235e+00] [ 2.69395048e-03 -3.59905284e-05 9.99996371e-01 3.27118559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.334012739 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:58.25, Y:5.43, Z:0.03 [[ 9.70246641e-01 -2.42104456e-01 -2.62433912e-03 5.82535215e+01] [ 2.42103693e-01 9.70250190e-01 -6.09514907e-04 5.42965807e+00] [ 2.69383180e-03 -4.39823995e-05 9.99996371e-01 3.27049805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.364012739 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:58.28, Y:5.43, Z:0.03 [[ 9.68987901e-01 -2.47094234e-01 -2.62422317e-03 5.82811798e+01] [ 2.47093488e-01 9.68991453e-01 -6.10013729e-04 5.43064561e+00] [ 2.69358069e-03 -5.73325330e-05 9.99996371e-01 2.93733036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.394012739 meters Centerline goodness : 0.998146 Centerline is valid? [True, True] Translation: X:58.31, Y:5.43, Z:0.03 [[ 9.68403989e-01 -2.49372869e-01 -2.62414439e-03 5.83090642e+01] [ 2.49372130e-01 9.68407542e-01 -6.10352401e-04 5.43366481e+00] [ 2.69344655e-03 -6.33207778e-05 9.99996371e-01 2.66567856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.424012739 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:58.34, Y:5.43, Z:0.03 [[ 9.67506378e-01 -2.52832996e-01 -2.62402821e-03 5.83377824e+01] [ 2.52832268e-01 9.67509933e-01 -6.10851472e-04 5.42989914e+00] [ 2.69321677e-03 -7.24363100e-05 9.99996371e-01 2.73715590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.454012739 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:58.37, Y:5.43, Z:0.03 [[ 9.67156279e-01 -2.54168934e-01 -2.62397768e-03 5.83658503e+01] [ 2.54168211e-01 9.67159835e-01 -6.11068462e-04 5.43116396e+00] [ 2.69312044e-03 -7.59330137e-05 9.99996371e-01 2.84980327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48401273900001 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:58.40, Y:5.43, Z:0.02 [[ 9.67038903e-01 -2.54615151e-01 -2.62386193e-03 5.83953499e+01] [ 2.54614428e-01 9.67042460e-01 -6.11565081e-04 5.42722615e+00] [ 2.69309963e-03 -7.66658784e-05 9.99996371e-01 2.44823501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.514012739 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:58.42, Y:5.43, Z:0.02 [[ 9.67200144e-01 -2.54001963e-01 -2.62376111e-03 5.84240778e+01] [ 2.54001237e-01 9.67203700e-01 -6.11997308e-04 5.42733142e+00] [ 2.69315997e-03 -7.45146833e-05 9.99996371e-01 2.31652600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.544012739 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:58.45, Y:5.43, Z:0.03 [[ 9.67509574e-01 -2.52820765e-01 -2.62372565e-03 5.84530952e+01] [ 2.52820034e-01 9.67513129e-01 -6.12149306e-04 5.42785062e+00] [ 2.69325307e-03 -7.10700940e-05 9.99996371e-01 2.52215856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.574012739 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:58.48, Y:5.43, Z:0.03 [[ 9.68504662e-01 -2.48981598e-01 -2.62362682e-03 5.84832328e+01] [ 2.48980852e-01 9.68508214e-01 -6.12572569e-04 5.42563790e+00] [ 2.69352343e-03 -5.99534524e-05 9.99996371e-01 3.11857130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.604012739 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:58.51, Y:5.43, Z:0.03 [[ 9.69103620e-01 -2.46640001e-01 -2.62352593e-03 5.85113419e+01] [ 2.46639245e-01 9.69107170e-01 -6.13004369e-04 5.42831258e+00] [ 2.69366919e-03 -5.29997022e-05 9.99996371e-01 3.17468181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.634012739 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:58.54, Y:5.42, Z:0.03 [[ 9.70488366e-01 -2.41133676e-01 -2.62341706e-03 5.85402890e+01] [ 2.41132898e-01 9.70491911e-01 -6.13469931e-04 5.42457779e+00] [ 2.69393330e-03 -3.72267297e-05 9.99996371e-01 3.09093375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.664012739 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:58.57, Y:5.43, Z:0.03 [[ 9.71101010e-01 -2.38654449e-01 -2.62336630e-03 5.85687540e+01] [ 2.38653662e-01 9.71104553e-01 -6.13686930e-04 5.42628021e+00] [ 2.69402207e-03 -3.01239765e-05 9.99996371e-01 3.08198254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.694012739 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:58.60, Y:5.43, Z:0.03 [[ 9.72278508e-01 -2.33811081e-01 -2.62325801e-03 5.85964463e+01] [ 2.33810275e-01 9.72282047e-01 -6.14149464e-04 5.42598599e+00] [ 2.69414162e-03 -1.62203531e-05 9.99996371e-01 3.05976533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.724012739 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:58.62, Y:5.43, Z:0.03 [[ 9.72787844e-01 -2.31682824e-01 -2.62286884e-03 5.86249793e+01] [ 2.31682006e-01 9.72791380e-01 -6.15810681e-04 5.42982181e+00] [ 2.69417695e-03 -8.61836792e-06 9.99996371e-01 3.17044801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.754012739 meters Centerline goodness : 0.997546 Centerline is valid? [True, True] Translation: X:58.65, Y:5.43, Z:0.03 [[ 9.73872475e-01 -2.27080429e-01 -2.62311181e-03 5.86537900e+01] [ 2.27079597e-01 9.73876008e-01 -6.14773972e-04 5.43050217e+00] [ 2.69418879e-03 3.05627723e-06 9.99996371e-01 3.45422018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.784012739 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:58.68, Y:5.43, Z:0.03 [[ 9.74388301e-01 -2.24856752e-01 -2.62299411e-03 5.86806820e+01] [ 2.24855910e-01 9.74391831e-01 -6.15275748e-04 5.43492617e+00] [ 2.69417294e-03 9.72176348e-06 9.99996371e-01 3.35177802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.814012739 meters Centerline goodness : 0.997685 Centerline is valid? [True, True] Translation: X:58.71, Y:5.44, Z:0.03 [[ 9.74846863e-01 -2.22860303e-01 -2.62294302e-03 5.87085257e+01] [ 2.22859454e-01 9.74850391e-01 -6.15493438e-04 5.44032257e+00] [ 2.69414609e-03 1.54641971e-05 9.99996371e-01 3.18208988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84401273900001 meters Centerline goodness : 0.997724 Centerline is valid? [True, True] Translation: X:58.74, Y:5.45, Z:0.03 [[ 9.75593561e-01 -2.19568496e-01 -2.62282631e-03 5.87361703e+01] [ 2.19567633e-01 9.75597086e-01 -6.15990392e-04 5.44511891e+00] [ 2.69407379e-03 2.50684945e-05 9.99996371e-01 2.92052470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87401273900001 meters Centerline goodness : 0.997728 Centerline is valid? [True, True] Translation: X:58.76, Y:5.45, Z:0.03 [[ 9.75987884e-01 -2.17809027e-01 -2.62270876e-03 5.87638104e+01] [ 2.17808157e-01 9.75991407e-01 -6.16490492e-04 5.45126204e+00] [ 2.69401840e-03 3.04398908e-05 9.99996371e-01 3.04404956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.904012739 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:58.79, Y:5.46, Z:0.03 [[ 9.76956355e-01 -2.13423058e-01 -2.62259139e-03 5.87900012e+01] [ 2.13422170e-01 9.76959875e-01 -6.16989373e-04 5.45950885e+00] [ 2.69384631e-03 4.30525428e-05 9.99996371e-01 3.34100960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.934012739 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:58.82, Y:5.47, Z:0.03 [[ 9.77545792e-01 -2.10706779e-01 -2.62253919e-03 5.88163490e+01] [ 2.10705882e-01 9.77549308e-01 -6.17211194e-04 5.46802803e+00] [ 2.69371195e-03 5.07677746e-05 9.99996371e-01 3.32032644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.964012739 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:58.84, Y:5.48, Z:0.03 [[ 9.78585310e-01 -2.05824958e-01 -2.62242524e-03 5.88432487e+01] [ 2.05824041e-01 9.78588822e-01 -6.17694943e-04 5.47725915e+00] [ 2.69341306e-03 6.47090372e-05 9.99996371e-01 2.97826689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.994012739 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:58.87, Y:5.49, Z:0.03 [[ 9.78847698e-01 -2.04573475e-01 -2.62230964e-03 5.88696928e+01] [ 2.04572553e-01 9.78851209e-01 -6.18185308e-04 5.48573166e+00] [ 2.69331528e-03 6.86566883e-05 9.99996371e-01 2.85340695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.024012739 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:58.90, Y:5.50, Z:0.03 [[ 9.79137863e-01 -2.03180140e-01 -2.62219512e-03 5.88959143e+01] [ 2.03179211e-01 9.79141372e-01 -6.18670724e-04 5.49557880e+00] [ 2.69320133e-03 7.29883966e-05 9.99996371e-01 2.86503684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.054012739 meters Centerline goodness : 0.997683 Centerline is valid? [True, True] Translation: X:58.92, Y:5.51, Z:0.03 [[ 9.79408256e-01 -2.01872715e-01 -2.62208056e-03 5.89212014e+01] [ 2.01871780e-01 9.79411763e-01 -6.19155848e-04 5.50859096e+00] [ 2.69308722e-03 7.70822796e-05 9.99996371e-01 3.45729487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.084012739 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:58.95, Y:5.52, Z:0.04 [[ 9.79348289e-01 -2.02163434e-01 -2.62204501e-03 5.89481626e+01] [ 2.02162500e-01 9.79351796e-01 -6.19306365e-04 5.51665783e+00] [ 2.69310559e-03 7.64374547e-05 9.99996371e-01 3.74498030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.114012739 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:58.97, Y:5.53, Z:0.03 [[ 9.79197186e-01 -2.02894054e-01 -2.62192819e-03 5.89739732e+01] [ 2.02893121e-01 9.79200693e-01 -6.19800549e-04 5.52636244e+00] [ 2.69314775e-03 7.49357605e-05 9.99996371e-01 3.49233757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.144012739 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:59.00, Y:5.54, Z:0.03 [[ 9.79166118e-01 -2.03043934e-01 -2.62187747e-03 5.89998860e+01] [ 2.03043001e-01 9.79169625e-01 -6.20015028e-04 5.53691800e+00] [ 2.69315307e-03 7.47438386e-05 9.99996371e-01 3.13042228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.174012739 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:59.03, Y:5.55, Z:0.03 [[ 9.79203485e-01 -2.02863650e-01 -2.62184164e-03 5.90258835e+01] [ 2.02862716e-01 9.79206992e-01 -6.20166515e-04 5.54807226e+00] [ 2.69313491e-03 7.53952961e-05 9.99996371e-01 2.92941262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.204012739 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:59.05, Y:5.56, Z:0.03 [[ 9.79191481e-01 -2.02921586e-01 -2.62172913e-03 5.90515530e+01] [ 2.02920651e-01 9.79194988e-01 -6.20641763e-04 5.56100496e+00] [ 2.69312564e-03 7.57241442e-05 9.99996371e-01 3.03376084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23401273900001 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:59.08, Y:5.57, Z:0.03 [[ 9.78814129e-01 -2.04734039e-01 -2.62169414e-03 5.90774543e+01] [ 2.04733110e-01 9.78817638e-01 -6.20789548e-04 5.57297177e+00] [ 2.69325722e-03 7.08899858e-05 9.99996371e-01 3.39264963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.264012739 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:59.10, Y:5.58, Z:0.03 [[ 9.78506688e-01 -2.06198421e-01 -2.62157872e-03 5.91026660e+01] [ 2.06197496e-01 9.78510198e-01 -6.21276572e-04 5.58321143e+00] [ 2.69334776e-03 6.73603136e-05 9.99996371e-01 3.39780512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.294012739 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:59.13, Y:5.59, Z:0.03 [[ 9.78040277e-01 -2.08399481e-01 -2.62152837e-03 5.91288169e+01] [ 2.08398564e-01 9.78043789e-01 -6.21488950e-04 5.59382077e+00] [ 2.69348752e-03 6.15184776e-05 9.99996371e-01 3.36945126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.324012739 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:59.15, Y:5.61, Z:0.03 [[ 9.77484804e-01 -2.10989541e-01 -2.62140676e-03 5.91543756e+01] [ 2.10988631e-01 9.77488317e-01 -6.22001487e-04 5.60504687e+00] [ 2.69363029e-03 5.49099781e-05 9.99996371e-01 3.19419185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.354012739 meters Centerline goodness : 0.997719 Centerline is valid? [True, True] Translation: X:59.18, Y:5.61, Z:0.03 [[ 9.77399502e-01 -2.11384349e-01 -2.62135381e-03 5.91804370e+01] [ 2.11383440e-01 9.77403015e-01 -6.22224563e-04 5.61381061e+00] [ 2.69364765e-03 5.40511932e-05 9.99996371e-01 3.36380250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.384012739 meters Centerline goodness : 0.997693 Centerline is valid? [True, True] Translation: X:59.21, Y:5.63, Z:0.04 [[ 9.77573579e-01 -2.10577838e-01 -2.62131822e-03 5.92058359e+01] [ 2.10576926e-01 9.77577092e-01 -6.22374473e-04 5.62825406e+00] [ 2.69359891e-03 5.64277082e-05 9.99996371e-01 3.59655932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.414012739 meters Centerline goodness : 0.997693 Centerline is valid? [True, True] Translation: X:59.23, Y:5.64, Z:0.04 [[ 9.77534615e-01 -2.10758642e-01 -2.62121081e-03 5.92335108e+01] [ 2.10757730e-01 9.77538128e-01 -6.22826497e-04 5.63502587e+00] [ 2.69359957e-03 5.63940207e-05 9.99996371e-01 3.60423334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.444012739 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:59.26, Y:5.65, Z:0.03 [[ 9.77466527e-01 -2.11074203e-01 -2.62109553e-03 5.92616854e+01] [ 2.11073290e-01 9.77470039e-01 -6.23311281e-04 5.64699539e+00] [ 2.69360728e-03 5.60226566e-05 9.99996371e-01 3.32283638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.474012739 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:59.29, Y:5.66, Z:0.03 [[ 9.77606657e-01 -2.10424196e-01 -2.62324473e-03 5.92866973e+01] [ 2.10423305e-01 9.77610176e-01 -6.14275134e-04 5.65573153e+00] [ 2.69376909e-03 4.85276337e-05 9.99996371e-01 3.08889866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.504012739 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:59.31, Y:5.67, Z:0.03 [[ 9.77319328e-01 -2.11754719e-01 -2.62091634e-03 5.93129504e+01] [ 2.11753807e-01 9.77322841e-01 -6.24053980e-04 5.66746068e+00] [ 2.69362777e-03 5.49110057e-05 9.99996371e-01 2.85581338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.534012739 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:59.34, Y:5.68, Z:0.03 [[ 9.77094608e-01 -2.12789232e-01 -2.62088050e-03 5.93388528e+01] [ 2.12788322e-01 9.77098122e-01 -6.24204431e-04 5.67784121e+00] [ 2.69368140e-03 5.22140181e-05 9.99996371e-01 2.99596658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.564012739 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:59.36, Y:5.69, Z:0.03 [[ 9.76656763e-01 -2.14789893e-01 -2.62076511e-03 5.93645817e+01] [ 2.14788990e-01 9.76660279e-01 -6.24688534e-04 5.69089804e+00] [ 2.69377397e-03 4.71947915e-05 9.99996371e-01 3.18183147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59401273900001 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:59.39, Y:5.70, Z:0.03 [[ 9.76359776e-01 -2.16135883e-01 -2.62072914e-03 5.93913553e+01] [ 2.16134984e-01 9.76363292e-01 -6.24839424e-04 5.69949536e+00] [ 2.69383395e-03 4.36368300e-05 9.99996371e-01 3.09938509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62401273900001 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:59.42, Y:5.71, Z:0.03 [[ 9.75922397e-01 -2.18102288e-01 -2.62061434e-03 5.94172087e+01] [ 2.18101395e-01 9.75925914e-01 -6.25320529e-04 5.71080850e+00] [ 2.69390928e-03 3.87046664e-05 9.99996371e-01 3.01199197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.654012739 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:59.44, Y:5.72, Z:0.03 [[ 9.75654988e-01 -2.19295413e-01 -2.62049764e-03 5.94436600e+01] [ 2.19294523e-01 9.75658506e-01 -6.25809166e-04 5.71978917e+00] [ 2.69394790e-03 3.59130532e-05 9.99996371e-01 2.99721147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.684012739 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:59.47, Y:5.73, Z:0.03 [[ 9.75286176e-01 -2.20929874e-01 -2.62037807e-03 5.94697632e+01] [ 2.20928989e-01 9.75289695e-01 -6.26309444e-04 5.72839137e+00] [ 2.69399820e-03 3.19134653e-05 9.99996371e-01 2.93536336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.714012739 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:59.50, Y:5.74, Z:0.03 [[ 9.74126808e-01 -2.25986936e-01 -2.62032598e-03 5.94964939e+01] [ 2.25986068e-01 9.74130332e-01 -6.26527297e-04 5.73665831e+00] [ 2.69412600e-03 1.81598712e-05 9.99996371e-01 2.95778810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.744012739 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:59.52, Y:5.74, Z:0.03 [[ 9.72899399e-01 -2.31213959e-01 -2.62020824e-03 5.95225286e+01] [ 2.31213109e-01 9.72902927e-01 -6.27019304e-04 5.74220735e+00] [ 2.69418388e-03 4.20021019e-06 9.99996371e-01 2.98707885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.774012739 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:59.55, Y:5.75, Z:0.03 [[ 9.72321077e-01 -2.33634025e-01 -2.62015688e-03 5.95498750e+01] [ 2.33633183e-01 9.72324608e-01 -6.27233848e-04 5.74828897e+00] [ 2.69418618e-03 -2.28290148e-06 9.99996371e-01 3.07483198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.804012739 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:59.58, Y:5.75, Z:0.03 [[ 9.71814271e-01 -2.35733235e-01 -2.62003521e-03 5.95769576e+01] [ 2.35732400e-01 9.71817803e-01 -6.27741675e-04 5.75452936e+00] [ 2.69417644e-03 -7.57886929e-06 9.99996371e-01 3.21372176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.834012739 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:59.60, Y:5.76, Z:0.04 [[ 9.71578890e-01 -2.36701490e-01 -2.61999730e-03 5.96040383e+01] [ 2.36700658e-01 9.71582423e-01 -6.27899855e-04 5.76158282e+00] [ 2.69416816e-03 -1.01008404e-05 9.99996371e-01 3.56751235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.864012739 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:59.63, Y:5.77, Z:0.04 [[ 9.72620406e-01 -2.32384772e-01 -2.61996029e-03 5.96307674e+01] [ 2.32383923e-01 9.72623934e-01 -6.28054274e-04 5.76978475e+00] [ 2.69418633e-03 2.02175336e-06 9.99996371e-01 3.58146047e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.894012739 meters Centerline goodness : 0.997843 Centerline is valid? [True, True] Translation: X:59.66, Y:5.78, Z:0.03 [[ 9.73156107e-01 -2.30131112e-01 -2.61983938e-03 5.96576902e+01] [ 2.30130253e-01 9.73159633e-01 -6.28558209e-04 5.77724447e+00] [ 2.69417273e-03 8.78095858e-06 9.99996371e-01 3.45293604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.924012739 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:59.68, Y:5.78, Z:0.03 [[ 9.73511572e-01 -2.28622739e-01 -2.61971875e-03 5.96836280e+01] [ 2.28621874e-01 9.73515096e-01 -6.29060566e-04 5.78400874e+00] [ 2.69415330e-03 1.34727298e-05 9.99996371e-01 3.36343496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.954012739 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:59.71, Y:5.79, Z:0.03 [[ 9.73793485e-01 -2.27418964e-01 -2.61966624e-03 5.97114351e+01] [ 2.27418094e-01 9.73797009e-01 -6.29279172e-04 5.79013328e+00] [ 2.69413317e-03 1.70284542e-05 9.99996371e-01 3.35759462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98401273900001 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:59.74, Y:5.80, Z:0.03 [[ 9.73821585e-01 -2.27298609e-01 -2.61954375e-03 5.97390914e+01] [ 2.27297737e-01 9.73825109e-01 -6.29788665e-04 5.79602540e+00] [ 2.69412756e-03 1.78854300e-05 9.99996371e-01 3.49955654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.014012739 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:59.77, Y:5.80, Z:0.04 [[ 9.73814195e-01 -2.27330269e-01 -2.61950565e-03 5.97653870e+01] [ 2.27329397e-01 9.73817718e-01 -6.29947097e-04 5.80225097e+00] [ 2.69412706e-03 1.79607865e-05 9.99996371e-01 3.71934434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.044012739 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:59.79, Y:5.81, Z:0.04 [[ 9.73643636e-01 -2.28059660e-01 -2.61942490e-03 5.97921415e+01] [ 2.28058790e-01 9.73647159e-01 -6.30282699e-04 5.80866527e+00] [ 2.69413767e-03 1.62878670e-05 9.99996371e-01 3.89915108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.074012739 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:59.82, Y:5.81, Z:0.04 [[ 9.73298654e-01 -2.29527492e-01 -2.61930686e-03 5.98192473e+01] [ 2.29526626e-01 9.73302178e-01 -6.30772860e-04 5.81241458e+00] [ 2.69415678e-03 1.27297108e-05 9.99996371e-01 3.56137665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.104012739 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:59.85, Y:5.82, Z:0.03 [[ 9.73056867e-01 -2.30550371e-01 -2.61922639e-03 5.98466338e+01] [ 2.30549507e-01 9.73060392e-01 -6.31106816e-04 5.81791852e+00] [ 2.69416737e-03 1.02414670e-05 9.99996371e-01 3.23017885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.134012739 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:59.87, Y:5.82, Z:0.03 [[ 9.72934197e-01 -2.31067500e-01 -2.61911021e-03 5.98741142e+01] [ 2.31066637e-01 9.72937722e-01 -6.31588602e-04 5.82418391e+00] [ 2.69417072e-03 9.30516149e-06 9.99996371e-01 3.08517407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.164012739 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:59.90, Y:5.83, Z:0.03 [[ 9.73032937e-01 -2.30651350e-01 -2.61899390e-03 5.99018070e+01] [ 2.30650484e-01 9.73036461e-01 -6.32070522e-04 5.83032427e+00] [ 2.69416448e-03 1.09532254e-05 9.99996371e-01 3.05091613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.194012739 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:59.93, Y:5.83, Z:0.03 [[ 9.73202748e-01 -2.29933799e-01 -2.61887791e-03 5.99285455e+01] [ 2.29932930e-01 9.73206272e-01 -6.32550733e-04 5.83480600e+00] [ 2.69415320e-03 1.34338412e-05 9.99996371e-01 3.04006517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.224012739 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:59.96, Y:5.84, Z:0.03 [[ 9.73231622e-01 -2.29811555e-01 -2.61882769e-03 5.99567289e+01] [ 2.29810685e-01 9.73235146e-01 -6.32758596e-04 5.83790366e+00] [ 2.69415039e-03 1.39860901e-05 9.99996371e-01 3.06703704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.254012739 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:59.98, Y:5.84, Z:0.03 [[ 9.73275517e-01 -2.29625588e-01 -2.61870677e-03 5.99832433e+01] [ 2.29624715e-01 9.73279040e-01 -6.33258638e-04 5.84387474e+00] [ 2.69414480e-03 1.50153312e-05 9.99996371e-01 2.94801032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.284012739 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:60.01, Y:5.85, Z:0.03 [[ 9.73381998e-01 -2.29173795e-01 -2.61862439e-03 6.00101485e+01] [ 2.29172920e-01 9.73385520e-01 -6.33599095e-04 5.84978395e+00] [ 2.69413538e-03 1.66161540e-05 9.99996371e-01 2.92920247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.314012739 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:60.04, Y:5.85, Z:0.03 [[ 9.73288444e-01 -2.29570791e-01 -2.61851005e-03 6.00369791e+01] [ 2.29569916e-01 9.73291966e-01 -6.34071307e-04 5.85369374e+00] [ 2.69413904e-03 1.60031447e-05 9.99996371e-01 2.93259694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34401273900001 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:60.06, Y:5.86, Z:0.03 [[ 9.72904593e-01 -2.31192119e-01 -2.61846018e-03 6.00646718e+01] [ 2.31191250e-01 9.72908117e-01 -6.34277178e-04 5.85839645e+00] [ 2.69416105e-03 1.17260994e-05 9.99996371e-01 3.19301939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37401273900001 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:60.09, Y:5.86, Z:0.03 [[ 9.72596010e-01 -2.32486871e-01 -2.61842486e-03 6.00922988e+01] [ 2.32486006e-01 9.72599535e-01 -6.34422934e-04 5.86389319e+00] [ 2.69417381e-03 8.29007667e-06 9.99996371e-01 3.17710644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.404012739 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:60.12, Y:5.87, Z:0.03 [[ 9.72265829e-01 -2.33863855e-01 -2.61831261e-03 6.01206109e+01] [ 2.33862993e-01 9.72269354e-01 -6.34885869e-04 5.86803801e+00] [ 2.69418197e-03 4.95141270e-06 9.99996371e-01 3.07596737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.434012739 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:60.15, Y:5.87, Z:0.03 [[ 9.71867532e-01 -2.35513576e-01 -2.61824302e-03 6.01496298e+01] [ 2.35512719e-01 9.71871059e-01 -6.35172734e-04 5.86728347e+00] [ 2.69418642e-03 6.74225354e-07 9.99996371e-01 3.24608922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.464012739 meters Centerline goodness : 0.997970 Centerline is valid? [True, True] Translation: X:60.18, Y:5.87, Z:0.03 [[ 9.71946143e-01 -2.35188947e-01 -2.61813176e-03 6.01777999e+01] [ 2.35188088e-01 9.71949669e-01 -6.35630995e-04 5.87172639e+00] [ 2.69418568e-03 2.04569025e-06 9.99996371e-01 3.42683380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.494012739 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:60.20, Y:5.88, Z:0.04 [[ 9.72901502e-01 -2.31205131e-01 -2.61802075e-03 6.02039479e+01] [ 2.31204257e-01 9.72905025e-01 -6.36087918e-04 5.87783894e+00] [ 2.69415233e-03 1.35533512e-05 9.99996371e-01 3.51674715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.524012739 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:60.23, Y:5.89, Z:0.03 [[ 9.73618247e-01 -2.28168042e-01 -2.61797243e-03 6.02313692e+01] [ 2.28167156e-01 9.73621766e-01 -6.36286705e-04 5.88546422e+00] [ 2.69409523e-03 2.21650208e-05 9.99996371e-01 3.47694873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.554012739 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:60.26, Y:5.89, Z:0.03 [[ 9.74370223e-01 -2.24935137e-01 -2.61786263e-03 6.02580843e+01] [ 2.24934238e-01 9.74373739e-01 -6.36738127e-04 5.89201625e+00] [ 2.69400138e-03 3.15717328e-05 9.99996371e-01 3.44106805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.584012739 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:60.28, Y:5.90, Z:0.03 [[ 9.75723352e-01 -2.18991067e-01 -2.61775294e-03 6.02841628e+01] [ 2.18990146e-01 9.75726862e-01 -6.37188788e-04 5.89768294e+00] [ 2.69375051e-03 4.84578825e-05 9.99996371e-01 3.49602377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.614012739 meters Centerline goodness : 0.997346 Centerline is valid? [True, True] Translation: X:60.31, Y:5.90, Z:0.04 [[ 9.76229917e-01 -2.16721702e-01 -2.61767838e-03 6.03113338e+01] [ 2.16720771e-01 9.76233425e-01 -6.37494941e-04 5.90488741e+00] [ 2.69362412e-03 5.50363569e-05 9.99996371e-01 3.66728017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.644012739 meters Centerline goodness : 0.997769 Centerline is valid? [True, True] Translation: X:60.34, Y:5.91, Z:0.04 [[ 9.76916657e-01 -2.13604761e-01 -2.61755722e-03 6.03369057e+01] [ 2.13603818e-01 9.76920162e-01 -6.37992044e-04 5.91352361e+00] [ 2.69342256e-03 6.41448407e-05 9.99996371e-01 3.62269118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.674012739 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:60.36, Y:5.92, Z:0.03 [[ 9.77063181e-01 -2.12933533e-01 -2.61750482e-03 6.03631412e+01] [ 2.12932586e-01 9.77066685e-01 -6.38206947e-04 5.92144023e+00] [ 2.69337241e-03 6.62164389e-05 9.99996371e-01 3.41228249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.704012739 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:60.39, Y:5.93, Z:0.04 [[ 9.77338958e-01 -2.11664144e-01 -2.61742321e-03 6.03898722e+01] [ 2.11663192e-01 9.77342461e-01 -6.38541481e-04 5.93045459e+00] [ 2.69327517e-03 7.00593141e-05 9.99996371e-01 3.59111236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73401273900001 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:60.42, Y:5.94, Z:0.04 [[ 9.77635886e-01 -2.10288431e-01 -2.61730466e-03 6.04164460e+01] [ 2.10287473e-01 9.77639387e-01 -6.39027008e-04 5.93934493e+00] [ 2.69316011e-03 7.43493512e-05 9.99996371e-01 3.72363052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.764012739 meters Centerline goodness : 0.997673 Centerline is valid? [True, True] Translation: X:60.44, Y:5.95, Z:0.04 [[ 9.78056973e-01 -2.08321163e-01 -2.61718425e-03 6.04419119e+01] [ 2.08320197e-01 9.78060472e-01 -6.39519773e-04 5.94916863e+00] [ 2.69298997e-03 8.02744350e-05 9.99996371e-01 3.79896707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.794012739 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:60.47, Y:5.96, Z:0.04 [[ 9.79162179e-01 -2.03062991e-01 -2.61713164e-03 6.04668894e+01] [ 2.03062006e-01 9.79165672e-01 -6.39735031e-04 5.96396360e+00] [ 2.69251196e-03 9.49643469e-05 9.99996371e-01 3.87874281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.824012739 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:60.49, Y:5.98, Z:0.04 [[ 9.80097696e-01 -1.98498507e-01 -2.61700961e-03 6.04914371e+01] [ 1.98497504e-01 9.80101184e-01 -6.40233839e-04 5.97641412e+00] [ 2.69201967e-03 1.08021837e-04 9.99996371e-01 3.66748227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.854012739 meters Centerline goodness : 0.996900 Centerline is valid? [True, True] Translation: X:60.52, Y:5.99, Z:0.04 [[ 9.80290822e-01 -1.97542543e-01 -2.61695660e-03 6.05173776e+01] [ 1.97541536e-01 9.80294309e-01 -6.40450444e-04 5.98683637e+00] [ 2.69190387e-03 1.10870067e-04 9.99996371e-01 3.69927146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.884012739 meters Centerline goodness : 0.997286 Centerline is valid? [True, True] Translation: X:60.54, Y:6.00, Z:0.04 [[ 9.80481444e-01 -1.96594228e-01 -2.61683812e-03 6.05421833e+01] [ 1.96593216e-01 9.80484929e-01 -6.40934171e-04 5.99751817e+00] [ 2.69177429e-03 1.13971440e-04 9.99996371e-01 3.74720973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.914012739 meters Centerline goodness : 0.997224 Centerline is valid? [True, True] Translation: X:60.57, Y:6.01, Z:0.04 [[ 9.80787111e-01 -1.95063569e-01 -2.61678650e-03 6.05675055e+01] [ 1.95062551e-01 9.80790594e-01 -6.41144847e-04 6.01378603e+00] [ 2.69158359e-03 1.18389552e-04 9.99996371e-01 3.88177546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.944012739 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:60.59, Y:6.02, Z:0.04 [[ 9.81045872e-01 -1.93757969e-01 -2.61666847e-03 6.05938068e+01] [ 1.93756946e-01 9.81049354e-01 -6.41626184e-04 6.02465703e+00] [ 2.69140110e-03 1.22467028e-04 9.99996371e-01 3.91313549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.974012739 meters Centerline goodness : 0.997571 Centerline is valid? [True, True] Translation: X:60.62, Y:6.04, Z:0.04 [[ 9.81890059e-01 -1.89433539e-01 -2.61654982e-03 6.06175995e+01] [ 1.89432499e-01 9.81893536e-01 -6.42109701e-04 6.04149163e+00] [ 2.69081046e-03 1.34821563e-04 9.99996371e-01 3.74186256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.004012739 meters Centerline goodness : 0.997530 Centerline is valid? [True, True] Translation: X:60.64, Y:6.05, Z:0.04 [[ 9.82290627e-01 -1.87345345e-01 -2.61649819e-03 6.06428530e+01] [ 1.87344297e-01 9.82294102e-01 -6.42319985e-04 6.05476104e+00] [ 2.69050640e-03 1.40758886e-04 9.99996371e-01 3.81881315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.034012739 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:60.67, Y:6.07, Z:0.04 [[ 9.82888215e-01 -1.84184449e-01 -2.61638139e-03 6.06669987e+01] [ 1.84183388e-01 9.82891686e-01 -6.42795423e-04 6.07393881e+00] [ 2.69001243e-03 1.49902057e-04 9.99996371e-01 3.90100948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.064012739 meters Centerline goodness : 0.997183 Centerline is valid? [True, True] Translation: X:60.69, Y:6.09, Z:0.04 [[ 9.83024381e-01 -1.83456323e-01 -2.61626343e-03 6.06932230e+01] [ 1.83455258e-01 9.83027850e-01 -6.43275154e-04 6.08653453e+00] [ 2.68987271e-03 1.52387877e-04 9.99996371e-01 3.92744722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09401273900001 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:60.72, Y:6.10, Z:0.04 [[ 9.83127645e-01 -1.82902133e-01 -2.61614378e-03 6.07178120e+01] [ 1.82901065e-01 9.83131113e-01 -6.43761407e-04 6.09837265e+00] [ 2.68975768e-03 1.54404152e-04 9.99996371e-01 3.90442497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12401273900001 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:60.74, Y:6.12, Z:0.04 [[ 9.82879581e-01 -1.84230524e-01 -2.61606238e-03 6.07411594e+01] [ 1.84229460e-01 9.82883051e-01 -6.44092030e-04 6.11797623e+00] [ 2.68994478e-03 1.51109146e-04 9.99996371e-01 3.92392801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.154012739 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:60.77, Y:6.14, Z:0.04 [[ 9.82166724e-01 -1.87993836e-01 -2.61598302e-03 6.07650330e+01] [ 1.87992785e-01 9.82170198e-01 -6.44414161e-04 6.13521196e+00] [ 2.69048646e-03 1.41136212e-04 9.99996371e-01 3.94172416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.184012739 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:60.79, Y:6.15, Z:0.04 [[ 9.81490417e-01 -1.91493388e-01 -2.61593246e-03 6.07908230e+01] [ 1.91492348e-01 9.81493895e-01 -6.44619360e-04 6.14655907e+00] [ 2.69096208e-03 1.31756676e-04 9.99996371e-01 3.98998322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.214012739 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:60.82, Y:6.16, Z:0.04 [[ 9.80683763e-01 -1.95582503e-01 -2.61581074e-03 6.08163680e+01] [ 1.95581476e-01 9.80687244e-01 -6.45112916e-04 6.15755934e+00] [ 2.69146502e-03 1.21047636e-04 9.99996371e-01 3.81906926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.244012739 meters Centerline goodness : 0.996472 Centerline is valid? [True, True] Translation: X:60.84, Y:6.17, Z:0.04 [[ 9.78912699e-01 -2.04262297e-01 -2.61575766e-03 6.08409491e+01] [ 2.04261301e-01 9.78916189e-01 -6.45328047e-04 6.17189964e+00] [ 2.69242371e-03 9.74217575e-05 9.99996371e-01 3.72615192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.274012739 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:60.87, Y:6.18, Z:0.04 [[ 9.78170518e-01 -2.07787380e-01 -2.61570569e-03 6.08670210e+01] [ 2.07786396e-01 9.78174012e-01 -6.45538637e-04 6.18101711e+00] [ 2.69275011e-03 8.79388033e-05 9.99996371e-01 3.69064301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.304012739 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:60.89, Y:6.19, Z:0.04 [[ 9.78131624e-01 -2.07970396e-01 -2.61558538e-03 6.08946099e+01] [ 2.07969411e-01 9.78135117e-01 -6.46025765e-04 6.18802809e+00] [ 2.69275014e-03 8.79364793e-05 9.99996371e-01 3.69831681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.334012739 meters Centerline goodness : 0.997035 Centerline is valid? [True, True] Translation: X:60.92, Y:6.20, Z:0.04 [[ 9.76741742e-01 -2.14403194e-01 -2.61546441e-03 6.09198993e+01] [ 2.14402231e-01 9.76745241e-01 -6.46515126e-04 6.20025303e+00] [ 2.69325732e-03 7.07169067e-05 9.99996371e-01 3.52632990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.364012739 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:60.95, Y:6.21, Z:0.03 [[ 9.76154278e-01 -2.17062170e-01 -2.61534402e-03 6.09463127e+01] [ 2.17061215e-01 9.76157779e-01 -6.47001776e-04 6.20954173e+00] [ 2.69342802e-03 6.38838012e-05 9.99996371e-01 3.43944467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.394012739 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:60.97, Y:6.22, Z:0.04 [[ 9.75387181e-01 -2.20483576e-01 -2.61522298e-03 6.09724413e+01] [ 2.20482632e-01 9.75390686e-01 -6.47490656e-04 6.21848956e+00] [ 2.69362519e-03 5.49428400e-05 9.99996371e-01 3.51203741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.424012739 meters Centerline goodness : 0.996578 Centerline is valid? [True, True] Translation: X:61.00, Y:6.23, Z:0.04 [[ 9.74853783e-01 -2.22830120e-01 -2.61518556e-03 6.10006011e+01] [ 2.22829184e-01 9.74857290e-01 -6.47641758e-04 6.22540027e+00] [ 2.69374680e-03 4.86163543e-05 9.99996371e-01 3.93101150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.454012739 meters Centerline goodness : 0.996033 Centerline is valid? [True, True] Translation: X:61.03, Y:6.23, Z:0.04 [[ 9.74280354e-01 -2.25324105e-01 -2.61507398e-03 6.10272702e+01] [ 2.25323177e-01 9.74283863e-01 -6.48091981e-04 6.23156318e+00] [ 2.69385513e-03 4.21865067e-05 9.99996371e-01 4.26609112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48401273900001 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:61.05, Y:6.24, Z:0.04 [[ 9.72568778e-01 -2.32600804e-01 -2.61503449e-03 6.10536226e+01] [ 2.32599902e-01 9.72572293e-01 -6.48251274e-04 6.23597830e+00] [ 2.69409386e-03 2.22121830e-05 9.99996371e-01 4.34678584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.514012739 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:61.08, Y:6.24, Z:0.04 [[ 9.70711771e-01 -2.40232845e-01 -2.61497992e-03 6.10830023e+01] [ 2.40231970e-01 9.70715293e-01 -6.48471355e-04 6.23513694e+00] [ 2.69418512e-03 1.27699991e-06 9.99996371e-01 3.61269771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.544012739 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:61.11, Y:6.24, Z:0.03 [[ 9.69879563e-01 -2.43570924e-01 -2.61487236e-03 6.11122433e+01] [ 2.43570059e-01 9.69883088e-01 -6.48904780e-04 6.23829144e+00] [ 2.69417482e-03 -7.54513046e-06 9.99996371e-01 3.43275263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.574012739 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:61.14, Y:6.24, Z:0.03 [[ 9.69261584e-01 -2.46018587e-01 -2.61476505e-03 6.11387396e+01] [ 2.46017730e-01 9.69265111e-01 -6.49336886e-04 6.24159501e+00] [ 2.69414948e-03 -1.39012652e-05 9.99996371e-01 3.32553563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.604012739 meters Centerline goodness : 0.996983 Centerline is valid? [True, True] Translation: X:61.17, Y:6.24, Z:0.04 [[ 9.68510766e-01 -2.48957949e-01 -2.61468168e-03 6.11684968e+01] [ 2.48957102e-01 9.68514295e-01 -6.49672423e-04 6.24175564e+00] [ 2.69409770e-03 -2.17288385e-05 9.99996371e-01 3.94677879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.634012739 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:61.20, Y:6.24, Z:0.04 [[ 9.68411054e-01 -2.49345532e-01 -2.61458047e-03 6.11973363e+01] [ 2.49344686e-01 9.68414583e-01 -6.50079474e-04 6.24323136e+00] [ 2.69409227e-03 -2.23875977e-05 9.99996371e-01 4.43276119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.664012739 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:61.23, Y:6.24, Z:0.05 [[ 9.68652041e-01 -2.48407707e-01 -2.61447784e-03 6.12258665e+01] [ 2.48406856e-01 9.68655569e-01 -6.50492000e-04 6.24079200e+00] [ 2.69411574e-03 -1.93538162e-05 9.99996371e-01 5.03985090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.694012739 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:61.25, Y:6.25, Z:0.05 [[ 9.68759020e-01 -2.47990175e-01 -2.61439763e-03 6.12539403e+01] [ 2.47989322e-01 9.68762547e-01 -6.50814186e-04 6.24500460e+00] [ 2.69412603e-03 -1.78605823e-05 9.99996371e-01 5.11947361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.724012739 meters Centerline goodness : 0.996184 Centerline is valid? [True, True] Translation: X:61.28, Y:6.25, Z:0.05 [[ 9.68858190e-01 -2.47602452e-01 -2.61427564e-03 6.12812279e+01] [ 2.47601596e-01 9.68861716e-01 -6.51303843e-04 6.24925270e+00] [ 2.69413601e-03 -1.62777590e-05 9.99996371e-01 5.04204067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.754012739 meters Centerline goodness : 0.996632 Centerline is valid? [True, True] Translation: X:61.31, Y:6.25, Z:0.05 [[ 9.69205328e-01 -2.46240123e-01 -2.61415279e-03 6.13097826e+01] [ 2.46239261e-01 9.69208853e-01 -6.51796561e-04 6.24903811e+00] [ 2.69415849e-03 -1.19823517e-05 9.99996371e-01 4.72340997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.784012739 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:61.34, Y:6.25, Z:0.04 [[ 9.69152027e-01 -2.46449823e-01 -2.61402858e-03 6.13384357e+01] [ 2.46448960e-01 9.69155552e-01 -6.52294348e-04 6.24873554e+00] [ 2.69415813e-03 -1.20522344e-05 9.99996371e-01 4.28121782e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.814012739 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:61.37, Y:6.25, Z:0.04 [[ 9.68940242e-01 -2.47281166e-01 -2.61398988e-03 6.13664609e+01] [ 2.47280306e-01 9.68943768e-01 -6.52449393e-04 6.25370466e+00] [ 2.69414765e-03 -1.42037437e-05 9.99996371e-01 4.23992761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84401273900001 meters Centerline goodness : 0.996593 Centerline is valid? [True, True] Translation: X:61.39, Y:6.26, Z:0.04 [[ 9.68734427e-01 -2.48086231e-01 -2.61386578e-03 6.13938949e+01] [ 2.48085373e-01 9.68737953e-01 -6.52946163e-04 6.25882112e+00] [ 2.69413794e-03 -1.59304400e-05 9.99996371e-01 4.32253429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.874012739 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:61.42, Y:6.26, Z:0.04 [[ 9.68280251e-01 -2.49853003e-01 -2.61374130e-03 6.14222658e+01] [ 2.49852150e-01 9.68283779e-01 -6.53444099e-04 6.25979448e+00] [ 2.69410827e-03 -2.03318646e-05 9.99996371e-01 4.39541733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.904012739 meters Centerline goodness : 0.996681 Centerline is valid? [True, True] Translation: X:61.45, Y:6.26, Z:0.04 [[ 9.67963532e-01 -2.51077221e-01 -2.61361640e-03 6.14501436e+01] [ 2.51076370e-01 9.67967060e-01 -6.53943291e-04 6.26156635e+00] [ 2.69408484e-03 -2.32240602e-05 9.99996371e-01 4.40151451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.934012739 meters Centerline goodness : 0.996989 Centerline is valid? [True, True] Translation: X:61.48, Y:6.26, Z:0.04 [[ 9.67490199e-01 -2.52895006e-01 -2.61356201e-03 6.14775941e+01] [ 2.52894161e-01 9.67493729e-01 -6.54160596e-04 6.26367278e+00] [ 2.69403880e-03 -2.80606065e-05 9.99996371e-01 4.48804731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.964012739 meters Centerline goodness : 0.996780 Centerline is valid? [True, True] Translation: X:61.51, Y:6.26, Z:0.05 [[ 9.66546294e-01 -2.56478910e-01 -2.61350920e-03 6.15066242e+01] [ 2.56478078e-01 9.66549826e-01 -6.54371507e-04 6.26372716e+00] [ 2.69391935e-03 -3.78274617e-05 9.99996371e-01 4.52035087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.994012739 meters Centerline goodness : 0.996421 Centerline is valid? [True, True] Translation: X:61.53, Y:6.27, Z:0.05 [[ 9.66189433e-01 -2.57819995e-01 -2.61338806e-03 6.15344743e+01] [ 2.57819167e-01 9.66192967e-01 -6.54854945e-04 6.26721645e+00] [ 2.69387186e-03 -4.10676037e-05 9.99996371e-01 4.57581510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.024012739 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:61.56, Y:6.26, Z:0.05 [[ 9.65910671e-01 -2.58862408e-01 -2.61326685e-03 6.15640267e+01] [ 2.58861582e-01 9.65914205e-01 -6.55338281e-04 6.26486150e+00] [ 2.69383402e-03 -4.34761523e-05 9.99996371e-01 4.66711337e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.054012739 meters Centerline goodness : 0.996748 Centerline is valid? [True, True] Translation: X:61.59, Y:6.27, Z:0.05 [[ 9.65933745e-01 -2.58776299e-01 -2.61314532e-03 6.15926145e+01] [ 2.58775471e-01 9.65937278e-01 -6.55822529e-04 6.26712040e+00] [ 2.69384580e-03 -4.27367998e-05 9.99996371e-01 4.58247805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.084012739 meters Centerline goodness : 0.997000 Centerline is valid? [True, True] Translation: X:61.62, Y:6.27, Z:0.05 [[ 9.66083740e-01 -2.58215762e-01 -2.61302432e-03 6.16210385e+01] [ 2.58214931e-01 9.66087273e-01 -6.56304275e-04 6.26985590e+00] [ 2.69387765e-03 -4.06770057e-05 9.99996371e-01 4.53546847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.114012739 meters Centerline goodness : 0.997162 Centerline is valid? [True, True] Translation: X:61.65, Y:6.27, Z:0.04 [[ 9.66289599e-01 -2.57444330e-01 -2.61290265e-03 6.16496595e+01] [ 2.57443495e-01 9.66293131e-01 -6.56788321e-04 6.26746959e+00] [ 2.69391631e-03 -3.80270660e-05 9.99996371e-01 4.41669896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.144012739 meters Centerline goodness : 0.997289 Centerline is valid? [True, True] Translation: X:61.68, Y:6.26, Z:0.04 [[ 9.66092943e-01 -2.58181330e-01 -2.61281987e-03 6.16794860e+01] [ 2.58180497e-01 9.66096475e-01 -6.57117484e-04 6.26213096e+00] [ 2.69389153e-03 -3.97425666e-05 9.99996371e-01 4.28443073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.174012739 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:61.71, Y:6.26, Z:0.04 [[ 9.65842041e-01 -2.59118362e-01 -2.61269935e-03 6.17084815e+01] [ 2.59117531e-01 9.65845574e-01 -6.57596297e-04 6.26216049e+00] [ 2.69385938e-03 -4.18620541e-05 9.99996371e-01 4.22222834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.204012739 meters Centerline goodness : 0.997137 Centerline is valid? [True, True] Translation: X:61.74, Y:6.26, Z:0.04 [[ 9.65673472e-01 -2.59745875e-01 -2.61258425e-03 6.17361365e+01] [ 2.59745045e-01 9.65677005e-01 -6.58053256e-04 6.26169774e+00] [ 2.69383916e-03 -4.31412430e-05 9.99996371e-01 4.11719989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23401273900001 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:61.77, Y:6.26, Z:0.04 [[ 9.66051645e-01 -2.58335817e-01 -2.61253059e-03 6.17661111e+01] [ 2.58334981e-01 9.66055177e-01 -6.58266223e-04 6.25570021e+00] [ 2.69390245e-03 -3.89888731e-05 9.99996371e-01 3.94123016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.264012739 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:61.79, Y:6.25, Z:0.04 [[ 9.67370484e-01 -2.53352565e-01 -2.61249310e-03 6.17946645e+01] [ 2.53351710e-01 9.67374011e-01 -6.58414978e-04 6.25138966e+00] [ 2.69406906e-03 -2.49483805e-05 9.99996371e-01 4.09784024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.294012739 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:61.82, Y:6.25, Z:0.04 [[ 9.68182590e-01 -2.50231188e-01 -2.61244123e-03 6.18239593e+01] [ 2.50230322e-01 9.68186114e-01 -6.58620729e-04 6.25456265e+00] [ 2.69413677e-03 -1.60468883e-05 9.99996371e-01 4.38075893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.324012739 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:61.85, Y:6.26, Z:0.05 [[ 9.69060700e-01 -2.46808703e-01 -2.61233648e-03 6.18527803e+01] [ 2.46807823e-01 9.69064221e-01 -6.59035956e-04 6.25792306e+00] [ 2.69417762e-03 -6.09923522e-06 9.99996371e-01 4.74314817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.354012739 meters Centerline goodness : 0.996237 Centerline is valid? [True, True] Translation: X:61.88, Y:6.26, Z:0.05 [[ 9.70492626e-01 -2.41116652e-01 -2.61222676e-03 6.18825354e+01] [ 2.41115750e-01 9.70496141e-01 -6.59470581e-04 6.25799507e+00] [ 2.69416533e-03 1.01623214e-05 9.99996371e-01 5.38166343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.384012739 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:61.91, Y:6.26, Z:0.05 [[ 9.71023946e-01 -2.38967931e-01 -2.61211455e-03 6.19091605e+01] [ 2.38967021e-01 9.71027460e-01 -6.59914731e-04 6.26260175e+00] [ 2.69413341e-03 1.65837754e-05 9.99996371e-01 5.39551165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.414012739 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:61.94, Y:6.27, Z:0.05 [[ 9.71454607e-01 -2.37211139e-01 -2.61202727e-03 6.19374217e+01] [ 2.37210221e-01 9.71458118e-01 -6.60259998e-04 6.26658528e+00] [ 2.69409612e-03 2.18130507e-05 9.99996371e-01 5.39713793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.444012739 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:61.96, Y:6.27, Z:0.05 [[ 9.71306265e-01 -2.37817824e-01 -2.61189904e-03 6.19643317e+01] [ 2.37816907e-01 9.71309777e-01 -6.60766890e-04 6.27204196e+00] [ 2.69410521e-03 2.06532703e-05 9.99996371e-01 5.36422779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.474012739 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:61.99, Y:6.28, Z:0.06 [[ 9.70810278e-01 -2.39834488e-01 -2.61184322e-03 6.19918254e+01] [ 2.39833578e-01 9.70813792e-01 -6.60987455e-04 6.27631618e+00] [ 2.69414101e-03 1.52857123e-05 9.99996371e-01 5.63908637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.504012739 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:62.02, Y:6.28, Z:0.06 [[ 9.70563606e-01 -2.40830783e-01 -2.61172685e-03 6.20177943e+01] [ 2.40829875e-01 9.70567120e-01 -6.61446935e-04 6.28261375e+00] [ 2.69415299e-03 1.29944723e-05 9.99996371e-01 5.95457058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.534012739 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:62.05, Y:6.29, Z:0.06 [[ 9.70364993e-01 -2.41629797e-01 -2.61167258e-03 6.20451990e+01] [ 2.41628892e-01 9.70368508e-01 -6.61661152e-04 6.29014463e+00] [ 2.69416187e-03 1.09972690e-05 9.99996371e-01 6.17352810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.564012739 meters Centerline goodness : 0.996195 Centerline is valid? [True, True] Translation: X:62.07, Y:6.30, Z:0.06 [[ 9.70353322e-01 -2.41676663e-01 -2.61154535e-03 6.20722793e+01] [ 2.41675756e-01 9.70356837e-01 -6.62162946e-04 6.29918641e+00] [ 2.69416021e-03 1.13848181e-05 9.99996371e-01 5.83452939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59401273900001 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:62.10, Y:6.31, Z:0.05 [[ 9.70515733e-01 -2.41023633e-01 -2.61141532e-03 6.20983833e+01] [ 2.41022722e-01 9.70519247e-01 -6.62675355e-04 6.30712725e+00] [ 2.69414925e-03 1.37264286e-05 9.99996371e-01 5.48884113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.624012739 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:62.12, Y:6.32, Z:0.05 [[ 9.70854238e-01 -2.39656482e-01 -2.61135884e-03 6.21245240e+01] [ 2.39655566e-01 9.70857750e-01 -6.62897851e-04 6.31651661e+00] [ 2.69412573e-03 1.77505072e-05 9.99996371e-01 4.83210263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.654012739 meters Centerline goodness : 0.996472 Centerline is valid? [True, True] Translation: X:62.15, Y:6.32, Z:0.05 [[ 9.70969249e-01 -2.39190090e-01 -2.61131964e-03 6.21513719e+01] [ 2.39189172e-01 9.70972760e-01 -6.63052221e-04 6.32466820e+00] [ 2.69411576e-03 1.92039352e-05 9.99996371e-01 4.72647135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.684012739 meters Centerline goodness : 0.996628 Centerline is valid? [True, True] Translation: X:62.18, Y:6.33, Z:0.05 [[ 9.71415173e-01 -2.37372583e-01 -2.61119465e-03 6.21777869e+01] [ 2.37371657e-01 9.71418682e-01 -6.63544101e-04 6.33287309e+00] [ 2.69407044e-03 2.47532079e-05 9.99996371e-01 4.75400703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.714012739 meters Centerline goodness : 0.996904 Centerline is valid? [True, True] Translation: X:62.20, Y:6.34, Z:0.05 [[ 9.71484475e-01 -2.37088795e-01 -2.61106896e-03 6.22044236e+01] [ 2.37087867e-01 9.71487984e-01 -6.64038299e-04 6.34062568e+00] [ 2.69405816e-03 2.60501279e-05 9.99996371e-01 4.88929549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.744012739 meters Centerline goodness : 0.996694 Centerline is valid? [True, True] Translation: X:62.23, Y:6.35, Z:0.05 [[ 9.71324960e-01 -2.37741466e-01 -2.61094248e-03 6.22305715e+01] [ 2.37740538e-01 9.71328469e-01 -6.64535250e-04 6.35111458e+00] [ 2.69407035e-03 2.47528047e-05 9.99996371e-01 4.70001447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.774012739 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:62.26, Y:6.36, Z:0.04 [[ 9.71185594e-01 -2.38310147e-01 -2.61081511e-03 6.22565647e+01] [ 2.38309220e-01 9.71189103e-01 -6.65035274e-04 6.35814818e+00] [ 2.69407984e-03 2.36913651e-05 9.99996371e-01 4.48452361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.804012739 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] Translation: X:62.28, Y:6.36, Z:0.04 [[ 9.70932355e-01 -2.39339814e-01 -2.61072825e-03 6.22835755e+01] [ 2.39338890e-01 9.70935865e-01 -6.65376104e-04 6.36402312e+00] [ 2.69410068e-03 2.11863868e-05 9.99996371e-01 4.43726199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.834012739 meters Centerline goodness : 0.996293 Centerline is valid? [True, True] Translation: X:62.31, Y:6.37, Z:0.04 [[ 9.70479641e-01 -2.41168927e-01 -2.61060371e-03 6.23107667e+01] [ 2.41168009e-01 9.70483152e-01 -6.65864359e-04 6.36991008e+00] [ 2.69413271e-03 1.66137060e-05 9.99996371e-01 4.39494383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.864012739 meters Centerline goodness : 0.996395 Centerline is valid? [True, True] Translation: X:62.34, Y:6.38, Z:0.05 [[ 9.70396893e-01 -2.41501667e-01 -2.61047579e-03 6.23371873e+01] [ 2.41500749e-01 9.70400404e-01 -6.66365488e-04 6.37687440e+00] [ 2.69413514e-03 1.62071409e-05 9.99996371e-01 4.51078011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.894012739 meters Centerline goodness : 0.996417 Centerline is valid? [True, True] Translation: X:62.36, Y:6.38, Z:0.05 [[ 9.70547366e-01 -2.40896233e-01 -2.61041076e-03 6.23646545e+01] [ 2.40895311e-01 9.70550877e-01 -6.66620131e-04 6.38437268e+00] [ 2.69412273e-03 1.81506990e-05 9.99996371e-01 5.07078851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.924012739 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:62.39, Y:6.39, Z:0.05 [[ 9.70802994e-01 -2.39863987e-01 -2.61030074e-03 6.23910346e+01] [ 2.39863061e-01 9.70806503e-01 -6.67050658e-04 6.39157425e+00] [ 2.69409837e-03 2.14600503e-05 9.99996371e-01 5.18782926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.954012739 meters Centerline goodness : 0.996133 Centerline is valid? [True, True] Translation: X:62.42, Y:6.40, Z:0.05 [[ 9.71161370e-01 -2.38408852e-01 -2.61026178e-03 6.24179198e+01] [ 2.38407920e-01 9.71164877e-01 -6.67203090e-04 6.40024083e+00] [ 2.69406168e-03 2.56547846e-05 9.99996371e-01 5.15825184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98401273900001 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:62.44, Y:6.41, Z:0.05 [[ 9.71100644e-01 -2.38656084e-01 -2.61013627e-03 6.24440943e+01] [ 2.38655152e-01 9.71104151e-01 -6.67693727e-04 6.40756961e+00] [ 2.69406334e-03 2.54753402e-05 9.99996371e-01 5.03642250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.014012739 meters Centerline goodness : 0.996061 Centerline is valid? [True, True] Translation: X:62.47, Y:6.42, Z:0.05 [[ 9.71020832e-01 -2.38980610e-01 -2.61008188e-03 6.24713608e+01] [ 2.38979678e-01 9.71024339e-01 -6.67906292e-04 6.41532604e+00] [ 2.69406968e-03 2.47943964e-05 9.99996371e-01 5.00516907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.044012739 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:62.50, Y:6.42, Z:0.05 [[ 9.71370269e-01 -2.37556286e-01 -2.60996007e-03 6.24981192e+01] [ 2.37555348e-01 9.71373775e-01 -6.68381952e-04 6.42416291e+00] [ 2.69402510e-03 2.92363856e-05 9.99996371e-01 5.44484961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.074012739 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:62.52, Y:6.44, Z:0.06 [[ 9.72406033e-01 -2.33280293e-01 -2.60983443e-03 6.25231634e+01] [ 2.33279338e-01 9.72409535e-01 -6.68872173e-04 6.43536684e+00] [ 2.69386258e-03 4.15948901e-05 9.99996371e-01 5.95672757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.104012739 meters Centerline goodness : 0.995254 Centerline is valid? [True, True] Translation: X:62.55, Y:6.45, Z:0.06 [[ 9.72981701e-01 -2.30867493e-01 -2.60977981e-03 6.25495419e+01] [ 2.30866529e-01 9.72985199e-01 -6.69085223e-04 6.44632667e+00] [ 2.69374715e-03 4.84968734e-05 9.99996371e-01 5.95508472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.134012739 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:62.57, Y:6.46, Z:0.06 [[ 9.73616355e-01 -2.28176211e-01 -2.60965421e-03 6.25745274e+01] [ 2.28175236e-01 9.73619851e-01 -6.69574729e-04 6.45736406e+00] [ 2.69359217e-03 5.64504416e-05 9.99996371e-01 5.79149107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.164012739 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:62.60, Y:6.47, Z:0.06 [[ 9.74065434e-01 -2.26251453e-01 -2.60959973e-03 6.25993607e+01] [ 2.26250471e-01 9.74068928e-01 -6.69787008e-04 6.46807620e+00] [ 2.69347029e-03 6.19932060e-05 9.99996371e-01 5.52971860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.194012739 meters Centerline goodness : 0.996010 Centerline is valid? [True, True] Translation: X:62.63, Y:6.48, Z:0.05 [[ 9.74583433e-01 -2.24009648e-01 -2.60951676e-03 6.26257947e+01] [ 2.24008656e-01 9.74586924e-01 -6.70110101e-04 6.48243328e+00] [ 2.69331204e-03 6.85238617e-05 9.99996371e-01 5.03889210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.224012739 meters Centerline goodness : 0.996010 Centerline is valid? [True, True] Translation: X:62.65, Y:6.49, Z:0.05 [[ 9.74542364e-01 -2.24188250e-01 -2.60940915e-03 6.26533450e+01] [ 2.24187258e-01 9.74545855e-01 -6.70528859e-04 6.48970306e+00] [ 2.69331357e-03 6.84624973e-05 9.99996371e-01 5.04656629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.254012739 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:62.68, Y:6.50, Z:0.05 [[ 9.74610202e-01 -2.23893158e-01 -2.60928618e-03 6.26798402e+01] [ 2.23892164e-01 9.74613692e-01 -6.71007046e-04 6.49970285e+00] [ 2.69327993e-03 6.97715837e-05 9.99996371e-01 4.94208482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.284012739 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:62.71, Y:6.51, Z:0.05 [[ 9.74169259e-01 -2.25804002e-01 -2.60916195e-03 6.27056842e+01] [ 2.25803013e-01 9.74172751e-01 -6.71489780e-04 6.51302417e+00] [ 2.69339955e-03 6.49880729e-05 9.99996371e-01 5.21287292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.314012739 meters Centerline goodness : 0.996984 Centerline is valid? [True, True] Translation: X:62.73, Y:6.52, Z:0.05 [[ 9.73926109e-01 -2.26850450e-01 -2.60903608e-03 6.27312114e+01] [ 2.26849463e-01 9.73929602e-01 -6.71978455e-04 6.52309697e+00] [ 2.69345609e-03 6.25989269e-05 9.99996371e-01 5.22086292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34401273900001 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:62.76, Y:6.54, Z:0.05 [[ 9.73638115e-01 -2.28083349e-01 -2.60898136e-03 6.27554051e+01] [ 2.28082366e-01 9.73641609e-01 -6.72190872e-04 6.53755404e+00] [ 2.69352835e-03 5.94080126e-05 9.99996371e-01 5.04693484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.374012739 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:62.78, Y:6.55, Z:0.05 [[ 9.73574327e-01 -2.28355477e-01 -2.60889622e-03 6.27811431e+01] [ 2.28354494e-01 9.73577821e-01 -6.72521119e-04 6.54839009e+00] [ 2.69353738e-03 5.89961178e-05 9.99996371e-01 4.89947521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.404012739 meters Centerline goodness : 0.997270 Centerline is valid? [True, True] Translation: X:62.81, Y:6.56, Z:0.05 [[ 9.73594106e-01 -2.28271135e-01 -2.60877153e-03 6.28078140e+01] [ 2.28270151e-01 9.73597599e-01 -6.73004477e-04 6.55900716e+00] [ 2.69352119e-03 5.97285230e-05 9.99996371e-01 4.69061795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.434012739 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:62.83, Y:6.57, Z:0.05 [[ 9.73451170e-01 -2.28879915e-01 -2.60864709e-03 6.28331265e+01] [ 2.28878932e-01 9.73454663e-01 -6.73486456e-04 6.57118898e+00] [ 2.69354720e-03 5.85418182e-05 9.99996371e-01 4.82557637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.464012739 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:62.86, Y:6.58, Z:0.05 [[ 9.73271768e-01 -2.29641592e-01 -2.60852101e-03 6.28594123e+01] [ 2.29640610e-01 9.73275262e-01 -6.73974438e-04 6.58041881e+00] [ 2.69358153e-03 5.69379366e-05 9.99996371e-01 4.96815577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.494012739 meters Centerline goodness : 0.996936 Centerline is valid? [True, True] Translation: X:62.89, Y:6.59, Z:0.05 [[ 9.72696366e-01 -2.32066748e-01 -2.60839500e-03 6.28856993e+01] [ 2.32065773e-01 9.72699862e-01 -6.74461766e-04 6.59185850e+00] [ 2.69370561e-03 5.07273050e-05 9.99996371e-01 5.20273929e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.524012739 meters Centerline goodness : 0.996635 Centerline is valid? [True, True] Translation: X:62.91, Y:6.60, Z:0.05 [[ 9.72393279e-01 -2.33333470e-01 -2.60835591e-03 6.29112459e+01] [ 2.33332500e-01 9.72396776e-01 -6.74612915e-04 6.60093765e+00] [ 2.69376665e-03 4.73748586e-05 9.99996371e-01 5.33005185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.554012739 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:62.94, Y:6.61, Z:0.05 [[ 9.72135195e-01 -2.34406398e-01 -2.60830155e-03 6.29378562e+01] [ 2.34405431e-01 9.72138693e-01 -6.74823036e-04 6.61069303e+00] [ 2.69381369e-03 4.46191743e-05 9.99996371e-01 5.49658572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.584012739 meters Centerline goodness : 0.997281 Centerline is valid? [True, True] Translation: X:62.96, Y:6.63, Z:0.06 [[ 9.71986005e-01 -2.35024262e-01 -2.60817382e-03 6.29617626e+01] [ 2.35023296e-01 9.71989503e-01 -6.75316321e-04 6.62553093e+00] [ 2.69383330e-03 4.34164056e-05 9.99996371e-01 5.57873604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.614012739 meters Centerline goodness : 0.996609 Centerline is valid? [True, True] Translation: X:62.99, Y:6.64, Z:0.06 [[ 9.71952125e-01 -2.35164337e-01 -2.60808669e-03 6.29878792e+01] [ 2.35163370e-01 9.71955623e-01 -6.75652648e-04 6.63731121e+00] [ 2.69383393e-03 4.33755696e-05 9.99996371e-01 5.64434745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.644012739 meters Centerline goodness : 0.996656 Centerline is valid? [True, True] Translation: X:63.01, Y:6.65, Z:0.06 [[ 9.71884363e-01 -2.35444225e-01 -2.60796308e-03 6.30127370e+01] [ 2.35443258e-01 9.71887861e-01 -6.76129452e-04 6.64981484e+00] [ 2.69383844e-03 4.30923178e-05 9.99996371e-01 5.62427039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.674012739 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:63.04, Y:6.66, Z:0.06 [[ 9.71642875e-01 -2.36438834e-01 -2.60790957e-03 6.30392527e+01] [ 2.36437871e-01 9.71646374e-01 -6.76335787e-04 6.65980803e+00] [ 2.69387792e-03 4.05482636e-05 9.99996371e-01 5.53235542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.704012739 meters Centerline goodness : 0.997144 Centerline is valid? [True, True] Translation: X:63.06, Y:6.67, Z:0.05 [[ 9.71214187e-01 -2.38193622e-01 -2.60778729e-03 6.30647000e+01] [ 2.38192663e-01 9.71217688e-01 -6.76806952e-04 6.67443555e+00] [ 2.69394024e-03 3.61687143e-05 9.99996371e-01 5.29610855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73401273900001 meters Centerline goodness : 0.997425 Centerline is valid? [True, True] Translation: X:63.09, Y:6.68, Z:0.05 [[ 9.71049902e-01 -2.38862487e-01 -2.60766392e-03 6.30908702e+01] [ 2.38861529e-01 9.71053403e-01 -6.77281932e-04 6.68446270e+00] [ 2.69395817e-03 3.48039624e-05 9.99996371e-01 5.08704890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.764012739 meters Centerline goodness : 0.997141 Centerline is valid? [True, True] Translation: X:63.12, Y:6.70, Z:0.05 [[ 9.70704800e-01 -2.40261090e-01 -2.60762567e-03 6.31173074e+01] [ 2.40260137e-01 9.70708302e-01 -6.77429168e-04 6.69576056e+00] [ 2.69400376e-03 3.10752455e-05 9.99996371e-01 5.11140238e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.794012739 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:63.14, Y:6.71, Z:0.05 [[ 9.70466219e-01 -2.41222965e-01 -2.60750307e-03 6.31436412e+01] [ 2.41222014e-01 9.70469722e-01 -6.77900763e-04 6.70608748e+00] [ 2.69402801e-03 2.88926489e-05 9.99996371e-01 5.30679366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.824012739 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:63.17, Y:6.72, Z:0.05 [[ 9.70323401e-01 -2.41796813e-01 -2.60737564e-03 6.31687240e+01] [ 2.41795863e-01 9.70326904e-01 -6.78390522e-04 6.71588835e+00] [ 2.69403940e-03 2.78055557e-05 9.99996371e-01 5.38876502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.854012739 meters Centerline goodness : 0.996817 Centerline is valid? [True, True] Translation: X:63.19, Y:6.73, Z:0.05 [[ 9.70197258e-01 -2.42302461e-01 -2.60732037e-03 6.31948410e+01] [ 2.42301513e-01 9.70200761e-01 -6.78602875e-04 6.72650576e+00] [ 2.69405135e-03 2.66209794e-05 9.99996371e-01 5.42268904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.884012739 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:63.22, Y:6.73, Z:0.05 [[ 9.70213843e-01 -2.42236043e-01 -2.60719721e-03 6.32218268e+01] [ 2.42235093e-01 9.70217346e-01 -6.79075715e-04 6.73446465e+00] [ 2.69404458e-03 2.72939998e-05 9.99996371e-01 5.40479012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.914012739 meters Centerline goodness : 0.997202 Centerline is valid? [True, True] Translation: X:63.25, Y:6.75, Z:0.05 [[ 9.70400645e-01 -2.41486627e-01 -2.60707248e-03 6.32477956e+01] [ 2.41485672e-01 9.70404147e-01 -6.79554257e-04 6.74514492e+00] [ 2.69401721e-03 2.98692391e-05 9.99996371e-01 5.07767073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.944012739 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:63.27, Y:6.75, Z:0.05 [[ 9.70532296e-01 -2.40956979e-01 -2.60703374e-03 6.32739861e+01] [ 2.40956023e-01 9.70535797e-01 -6.79702830e-04 6.75492941e+00] [ 2.69399871e-03 3.14930666e-05 9.99996371e-01 4.94099038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.974012739 meters Centerline goodness : 0.997577 Centerline is valid? [True, True] Translation: X:63.30, Y:6.76, Z:0.05 [[ 9.70853718e-01 -2.39658637e-01 -2.60691203e-03 6.32991669e+01] [ 2.39657675e-01 9.70857217e-01 -6.80169335e-04 6.76381758e+00] [ 2.69394781e-03 3.55784537e-05 9.99996371e-01 4.84344388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.004012739 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:63.33, Y:6.77, Z:0.06 [[ 9.70854868e-01 -2.39653980e-01 -2.60685891e-03 6.33257191e+01] [ 2.39653017e-01 9.70858367e-01 -6.80372843e-04 6.77184501e+00] [ 2.69394485e-03 3.58016837e-05 9.99996371e-01 5.84652228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.034012739 meters Centerline goodness : 0.997137 Centerline is valid? [True, True] Translation: X:63.35, Y:6.78, Z:0.05 [[ 9.71037442e-01 -2.38913146e-01 -2.60673207e-03 6.33524078e+01] [ 2.38912179e-01 9.71040940e-01 -6.80858481e-04 6.78102803e+00] [ 2.69390960e-03 3.83590398e-05 9.99996371e-01 4.97897085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.064012739 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:63.38, Y:6.79, Z:0.05 [[ 9.71439090e-01 -2.37274735e-01 -2.60660488e-03 6.33776184e+01] [ 2.37273761e-01 9.71442586e-01 -6.81345040e-04 6.79304341e+00] [ 2.69383295e-03 4.34062613e-05 9.99996371e-01 4.86510705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09401273900001 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:63.40, Y:6.80, Z:0.05 [[ 9.71569200e-01 -2.36741410e-01 -2.60651839e-03 6.34037036e+01] [ 2.36740433e-01 9.71572696e-01 -6.81675778e-04 6.80152006e+00] [ 2.69380298e-03 4.52269000e-05 9.99996371e-01 4.97449487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.124012739 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:63.43, Y:6.81, Z:0.05 [[ 9.71631548e-01 -2.36485392e-01 -2.60646656e-03 6.34307233e+01] [ 2.36484413e-01 9.71635043e-01 -6.81873906e-04 6.81100361e+00] [ 2.69378746e-03 4.61414845e-05 9.99996371e-01 5.48809027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.154012739 meters Centerline goodness : 0.996941 Centerline is valid? [True, True] Translation: X:63.46, Y:6.82, Z:0.05 [[ 9.71463142e-01 -2.37176243e-01 -2.60635478e-03 6.34562424e+01] [ 2.37175266e-01 9.71466638e-01 -6.82300898e-04 6.81955145e+00] [ 2.69381227e-03 4.46672881e-05 9.99996371e-01 5.47855243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.184012739 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:63.48, Y:6.83, Z:0.05 [[ 9.70606246e-01 -2.40658934e-01 -2.60626767e-03 6.34822548e+01] [ 2.40657968e-01 9.70609745e-01 -6.82633469e-04 6.83029423e+00] [ 2.69395064e-03 3.53492275e-05 9.99996371e-01 5.39332425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.214012739 meters Centerline goodness : 0.997383 Centerline is valid? [True, True] Translation: X:63.51, Y:6.84, Z:0.06 [[ 9.70057833e-01 -2.42860060e-01 -2.60614139e-03 6.35088319e+01] [ 2.42859101e-01 9.70061333e-01 -6.83115219e-04 6.83890968e+00] [ 2.69401840e-03 2.97361124e-05 9.99996371e-01 5.65712772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.244012739 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:63.54, Y:6.85, Z:0.06 [[ 9.69539650e-01 -2.44920551e-01 -2.60601149e-03 6.35360706e+01] [ 2.44919598e-01 9.69543152e-01 -6.83610414e-04 6.84705966e+00] [ 2.69407084e-03 2.45241126e-05 9.99996371e-01 5.92684024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.274012739 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:63.56, Y:6.85, Z:0.06 [[ 9.68645792e-01 -2.48432162e-01 -2.60588029e-03 6.35630652e+01] [ 2.48431221e-01 9.68649297e-01 -6.84110202e-04 6.85328253e+00] [ 2.69413908e-03 1.52784474e-05 9.99996371e-01 5.97269227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.304012739 meters Centerline goodness : 0.996641 Centerline is valid? [True, True] Translation: X:63.59, Y:6.86, Z:0.06 [[ 9.68167930e-01 -2.50287973e-01 -2.60574530e-03 6.35895122e+01] [ 2.50287037e-01 9.68171436e-01 -6.84623993e-04 6.85943905e+00] [ 2.69416132e-03 1.06467245e-05 9.99996371e-01 5.93909196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.334012739 meters Centerline goodness : 0.997090 Centerline is valid? [True, True] Translation: X:63.62, Y:6.86, Z:0.06 [[ 9.67265362e-01 -2.53753679e-01 -2.60568667e-03 6.36170383e+01] [ 2.53752755e-01 9.67268872e-01 -6.84847043e-04 6.86472480e+00] [ 2.69418206e-03 1.22865201e-06 9.99996371e-01 5.94791286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.364012739 meters Centerline goodness : 0.997388 Centerline is valid? [True, True] Translation: X:63.64, Y:6.87, Z:0.06 [[ 9.66974070e-01 -2.54861451e-01 -2.60555450e-03 6.36433938e+01] [ 2.54860530e-01 9.66977580e-01 -6.85349530e-04 6.87098140e+00] [ 2.69418196e-03 -1.33777706e-06 9.99996371e-01 5.87594360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.394012739 meters Centerline goodness : 0.997392 Centerline is valid? [True, True] Translation: X:63.67, Y:6.87, Z:0.06 [[ 9.66623603e-01 -2.56187475e-01 -2.60549714e-03 6.36702493e+01] [ 2.56186557e-01 9.66627114e-01 -6.85567534e-04 6.87436239e+00] [ 2.69417800e-03 -4.80758185e-06 9.99996371e-01 5.91069882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.424012739 meters Centerline goodness : 0.996638 Centerline is valid? [True, True] Translation: X:63.70, Y:6.88, Z:0.06 [[ 9.66411267e-01 -2.56987303e-01 -2.60544215e-03 6.36977698e+01] [ 2.56986388e-01 9.66414779e-01 -6.85776450e-04 6.87892884e+00] [ 2.69417364e-03 -6.82108013e-06 9.99996371e-01 5.91924767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.454012739 meters Centerline goodness : 0.997551 Centerline is valid? [True, True] Translation: X:63.73, Y:6.88, Z:0.06 [[ 9.66187728e-01 -2.57826467e-01 -2.60531699e-03 6.37253029e+01] [ 2.57825554e-01 9.66191240e-01 -6.86251602e-04 6.88413009e+00] [ 2.69416828e-03 -8.66941970e-06 9.99996371e-01 5.96373849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48401273900001 meters Centerline goodness : 0.997657 Centerline is valid? [True, True] Translation: X:63.75, Y:6.89, Z:0.06 [[ 9.65789643e-01 -2.59313667e-01 -2.60518697e-03 6.37519947e+01] [ 2.59312758e-01 9.65793157e-01 -6.86744850e-04 6.88929072e+00] [ 2.69415407e-03 -1.23071530e-05 9.99996371e-01 5.78936049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.514012739 meters Centerline goodness : 0.997528 Centerline is valid? [True, True] Translation: X:63.78, Y:6.90, Z:0.06 [[ 9.65583606e-01 -2.60079820e-01 -2.60513047e-03 6.37795804e+01] [ 2.60078913e-01 9.65587120e-01 -6.86959107e-04 6.89531295e+00] [ 2.69414463e-03 -1.42230498e-05 9.99996371e-01 5.69847557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.544012739 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:63.81, Y:6.90, Z:0.05 [[ 9.65412994e-01 -2.60712417e-01 -2.60499787e-03 6.38070286e+01] [ 2.60711511e-01 9.65416509e-01 -6.87461571e-04 6.89882000e+00] [ 2.69413772e-03 -1.54685986e-05 9.99996371e-01 5.47120130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.574012739 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:63.83, Y:6.90, Z:0.05 [[ 9.65365472e-01 -2.60888329e-01 -2.60494021e-03 6.38331703e+01] [ 2.60887423e-01 9.65368986e-01 -6.87680004e-04 6.90396835e+00] [ 2.69413617e-03 -1.57336053e-05 9.99996371e-01 5.29872307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.604012739 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:63.86, Y:6.91, Z:0.05 [[ 9.65229146e-01 -2.61392255e-01 -2.60485360e-03 6.38600550e+01] [ 2.61391350e-01 9.65232661e-01 -6.88007904e-04 6.90991080e+00] [ 2.69412971e-03 -1.68009169e-05 9.99996371e-01 5.11340523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.634012739 meters Centerline goodness : 0.997745 Centerline is valid? [True, True] Translation: X:63.89, Y:6.92, Z:0.05 [[ 9.64990367e-01 -2.62272392e-01 -2.60472856e-03 6.38875787e+01] [ 2.62271489e-01 9.64993882e-01 -6.88480964e-04 6.91574337e+00] [ 2.69411667e-03 -1.87685394e-05 9.99996371e-01 5.13927181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.664012739 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:63.92, Y:6.92, Z:0.06 [[ 9.64548717e-01 -2.63892003e-01 -2.60459919e-03 6.39163473e+01] [ 2.63891105e-01 9.64552233e-01 -6.88970040e-04 6.91963488e+00] [ 2.69408565e-03 -2.27853899e-05 9.99996371e-01 5.50376643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.694012739 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:63.94, Y:6.92, Z:0.06 [[ 9.64454068e-01 -2.64237711e-01 -2.60448620e-03 6.39448862e+01] [ 2.64236812e-01 9.64457584e-01 -6.89396918e-04 6.92252891e+00] [ 2.69408113e-03 -2.33094679e-05 9.99996371e-01 5.77254219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.724012739 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:63.97, Y:6.93, Z:0.06 [[ 9.64601997e-01 -2.63697181e-01 -2.60444611e-03 6.39718421e+01] [ 2.63696280e-01 9.64605513e-01 -6.89548336e-04 6.92732541e+00] [ 2.69409503e-03 -2.16430491e-05 9.99996371e-01 5.82226895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.754012739 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:64.00, Y:6.93, Z:0.06 [[ 9.64821982e-01 -2.62891156e-01 -2.60439026e-03 6.39982227e+01] [ 2.62890252e-01 9.64825497e-01 -6.89759197e-04 6.93211585e+00] [ 2.69411372e-03 -1.91739763e-05 9.99996371e-01 5.80959368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.784012739 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:64.03, Y:6.94, Z:0.06 [[ 9.65741326e-01 -2.59493562e-01 -2.60433515e-03 6.40261682e+01] [ 2.59492645e-01 9.65744838e-01 -6.89967239e-04 6.93716782e+00] [ 2.69416528e-03 -9.47593846e-06 9.99996371e-01 5.61152639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.814012739 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:64.05, Y:6.94, Z:0.06 [[ 9.66260376e-01 -2.57554079e-01 -2.60421843e-03 6.40535685e+01] [ 2.57553153e-01 9.66263886e-01 -6.90407507e-04 6.94325008e+00] [ 2.69417948e-03 -3.61125036e-06 9.99996371e-01 5.67590054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84401273900001 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:64.08, Y:6.94, Z:0.06 [[ 9.67033416e-01 -2.54636194e-01 -2.60408914e-03 6.40811988e+01] [ 2.54635257e-01 9.67036922e-01 -6.90894820e-04 6.94477907e+00] [ 2.69417717e-03 5.02547240e-06 9.99996371e-01 5.88314036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.874012739 meters Centerline goodness : 0.997613 Centerline is valid? [True, True] Translation: X:64.11, Y:6.95, Z:0.06 [[ 9.67177573e-01 -2.54088097e-01 -2.60403295e-03 6.41074229e+01] [ 2.54087157e-01 9.67181079e-01 -6.91106530e-04 6.94976016e+00] [ 2.69417334e-03 6.77140793e-06 9.99996371e-01 5.90181578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.904012739 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:64.13, Y:6.96, Z:0.06 [[ 9.67307546e-01 -2.53592844e-01 -2.60397884e-03 6.41345849e+01] [ 2.53591902e-01 9.67311051e-01 -6.91310334e-04 6.95644429e+00] [ 2.69416886e-03 8.36175509e-06 9.99996371e-01 5.96192759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.934012739 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:64.16, Y:6.96, Z:0.06 [[ 9.67763312e-01 -2.51847955e-01 -2.60385324e-03 6.41623030e+01] [ 2.51847005e-01 9.67766815e-01 -6.91783085e-04 6.96235859e+00] [ 2.69414691e-03 1.37096482e-05 9.99996371e-01 5.99829841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.964012739 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:64.19, Y:6.97, Z:0.06 [[ 9.68079477e-01 -2.50629901e-01 -2.60372272e-03 6.41893476e+01] [ 2.50628946e-01 9.68082978e-01 -6.92273999e-04 6.96807124e+00] [ 2.69412421e-03 1.76079716e-05 9.99996371e-01 6.03361274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.994012739 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:64.22, Y:6.97, Z:0.06 [[ 9.69224283e-01 -2.46165615e-01 -2.60359238e-03 6.42154842e+01] [ 2.46164642e-01 9.69227780e-01 -6.92763846e-04 6.97438365e+00] [ 2.69400870e-03 3.05311558e-05 9.99996371e-01 6.29446449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.024012739 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:64.24, Y:6.98, Z:0.06 [[ 9.69942357e-01 -2.43320871e-01 -2.60350365e-03 6.42425688e+01] [ 2.43319887e-01 9.69945850e-01 -6.93097138e-04 6.98301104e+00] [ 2.69390256e-03 3.87800581e-05 9.99996371e-01 6.27030655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.054012739 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:64.27, Y:6.99, Z:0.06 [[ 9.71565786e-01 -2.36755456e-01 -2.60337302e-03 6.42677576e+01] [ 2.36754447e-01 9.71569272e-01 -6.93587464e-04 6.99260735e+00] [ 2.69356785e-03 5.75057107e-05 9.99996371e-01 5.73470555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.084012739 meters Centerline goodness : 0.998054 Centerline is valid? [True, True] Translation: X:64.29, Y:7.00, Z:0.06 [[ 9.72306926e-01 -2.33693098e-01 -2.60331646e-03 6.42947530e+01] [ 2.33692077e-01 9.72310409e-01 -6.93799681e-04 7.00094565e+00] [ 2.69336789e-03 6.62118030e-05 9.99996371e-01 5.57719883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.114012739 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:64.32, Y:7.01, Z:0.06 [[ 9.72939084e-01 -2.31047100e-01 -2.60318785e-03 6.43212062e+01] [ 2.31046069e-01 9.72942564e-01 -6.94281927e-04 7.00972756e+00] [ 2.69316408e-03 7.40377037e-05 9.99996371e-01 5.56551143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.144012739 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:64.35, Y:7.02, Z:0.06 [[ 9.72896327e-01 -2.31227076e-01 -2.60305910e-03 6.43486734e+01] [ 2.31226044e-01 9.72899807e-01 -6.94764306e-04 7.01725693e+00] [ 2.69316401e-03 7.40385841e-05 9.99996371e-01 5.57318530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.174012739 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:64.37, Y:7.03, Z:0.06 [[ 9.73866954e-01 -2.27104339e-01 -2.60293049e-03 6.43747496e+01] [ 2.27103291e-01 9.73870429e-01 -6.95245808e-04 7.02931760e+00] [ 2.69281037e-03 8.59428368e-05 9.99996371e-01 5.89935894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.204012739 meters Centerline goodness : 0.997946 Centerline is valid? [True, True] Translation: X:64.40, Y:7.04, Z:0.06 [[ 9.74131865e-01 -2.25965339e-01 -2.60289056e-03 6.44007072e+01] [ 2.25964287e-01 9.74135338e-01 -6.95395276e-04 7.03912096e+00] [ 2.69270290e-03 8.92463901e-05 9.99996371e-01 5.92781001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23401273900001 meters Centerline goodness : 0.997482 Centerline is valid? [True, True] Translation: X:64.43, Y:7.05, Z:0.05 [[ 9.74169112e-01 -2.25804709e-01 -2.60276344e-03 6.44271126e+01] [ 2.25803655e-01 9.74172585e-01 -6.95870715e-04 7.05029692e+00] [ 2.69267168e-03 9.01822576e-05 9.99996371e-01 5.39631454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.264012739 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:64.45, Y:7.06, Z:0.05 [[ 9.73953711e-01 -2.26731992e-01 -2.60263654e-03 6.44534370e+01] [ 2.26730939e-01 9.73957184e-01 -6.96345041e-04 7.05942273e+00] [ 2.69274025e-03 8.81096095e-05 9.99996371e-01 5.05135471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.294012739 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:64.48, Y:7.07, Z:0.05 [[ 9.73706164e-01 -2.27792742e-01 -2.60259711e-03 6.44796461e+01] [ 2.27791694e-01 9.73709638e-01 -6.96492374e-04 7.06862341e+00] [ 2.69282980e-03 8.53289146e-05 9.99996371e-01 4.99160355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.324012739 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:64.51, Y:7.08, Z:0.05 [[ 9.73024431e-01 -2.30687417e-01 -2.60247116e-03 6.45062331e+01] [ 2.30686377e-01 9.73027908e-01 -6.96962652e-04 7.07953401e+00] [ 2.69305759e-03 7.78070442e-05 9.99996371e-01 5.48982661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.354012739 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:64.53, Y:7.09, Z:0.06 [[ 9.72486889e-01 -2.32943082e-01 -2.60235897e-03 6.45330997e+01] [ 2.32942049e-01 9.72490368e-01 -6.97381318e-04 7.08839565e+00] [ 2.69321918e-03 7.19953583e-05 9.99996371e-01 5.64688690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.384012739 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:64.56, Y:7.10, Z:0.05 [[ 9.71410205e-01 -2.37393011e-01 -2.60223046e-03 6.45588958e+01] [ 2.37391992e-01 9.71413689e-01 -6.97860497e-04 7.09612417e+00] [ 2.69350950e-03 6.01601346e-05 9.99996371e-01 5.28687383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.414012739 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:64.59, Y:7.10, Z:0.05 [[ 9.70927777e-01 -2.39358476e-01 -2.60214272e-03 6.45859740e+01] [ 2.39357464e-01 9.70931263e-01 -6.98187536e-04 7.10351757e+00] [ 2.69361882e-03 5.50473914e-05 9.99996371e-01 5.03326784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.444012739 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:64.61, Y:7.11, Z:0.05 [[ 9.70506592e-01 -2.41060540e-01 -2.60210291e-03 6.46129581e+01] [ 2.41059534e-01 9.70510079e-01 -6.98335868e-04 7.11118856e+00] [ 2.69370832e-03 5.04778486e-05 9.99996371e-01 5.00962366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.474012739 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:64.64, Y:7.12, Z:0.05 [[ 9.69903687e-01 -2.43474983e-01 -2.60197501e-03 6.46394552e+01] [ 2.43473985e-01 9.69907176e-01 -6.98812069e-04 7.11987081e+00] [ 2.69381749e-03 4.42671779e-05 9.99996371e-01 5.30331398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.504012739 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:64.67, Y:7.13, Z:0.05 [[ 9.69343066e-01 -2.45697478e-01 -2.60193513e-03 6.46661589e+01] [ 2.45696487e-01 9.69346557e-01 -6.98960521e-04 7.12711738e+00] [ 2.69390970e-03 3.82462123e-05 9.99996371e-01 5.11075142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.534012739 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:64.69, Y:7.13, Z:0.05 [[ 9.68990843e-01 -2.47082934e-01 -2.60189564e-03 6.46935733e+01] [ 2.47081947e-01 9.68994336e-01 -6.99107521e-04 7.13478878e+00] [ 2.69395967e-03 3.45473450e-05 9.99996371e-01 5.09023333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.564012739 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:64.72, Y:7.14, Z:0.05 [[ 9.68518007e-01 -2.48929911e-01 -2.60177030e-03 6.47203435e+01] [ 2.48928930e-01 9.68521501e-01 -6.99573650e-04 7.14263072e+00] [ 2.69401529e-03 2.98937807e-05 9.99996371e-01 5.23594924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59401273900001 meters Centerline goodness : 0.998019 Centerline is valid? [True, True] Translation: X:64.75, Y:7.15, Z:0.06 [[ 9.67447658e-01 -2.53057821e-01 -2.60164533e-03 6.47481536e+01] [ 2.53056854e-01 9.67451156e-01 -7.00038095e-04 7.14964706e+00] [ 2.69411490e-03 1.88860336e-05 9.99996371e-01 5.79661106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.624012739 meters Centerline goodness : 0.997648 Centerline is valid? [True, True] Translation: X:64.77, Y:7.16, Z:0.06 [[ 9.66980368e-01 -2.54837597e-01 -2.60152910e-03 6.47742815e+01] [ 2.54836635e-01 9.66983867e-01 -7.00469764e-04 7.15601330e+00] [ 2.69414270e-03 1.43755883e-05 9.99996371e-01 6.08513701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.654012739 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:64.80, Y:7.16, Z:0.06 [[ 9.66613786e-01 -2.56224551e-01 -2.60147132e-03 6.48011050e+01] [ 2.56223594e-01 9.66617287e-01 -7.00684297e-04 7.16204216e+00] [ 2.69415967e-03 1.07327711e-05 9.99996371e-01 6.41336266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.684012739 meters Centerline goodness : 0.997504 Centerline is valid? [True, True] Translation: X:64.83, Y:7.17, Z:0.06 [[ 9.66511773e-01 -2.56609091e-01 -2.60134123e-03 6.48281158e+01] [ 2.56608133e-01 9.66515274e-01 -7.01166942e-04 7.16876575e+00] [ 2.69416184e-03 1.01607868e-05 9.99996371e-01 6.24620304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.714012739 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:64.85, Y:7.18, Z:0.06 [[ 9.66392062e-01 -2.57059558e-01 -2.60121567e-03 6.48545492e+01] [ 2.57058600e-01 9.66395563e-01 -7.01632427e-04 7.17515510e+00] [ 2.69416460e-03 9.38714896e-06 9.99996371e-01 5.99942382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.744012739 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:64.88, Y:7.18, Z:0.06 [[ 9.66096767e-01 -2.58167137e-01 -2.60116095e-03 6.48824528e+01] [ 2.58166183e-01 9.66100269e-01 -7.01835252e-04 7.18077227e+00] [ 2.69417309e-03 6.50897351e-06 9.99996371e-01 5.65555894e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.774012739 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:64.91, Y:7.19, Z:0.06 [[ 9.66073113e-01 -2.58255637e-01 -2.60103110e-03 6.49082128e+01] [ 2.58254682e-01 9.66076615e-01 -7.02316134e-04 7.18768691e+00] [ 2.69417242e-03 6.76027407e-06 9.99996371e-01 5.58727379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.804012739 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:64.94, Y:7.20, Z:0.06 [[ 9.66584535e-01 -2.56334882e-01 -2.60097489e-03 6.49354648e+01] [ 2.56333920e-01 9.66588034e-01 -7.02524258e-04 7.19541643e+00] [ 2.69415268e-03 1.23309947e-05 9.99996371e-01 5.85791628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.834012739 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:64.96, Y:7.20, Z:0.06 [[ 9.66896379e-01 -2.55156085e-01 -2.60084752e-03 6.49629780e+01] [ 2.55155117e-01 9.66899877e-01 -7.02995463e-04 7.20231883e+00] [ 2.69413272e-03 1.61042136e-05 9.99996371e-01 5.88311371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.864012739 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:64.99, Y:7.21, Z:0.06 [[ 9.67193397e-01 -2.54027890e-01 -2.60071459e-03 6.49887767e+01] [ 2.54026917e-01 9.67196893e-01 -7.03486894e-04 7.20906139e+00] [ 2.69410837e-03 1.97563698e-05 9.99996371e-01 5.62131754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.894012739 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:65.01, Y:7.22, Z:0.05 [[ 9.67864156e-01 -2.51460160e-01 -2.60062398e-03 6.50146471e+01] [ 2.51459177e-01 9.67867650e-01 -7.03821712e-04 7.21839088e+00] [ 2.69404294e-03 2.72530434e-05 9.99996371e-01 5.21408767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.924012739 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:65.04, Y:7.23, Z:0.05 [[ 9.68221812e-01 -2.50079508e-01 -2.60058416e-03 6.50412594e+01] [ 2.50078519e-01 9.68225304e-01 -7.03968805e-04 7.22762722e+00] [ 2.69399956e-03 3.12477154e-05 9.99996371e-01 5.35098506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.954012739 meters Centerline goodness : 0.997351 Centerline is valid? [True, True] Translation: X:65.07, Y:7.24, Z:0.06 [[ 9.68946652e-01 -2.47256190e-01 -2.60044930e-03 6.50670634e+01] [ 2.47255190e-01 9.68950141e-01 -7.04466639e-04 7.23746963e+00] [ 2.69388945e-03 3.96160070e-05 9.99996371e-01 5.80531838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98401273900001 meters Centerline goodness : 0.997283 Centerline is valid? [True, True] Translation: X:65.09, Y:7.25, Z:0.06 [[ 9.69286393e-01 -2.45920975e-01 -2.60040732e-03 6.50936712e+01] [ 2.45919969e-01 9.69289880e-01 -7.04621537e-04 7.24667778e+00] [ 2.69382972e-03 4.34879785e-05 9.99996371e-01 6.04130910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.014012739 meters Centerline goodness : 0.997238 Centerline is valid? [True, True] Translation: X:65.12, Y:7.26, Z:0.06 [[ 9.69824058e-01 -2.43791993e-01 -2.60027368e-03 6.51184897e+01] [ 2.43790978e-01 9.69827542e-01 -7.05114382e-04 7.25708560e+00] [ 2.69371827e-03 4.99136273e-05 9.99996371e-01 5.73135743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.044012739 meters Centerline goodness : 0.997347 Centerline is valid? [True, True] Translation: X:65.14, Y:7.27, Z:0.06 [[ 9.69863354e-01 -2.43635617e-01 -2.60021569e-03 6.51446386e+01] [ 2.43634601e-01 9.69866838e-01 -7.05328175e-04 7.26611249e+00] [ 2.69370603e-03 5.05694369e-05 9.99996371e-01 5.51124607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.074012739 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:65.17, Y:7.28, Z:0.06 [[ 9.69837863e-01 -2.43737071e-01 -2.60008294e-03 6.51704696e+01] [ 2.43736055e-01 9.69841347e-01 -7.05817200e-04 7.27543217e+00] [ 2.69370175e-03 5.07942874e-05 9.99996371e-01 5.52484113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.104012739 meters Centerline goodness : 0.996579 Centerline is valid? [True, True] Translation: X:65.20, Y:7.29, Z:0.06 [[ 9.69676936e-01 -2.44376510e-01 -2.60002509e-03 6.51972591e+01] [ 2.44375496e-01 9.69680421e-01 -7.06030213e-04 7.28663794e+00] [ 2.69373063e-03 4.92387929e-05 9.99996371e-01 6.31900032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.134012739 meters Centerline goodness : 0.996616 Centerline is valid? [True, True] Translation: X:65.22, Y:7.30, Z:0.06 [[ 9.69467002e-01 -2.45208020e-01 -2.59990965e-03 6.52240776e+01] [ 2.45207007e-01 9.69470487e-01 -7.06455072e-04 7.29550086e+00] [ 2.69376412e-03 4.73688178e-05 9.99996371e-01 6.48978480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.164012739 meters Centerline goodness : 0.997062 Centerline is valid? [True, True] Translation: X:65.25, Y:7.31, Z:0.06 [[ 9.68805877e-01 -2.47807213e-01 -2.59977702e-03 6.52496341e+01] [ 2.47806207e-01 9.68809364e-01 -7.06942806e-04 7.30561836e+00] [ 2.69387385e-03 4.06494603e-05 9.99996371e-01 6.05342415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.194012739 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:65.28, Y:7.31, Z:0.06 [[ 9.68521580e-01 -2.48916031e-01 -2.59971941e-03 6.52758761e+01] [ 2.48915029e-01 9.68525068e-01 -7.07154599e-04 7.31340347e+00] [ 2.69391554e-03 3.77852559e-05 9.99996371e-01 5.60781624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.224012739 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:65.30, Y:7.32, Z:0.05 [[ 9.68104255e-01 -2.50534217e-01 -2.59967909e-03 6.53028070e+01] [ 2.50533221e-01 9.68107745e-01 -7.07302802e-04 7.32071641e+00] [ 2.69397301e-03 3.34368761e-05 9.99996371e-01 5.39857127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.254012739 meters Centerline goodness : 0.997186 Centerline is valid? [True, True] Translation: X:65.33, Y:7.33, Z:0.06 [[ 9.67375631e-01 -2.53333043e-01 -2.59954901e-03 6.53296494e+01] [ 2.53332055e-01 9.67379124e-01 -7.07780570e-04 7.32635808e+00] [ 2.69405365e-03 2.61405832e-05 9.99996371e-01 5.75675458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.284012739 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:65.36, Y:7.33, Z:0.06 [[ 9.67004299e-01 -2.54746792e-01 -2.59950873e-03 6.53566346e+01] [ 2.54745809e-01 9.67007793e-01 -7.07928457e-04 7.33451731e+00] [ 2.69408771e-03 2.23559056e-05 9.99996371e-01 5.96198357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.314012739 meters Centerline goodness : 0.996398 Centerline is valid? [True, True] Translation: X:65.38, Y:7.34, Z:0.06 [[ 9.66847908e-01 -2.55339707e-01 -2.59938111e-03 6.53835340e+01] [ 2.55338725e-01 9.66851402e-01 -7.08396742e-04 7.34405244e+00] [ 2.69409709e-03 2.11892494e-05 9.99996371e-01 6.32289844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34401273900001 meters Centerline goodness : 0.996715 Centerline is valid? [True, True] Translation: X:65.41, Y:7.35, Z:0.06 [[ 9.66920457e-01 -2.55064842e-01 -2.59925157e-03 6.54094696e+01] [ 2.55063858e-01 9.66923950e-01 -7.08871767e-04 7.35081218e+00] [ 2.69408686e-03 2.24474802e-05 9.99996371e-01 6.25959291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.374012739 meters Centerline goodness : 0.997329 Centerline is valid? [True, True] Translation: X:65.44, Y:7.36, Z:0.06 [[ 9.66931669e-01 -2.55022336e-01 -2.59916362e-03 6.54355568e+01] [ 2.55021351e-01 9.66935162e-01 -7.09194083e-04 7.35662417e+00] [ 2.69408303e-03 2.29000008e-05 9.99996371e-01 6.16956620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.404012739 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:65.46, Y:7.36, Z:0.06 [[ 9.66587386e-01 -2.56324150e-01 -2.59907706e-03 6.54631197e+01] [ 2.56323169e-01 9.66590880e-01 -7.09511173e-04 7.36144973e+00] [ 2.69410903e-03 1.96008828e-05 9.99996371e-01 6.11437785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.434012739 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:65.49, Y:7.37, Z:0.06 [[ 9.66478973e-01 -2.56732626e-01 -2.59894070e-03 6.54896641e+01] [ 2.56731645e-01 9.66482467e-01 -7.10010293e-04 7.36798117e+00] [ 2.69411343e-03 1.89796972e-05 9.99996371e-01 6.31999574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.464012739 meters Centerline goodness : 0.996715 Centerline is valid? [True, True] Translation: X:65.52, Y:7.37, Z:0.07 [[ 9.66602868e-01 -2.56265764e-01 -2.59888163e-03 6.55168269e+01] [ 2.56264781e-01 9.66606361e-01 -7.10226438e-04 7.37387349e+00] [ 2.69410224e-03 2.05050787e-05 9.99996371e-01 6.78107618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.494012739 meters Centerline goodness : 0.996777 Centerline is valid? [True, True] Translation: X:65.54, Y:7.38, Z:0.07 [[ 9.66811880e-01 -2.55476095e-01 -2.59875005e-03 6.55434963e+01] [ 2.55475108e-01 9.66815372e-01 -7.10707593e-04 7.38141105e+00] [ 2.69408030e-03 2.32045948e-05 9.99996371e-01 6.69010630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.524012739 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:65.57, Y:7.39, Z:0.07 [[ 9.67126011e-01 -2.54284341e-01 -2.59850663e-03 6.55711605e+01] [ 2.54283347e-01 9.67129502e-01 -7.11597102e-04 7.39051894e+00] [ 2.69404043e-03 2.74471038e-05 9.99996371e-01 6.53398496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.554012739 meters Centerline goodness : 0.996999 Centerline is valid? [True, True] Translation: X:65.60, Y:7.40, Z:0.06 [[ 9.68214748e-01 -2.50106877e-01 -2.59859298e-03 6.55973208e+01] [ 2.50105868e-01 9.68218234e-01 -7.11281641e-04 7.40098556e+00] [ 2.69390154e-03 3.87500201e-05 9.99996371e-01 5.83413186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.584012739 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:65.62, Y:7.41, Z:0.06 [[ 9.68790692e-01 -2.47866582e-01 -2.59846122e-03 6.56242573e+01] [ 2.47865564e-01 9.68794176e-01 -7.11762664e-04 7.40962024e+00] [ 2.69379628e-03 4.54799882e-05 9.99996371e-01 5.56798654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.614012739 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:65.65, Y:7.42, Z:0.06 [[ 9.69513861e-01 -2.45022697e-01 -2.59842014e-03 6.56500726e+01] [ 2.45021668e-01 9.69517341e-01 -7.11912614e-04 7.42097435e+00] [ 2.69364813e-03 5.35399102e-05 9.99996371e-01 5.82360916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.644012739 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:65.68, Y:7.43, Z:0.06 [[ 9.69557473e-01 -2.44850068e-01 -2.59829089e-03 6.56768398e+01] [ 2.44849038e-01 9.69560953e-01 -7.12384022e-04 7.43162740e+00] [ 2.69362867e-03 5.45082267e-05 9.99996371e-01 6.16071184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.674012739 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:65.70, Y:7.44, Z:0.06 [[ 9.69379005e-01 -2.45555683e-01 -2.59817754e-03 6.57019164e+01] [ 2.45554654e-01 9.69382486e-01 -7.12797177e-04 7.44479456e+00] [ 2.69365920e-03 5.29760311e-05 9.99996371e-01 6.49421578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.704012739 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:65.73, Y:7.45, Z:0.06 [[ 9.69216620e-01 -2.46195845e-01 -2.59804208e-03 6.57270357e+01] [ 2.46194817e-01 9.69220100e-01 -7.13290574e-04 7.45468781e+00] [ 2.69368378e-03 5.17085833e-05 9.99996371e-01 6.35042209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73401273900001 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:65.75, Y:7.47, Z:0.06 [[ 9.69046745e-01 -2.46863641e-01 -2.59798317e-03 6.57535847e+01] [ 2.46862615e-01 9.69050226e-01 -7.13505087e-04 7.46550879e+00] [ 2.69371464e-03 5.00748641e-05 9.99996371e-01 6.08659835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.764012739 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:65.78, Y:7.48, Z:0.06 [[ 9.68384080e-01 -2.49450447e-01 -2.59785363e-03 6.57778701e+01] [ 2.49449429e-01 9.68387563e-01 -7.13976415e-04 7.48081280e+00] [ 2.69383088e-03 4.33702876e-05 9.99996371e-01 6.16084811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.794012739 meters Centerline goodness : 0.996479 Centerline is valid? [True, True] Translation: X:65.80, Y:7.49, Z:0.06 [[ 9.67831815e-01 -2.51584637e-01 -2.59772147e-03 6.58040629e+01] [ 2.51583625e-01 9.67835301e-01 -7.14456954e-04 7.49136957e+00] [ 2.69391293e-03 3.79299867e-05 9.99996371e-01 6.33602916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.824012739 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:65.83, Y:7.50, Z:0.06 [[ 9.66245335e-01 -2.57610569e-01 -2.59758806e-03 6.58298566e+01] [ 2.57609577e-01 9.66248826e-01 -7.14941671e-04 7.50180421e+00] [ 2.69409294e-03 2.16454928e-05 9.99996371e-01 6.38833317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.854012739 meters Centerline goodness : 0.996683 Centerline is valid? [True, True] Translation: X:65.86, Y:7.51, Z:0.06 [[ 9.65339299e-01 -2.60985231e-01 -2.59744998e-03 6.58550691e+01] [ 2.60984250e-01 9.65342794e-01 -7.15442972e-04 7.51072691e+00] [ 2.69414967e-03 1.27516813e-05 9.99996371e-01 6.32605225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.884012739 meters Centerline goodness : 0.996924 Centerline is valid? [True, True] Translation: X:65.88, Y:7.52, Z:0.06 [[ 9.64604871e-01 -2.63686740e-01 -2.59739010e-03 6.58803976e+01] [ 2.63685769e-01 9.64608368e-01 -7.15660298e-04 7.51992351e+00] [ 2.69417435e-03 5.43460401e-06 9.99996371e-01 6.27947631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.914012739 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:65.91, Y:7.53, Z:0.06 [[ 9.63326103e-01 -2.68320839e-01 -2.59733112e-03 6.59058125e+01] [ 2.68319884e-01 9.63329605e-01 -7.15874298e-04 7.53054264e+00] [ 2.69416995e-03 -7.29518777e-06 9.99996371e-01 6.41810720e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.944012739 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:65.93, Y:7.54, Z:0.07 [[ 9.62746696e-01 -2.70392407e-01 -2.59727398e-03 6.59324851e+01] [ 2.70391459e-01 9.62750199e-01 -7.16081526e-04 7.53916549e+00] [ 2.69414905e-03 -1.28755791e-05 9.99996371e-01 6.62929549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.974012739 meters Centerline goodness : 0.996590 Centerline is valid? [True, True] Translation: X:65.96, Y:7.55, Z:0.07 [[ 9.61914853e-01 -2.73336917e-01 -2.59714510e-03 6.59585137e+01] [ 2.73335978e-01 9.61918359e-01 -7.16548679e-04 7.54959270e+00] [ 2.69410076e-03 -2.06343784e-05 9.99996371e-01 6.63319354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.004012739 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:65.98, Y:7.56, Z:0.06 [[ 9.61624447e-01 -2.74356844e-01 -2.59701051e-03 6.59844003e+01] [ 2.74355908e-01 9.61627954e-01 -7.17036133e-04 7.55808871e+00] [ 2.69408167e-03 -2.29857006e-05 9.99996371e-01 6.47897231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.034012739 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:66.01, Y:7.57, Z:0.06 [[ 9.61345402e-01 -2.75333023e-01 -2.59695211e-03 6.60111766e+01] [ 2.75332090e-01 9.61348909e-01 -7.17247571e-04 7.56559145e+00] [ 2.69405902e-03 -2.55015986e-05 9.99996371e-01 6.32499290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.064012739 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:66.04, Y:7.57, Z:0.06 [[ 9.61294535e-01 -2.75510569e-01 -2.59681983e-03 6.60385645e+01] [ 2.75509635e-01 9.61298042e-01 -7.17726175e-04 7.57334885e+00] [ 2.69405897e-03 -2.55026346e-05 9.99996371e-01 6.33266679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09401273900001 meters Centerline goodness : 0.997129 Centerline is valid? [True, True] Translation: X:66.07, Y:7.58, Z:0.06 [[ 9.60978632e-01 -2.76610424e-01 -2.59668719e-03 6.60659260e+01] [ 2.76609493e-01 9.60982140e-01 -7.18205753e-04 7.58086948e+00] [ 2.69403321e-03 -2.80879449e-05 9.99996371e-01 6.42013452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.124012739 meters Centerline goodness : 0.996943 Centerline is valid? [True, True] Translation: X:66.09, Y:7.59, Z:0.06 [[ 9.60386256e-01 -2.78660183e-01 -2.59655268e-03 6.60927240e+01] [ 2.78659258e-01 9.60389765e-01 -7.18691736e-04 7.58826495e+00] [ 2.69397338e-03 -3.33317771e-05 9.99996371e-01 6.46756698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.154012739 meters Centerline goodness : 0.997075 Centerline is valid? [True, True] Translation: X:66.12, Y:7.59, Z:0.06 [[ 9.58995647e-01 -2.83408906e-01 -2.59641802e-03 6.61190204e+01] [ 2.83407997e-01 9.58999161e-01 -7.19177888e-04 7.59404903e+00] [ 2.69378412e-03 -4.61571661e-05 9.99996371e-01 6.20165519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.184012739 meters Centerline goodness : 0.996832 Centerline is valid? [True, True] Translation: X:66.15, Y:7.60, Z:0.06 [[ 9.58491873e-01 -2.85108030e-01 -2.59635950e-03 6.61458385e+01] [ 2.85107126e-01 9.58495388e-01 -7.19389090e-04 7.60065918e+00] [ 2.69370221e-03 -5.07119998e-05 9.99996371e-01 6.20264099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.214012739 meters Centerline goodness : 0.996188 Centerline is valid? [True, True] Translation: X:66.17, Y:7.61, Z:0.07 [[ 9.58026280e-01 -2.86668636e-01 -2.59622619e-03 6.61731479e+01] [ 2.86667737e-01 9.58029796e-01 -7.19869855e-04 7.60804973e+00] [ 2.69362616e-03 -5.46000489e-05 9.99996371e-01 6.65947680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.244012739 meters Centerline goodness : 0.996664 Centerline is valid? [True, True] Translation: X:66.20, Y:7.62, Z:0.07 [[ 9.57903181e-01 -2.87079702e-01 -2.59618496e-03 6.61986268e+01] [ 2.87078805e-01 9.57906698e-01 -7.20018546e-04 7.61584387e+00] [ 2.69360567e-03 -5.56016178e-05 9.99996371e-01 6.83903877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.274012739 meters Centerline goodness : 0.995882 Centerline is valid? [True, True] Translation: X:66.23, Y:7.62, Z:0.07 [[ 9.57681088e-01 -2.87819725e-01 -2.59612787e-03 6.62251624e+01] [ 2.87818830e-01 9.57684605e-01 -7.20224318e-04 7.62418144e+00] [ 2.69356646e-03 -5.74692765e-05 9.99996371e-01 6.87735493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.304012739 meters Centerline goodness : 0.996565 Centerline is valid? [True, True] Translation: X:66.25, Y:7.63, Z:0.07 [[ 9.57264570e-01 -2.89202011e-01 -2.59599362e-03 6.62510831e+01] [ 2.89201120e-01 9.57268088e-01 -7.20707877e-04 7.63000069e+00] [ 2.69349202e-03 -6.08561470e-05 9.99996371e-01 6.59790528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.334012739 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:66.28, Y:7.64, Z:0.07 [[ 9.56995712e-01 -2.90090449e-01 -2.59593524e-03 6.62773988e+01] [ 2.90089560e-01 9.56999231e-01 -7.20918111e-04 7.63597053e+00] [ 2.69343948e-03 -6.31381697e-05 9.99996371e-01 6.50570220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.364012739 meters Centerline goodness : 0.996625 Centerline is valid? [True, True] Translation: X:66.31, Y:7.64, Z:0.06 [[ 9.56521437e-01 -2.91650478e-01 -2.59587738e-03 6.63052534e+01] [ 2.91649595e-01 9.56524957e-01 -7.21126372e-04 7.64131532e+00] [ 2.69333836e-03 -6.73137535e-05 9.99996371e-01 6.44981732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.394012739 meters Centerline goodness : 0.996489 Centerline is valid? [True, True] Translation: X:66.33, Y:7.65, Z:0.07 [[ 9.56316683e-01 -2.92321166e-01 -2.59575053e-03 6.63327901e+01] [ 2.92320283e-01 9.56320203e-01 -7.21582692e-04 7.64759854e+00] [ 2.69330257e-03 -6.87289647e-05 9.99996371e-01 6.56277690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.424012739 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:66.36, Y:7.65, Z:0.07 [[ 9.56166757e-01 -2.92811196e-01 -2.59561476e-03 6.63595879e+01] [ 2.92810314e-01 9.56170277e-01 -7.22070759e-04 7.65302998e+00] [ 2.69328009e-03 -6.96027160e-05 9.99996371e-01 6.62592761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.454012739 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:66.39, Y:7.66, Z:0.07 [[ 9.56032144e-01 -2.93250409e-01 -2.59552213e-03 6.63873442e+01] [ 2.93249527e-01 9.56035665e-01 -7.22403568e-04 7.65675392e+00] [ 2.69325687e-03 -7.04946060e-05 9.99996371e-01 6.80437868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48401273900001 meters Centerline goodness : 0.996750 Centerline is valid? [True, True] Translation: X:66.41, Y:7.66, Z:0.07 [[ 9.56168937e-01 -2.92804077e-01 -2.59538644e-03 6.64134343e+01] [ 2.92803193e-01 9.56172457e-01 -7.22890718e-04 7.66304044e+00] [ 2.69330238e-03 -6.87317875e-05 9.99996371e-01 6.73152441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.514012739 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:66.44, Y:7.67, Z:0.06 [[ 9.56619784e-01 -2.91327741e-01 -2.59529408e-03 6.64409203e+01] [ 2.91326850e-01 9.56623303e-01 -7.23222155e-04 7.66756013e+00] [ 2.69341347e-03 -6.42302289e-05 9.99996371e-01 6.38827718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.544012739 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:66.47, Y:7.67, Z:0.06 [[ 9.56766632e-01 -2.90845108e-01 -2.59516378e-03 6.64681547e+01] [ 2.90844215e-01 9.56770150e-01 -7.23689426e-04 7.67307328e+00] [ 2.69345677e-03 -6.23864764e-05 9.99996371e-01 6.41998551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.574012739 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:66.50, Y:7.68, Z:0.07 [[ 9.56898856e-01 -2.90409788e-01 -2.59503335e-03 6.64952585e+01] [ 2.90408892e-01 9.56902373e-01 -7.24156821e-04 7.67884825e+00] [ 2.69349580e-03 -6.06759252e-05 9.99996371e-01 6.52430209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.604012739 meters Centerline goodness : 0.996580 Centerline is valid? [True, True] Translation: X:66.52, Y:7.68, Z:0.07 [[ 9.57714181e-01 -2.87709600e-01 -2.59489642e-03 6.65218292e+01] [ 2.87708692e-01 9.57717695e-01 -7.24647153e-04 7.68434684e+00] [ 2.69366616e-03 -5.25694021e-05 9.99996371e-01 6.63090256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.634012739 meters Centerline goodness : 0.996976 Centerline is valid? [True, True] Translation: X:66.55, Y:7.69, Z:0.07 [[ 9.58312874e-01 -2.85709123e-01 -2.59483681e-03 6.65491602e+01] [ 2.85708207e-01 9.58316386e-01 -7.24860563e-04 7.69082186e+00] [ 2.69377390e-03 -4.67229628e-05 9.99996371e-01 6.61949982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.664012739 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:66.58, Y:7.70, Z:0.07 [[ 9.59369013e-01 -2.82142455e-01 -2.59471402e-03 6.65765545e+01] [ 2.82141525e-01 9.59372521e-01 -7.25299807e-04 7.69648041e+00] [ 2.69393520e-03 -3.62464118e-05 9.99996371e-01 6.76058322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.694012739 meters Centerline goodness : 0.996464 Centerline is valid? [True, True] Translation: X:66.60, Y:7.70, Z:0.07 [[ 9.59864321e-01 -2.80452767e-01 -2.59457688e-03 6.66020427e+01] [ 2.80451829e-01 9.59867827e-01 -7.25790079e-04 7.70432623e+00] [ 2.69400071e-03 -3.09938311e-05 9.99996371e-01 7.00083758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.724012739 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:66.63, Y:7.71, Z:0.07 [[ 9.60325891e-01 -2.78868160e-01 -2.59451726e-03 6.66290040e+01] [ 2.78867216e-01 9.60329396e-01 -7.26003153e-04 7.71316454e+00] [ 2.69405035e-03 -2.63261795e-05 9.99996371e-01 7.13138310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.754012739 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:66.65, Y:7.72, Z:0.07 [[ 9.61054781e-01 -2.76345758e-01 -2.59438043e-03 6.66549140e+01] [ 2.76344804e-01 9.61058282e-01 -7.26491786e-04 7.72029571e+00] [ 2.69411372e-03 -1.87451459e-05 9.99996371e-01 7.18791486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.784012739 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:66.68, Y:7.73, Z:0.07 [[ 9.60979172e-01 -2.76608568e-01 -2.59424424e-03 6.66827678e+01] [ 2.76607614e-01 9.60982674e-01 -7.26977770e-04 7.72528484e+00] [ 2.69411205e-03 -1.89772127e-05 9.99996371e-01 6.53051436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.814012739 meters Centerline goodness : 0.996985 Centerline is valid? [True, True] Translation: X:66.71, Y:7.73, Z:0.06 [[ 9.60684460e-01 -2.77630399e-01 -2.59420194e-03 6.67086578e+01] [ 2.77629448e-01 9.60687962e-01 -7.27128675e-04 7.73160617e+00] [ 2.69409160e-03 -2.16856352e-05 9.99996371e-01 6.33396853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84401273900001 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:66.74, Y:7.74, Z:0.06 [[ 9.60362915e-01 -2.78740635e-01 -2.59414440e-03 6.67357052e+01] [ 2.78739687e-01 9.60366419e-01 -7.27333921e-04 7.73856701e+00] [ 2.69406668e-03 -2.45864721e-05 9.99996371e-01 6.47840357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.874012739 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:66.76, Y:7.74, Z:0.07 [[ 9.59969410e-01 -2.80092848e-01 -2.59400856e-03 6.67633598e+01] [ 2.80091903e-01 9.59972914e-01 -7.27818050e-04 7.74464807e+00] [ 2.69403459e-03 -2.78777317e-05 9.99996371e-01 7.04029516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.904012739 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:66.79, Y:7.75, Z:0.07 [[ 9.60056949e-01 -2.79792648e-01 -2.59387308e-03 6.67891832e+01] [ 2.79791702e-01 9.60060453e-01 -7.28300591e-04 7.75077715e+00] [ 2.69404811e-03 -2.65341181e-05 9.99996371e-01 6.98934151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.934012739 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:66.82, Y:7.75, Z:0.06 [[ 9.60624925e-01 -2.77836329e-01 -2.59381427e-03 6.68176348e+01] [ 2.77835374e-01 9.60628427e-01 -7.28509970e-04 7.75423504e+00] [ 2.69409826e-03 -2.08285225e-05 9.99996371e-01 6.32162389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.964012739 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:66.85, Y:7.76, Z:0.06 [[ 9.60882717e-01 -2.76943453e-01 -2.59368852e-03 6.68452287e+01] [ 2.76942494e-01 9.60886218e-01 -7.28957386e-04 7.75932430e+00] [ 2.69411953e-03 -1.78600153e-05 9.99996371e-01 6.04788175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.994012739 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:66.87, Y:7.76, Z:0.06 [[ 9.61158635e-01 -2.75984332e-01 -2.59355351e-03 6.68719974e+01] [ 2.75983368e-01 9.61162134e-01 -7.29437423e-04 7.76475948e+00] [ 2.69413873e-03 -1.46725560e-05 9.99996371e-01 5.87849215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.024012739 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:66.90, Y:7.77, Z:0.06 [[ 9.62014946e-01 -2.72984465e-01 -2.59349497e-03 6.68996457e+01] [ 2.72983490e-01 9.62018441e-01 -7.29645506e-04 7.76950283e+00] [ 2.69417188e-03 -6.05142712e-06 9.99996371e-01 6.09670989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.054012739 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:66.93, Y:7.77, Z:0.06 [[ 9.62524492e-01 -2.71182368e-01 -2.59337090e-03 6.69267388e+01] [ 2.71181385e-01 9.62527986e-01 -7.30086217e-04 7.77490534e+00] [ 2.69417858e-03 -5.48047824e-07 9.99996371e-01 6.04158844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.084012739 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:66.95, Y:7.78, Z:0.06 [[ 9.63498996e-01 -2.67699384e-01 -2.59323750e-03 6.69548786e+01] [ 2.67698387e-01 9.63502486e-01 -7.30559729e-04 7.77814312e+00] [ 2.69416117e-03 9.68806843e-06 9.99996371e-01 6.41630273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.114012739 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:66.98, Y:7.78, Z:0.07 [[ 9.63970269e-01 -2.65997360e-01 -2.59310474e-03 6.69823779e+01] [ 2.65996356e-01 9.63973757e-01 -7.31030679e-04 7.78479816e+00] [ 2.69413715e-03 1.49354295e-05 9.99996371e-01 6.67467841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.144012739 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:67.01, Y:7.79, Z:0.07 [[ 9.64342221e-01 -2.64645720e-01 -2.59297098e-03 6.70091779e+01] [ 2.64644710e-01 9.64345707e-01 -7.31504818e-04 7.79212029e+00] [ 2.69411005e-03 1.92049280e-05 9.99996371e-01 6.95646890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.174012739 meters Centerline goodness : 0.996848 Centerline is valid? [True, True] Translation: X:67.04, Y:7.80, Z:0.07 [[ 9.64922980e-01 -2.62520324e-01 -2.59283688e-03 6.70362001e+01] [ 2.62519304e-01 9.64926463e-01 -7.31979838e-04 7.79754037e+00] [ 2.69405650e-03 2.56344334e-05 9.99996371e-01 7.00999440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.204012739 meters Centerline goodness : 0.996651 Centerline is valid? [True, True] Translation: X:67.06, Y:7.80, Z:0.07 [[ 9.64687794e-01 -2.63383251e-01 -2.59277844e-03 6.70624112e+01] [ 2.63382234e-01 9.64691278e-01 -7.32186777e-04 7.80229237e+00] [ 2.69407648e-03 2.34398698e-05 9.99996371e-01 6.81949270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23401273900001 meters Centerline goodness : 0.997400 Centerline is valid? [True, True] Translation: X:67.09, Y:7.81, Z:0.07 [[ 9.64421268e-01 -2.64357516e-01 -2.59272100e-03 6.70893979e+01] [ 2.64356502e-01 9.64424753e-01 -7.32390101e-04 7.80984534e+00] [ 2.69409714e-03 2.09299347e-05 9.99996371e-01 6.70105885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.264012739 meters Centerline goodness : 0.997048 Centerline is valid? [True, True] Translation: X:67.12, Y:7.82, Z:0.07 [[ 9.64188880e-01 -2.65203850e-01 -2.59259060e-03 6.71165122e+01] [ 2.65202838e-01 9.64192366e-01 -7.32851429e-04 7.81736583e+00] [ 2.69411108e-03 1.90448143e-05 9.99996371e-01 6.57271741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.294012739 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:67.14, Y:7.82, Z:0.07 [[ 9.63721436e-01 -2.66897497e-01 -2.59245422e-03 6.71440626e+01] [ 2.66896490e-01 9.63724922e-01 -7.33333549e-04 7.82293233e+00] [ 2.69413763e-03 1.48123288e-05 9.99996371e-01 6.75738117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.324012739 meters Centerline goodness : 0.987714 Centerline is valid? [True, True] Translation: X:67.17, Y:7.83, Z:0.08 [[ 9.63256428e-01 -2.68570911e-01 -2.59231819e-03 6.71707200e+01] [ 2.68569909e-01 9.63259916e-01 -7.33814093e-04 7.83021317e+00] [ 2.69415732e-03 1.06324825e-05 9.99996371e-01 8.43653385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.354012739 meters Centerline goodness : 0.996448 Centerline is valid? [True, True] Translation: X:67.20, Y:7.84, Z:0.07 [[ 9.62673658e-01 -2.70652375e-01 -2.59218043e-03 6.71973628e+01] [ 2.70651379e-01 9.62677148e-01 -7.34300401e-04 7.83580950e+00] [ 2.69417301e-03 5.31444467e-06 9.99996371e-01 7.13459139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.384012739 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:67.22, Y:7.84, Z:0.07 [[ 9.62375752e-01 -2.71709759e-01 -2.59212050e-03 6.72236994e+01] [ 2.71708766e-01 9.62379243e-01 -7.34511893e-04 7.84166896e+00] [ 2.69417702e-03 2.57457199e-06 9.99996371e-01 6.82166260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.414012739 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:67.25, Y:7.85, Z:0.07 [[ 9.62080107e-01 -2.72754742e-01 -2.59206145e-03 6.72509054e+01] [ 2.72753752e-01 9.62083599e-01 -7.34720213e-04 7.84723526e+00] [ 2.69417823e-03 -1.34786351e-07 9.99996371e-01 6.56224122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.444012739 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:67.28, Y:7.85, Z:0.06 [[ 9.61812273e-01 -2.73697706e-01 -2.59191741e-03 6.72784878e+01] [ 2.73696718e-01 9.61815765e-01 -7.35228019e-04 7.85310288e+00] [ 2.69417725e-03 -2.24795619e-06 9.99996371e-01 6.43063983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.474012739 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:67.31, Y:7.86, Z:0.07 [[ 9.61528832e-01 -2.74691804e-01 -2.59177156e-03 6.73052446e+01] [ 2.74690818e-01 9.61532325e-01 -7.35741780e-04 7.85885504e+00] [ 2.69417438e-03 -4.49891732e-06 9.99996371e-01 6.57407924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.504012739 meters Centerline goodness : 0.997202 Centerline is valid? [True, True] Translation: X:67.33, Y:7.86, Z:0.07 [[ 9.60845622e-01 -2.77072144e-01 -2.59170833e-03 6.73327665e+01] [ 2.77071167e-01 9.60849118e-01 -7.35964466e-04 7.86448702e+00] [ 2.69415591e-03 -1.09394163e-05 9.99996371e-01 6.60193798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.534012739 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:67.36, Y:7.87, Z:0.07 [[ 9.60519817e-01 -2.78199505e-01 -2.59157337e-03 6.73593209e+01] [ 2.78198530e-01 9.60523313e-01 -7.36439407e-04 7.87030867e+00] [ 2.69414371e-03 -1.36072568e-05 9.99996371e-01 6.56562922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.564012739 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:67.39, Y:7.88, Z:0.06 [[ 9.60408273e-01 -2.78584339e-01 -2.59148128e-03 6.73861856e+01] [ 2.78583365e-01 9.60411769e-01 -7.36763306e-04 7.87693000e+00] [ 2.69413984e-03 -1.43500026e-05 9.99996371e-01 6.49519451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59401273900001 meters Centerline goodness : 0.997237 Centerline is valid? [True, True] Translation: X:67.41, Y:7.88, Z:0.06 [[ 9.60502095e-01 -2.78260688e-01 -2.59134495e-03 6.74120643e+01] [ 2.78259712e-01 9.60505590e-01 -7.37242511e-04 7.88416361e+00] [ 2.69414692e-03 -1.29439221e-05 9.99996371e-01 6.46406870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.624012739 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:67.44, Y:7.89, Z:0.06 [[ 9.60977716e-01 -2.76613655e-01 -2.59128580e-03 6.74377669e+01] [ 2.76612672e-01 9.60981210e-01 -7.37450347e-04 7.89267599e+00] [ 2.69416580e-03 -8.10913750e-06 9.99996371e-01 6.44884030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.654012739 meters Centerline goodness : 0.997185 Centerline is valid? [True, True] Translation: X:67.46, Y:7.90, Z:0.07 [[ 9.61369147e-01 -2.75250155e-01 -2.59122900e-03 6.74631923e+01] [ 2.75249167e-01 9.61372640e-01 -7.37649863e-04 7.90160683e+00] [ 2.69417490e-03 -4.07980446e-06 9.99996371e-01 6.68854736e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.684012739 meters Centerline goodness : 0.996761 Centerline is valid? [True, True] Translation: X:67.49, Y:7.91, Z:0.07 [[ 9.61368901e-01 -2.75251018e-01 -2.59117262e-03 6.74901306e+01] [ 2.75250029e-01 9.61372392e-01 -7.37847876e-04 7.91088576e+00] [ 2.69417520e-03 -3.87633670e-06 9.99996371e-01 6.70705336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.714012739 meters Centerline goodness : 0.997176 Centerline is valid? [True, True] Translation: X:67.52, Y:7.92, Z:0.07 [[ 9.61334843e-01 -2.75369943e-01 -2.59104097e-03 6.75153818e+01] [ 2.75368953e-01 9.61338335e-01 -7.38309890e-04 7.91974363e+00] [ 2.69417536e-03 -3.72921599e-06 9.99996371e-01 6.65688815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.744012739 meters Centerline goodness : 0.997032 Centerline is valid? [True, True] Translation: X:67.54, Y:7.93, Z:0.07 [[ 9.61107695e-01 -2.76161701e-01 -2.59098369e-03 6.75423011e+01] [ 2.76160713e-01 9.61111188e-01 -7.38510842e-04 7.92893768e+00] [ 2.69417182e-03 -5.73945044e-06 9.99996371e-01 6.67584576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.774012739 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:67.57, Y:7.94, Z:0.07 [[ 9.60000636e-01 -2.79985831e-01 -2.59085286e-03 6.75694884e+01] [ 2.79984857e-01 9.60004132e-01 -7.38969522e-04 7.93679438e+00] [ 2.69413045e-03 -1.59883562e-05 9.99996371e-01 7.09355457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.804012739 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:67.60, Y:7.94, Z:0.07 [[ 9.58138001e-01 -2.86295056e-01 -2.59081215e-03 6.75965571e+01] [ 2.86294104e-01 9.58141503e-01 -7.39112238e-04 7.94259166e+00] [ 2.69396883e-03 -3.35627213e-05 9.99996371e-01 7.18474990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.834012739 meters Centerline goodness : 0.996752 Centerline is valid? [True, True] Translation: X:67.62, Y:7.95, Z:0.07 [[ 9.57311102e-01 -2.89047992e-01 -2.59068322e-03 6.76235620e+01] [ 2.89047049e-01 9.57314607e-01 -7.39563876e-04 7.94912092e+00] [ 2.69386834e-03 -4.08366299e-05 9.99996371e-01 6.87709562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.864012739 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:67.65, Y:7.96, Z:0.07 [[ 9.56727574e-01 -2.90973605e-01 -2.59055421e-03 6.76504639e+01] [ 2.90972667e-01 9.56731080e-01 -7.40015491e-04 7.95605017e+00] [ 2.69378870e-03 -4.57872432e-05 9.99996371e-01 6.59271097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.894012739 meters Centerline goodness : 0.997301 Centerline is valid? [True, True] Translation: X:67.68, Y:7.96, Z:0.07 [[ 9.56668393e-01 -2.91168123e-01 -2.59042270e-03 6.76771240e+01] [ 2.91167185e-01 9.56671899e-01 -7.40475580e-04 7.96072616e+00] [ 2.69378748e-03 -4.58565014e-05 9.99996371e-01 6.59897707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.924012739 meters Centerline goodness : 0.997266 Centerline is valid? [True, True] Translation: X:67.70, Y:7.97, Z:0.07 [[ 9.56817249e-01 -2.90678590e-01 -2.59036547e-03 6.77043207e+01] [ 2.90677650e-01 9.56820754e-01 -7.40675701e-04 7.96644786e+00] [ 2.69381401e-03 -4.42700612e-05 9.99996371e-01 6.87121841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.954012739 meters Centerline goodness : 0.997266 Centerline is valid? [True, True] Translation: X:67.73, Y:7.97, Z:0.07 [[ 9.56767780e-01 -2.90841374e-01 -2.59032610e-03 6.77316477e+01] [ 2.90840433e-01 9.56771286e-01 -7.40813372e-04 7.97447254e+00] [ 2.69380881e-03 -4.45852005e-05 9.99996371e-01 6.87889173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98401273900001 meters Centerline goodness : 0.996418 Centerline is valid? [True, True] Translation: X:67.76, Y:7.98, Z:0.07 [[ 9.57050747e-01 -2.89908878e-01 -2.59019999e-03 6.77582746e+01] [ 2.89907933e-01 9.57054252e-01 -7.41254055e-04 7.97876684e+00] [ 2.69385804e-03 -4.15017782e-05 9.99996371e-01 7.36953293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.014012739 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:67.79, Y:7.99, Z:0.07 [[ 9.56931701e-01 -2.90301586e-01 -2.59014513e-03 6.77853689e+01] [ 2.90300642e-01 9.56935206e-01 -7.41445695e-04 7.98538511e+00] [ 2.69384392e-03 -4.24079033e-05 9.99996371e-01 7.40537090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.044012739 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:67.81, Y:7.99, Z:0.07 [[ 9.56678339e-01 -2.91135446e-01 -2.59000564e-03 6.78118232e+01] [ 2.91134504e-01 9.56681844e-01 -7.41932628e-04 7.99085584e+00] [ 2.69381426e-03 -4.42491334e-05 9.99996371e-01 7.41038393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.074012739 meters Centerline goodness : 0.996701 Centerline is valid? [True, True] Translation: X:67.84, Y:7.99, Z:0.07 [[ 9.55768384e-01 -2.94108974e-01 -2.58991039e-03 6.78404511e+01] [ 2.94108042e-01 9.55771892e-01 -7.42264986e-04 7.99130531e+00] [ 2.69367035e-03 -5.22800662e-05 9.99996371e-01 7.23228036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.104012739 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:67.87, Y:8.00, Z:0.07 [[ 9.55084455e-01 -2.96322422e-01 -2.58977010e-03 6.78676380e+01] [ 2.96321497e-01 9.55087964e-01 -7.42754151e-04 7.99537261e+00] [ 2.69355296e-03 -5.80116081e-05 9.99996371e-01 7.28394268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.134012739 meters Centerline goodness : 0.987904 Centerline is valid? [True, True] Translation: X:67.90, Y:8.00, Z:0.09 [[ 9.53985967e-01 -2.99840072e-01 -2.58970893e-03 6.78958609e+01] [ 2.99839159e-01 9.53989479e-01 -7.42967344e-04 7.99797641e+00] [ 2.69332646e-03 -6.77157270e-05 9.99996371e-01 8.57921920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.164012739 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:67.92, Y:8.00, Z:0.07 [[ 9.53818313e-01 -3.00372967e-01 -2.58956335e-03 6.79226754e+01] [ 3.00372054e-01 9.53821826e-01 -7.43474428e-04 8.00202008e+00] [ 2.69330166e-03 -6.86929373e-05 9.99996371e-01 7.27347581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.194012739 meters Centerline goodness : 0.996416 Centerline is valid? [True, True] Translation: X:67.95, Y:8.01, Z:0.07 [[ 9.53840669e-01 -3.00301969e-01 -2.58950010e-03 6.79499913e+01] [ 3.00301056e-01 9.53844182e-01 -7.43694652e-04 8.00649812e+00] [ 2.69331257e-03 -6.82634094e-05 9.99996371e-01 7.16926202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.224012739 meters Centerline goodness : 0.996498 Centerline is valid? [True, True] Translation: X:67.98, Y:8.01, Z:0.07 [[ 9.54546274e-01 -2.98051515e-01 -2.58935864e-03 6.79770339e+01] [ 2.98050592e-01 9.54549784e-01 -7.44186847e-04 8.00981253e+00] [ 2.69347775e-03 -6.13990947e-05 9.99996371e-01 6.96882828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.254012739 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:68.00, Y:8.01, Z:0.07 [[ 9.56045057e-01 -2.93208364e-01 -2.58926255e-03 6.80046300e+01] [ 2.93207422e-01 9.56048562e-01 -7.44521017e-04 8.01418888e+00] [ 2.69376053e-03 -4.73953601e-05 9.99996371e-01 6.67328924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.284012739 meters Centerline goodness : 0.997228 Centerline is valid? [True, True] Translation: X:68.03, Y:8.02, Z:0.07 [[ 9.56827636e-01 -2.90644408e-01 -2.58912196e-03 6.80316400e+01] [ 2.90643456e-01 9.56831138e-01 -7.45009619e-04 8.01927316e+00] [ 2.69388539e-03 -3.96655619e-05 9.99996371e-01 6.58840578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.314012739 meters Centerline goodness : 0.996854 Centerline is valid? [True, True] Translation: X:68.06, Y:8.02, Z:0.07 [[ 9.57503366e-01 -2.88410472e-01 -2.58902623e-03 6.80583607e+01] [ 2.88409511e-01 9.57506866e-01 -7.45342133e-04 8.02437118e+00] [ 2.69397487e-03 -3.30321885e-05 9.99996371e-01 6.63377706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34401273900001 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:68.09, Y:8.03, Z:0.07 [[ 9.58540452e-01 -2.84944730e-01 -2.58896532e-03 6.80861934e+01] [ 2.84943755e-01 9.58543948e-01 -7.45553672e-04 8.02910566e+00] [ 2.69407863e-03 -2.30661460e-05 9.99996371e-01 6.86935490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.374012739 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:68.11, Y:8.03, Z:0.07 [[ 9.58947748e-01 -2.83571004e-01 -2.58882376e-03 6.81121571e+01] [ 2.83570023e-01 9.58951242e-01 -7.46044873e-04 8.03491111e+00] [ 2.69411246e-03 -1.86947628e-05 9.99996371e-01 6.99690904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.404012739 meters Centerline goodness : 0.996488 Centerline is valid? [True, True] Translation: X:68.14, Y:8.04, Z:0.07 [[ 9.59694117e-01 -2.81034695e-01 -2.58872720e-03 6.81408584e+01] [ 2.81033704e-01 9.59697609e-01 -7.46379793e-04 8.03793667e+00] [ 2.69415392e-03 -1.12232961e-05 9.99996371e-01 7.15028048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.434012739 meters Centerline goodness : 0.996236 Centerline is valid? [True, True] Translation: X:68.17, Y:8.04, Z:0.07 [[ 9.59995690e-01 -2.80002810e-01 -2.58858571e-03 6.81678277e+01] [ 2.80001814e-01 9.59999180e-01 -7.46870179e-04 8.04361029e+00] [ 2.69416591e-03 -7.81654142e-06 9.99996371e-01 7.15256181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.464012739 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:68.20, Y:8.05, Z:0.07 [[ 9.60391101e-01 -2.78643558e-01 -2.58848935e-03 6.81950858e+01] [ 2.78642557e-01 9.60394589e-01 -7.47203978e-04 8.05042581e+00] [ 2.69417475e-03 -3.65524036e-06 9.99996371e-01 7.22679322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.494012739 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:68.22, Y:8.06, Z:0.07 [[ 9.61704523e-01 -2.74076103e-01 -2.58835026e-03 6.82216840e+01] [ 2.74075083e-01 9.61708007e-01 -7.47685491e-04 8.05830595e+00] [ 2.69415990e-03 9.65020670e-06 9.99996371e-01 7.35030913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.524012739 meters Centerline goodness : 0.996557 Centerline is valid? [True, True] Translation: X:68.25, Y:8.07, Z:0.07 [[ 9.62450943e-01 -2.71443334e-01 -2.58821125e-03 6.82487214e+01] [ 2.71442304e-01 9.62454423e-01 -7.48166395e-04 8.06684836e+00] [ 2.69412014e-03 1.75234288e-05 9.99996371e-01 7.28595154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.554012739 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:68.27, Y:8.08, Z:0.07 [[ 9.64080683e-01 -2.65596948e-01 -2.58807120e-03 6.82743075e+01] [ 2.65595896e-01 9.64084156e-01 -7.48650552e-04 8.07716346e+00] [ 2.69395774e-03 3.43784480e-05 9.99996371e-01 7.05782885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.584012739 meters Centerline goodness : 0.996865 Centerline is valid? [True, True] Translation: X:68.30, Y:8.09, Z:0.07 [[ 9.64803811e-01 -2.62957999e-01 -2.58797593e-03 6.82994640e+01] [ 2.62956935e-01 9.64807281e-01 -7.48979728e-04 8.08749222e+00] [ 2.69384823e-03 4.20922759e-05 9.99996371e-01 7.00481448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.614012739 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:68.33, Y:8.10, Z:0.07 [[ 9.65302834e-01 -2.61120165e-01 -2.58788206e-03 6.83257606e+01] [ 2.61119094e-01 9.65306302e-01 -7.49303944e-04 8.09888799e+00] [ 2.69375723e-03 4.75598026e-05 9.99996371e-01 7.08308520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.644012739 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:68.35, Y:8.11, Z:0.07 [[ 9.65759991e-01 -2.59424252e-01 -2.58774581e-03 6.83506119e+01] [ 2.59423174e-01 9.65763457e-01 -7.49774178e-04 8.11239264e+00] [ 2.69365994e-03 5.27806722e-05 9.99996371e-01 7.44358398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.674012739 meters Centerline goodness : 0.995944 Centerline is valid? [True, True] Translation: X:68.38, Y:8.12, Z:0.08 [[ 9.65618248e-01 -2.59951347e-01 -2.58760626e-03 6.83757457e+01] [ 2.59950270e-01 9.65621714e-01 -7.50255475e-04 8.12378799e+00] [ 2.69367872e-03 5.18114326e-05 9.99996371e-01 7.69408113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.704012739 meters Centerline goodness : 0.996495 Centerline is valid? [True, True] Translation: X:68.40, Y:8.13, Z:0.08 [[ 9.65300486e-01 -2.61128849e-01 -2.58754584e-03 6.84012590e+01] [ 2.61127776e-01 9.65303953e-01 -7.50463811e-04 8.13441915e+00] [ 2.69373598e-03 4.87429930e-05 9.99996371e-01 7.64667609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73401273900001 meters Centerline goodness : 0.996080 Centerline is valid? [True, True] Translation: X:68.43, Y:8.15, Z:0.08 [[ 9.64884727e-01 -2.62660937e-01 -2.58748592e-03 6.84269981e+01] [ 2.62659868e-01 9.64888196e-01 -7.50670327e-04 8.14542417e+00] [ 2.69380640e-03 4.46816222e-05 9.99996371e-01 7.59523641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.764012739 meters Centerline goodness : 0.996339 Centerline is valid? [True, True] Translation: X:68.45, Y:8.16, Z:0.08 [[ 9.64014071e-01 -2.65838627e-01 -2.58734905e-03 6.84519461e+01] [ 2.65837568e-01 9.64017543e-01 -7.51141792e-04 8.15887352e+00] [ 2.69393238e-03 3.62966767e-05 9.99996371e-01 7.58383945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.794012739 meters Centerline goodness : 0.996081 Centerline is valid? [True, True] Translation: X:68.48, Y:8.17, Z:0.08 [[ 9.63704796e-01 -2.66957623e-01 -2.58721188e-03 6.84784610e+01] [ 2.66956567e-01 9.63708268e-01 -7.51613978e-04 8.16954628e+00] [ 2.69396656e-03 3.36607938e-05 9.99996371e-01 7.65852944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.824012739 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:68.50, Y:8.18, Z:0.08 [[ 9.63706650e-01 -2.66950931e-01 -2.58707371e-03 6.85031982e+01] [ 2.66949873e-01 9.63710122e-01 -7.52089266e-04 8.18268154e+00] [ 2.69396005e-03 3.41744285e-05 9.99996371e-01 7.54854761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.854012739 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:68.53, Y:8.19, Z:0.07 [[ 9.63722822e-01 -2.66892545e-01 -2.58701331e-03 6.85294719e+01] [ 2.66891487e-01 9.63726293e-01 -7.52296942e-04 8.19398529e+00] [ 2.69395520e-03 3.45539004e-05 9.99996371e-01 7.40125563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.884012739 meters Centerline goodness : 0.996706 Centerline is valid? [True, True] Translation: X:68.56, Y:8.21, Z:0.07 [[ 9.63751589e-01 -2.66788647e-01 -2.58687315e-03 6.85555207e+01] [ 2.66787587e-01 9.63755061e-01 -7.52778608e-04 8.20525880e+00] [ 2.69394488e-03 3.53459352e-05 9.99996371e-01 7.26103772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.914012739 meters Centerline goodness : 0.996766 Centerline is valid? [True, True] Translation: X:68.58, Y:8.22, Z:0.07 [[ 9.63905174e-01 -2.66233216e-01 -2.58673292e-03 6.85812100e+01] [ 2.66232153e-01 9.63908644e-01 -7.53260170e-04 8.21877829e+00] [ 2.69391710e-03 3.73999019e-05 9.99996371e-01 7.12645252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.944012739 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:68.61, Y:8.23, Z:0.07 [[ 9.63711929e-01 -2.66931878e-01 -2.58659128e-03 6.86068490e+01] [ 2.66930816e-01 9.63715399e-01 -7.53746221e-04 8.22942697e+00] [ 2.69393674e-03 3.59533028e-05 9.99996371e-01 7.09235934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.974012739 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:68.63, Y:8.24, Z:0.07 [[ 9.63044360e-01 -2.69330412e-01 -2.58645006e-03 6.86321324e+01] [ 2.69329357e-01 9.63047833e-01 -7.54230507e-04 8.24240999e+00] [ 2.69401234e-03 2.97505045e-05 9.99996371e-01 7.32116669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.004012739 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:68.66, Y:8.25, Z:0.07 [[ 9.62727693e-01 -2.70460164e-01 -2.58630660e-03 6.86576455e+01] [ 2.70459112e-01 9.62731167e-01 -7.54722121e-04 8.25266820e+00] [ 2.69404024e-03 2.71017006e-05 9.99996371e-01 7.49918143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.034012739 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:68.68, Y:8.26, Z:0.08 [[ 9.62399520e-01 -2.71625615e-01 -2.58626211e-03 6.86837936e+01] [ 2.71624567e-01 9.62402995e-01 -7.54874554e-04 8.26287028e+00] [ 2.69406966e-03 2.39985828e-05 9.99996371e-01 7.70336511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.064012739 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:68.71, Y:8.28, Z:0.08 [[ 9.62059294e-01 -2.72828199e-01 -2.58611899e-03 6.87091443e+01] [ 2.72827154e-01 9.62062770e-01 -7.55364554e-04 8.27524934e+00] [ 2.69409355e-03 2.11420076e-05 9.99996371e-01 7.81070490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09401273900001 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:68.73, Y:8.29, Z:0.08 [[ 9.62109741e-01 -2.72650249e-01 -2.58597614e-03 6.87343848e+01] [ 2.72649203e-01 9.62113216e-01 -7.55853281e-04 8.28563688e+00] [ 2.69408540e-03 2.21494732e-05 9.99996371e-01 7.80515351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.124012739 meters Centerline goodness : 0.995615 Centerline is valid? [True, True] Translation: X:68.76, Y:8.30, Z:0.08 [[ 9.62336235e-01 -2.71849744e-01 -2.58591423e-03 6.87583833e+01] [ 2.71848694e-01 9.62339709e-01 -7.56065007e-04 8.29861029e+00] [ 2.69406403e-03 2.46113453e-05 9.99996371e-01 7.66226030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.154012739 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:68.78, Y:8.31, Z:0.08 [[ 9.62402113e-01 -2.71616432e-01 -2.58585253e-03 6.87848154e+01] [ 2.71615380e-01 9.62405587e-01 -7.56275974e-04 8.30899151e+00] [ 2.69405590e-03 2.54842769e-05 9.99996371e-01 7.54740981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.184012739 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:68.81, Y:8.32, Z:0.07 [[ 9.62462433e-01 -2.71402613e-01 -2.58571157e-03 6.88096435e+01] [ 2.71401559e-01 9.62465906e-01 -7.56757617e-04 8.31901426e+00] [ 2.69404522e-03 2.65846260e-05 9.99996371e-01 7.38029511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.214012739 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:68.84, Y:8.33, Z:0.07 [[ 9.62139284e-01 -2.72545982e-01 -2.58565006e-03 6.88355948e+01] [ 2.72544932e-01 9.62142758e-01 -7.56967703e-04 8.33138535e+00] [ 2.69407299e-03 2.36025431e-05 9.99996371e-01 7.37101322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.244012739 meters Centerline goodness : 0.995697 Centerline is valid? [True, True] Translation: X:68.86, Y:8.34, Z:0.07 [[ 9.61886208e-01 -2.73437815e-01 -2.58550670e-03 6.88608794e+01] [ 2.73436767e-01 9.61889682e-01 -7.57457063e-04 8.33998116e+00] [ 2.69408962e-03 2.16149091e-05 9.99996371e-01 7.46503153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.274012739 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:68.89, Y:8.35, Z:0.08 [[ 9.61262676e-01 -2.75621811e-01 -2.58544477e-03 6.88862536e+01] [ 2.75620770e-01 9.61266153e-01 -7.57668386e-04 8.34954415e+00] [ 2.69413048e-03 1.57160615e-05 9.99996371e-01 7.66597587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.304012739 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:68.91, Y:8.36, Z:0.08 [[ 9.60918248e-01 -2.76820226e-01 -2.58538465e-03 6.89125400e+01] [ 2.76819188e-01 9.60921726e-01 -7.57873471e-04 8.35981241e+00] [ 2.69414699e-03 1.25703664e-05 9.99996371e-01 7.84985165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.334012739 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:68.94, Y:8.37, Z:0.08 [[ 9.60173617e-01 -2.79392094e-01 -2.58523679e-03 6.89362449e+01] [ 2.79391065e-01 9.60177097e-01 -7.58377524e-04 8.37422396e+00] [ 2.69416984e-03 5.88202937e-06 9.99996371e-01 7.88453204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.364012739 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:68.96, Y:8.38, Z:0.08 [[ 9.59703106e-01 -2.81004030e-01 -2.58517265e-03 6.89626043e+01] [ 2.81003006e-01 9.59706588e-01 -7.58596100e-04 8.38493664e+00] [ 2.69417579e-03 1.58574909e-06 9.99996371e-01 7.84820060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.394012739 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:68.99, Y:8.39, Z:0.08 [[ 9.59296793e-01 -2.82387997e-01 -2.58503027e-03 6.89874205e+01] [ 2.82386976e-01 9.59300276e-01 -7.59080987e-04 8.39446849e+00] [ 2.69417561e-03 -1.79492391e-06 9.99996371e-01 7.75290845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.424012739 meters Centerline goodness : 0.994932 Centerline is valid? [True, True] Translation: X:69.01, Y:8.41, Z:0.08 [[ 9.58453621e-01 -2.85236699e-01 -2.58496839e-03 6.90131214e+01] [ 2.85235689e-01 9.58457107e-01 -7.59291637e-04 8.40661851e+00] [ 2.69415917e-03 -9.57942061e-06 9.99996371e-01 7.69699948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.454012739 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:69.04, Y:8.42, Z:0.08 [[ 9.57914331e-01 -2.87042598e-01 -2.58482583e-03 6.90373575e+01] [ 2.87041592e-01 9.57917818e-01 -7.59776645e-04 8.41890483e+00] [ 2.69413898e-03 -1.41515856e-05 9.99996371e-01 7.58213631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48401273900001 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:69.06, Y:8.43, Z:0.07 [[ 9.57890331e-01 -2.87122680e-01 -2.58472860e-03 6.90633818e+01] [ 2.87121674e-01 9.57893818e-01 -7.60107267e-04 8.42781284e+00] [ 2.69413958e-03 -1.40322021e-05 9.99996371e-01 7.42252677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.514012739 meters Centerline goodness : 0.994295 Centerline is valid? [True, True] Translation: X:69.09, Y:8.44, Z:0.07 [[ 9.57928762e-01 -2.86994436e-01 -2.58458501e-03 6.90891980e+01] [ 2.86993428e-01 9.57932249e-01 -7.60595210e-04 8.43662060e+00] [ 2.69414392e-03 -1.31628842e-05 9.99996371e-01 7.32127865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.544012739 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:69.12, Y:8.45, Z:0.08 [[ 9.57749360e-01 -2.87592565e-01 -2.58452272e-03 6.91155006e+01] [ 2.87591559e-01 9.57752847e-01 -7.60806822e-04 8.44794564e+00] [ 2.69413638e-03 -1.46246711e-05 9.99996371e-01 7.65403666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.574012739 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:69.14, Y:8.46, Z:0.08 [[ 9.57571773e-01 -2.88183310e-01 -2.58437884e-03 6.91412189e+01] [ 2.88182305e-01 9.57575261e-01 -7.61295247e-04 8.45702753e+00] [ 2.69412982e-03 -1.57774101e-05 9.99996371e-01 7.86857775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.604012739 meters Centerline goodness : 0.992980 Centerline is valid? [True, True] Translation: X:69.17, Y:8.47, Z:0.08 [[ 9.57268796e-01 -2.89188129e-01 -2.58431652e-03 6.91680633e+01] [ 2.89187127e-01 9.57272284e-01 -7.61506725e-04 8.46603552e+00] [ 2.69411329e-03 -1.83844443e-05 9.99996371e-01 8.07061388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.634012739 meters Centerline goodness : 0.992947 Centerline is valid? [True, True] Translation: X:69.19, Y:8.47, Z:0.08 [[ 9.57173290e-01 -2.89504083e-01 -2.58417780e-03 6.91948400e+01] [ 2.89503081e-01 9.57176779e-01 -7.61977203e-04 8.47442859e+00] [ 2.69411049e-03 -1.87832074e-05 9.99996371e-01 8.07417455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.664012739 meters Centerline goodness : 0.992735 Centerline is valid? [True, True] Translation: X:69.22, Y:8.48, Z:0.08 [[ 9.57023741e-01 -2.89998073e-01 -2.58403966e-03 6.92214965e+01] [ 2.89997071e-01 9.57027229e-01 -7.62445362e-04 8.48384785e+00] [ 2.69410400e-03 -1.96856216e-05 9.99996371e-01 8.01386405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.694012739 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:69.25, Y:8.49, Z:0.08 [[ 9.56741268e-01 -2.90928632e-01 -2.58390137e-03 6.92477454e+01] [ 2.90927632e-01 9.56744757e-01 -7.62913753e-04 8.49340053e+00] [ 2.69408754e-03 -2.18172342e-05 9.99996371e-01 7.57395027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.724012739 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:69.27, Y:8.50, Z:0.08 [[ 9.56393393e-01 -2.92070200e-01 -2.58376212e-03 6.92744812e+01] [ 2.92069203e-01 9.56396883e-01 -7.63385049e-04 8.50115273e+00] [ 2.69406406e-03 -2.45409265e-05 9.99996371e-01 7.51227656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.754012739 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:69.30, Y:8.51, Z:0.08 [[ 9.55450224e-01 -2.95140975e-01 -2.58362228e-03 6.93009726e+01] [ 2.95139988e-01 9.55453716e-01 -7.63858044e-04 8.50904876e+00] [ 2.69397731e-03 -3.27019098e-05 9.99996371e-01 7.80993267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.784012739 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:69.33, Y:8.52, Z:0.08 [[ 9.55003369e-01 -2.96583699e-01 -2.58357900e-03 6.93274040e+01] [ 2.96582717e-01 9.55006863e-01 -7.64004388e-04 8.51817495e+00] [ 2.69392692e-03 -3.66181167e-05 9.99996371e-01 7.87816408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.814012739 meters Centerline goodness : 0.993189 Centerline is valid? [True, True] Translation: X:69.35, Y:8.53, Z:0.08 [[ 9.54248518e-01 -2.99003499e-01 -2.58344012e-03 6.93524552e+01] [ 2.99002525e-01 9.54252014e-01 -7.64473731e-04 8.52812198e+00] [ 2.69383325e-03 -4.29571917e-05 9.99996371e-01 7.60961355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84401273900001 meters Centerline goodness : 0.993914 Centerline is valid? [True, True] Translation: X:69.38, Y:8.54, Z:0.07 [[ 9.53828876e-01 -3.00339477e-01 -2.58334572e-03 6.93786070e+01] [ 3.00338507e-01 9.53832373e-01 -7.64792588e-04 8.53714902e+00] [ 2.69377618e-03 -4.63969409e-05 9.99996371e-01 7.31886404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.874012739 meters Centerline goodness : 0.993914 Centerline is valid? [True, True] Translation: X:69.41, Y:8.55, Z:0.07 [[ 9.53775078e-01 -3.00510279e-01 -2.58320883e-03 6.94058491e+01] [ 3.00509308e-01 9.53778575e-01 -7.65254674e-04 8.54541237e+00] [ 2.69377613e-03 -4.63974617e-05 9.99996371e-01 7.32653781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.904012739 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:69.43, Y:8.55, Z:0.07 [[ 9.53468633e-01 -3.01481166e-01 -2.58307171e-03 6.94319320e+01] [ 3.01480197e-01 9.53472131e-01 -7.65717236e-04 8.55410004e+00] [ 2.69373621e-03 -4.86576015e-05 9.99996371e-01 7.05860221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.934012739 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:69.46, Y:8.56, Z:0.07 [[ 9.52915036e-01 -3.03226421e-01 -2.58300759e-03 6.94580121e+01] [ 3.03225458e-01 9.52918535e-01 -7.65933471e-04 8.56442928e+00] [ 2.69364707e-03 -5.33641384e-05 9.99996371e-01 7.12546791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.964012739 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:69.48, Y:8.58, Z:0.08 [[ 9.52322572e-01 -3.05082034e-01 -2.58287197e-03 6.94833934e+01] [ 3.05081077e-01 9.52326073e-01 -7.66390525e-04 8.57641109e+00] [ 2.69354830e-03 -5.81343660e-05 9.99996371e-01 7.73268964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.994012739 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:69.51, Y:8.59, Z:0.08 [[ 9.51764579e-01 -3.06818375e-01 -2.58280912e-03 6.95094983e+01] [ 3.06817424e-01 9.51768081e-01 -7.66602292e-04 8.58534520e+00] [ 2.69344295e-03 -6.28259323e-05 9.99996371e-01 7.91102212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.024012739 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:69.54, Y:8.59, Z:0.08 [[ 9.50918215e-01 -3.09431542e-01 -2.58267531e-03 6.95364569e+01] [ 3.09430599e-01 9.50921719e-01 -7.67052840e-04 8.59347021e+00] [ 2.69327239e-03 -6.97542500e-05 9.99996371e-01 7.97698401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.054012739 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:69.56, Y:8.60, Z:0.08 [[ 9.49257030e-01 -3.14490734e-01 -2.58252937e-03 6.95632367e+01] [ 3.14489808e-01 9.49260539e-01 -7.67543855e-04 8.60062366e+00] [ 2.69287866e-03 -8.35827676e-05 9.99996371e-01 8.01746928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.084012739 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:69.59, Y:8.61, Z:0.08 [[ 9.48478570e-01 -3.16830766e-01 -2.58238263e-03 6.95891909e+01] [ 3.16829848e-01 9.48482081e-01 -7.68037245e-04 8.60777599e+00] [ 2.69268148e-03 -8.97090286e-05 9.99996371e-01 8.05819355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.114012739 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:69.62, Y:8.61, Z:0.08 [[ 9.47135835e-01 -3.20822446e-01 -2.58231908e-03 6.96168567e+01] [ 3.20821542e-01 9.47139350e-01 -7.68250850e-04 8.61276833e+00] [ 2.69228813e-03 -1.00825681e-04 9.99996371e-01 8.16214605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.144012739 meters Centerline goodness : 0.993442 Centerline is valid? [True, True] Translation: X:69.64, Y:8.62, Z:0.08 [[ 9.46742824e-01 -3.21980367e-01 -2.58217693e-03 6.96435318e+01] [ 3.21979466e-01 9.46746340e-01 -7.68728359e-04 8.61874202e+00] [ 2.69218199e-03 -1.03619890e-04 9.99996371e-01 8.10692206e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.174012739 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:69.67, Y:8.62, Z:0.08 [[ 9.46476104e-01 -3.22763563e-01 -2.58211518e-03 6.96707370e+01] [ 3.22762664e-01 9.46479620e-01 -7.68935711e-04 8.62493509e+00] [ 2.69210382e-03 -1.05631098e-04 9.99996371e-01 7.95642665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.204012739 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:69.70, Y:8.63, Z:0.08 [[ 9.45960505e-01 -3.24271579e-01 -2.58198166e-03 6.96994861e+01] [ 3.24270685e-01 9.45964022e-01 -7.69383799e-04 8.62749516e+00] [ 2.69195105e-03 -1.09454273e-04 9.99996371e-01 7.94481483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23401273900001 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:69.73, Y:8.63, Z:0.08 [[ 9.45732191e-01 -3.24936852e-01 -2.58183825e-03 6.97267349e+01] [ 3.24935959e-01 9.45735708e-01 -7.69864720e-04 8.63135804e+00] [ 2.69189405e-03 -1.10846240e-04 9.99996371e-01 8.05187909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.264012739 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:69.76, Y:8.63, Z:0.09 [[ 9.45539309e-01 -3.25497694e-01 -2.58177598e-03 6.97557235e+01] [ 3.25496802e-01 9.45542828e-01 -7.70073509e-04 8.63274355e+00] [ 2.69183691e-03 -1.12225051e-04 9.99996371e-01 8.51725851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.294012739 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:69.78, Y:8.64, Z:0.09 [[ 9.45591983e-01 -3.25344645e-01 -2.58163745e-03 6.97835291e+01] [ 3.25343751e-01 9.45595500e-01 -7.70537620e-04 8.63842113e+00] [ 2.69187505e-03 -1.11305418e-04 9.99996371e-01 8.60201601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.324012739 meters Centerline goodness : 0.993147 Centerline is valid? [True, True] Translation: X:69.81, Y:8.64, Z:0.08 [[ 9.46241785e-01 -3.23449874e-01 -2.58149728e-03 6.98115227e+01] [ 3.23448972e-01 9.46245300e-01 -7.71006943e-04 8.64021045e+00] [ 2.69211177e-03 -1.05423658e-04 9.99996371e-01 8.42369922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.354012739 meters Centerline goodness : 0.992716 Centerline is valid? [True, True] Translation: X:69.84, Y:8.65, Z:0.08 [[ 9.46834662e-01 -3.21710210e-01 -2.58143637e-03 6.98392124e+01] [ 3.21709301e-01 9.46838175e-01 -7.71210832e-04 8.64545636e+00] [ 2.69230890e-03 -1.00262944e-04 9.99996371e-01 8.24140300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.384012739 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:69.87, Y:8.65, Z:0.08 [[ 9.48520291e-01 -3.16705849e-01 -2.58129729e-03 6.98660620e+01] [ 3.16704920e-01 9.48523799e-01 -7.71676080e-04 8.65191966e+00] [ 2.69281624e-03 -8.55591307e-05 9.99996371e-01 7.84750956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.414012739 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:69.89, Y:8.66, Z:0.08 [[ 9.49213242e-01 -3.14622883e-01 -2.58125403e-03 6.98926054e+01] [ 3.14621946e-01 9.49216748e-01 -7.71820751e-04 8.65977193e+00] [ 2.69300202e-03 -7.94966875e-05 9.99996371e-01 7.80760340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.444012739 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:69.92, Y:8.67, Z:0.08 [[ 9.49705935e-01 -3.13132518e-01 -2.58112211e-03 6.99195494e+01] [ 3.13131575e-01 9.49709440e-01 -7.72261670e-04 8.66763813e+00] [ 2.69313627e-03 -7.48093385e-05 9.99996371e-01 7.76429377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.474012739 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:69.95, Y:8.67, Z:0.08 [[ 9.50094669e-01 -3.11951050e-01 -2.58098125e-03 6.99459831e+01] [ 3.11950101e-01 9.50098173e-01 -7.72732125e-04 8.67189991e+00] [ 2.69324017e-03 -7.09686905e-05 9.99996371e-01 7.86673055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.504012739 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:69.97, Y:8.68, Z:0.08 [[ 9.49769044e-01 -3.12941053e-01 -2.58092010e-03 6.99732936e+01] [ 3.12940107e-01 9.49772548e-01 -7.72936338e-04 8.67782038e+00] [ 2.69317057e-03 -7.35624049e-05 9.99996371e-01 7.91981323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.534012739 meters Centerline goodness : 0.988818 Centerline is valid? [True, True] Translation: X:70.00, Y:8.68, Z:0.09 [[ 9.49243771e-01 -3.14530766e-01 -2.58077705e-03 6.99996329e+01] [ 3.14529824e-01 9.49247276e-01 -7.73413665e-04 8.68421370e+00] [ 2.69305798e-03 -7.75732477e-05 9.99996371e-01 9.07330184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.564012739 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:70.03, Y:8.69, Z:0.08 [[ 9.47932028e-01 -3.18462258e-01 -2.58071466e-03 7.00281994e+01] [ 3.18461331e-01 9.47935537e-01 -7.73621804e-04 8.68523213e+00] [ 2.69272048e-03 -8.85169395e-05 9.99996371e-01 8.06306081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59401273900001 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:70.06, Y:8.69, Z:0.08 [[ 9.47106732e-01 -3.20908365e-01 -2.58067154e-03 7.00556390e+01] [ 3.20907446e-01 9.47110243e-01 -7.73765618e-04 8.69066784e+00] [ 2.69248831e-03 -9.53180873e-05 9.99996371e-01 8.22192813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.624012739 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:70.08, Y:8.69, Z:0.08 [[ 9.46066815e-01 -3.23961297e-01 -2.58052999e-03 7.00833916e+01] [ 3.23960388e-01 9.46070329e-01 -7.74237407e-04 8.69154357e+00] [ 2.69218581e-03 -1.03509178e-04 9.99996371e-01 8.10204546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.654012739 meters Centerline goodness : 0.993564 Centerline is valid? [True, True] Translation: X:70.11, Y:8.69, Z:0.08 [[ 9.45747278e-01 -3.24892948e-01 -2.58046857e-03 7.01100535e+01] [ 3.24892042e-01 9.45750792e-01 -7.74442047e-04 8.69491595e+00] [ 2.69209095e-03 -1.05947245e-04 9.99996371e-01 8.00051452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.684012739 meters Centerline goodness : 0.994036 Centerline is valid? [True, True] Translation: X:70.14, Y:8.69, Z:0.08 [[ 9.45648462e-01 -3.25180453e-01 -2.58040752e-03 7.01391559e+01] [ 3.25179548e-01 9.45651977e-01 -7.74645396e-04 8.69264018e+00] [ 2.69206702e-03 -1.06553525e-04 9.99996371e-01 8.06047451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.714012739 meters Centerline goodness : 0.993440 Centerline is valid? [True, True] Translation: X:70.17, Y:8.70, Z:0.08 [[ 9.45829956e-01 -3.24652176e-01 -2.58034890e-03 7.01679104e+01] [ 3.24651268e-01 9.45833470e-01 -7.74840616e-04 8.69584679e+00] [ 2.69213405e-03 -1.04846077e-04 9.99996371e-01 8.24367901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.744012739 meters Centerline goodness : 0.993072 Centerline is valid? [True, True] Translation: X:70.20, Y:8.69, Z:0.08 [[ 9.47246862e-01 -3.20494501e-01 -2.58020661e-03 7.01969387e+01] [ 3.20493577e-01 9.47250371e-01 -7.75314151e-04 8.69393912e+00] [ 2.69258559e-03 -9.25257499e-05 9.99996371e-01 8.32455676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.774012739 meters Centerline goodness : 0.987592 Centerline is valid? [True, True] Translation: X:70.22, Y:8.70, Z:0.10 [[ 9.48092677e-01 -3.17983678e-01 -2.58014450e-03 7.02241327e+01] [ 3.17982743e-01 9.48096184e-01 -7.75520788e-04 8.69910494e+00] [ 2.69282811e-03 -8.51758471e-05 9.99996371e-01 9.62799243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.804012739 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:70.25, Y:8.70, Z:0.08 [[ 9.48930565e-01 -3.15474446e-01 -2.57999572e-03 7.02508940e+01] [ 3.15473501e-01 9.48934069e-01 -7.76015446e-04 8.70252428e+00] [ 2.69305888e-03 -7.75355077e-05 9.99996371e-01 8.44095785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.834012739 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:70.28, Y:8.71, Z:0.08 [[ 9.50172690e-01 -3.11713335e-01 -2.57993094e-03 7.02782010e+01] [ 3.11712375e-01 9.50176190e-01 -7.76230736e-04 8.70509044e+00] [ 2.69335043e-03 -6.66431557e-05 9.99996371e-01 8.31852533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.864012739 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:70.31, Y:8.71, Z:0.08 [[ 9.51234646e-01 -3.08457441e-01 -2.57986708e-03 7.03063887e+01] [ 3.08456469e-01 9.51238143e-01 -7.76442929e-04 8.70908303e+00] [ 2.69356757e-03 -5.71972756e-05 9.99996371e-01 8.27715327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.894012739 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:70.33, Y:8.71, Z:0.08 [[ 9.51504963e-01 -3.07622579e-01 -2.57972234e-03 7.03337685e+01] [ 3.07621603e-01 9.51508458e-01 -7.76923535e-04 8.71436588e+00] [ 2.69362685e-03 -5.43317216e-05 9.99996371e-01 8.19770973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.924012739 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:70.36, Y:8.72, Z:0.08 [[ 9.51624092e-01 -3.07253857e-01 -2.57956957e-03 7.03602101e+01] [ 3.07252878e-01 9.51627587e-01 -7.77430431e-04 8.71952496e+00] [ 2.69365807e-03 -5.27586461e-05 9.99996371e-01 8.09913577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.954012739 meters Centerline goodness : 0.993220 Centerline is valid? [True, True] Translation: X:70.39, Y:8.72, Z:0.08 [[ 9.51788467e-01 -3.06744291e-01 -2.57950317e-03 7.03878416e+01] [ 3.06743309e-01 9.51791961e-01 -7.77650686e-04 8.72455685e+00] [ 2.69369029e-03 -5.10863838e-05 9.99996371e-01 8.22942297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98401273900001 meters Centerline goodness : 0.993177 Centerline is valid? [True, True] Translation: X:70.42, Y:8.73, Z:0.08 [[ 9.51812408e-01 -3.06669997e-01 -2.57936222e-03 7.04151562e+01] [ 3.06669014e-01 9.51815901e-01 -7.78117924e-04 8.73227724e+00] [ 2.69370340e-03 -5.03881743e-05 9.99996371e-01 8.29104336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.014012739 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:70.44, Y:8.74, Z:0.08 [[ 9.52081943e-01 -3.05832178e-01 -2.57922084e-03 7.04429894e+01] [ 3.05831190e-01 9.52085436e-01 -7.78586277e-04 8.73745924e+00] [ 2.69375533e-03 -4.75282425e-05 9.99996371e-01 8.42191993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.044012739 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:70.47, Y:8.74, Z:0.09 [[ 9.52219158e-01 -3.05404688e-01 -2.57907677e-03 7.04701899e+01] [ 3.05403698e-01 9.52222650e-01 -7.79063213e-04 8.74390662e+00] [ 2.69378487e-03 -4.58206659e-05 9.99996371e-01 8.51499603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.074012739 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:70.50, Y:8.75, Z:0.08 [[ 9.52390609e-01 -3.04869608e-01 -2.57893290e-03 7.04978026e+01] [ 3.04868614e-01 9.52394099e-01 -7.79539170e-04 8.74901206e+00] [ 2.69381828e-03 -4.38099158e-05 9.99996371e-01 8.40072664e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.104012739 meters Centerline goodness : 0.993356 Centerline is valid? [True, True] Translation: X:70.52, Y:8.76, Z:0.08 [[ 9.52554389e-01 -3.04357496e-01 -2.57878414e-03 7.05244891e+01] [ 3.04356500e-01 9.52557879e-01 -7.80030976e-04 8.75571201e+00] [ 2.69384942e-03 -4.18477843e-05 9.99996371e-01 8.28167068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.134012739 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:70.55, Y:8.76, Z:0.08 [[ 9.52933366e-01 -3.03168847e-01 -2.57868293e-03 7.05506398e+01] [ 3.03167845e-01 9.52936855e-01 -7.80365415e-04 8.76160468e+00] [ 2.69390448e-03 -3.81375046e-05 9.99996371e-01 8.21309141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.164012739 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:70.58, Y:8.76, Z:0.08 [[ 9.53783902e-01 -3.00482312e-01 -2.57858193e-03 7.05781602e+01] [ 3.00481300e-01 9.53787387e-01 -7.80699023e-04 8.76451424e+00] [ 2.69400516e-03 -3.01974886e-05 9.99996371e-01 8.26879073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.194012739 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:70.61, Y:8.77, Z:0.09 [[ 9.54695514e-01 -2.97573232e-01 -2.57843652e-03 7.06058152e+01] [ 2.97572207e-01 9.54698995e-01 -7.81178962e-04 8.76861567e+00] [ 2.69408870e-03 -2.14829957e-05 9.99996371e-01 8.54174533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.224012739 meters Centerline goodness : 0.992863 Centerline is valid? [True, True] Translation: X:70.63, Y:8.78, Z:0.09 [[ 9.55200930e-01 -2.95946845e-01 -2.57828994e-03 7.06325130e+01] [ 2.95945813e-01 9.55204410e-01 -7.81662470e-04 8.77527665e+00] [ 2.69412446e-03 -1.63893939e-05 9.99996371e-01 8.59969722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.254012739 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:70.66, Y:8.78, Z:0.09 [[ 9.55542249e-01 -2.94842947e-01 -2.57822620e-03 7.06584874e+01] [ 2.94841910e-01 9.55545727e-01 -7.81872641e-04 8.78184115e+00] [ 2.69414266e-03 -1.30567959e-05 9.99996371e-01 8.65746399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.284012739 meters Centerline goodness : 0.993320 Centerline is valid? [True, True] Translation: X:70.69, Y:8.79, Z:0.09 [[ 9.56475235e-01 -2.91802121e-01 -2.57816338e-03 7.06860830e+01] [ 2.91801073e-01 9.56478710e-01 -7.82079732e-04 8.78636609e+00] [ 2.69417091e-03 -4.27094470e-06 9.99996371e-01 8.83478074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.314012739 meters Centerline goodness : 0.992897 Centerline is valid? [True, True] Translation: X:70.71, Y:8.79, Z:0.09 [[ 9.56914357e-01 -2.90358866e-01 -2.57713132e-03 7.07139823e+01] [ 2.90357803e-01 9.56917828e-01 -7.85480444e-04 8.79400956e+00] [ 2.69417412e-03 3.34732547e-06 9.99996371e-01 8.83796205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34401273900001 meters Centerline goodness : 0.993031 Centerline is valid? [True, True] Translation: X:70.74, Y:8.80, Z:0.09 [[ 9.58273533e-01 -2.85841198e-01 -2.57794558e-03 7.07403416e+01] [ 2.85840126e-01 9.58277000e-01 -7.82798901e-04 8.80070661e+00] [ 2.69414213e-03 1.32551792e-05 9.99996371e-01 8.71956079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.374012739 meters Centerline goodness : 0.992981 Centerline is valid? [True, True] Translation: X:70.77, Y:8.81, Z:0.09 [[ 9.58863865e-01 -2.83854615e-01 -2.57788089e-03 7.07669289e+01] [ 2.83853536e-01 9.58867330e-01 -7.83011887e-04 8.80825069e+00] [ 2.69410730e-03 1.90611993e-05 9.99996371e-01 8.72633248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.404012739 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:70.79, Y:8.82, Z:0.09 [[ 9.59597248e-01 -2.81365379e-01 -2.57772709e-03 7.07928325e+01] [ 2.81364289e-01 9.59600710e-01 -7.83517859e-04 8.81531230e+00] [ 2.69404355e-03 2.65812310e-05 9.99996371e-01 8.77380375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.434012739 meters Centerline goodness : 0.992641 Centerline is valid? [True, True] Translation: X:70.82, Y:8.82, Z:0.09 [[ 9.60757714e-01 -2.77376945e-01 -2.57766021e-03 7.08192069e+01] [ 2.77375841e-01 9.60761172e-01 -7.83737830e-04 8.82341905e+00] [ 2.69390665e-03 3.80014988e-05 9.99996371e-01 8.95179936e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.464012739 meters Centerline goodness : 0.991991 Centerline is valid? [True, True] Translation: X:70.84, Y:8.83, Z:0.09 [[ 9.61330164e-01 -2.75386405e-01 -2.57751205e-03 7.08449122e+01] [ 2.75385292e-01 9.61333618e-01 -7.84224797e-04 8.83181363e+00] [ 2.69381383e-03 4.40900437e-05 9.99996371e-01 9.04325291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.494012739 meters Centerline goodness : 0.991750 Centerline is valid? [True, True] Translation: X:70.87, Y:8.84, Z:0.09 [[ 9.62403541e-01 -2.71611452e-01 -2.57744774e-03 7.08710630e+01] [ 2.71610324e-01 9.62406991e-01 -7.84436090e-04 8.84132367e+00] [ 2.69361555e-03 5.48826544e-05 9.99996371e-01 8.79418666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.524012739 meters Centerline goodness : 0.992570 Centerline is valid? [True, True] Translation: X:70.90, Y:8.85, Z:0.09 [[ 9.62945576e-01 -2.69683472e-01 -2.57729713e-03 7.08964062e+01] [ 2.69682337e-01 9.62949023e-01 -7.84930600e-04 8.84983307e+00] [ 2.69348857e-03 6.07939349e-05 9.99996371e-01 8.64059703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.554012739 meters Centerline goodness : 0.992726 Centerline is valid? [True, True] Translation: X:70.92, Y:8.86, Z:0.09 [[ 9.64032701e-01 -2.65771161e-01 -2.57723150e-03 7.09214907e+01] [ 2.65770011e-01 9.64036143e-01 -7.85146043e-04 8.86068025e+00] [ 2.69321349e-03 7.19556150e-05 9.99996371e-01 8.57189013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.584012739 meters Centerline goodness : 0.992858 Centerline is valid? [True, True] Translation: X:70.95, Y:8.87, Z:0.09 [[ 9.64500874e-01 -2.64067079e-01 -2.57716632e-03 7.09472883e+01] [ 2.64065923e-01 9.64504314e-01 -7.85359919e-04 8.87045566e+00] [ 2.69307574e-03 7.69385257e-05 9.99996371e-01 8.56264472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.614012739 meters Centerline goodness : 0.993015 Centerline is valid? [True, True] Translation: X:70.97, Y:8.88, Z:0.08 [[ 9.64928522e-01 -2.62500108e-01 -2.57701871e-03 7.09723042e+01] [ 2.62498944e-01 9.64931960e-01 -7.85843976e-04 8.88064446e+00] [ 2.69293185e-03 8.18185744e-05 9.99996371e-01 8.49453081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.644012739 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:71.00, Y:8.89, Z:0.08 [[ 9.65488080e-01 -2.60434497e-01 -2.57695458e-03 7.09970881e+01] [ 2.60433325e-01 9.65491515e-01 -7.86054217e-04 8.89279078e+00] [ 2.69274342e-03 8.78011250e-05 9.99996371e-01 8.39806247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.674012739 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:71.02, Y:8.90, Z:0.08 [[ 9.65558719e-01 -2.60172481e-01 -2.57689223e-03 7.10231304e+01] [ 2.60171309e-01 9.65562153e-01 -7.86258573e-04 8.90391870e+00] [ 2.69271246e-03 8.87453971e-05 9.99996371e-01 8.42380340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.704012739 meters Centerline goodness : 0.993125 Centerline is valid? [True, True] Translation: X:71.05, Y:8.92, Z:0.08 [[ 9.65906721e-01 -2.58877512e-01 -2.57674492e-03 7.10469984e+01] [ 2.58876333e-01 9.65910154e-01 -7.86741042e-04 8.91755507e+00] [ 2.69257365e-03 9.28601848e-05 9.99996371e-01 8.39155999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73401273900001 meters Centerline goodness : 0.993168 Centerline is valid? [True, True] Translation: X:71.07, Y:8.93, Z:0.08 [[ 9.66020800e-01 -2.58451494e-01 -2.57668089e-03 7.10726424e+01] [ 2.58450313e-01 9.66024232e-01 -7.86950701e-04 8.92919110e+00] [ 2.69252476e-03 9.42667621e-05 9.99996371e-01 8.44197344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.764012739 meters Centerline goodness : 0.993168 Centerline is valid? [True, True] Translation: X:71.10, Y:8.94, Z:0.08 [[ 9.65971619e-01 -2.58635251e-01 -2.57653153e-03 7.10998362e+01] [ 2.58634069e-01 9.65975050e-01 -7.87439407e-04 8.93768867e+00] [ 2.69252476e-03 9.42652836e-05 9.99996371e-01 8.44964734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.794012739 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:71.12, Y:8.95, Z:0.09 [[ 9.66022839e-01 -2.58443874e-01 -2.57638165e-03 7.11248332e+01] [ 2.58442691e-01 9.66026270e-01 -7.87929498e-04 8.94892285e+00] [ 2.69248791e-03 9.53108851e-05 9.99996371e-01 8.56283214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.824012739 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:71.15, Y:8.97, Z:0.09 [[ 9.65803801e-01 -2.59261219e-01 -2.57631649e-03 7.11476929e+01] [ 2.59260038e-01 9.65807233e-01 -7.88142472e-04 8.96512937e+00] [ 2.69255988e-03 9.32550838e-05 9.99996371e-01 8.73441038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.854012739 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:71.17, Y:8.98, Z:0.09 [[ 9.65357178e-01 -2.60919300e-01 -2.57621685e-03 7.11717214e+01] [ 2.60918124e-01 9.65360612e-01 -7.88468060e-04 8.98107457e+00] [ 2.69270481e-03 8.89716363e-05 9.99996371e-01 8.52660225e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.884012739 meters Centerline goodness : 0.993010 Centerline is valid? [True, True] Translation: X:71.20, Y:8.99, Z:0.08 [[ 9.65075620e-01 -2.61958796e-01 -2.57606991e-03 7.11963509e+01] [ 2.61957622e-01 9.65079055e-01 -7.88947829e-04 8.99227970e+00] [ 2.69278294e-03 8.65731663e-05 9.99996371e-01 8.47186734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.914012739 meters Centerline goodness : 0.992967 Centerline is valid? [True, True] Translation: X:71.22, Y:9.00, Z:0.08 [[ 9.64585260e-01 -2.63758680e-01 -2.57600574e-03 7.12223680e+01] [ 2.63757512e-01 9.64588696e-01 -7.89157318e-04 9.00411379e+00] [ 2.69293311e-03 8.17686530e-05 9.99996371e-01 8.49832535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.944012739 meters Centerline goodness : 0.992716 Centerline is valid? [True, True] Translation: X:71.25, Y:9.02, Z:0.09 [[ 9.63249452e-01 -2.68596088e-01 -2.57585886e-03 7.12468740e+01] [ 2.68594936e-01 9.63252894e-01 -7.89636430e-04 9.01933753e+00] [ 2.69329676e-03 6.87542125e-05 9.99996371e-01 8.65130599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.974012739 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:71.27, Y:9.03, Z:0.09 [[ 9.62478462e-01 -2.71345859e-01 -2.57571229e-03 7.12717855e+01] [ 2.71344715e-01 9.62481907e-01 -7.90114241e-04 9.03081267e+00] [ 2.69347071e-03 6.15620211e-05 9.99996371e-01 8.78309090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.004012739 meters Centerline goodness : 0.991582 Centerline is valid? [True, True] Translation: X:71.30, Y:9.04, Z:0.09 [[ 9.61032691e-01 -2.76422745e-01 -2.57556579e-03 7.12975492e+01] [ 2.76421618e-01 9.61036141e-01 -7.90591525e-04 9.04319123e+00] [ 2.69374928e-03 4.78422381e-05 9.99996371e-01 8.83607078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.034012739 meters Centerline goodness : 0.991977 Centerline is valid? [True, True] Translation: X:71.32, Y:9.05, Z:0.09 [[ 9.60213264e-01 -2.79255896e-01 -2.57541663e-03 7.13236290e+01] [ 2.79254778e-01 9.60216717e-01 -7.91077103e-04 9.05272269e+00] [ 2.69387105e-03 4.04053257e-05 9.99996371e-01 8.83886594e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.064012739 meters Centerline goodness : 0.992309 Centerline is valid? [True, True] Translation: X:71.35, Y:9.06, Z:0.09 [[ 9.58865759e-01 -2.83848243e-01 -2.57526498e-03 7.13491088e+01] [ 2.83847141e-01 9.58869216e-01 -7.91570484e-04 9.06174299e+00] [ 2.69402820e-03 2.80282316e-05 9.99996371e-01 8.74555011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09401273900001 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:71.38, Y:9.07, Z:0.09 [[ 9.58315083e-01 -2.85701891e-01 -2.57516143e-03 7.13751711e+01] [ 2.85700794e-01 9.58318543e-01 -7.91907225e-04 9.07054906e+00] [ 2.69407434e-03 2.31709735e-05 9.99996371e-01 8.75533466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.124012739 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:71.40, Y:9.08, Z:0.09 [[ 9.57608958e-01 -2.88059806e-01 -2.57500992e-03 7.14009481e+01] [ 2.88058717e-01 9.57612420e-01 -7.92399574e-04 9.08044731e+00] [ 2.69411995e-03 1.70548771e-05 9.99996371e-01 8.87057151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.154012739 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:71.43, Y:9.09, Z:0.09 [[ 9.57401989e-01 -2.88746952e-01 -2.57485862e-03 7.14271618e+01] [ 2.88745864e-01 9.57405451e-01 -7.92890914e-04 9.08895110e+00] [ 2.69412851e-03 1.56355620e-05 9.99996371e-01 8.80009608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.184012739 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:71.45, Y:9.10, Z:0.09 [[ 9.57341713e-01 -2.88946736e-01 -2.57470555e-03 7.14526717e+01] [ 2.88945647e-01 9.57345175e-01 -7.93387657e-04 9.09661352e+00] [ 2.69412870e-03 1.55931378e-05 9.99996371e-01 8.71145835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.214012739 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:71.48, Y:9.10, Z:0.09 [[ 9.57454891e-01 -2.88571487e-01 -2.57463866e-03 7.14797160e+01] [ 2.88570396e-01 9.57458352e-01 -7.93604665e-04 9.10486877e+00] [ 2.69412096e-03 1.68761706e-05 9.99996371e-01 8.72123907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.244012739 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:71.50, Y:9.11, Z:0.09 [[ 9.57771814e-01 -2.87517867e-01 -2.57448169e-03 7.15048300e+01] [ 2.87516771e-01 9.57775274e-01 -7.94113554e-04 9.11352601e+00] [ 2.69409674e-03 2.03729185e-05 9.99996371e-01 8.68973424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.274012739 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:71.53, Y:9.12, Z:0.09 [[ 9.58478386e-01 -2.85153567e-01 -2.57441347e-03 7.15311704e+01] [ 2.85152462e-01 9.58481843e-01 -7.94334626e-04 9.12367361e+00] [ 2.69403592e-03 2.72522300e-05 9.99996371e-01 8.52090432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.304012739 meters Centerline goodness : 0.992756 Centerline is valid? [True, True] Translation: X:71.56, Y:9.13, Z:0.09 [[ 9.58632739e-01 -2.84634230e-01 -2.57426301e-03 7.15580359e+01] [ 2.84633122e-01 9.58636195e-01 -7.94821938e-04 9.13306587e+00] [ 2.69401523e-03 2.92218126e-05 9.99996371e-01 8.54140823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.334012739 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:71.58, Y:9.14, Z:0.09 [[ 9.58727350e-01 -2.84315392e-01 -2.57411246e-03 7.15835589e+01] [ 2.84314282e-01 9.58730805e-01 -7.95309222e-04 9.14369748e+00] [ 2.69399956e-03 3.06277672e-05 9.99996371e-01 8.69309848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.364012739 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:71.61, Y:9.15, Z:0.09 [[ 9.58551926e-01 -2.84906265e-01 -2.57396119e-03 7.16097218e+01] [ 2.84905155e-01 9.58555382e-01 -7.95798489e-04 9.15263698e+00] [ 2.69401233e-03 2.94793633e-05 9.99996371e-01 8.68431004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.394012739 meters Centerline goodness : 0.992675 Centerline is valid? [True, True] Translation: X:71.64, Y:9.16, Z:0.09 [[ 9.58133273e-01 -2.86311031e-01 -2.57381004e-03 7.16371115e+01] [ 2.86309924e-01 9.58136730e-01 -7.96287041e-04 9.15983376e+00] [ 2.69404770e-03 2.60417493e-05 9.99996371e-01 8.75210825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.424012739 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:71.66, Y:9.17, Z:0.09 [[ 9.58070510e-01 -2.86520983e-01 -2.57365814e-03 7.16637139e+01] [ 2.86519877e-01 9.58073967e-01 -7.96777705e-04 9.16823729e+00] [ 2.69404839e-03 2.59650096e-05 9.99996371e-01 8.83876685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.454012739 meters Centerline goodness : 0.992214 Centerline is valid? [True, True] Translation: X:71.69, Y:9.18, Z:0.09 [[ 9.58243068e-01 -2.85943349e-01 -2.57350719e-03 7.16886505e+01] [ 2.85942239e-01 9.58246524e-01 -7.97264955e-04 9.17737340e+00] [ 2.69402693e-03 2.80992083e-05 9.99996371e-01 8.89279035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48401273900001 meters Centerline goodness : 0.992534 Centerline is valid? [True, True] Translation: X:71.71, Y:9.19, Z:0.09 [[ 9.59234353e-01 -2.82600130e-01 -2.57344122e-03 7.17143008e+01] [ 2.82599008e-01 9.59237804e-01 -7.97477825e-04 9.18787686e+00] [ 2.69390945e-03 3.77161890e-05 9.99996371e-01 8.83018826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.514012739 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:71.74, Y:9.20, Z:0.09 [[ 9.59635666e-01 -2.81234364e-01 -2.57329053e-03 7.17397740e+01] [ 2.81233235e-01 9.59639115e-01 -7.97963796e-04 9.19773054e+00] [ 2.69384508e-03 4.20596987e-05 9.99996371e-01 8.69651844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.544012739 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:71.76, Y:9.21, Z:0.09 [[ 9.60500297e-01 -2.78267062e-01 -2.57322505e-03 7.17647620e+01] [ 2.78265922e-01 9.60503743e-01 -7.98174875e-04 9.21241966e+00] [ 2.69369807e-03 5.06063619e-05 9.99996371e-01 8.53142803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.574012739 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:71.79, Y:9.22, Z:0.09 [[ 9.60876491e-01 -2.76965249e-01 -2.57307568e-03 7.17903275e+01] [ 2.76964103e-01 9.60879934e-01 -7.98656112e-04 9.22377281e+00] [ 2.69361678e-03 5.47602839e-05 9.99996371e-01 8.59355138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.604012739 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:71.82, Y:9.23, Z:0.09 [[ 9.61161724e-01 -2.75973769e-01 -2.57292645e-03 7.18157673e+01] [ 2.75972618e-01 9.61165166e-01 -7.99136577e-04 9.23421716e+00] [ 2.69354801e-03 5.80422399e-05 9.99996371e-01 8.73295982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.634012739 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:71.84, Y:9.25, Z:0.09 [[ 9.60965792e-01 -2.76655248e-01 -2.57286151e-03 7.18405685e+01] [ 2.76654099e-01 9.60969235e-01 -7.99345624e-04 9.24759713e+00] [ 2.69358391e-03 5.63511194e-05 9.99996371e-01 9.15681941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.664012739 meters Centerline goodness : 0.992075 Centerline is valid? [True, True] Translation: X:71.86, Y:9.26, Z:0.09 [[ 9.60624960e-01 -2.77836405e-01 -2.57270985e-03 7.18648665e+01] [ 2.77835259e-01 9.60628403e-01 -7.99833443e-04 9.25901111e+00] [ 2.69364100e-03 5.35504632e-05 9.99996371e-01 9.22888403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.694012739 meters Centerline goodness : 0.992321 Centerline is valid? [True, True] Translation: X:71.89, Y:9.27, Z:0.09 [[ 9.59991238e-01 -2.80018221e-01 -2.57255922e-03 7.18891740e+01] [ 2.80017082e-01 9.59994684e-01 -8.00317610e-04 9.27373795e+00] [ 2.69374669e-03 4.79373668e-05 9.99996371e-01 8.92651726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.724012739 meters Centerline goodness : 0.992530 Centerline is valid? [True, True] Translation: X:71.91, Y:9.29, Z:0.09 [[ 9.59805015e-01 -2.80655868e-01 -2.57240772e-03 7.19137502e+01] [ 2.80654730e-01 9.59808461e-01 -8.00804293e-04 9.28523354e+00] [ 2.69376912e-03 4.66575837e-05 9.99996371e-01 8.74786254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.754012739 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:71.94, Y:9.30, Z:0.09 [[ 9.59755544e-01 -2.80824998e-01 -2.57234196e-03 7.19387765e+01] [ 2.80823860e-01 9.59758990e-01 -8.01015474e-04 9.29755306e+00] [ 2.69377349e-03 4.64040450e-05 9.99996371e-01 8.77816708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.784012739 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:71.96, Y:9.31, Z:0.09 [[ 9.60150140e-01 -2.79472883e-01 -2.57218879e-03 7.19621171e+01] [ 2.79471738e-01 9.60153584e-01 -8.01506999e-04 9.31426602e+00] [ 2.69369576e-03 5.07129837e-05 9.99996371e-01 9.16550061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.814012739 meters Centerline goodness : 0.992217 Centerline is valid? [True, True] Translation: X:71.99, Y:9.33, Z:0.09 [[ 9.60198053e-01 -2.79308222e-01 -2.57212218e-03 7.19876755e+01] [ 2.79307076e-01 9.60201497e-01 -8.01720725e-04 9.32639586e+00] [ 2.69368275e-03 5.13987540e-05 9.99996371e-01 9.40048004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84401273900001 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:72.01, Y:9.34, Z:0.10 [[ 9.60324321e-01 -2.78873775e-01 -2.57197127e-03 7.20120442e+01] [ 2.78872627e-01 9.60327764e-01 -8.02204542e-04 9.34070161e+00] [ 2.69364923e-03 5.31241478e-05 9.99996371e-01 9.65499611e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.874012739 meters Centerline goodness : 0.992273 Centerline is valid? [True, True] Translation: X:72.04, Y:9.35, Z:0.10 [[ 9.60284189e-01 -2.79011940e-01 -2.57181943e-03 7.20376755e+01] [ 2.79010791e-01 9.60287631e-01 -8.02691032e-04 9.35216846e+00] [ 2.69364677e-03 5.32461328e-05 9.99996371e-01 9.69624118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.904012739 meters Centerline goodness : 0.991406 Centerline is valid? [True, True] Translation: X:72.06, Y:9.36, Z:0.10 [[ 9.60080018e-01 -2.79713684e-01 -2.57166136e-03 7.20621356e+01] [ 2.79712536e-01 9.60083461e-01 -8.03197150e-04 9.36307712e+00] [ 2.69367477e-03 5.18076149e-05 9.99996371e-01 9.85053156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.934012739 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:72.09, Y:9.38, Z:0.10 [[ 9.59397468e-01 -2.82045894e-01 -2.57159250e-03 7.20868254e+01] [ 2.82044753e-01 9.59400913e-01 -8.03417567e-04 9.37825464e+00] [ 2.69378882e-03 4.54926078e-05 9.99996371e-01 9.91183913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.964012739 meters Centerline goodness : 0.991725 Centerline is valid? [True, True] Translation: X:72.11, Y:9.39, Z:0.10 [[ 9.59163862e-01 -2.82839307e-01 -2.57144054e-03 7.21110026e+01] [ 2.82838168e-01 9.59167308e-01 -8.03903627e-04 9.38987248e+00] [ 2.69381725e-03 4.37737768e-05 9.99996371e-01 9.73905209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.994012739 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:72.14, Y:9.40, Z:0.09 [[ 9.58733656e-01 -2.84294153e-01 -2.57137441e-03 7.21355829e+01] [ 2.84293018e-01 9.58737103e-01 -8.04115108e-04 9.40416060e+00] [ 2.69387727e-03 3.99084253e-05 9.99996371e-01 9.24180879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.024012739 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:72.16, Y:9.41, Z:0.09 [[ 9.58225734e-01 -2.86001455e-01 -2.57122166e-03 7.21611992e+01] [ 2.86000325e-01 9.58229183e-01 -8.04603249e-04 9.41499893e+00] [ 2.69393733e-03 3.56213090e-05 9.99996371e-01 9.01863207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.054012739 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:72.19, Y:9.43, Z:0.09 [[ 9.57633450e-01 -2.87978412e-01 -2.57106983e-03 7.21875983e+01] [ 2.87977288e-01 9.57636901e-01 -8.05088123e-04 9.42562444e+00] [ 2.69399934e-03 3.05696000e-05 9.99996371e-01 8.94630846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.084012739 meters Centerline goodness : 0.991863 Centerline is valid? [True, True] Translation: X:72.21, Y:9.44, Z:0.09 [[ 9.56605253e-01 -2.91375669e-01 -2.57091415e-03 7.22117786e+01] [ 2.91374556e-01 9.56608707e-01 -8.05584928e-04 9.43836768e+00] [ 2.69408671e-03 2.15278026e-05 9.99996371e-01 9.35211295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.114012739 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:72.24, Y:9.45, Z:0.10 [[ 9.56300487e-01 -2.92374366e-01 -2.57080833e-03 7.22376387e+01] [ 2.92373256e-01 9.56303942e-01 -8.05922494e-04 9.44977399e+00] [ 2.69410522e-03 1.90684716e-05 9.99996371e-01 9.56828497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.144012739 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:72.26, Y:9.46, Z:0.10 [[ 9.56163224e-01 -2.92822950e-01 -2.57065468e-03 7.22618482e+01] [ 2.92821840e-01 9.56166680e-01 -8.06412303e-04 9.46372059e+00] [ 2.69411038e-03 1.83179542e-05 9.99996371e-01 9.60801554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.174012739 meters Centerline goodness : 0.991656 Centerline is valid? [True, True] Translation: X:72.29, Y:9.47, Z:0.09 [[ 9.56136327e-01 -2.92910766e-01 -2.57058797e-03 7.22877222e+01] [ 2.92909655e-01 9.56139782e-01 -8.06624878e-04 9.47489415e+00] [ 2.69411054e-03 1.82933101e-05 9.99996371e-01 9.44793271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.204012739 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:72.31, Y:9.49, Z:0.09 [[ 9.56069081e-01 -2.93130186e-01 -2.57043678e-03 7.23140156e+01] [ 2.93129075e-01 9.56072536e-01 -8.07106402e-04 9.48613531e+00] [ 2.69411126e-03 1.81797205e-05 9.99996371e-01 9.28481144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23401273900001 meters Centerline goodness : 0.991451 Centerline is valid? [True, True] Translation: X:72.34, Y:9.50, Z:0.09 [[ 9.55934084e-01 -2.93570129e-01 -2.57028440e-03 7.23392447e+01] [ 2.93569019e-01 9.55937539e-01 -8.07591369e-04 9.49679037e+00] [ 2.69411605e-03 1.74482457e-05 9.99996371e-01 9.29080981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.264012739 meters Centerline goodness : 0.992279 Centerline is valid? [True, True] Translation: X:72.36, Y:9.51, Z:0.09 [[ 9.55005690e-01 -2.96576340e-01 -2.57021820e-03 7.23647763e+01] [ 2.96575240e-01 9.55009149e-01 -8.07802012e-04 9.50977608e+00] [ 2.69415686e-03 9.19244054e-06 9.99996371e-01 9.28030094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.294012739 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:72.39, Y:9.52, Z:0.09 [[ 9.54291086e-01 -2.98867725e-01 -2.57006779e-03 7.23906772e+01] [ 2.98866632e-01 9.54294547e-01 -8.08280237e-04 9.51888495e+00] [ 2.69417056e-03 3.22712024e-06 9.99996371e-01 9.11455344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.324012739 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:72.42, Y:9.53, Z:0.09 [[ 9.52583203e-01 -3.04267378e-01 -2.57000276e-03 7.24176292e+01] [ 3.04266304e-01 9.52586669e-01 -8.08486979e-04 9.52776994e+00] [ 2.69414658e-03 -1.18141238e-05 9.99996371e-01 8.85135044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.354012739 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:72.44, Y:9.54, Z:0.09 [[ 9.51931827e-01 -3.06299189e-01 -2.56985083e-03 7.24429913e+01] [ 3.06298121e-01 9.51935295e-01 -8.08969610e-04 9.53726022e+00] [ 2.69411844e-03 -1.70565620e-05 9.99996371e-01 8.79865214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.384012739 meters Centerline goodness : 0.992459 Centerline is valid? [True, True] Translation: X:72.47, Y:9.55, Z:0.09 [[ 9.51423765e-01 -3.07873702e-01 -2.56978502e-03 7.24694546e+01] [ 3.07872639e-01 9.51427235e-01 -8.09178593e-04 9.54794003e+00] [ 2.69408827e-03 -2.12947540e-05 9.99996371e-01 8.89403087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.414012739 meters Centerline goodness : 0.991833 Centerline is valid? [True, True] Translation: X:72.49, Y:9.56, Z:0.09 [[ 9.50772198e-01 -3.09880017e-01 -2.56963947e-03 7.24946497e+01] [ 3.09878960e-01 9.50775670e-01 -8.09640547e-04 9.55977587e+00] [ 2.69404212e-03 -2.64934860e-05 9.99996371e-01 9.20546460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.444012739 meters Centerline goodness : 0.992378 Centerline is valid? [True, True] Translation: X:72.52, Y:9.57, Z:0.09 [[ 9.50406682e-01 -3.10999255e-01 -2.56949185e-03 7.25209284e+01] [ 3.10998201e-01 9.50410155e-01 -8.10108757e-04 9.56976822e+00] [ 2.69401437e-03 -2.91745685e-05 9.99996371e-01 9.24698714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.474012739 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:72.55, Y:9.58, Z:0.09 [[ 9.49567326e-01 -3.13552695e-01 -2.56934307e-03 7.25464941e+01] [ 3.13551650e-01 9.49570801e-01 -8.10580374e-04 9.58087679e+00] [ 2.69393282e-03 -3.59211193e-05 9.99996371e-01 9.03082531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.504012739 meters Centerline goodness : 0.987860 Centerline is valid? [True, True] Translation: X:72.57, Y:9.59, Z:0.10 [[ 9.49165803e-01 -3.14766069e-01 -2.56919482e-03 7.25724395e+01] [ 3.14765027e-01 9.49169279e-01 -8.11049981e-04 9.58994052e+00] [ 2.69389181e-03 -3.88717696e-05 9.99996371e-01 9.90933542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.534012739 meters Centerline goodness : 0.993104 Centerline is valid? [True, True] Translation: X:72.60, Y:9.60, Z:0.09 [[ 9.48661794e-01 -3.16281837e-01 -2.56904703e-03 7.25984602e+01] [ 3.16280798e-01 9.48665272e-01 -8.11517853e-04 9.59583778e+00] [ 2.69383405e-03 -4.26842624e-05 9.99996371e-01 8.93531371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.564012739 meters Centerline goodness : 0.992588 Centerline is valid? [True, True] Translation: X:72.63, Y:9.60, Z:0.09 [[ 9.47808321e-01 -3.18830341e-01 -2.56898275e-03 7.26259316e+01] [ 3.18829312e-01 9.47811802e-01 -8.11721298e-04 9.60244705e+00] [ 2.69371354e-03 -4.97108002e-05 9.99996371e-01 9.19921882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59401273900001 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:72.65, Y:9.61, Z:0.09 [[ 9.47446609e-01 -3.19903617e-01 -2.56884043e-03 7.26520553e+01] [ 3.19902591e-01 9.47450090e-01 -8.12171445e-04 9.61191622e+00] [ 2.69366468e-03 -5.22896265e-05 9.99996371e-01 9.30562091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.624012739 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:72.68, Y:9.62, Z:0.09 [[ 9.47156487e-01 -3.20761580e-01 -2.56869032e-03 7.26776202e+01] [ 3.20760555e-01 9.47159968e-01 -8.12645929e-04 9.62119485e+00] [ 2.69362623e-03 -5.42316682e-05 9.99996371e-01 9.06082492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.654012739 meters Centerline goodness : 0.992695 Centerline is valid? [True, True] Translation: X:72.70, Y:9.63, Z:0.09 [[ 9.47098022e-01 -3.20934165e-01 -2.56862495e-03 7.27046996e+01] [ 3.20933140e-01 9.47101504e-01 -8.12852491e-04 9.62994631e+00] [ 2.69362069e-03 -5.45058832e-05 9.99996371e-01 9.06849500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.684012739 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:72.73, Y:9.64, Z:0.09 [[ 9.46962277e-01 -3.21334482e-01 -2.56847675e-03 7.27314853e+01] [ 3.21333457e-01 9.46965758e-01 -8.13320516e-04 9.63726062e+00] [ 2.69360746e-03 -5.51536651e-05 9.99996371e-01 8.88179207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.714012739 meters Centerline goodness : 0.985972 Centerline is valid? [True, True] Translation: X:72.76, Y:9.64, Z:0.10 [[ 9.46877806e-01 -3.21583307e-01 -2.56832505e-03 7.27590239e+01] [ 3.21582282e-01 9.46881288e-01 -8.13799268e-04 9.64240655e+00] [ 2.69360319e-03 -5.53593640e-05 9.99996371e-01 1.00715502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.744012739 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:72.79, Y:9.65, Z:0.09 [[ 9.46801851e-01 -3.21806866e-01 -2.56817076e-03 7.27851641e+01] [ 3.21805841e-01 9.46805333e-01 -8.14285867e-04 9.64788046e+00] [ 2.69360056e-03 -5.54849846e-05 9.99996371e-01 8.80023304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.774012739 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:72.81, Y:9.66, Z:0.09 [[ 9.46801846e-01 -3.21806884e-01 -2.56806502e-03 7.28119301e+01] [ 3.21805857e-01 9.46805327e-01 -8.14619204e-04 9.65552857e+00] [ 2.69360771e-03 -5.51354013e-05 9.99996371e-01 8.80151038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.804012739 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:72.84, Y:9.66, Z:0.09 [[ 9.46854616e-01 -3.21651583e-01 -2.56791806e-03 7.28389840e+01] [ 3.21650555e-01 9.46858097e-01 -8.15082219e-04 9.66288859e+00] [ 2.69362649e-03 -5.42079073e-05 9.99996371e-01 8.76781118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.834012739 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:72.87, Y:9.67, Z:0.09 [[ 9.47137907e-01 -3.20816444e-01 -2.56776530e-03 7.28657241e+01] [ 3.20815412e-01 9.47141387e-01 -8.15563165e-04 9.66678969e+00] [ 2.69368286e-03 -5.13278936e-05 9.99996371e-01 8.65331809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.864012739 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:72.89, Y:9.67, Z:0.09 [[ 9.47032736e-01 -3.21126778e-01 -2.56712382e-03 7.28941571e+01] [ 3.21125741e-01 9.47036214e-01 -8.17581848e-04 9.67072931e+00] [ 2.69370665e-03 -5.00927669e-05 9.99996371e-01 8.89865352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.894012739 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:72.92, Y:9.68, Z:0.09 [[ 9.46917417e-01 -3.21466659e-01 -2.56755517e-03 7.29207839e+01] [ 3.21465627e-01 9.46920897e-01 -8.16224995e-04 9.67663440e+00] [ 2.69366076e-03 -5.24830670e-05 9.99996371e-01 9.03878534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.924012739 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:72.95, Y:9.68, Z:0.09 [[ 9.46863818e-01 -3.21624499e-01 -2.56745319e-03 7.29479808e+01] [ 3.21623467e-01 9.46867297e-01 -8.16545638e-04 9.68299295e+00] [ 2.69365855e-03 -5.25956769e-05 9.99996371e-01 9.06920745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.954012739 meters Centerline goodness : 0.985915 Centerline is valid? [True, True] Translation: X:72.98, Y:9.69, Z:0.10 [[ 9.47202952e-01 -3.20624353e-01 -2.56730000e-03 7.29751010e+01] [ 3.20623316e-01 9.47206430e-01 -8.17027005e-04 9.68585209e+00] [ 2.69372182e-03 -4.92458475e-05 9.99996371e-01 1.01454513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98401273900001 meters Centerline goodness : 0.993577 Centerline is valid? [True, True] Translation: X:73.00, Y:9.69, Z:0.09 [[ 9.47362431e-01 -3.20152827e-01 -2.56723350e-03 7.30030826e+01] [ 3.20151788e-01 9.47365909e-01 -8.17235909e-04 9.69056016e+00] [ 2.69374988e-03 -4.76857969e-05 9.99996371e-01 8.88530042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.014012739 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:73.03, Y:9.69, Z:0.09 [[ 9.48312610e-01 -3.17327281e-01 -2.56708616e-03 7.30316487e+01] [ 3.17326230e-01 9.48316084e-01 -8.17698449e-04 9.69367126e+00] [ 2.69388712e-03 -3.91700233e-05 9.99996371e-01 8.84185175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.044012739 meters Centerline goodness : 0.993674 Centerline is valid? [True, True] Translation: X:73.06, Y:9.70, Z:0.09 [[ 9.48929112e-01 -3.15478925e-01 -2.56693176e-03 7.30580483e+01] [ 3.15477865e-01 9.48932583e-01 -8.18182863e-04 9.69953899e+00] [ 2.69396464e-03 -3.34126161e-05 9.99996371e-01 8.77813332e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.074012739 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:73.08, Y:9.71, Z:0.09 [[ 9.49479021e-01 -3.13820013e-01 -2.56686463e-03 7.30848284e+01] [ 3.13818947e-01 9.49482490e-01 -8.18393419e-04 9.70629233e+00] [ 2.69402125e-03 -2.84833728e-05 9.99996371e-01 8.70954763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.104012739 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:73.11, Y:9.71, Z:0.09 [[ 9.50461692e-01 -3.10831120e-01 -2.56671656e-03 7.31129895e+01] [ 3.10830042e-01 9.50465157e-01 -8.18857564e-04 9.71097676e+00] [ 2.69410107e-03 -1.95198688e-05 9.99996371e-01 8.80158762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.134012739 meters Centerline goodness : 0.994476 Centerline is valid? [True, True] Translation: X:73.14, Y:9.71, Z:0.09 [[ 9.50963717e-01 -3.09291806e-01 -2.56656456e-03 7.31404464e+01] [ 3.09290721e-01 9.50967181e-01 -8.19333678e-04 9.71230152e+00] [ 2.69413186e-03 -1.46580040e-05 9.99996371e-01 8.91770545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.164012739 meters Centerline goodness : 0.994799 Centerline is valid? [True, True] Translation: X:73.17, Y:9.72, Z:0.09 [[ 9.51352051e-01 -3.08095258e-01 -2.56646089e-03 7.31678882e+01] [ 3.08094168e-01 9.51355513e-01 -8.19658292e-04 9.71774051e+00] [ 2.69414955e-03 -1.09280362e-05 9.99996371e-01 8.92512499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.194012739 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:73.19, Y:9.72, Z:0.09 [[ 9.52018580e-01 -3.06029470e-01 -2.56630989e-03 7.31941036e+01] [ 3.06028371e-01 9.52022039e-01 -8.20130781e-04 9.72393108e+00] [ 2.69416777e-03 -4.58389604e-06 9.99996371e-01 8.89610862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.224012739 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:73.22, Y:9.73, Z:0.09 [[ 9.54019631e-01 -2.99733145e-01 -2.56624431e-03 7.32208241e+01] [ 2.99732023e-01 9.54023082e-01 -8.20335959e-04 9.72974154e+00] [ 2.69413818e-03 1.34310119e-05 9.99996371e-01 8.71031057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.254012739 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:73.25, Y:9.74, Z:0.09 [[ 9.55147744e-01 -2.96118559e-01 -2.56617927e-03 7.32470351e+01] [ 2.96117423e-01 9.55151191e-01 -8.20539357e-04 9.73687940e+00] [ 2.69406612e-03 2.38459242e-05 9.99996371e-01 8.68361566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.284012739 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:73.27, Y:9.74, Z:0.09 [[ 9.57584583e-01 -2.88140905e-01 -2.56607748e-03 7.32741144e+01] [ 2.88139740e-01 9.57588020e-01 -8.20857570e-04 9.74191155e+00] [ 2.69376769e-03 4.66516579e-05 9.99996371e-01 8.80401978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.314012739 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:73.30, Y:9.75, Z:0.09 [[ 9.58739508e-01 -2.84274465e-01 -2.56592985e-03 7.33009785e+01] [ 2.84273285e-01 9.58742940e-01 -8.21318784e-04 9.74898698e+00] [ 2.69354709e-03 5.80054614e-05 9.99996371e-01 8.86433100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34401273900001 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:73.33, Y:9.76, Z:0.09 [[ 9.59805584e-01 -2.80653983e-01 -2.56577112e-03 7.33267410e+01] [ 2.80652788e-01 9.59809011e-01 -8.21814344e-04 9.75662644e+00] [ 2.69329571e-03 6.86911763e-05 9.99996371e-01 8.89870917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.374012739 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:73.35, Y:9.76, Z:0.09 [[ 9.60744659e-01 -2.77422273e-01 -2.56570227e-03 7.33524729e+01] [ 2.77421066e-01 9.60748082e-01 -8.22029230e-04 9.76426719e+00] [ 2.69304276e-03 7.79803312e-05 9.99996371e-01 8.89669002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.404012739 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:73.38, Y:9.77, Z:0.09 [[ 9.61958749e-01 -2.73182693e-01 -2.56560117e-03 7.33800836e+01] [ 2.73181470e-01 9.61962166e-01 -8.22344666e-04 9.77139416e+00] [ 2.69266159e-03 9.01869472e-05 9.99996371e-01 8.82002980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.434012739 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:73.41, Y:9.78, Z:0.09 [[ 9.62263465e-01 -2.72107410e-01 -2.56545194e-03 7.34068145e+01] [ 2.72106182e-01 9.62266880e-01 -8.22809935e-04 9.77977451e+00] [ 2.69254212e-03 9.36846040e-05 9.99996371e-01 8.94416399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.464012739 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:73.43, Y:9.79, Z:0.09 [[ 9.62552630e-01 -2.71082743e-01 -2.56530330e-03 7.34323113e+01] [ 2.71081510e-01 9.62556044e-01 -8.23273097e-04 9.78957721e+00] [ 2.69242333e-03 9.70373920e-05 9.99996371e-01 8.98195746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.494012739 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:73.46, Y:9.80, Z:0.09 [[ 9.62630787e-01 -2.70805073e-01 -2.56523887e-03 7.34591468e+01] [ 2.70803839e-01 9.62634200e-01 -8.23473816e-04 9.79908225e+00] [ 2.69238755e-03 9.80247144e-05 9.99996371e-01 8.88343848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.524012739 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:73.49, Y:9.81, Z:0.09 [[ 9.62755092e-01 -2.70362817e-01 -2.56509216e-03 7.34854072e+01] [ 2.70361580e-01 9.62758504e-01 -8.23930568e-04 9.80885011e+00] [ 2.69232448e-03 9.97409826e-05 9.99996371e-01 8.84946377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.554012739 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:73.51, Y:9.82, Z:0.09 [[ 9.62907191e-01 -2.69820611e-01 -2.56494566e-03 7.35111375e+01] [ 2.69819371e-01 9.62910602e-01 -8.24386376e-04 9.82123410e+00] [ 2.69224980e-03 1.01735545e-04 9.99996371e-01 9.01354607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.584012739 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:73.54, Y:9.83, Z:0.09 [[ 9.62946628e-01 -2.69679836e-01 -2.56479152e-03 7.35359848e+01] [ 2.69678594e-01 9.62950038e-01 -8.24865636e-04 9.83235536e+00] [ 2.69221572e-03 1.02632211e-04 9.99996371e-01 9.01717247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.614012739 meters Centerline goodness : 0.995048 Centerline is valid? [True, True] Translation: X:73.56, Y:9.85, Z:0.09 [[ 9.62997162e-01 -2.69499328e-01 -2.56472456e-03 7.35608893e+01] [ 2.69498084e-01 9.63000572e-01 -8.25073780e-04 9.84659057e+00] [ 2.69218805e-03 1.03355352e-04 9.99996371e-01 8.84367648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.644012739 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:73.59, Y:9.86, Z:0.09 [[ 9.62897749e-01 -2.69854309e-01 -2.56457190e-03 7.35865647e+01] [ 2.69853066e-01 9.62901159e-01 -8.25548034e-04 9.85785603e+00] [ 2.69220695e-03 1.02860753e-04 9.99996371e-01 8.86247881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.674012739 meters Centerline goodness : 0.994329 Centerline is valid? [True, True] Translation: X:73.61, Y:9.87, Z:0.09 [[ 9.62072200e-01 -2.72782889e-01 -2.56441842e-03 7.36111281e+01] [ 2.72781655e-01 9.62075614e-01 -8.26024517e-04 9.87114795e+00] [ 2.69248978e-03 9.51689231e-05 9.99996371e-01 8.76324823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.704012739 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:73.64, Y:9.88, Z:0.09 [[ 9.61217460e-01 -2.75779655e-01 -2.56435196e-03 7.36363122e+01] [ 2.75778431e-01 9.61220877e-01 -8.26230790e-04 9.88266589e+00] [ 2.69276628e-03 8.69945030e-05 9.99996371e-01 8.64649897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73401273900001 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:73.66, Y:9.89, Z:0.09 [[ 9.60167904e-01 -2.79411920e-01 -2.56420111e-03 7.36622907e+01] [ 2.79410708e-01 9.60171325e-01 -8.26698668e-04 9.89426758e+00] [ 2.69306184e-03 7.73042795e-05 9.99996371e-01 8.62413522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.764012739 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:73.69, Y:9.91, Z:0.09 [[ 9.57927520e-01 -2.86998767e-01 -2.56404989e-03 7.36864841e+01] [ 2.86997580e-01 9.57930950e-01 -8.27167444e-04 9.90569667e+00] [ 2.69357878e-03 5.64903450e-05 9.99996371e-01 8.96686367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.794012739 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:73.71, Y:9.92, Z:0.09 [[ 9.56892159e-01 -2.90432131e-01 -2.56398421e-03 7.37114206e+01] [ 2.90430957e-01 9.56895592e-01 -8.27370953e-04 9.91545961e+00] [ 2.69376030e-03 4.70443886e-05 9.99996371e-01 9.30978440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.824012739 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:73.74, Y:9.93, Z:0.09 [[ 9.55262601e-01 -2.95747847e-01 -2.56391911e-03 7.37362558e+01] [ 2.95746690e-01 9.55266042e-01 -8.27572656e-04 9.92878821e+00] [ 2.69397769e-03 3.22786165e-05 9.99996371e-01 9.44671452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.854012739 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:73.76, Y:9.94, Z:0.09 [[ 9.54731496e-01 -2.97457889e-01 -2.56403589e-03 7.37622064e+01] [ 2.97456740e-01 9.54734939e-01 -8.27210943e-04 9.93984772e+00] [ 2.69403507e-03 2.70745857e-05 9.99996371e-01 9.13694378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.884012739 meters Centerline goodness : 0.994148 Centerline is valid? [True, True] Translation: X:73.79, Y:9.95, Z:0.09 [[ 9.54232564e-01 -2.99054578e-01 -2.56372944e-03 7.37890398e+01] [ 2.99053432e-01 9.54236008e-01 -8.28159608e-04 9.95048940e+00] [ 2.69406787e-03 2.35647777e-05 9.99996371e-01 8.80469075e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.914012739 meters Centerline goodness : 0.993628 Centerline is valid? [True, True] Translation: X:73.82, Y:9.96, Z:0.09 [[ 9.53891379e-01 -3.00141070e-01 -2.56435912e-03 7.38152654e+01] [ 3.00139933e-01 9.53894825e-01 -8.26211086e-04 9.96078506e+00] [ 2.69410877e-03 1.84490575e-05 9.99996371e-01 8.79053345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.944012739 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:73.84, Y:9.97, Z:0.09 [[ 9.52858351e-01 -3.03404667e-01 -2.56345588e-03 7.38404947e+01] [ 3.03403535e-01 9.52861799e-01 -8.29004082e-04 9.97237356e+00] [ 2.69414289e-03 1.21618876e-05 9.99996371e-01 9.03963076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.974012739 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:73.87, Y:9.98, Z:0.09 [[ 9.52084911e-01 -3.05823073e-01 -2.56330745e-03 7.38665600e+01] [ 3.05821948e-01 9.52088361e-01 -8.29462784e-04 9.98256364e+00] [ 2.69416405e-03 5.80332326e-06 9.99996371e-01 9.08074365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.004012739 meters Centerline goodness : 0.993739 Centerline is valid? [True, True] Translation: X:73.89, Y:9.99, Z:0.09 [[ 9.50315241e-01 -3.11278611e-01 -2.56315558e-03 7.38926119e+01] [ 3.11277504e-01 9.50318697e-01 -8.29931806e-04 9.99146071e+00] [ 2.69415469e-03 -9.15582958e-06 9.99996371e-01 8.88622181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.034012739 meters Centerline goodness : 0.993564 Centerline is valid? [True, True] Translation: X:73.92, Y:10.00, Z:0.09 [[ 9.49282168e-01 -3.14415007e-01 -2.56300032e-03 7.39198896e+01] [ 3.14413911e-01 9.49285628e-01 -8.30411002e-04 9.99914673e+00] [ 2.69411305e-03 -1.75485995e-05 9.99996371e-01 8.90794137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.064012739 meters Centerline goodness : 0.993037 Centerline is valid? [True, True] Translation: X:73.95, Y:10.01, Z:0.09 [[ 9.48136648e-01 -3.17852685e-01 -2.56284564e-03 7.39464872e+01] [ 3.17851600e-01 9.48140111e-01 -8.30888117e-04 1.00056396e+01] [ 2.69403677e-03 -2.68091139e-05 9.99996371e-01 9.21021497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09401273900001 meters Centerline goodness : 0.991022 Centerline is valid? [True, True] Translation: X:73.98, Y:10.01, Z:0.10 [[ 9.45845838e-01 -3.24606043e-01 -2.56277832e-03 7.39756494e+01] [ 3.24604983e-01 9.45849309e-01 -8.31095722e-04 1.00076804e+01] [ 2.69378079e-03 -4.58021810e-05 9.99996371e-01 9.88134554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.124012739 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:74.00, Y:10.01, Z:0.10 [[ 9.44623606e-01 -3.28145816e-01 -2.56264183e-03 7.40035011e+01] [ 3.28144767e-01 9.44627080e-01 -8.31516367e-04 1.00120464e+01] [ 2.69359948e-03 -5.54475159e-05 9.99996371e-01 9.93433712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.154012739 meters Centerline goodness : 0.991429 Centerline is valid? [True, True] Translation: X:74.03, Y:10.01, Z:0.10 [[ 9.42877397e-01 -3.33130077e-01 -2.56247958e-03 7.40334036e+01] [ 3.33129045e-01 9.42880876e-01 -8.32016069e-04 1.00111298e+01] [ 2.69328257e-03 -6.91472298e-05 9.99996371e-01 9.65467854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.184012739 meters Centerline goodness : 0.992023 Centerline is valid? [True, True] Translation: X:74.06, Y:10.02, Z:0.09 [[ 9.42188456e-01 -3.35073644e-01 -2.56242920e-03 7.40616406e+01] [ 3.35072619e-01 9.42191938e-01 -8.32171192e-04 1.00153724e+01] [ 2.69313877e-03 -7.45377727e-05 9.99996371e-01 9.38976214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.214012739 meters Centerline goodness : 0.992193 Centerline is valid? [True, True] Translation: X:74.09, Y:10.01, Z:0.09 [[ 9.41972141e-01 -3.35681277e-01 -2.56227506e-03 7.40911257e+01] [ 3.35680253e-01 9.41975623e-01 -8.32645516e-04 1.00143043e+01] [ 2.69310416e-03 -7.57762606e-05 9.99996371e-01 9.36858309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.244012739 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:74.12, Y:10.02, Z:0.09 [[ 9.42389508e-01 -3.34507773e-01 -2.56211576e-03 7.41184050e+01] [ 3.34506743e-01 9.42392988e-01 -8.33135400e-04 1.00180004e+01] [ 2.69321020e-03 -7.19069406e-05 9.99996371e-01 9.45708352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.274012739 meters Centerline goodness : 0.987083 Centerline is valid? [True, True] Translation: X:74.15, Y:10.02, Z:0.10 [[ 9.42998975e-01 -3.32785772e-01 -2.56200713e-03 7.41453727e+01] [ 3.32784735e-01 9.43002453e-01 -8.33469318e-04 1.00229886e+01] [ 2.69334574e-03 -6.66361533e-05 9.99996371e-01 1.02393913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.304012739 meters Centerline goodness : 0.985535 Centerline is valid? [True, True] Translation: X:74.17, Y:10.03, Z:0.10 [[ 9.44703978e-01 -3.27914366e-01 -2.56193842e-03 7.41742021e+01] [ 3.27913310e-01 9.44707450e-01 -8.33680474e-04 1.00261261e+01] [ 2.69365812e-03 -5.25124484e-05 9.99996371e-01 1.03182914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.334012739 meters Centerline goodness : 0.984415 Centerline is valid? [True, True] Translation: X:74.20, Y:10.03, Z:0.10 [[ 9.45775216e-01 -3.24811758e-01 -2.56177802e-03 7.42007663e+01] [ 3.24810690e-01 9.45778684e-01 -8.34173074e-04 1.00319814e+01] [ 2.69382427e-03 -4.31526678e-05 9.99996371e-01 1.04265577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.364012739 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:74.23, Y:10.03, Z:0.09 [[ 9.47392386e-01 -3.20064218e-01 -2.56170801e-03 7.42300060e+01] [ 3.20063132e-01 9.47395849e-01 -8.34388018e-04 1.00340897e+01] [ 2.69400928e-03 -2.94154339e-05 9.99996371e-01 9.02332937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.394012739 meters Centerline goodness : 0.990245 Centerline is valid? [True, True] Translation: X:74.26, Y:10.04, Z:0.09 [[ 9.47655872e-01 -3.19283240e-01 -2.56155245e-03 7.42574320e+01] [ 3.19282150e-01 9.47659333e-01 -8.34865317e-04 1.00413485e+01] [ 2.69403759e-03 -2.66929535e-05 9.99996371e-01 9.45818126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.424012739 meters Centerline goodness : 0.987663 Centerline is valid? [True, True] Translation: X:74.28, Y:10.05, Z:0.10 [[ 9.47444817e-01 -3.19908985e-01 -2.56139369e-03 7.42848897e+01] [ 3.19907895e-01 9.47448279e-01 -8.35352114e-04 1.00467918e+01] [ 2.69402469e-03 -2.79600332e-05 9.99996371e-01 9.82984669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.454012739 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:74.31, Y:10.05, Z:0.09 [[ 9.47244043e-01 -3.20502986e-01 -2.56123394e-03 7.43123134e+01] [ 3.20501897e-01 9.47247505e-01 -8.35841628e-04 1.00514104e+01] [ 2.69401219e-03 -2.91343330e-05 9.99996371e-01 8.86828201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.484012739 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:74.34, Y:10.06, Z:0.09 [[ 9.47119675e-01 -3.20870319e-01 -2.56116442e-03 7.43396679e+01] [ 3.20869231e-01 9.47123138e-01 -8.36054577e-04 1.00568488e+01] [ 2.69400318e-03 -2.99551195e-05 9.99996371e-01 8.79777315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.514012739 meters Centerline goodness : 0.986540 Centerline is valid? [True, True] Translation: X:74.37, Y:10.06, Z:0.10 [[ 9.47411329e-01 -3.20008149e-01 -2.56100897e-03 7.43665488e+01] [ 3.20007057e-01 9.47414790e-01 -8.36530504e-04 1.00632316e+01] [ 2.69403435e-03 -2.70024658e-05 9.99996371e-01 9.79148821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.544012739 meters Centerline goodness : 0.986540 Centerline is valid? [True, True] Translation: X:74.39, Y:10.07, Z:0.10 [[ 9.47351287e-01 -3.20185855e-01 -2.56085160e-03 7.43935614e+01] [ 3.20184762e-01 9.47354748e-01 -8.37011956e-04 1.00722482e+01] [ 2.69403431e-03 -2.70013084e-05 9.99996371e-01 9.79916204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.574012739 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:74.42, Y:10.08, Z:0.09 [[ 9.47785181e-01 -3.18899192e-01 -2.56069451e-03 7.44201349e+01] [ 3.18898093e-01 9.47788639e-01 -8.37492278e-04 1.00789641e+01] [ 2.69407278e-03 -2.28378262e-05 9.99996371e-01 8.65561395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.604012739 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:74.45, Y:10.09, Z:0.09 [[ 9.48135700e-01 -3.17855530e-01 -2.56058752e-03 7.44472043e+01] [ 3.17854426e-01 9.48139158e-01 -8.37819283e-04 1.00869589e+01] [ 2.69409878e-03 -1.95277031e-05 9.99996371e-01 8.53701753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.634012739 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:74.47, Y:10.09, Z:0.08 [[ 9.48847021e-01 -3.15725791e-01 -2.56043115e-03 7.44730914e+01] [ 3.15724679e-01 9.48850475e-01 -8.38296875e-04 1.00937356e+01] [ 2.69413826e-03 -1.29758098e-05 9.99996371e-01 8.25932959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.664012739 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:74.50, Y:10.10, Z:0.08 [[ 9.49806864e-01 -3.12826414e-01 -2.56036306e-03 7.44993864e+01] [ 3.12825290e-01 9.49810315e-01 -8.38504780e-04 1.01021491e+01] [ 2.69416569e-03 -4.52872280e-06 9.99996371e-01 8.34119185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.694012739 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:74.53, Y:10.11, Z:0.09 [[ 9.50205025e-01 -3.11614916e-01 -2.56020729e-03 7.45250395e+01] [ 3.11613787e-01 9.50208474e-01 -8.38980136e-04 1.01102718e+01] [ 2.69416939e-03 -5.92747393e-07 9.99996371e-01 8.53295617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.724012739 meters Centerline goodness : 0.992419 Centerline is valid? [True, True] Translation: X:74.55, Y:10.12, Z:0.09 [[ 9.50323774e-01 -3.11252582e-01 -2.56013930e-03 7.45515446e+01] [ 3.11251451e-01 9.50327223e-01 -8.39187541e-04 1.01188467e+01] [ 2.69416936e-03 6.52799284e-07 9.99996371e-01 8.61742922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.754012739 meters Centerline goodness : 0.992428 Centerline is valid? [True, True] Translation: X:74.58, Y:10.13, Z:0.09 [[ 9.50152610e-01 -3.11774701e-01 -2.55998509e-03 7.45767447e+01] [ 3.11773571e-01 9.50156059e-01 -8.39657701e-04 1.01273422e+01] [ 2.69416938e-03 -3.32737670e-07 9.99996371e-01 8.58159453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.784012739 meters Centerline goodness : 0.992027 Centerline is valid? [True, True] Translation: X:74.60, Y:10.14, Z:0.09 [[ 9.49308777e-01 -3.14334683e-01 -2.55991791e-03 7.46026287e+01] [ 3.14333561e-01 9.49312228e-01 -8.39862484e-04 1.01371012e+01] [ 2.69415928e-03 -7.37928589e-06 9.99996371e-01 8.66800008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.814012739 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:74.63, Y:10.15, Z:0.09 [[ 9.48106582e-01 -3.17942380e-01 -2.55976503e-03 7.46296629e+01] [ 3.17941270e-01 9.48110037e-01 -8.40328186e-04 1.01451701e+01] [ 2.69411486e-03 -1.71342605e-05 9.99996371e-01 8.79078583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84401273900001 meters Centerline goodness : 0.992412 Centerline is valid? [True, True] Translation: X:74.66, Y:10.15, Z:0.09 [[ 9.47261472e-01 -3.20451480e-01 -2.55960325e-03 7.46560231e+01] [ 3.20450378e-01 9.47264930e-01 -8.40820654e-04 1.01524713e+01] [ 2.69406462e-03 -2.37488196e-05 9.99996371e-01 8.73984715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.874012739 meters Centerline goodness : 0.992526 Centerline is valid? [True, True] Translation: X:74.68, Y:10.16, Z:0.09 [[ 9.46346626e-01 -3.23143176e-01 -2.55953337e-03 7.46833229e+01] [ 3.23142083e-01 9.46350087e-01 -8.41033334e-04 1.01598753e+01] [ 2.69398881e-03 -3.11838873e-05 9.99996371e-01 8.59219177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.904012739 meters Centerline goodness : 0.992649 Centerline is valid? [True, True] Translation: X:74.71, Y:10.17, Z:0.09 [[ 9.45475872e-01 -3.25682092e-01 -2.55938327e-03 7.47109027e+01] [ 3.25681007e-01 9.45479335e-01 -8.41489845e-04 1.01671220e+01] [ 2.69390217e-03 -3.79341769e-05 9.99996371e-01 8.51284326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.934012739 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:74.74, Y:10.17, Z:0.08 [[ 9.44171254e-01 -3.29445128e-01 -2.55923338e-03 7.47378847e+01] [ 3.29444056e-01 9.44174722e-01 -8.41945482e-04 1.01712106e+01] [ 2.69373830e-03 -4.81835020e-05 9.99996371e-01 8.37184437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.964012739 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:74.77, Y:10.18, Z:0.08 [[ 9.43651690e-01 -3.30930414e-01 -2.55916815e-03 7.47652199e+01] [ 3.30929347e-01 9.43655159e-01 -8.42143683e-04 1.01779812e+01] [ 2.69366319e-03 -5.22135367e-05 9.99996371e-01 8.32664811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.994012739 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:74.79, Y:10.18, Z:0.08 [[ 9.43159099e-01 -3.32331710e-01 -2.55901101e-03 7.47918471e+01] [ 3.32330647e-01 9.43162569e-01 -8.42620933e-04 1.01822229e+01] [ 2.69359305e-03 -5.57121833e-05 9.99996371e-01 8.30837204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.024012739 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:74.82, Y:10.19, Z:0.08 [[ 9.42980170e-01 -3.32839077e-01 -2.55894275e-03 7.48190385e+01] [ 3.32838014e-01 9.42983640e-01 -8.42828171e-04 1.01883618e+01] [ 2.69356730e-03 -5.69431727e-05 9.99996371e-01 8.35179816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.054012739 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:74.85, Y:10.19, Z:0.08 [[ 9.42878752e-01 -3.33126270e-01 -2.55878749e-03 7.48466358e+01] [ 3.33125208e-01 9.42882222e-01 -8.43299274e-04 1.01938351e+01] [ 2.69356038e-03 -5.72676470e-05 9.99996371e-01 8.48549925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.084012739 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:74.88, Y:10.20, Z:0.09 [[ 9.43293988e-01 -3.31948649e-01 -2.55863280e-03 7.48758726e+01] [ 3.31947581e-01 9.43297457e-01 -8.43768363e-04 1.01953081e+01] [ 2.69363958e-03 -5.34103430e-05 9.99996371e-01 8.66546676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.114012739 meters Centerline goodness : 0.992765 Centerline is valid? [True, True] Translation: X:74.90, Y:10.20, Z:0.09 [[ 9.43530758e-01 -3.31275055e-01 -2.55847818e-03 7.49025218e+01] [ 3.31273983e-01 9.43534226e-01 -8.44236938e-04 1.02014392e+01] [ 2.69368636e-03 -5.09937386e-05 9.99996371e-01 8.73328986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.144012739 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:74.93, Y:10.21, Z:0.09 [[ 9.43740172e-01 -3.30678004e-01 -2.55841090e-03 7.49297145e+01] [ 3.30676929e-01 9.43743639e-01 -8.44440779e-04 1.02080960e+01] [ 2.69372200e-03 -4.90747737e-05 9.99996371e-01 8.68497276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.174012739 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:74.96, Y:10.21, Z:0.09 [[ 9.44224329e-01 -3.29292989e-01 -2.55826612e-03 7.49585263e+01] [ 3.29291908e-01 9.44227793e-01 -8.44879169e-04 1.02112497e+01] [ 2.69379876e-03 -4.46608652e-05 9.99996371e-01 8.71619183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.204012739 meters Centerline goodness : 0.992444 Centerline is valid? [True, True] Translation: X:74.99, Y:10.22, Z:0.09 [[ 9.44481732e-01 -3.28553975e-01 -2.55811243e-03 7.49851202e+01] [ 3.28552890e-01 9.44485195e-01 -8.45344241e-04 1.02165921e+01] [ 2.69384053e-03 -4.20630403e-05 9.99996371e-01 8.90521307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.234012739 meters Centerline goodness : 0.992892 Centerline is valid? [True, True] Translation: X:75.01, Y:10.22, Z:0.09 [[ 9.44830231e-01 -3.27550441e-01 -2.55804559e-03 7.50129761e+01] [ 3.27549352e-01 9.44833693e-01 -8.45546456e-04 1.02220859e+01] [ 2.69388678e-03 -3.89883203e-05 9.99996371e-01 9.09116715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.264012739 meters Centerline goodness : 0.987400 Centerline is valid? [True, True] Translation: X:75.04, Y:10.23, Z:0.10 [[ 9.44948259e-01 -3.27209787e-01 -2.55789324e-03 7.50397851e+01] [ 3.27208696e-01 9.44951720e-01 -8.46007090e-04 1.02310860e+01] [ 2.69390742e-03 -3.75319837e-05 9.99996371e-01 1.02855693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.294012739 meters Centerline goodness : 0.992002 Centerline is valid? [True, True] Translation: X:75.07, Y:10.23, Z:0.09 [[ 9.45381054e-01 -3.25957237e-01 -2.55774169e-03 7.50684413e+01] [ 3.25956139e-01 9.45384514e-01 -8.46465011e-04 1.02341344e+01] [ 2.69396078e-03 -3.34796232e-05 9.99996371e-01 9.49852996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.324012739 meters Centerline goodness : 0.991920 Centerline is valid? [True, True] Translation: X:75.09, Y:10.24, Z:0.10 [[ 9.45519653e-01 -3.25554980e-01 -2.55769446e-03 7.50942676e+01] [ 3.25553881e-01 9.45523111e-01 -8.46607713e-04 1.02407300e+01] [ 2.69397658e-03 -3.21831253e-05 9.99996371e-01 9.62710903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.354012739 meters Centerline goodness : 0.991879 Centerline is valid? [True, True] Translation: X:75.12, Y:10.25, Z:0.10 [[ 9.46052130e-01 -3.24004361e-01 -2.55762869e-03 7.51206947e+01] [ 3.24003255e-01 9.46055587e-01 -8.46806363e-04 1.02499603e+01] [ 2.69402786e-03 -2.75570575e-05 9.99996371e-01 9.58887524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.384012739 meters Centerline goodness : 0.992540 Centerline is valid? [True, True] Translation: X:75.15, Y:10.26, Z:0.09 [[ 9.46507150e-01 -3.22672703e-01 -2.55747861e-03 7.51469809e+01] [ 3.22671592e-01 9.46510605e-01 -8.47259377e-04 1.02587909e+01] [ 2.69406810e-03 -2.32886359e-05 9.99996371e-01 9.30436079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.414012739 meters Centerline goodness : 0.993036 Centerline is valid? [True, True] Translation: X:75.17, Y:10.27, Z:0.09 [[ 9.47003157e-01 -3.21214074e-01 -2.55732889e-03 7.51743407e+01] [ 3.21212956e-01 9.47006609e-01 -8.47711047e-04 1.02665645e+01] [ 2.69410408e-03 -1.86621346e-05 9.99996371e-01 9.04819849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.444012739 meters Centerline goodness : 0.992312 Centerline is valid? [True, True] Translation: X:75.20, Y:10.27, Z:0.09 [[ 9.47835484e-01 -3.18749677e-01 -2.55717961e-03 7.52015083e+01] [ 3.18748549e-01 9.47838933e-01 -8.48161102e-04 1.02710932e+01] [ 2.69414548e-03 -1.11801017e-05 9.99996371e-01 9.16323969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.474012739 meters Centerline goodness : 0.992301 Centerline is valid? [True, True] Translation: X:75.23, Y:10.28, Z:0.09 [[ 9.48155229e-01 -3.17797298e-01 -2.55711457e-03 7.52286758e+01] [ 3.17796166e-01 9.48158677e-01 -8.48357155e-04 1.02795373e+01] [ 2.69415598e-03 -8.26693404e-06 9.99996371e-01 9.41865497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.504012739 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:75.25, Y:10.29, Z:0.10 [[ 9.48976343e-01 -3.15336903e-01 -2.55695398e-03 7.52544197e+01] [ 3.15335760e-01 9.48979788e-01 -8.48840914e-04 1.02877003e+01] [ 2.69416851e-03 -7.69080105e-07 9.99996371e-01 9.57604120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.534012739 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:75.28, Y:10.30, Z:0.09 [[ 9.49486336e-01 -3.13797962e-01 -2.55679421e-03 7.52805813e+01] [ 3.13796812e-01 9.49489778e-01 -8.49321876e-04 1.02962317e+01] [ 2.69416544e-03 4.10564399e-06 9.99996371e-01 9.17909548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.564012739 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:75.31, Y:10.31, Z:0.09 [[ 9.50174308e-01 -3.11708595e-01 -2.55663423e-03 7.53072274e+01] [ 3.11707437e-01 9.50177747e-01 -8.49803161e-04 1.03051058e+01] [ 2.69414791e-03 1.05392272e-05 9.99996371e-01 8.90839572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59401273900001 meters Centerline goodness : 0.993282 Centerline is valid? [True, True] Translation: X:75.33, Y:10.32, Z:0.09 [[ 9.51589873e-01 -3.07360014e-01 -2.55658470e-03 7.53331026e+01] [ 3.07358840e-01 9.51593307e-01 -8.49952152e-04 1.03168028e+01] [ 2.69407019e-03 2.30169533e-05 9.99996371e-01 8.73128259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.624012739 meters Centerline goodness : 0.993202 Centerline is valid? [True, True] Translation: X:75.36, Y:10.33, Z:0.09 [[ 9.52184545e-01 -3.05512776e-01 -2.55643712e-03 7.53582970e+01] [ 3.05511594e-01 9.52187977e-01 -8.50395807e-04 1.03276584e+01] [ 2.69401547e-03 2.87125669e-05 9.99996371e-01 8.73868570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.654012739 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:75.38, Y:10.34, Z:0.08 [[ 9.52951551e-01 -3.03111871e-01 -2.55633666e-03 7.53830120e+01] [ 3.03110680e-01 9.52954979e-01 -8.50697684e-04 1.03413248e+01] [ 2.69393032e-03 3.58207354e-05 9.99996371e-01 8.47133951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.684012739 meters Centerline goodness : 0.993590 Centerline is valid? [True, True] Translation: X:75.41, Y:10.35, Z:0.08 [[ 9.53241215e-01 -3.02199687e-01 -2.55619148e-03 7.54080536e+01] [ 3.02198491e-01 9.53244642e-01 -8.51133709e-04 1.03527397e+01] [ 2.69388817e-03 3.88585230e-05 9.99996371e-01 8.26844917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.714012739 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:75.43, Y:10.36, Z:0.08 [[ 9.53318393e-01 -3.01956134e-01 -2.55609241e-03 7.54338508e+01] [ 3.01954937e-01 9.53321819e-01 -8.51431122e-04 1.03649491e+01] [ 2.69387352e-03 3.98602280e-05 9.99996371e-01 8.24315358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.744012739 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:75.46, Y:10.38, Z:0.08 [[ 9.53337874e-01 -3.01894626e-01 -2.55594848e-03 7.54583170e+01] [ 3.01893427e-01 9.53341299e-01 -8.51862978e-04 1.03764099e+01] [ 2.69386410e-03 4.04891960e-05 9.99996371e-01 8.39586498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.774012739 meters Centerline goodness : 0.993127 Centerline is valid? [True, True] Translation: X:75.48, Y:10.39, Z:0.09 [[ 9.52766637e-01 -3.03692613e-01 -2.55584991e-03 7.54837023e+01] [ 3.03691420e-01 9.52770064e-01 -8.52158626e-04 1.03894359e+01] [ 2.69393156e-03 3.57186215e-05 9.99996371e-01 8.81032586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.804012739 meters Centerline goodness : 0.992314 Centerline is valid? [True, True] Translation: X:75.51, Y:10.40, Z:0.09 [[ 9.51840652e-01 -3.06582521e-01 -2.55570648e-03 7.55077702e+01] [ 3.06581337e-01 9.51844082e-01 -8.52588551e-04 1.04025768e+01] [ 2.69402284e-03 2.79965324e-05 9.99996371e-01 9.07393199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.834012739 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:75.53, Y:10.41, Z:0.09 [[ 9.51187491e-01 -3.08603023e-01 -2.55564406e-03 7.55333082e+01] [ 3.08601845e-01 9.51190924e-01 -8.52775628e-04 1.04146472e+01] [ 2.69407457e-03 2.24730379e-05 9.99996371e-01 9.04557185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.864012739 meters Centerline goodness : 0.993233 Centerline is valid? [True, True] Translation: X:75.56, Y:10.43, Z:0.09 [[ 9.50463181e-01 -3.10826658e-01 -2.55550112e-03 7.55576921e+01] [ 3.10825487e-01 9.50466616e-01 -8.53203736e-04 1.04258121e+01] [ 2.69411697e-03 1.66238545e-05 9.99996371e-01 8.88381078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.894012739 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:75.58, Y:10.44, Z:0.09 [[ 9.49776483e-01 -3.12918683e-01 -2.55543887e-03 7.55842481e+01] [ 3.12917520e-01 9.49779921e-01 -8.53390145e-04 1.04359747e+01] [ 2.69414625e-03 1.08882966e-05 9.99996371e-01 8.62627622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.924012739 meters Centerline goodness : 0.994032 Centerline is valid? [True, True] Translation: X:75.61, Y:10.44, Z:0.09 [[ 9.48449425e-01 -3.16918220e-01 -2.55529654e-03 7.56105722e+01] [ 3.16917070e-01 9.48452867e-01 -8.53816111e-04 1.04443272e+01] [ 2.69416822e-03 -1.56928174e-08 9.99996371e-01 8.51398106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.954012739 meters Centerline goodness : 0.993619 Centerline is valid? [True, True] Translation: X:75.64, Y:10.45, Z:0.08 [[ 9.47321982e-01 -3.20272593e-01 -2.55513065e-03 7.56357043e+01] [ 3.20271454e-01 9.47325428e-01 -8.54312277e-04 1.04531913e+01] [ 2.69415304e-03 -9.02660784e-06 9.99996371e-01 8.49516417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.984012739 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:75.66, Y:10.46, Z:0.08 [[ 9.46692325e-01 -3.22129032e-01 -2.55505849e-03 7.56610869e+01] [ 3.22127899e-01 9.46695773e-01 -8.54528047e-04 1.04613210e+01] [ 2.69413136e-03 -1.40804783e-05 9.99996371e-01 8.34706606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.014012739 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:75.69, Y:10.47, Z:0.08 [[ 9.45951559e-01 -3.24297888e-01 -2.55498677e-03 7.56865555e+01] [ 3.24296763e-01 9.45955009e-01 -8.54742413e-04 1.04691093e+01] [ 2.69409369e-03 -2.00290210e-05 9.99996371e-01 8.14104212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.044012739 meters Centerline goodness : 0.988102 Centerline is valid? [True, True] Translation: X:75.71, Y:10.48, Z:0.09 [[ 9.45332347e-01 -3.26098491e-01 -2.55491816e-03 7.57129467e+01] [ 3.26097371e-01 9.45335799e-01 -8.54947456e-04 1.04782681e+01] [ 2.69405268e-03 -2.49426096e-05 9.99996371e-01 9.20564127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.074012739 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:75.74, Y:10.48, Z:0.08 [[ 9.44543077e-01 -3.28377601e-01 -2.55476299e-03 7.57399428e+01] [ 3.28376488e-01 9.44546532e-01 -8.55410893e-04 1.04845610e+01] [ 2.69399029e-03 -3.09516606e-05 9.99996371e-01 8.48870149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.104012739 meters Centerline goodness : 0.994052 Centerline is valid? [True, True] Translation: X:75.77, Y:10.49, Z:0.09 [[ 9.44111073e-01 -3.29617590e-01 -2.55459853e-03 7.57669803e+01] [ 3.29616481e-01 9.44114529e-01 -8.55901745e-04 1.04925392e+01] [ 2.69395386e-03 -3.39714626e-05 9.99996371e-01 8.87171081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.134012739 meters Centerline goodness : 0.992480 Centerline is valid? [True, True] Translation: X:75.79, Y:10.50, Z:0.09 [[ 9.43310881e-01 -3.31900673e-01 -2.55444470e-03 7.57942136e+01] [ 3.31899570e-01 9.43314339e-01 -8.56360603e-04 1.04987882e+01] [ 2.69387097e-03 -4.00048235e-05 9.99996371e-01 9.47413773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.164012739 meters Centerline goodness : 0.992512 Centerline is valid? [True, True] Translation: X:75.82, Y:10.51, Z:0.10 [[ 9.43092740e-01 -3.32520011e-01 -2.55439347e-03 7.58195949e+01] [ 3.32518911e-01 9.43096199e-01 -8.56513402e-04 1.05065053e+01] [ 2.69384661e-03 -4.16125611e-05 9.99996371e-01 9.61800329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.194012739 meters Centerline goodness : 0.993037 Centerline is valid? [True, True] Translation: X:75.85, Y:10.51, Z:0.09 [[ 9.43144760e-01 -3.32372437e-01 -2.55428543e-03 7.58460376e+01] [ 3.32371336e-01 9.43148218e-01 -8.56835448e-04 1.05149976e+01] [ 2.69385824e-03 -4.08513984e-05 9.99996371e-01 9.32806147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.224012739 meters Centerline goodness : 0.993916 Centerline is valid? [True, True] Translation: X:75.87, Y:10.52, Z:0.09 [[ 9.44260142e-01 -3.29190312e-01 -2.55412515e-03 7.58734763e+01] [ 3.29189197e-01 9.44263595e-01 -8.57312984e-04 1.05245897e+01] [ 2.69398652e-03 -3.12639265e-05 9.99996371e-01 8.90657369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.254012739 meters Centerline goodness : 0.993977 Centerline is valid? [True, True] Translation: X:75.90, Y:10.53, Z:0.09 [[ 9.45081804e-01 -3.26823899e-01 -2.55399516e-03 7.59000354e+01] [ 3.26822774e-01 9.45085255e-01 -8.57700039e-04 1.05340535e+01] [ 2.69406004e-03 -2.41070841e-05 9.99996371e-01 8.80840294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.284012739 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:75.93, Y:10.54, Z:0.09 [[ 9.46827689e-01 -3.21730953e-01 -2.55382536e-03 7.59252628e+01] [ 3.21729808e-01 9.46831133e-01 -8.58205321e-04 1.05442753e+01] [ 2.69415258e-03 -9.06918394e-06 9.99996371e-01 9.05939318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.314012739 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:75.95, Y:10.55, Z:0.09 [[ 9.47459974e-01 -3.19864152e-01 -2.55375151e-03 7.59510152e+01] [ 3.19863000e-01 9.47463416e-01 -8.58425031e-04 1.05535660e+01] [ 2.69416552e-03 -3.52726249e-06 9.99996371e-01 9.27970106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34401273900001 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:75.98, Y:10.56, Z:0.09 [[ 9.47809995e-01 -3.18825490e-01 -2.55367862e-03 7.59778407e+01] [ 3.18824333e-01 9.47813435e-01 -8.58641806e-04 1.05626685e+01] [ 2.69416780e-03 -3.45598690e-07 9.99996371e-01 9.33674957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.374012739 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:76.00, Y:10.57, Z:0.09 [[ 9.48058590e-01 -3.18085506e-01 -2.55352345e-03 7.60046503e+01] [ 3.18084346e-01 9.48062029e-01 -8.59103020e-04 1.05720532e+01] [ 2.69416684e-03 2.24416147e-06 9.99996371e-01 9.40335759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.404012739 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:76.03, Y:10.58, Z:0.09 [[ 9.47973233e-01 -3.18339803e-01 -2.55336514e-03 7.60311329e+01] [ 3.18338642e-01 9.47976672e-01 -8.59573277e-04 1.05816224e+01] [ 2.69416698e-03 2.01766599e-06 9.99996371e-01 9.45982425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.434012739 meters Centerline goodness : 0.993772 Centerline is valid? [True, True] Translation: X:76.06, Y:10.59, Z:0.09 [[ 9.48120624e-01 -3.17900557e-01 -2.55319869e-03 7.60570928e+01] [ 3.17899393e-01 9.48124062e-01 -8.60067403e-04 1.05913096e+01] [ 2.69416502e-03 3.78732771e-06 9.99996371e-01 9.42827435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.464012739 meters Centerline goodness : 0.993772 Centerline is valid? [True, True] Translation: X:76.08, Y:10.60, Z:0.09 [[ 9.48059160e-01 -3.18083812e-01 -2.55303243e-03 7.60840273e+01] [ 3.18082648e-01 9.48062597e-01 -8.60560669e-04 1.06005811e+01] [ 2.69416497e-03 3.78711165e-06 9.99996371e-01 9.43594813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.494012739 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:76.11, Y:10.61, Z:0.09 [[ 9.48252946e-01 -3.17505643e-01 -2.55286599e-03 7.61095187e+01] [ 3.17504476e-01 9.48256382e-01 -8.61054108e-04 1.06087791e+01] [ 2.69416101e-03 5.95071540e-06 9.99996371e-01 9.20034171e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.524012739 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:76.13, Y:10.62, Z:0.09 [[ 9.48781527e-01 -3.15922620e-01 -2.55194046e-03 7.61349545e+01] [ 3.15921439e-01 9.48784959e-01 -8.63796964e-04 1.06198305e+01] [ 2.69413572e-03 1.33418996e-05 9.99996371e-01 8.85853503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.554012739 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:76.16, Y:10.63, Z:0.09 [[ 9.49016894e-01 -3.15214878e-01 -2.55263003e-03 7.61598132e+01] [ 3.15213700e-01 9.49020327e-01 -8.61754356e-04 1.06309180e+01] [ 2.69413558e-03 1.31954840e-05 9.99996371e-01 8.64312788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.584012739 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:76.19, Y:10.64, Z:0.09 [[ 9.49269554e-01 -3.14453173e-01 -2.55251967e-03 7.61860091e+01] [ 3.14451992e-01 9.49272986e-01 -8.62081122e-04 1.06415419e+01] [ 2.69412211e-03 1.57024669e-05 9.99996371e-01 8.69536167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.614012739 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:76.21, Y:10.65, Z:0.09 [[ 9.49346655e-01 -3.14220328e-01 -2.55235797e-03 7.62116776e+01] [ 3.14219145e-01 9.49350086e-01 -8.62559609e-04 1.06514586e+01] [ 2.69411502e-03 1.68683407e-05 9.99996371e-01 8.77158753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.644012739 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:76.24, Y:10.66, Z:0.09 [[ 9.49374858e-01 -3.14135107e-01 -2.55228507e-03 7.62366362e+01] [ 3.14133922e-01 9.49378288e-01 -8.62775267e-04 1.06624436e+01] [ 2.69411203e-03 1.73378276e-05 9.99996371e-01 8.97740110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.674012739 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:76.26, Y:10.67, Z:0.09 [[ 9.49116671e-01 -3.14914322e-01 -2.55221239e-03 7.62627604e+01] [ 3.14913140e-01 9.49120103e-01 -8.62990202e-04 1.06739990e+01] [ 2.69412406e-03 1.53531689e-05 9.99996371e-01 8.89499468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.704012739 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:76.29, Y:10.69, Z:0.09 [[ 9.48537116e-01 -3.16655690e-01 -2.55204982e-03 7.62880366e+01] [ 3.16654513e-01 9.48540549e-01 -8.63470703e-04 1.06867742e+01] [ 2.69414565e-03 1.09159189e-05 9.99996371e-01 8.60106524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.734012739 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:76.31, Y:10.70, Z:0.09 [[ 9.48353262e-01 -3.17205892e-01 -2.55188765e-03 7.63144980e+01] [ 3.17204715e-01 9.48356696e-01 -8.63949689e-04 1.06964428e+01] [ 2.69414968e-03 9.85870830e-06 9.99996371e-01 8.59106298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.764012739 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:76.34, Y:10.71, Z:0.09 [[ 9.48183239e-01 -3.17713760e-01 -2.55172592e-03 7.63400333e+01] [ 3.17712584e-01 9.48186673e-01 -8.64427124e-04 1.07055342e+01] [ 2.69415290e-03 8.91987661e-06 9.99996371e-01 8.65691677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.794012739 meters Centerline goodness : 0.994578 Centerline is valid? [True, True] Translation: X:76.37, Y:10.72, Z:0.09 [[ 9.47537205e-01 -3.19635314e-01 -2.55165562e-03 7.63655441e+01] [ 3.19634144e-01 9.47540641e-01 -8.64634576e-04 1.07170340e+01] [ 2.69416515e-03 3.67716868e-06 9.99996371e-01 9.01888105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.824012739 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:76.39, Y:10.73, Z:0.09 [[ 9.47028536e-01 -3.21139288e-01 -2.55149457e-03 7.63917861e+01] [ 3.21138123e-01 9.47031973e-01 -8.65109578e-04 1.07261366e+01] [ 2.69416761e-03 -9.87205682e-08 9.99996371e-01 9.11165294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.854012739 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:76.42, Y:10.73, Z:0.09 [[ 9.45618878e-01 -3.25266703e-01 -2.55133253e-03 7.64194852e+01] [ 3.25265552e-01 9.45622320e-01 -8.65587175e-04 1.07317701e+01] [ 2.69414368e-03 -1.13450114e-05 9.99996371e-01 9.11927135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.884012739 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:76.45, Y:10.74, Z:0.09 [[ 9.44869480e-01 -3.27437257e-01 -2.55117230e-03 7.64461355e+01] [ 3.27436112e-01 9.44872924e-01 -8.66059179e-04 1.07386826e+01] [ 2.69411367e-03 -1.70330519e-05 9.99996371e-01 9.14993959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.914012739 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:76.47, Y:10.75, Z:0.09 [[ 9.44264938e-01 -3.29176577e-01 -2.55110241e-03 7.64727823e+01] [ 3.29175438e-01 9.44268384e-01 -8.66264999e-04 1.07466260e+01] [ 2.69407950e-03 -2.17765887e-05 9.99996371e-01 9.20784777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.944012739 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:76.50, Y:10.75, Z:0.09 [[ 9.43435647e-01 -3.31545882e-01 -2.55094148e-03 7.65008798e+01] [ 3.31544750e-01 9.43439096e-01 -8.66738635e-04 1.07524320e+01] [ 2.69402155e-03 -2.80391328e-05 9.99996371e-01 9.26895448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.974012739 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:76.53, Y:10.76, Z:0.09 [[ 9.43172549e-01 -3.32293600e-01 -2.55077951e-03 7.65271401e+01] [ 3.32292470e-01 9.43175998e-01 -8.67215042e-04 1.07578293e+01] [ 2.69400402e-03 -2.96714029e-05 9.99996371e-01 9.24443516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.004012739 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:76.55, Y:10.76, Z:0.09 [[ 9.42694958e-01 -3.33646086e-01 -2.55066926e-03 7.65548790e+01] [ 3.33644959e-01 9.42698408e-01 -8.67539212e-04 1.07620304e+01] [ 2.69396291e-03 -3.31930991e-05 9.99996371e-01 9.44193808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.034012739 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:76.58, Y:10.77, Z:0.09 [[ 9.42588740e-01 -3.33946046e-01 -2.55050583e-03 7.65818150e+01] [ 3.33944919e-01 9.42592190e-01 -8.68019423e-04 1.07700787e+01] [ 2.69395853e-03 -3.35431276e-05 9.99996371e-01 9.47040125e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.064012739 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:76.61, Y:10.78, Z:0.09 [[ 9.43055678e-01 -3.32625141e-01 -2.55033506e-03 7.66078001e+01] [ 3.32624008e-01 9.43059126e-01 -8.68520873e-04 1.07762038e+01] [ 2.69400863e-03 -2.92391283e-05 9.99996371e-01 9.36268145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09401273900001 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:76.63, Y:10.78, Z:0.09 [[ 9.43438806e-01 -3.31536899e-01 -2.55026066e-03 7.66341628e+01] [ 3.31535761e-01 9.43442253e-01 -8.68739256e-04 1.07831658e+01] [ 2.69404278e-03 -2.59002846e-05 9.99996371e-01 9.30040311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.124012739 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:76.66, Y:10.79, Z:0.09 [[ 9.43846435e-01 -3.30374642e-01 -2.55009820e-03 7.66610036e+01] [ 3.30373499e-01 9.43849880e-01 -8.69215883e-04 1.07906168e+01] [ 2.69407677e-03 -2.20785544e-05 9.99996371e-01 9.34563752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.154012739 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:76.69, Y:10.80, Z:0.10 [[ 9.44865265e-01 -3.27449430e-01 -2.54993613e-03 7.66880830e+01] [ 3.27448276e-01 9.44868705e-01 -8.69691095e-04 1.07991412e+01] [ 2.69413470e-03 -1.32312812e-05 9.99996371e-01 9.52041697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.184012739 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:76.71, Y:10.81, Z:0.10 [[ 9.45425098e-01 -3.25829530e-01 -2.54977334e-03 7.67138520e+01] [ 3.25828368e-01 9.45428536e-01 -8.70168087e-04 1.08079624e+01] [ 2.69415494e-03 -8.10973881e-06 9.99996371e-01 9.58766618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.214012739 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:76.74, Y:10.82, Z:0.09 [[ 9.46040028e-01 -3.24039757e-01 -2.54970258e-03 7.67399034e+01] [ 3.24038588e-01 9.46043464e-01 -8.70375380e-04 1.08161069e+01] [ 2.69416569e-03 -2.79207601e-06 9.99996371e-01 9.12382128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.244012739 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:76.77, Y:10.83, Z:0.09 [[ 9.46039674e-01 -3.24040793e-01 -2.54959289e-03 7.67657976e+01] [ 3.24039623e-01 9.46043109e-01 -8.70696578e-04 1.08255391e+01] [ 2.69416599e-03 -2.45561234e-06 9.99996371e-01 8.81857954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.274012739 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:76.79, Y:10.84, Z:0.09 [[ 9.45909564e-01 -3.24420403e-01 -2.54943345e-03 7.67920589e+01] [ 3.24419233e-01 9.45912999e-01 -8.71163164e-04 1.08356024e+01] [ 2.69416535e-03 -3.04367791e-06 9.99996371e-01 8.69211558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.304012739 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:76.82, Y:10.85, Z:0.09 [[ 9.45359709e-01 -3.26019204e-01 -2.54927847e-03 7.68186792e+01] [ 3.26018039e-01 9.45363146e-01 -8.71616460e-04 1.08453205e+01] [ 2.69415762e-03 -7.11968305e-06 9.99996371e-01 8.85868511e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.334012739 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:76.85, Y:10.85, Z:0.09 [[ 9.44864988e-01 -3.27450236e-01 -2.54911215e-03 7.68452463e+01] [ 3.27449075e-01 9.44868426e-01 -8.72102607e-04 1.08539677e+01] [ 2.69414579e-03 -1.06851956e-05 9.99996371e-01 9.06984996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.364012739 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:76.87, Y:10.86, Z:0.09 [[ 9.43808892e-01 -3.30481888e-01 -2.54894800e-03 7.68720431e+01] [ 3.30480737e-01 9.43812334e-01 -8.72582093e-04 1.08616289e+01] [ 2.69410114e-03 -1.88274755e-05 9.99996371e-01 9.17879460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.394012739 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:76.90, Y:10.87, Z:0.09 [[ 9.43386739e-01 -3.31685037e-01 -2.54878365e-03 7.68981370e+01] [ 3.31683888e-01 9.43390182e-01 -8.73061900e-04 1.08695239e+01] [ 2.69407904e-03 -2.17554521e-05 9.99996371e-01 9.17031166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.424012739 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:76.92, Y:10.88, Z:0.09 [[ 9.43023268e-01 -3.32717028e-01 -2.54867175e-03 7.69244968e+01] [ 3.32715883e-01 9.43026711e-01 -8.73388437e-04 1.08774243e+01] [ 2.69405675e-03 -2.43579539e-05 9.99996371e-01 9.28434400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.454012739 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:76.95, Y:10.88, Z:0.09 [[ 9.42469427e-01 -3.34282641e-01 -2.54850648e-03 7.69500098e+01] [ 3.34281500e-01 9.42472872e-01 -8.73870438e-04 1.08846966e+01] [ 2.69401794e-03 -2.83223971e-05 9.99996371e-01 9.46818385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.484012739 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:76.98, Y:10.89, Z:0.10 [[ 9.42143217e-01 -3.35200930e-01 -2.54839393e-03 7.69770928e+01] [ 3.35199791e-01 9.42146664e-01 -8.74198532e-04 1.08930354e+01] [ 2.69399300e-03 -3.06008945e-05 9.99996371e-01 9.54965560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.514012739 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:77.00, Y:10.90, Z:0.10 [[ 9.41689350e-01 -3.36473885e-01 -2.54822589e-03 7.70042497e+01] [ 3.36472750e-01 9.41692797e-01 -8.74688077e-04 1.08960948e+01] [ 2.69395566e-03 -3.37241261e-05 9.99996371e-01 9.51610221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.544012739 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:77.03, Y:10.90, Z:0.09 [[ 9.41288612e-01 -3.37593330e-01 -2.54815288e-03 7.70317006e+01] [ 3.37592198e-01 9.41292060e-01 -8.74900701e-04 1.09020677e+01] [ 2.69391672e-03 -3.67024666e-05 9.99996371e-01 9.46252887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.574012739 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:77.06, Y:10.91, Z:0.09 [[ 9.41078428e-01 -3.38178798e-01 -2.54798634e-03 7.70582139e+01] [ 3.38177667e-01 9.41081877e-01 -8.75385471e-04 1.09079574e+01] [ 2.69390057e-03 -3.78656913e-05 9.99996371e-01 9.43825592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.604012739 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:77.09, Y:10.91, Z:0.09 [[ 9.40698836e-01 -3.39233266e-01 -2.54791384e-03 7.70863089e+01] [ 3.39232138e-01 9.40702285e-01 -8.75596420e-04 1.09115339e+01] [ 2.69385981e-03 -4.06617275e-05 9.99996371e-01 9.21134925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.634012739 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:77.11, Y:10.92, Z:0.09 [[ 9.40708768e-01 -3.39205722e-01 -2.54774875e-03 7.71132934e+01] [ 3.39204593e-01 9.40712218e-01 -8.76076543e-04 1.09173295e+01] [ 2.69386855e-03 -4.00751913e-05 9.99996371e-01 9.06666088e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.664012739 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:77.14, Y:10.92, Z:0.09 [[ 9.41631812e-01 -3.36634875e-01 -2.54767700e-03 7.71416814e+01] [ 3.36633736e-01 9.41635258e-01 -8.76285139e-04 1.09223228e+01] [ 2.69397063e-03 -3.24960637e-05 9.99996371e-01 9.31065963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.694012739 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:77.17, Y:10.93, Z:0.09 [[ 9.42473690e-01 -3.34270630e-01 -2.54751298e-03 7.71682353e+01] [ 3.34269482e-01 9.42477132e-01 -8.76761708e-04 1.09311451e+01] [ 2.69404842e-03 -2.52310021e-05 9.99996371e-01 9.47163239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.724012739 meters Centerline goodness : 0.995209 Centerline is valid? [True, True] Translation: X:77.19, Y:10.94, Z:0.10 [[ 9.43565380e-01 -3.31176517e-01 -2.54734838e-03 7.71944237e+01] [ 3.31175355e-01 9.43568818e-01 -8.77239684e-04 1.09399641e+01] [ 2.69411968e-03 -1.58860088e-05 9.99996371e-01 9.57235315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.754012739 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:77.22, Y:10.95, Z:0.10 [[ 9.45859718e-01 -3.24565717e-01 -2.54717963e-03 7.72206541e+01] [ 3.24564531e-01 9.45863148e-01 -8.77729394e-04 1.09469336e+01] [ 2.69416422e-03 3.48471658e-06 9.99996371e-01 9.64234285e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.784012739 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:77.25, Y:10.96, Z:0.10 [[ 9.46729695e-01 -3.22019249e-01 -2.54710631e-03 7.72469843e+01] [ 3.22018052e-01 9.46733121e-01 -8.77942125e-04 1.09551290e+01] [ 2.69414417e-03 1.09596680e-05 9.99996371e-01 9.58985749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.814012739 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:77.27, Y:10.96, Z:0.09 [[ 9.47530145e-01 -3.19656279e-01 -2.54694350e-03 7.72729373e+01] [ 3.19655072e-01 9.47533568e-01 -8.78414181e-04 1.09638081e+01] [ 2.69410507e-03 1.81805088e-05 9.99996371e-01 9.48208056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84401273900001 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:77.30, Y:10.97, Z:0.10 [[ 9.48792013e-01 -3.15891168e-01 -2.54687280e-03 7.72992656e+01] [ 3.15889947e-01 9.48795431e-01 -8.78619118e-04 1.09722200e+01] [ 2.69400929e-03 2.90952876e-05 9.99996371e-01 9.57308848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.874012739 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:77.32, Y:10.98, Z:0.10 [[ 9.49420633e-01 -3.13996777e-01 -2.54670158e-03 7.73247262e+01] [ 3.13995548e-01 9.49424048e-01 -8.79115111e-04 1.09806669e+01] [ 2.69393904e-03 3.49970651e-05 9.99996371e-01 9.61726442e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.904012739 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:77.35, Y:10.99, Z:0.09 [[ 9.50129205e-01 -3.11846130e-01 -2.54658563e-03 7.73498671e+01] [ 3.11844892e-01 9.50132617e-01 -8.79450888e-04 1.09928086e+01] [ 2.69384742e-03 4.14522521e-05 9.99996371e-01 9.32252849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.934012739 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:77.38, Y:11.00, Z:0.09 [[ 9.50605272e-01 -3.10391901e-01 -2.54642806e-03 7.73755301e+01] [ 3.10390658e-01 9.50608682e-01 -8.79906888e-04 1.10036447e+01] [ 2.69377259e-03 4.60566471e-05 9.99996371e-01 9.20222631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.964012739 meters Centerline goodness : 0.994941 Centerline is valid? [True, True] Translation: X:77.40, Y:11.01, Z:0.09 [[ 9.51146300e-01 -3.08730030e-01 -2.54626643e-03 7.74019454e+01] [ 3.08728779e-01 9.51149707e-01 -8.80374344e-04 1.10139435e+01] [ 2.69367857e-03 5.12590719e-05 9.99996371e-01 9.20781596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.994012739 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:77.43, Y:11.02, Z:0.09 [[ 9.52036473e-01 -3.05973971e-01 -2.54610101e-03 7.74284580e+01] [ 3.05972709e-01 9.52039876e-01 -8.80852514e-04 1.10240396e+01] [ 2.69350763e-03 5.95662987e-05 9.99996371e-01 9.49767614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.024012739 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:77.45, Y:11.03, Z:0.10 [[ 9.52187962e-01 -3.05502214e-01 -2.54595689e-03 7.74548207e+01] [ 3.05500949e-01 9.52191364e-01 -8.81268867e-04 1.10347504e+01] [ 2.69346775e-03 6.13413613e-05 9.99996371e-01 9.63173608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.054012739 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:77.48, Y:11.05, Z:0.09 [[ 9.52339824e-01 -3.05028487e-01 -2.54579188e-03 7.74797783e+01] [ 3.05027219e-01 9.52343225e-01 -8.81745271e-04 1.10455934e+01] [ 2.69342508e-03 6.31853189e-05 9.99996371e-01 9.44507485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.084012739 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:77.51, Y:11.06, Z:0.09 [[ 9.52298578e-01 -3.05157233e-01 -2.54572020e-03 7.75065009e+01] [ 3.05155965e-01 9.52301979e-01 -8.81952169e-04 1.10552795e+01] [ 2.69342847e-03 6.30400915e-05 9.99996371e-01 9.28821294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.114012739 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:77.53, Y:11.07, Z:0.09 [[ 9.52379868e-01 -3.04903440e-01 -2.54555783e-03 7.75329762e+01] [ 3.04902170e-01 9.52383268e-01 -8.82420577e-04 1.10652108e+01] [ 2.69339975e-03 6.42534872e-05 9.99996371e-01 9.09414188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.144012739 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:77.56, Y:11.08, Z:0.09 [[ 9.52845729e-01 -3.03444457e-01 -2.54539407e-03 7.75586538e+01] [ 3.03443180e-01 9.52849126e-01 -8.82892687e-04 1.10764590e+01] [ 2.69328541e-03 6.88780536e-05 9.99996371e-01 8.81568102e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.174012739 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:77.58, Y:11.09, Z:0.09 [[ 9.53081079e-01 -3.02704440e-01 -2.54534319e-03 7.75846235e+01] [ 3.02703161e-01 9.53084475e-01 -8.83039365e-04 1.10855466e+01] [ 2.69322701e-03 7.11246833e-05 9.99996371e-01 8.84853156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.204012739 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:77.61, Y:11.09, Z:0.10 [[ 9.53325312e-01 -3.01934381e-01 -2.54518184e-03 7.76111808e+01] [ 3.01933098e-01 9.53328707e-01 -8.83504178e-04 1.10931860e+01] [ 2.69315520e-03 7.37922592e-05 9.99996371e-01 9.55656903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.234012739 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:77.64, Y:11.10, Z:0.10 [[ 9.53236925e-01 -3.02213314e-01 -2.54513168e-03 7.76377151e+01] [ 3.02212031e-01 9.53240320e-01 -8.83648633e-04 1.11029325e+01] [ 2.69317252e-03 7.31570910e-05 9.99996371e-01 9.91072630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.264012739 meters Centerline goodness : 0.992240 Centerline is valid? [True, True] Translation: X:77.66, Y:11.11, Z:0.10 [[ 9.53172704e-01 -3.02415806e-01 -2.54497200e-03 7.76633096e+01] [ 3.02414522e-01 9.53176099e-01 -8.84108302e-04 1.11123351e+01] [ 2.69317481e-03 7.30714104e-05 9.99996371e-01 9.77509624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.294012739 meters Centerline goodness : 0.993193 Centerline is valid? [True, True] Translation: X:77.69, Y:11.12, Z:0.09 [[ 9.52909719e-01 -3.03243452e-01 -2.54490285e-03 7.76910144e+01] [ 3.03242171e-01 9.52913115e-01 -8.84307313e-04 1.11211304e+01] [ 2.69323170e-03 7.09431694e-05 9.99996371e-01 9.12579562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.324012739 meters Centerline goodness : 0.992091 Centerline is valid? [True, True] Translation: X:77.72, Y:11.13, Z:0.09 [[ 9.52819364e-01 -3.03527237e-01 -2.54476468e-03 7.77175484e+01] [ 3.03525955e-01 9.52822760e-01 -8.84704732e-04 1.11292989e+01] [ 2.69324169e-03 7.05616698e-05 9.99996371e-01 9.25068078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.354012739 meters Centerline goodness : 0.992091 Centerline is valid? [True, True] Translation: X:77.74, Y:11.14, Z:0.09 [[ 9.52762363e-01 -3.03706117e-01 -2.54459913e-03 7.77443987e+01] [ 3.03704835e-01 9.52765758e-01 -8.85180644e-04 1.11388329e+01] [ 2.69324169e-03 7.05597422e-05 9.99996371e-01 9.25835451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.384012739 meters Centerline goodness : 0.991789 Centerline is valid? [True, True] Translation: X:77.77, Y:11.15, Z:0.10 [[ 9.52709671e-01 -3.03871368e-01 -2.54443285e-03 7.77702012e+01] [ 3.03870085e-01 9.52713066e-01 -8.85658343e-04 1.11482432e+01] [ 2.69324064e-03 7.05982421e-05 9.99996371e-01 9.83382417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.414012739 meters Centerline goodness : 0.991236 Centerline is valid? [True, True] Translation: X:77.80, Y:11.16, Z:0.10 [[ 9.52681228e-01 -3.03960530e-01 -2.54435543e-03 7.77962866e+01] [ 3.03959247e-01 9.52684623e-01 -8.85880701e-04 1.11589445e+01] [ 2.69324106e-03 7.05815528e-05 9.99996371e-01 1.00786070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.444012739 meters Centerline goodness : 0.990866 Centerline is valid? [True, True] Translation: X:77.82, Y:11.17, Z:0.10 [[ 9.52678030e-01 -3.03970554e-01 -2.54419859e-03 7.78224042e+01] [ 3.03969270e-01 9.52681425e-01 -8.86330912e-04 1.11694773e+01] [ 2.69322924e-03 7.10297986e-05 9.99996371e-01 1.00785777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.474012739 meters Centerline goodness : 0.991022 Centerline is valid? [True, True] Translation: X:77.85, Y:11.18, Z:0.10 [[ 9.52402921e-01 -3.04831436e-01 -2.54403674e-03 7.78490307e+01] [ 3.04830154e-01 9.52406316e-01 -8.86795218e-04 1.11786004e+01] [ 2.69327972e-03 6.90872435e-05 9.99996371e-01 9.65955315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.504012739 meters Centerline goodness : 0.990197 Centerline is valid? [True, True] Translation: X:77.87, Y:11.19, Z:0.10 [[ 9.51939894e-01 -3.06274333e-01 -2.54398672e-03 7.78746781e+01] [ 3.06273056e-01 9.51943291e-01 -8.86938699e-04 1.11885920e+01] [ 2.69337765e-03 6.51577446e-05 9.99996371e-01 9.55401592e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.534012739 meters Centerline goodness : 0.991100 Centerline is valid? [True, True] Translation: X:77.90, Y:11.20, Z:0.10 [[ 9.50808270e-01 -3.09769533e-01 -2.54382726e-03 7.78991577e+01] [ 3.09768267e-01 9.50811671e-01 -8.87395796e-04 1.11996162e+01] [ 2.69358883e-03 5.57462994e-05 9.99996371e-01 9.58321210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.564012739 meters Centerline goodness : 0.991040 Centerline is valid? [True, True] Translation: X:77.93, Y:11.21, Z:0.10 [[ 9.50097963e-01 -3.11941323e-01 -2.54375766e-03 7.79250859e+01] [ 3.11940065e-01 9.50101367e-01 -8.87595281e-04 1.12087237e+01] [ 2.69370528e-03 4.98025401e-05 9.99996371e-01 9.72364146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59401273900001 meters Centerline goodness : 0.991022 Centerline is valid? [True, True] Translation: X:77.95, Y:11.22, Z:0.10 [[ 9.49486909e-01 -3.13796336e-01 -2.54365257e-03 7.79522179e+01] [ 3.13795083e-01 9.49490315e-01 -8.87896333e-04 1.12174513e+01] [ 2.69379210e-03 4.48602746e-05 9.99996371e-01 9.65458669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.624012739 meters Centerline goodness : 0.991787 Centerline is valid? [True, True] Translation: X:77.98, Y:11.23, Z:0.09 [[ 9.49285096e-01 -3.14406326e-01 -2.54350917e-03 7.79787838e+01] [ 3.14405074e-01 9.49288502e-01 -8.88306953e-04 1.12282456e+01] [ 2.69381333e-03 4.35643635e-05 9.99996371e-01 9.07863742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.654012739 meters Centerline goodness : 0.991757 Centerline is valid? [True, True] Translation: X:78.00, Y:11.24, Z:0.09 [[ 9.49559000e-01 -3.13578121e-01 -2.54337552e-03 7.80045052e+01] [ 3.13576865e-01 9.49562405e-01 -8.88689433e-04 1.12396808e+01] [ 2.69376734e-03 4.63193268e-05 9.99996371e-01 9.06653674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.684012739 meters Centerline goodness : 0.991977 Centerline is valid? [True, True] Translation: X:78.03, Y:11.25, Z:0.10 [[ 9.50578319e-01 -3.10474463e-01 -2.54321835e-03 7.80296811e+01] [ 3.10473194e-01 9.50581719e-01 -8.89138989e-04 1.12504796e+01] [ 2.69359182e-03 5.55951201e-05 9.99996371e-01 9.62531177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.714012739 meters Centerline goodness : 0.990909 Centerline is valid? [True, True] Translation: X:78.06, Y:11.26, Z:0.10 [[ 9.50966793e-01 -3.09282541e-01 -2.54313267e-03 7.80572357e+01] [ 3.09281268e-01 9.50970192e-01 -8.89383992e-04 1.12597619e+01] [ 2.69351430e-03 5.92313458e-05 9.99996371e-01 1.01764622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.744012739 meters Centerline goodness : 0.990152 Centerline is valid? [True, True] Translation: X:78.08, Y:11.27, Z:0.10 [[ 9.51236735e-01 -3.08451304e-01 -2.54298744e-03 7.80824655e+01] [ 3.08450027e-01 9.51240132e-01 -8.89799057e-04 1.12688356e+01] [ 2.69345138e-03 6.20250072e-05 9.99996371e-01 1.04540270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.774012739 meters Centerline goodness : 0.991110 Centerline is valid? [True, True] Translation: X:78.11, Y:11.28, Z:0.10 [[ 9.51191176e-01 -3.08591770e-01 -2.54287465e-03 7.81087482e+01] [ 3.08590492e-01 9.51194573e-01 -8.90121274e-04 1.12792292e+01] [ 2.69345266e-03 6.19685629e-05 9.99996371e-01 1.03880725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.804012739 meters Centerline goodness : 0.990424 Centerline is valid? [True, True] Translation: X:78.14, Y:11.29, Z:0.10 [[ 9.50954537e-01 -3.09320227e-01 -2.54271057e-03 7.81354950e+01] [ 3.09318951e-01 9.50957935e-01 -8.90589720e-04 1.12863370e+01] [ 2.69348821e-03 6.04017691e-05 9.99996371e-01 1.02302617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.834012739 meters Centerline goodness : 0.989754 Centerline is valid? [True, True] Translation: X:78.16, Y:11.30, Z:0.10 [[ 9.50879862e-01 -3.09549711e-01 -2.54254598e-03 7.81624543e+01] [ 3.09548434e-01 9.50883259e-01 -8.91059375e-04 1.12950764e+01] [ 2.69349158e-03 6.02492903e-05 9.99996371e-01 1.03414997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.864012739 meters Centerline goodness : 0.990226 Centerline is valid? [True, True] Translation: X:78.19, Y:11.30, Z:0.10 [[ 9.51031773e-01 -3.09082680e-01 -2.54238035e-03 7.81882732e+01] [ 3.09081400e-01 9.51035169e-01 -8.91531686e-04 1.13048552e+01] [ 2.69345013e-03 6.20724820e-05 9.99996371e-01 1.04881348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.894012739 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:78.21, Y:11.32, Z:0.11 [[ 9.51802901e-01 -3.06699813e-01 -2.54221322e-03 7.82131685e+01] [ 3.06698524e-01 9.51806293e-01 -8.92008002e-04 1.13164482e+01] [ 2.69327323e-03 6.93227607e-05 9.99996371e-01 1.05795161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.924012739 meters Centerline goodness : 0.991233 Centerline is valid? [True, True] Translation: X:78.24, Y:11.32, Z:0.11 [[ 9.52019272e-01 -3.06027522e-01 -2.54209908e-03 7.82386672e+01] [ 3.06026229e-01 9.52022663e-01 -8.92333171e-04 1.13246436e+01] [ 2.69321445e-03 7.15693793e-05 9.99996371e-01 1.05627639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.954012739 meters Centerline goodness : 0.990388 Centerline is valid? [True, True] Translation: X:78.27, Y:11.33, Z:0.11 [[ 9.51943085e-01 -3.06264430e-01 -2.54202774e-03 7.82658363e+01] [ 3.06263138e-01 9.51946476e-01 -8.92536346e-04 1.13310766e+01] [ 2.69322649e-03 7.11144082e-05 9.99996371e-01 1.06158275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.984012739 meters Centerline goodness : 0.989984 Centerline is valid? [True, True] Translation: X:78.29, Y:11.34, Z:0.11 [[ 9.51970605e-01 -3.06178878e-01 -2.54186480e-03 7.82924215e+01] [ 3.06177584e-01 9.51973996e-01 -8.93000148e-04 1.13393963e+01] [ 2.69320698e-03 7.18478660e-05 9.99996371e-01 1.06613340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.014012739 meters Centerline goodness : 0.990847 Centerline is valid? [True, True] Translation: X:78.32, Y:11.35, Z:0.11 [[ 9.52090604e-01 -3.05805530e-01 -2.54169700e-03 7.83179482e+01] [ 3.05804234e-01 9.52093993e-01 -8.93477491e-04 1.13478399e+01] [ 2.69316481e-03 7.34098191e-05 9.99996371e-01 1.06053226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.044012739 meters Centerline goodness : 0.990810 Centerline is valid? [True, True] Translation: X:78.35, Y:11.36, Z:0.11 [[ 9.52469045e-01 -3.04624783e-01 -2.54162413e-03 7.83453176e+01] [ 3.04623482e-01 9.52472433e-01 -8.93684735e-04 1.13554124e+01] [ 2.69306544e-03 7.69686525e-05 9.99996371e-01 1.08440935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.074012739 meters Centerline goodness : 0.990686 Centerline is valid? [True, True] Translation: X:78.37, Y:11.36, Z:0.11 [[ 9.52479504e-01 -3.04592079e-01 -2.54154545e-03 7.83716502e+01] [ 3.04590777e-01 9.52482892e-01 -8.93908437e-04 1.13645594e+01] [ 2.69305599e-03 7.72981619e-05 9.99996371e-01 1.09953601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.104012739 meters Centerline goodness : 0.991025 Centerline is valid? [True, True] Translation: X:78.40, Y:11.37, Z:0.11 [[ 9.52645616e-01 -3.04072150e-01 -2.54137778e-03 7.83964656e+01] [ 3.04070845e-01 9.52649002e-01 -8.94384866e-04 1.13746798e+01] [ 2.69299854e-03 7.92729326e-05 9.99996371e-01 1.07908895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.134012739 meters Centerline goodness : 0.991168 Centerline is valid? [True, True] Translation: X:78.42, Y:11.38, Z:0.11 [[ 9.52832188e-01 -3.03487007e-01 -2.54126343e-03 7.84223715e+01] [ 3.03485699e-01 9.52835573e-01 -8.94709666e-04 1.13842184e+01] [ 2.69293896e-03 8.12710601e-05 9.99996371e-01 1.05636920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.164012739 meters Centerline goodness : 0.990663 Centerline is valid? [True, True] Translation: X:78.45, Y:11.39, Z:0.10 [[ 9.52997153e-01 -3.02968592e-01 -2.54121343e-03 7.84490305e+01] [ 3.02967282e-01 9.53000538e-01 -8.94851644e-04 1.13933084e+01] [ 2.69288971e-03 8.28865421e-05 9.99996371e-01 1.04674415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.194012739 meters Centerline goodness : 0.991136 Centerline is valid? [True, True] Translation: X:78.47, Y:11.40, Z:0.11 [[ 9.53408112e-01 -3.01672861e-01 -2.54104984e-03 7.84749495e+01] [ 3.01671545e-01 9.53411494e-01 -8.95315958e-04 1.14030915e+01] [ 2.69275865e-03 8.70390664e-05 9.99996371e-01 1.06748691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.224012739 meters Centerline goodness : 0.991380 Centerline is valid? [True, True] Translation: X:78.50, Y:11.41, Z:0.11 [[ 9.53531286e-01 -3.01283306e-01 -2.54099906e-03 7.85008918e+01] [ 3.01281988e-01 9.53534667e-01 -8.95460054e-04 1.14132652e+01] [ 2.69271786e-03 8.82919290e-05 9.99996371e-01 1.09000868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.254012739 meters Centerline goodness : 0.991145 Centerline is valid? [True, True] Translation: X:78.53, Y:11.42, Z:0.11 [[ 9.53678649e-01 -3.00816519e-01 -2.54084230e-03 7.85255776e+01] [ 3.00815198e-01 9.53682030e-01 -8.95904619e-04 1.14246307e+01] [ 2.69265855e-03 9.00811251e-05 9.99996371e-01 1.09562674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.284012739 meters Centerline goodness : 0.990932 Centerline is valid? [True, True] Translation: X:78.55, Y:11.44, Z:0.11 [[ 9.53722527e-01 -3.00677378e-01 -2.54077381e-03 7.85511781e+01] [ 3.00676057e-01 9.53725907e-01 -8.96098831e-04 1.14355763e+01] [ 2.69263845e-03 9.06797930e-05 9.99996371e-01 1.10505535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.314012739 meters Centerline goodness : 0.991295 Centerline is valid? [True, True] Translation: X:78.58, Y:11.45, Z:0.11 [[ 9.53748251e-01 -3.00595774e-01 -2.54060987e-03 7.85755755e+01] [ 3.00594450e-01 9.53751630e-01 -8.96563396e-04 1.14467834e+01] [ 2.69261397e-03 9.14025445e-05 9.99996371e-01 1.11109169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34401273900001 meters Centerline goodness : 0.991474 Centerline is valid? [True, True] Translation: X:78.60, Y:11.46, Z:0.11 [[ 9.53782122e-01 -3.00488286e-01 -2.54053860e-03 7.86009462e+01] [ 3.00486962e-01 9.53785501e-01 -8.96765286e-04 1.14591068e+01] [ 2.69259635e-03 9.19199704e-05 9.99996371e-01 1.11162588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.374012739 meters Centerline goodness : 0.991054 Centerline is valid? [True, True] Translation: X:78.63, Y:11.47, Z:0.11 [[ 9.53761288e-01 -3.00554409e-01 -2.54037827e-03 7.86264111e+01] [ 3.00553084e-01 9.53764666e-01 -8.97219251e-04 1.14694790e+01] [ 2.69258623e-03 9.22144655e-05 9.99996371e-01 1.09020458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.404012739 meters Centerline goodness : 0.990472 Centerline is valid? [True, True] Translation: X:78.65, Y:11.48, Z:0.11 [[ 9.53552122e-01 -3.01217361e-01 -2.54026902e-03 7.86518339e+01] [ 3.01216037e-01 9.53555501e-01 -8.97528453e-04 1.14803391e+01] [ 2.69263865e-03 9.06703929e-05 9.99996371e-01 1.07572562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.434012739 meters Centerline goodness : 0.991467 Centerline is valid? [True, True] Translation: X:78.68, Y:11.49, Z:0.11 [[ 9.52970923e-01 -3.03051098e-01 -2.54010980e-03 7.86753965e+01] [ 3.03049779e-01 9.52974304e-01 -8.97978842e-04 1.14940930e+01] [ 2.69279284e-03 8.59680110e-05 9.99996371e-01 1.06724045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.464012739 meters Centerline goodness : 0.991718 Centerline is valid? [True, True] Translation: X:78.70, Y:11.51, Z:0.11 [[ 9.52044051e-01 -3.05950441e-01 -2.54004063e-03 7.87017745e+01] [ 3.05949133e-01 9.52047437e-01 -8.98174467e-04 1.15066596e+01] [ 2.69303604e-03 7.79784310e-05 9.99996371e-01 1.11598536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.494012739 meters Centerline goodness : 0.991858 Centerline is valid? [True, True] Translation: X:78.73, Y:11.52, Z:0.11 [[ 9.51391081e-01 -3.07974933e-01 -2.53988968e-03 7.87280156e+01] [ 3.07973630e-01 9.51394469e-01 -8.98601124e-04 1.15161758e+01] [ 2.69318361e-03 7.27020513e-05 9.99996371e-01 1.13519679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.524012739 meters Centerline goodness : 0.991913 Centerline is valid? [True, True] Translation: X:78.75, Y:11.53, Z:0.11 [[ 9.50711017e-01 -3.10067915e-01 -2.53971727e-03 7.87534164e+01] [ 3.10066619e-01 9.50714407e-01 -8.99088141e-04 1.15261153e+01] [ 2.69332418e-03 6.72914538e-05 9.99996371e-01 1.14721364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.554012739 meters Centerline goodness : 0.991858 Centerline is valid? [True, True] Translation: X:78.78, Y:11.54, Z:0.11 [[ 9.49621881e-01 -3.13387674e-01 -2.53964229e-03 7.87776886e+01] [ 3.13386389e-01 9.49625275e-01 -8.99299876e-04 1.15388390e+01] [ 2.69353800e-03 5.81055122e-05 9.99996371e-01 1.13956279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.584012739 meters Centerline goodness : 0.992249 Centerline is valid? [True, True] Translation: X:78.80, Y:11.55, Z:0.11 [[ 9.49170421e-01 -3.14752382e-01 -2.53956862e-03 7.88024658e+01] [ 3.14751101e-01 9.49173817e-01 -8.99507878e-04 1.15490406e+01] [ 2.69361429e-03 5.44542537e-05 9.99996371e-01 1.11827929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.614012739 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:78.83, Y:11.56, Z:0.11 [[ 9.47650777e-01 -3.19298538e-01 -2.53949538e-03 7.88280216e+01] [ 3.19297273e-01 9.47654178e-01 -8.99714581e-04 1.15593426e+01] [ 2.69384096e-03 4.17612710e-05 9.99996371e-01 1.10213757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.644012739 meters Centerline goodness : 0.992368 Centerline is valid? [True, True] Translation: X:78.85, Y:11.57, Z:0.11 [[ 9.46598060e-01 -3.22406054e-01 -2.53932798e-03 7.88545126e+01] [ 3.22404799e-01 9.46601466e-01 -9.00186821e-04 1.15697739e+01] [ 2.69395727e-03 3.34235725e-05 9.99996371e-01 1.10830111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.674012739 meters Centerline goodness : 0.992769 Centerline is valid? [True, True] Translation: X:78.88, Y:11.58, Z:0.11 [[ 9.45595798e-01 -3.25333890e-01 -2.53915938e-03 7.88806803e+01] [ 3.25332644e-01 9.45599206e-01 -9.00662140e-04 1.15798945e+01] [ 2.69404301e-03 2.55908998e-05 9.99996371e-01 1.12551754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.704012739 meters Centerline goodness : 0.992282 Centerline is valid? [True, True] Translation: X:78.91, Y:11.59, Z:0.11 [[ 9.43688576e-01 -3.30825368e-01 -2.53898824e-03 7.89075870e+01] [ 3.30824141e-01 9.43691992e-01 -9.01144322e-04 1.15883702e+01] [ 2.69414427e-03 1.04409985e-05 9.99996371e-01 1.12818782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.734012739 meters Centerline goodness : 0.992287 Centerline is valid? [True, True] Translation: X:78.93, Y:11.60, Z:0.11 [[ 9.42673106e-01 -3.33707912e-01 -2.53881566e-03 7.89341585e+01] [ 3.33706694e-01 9.42676524e-01 -9.01630275e-04 1.15964133e+01] [ 2.69416308e-03 2.72283256e-06 9.99996371e-01 1.12829218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.764012739 meters Centerline goodness : 0.992748 Centerline is valid? [True, True] Translation: X:78.96, Y:11.60, Z:0.11 [[ 9.40420012e-01 -3.40005523e-01 -2.53864254e-03 7.89607441e+01] [ 3.40004326e-01 9.40423439e-01 -9.02117450e-04 1.16035095e+01] [ 2.69412386e-03 -1.47801422e-05 9.99996371e-01 1.14037257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.794012739 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:78.99, Y:11.61, Z:0.12 [[ 9.39233728e-01 -3.43268933e-01 -2.53852502e-03 7.89880109e+01] [ 3.43267747e-01 9.39237158e-01 -9.02448036e-04 1.16111213e+01] [ 2.69405940e-03 -2.37841300e-05 9.99996371e-01 1.15008316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.824012739 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:79.01, Y:11.62, Z:0.12 [[ 9.38196304e-01 -3.46094281e-01 -2.53835400e-03 7.90147116e+01] [ 3.46093104e-01 9.38199738e-01 -9.02928790e-04 1.16174612e+01] [ 2.69398155e-03 -3.13823634e-05 9.99996371e-01 1.15377912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.854012739 meters Centerline goodness : 0.992328 Centerline is valid? [True, True] Translation: X:79.04, Y:11.62, Z:0.12 [[ 9.36536680e-01 -3.50560414e-01 -2.53823762e-03 7.90425664e+01] [ 3.50559253e-01 9.36540119e-01 -9.03255842e-04 1.16225107e+01] [ 2.69380710e-03 -4.38704562e-05 9.99996371e-01 1.16210688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.884012739 meters Centerline goodness : 0.992342 Centerline is valid? [True, True] Translation: X:79.07, Y:11.63, Z:0.12 [[ 9.36052023e-01 -3.51852480e-01 -2.53806576e-03 7.90690836e+01] [ 3.51851322e-01 9.36055463e-01 -9.03738484e-04 1.16311204e+01] [ 2.69375295e-03 -4.70755591e-05 9.99996371e-01 1.18272766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.914012739 meters Centerline goodness : 0.992776 Centerline is valid? [True, True] Translation: X:79.10, Y:11.64, Z:0.11 [[ 9.36611011e-01 -3.50361776e-01 -2.53789303e-03 7.90961531e+01] [ 3.50360612e-01 9.36614448e-01 -9.04223293e-04 1.16381470e+01] [ 2.69383256e-03 -4.22722621e-05 9.99996371e-01 1.12513698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.944012739 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:79.12, Y:11.65, Z:0.11 [[ 9.37180430e-01 -3.48835780e-01 -2.53783936e-03 7.91229411e+01] [ 3.48834609e-01 9.37183865e-01 -9.04373916e-04 1.16463638e+01] [ 2.69390008e-03 -3.77246655e-05 9.99996371e-01 1.12959840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.974012739 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:79.15, Y:11.65, Z:0.11 [[ 9.37789923e-01 -3.47193923e-01 -2.53767018e-03 7.91498992e+01] [ 3.47192746e-01 9.37793356e-01 -9.04848375e-04 1.16548707e+01] [ 2.69396809e-03 -3.25029898e-05 9.99996371e-01 1.14868609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.004012739 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:79.18, Y:11.66, Z:0.12 [[ 9.38614792e-01 -3.44957727e-01 -2.53761757e-03 7.91764002e+01] [ 3.44956541e-01 9.38618222e-01 -9.04995907e-04 1.16628691e+01] [ 2.69403942e-03 -2.59252320e-05 9.99996371e-01 1.19365007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.034012739 meters Centerline goodness : 0.993599 Centerline is valid? [True, True] Translation: X:79.20, Y:11.67, Z:0.12 [[ 9.38904260e-01 -3.44169073e-01 -2.53745036e-03 7.92019340e+01] [ 3.44167883e-01 9.38907689e-01 -9.05464470e-04 1.16710276e+01] [ 2.69406452e-03 -2.31644715e-05 9.99996371e-01 1.19733971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.064012739 meters Centerline goodness : 0.993060 Centerline is valid? [True, True] Translation: X:79.23, Y:11.68, Z:0.12 [[ 9.39262795e-01 -3.43189400e-01 -2.53737730e-03 7.92293706e+01] [ 3.43188205e-01 9.39266222e-01 -9.05669182e-04 1.16788529e+01] [ 2.69408885e-03 -2.01365929e-05 9.99996371e-01 1.18693146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09401273900001 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:79.26, Y:11.69, Z:0.12 [[ 9.39353618e-01 -3.42940727e-01 -2.53721417e-03 7.92561662e+01] [ 3.42939531e-01 9.39357045e-01 -9.06125947e-04 1.16878314e+01] [ 2.69409749e-03 -1.89383502e-05 9.99996371e-01 1.18584278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.124012739 meters Centerline goodness : 0.992868 Centerline is valid? [True, True] Translation: X:79.28, Y:11.70, Z:0.12 [[ 9.39377818e-01 -3.42874436e-01 -2.53704372e-03 7.92823922e+01] [ 3.42873238e-01 9.39381244e-01 -9.06602922e-04 1.16965200e+01] [ 2.69410225e-03 -1.82417222e-05 9.99996371e-01 1.18146473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.154012739 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:79.31, Y:11.70, Z:0.12 [[ 9.39451678e-01 -3.42672014e-01 -2.53687079e-03 7.93094477e+01] [ 3.42670814e-01 9.39455103e-01 -9.07086573e-04 1.17049324e+01] [ 2.69410939e-03 -1.71475758e-05 9.99996371e-01 1.16964528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.184012739 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:79.34, Y:11.71, Z:0.12 [[ 9.39569754e-01 -3.42348130e-01 -2.53669770e-03 7.93359653e+01] [ 3.42346927e-01 9.39573178e-01 -9.07570353e-04 1.17143807e+01] [ 2.69411814e-03 -1.57050113e-05 9.99996371e-01 1.16201395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.214012739 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:79.36, Y:11.72, Z:0.12 [[ 9.39467872e-01 -3.42627618e-01 -2.53652591e-03 7.93628369e+01] [ 3.42626415e-01 9.39471296e-01 -9.08050247e-04 1.17235975e+01] [ 2.69411637e-03 -1.59967446e-05 9.99996371e-01 1.16566542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.244012739 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:79.39, Y:11.73, Z:0.12 [[ 9.39285247e-01 -3.43127952e-01 -2.53635379e-03 7.93884222e+01] [ 3.43126750e-01 9.39288671e-01 -9.08530737e-04 1.17320426e+01] [ 2.69411068e-03 -1.69213146e-05 9.99996371e-01 1.18407887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.274012739 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:79.42, Y:11.74, Z:0.12 [[ 9.39221031e-01 -3.43303689e-01 -2.53627921e-03 7.94151801e+01] [ 3.43302487e-01 9.39224455e-01 -9.08738900e-04 1.17418332e+01] [ 2.69410887e-03 -1.72042733e-05 9.99996371e-01 1.18484639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.304012739 meters Centerline goodness : 0.992773 Centerline is valid? [True, True] Translation: X:79.44, Y:11.75, Z:0.12 [[ 9.38616578e-01 -3.44952877e-01 -2.53610909e-03 7.94421462e+01] [ 3.44951679e-01 9.38620004e-01 -9.09213414e-04 1.17489408e+01] [ 2.69407851e-03 -2.14323065e-05 9.99996371e-01 1.19981953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.334012739 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:79.47, Y:11.76, Z:0.12 [[ 9.38176642e-01 -3.46147596e-01 -2.53593070e-03 7.94677088e+01] [ 3.46146402e-01 9.38180069e-01 -9.09710716e-04 1.17572609e+01] [ 2.69405381e-03 -2.43339406e-05 9.99996371e-01 1.19092684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.364012739 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:79.49, Y:11.76, Z:0.12 [[ 9.37739877e-01 -3.47329083e-01 -2.53585336e-03 7.94949732e+01] [ 3.47327892e-01 9.37743306e-01 -9.09926254e-04 1.17647913e+01] [ 2.69402336e-03 -2.74984671e-05 9.99996371e-01 1.17083315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.394012739 meters Centerline goodness : 0.992188 Centerline is valid? [True, True] Translation: X:79.52, Y:11.77, Z:0.12 [[ 9.37641712e-01 -3.47594001e-01 -2.53568293e-03 7.95210127e+01] [ 3.47592810e-01 9.37645140e-01 -9.10400922e-04 1.17737247e+01] [ 2.69402068e-03 -2.77552776e-05 9.99996371e-01 1.15654503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.424012739 meters Centerline goodness : 0.992355 Centerline is valid? [True, True] Translation: X:79.55, Y:11.78, Z:0.11 [[ 9.37694328e-01 -3.47452038e-01 -2.53550797e-03 7.95461107e+01] [ 3.47450845e-01 9.37697755e-01 -9.10887941e-04 1.17828662e+01] [ 2.69403000e-03 -2.68299317e-05 9.99996371e-01 1.14671809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.454012739 meters Centerline goodness : 0.992795 Centerline is valid? [True, True] Translation: X:79.57, Y:11.79, Z:0.12 [[ 9.38024784e-01 -3.46558908e-01 -2.53543167e-03 7.95720608e+01] [ 3.46557712e-01 9.38028210e-01 -9.11100277e-04 1.17917969e+01] [ 2.69405635e-03 -2.40387563e-05 9.99996371e-01 1.15426838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.484012739 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:79.60, Y:11.80, Z:0.12 [[ 9.38074309e-01 -3.46424830e-01 -2.53535681e-03 7.95986019e+01] [ 3.46423632e-01 9.38077735e-01 -9.11308551e-04 1.17997156e+01] [ 2.69406168e-03 -2.34323747e-05 9.99996371e-01 1.17125790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.514012739 meters Centerline goodness : 0.992115 Centerline is valid? [True, True] Translation: X:79.63, Y:11.80, Z:0.12 [[ 9.38174002e-01 -3.46154757e-01 -2.53518276e-03 7.96260588e+01] [ 3.46153557e-01 9.38177427e-01 -9.11792482e-04 1.18043545e+01] [ 2.69407254e-03 -2.21425262e-05 9.99996371e-01 1.18695607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.544012739 meters Centerline goodness : 0.992567 Centerline is valid? [True, True] Translation: X:79.65, Y:11.81, Z:0.12 [[ 9.38098598e-01 -3.46359052e-01 -2.53510718e-03 7.96532965e+01] [ 3.46357852e-01 9.38102024e-01 -9.12002561e-04 1.18121851e+01] [ 2.69406952e-03 -2.25059547e-05 9.99996371e-01 1.19425537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.574012739 meters Centerline goodness : 0.992519 Centerline is valid? [True, True] Translation: X:79.68, Y:11.82, Z:0.12 [[ 9.38150483e-01 -3.46218493e-01 -2.53493056e-03 7.96791524e+01] [ 3.46217291e-01 9.38153908e-01 -9.12493234e-04 1.18205066e+01] [ 2.69407704e-03 -2.15808216e-05 9.99996371e-01 1.19254151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.604012739 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:79.71, Y:11.83, Z:0.12 [[ 9.39299272e-01 -3.43089568e-01 -2.53485402e-03 7.97050123e+01] [ 3.43088354e-01 9.39302693e-01 -9.12705791e-04 1.18281819e+01] [ 2.69413504e-03 -1.23750084e-05 9.99996371e-01 1.19386048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.634012739 meters Centerline goodness : 0.992733 Centerline is valid? [True, True] Translation: X:79.73, Y:11.84, Z:0.12 [[ 9.41092868e-01 -3.38138711e-01 -2.53477828e-03 7.97313681e+01] [ 3.38137478e-01 9.41096282e-01 -9.12916091e-04 1.18371542e+01] [ 2.69416269e-03 2.03528642e-06 9.99996371e-01 1.18978319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.664012739 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:79.76, Y:11.85, Z:0.12 [[ 9.42068183e-01 -3.35411858e-01 -2.53460625e-03 7.97562006e+01] [ 3.35410615e-01 9.42071592e-01 -9.13393465e-04 1.18469273e+01] [ 2.69414355e-03 1.03450820e-05 9.99996371e-01 1.19696760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.694012739 meters Centerline goodness : 0.992763 Centerline is valid? [True, True] Translation: X:79.78, Y:11.86, Z:0.12 [[ 9.43072004e-01 -3.32578970e-01 -2.53448909e-03 7.97824493e+01] [ 3.32577715e-01 9.43075410e-01 -9.13718448e-04 1.18574394e+01] [ 2.69409788e-03 1.87876984e-05 9.99996371e-01 1.20679496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.724012739 meters Centerline goodness : 0.992509 Centerline is valid? [True, True] Translation: X:79.81, Y:11.87, Z:0.12 [[ 9.44954351e-01 -3.27192377e-01 -2.53431420e-03 7.98071490e+01] [ 3.27191102e-01 9.44957749e-01 -9.14203260e-04 1.18694804e+01] [ 2.69394018e-03 3.46752911e-05 9.99996371e-01 1.20308029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.754012739 meters Centerline goodness : 0.992243 Centerline is valid? [True, True] Translation: X:79.83, Y:11.88, Z:0.12 [[ 9.45767355e-01 -3.24834863e-01 -2.53419501e-03 7.98319471e+01] [ 3.24833578e-01 9.45770749e-01 -9.14533553e-04 1.18811327e+01] [ 2.69383989e-03 4.17443483e-05 9.99996371e-01 1.20023986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.784012739 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:79.86, Y:11.90, Z:0.12 [[ 9.46843497e-01 -3.21684581e-01 -2.53411993e-03 7.98561203e+01] [ 3.21683284e-01 9.46846887e-01 -9.14741538e-04 1.18978093e+01] [ 2.69368182e-03 5.09330550e-05 9.99996371e-01 1.19675479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.814012739 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:79.88, Y:11.91, Z:0.12 [[ 9.47067284e-01 -3.21025137e-01 -2.53394712e-03 7.98813291e+01] [ 3.21023837e-01 9.47070672e-01 -9.15220001e-04 1.19113269e+01] [ 2.69363563e-03 5.33174942e-05 9.99996371e-01 1.21247086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84401273900001 meters Centerline goodness : 0.993243 Centerline is valid? [True, True] Translation: X:79.90, Y:11.92, Z:0.12 [[ 9.47197024e-01 -3.20642134e-01 -2.53377487e-03 7.99049070e+01] [ 3.20640831e-01 9.47200411e-01 -9.15696633e-04 1.19241632e+01] [ 2.69360352e-03 5.49134468e-05 9.99996371e-01 1.23930372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.874012739 meters Centerline goodness : 0.993361 Centerline is valid? [True, True] Translation: X:79.93, Y:11.94, Z:0.12 [[ 9.47383975e-01 -3.20089338e-01 -2.53370027e-03 7.99277332e+01] [ 3.20088032e-01 9.47387361e-01 -9.15902977e-04 1.19422095e+01] [ 2.69356639e-03 5.67046680e-05 9.99996371e-01 1.23570518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.904012739 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:79.95, Y:11.96, Z:0.12 [[ 9.47399387e-01 -3.20043720e-01 -2.53353081e-03 7.99514680e+01] [ 3.20042413e-01 9.47402773e-01 -9.16371490e-04 1.19569488e+01] [ 2.69355306e-03 5.73324724e-05 9.99996371e-01 1.20946128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.934012739 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:79.97, Y:11.97, Z:0.12 [[ 9.47273074e-01 -3.20417392e-01 -2.53345698e-03 7.99734721e+01] [ 3.20416086e-01 9.47276460e-01 -9.16575582e-04 1.19748362e+01] [ 2.69357091e-03 5.64870005e-05 9.99996371e-01 1.18233535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.964012739 meters Centerline goodness : 0.993671 Centerline is valid? [True, True] Translation: X:80.00, Y:11.99, Z:0.12 [[ 9.46910919e-01 -3.21486071e-01 -2.53338355e-03 7.99989375e+01] [ 3.21484769e-01 9.46914306e-01 -9.16778474e-04 1.19876557e+01] [ 2.69362864e-03 5.36633212e-05 9.99996371e-01 1.18801719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.994012739 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:80.02, Y:12.00, Z:0.12 [[ 9.45747893e-01 -3.24891529e-01 -2.53321673e-03 8.00223889e+01] [ 3.24890238e-01 9.45751285e-01 -9.17239199e-04 1.20035721e+01] [ 2.69379622e-03 4.44596538e-05 9.99996371e-01 1.19535382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.024012739 meters Centerline goodness : 0.994119 Centerline is valid? [True, True] Translation: X:80.05, Y:12.02, Z:0.12 [[ 9.44851883e-01 -3.27488170e-01 -2.53314443e-03 8.00473655e+01] [ 3.27486887e-01 9.44855278e-01 -9.17438824e-04 1.20161613e+01] [ 2.69390525e-03 3.72722147e-05 9.99996371e-01 1.18645371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.054012739 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:80.07, Y:12.03, Z:0.12 [[ 9.43804033e-01 -3.30495888e-01 -2.53297793e-03 8.00724922e+01] [ 3.30494614e-01 9.43807431e-01 -9.17898308e-04 1.20278015e+01] [ 2.69400501e-03 2.91805623e-05 9.99996371e-01 1.17828013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.084012739 meters Centerline goodness : 0.994225 Centerline is valid? [True, True] Translation: X:80.10, Y:12.04, Z:0.12 [[ 9.41600581e-01 -3.36722335e-01 -2.53281166e-03 8.00970553e+01] [ 3.36721083e-01 9.41603987e-01 -9.18356863e-04 1.20404537e+01] [ 2.69413683e-03 1.18742701e-05 9.99996371e-01 1.18100930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.114012739 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:80.12, Y:12.05, Z:0.12 [[ 9.40623578e-01 -3.39441996e-01 -2.53273921e-03 8.01225164e+01] [ 3.39440753e-01 9.40626988e-01 -9.18556627e-04 1.20522392e+01] [ 2.69415955e-03 4.30111538e-06 9.99996371e-01 1.18544838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.144012739 meters Centerline goodness : 0.994135 Centerline is valid? [True, True] Translation: X:80.15, Y:12.07, Z:0.12 [[ 9.39457015e-01 -3.42657414e-01 -2.53257297e-03 8.01463410e+01] [ 3.42656182e-01 9.39460428e-01 -9.19014743e-04 1.20651625e+01] [ 2.69415930e-03 -4.42693788e-06 9.99996371e-01 1.17330936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.174012739 meters Centerline goodness : 0.994468 Centerline is valid? [True, True] Translation: X:80.17, Y:12.08, Z:0.12 [[ 9.39034944e-01 -3.43812392e-01 -2.53250045e-03 8.01724675e+01] [ 3.43811163e-01 9.39038359e-01 -9.19214541e-04 1.20753804e+01] [ 2.69415242e-03 -7.52735169e-06 9.99996371e-01 1.15949752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.204012739 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:80.20, Y:12.09, Z:0.12 [[ 9.38431157e-01 -3.45457016e-01 -2.53239782e-03 8.01982283e+01] [ 3.45455793e-01 9.38434574e-01 -9.19497206e-04 1.20853646e+01] [ 2.69413643e-03 -1.19466685e-05 9.99996371e-01 1.15133779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.234012739 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:80.22, Y:12.10, Z:0.12 [[ 9.37057160e-01 -3.49166819e-01 -2.53223280e-03 8.02242663e+01] [ 3.49165608e-01 9.37060581e-01 -9.19951441e-04 1.20957986e+01] [ 2.69407205e-03 -2.21215185e-05 9.99996371e-01 1.17181944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.264012739 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:80.25, Y:12.10, Z:0.12 [[ 9.35214690e-01 -3.54072128e-01 -2.53206935e-03 8.02495233e+01] [ 3.54070934e-01 9.35218117e-01 -9.20401095e-04 1.21044685e+01] [ 2.69392550e-03 -3.57595331e-05 9.99996371e-01 1.16741156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.294012739 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:80.28, Y:12.11, Z:0.12 [[ 9.34314996e-01 -3.56439445e-01 -2.53195822e-03 8.02750350e+01] [ 3.56438258e-01 9.34318426e-01 -9.20706702e-04 1.21132183e+01] [ 2.69383140e-03 -4.22566992e-05 9.99996371e-01 1.16636680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.324012739 meters Centerline goodness : 0.994619 Centerline is valid? [True, True] Translation: X:80.30, Y:12.12, Z:0.12 [[ 9.33694684e-01 -3.58061205e-01 -2.53188800e-03 8.03007557e+01] [ 3.58060024e-01 9.33698116e-01 -9.20899752e-04 1.21220665e+01] [ 2.69375753e-03 -4.67286766e-05 9.99996371e-01 1.16644371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.354012739 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:80.33, Y:12.13, Z:0.12 [[ 9.33337446e-01 -3.58991367e-01 -2.53181829e-03 8.03267252e+01] [ 3.58990188e-01 9.33340879e-01 -9.21091361e-04 1.21311010e+01] [ 2.69371336e-03 -4.92088673e-05 9.99996371e-01 1.17241801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.384012739 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:80.35, Y:12.14, Z:0.12 [[ 9.33570871e-01 -3.58383901e-01 -2.53165884e-03 8.03524919e+01] [ 3.58382719e-01 9.33574302e-01 -9.21529427e-04 1.21394639e+01] [ 2.69375294e-03 -4.69897487e-05 9.99996371e-01 1.17615964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.414012739 meters Centerline goodness : 0.994215 Centerline is valid? [True, True] Translation: X:80.38, Y:12.15, Z:0.12 [[ 9.34532896e-01 -3.55867753e-01 -2.53155022e-03 8.03791160e+01] [ 3.55866562e-01 9.34536324e-01 -9.21827710e-04 1.21487117e+01] [ 2.69387439e-03 -3.94157536e-05 9.99996371e-01 1.17528118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.444012739 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:80.40, Y:12.16, Z:0.12 [[ 9.35175906e-01 -3.54174557e-01 -2.53137238e-03 8.04048254e+01] [ 3.54173357e-01 9.35179332e-01 -9.22315808e-04 1.21581858e+01] [ 2.69394792e-03 -3.40171336e-05 9.99996371e-01 1.19287957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.474012739 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:80.43, Y:12.17, Z:0.12 [[ 9.35752753e-01 -3.52647669e-01 -2.53129483e-03 8.04306342e+01] [ 3.52646463e-01 9.35756176e-01 -9.22528590e-04 1.21675411e+01] [ 2.69400233e-03 -2.93935029e-05 9.99996371e-01 1.23576152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.504012739 meters Centerline goodness : 0.986775 Centerline is valid? [True, True] Translation: X:80.46, Y:12.17, Z:0.14 [[ 9.36157037e-01 -3.51573031e-01 -2.53121873e-03 8.04586160e+01] [ 3.51571821e-01 9.36160458e-01 -9.22737344e-04 1.21749860e+01] [ 2.69403645e-03 -2.60781211e-05 9.99996371e-01 1.42681262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.534012739 meters Centerline goodness : 0.992929 Centerline is valid? [True, True] Translation: X:80.49, Y:12.18, Z:0.13 [[ 9.35717572e-01 -3.52741009e-01 -2.53106770e-03 8.04854689e+01] [ 3.52739802e-01 9.35720995e-01 -9.23151448e-04 1.21820221e+01] [ 2.69400656e-03 -2.89992878e-05 9.99996371e-01 1.34203680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.564012739 meters Centerline goodness : 0.992372 Centerline is valid? [True, True] Translation: X:80.51, Y:12.19, Z:0.13 [[ 9.34530902e-01 -3.55872992e-01 -2.53101381e-03 8.05145131e+01] [ 3.55871797e-01 9.34534329e-01 -9.23299161e-04 1.21852600e+01] [ 2.69389653e-03 -3.78648348e-05 9.99996371e-01 1.29318518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59401273900001 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:80.54, Y:12.19, Z:0.13 [[ 9.33971657e-01 -3.57338130e-01 -2.53086409e-03 8.05428606e+01] [ 3.57336938e-01 9.33975085e-01 -9.23709385e-04 1.21928324e+01] [ 2.69384059e-03 -4.16528400e-05 9.99996371e-01 1.26482554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.624012739 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:80.57, Y:12.20, Z:0.13 [[ 9.33858568e-01 -3.57633569e-01 -2.53071428e-03 8.05713518e+01] [ 3.57632378e-01 9.33861996e-01 -9.24119645e-04 1.21972381e+01] [ 2.69383410e-03 -4.20683162e-05 9.99996371e-01 1.25645598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.654012739 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:80.60, Y:12.20, Z:0.13 [[ 9.34321542e-01 -3.56422296e-01 -2.53053610e-03 8.05975391e+01] [ 3.56421099e-01 9.34324968e-01 -9.24607297e-04 1.22038967e+01] [ 2.69389372e-03 -3.80559425e-05 9.99996371e-01 1.26163163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.684012739 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:80.62, Y:12.21, Z:0.13 [[ 9.35142314e-01 -3.54263248e-01 -2.53045879e-03 8.06247780e+01] [ 3.54262043e-01 9.35145737e-01 -9.24818845e-04 1.22108927e+01] [ 2.69397707e-03 -3.16082639e-05 9.99996371e-01 1.25732640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.714012739 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:80.65, Y:12.22, Z:0.12 [[ 9.37160506e-01 -3.48889359e-01 -2.53028971e-03 8.06526025e+01] [ 3.48888132e-01 9.37163921e-01 -9.25281193e-04 1.22168204e+01] [ 2.69411699e-03 -1.56510613e-05 9.99996371e-01 1.23287035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.744012739 meters Centerline goodness : 0.993895 Centerline is valid? [True, True] Translation: X:80.68, Y:12.22, Z:0.12 [[ 9.37974811e-01 -3.46694178e-01 -2.53011575e-03 8.06785698e+01] [ 3.46692942e-01 9.37978223e-01 -9.25756631e-04 1.22247317e+01] [ 2.69414791e-03 -8.83687284e-06 9.99996371e-01 1.22747044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.774012739 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:80.71, Y:12.23, Z:0.12 [[ 9.39131226e-01 -3.43549325e-01 -2.52999701e-03 8.07064788e+01] [ 3.43548077e-01 9.39134634e-01 -9.26081037e-04 1.22311415e+01] [ 2.69416233e-03 5.36013341e-07 9.99996371e-01 1.22160926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.804012739 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:80.73, Y:12.24, Z:0.12 [[ 9.39247163e-01 -3.43232234e-01 -2.52982094e-03 8.07327231e+01] [ 3.43230983e-01 9.39250570e-01 -9.26561755e-04 1.22393292e+01] [ 2.69416162e-03 1.95756994e-06 9.99996371e-01 1.22384744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.834012739 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:80.76, Y:12.25, Z:0.12 [[ 9.39111161e-01 -3.43604173e-01 -2.52974403e-03 8.07591274e+01] [ 3.43602923e-01 9.39114568e-01 -9.26771696e-04 1.22474203e+01] [ 2.69416209e-03 1.11420100e-06 9.99996371e-01 1.22485761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.864012739 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:80.79, Y:12.25, Z:0.12 [[ 9.38266769e-01 -3.45903269e-01 -2.52956559e-03 8.07865237e+01] [ 3.45902027e-01 9.38270179e-01 -9.27258466e-04 1.22532044e+01] [ 2.69415770e-03 -4.96606046e-06 9.99996371e-01 1.20381346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.894012739 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:80.81, Y:12.26, Z:0.12 [[ 9.37845597e-01 -3.47043567e-01 -2.52938465e-03 8.08139674e+01] [ 3.47042327e-01 9.37849008e-01 -9.27751798e-04 1.22607199e+01] [ 2.69415117e-03 -7.71559456e-06 9.99996371e-01 1.20119949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.924012739 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:80.84, Y:12.27, Z:0.12 [[ 9.37396642e-01 -3.48254417e-01 -2.52920224e-03 8.08413076e+01] [ 3.48253180e-01 9.37400054e-01 -9.28248797e-04 1.22656001e+01] [ 2.69414106e-03 -1.06654173e-05 9.99996371e-01 1.20401728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.954012739 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:80.87, Y:12.27, Z:0.12 [[ 9.37108483e-01 -3.49029074e-01 -2.52912281e-03 8.08680192e+01] [ 3.49027840e-01 9.37111896e-01 -9.28465169e-04 1.22733716e+01] [ 2.69413241e-03 -1.26616848e-05 9.99996371e-01 1.20268956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.984012739 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:80.90, Y:12.28, Z:0.12 [[ 9.36881282e-01 -3.49638481e-01 -2.52895230e-03 8.08952026e+01] [ 3.49637247e-01 9.36884695e-01 -9.28929371e-04 1.22807480e+01] [ 2.69412616e-03 -1.39193787e-05 9.99996371e-01 1.19676152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.014012739 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:80.92, Y:12.29, Z:0.12 [[ 9.36690382e-01 -3.50149589e-01 -2.52877165e-03 8.09220063e+01] [ 3.50148355e-01 9.36693795e-01 -9.29420875e-04 1.22854246e+01] [ 2.69412105e-03 -1.48656414e-05 9.99996371e-01 1.19883341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.044012739 meters Centerline goodness : 0.994461 Centerline is valid? [True, True] Translation: X:80.95, Y:12.29, Z:0.12 [[ 9.37223294e-01 -3.48720666e-01 -2.52869286e-03 8.09488676e+01] [ 3.48719427e-01 9.37226705e-01 -9.29635193e-04 1.22923508e+01] [ 2.69414148e-03 -1.05285666e-05 9.99996371e-01 1.20475367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.074012739 meters Centerline goodness : 0.994095 Centerline is valid? [True, True] Translation: X:80.98, Y:12.30, Z:0.12 [[ 9.37640912e-01 -3.47596212e-01 -2.52851686e-03 8.09753969e+01] [ 3.47594968e-01 9.37644321e-01 -9.30113651e-04 1.23005879e+01] [ 2.69415346e-03 -6.78712516e-06 9.99996371e-01 1.21172178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.104012739 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:81.00, Y:12.31, Z:0.12 [[ 9.38073183e-01 -3.46427930e-01 -2.52833871e-03 8.10022885e+01] [ 3.46426680e-01 9.38076590e-01 -9.30597681e-04 1.23085294e+01] [ 2.69416038e-03 -2.91525614e-06 9.99996371e-01 1.21753226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.134012739 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:81.03, Y:12.32, Z:0.12 [[ 9.38335807e-01 -3.45715955e-01 -2.52816006e-03 8.10289682e+01] [ 3.45714701e-01 9.38339213e-01 -9.31082762e-04 1.23158499e+01] [ 2.69416188e-03 -3.53803282e-07 9.99996371e-01 1.23884803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.164012739 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:81.06, Y:12.33, Z:0.12 [[ 9.38268321e-01 -3.45899070e-01 -2.52797829e-03 8.10556435e+01] [ 3.45897816e-01 9.38271727e-01 -9.31576026e-04 1.23258767e+01] [ 2.69416183e-03 -3.53893152e-07 9.99996371e-01 1.23961541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.194012739 meters Centerline goodness : 0.991954 Centerline is valid? [True, True] Translation: X:81.08, Y:12.33, Z:0.13 [[ 9.37957395e-01 -3.46741310e-01 -2.52779639e-03 8.10821847e+01] [ 3.46740057e-01 9.37960801e-01 -9.32069339e-04 1.23330791e+01] [ 2.69416087e-03 -2.24693635e-06 9.99996371e-01 1.29793781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.224012739 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:81.11, Y:12.34, Z:0.13 [[ 9.37108530e-01 -3.49028959e-01 -2.52771735e-03 8.11084243e+01] [ 3.49027714e-01 9.37111939e-01 -9.32283651e-04 1.23388759e+01] [ 2.69414809e-03 -8.59244460e-06 9.99996371e-01 1.26095318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.254012739 meters Centerline goodness : 0.993366 Centerline is valid? [True, True] Translation: X:81.14, Y:12.35, Z:0.12 [[ 9.36775988e-01 -3.49920505e-01 -2.52763944e-03 8.11353283e+01] [ 3.49919263e-01 9.36779398e-01 -9.32494829e-04 1.23454390e+01] [ 2.69413961e-03 -1.09309640e-05 9.99996371e-01 1.23437660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.284012739 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:81.16, Y:12.35, Z:0.12 [[ 9.36557542e-01 -3.50504753e-01 -2.52758519e-03 8.11626996e+01] [ 3.50503512e-01 9.36560953e-01 -9.32641859e-04 1.23527954e+01] [ 2.69413299e-03 -1.24547183e-05 9.99996371e-01 1.21200042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.314012739 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:81.19, Y:12.36, Z:0.12 [[ 9.37033678e-01 -3.49229865e-01 -2.52753116e-03 8.11895213e+01] [ 3.49228619e-01 9.37037087e-01 -9.32788244e-04 1.23616659e+01] [ 2.69414795e-03 -8.63221848e-06 9.99996371e-01 1.20047833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34401273900001 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:81.21, Y:12.37, Z:0.12 [[ 9.37716602e-01 -3.47391980e-01 -2.52735729e-03 8.12148841e+01] [ 3.47390726e-01 9.37720007e-01 -9.33259094e-04 1.23716892e+01] [ 2.69416023e-03 -2.84794013e-06 9.99996371e-01 1.21054239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.374012739 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:81.24, Y:12.38, Z:0.12 [[ 9.39354362e-01 -3.42938763e-01 -2.52728181e-03 8.12410734e+01] [ 3.42937493e-01 9.39357762e-01 -9.33463476e-04 1.23824020e+01] [ 2.69414259e-03 1.01533021e-05 9.99996371e-01 1.20625391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.404012739 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:81.27, Y:12.39, Z:0.12 [[ 9.39983449e-01 -3.41210682e-01 -2.52710228e-03 8.12665292e+01] [ 3.41209405e-01 9.39986846e-01 -9.33949244e-04 1.23921227e+01] [ 2.69411636e-03 1.56257682e-05 9.99996371e-01 1.19309389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.434012739 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:81.29, Y:12.40, Z:0.12 [[ 9.40141227e-01 -3.40775714e-01 -2.52702442e-03 8.12925920e+01] [ 3.40774434e-01 9.40144623e-01 -9.34159855e-04 1.24022359e+01] [ 2.69410741e-03 1.70968736e-05 9.99996371e-01 1.18482065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.464012739 meters Centerline goodness : 0.994709 Centerline is valid? [True, True] Translation: X:81.32, Y:12.41, Z:0.12 [[ 9.40022467e-01 -3.41103175e-01 -2.52685036e-03 8.13187840e+01] [ 3.41101895e-01 9.40025863e-01 -9.34630457e-04 1.24118116e+01] [ 2.69411010e-03 1.66601824e-05 9.99996371e-01 1.19568651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.494012739 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:81.34, Y:12.42, Z:0.12 [[ 9.39752849e-01 -3.41845284e-01 -2.52667695e-03 8.13448305e+01] [ 3.41844005e-01 9.39756246e-01 -9.35099019e-04 1.24210003e+01] [ 2.69411963e-03 1.50326005e-05 9.99996371e-01 1.20400178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.524012739 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:81.37, Y:12.43, Z:0.12 [[ 9.39385119e-01 -3.42854510e-01 -2.52650143e-03 8.13714412e+01] [ 3.42853234e-01 9.39388517e-01 -9.35573006e-04 1.24311405e+01] [ 2.69413185e-03 1.26441759e-05 9.99996371e-01 1.21792068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.554012739 meters Centerline goodness : 0.994558 Centerline is valid? [True, True] Translation: X:81.40, Y:12.44, Z:0.12 [[ 9.39289418e-01 -3.43116608e-01 -2.52632140e-03 8.13968340e+01] [ 3.43115331e-01 9.39292815e-01 -9.36058870e-04 1.24412745e+01] [ 2.69413289e-03 1.24105859e-05 9.99996371e-01 1.21796037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.584012739 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:81.42, Y:12.45, Z:0.12 [[ 9.39128313e-01 -3.43557316e-01 -2.52624349e-03 8.14229885e+01] [ 3.43556041e-01 9.39131711e-01 -9.36269092e-04 1.24510963e+01] [ 2.69413747e-03 1.13706004e-05 9.99996371e-01 1.21562339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.614012739 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:81.45, Y:12.46, Z:0.12 [[ 9.38906129e-01 -3.44164061e-01 -2.52606677e-03 8.14488425e+01] [ 3.44162786e-01 9.38909527e-01 -9.36745636e-04 1.24595675e+01] [ 2.69414234e-03 1.01380396e-05 9.99996371e-01 1.21677457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.644012739 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:81.47, Y:12.47, Z:0.12 [[ 9.38867839e-01 -3.44268500e-01 -2.52598978e-03 8.14744261e+01] [ 3.44267226e-01 9.38871237e-01 -9.36953211e-04 1.24702823e+01] [ 2.69414262e-03 1.00597438e-05 9.99996371e-01 1.21557082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.674012739 meters Centerline goodness : 0.995245 Centerline is valid? [True, True] Translation: X:81.50, Y:12.48, Z:0.12 [[ 9.38970374e-01 -3.43988746e-01 -2.52581410e-03 8.14997725e+01] [ 3.43987469e-01 9.38973771e-01 -9.37426567e-04 1.24823544e+01] [ 2.69413738e-03 1.13673748e-05 9.99996371e-01 1.23212254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.704012739 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:81.52, Y:12.49, Z:0.13 [[ 9.39111794e-01 -3.43602474e-01 -2.52563770e-03 8.15248346e+01] [ 3.43601194e-01 9.39115190e-01 -9.37901590e-04 1.24919612e+01] [ 2.69413003e-03 1.29823162e-05 9.99996371e-01 1.25044565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.734012739 meters Centerline goodness : 0.993815 Centerline is valid? [True, True] Translation: X:81.55, Y:12.50, Z:0.13 [[ 9.39460224e-01 -3.42648666e-01 -2.52556145e-03 8.15506908e+01] [ 3.42647382e-01 9.39463619e-01 -9.38106850e-04 1.25026502e+01] [ 2.69411416e-03 1.59370512e-05 9.99996371e-01 1.27766123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.764012739 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:81.58, Y:12.51, Z:0.13 [[ 9.39528307e-01 -3.42461944e-01 -2.52538884e-03 8.15757574e+01] [ 3.42460658e-01 9.39531701e-01 -9.38571288e-04 1.25143130e+01] [ 2.69410782e-03 1.69679683e-05 9.99996371e-01 1.26493430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.794012739 meters Centerline goodness : 0.994982 Centerline is valid? [True, True] Translation: X:81.60, Y:12.53, Z:0.12 [[ 9.39496175e-01 -3.42550085e-01 -2.52521596e-03 8.16008286e+01] [ 3.42548798e-01 9.39499568e-01 -9.39036211e-04 1.25262343e+01] [ 2.69410623e-03 1.72112364e-05 9.99996371e-01 1.22482525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.824012739 meters Centerline goodness : 0.995995 Centerline is valid? [True, True] Translation: X:81.63, Y:12.54, Z:0.12 [[ 9.39405992e-01 -3.42797326e-01 -2.52516223e-03 8.16253384e+01] [ 3.42796039e-01 9.39409385e-01 -9.39180660e-04 1.25382046e+01] [ 2.69410972e-03 1.66563274e-05 9.99996371e-01 1.15496282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.854012739 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:81.65, Y:12.55, Z:0.12 [[ 9.39324746e-01 -3.43019891e-01 -2.52508735e-03 8.16496739e+01] [ 3.43018605e-01 9.39328140e-01 -9.39381953e-04 1.25503765e+01] [ 2.69411229e-03 1.62327762e-05 9.99996371e-01 1.18203004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.884012739 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:81.67, Y:12.56, Z:0.12 [[ 9.39325406e-01 -3.43018083e-01 -2.52501266e-03 8.16746677e+01] [ 3.43016797e-01 9.39328800e-01 -9.39582663e-04 1.25620445e+01] [ 2.69411096e-03 1.64521118e-05 9.99996371e-01 1.20206597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.914012739 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:81.70, Y:12.57, Z:0.12 [[ 9.39332807e-01 -3.42997817e-01 -2.52483069e-03 8.16994382e+01] [ 3.42996529e-01 9.39336200e-01 -9.40071382e-04 1.25737117e+01] [ 2.69410730e-03 1.70317263e-05 9.99996371e-01 1.21982095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.944012739 meters Centerline goodness : 0.995867 Centerline is valid? [True, True] Translation: X:81.72, Y:12.59, Z:0.12 [[ 9.39372886e-01 -3.42888037e-01 -2.52475124e-03 8.17242322e+01] [ 3.42886748e-01 9.39376279e-01 -9.40284714e-04 1.25875371e+01] [ 2.69410381e-03 1.75742209e-05 9.99996371e-01 1.22281766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.974012739 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:81.75, Y:12.60, Z:0.12 [[ 9.39349135e-01 -3.42953100e-01 -2.52457743e-03 8.17494437e+01] [ 3.42951810e-01 9.39352528e-01 -9.40751159e-04 1.25993228e+01] [ 2.69410172e-03 1.78853897e-05 9.99996371e-01 1.22070347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.004012739 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:81.77, Y:12.61, Z:0.12 [[ 9.39684418e-01 -3.42033363e-01 -2.52440192e-03 8.17726479e+01] [ 3.42032069e-01 9.39687809e-01 -9.41221878e-04 1.26132601e+01] [ 2.69407900e-03 2.10251203e-05 9.99996371e-01 1.20903294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.034012739 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:81.80, Y:12.63, Z:0.12 [[ 9.39969426e-01 -3.41249330e-01 -2.52432563e-03 8.17984478e+01] [ 3.41248032e-01 9.39972816e-01 -9.41426437e-04 1.26252558e+01] [ 2.69405861e-03 2.34909123e-05 9.99996371e-01 1.19113164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.064012739 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:81.82, Y:12.64, Z:0.12 [[ 9.40230950e-01 -3.40528104e-01 -2.52414362e-03 8.18224289e+01] [ 3.40526802e-01 9.40234338e-01 -9.41914204e-04 1.26383717e+01] [ 2.69403476e-03 2.60783326e-05 9.99996371e-01 1.15595058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09401273900001 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:81.85, Y:12.65, Z:0.12 [[ 9.39818696e-01 -3.41664234e-01 -2.52406462e-03 8.18479474e+01] [ 3.41662936e-01 9.39822085e-01 -9.42125856e-04 1.26499502e+01] [ 2.69406238e-03 2.30481661e-05 9.99996371e-01 1.15858791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.124012739 meters Centerline goodness : 0.996444 Centerline is valid? [True, True] Translation: X:81.87, Y:12.66, Z:0.12 [[ 9.38298895e-01 -3.45816156e-01 -2.52389208e-03 8.18737866e+01] [ 3.45814871e-01 9.38302289e-01 -9.42587841e-04 1.26611353e+01] [ 2.69413582e-03 1.16297142e-05 9.99996371e-01 1.20611048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.154012739 meters Centerline goodness : 0.995841 Centerline is valid? [True, True] Translation: X:81.90, Y:12.67, Z:0.12 [[ 9.37309964e-01 -3.48487678e-01 -2.52371837e-03 8.18996746e+01] [ 3.48486402e-01 9.37313362e-01 -9.43052713e-04 1.26719916e+01] [ 2.69415720e-03 4.45116927e-06 9.99996371e-01 1.23198604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.184012739 meters Centerline goodness : 0.990240 Centerline is valid? [True, True] Translation: X:81.93, Y:12.68, Z:0.13 [[ 9.36481586e-01 -3.50707672e-01 -2.52354272e-03 8.19255727e+01] [ 3.50706402e-01 9.36484986e-01 -9.43522511e-04 1.26831305e+01] [ 2.69416045e-03 -1.43113050e-06 9.99996371e-01 1.33403022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.214012739 meters Centerline goodness : 0.996206 Centerline is valid? [True, True] Translation: X:81.95, Y:12.69, Z:0.12 [[ 9.34731486e-01 -3.55345861e-01 -2.52336669e-03 8.19512959e+01] [ 3.55344608e-01 9.34734892e-01 -9.43993036e-04 1.26933839e+01] [ 2.69412291e-03 -1.42847340e-05 9.99996371e-01 1.24007420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.244012739 meters Centerline goodness : 0.995674 Centerline is valid? [True, True] Translation: X:81.98, Y:12.70, Z:0.13 [[ 9.33987507e-01 -3.57296753e-01 -2.52319127e-03 8.19766157e+01] [ 3.57295505e-01 9.33990915e-01 -9.44461707e-04 1.27017918e+01] [ 2.69409082e-03 -1.94094629e-05 9.99996371e-01 1.25361723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.274012739 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:82.00, Y:12.71, Z:0.13 [[ 9.33124308e-01 -3.59545072e-01 -2.52311512e-03 8.20021748e+01] [ 3.59543832e-01 9.33127719e-01 -9.44665089e-04 1.27101185e+01] [ 2.69403833e-03 -2.56805211e-05 9.99996371e-01 1.26807902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.304012739 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:82.03, Y:12.72, Z:0.13 [[ 9.32965315e-01 -3.59957436e-01 -2.52303951e-03 8.20277546e+01] [ 3.59956197e-01 9.32968726e-01 -9.44866976e-04 1.27208076e+01] [ 2.69402885e-03 -2.66555909e-05 9.99996371e-01 1.25035548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.334012739 meters Centerline goodness : 0.995956 Centerline is valid? [True, True] Translation: X:82.05, Y:12.73, Z:0.12 [[ 9.32945562e-01 -3.60008628e-01 -2.52298578e-03 8.20528909e+01] [ 3.60007389e-01 9.32948973e-01 -9.45010423e-04 1.27312714e+01] [ 2.69402890e-03 -2.66502434e-05 9.99996371e-01 1.22173981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.364012739 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:82.08, Y:12.74, Z:0.12 [[ 9.32633482e-01 -3.60816328e-01 -2.52291132e-03 8.20793707e+01] [ 3.60815092e-01 9.32636894e-01 -9.45209175e-04 1.27403911e+01] [ 2.69400708e-03 -2.87707543e-05 9.99996371e-01 1.21170875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.394012739 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:82.11, Y:12.75, Z:0.12 [[ 9.32252026e-01 -3.61800769e-01 -2.52274129e-03 8.21065323e+01] [ 3.61799534e-01 9.32255439e-01 -9.45662770e-04 1.27490961e+01] [ 2.69398080e-03 -3.11305898e-05 9.99996371e-01 1.22468824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.424012739 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:82.13, Y:12.76, Z:0.12 [[ 9.31761265e-01 -3.63062779e-01 -2.52258230e-03 8.21319318e+01] [ 3.63061548e-01 9.31764679e-01 -9.46086681e-04 1.27570045e+01] [ 2.69394195e-03 -3.43257114e-05 9.99996371e-01 1.24889069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.454012739 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:82.16, Y:12.77, Z:0.12 [[ 9.31741440e-01 -3.63113654e-01 -2.52250857e-03 8.21576501e+01] [ 3.63112422e-01 9.31744854e-01 -9.46283218e-04 1.27668969e+01] [ 2.69394274e-03 -3.42629102e-05 9.99996371e-01 1.23913908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.484012739 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:82.18, Y:12.78, Z:0.12 [[ 9.31869830e-01 -3.62784037e-01 -2.52234071e-03 8.21838977e+01] [ 3.62782803e-01 9.31873243e-01 -9.46730455e-04 1.27774234e+01] [ 2.69396051e-03 -3.28322827e-05 9.99996371e-01 1.21932686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.514012739 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:82.21, Y:12.79, Z:0.12 [[ 9.32193580e-01 -3.61951335e-01 -2.52217350e-03 8.22097455e+01] [ 3.61950096e-01 9.32196991e-01 -9.47175709e-04 1.27896185e+01] [ 2.69399406e-03 -2.99498256e-05 9.99996371e-01 1.21104993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.544012739 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:82.23, Y:12.80, Z:0.12 [[ 9.32560006e-01 -3.61006198e-01 -2.52200683e-03 8.22343174e+01] [ 3.61004955e-01 9.32563416e-01 -9.47619270e-04 1.28019219e+01] [ 2.69402774e-03 -2.67451309e-05 9.99996371e-01 1.22436557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.574012739 meters Centerline goodness : 0.995865 Centerline is valid? [True, True] Translation: X:82.26, Y:12.81, Z:0.12 [[ 9.32846113e-01 -3.60266247e-01 -2.52193449e-03 8.22587633e+01] [ 3.60265001e-01 9.32849522e-01 -9.47811771e-04 1.28124676e+01] [ 2.69404997e-03 -2.44022028e-05 9.99996371e-01 1.21975816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.604012739 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:82.28, Y:12.82, Z:0.12 [[ 9.33098296e-01 -3.59612584e-01 -2.52182126e-03 8.22839137e+01] [ 3.59611335e-01 9.33101703e-01 -9.48112941e-04 1.28239028e+01] [ 2.69406906e-03 -2.21929388e-05 9.99996371e-01 1.21340628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.634012739 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:82.31, Y:12.84, Z:0.12 [[ 9.33360207e-01 -3.58932257e-01 -2.52165672e-03 8.23084050e+01] [ 3.58931004e-01 9.33363613e-01 -9.48550361e-04 1.28364415e+01] [ 2.69408795e-03 -1.97616166e-05 9.99996371e-01 1.18501690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.664012739 meters Centerline goodness : 0.996489 Centerline is valid? [True, True] Translation: X:82.33, Y:12.85, Z:0.12 [[ 9.33234908e-01 -3.59257914e-01 -2.52158496e-03 8.23339908e+01] [ 3.59256662e-01 9.33238314e-01 -9.48741087e-04 1.28466883e+01] [ 2.69408244e-03 -2.04978938e-05 9.99996371e-01 1.18350875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.694012739 meters Centerline goodness : 0.997052 Centerline is valid? [True, True] Translation: X:82.36, Y:12.86, Z:0.12 [[ 9.32638731e-01 -3.60802770e-01 -2.52142080e-03 8.23587603e+01] [ 3.60801523e-01 9.32642140e-01 -9.49177153e-04 1.28565244e+01] [ 2.69404904e-03 -2.44930883e-05 9.99996371e-01 1.17800297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.724012739 meters Centerline goodness : 0.995308 Centerline is valid? [True, True] Translation: X:82.38, Y:12.87, Z:0.12 [[ 9.32115794e-01 -3.62151611e-01 -2.52134933e-03 8.23845938e+01] [ 3.62150367e-01 9.32119204e-01 -9.49366981e-04 1.28671764e+01] [ 2.69401291e-03 -2.81876269e-05 9.99996371e-01 1.22154576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.754012739 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:82.41, Y:12.88, Z:0.12 [[ 9.31637148e-01 -3.63381162e-01 -2.52118051e-03 8.24108003e+01] [ 3.63379922e-01 9.31640559e-01 -9.49815082e-04 1.28780556e+01] [ 2.69397893e-03 -3.12633628e-05 9.99996371e-01 1.18081858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.784012739 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:82.44, Y:12.89, Z:0.12 [[ 9.30941195e-01 -3.65160425e-01 -2.52099868e-03 8.24361063e+01] [ 3.65159190e-01 9.30944608e-01 -9.50297463e-04 1.28865221e+01] [ 2.69392115e-03 -3.58947793e-05 9.99996371e-01 1.17672626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.814012739 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:82.46, Y:12.89, Z:0.12 [[ 9.30263631e-01 -3.66883118e-01 -2.52087457e-03 8.24629752e+01] [ 3.66881889e-01 9.30267046e-01 -9.50626562e-04 1.28934070e+01] [ 2.69385538e-03 -4.05299068e-05 9.99996371e-01 1.18991240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84401273900001 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:82.49, Y:12.90, Z:0.12 [[ 9.30019384e-01 -3.67501824e-01 -2.52069417e-03 8.24883736e+01] [ 3.67500596e-01 9.30022799e-01 -9.51104677e-04 1.29017000e+01] [ 2.69383575e-03 -4.18108229e-05 9.99996371e-01 1.19635439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.874012739 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:82.51, Y:12.91, Z:0.12 [[ 9.29695833e-01 -3.68319568e-01 -2.52061567e-03 8.25145791e+01] [ 3.68318342e-01 9.29699249e-01 -9.51312672e-04 1.29107601e+01] [ 2.69380157e-03 -4.39575584e-05 9.99996371e-01 1.21310978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.904012739 meters Centerline goodness : 0.996028 Centerline is valid? [True, True] Translation: X:82.54, Y:12.92, Z:0.12 [[ 9.29376549e-01 -3.69124475e-01 -2.52044959e-03 8.25406817e+01] [ 3.69123250e-01 9.29379965e-01 -9.51752477e-04 1.29182426e+01] [ 2.69377049e-03 -4.58201142e-05 9.99996371e-01 1.23563792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.934012739 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:82.57, Y:12.93, Z:0.12 [[ 9.29288532e-01 -3.69346007e-01 -2.52037216e-03 8.25669955e+01] [ 3.69344783e-01 9.29291948e-01 -9.51957498e-04 1.29268965e+01] [ 2.69376325e-03 -4.62431226e-05 9.99996371e-01 1.24192831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.964012739 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:82.59, Y:12.93, Z:0.12 [[ 9.29702576e-01 -3.68302551e-01 -2.52019631e-03 8.25932545e+01] [ 3.68301322e-01 9.29705991e-01 -9.52422799e-04 1.29337452e+01] [ 2.69382136e-03 -4.27217046e-05 9.99996371e-01 1.24279131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.994012739 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:82.62, Y:12.94, Z:0.12 [[ 9.29902345e-01 -3.67797875e-01 -2.52011961e-03 8.26194735e+01] [ 3.67796644e-01 9.29905759e-01 -9.52625706e-04 1.29430466e+01] [ 2.69384745e-03 -4.10426579e-05 9.99996371e-01 1.22420186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.024012739 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:82.64, Y:12.95, Z:0.12 [[ 9.30257918e-01 -3.66897609e-01 -2.51994429e-03 8.26449680e+01] [ 3.66896373e-01 9.30261330e-01 -9.53089251e-04 1.29520384e+01] [ 2.69389290e-03 -3.79395995e-05 9.99996371e-01 1.19155187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.054012739 meters Centerline goodness : 0.996682 Centerline is valid? [True, True] Translation: X:82.67, Y:12.96, Z:0.12 [[ 9.31345595e-01 -3.64127770e-01 -2.51982485e-03 8.26712617e+01] [ 3.64126523e-01 9.31349004e-01 -9.53404941e-04 1.29590900e+01] [ 2.69399757e-03 -2.95855678e-05 9.99996371e-01 1.16609765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.084012739 meters Centerline goodness : 0.996682 Centerline is valid? [True, True] Translation: X:82.70, Y:12.97, Z:0.12 [[ 9.31279884e-01 -3.64295799e-01 -2.51970564e-03 8.26978394e+01] [ 3.64294552e-01 9.31283292e-01 -9.53719869e-04 1.29693611e+01] [ 2.69399591e-03 -2.97349107e-05 9.99996371e-01 1.16686511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.114012739 meters Centerline goodness : 0.996457 Centerline is valid? [True, True] Translation: X:82.72, Y:12.98, Z:0.12 [[ 9.31831314e-01 -3.62882976e-01 -2.51953349e-03 8.27244752e+01] [ 3.62881722e-01 9.31834720e-01 -9.54174447e-04 1.29784292e+01] [ 2.69404245e-03 -2.51630229e-05 9.99996371e-01 1.17976088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.144012739 meters Centerline goodness : 0.996703 Centerline is valid? [True, True] Translation: X:82.75, Y:12.99, Z:0.12 [[ 9.33470922e-01 -3.58644239e-01 -2.51935417e-03 8.27511983e+01] [ 3.58642969e-01 9.33474322e-01 -9.54647672e-04 1.29875203e+01] [ 2.69413132e-03 -1.24128177e-05 9.99996371e-01 1.20297153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.174012739 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:82.78, Y:13.00, Z:0.12 [[ 9.34354167e-01 -3.56336841e-01 -2.51929845e-03 8.27761872e+01] [ 3.56335562e-01 9.34357563e-01 -9.54794702e-04 1.29967913e+01] [ 2.69415409e-03 -5.59922030e-06 9.99996371e-01 1.21490499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.204012739 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:82.80, Y:13.01, Z:0.12 [[ 9.35798470e-01 -3.52526421e-01 -2.51922095e-03 8.28020321e+01] [ 3.52525128e-01 9.35801861e-01 -9.54999154e-04 1.30067444e+01] [ 2.69415408e-03 5.59806159e-06 9.99996371e-01 1.21462987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.234012739 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:82.83, Y:13.02, Z:0.12 [[ 9.36449779e-01 -3.50792626e-01 -2.51904233e-03 8.28272917e+01] [ 3.50791325e-01 9.36453167e-01 -9.55470054e-04 1.30173154e+01] [ 2.69413702e-03 1.10915235e-05 9.99996371e-01 1.21905909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.264012739 meters Centerline goodness : 0.996181 Centerline is valid? [True, True] Translation: X:82.85, Y:13.03, Z:0.12 [[ 9.37277317e-01 -3.48575510e-01 -2.51892047e-03 8.28529105e+01] [ 3.48574201e-01 9.37280701e-01 -9.55791219e-04 1.30280685e+01] [ 2.69410096e-03 1.78107408e-05 9.99996371e-01 1.23409362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.294012739 meters Centerline goodness : 0.995389 Centerline is valid? [True, True] Translation: X:82.88, Y:13.04, Z:0.13 [[ 9.39694512e-01 -3.42005672e-01 -2.51874072e-03 8.28768843e+01] [ 3.42004337e-01 9.39697887e-01 -9.56264676e-04 1.30409210e+01] [ 2.69390327e-03 3.71764194e-05 9.99996371e-01 1.28544963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.324012739 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:82.90, Y:13.05, Z:0.13 [[ 9.41004531e-01 -3.38384588e-01 -2.51866296e-03 8.29018624e+01] [ 3.38383240e-01 9.41007900e-01 -9.56469445e-04 1.30543481e+01] [ 2.69373626e-03 4.77687504e-05 9.99996371e-01 1.29122847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.354012739 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:82.93, Y:13.07, Z:0.13 [[ 9.43760096e-01 -3.30621441e-01 -2.51848161e-03 8.29250000e+01] [ 3.30620064e-01 9.43763454e-01 -9.56946709e-04 1.30731440e+01] [ 2.69323800e-03 7.04675669e-05 9.99996371e-01 1.26562830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.384012739 meters Centerline goodness : 0.996059 Centerline is valid? [True, True] Translation: X:82.95, Y:13.09, Z:0.12 [[ 9.44837293e-01 -3.27530378e-01 -2.51829737e-03 8.29485768e+01] [ 3.27528988e-01 9.44840645e-01 -9.57431311e-04 1.30875251e+01] [ 2.69297755e-03 7.98014184e-05 9.99996371e-01 1.24862852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.414012739 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:82.97, Y:13.11, Z:0.12 [[ 9.45788029e-01 -3.24774787e-01 -2.51821748e-03 8.29707935e+01] [ 3.24773387e-01 9.45791378e-01 -9.57641378e-04 1.31052033e+01] [ 2.69272616e-03 8.78757313e-05 9.99996371e-01 1.24731632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.444012739 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:83.00, Y:13.12, Z:0.13 [[ 9.45618734e-01 -3.25267379e-01 -2.51813986e-03 8.29952910e+01] [ 3.25265980e-01 9.45622083e-01 -9.57845437e-04 1.31186719e+01] [ 2.69276454e-03 8.66913582e-05 9.99996371e-01 1.25489522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.474012739 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:83.02, Y:13.14, Z:0.12 [[ 9.44513401e-01 -3.28463231e-01 -2.51797150e-03 8.30185030e+01] [ 3.28461843e-01 9.44516754e-01 -9.58287817e-04 1.31360218e+01] [ 2.69302858e-03 7.80581258e-05 9.99996371e-01 1.24770248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.504012739 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:83.04, Y:13.15, Z:0.12 [[ 9.43601711e-01 -3.31073211e-01 -2.51778929e-03 8.30424520e+01] [ 3.31071831e-01 9.43605068e-01 -9.58766328e-04 1.31493849e+01] [ 2.69322058e-03 7.11244391e-05 9.99996371e-01 1.24954496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.534012739 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:83.07, Y:13.17, Z:0.13 [[ 9.41609356e-01 -3.36697910e-01 -2.51766541e-03 8.30659845e+01] [ 3.36696549e-01 9.41612720e-01 -9.59091523e-04 1.31659256e+01] [ 2.69358988e-03 5.54002971e-05 9.99996371e-01 1.25800882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.564012739 meters Centerline goodness : 0.995570 Centerline is valid? [True, True] Translation: X:83.09, Y:13.18, Z:0.13 [[ 9.40457436e-01 -3.39902151e-01 -2.51748724e-03 8.30896639e+01] [ 3.39900800e-01 9.40460805e-01 -9.59558947e-04 1.31783399e+01] [ 2.69375423e-03 4.67284193e-05 9.99996371e-01 1.26604626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59401273900001 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:83.12, Y:13.19, Z:0.13 [[ 9.39268487e-01 -3.43173969e-01 -2.51740970e-03 8.31150161e+01] [ 3.43172629e-01 9.39271859e-01 -9.59762338e-04 1.31908201e+01] [ 2.69389754e-03 3.75684141e-05 9.99996371e-01 1.27786463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.624012739 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:83.14, Y:13.20, Z:0.13 [[ 9.36885309e-01 -3.49627774e-01 -2.51723182e-03 8.31404521e+01] [ 3.49626456e-01 9.36888691e-01 -9.60228660e-04 1.32038528e+01] [ 2.69408863e-03 1.95332860e-05 9.99996371e-01 1.27723601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.654012739 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:83.17, Y:13.21, Z:0.13 [[ 9.35622278e-01 -3.52993792e-01 -2.51704548e-03 8.31653317e+01] [ 3.52992484e-01 9.35625664e-01 -9.60716858e-04 1.32141014e+01] [ 2.69413943e-03 1.03699580e-05 9.99996371e-01 1.27451645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.684012739 meters Centerline goodness : 0.990208 Centerline is valid? [True, True] Translation: X:83.19, Y:13.22, Z:0.14 [[ 9.33309260e-01 -3.59064743e-01 -2.51696431e-03 8.31916860e+01] [ 3.59063457e-01 9.33312654e-01 -9.60929471e-04 1.32237504e+01] [ 2.69415053e-03 -6.90553126e-06 9.99996371e-01 1.35681482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.714012739 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:83.22, Y:13.23, Z:0.13 [[ 9.32254459e-01 -3.61794540e-01 -2.51678005e-03 8.32182008e+01] [ 3.61793263e-01 9.32257856e-01 -9.61411809e-04 1.32337217e+01] [ 2.69412152e-03 -1.42736216e-05 9.99996371e-01 1.25289977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.744012739 meters Centerline goodness : 0.989167 Centerline is valid? [True, True] Translation: X:83.24, Y:13.24, Z:0.14 [[ 9.31542092e-01 -3.63624802e-01 -2.51659574e-03 8.32438932e+01] [ 3.63623531e-01 9.31545491e-01 -9.61894031e-04 1.32423104e+01] [ 2.69409194e-03 -1.90486493e-05 9.99996371e-01 1.36834381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.774012739 meters Centerline goodness : 0.995738 Centerline is valid? [True, True] Translation: X:83.27, Y:13.25, Z:0.12 [[ 9.30532369e-01 -3.66201008e-01 -2.51647105e-03 8.32708703e+01] [ 3.66199745e-01 9.30535771e-01 -9.62220136e-04 1.32489045e+01] [ 2.69403231e-03 -2.61540726e-05 9.99996371e-01 1.24509873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.804012739 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:83.30, Y:13.25, Z:0.12 [[ 9.30055294e-01 -3.67410966e-01 -2.51629249e-03 8.32975199e+01] [ 3.67409706e-01 9.30058698e-01 -9.62686849e-04 1.32549245e+01] [ 2.69400142e-03 -2.91582841e-05 9.99996371e-01 1.23120994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.834012739 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:83.32, Y:13.26, Z:0.12 [[ 9.29895683e-01 -3.67814747e-01 -2.51621469e-03 8.33245831e+01] [ 3.67813488e-01 9.29899086e-01 -9.62890156e-04 1.32637964e+01] [ 2.69399094e-03 -3.01103032e-05 9.99996371e-01 1.23653477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.864012739 meters Centerline goodness : 0.995598 Centerline is valid? [True, True] Translation: X:83.35, Y:13.27, Z:0.13 [[ 9.29907966e-01 -3.67783691e-01 -2.51604016e-03 8.33511006e+01] [ 3.67782431e-01 9.29911370e-01 -9.63345996e-04 1.32725512e+01] [ 2.69399730e-03 -2.95322496e-05 9.99996371e-01 1.26211587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.894012739 meters Centerline goodness : 0.995614 Centerline is valid? [True, True] Translation: X:83.38, Y:13.28, Z:0.13 [[ 9.30248529e-01 -3.66921443e-01 -2.51586215e-03 8.33770966e+01] [ 3.66920178e-01 9.30251931e-01 -9.63810647e-04 1.32796749e+01] [ 2.69402842e-03 -2.65371523e-05 9.99996371e-01 1.28482587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.924012739 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:83.40, Y:13.29, Z:0.13 [[ 9.30472762e-01 -3.66352438e-01 -2.51578447e-03 8.34035037e+01] [ 3.66351171e-01 9.30476163e-01 -9.64013370e-04 1.32880281e+01] [ 2.69404613e-03 -2.46724038e-05 9.99996371e-01 1.28879169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.954012739 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:83.43, Y:13.29, Z:0.13 [[ 9.31378014e-01 -3.64044869e-01 -2.51560697e-03 8.34297897e+01] [ 3.64043592e-01 9.31381411e-01 -9.64476340e-04 1.32937781e+01] [ 2.69410223e-03 -1.74985385e-05 9.99996371e-01 1.31749556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.984012739 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:83.46, Y:13.30, Z:0.13 [[ 9.31913524e-01 -3.62671831e-01 -2.51552991e-03 8.34564749e+01] [ 3.62670548e-01 9.31916919e-01 -9.64677289e-04 1.33030034e+01] [ 2.69412616e-03 -1.33127990e-05 9.99996371e-01 1.32911513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.014012739 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:83.48, Y:13.31, Z:0.13 [[ 9.33305715e-01 -3.59073969e-01 -2.51535371e-03 8.34827482e+01] [ 3.59072672e-01 9.33309105e-01 -9.65136507e-04 1.33119612e+01] [ 2.69415791e-03 -2.42736004e-06 9.99996371e-01 1.32006054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.044012739 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:83.51, Y:13.32, Z:0.13 [[ 9.34241026e-01 -3.56633396e-01 -2.51516306e-03 8.35085544e+01] [ 3.56632088e-01 9.34244412e-01 -9.65633077e-04 1.33210528e+01] [ 2.69415404e-03 5.14618062e-06 9.99996371e-01 1.31682645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.074012739 meters Centerline goodness : 0.990208 Centerline is valid? [True, True] Translation: X:83.53, Y:13.33, Z:0.14 [[ 9.35180857e-01 -3.54161600e-01 -2.51508005e-03 8.35343188e+01] [ 3.54160284e-01 9.35184239e-01 -9.65849256e-04 1.33300716e+01] [ 2.69412994e-03 1.25022726e-05 9.99996371e-01 1.39016471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.104012739 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:83.56, Y:13.34, Z:0.13 [[ 9.37061598e-01 -3.49155033e-01 -2.51500090e-03 8.35605467e+01] [ 3.49153697e-01 9.37064972e-01 -9.66055303e-04 1.33390639e+01] [ 2.69402232e-03 2.71314631e-05 9.99996371e-01 1.31042878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.134012739 meters Centerline goodness : 0.995282 Centerline is valid? [True, True] Translation: X:83.59, Y:13.35, Z:0.13 [[ 9.39156368e-01 -3.43480700e-01 -2.51482759e-03 8.35871318e+01] [ 3.43479343e-01 9.39159734e-01 -9.66506242e-04 1.33492054e+01] [ 2.69380105e-03 4.39091628e-05 9.99996371e-01 1.31379241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.164012739 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:83.61, Y:13.36, Z:0.13 [[ 9.40257330e-01 -3.40455328e-01 -2.51464544e-03 8.36133938e+01] [ 3.40453959e-01 9.40260691e-01 -9.66979935e-04 1.33599679e+01] [ 2.69363573e-03 5.30889759e-05 9.99996371e-01 1.30616237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.194012739 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:83.64, Y:13.37, Z:0.13 [[ 9.41304478e-01 -3.37549342e-01 -2.51445975e-03 8.36377966e+01] [ 3.37547961e-01 9.41307834e-01 -9.67462550e-04 1.33703939e+01] [ 2.69344701e-03 6.19260693e-05 9.99996371e-01 1.29522101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.224012739 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:83.66, Y:13.38, Z:0.13 [[ 9.42439398e-01 -3.34367552e-01 -2.51437939e-03 8.36633370e+01] [ 3.34366159e-01 9.42442749e-01 -9.67671347e-04 1.33826703e+01] [ 2.69321653e-03 7.12482218e-05 9.99996371e-01 1.28431462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.254012739 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:83.69, Y:13.39, Z:0.13 [[ 9.42476503e-01 -3.34262949e-01 -2.51419665e-03 8.36897504e+01] [ 3.34261555e-01 9.42479854e-01 -9.68145923e-04 1.33932257e+01] [ 2.69319500e-03 7.20555038e-05 9.99996371e-01 1.28787636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.284012739 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:83.71, Y:13.40, Z:0.13 [[ 9.42218669e-01 -3.34989043e-01 -2.51400877e-03 8.37143153e+01] [ 3.34987650e-01 9.42222021e-01 -9.68633531e-04 1.34038579e+01] [ 2.69323605e-03 7.05027056e-05 9.99996371e-01 1.26236173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.314012739 meters Centerline goodness : 0.995550 Centerline is valid? [True, True] Translation: X:83.74, Y:13.41, Z:0.12 [[ 9.41939496e-01 -3.35773236e-01 -2.51388069e-03 8.37400692e+01] [ 3.35771845e-01 9.41942848e-01 -9.68965825e-04 1.34141586e+01] [ 2.69328473e-03 6.86168217e-05 9.99996371e-01 1.24328130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34401273900001 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:83.77, Y:13.42, Z:0.12 [[ 9.41622890e-01 -3.36660088e-01 -2.51369400e-03 8.37650571e+01] [ 3.36658698e-01 9.41626243e-01 -9.69449904e-04 1.34239929e+01] [ 2.69333532e-03 6.65992709e-05 9.99996371e-01 1.22628571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.374012739 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:83.79, Y:13.43, Z:0.12 [[ 9.40945453e-01 -3.38548868e-01 -2.51361301e-03 8.37909439e+01] [ 3.38547485e-01 9.40948808e-01 -9.69659852e-04 1.34338040e+01] [ 2.69345841e-03 6.14196657e-05 9.99996371e-01 1.23497412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.404012739 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:83.82, Y:13.45, Z:0.13 [[ 9.40468698e-01 -3.39871021e-01 -2.51343339e-03 8.38169230e+01] [ 3.39869641e-01 9.40472055e-01 -9.70125210e-04 1.34455105e+01] [ 2.69353131e-03 5.81326879e-05 9.99996371e-01 1.25657644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.434012739 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:83.84, Y:13.46, Z:0.13 [[ 9.40517628e-01 -3.39735596e-01 -2.51325273e-03 8.38429829e+01] [ 3.39734214e-01 9.40520984e-01 -9.70593016e-04 1.34560980e+01] [ 2.69351193e-03 5.90219005e-05 9.99996371e-01 1.26078402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.464012739 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:83.87, Y:13.47, Z:0.13 [[ 9.40732162e-01 -3.39141099e-01 -2.51306837e-03 8.38692465e+01] [ 3.39139714e-01 9.40735516e-01 -9.71070117e-04 1.34663570e+01] [ 2.69346246e-03 6.12356013e-05 9.99996371e-01 1.26195004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.494012739 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:83.90, Y:13.48, Z:0.12 [[ 9.41138005e-01 -3.38013230e-01 -2.51231490e-03 8.38958980e+01] [ 3.38011836e-01 9.41141356e-01 -9.73019336e-04 1.34766219e+01] [ 2.69333686e-03 6.65533043e-05 9.99996371e-01 1.24925037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.524012739 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:83.92, Y:13.49, Z:0.12 [[ 9.41286335e-01 -3.37599942e-01 -2.51284379e-03 8.39201464e+01] [ 3.37598551e-01 9.41289687e-01 -9.71651541e-04 1.34874037e+01] [ 2.69334345e-03 6.62698959e-05 9.99996371e-01 1.24278349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.554012739 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:83.95, Y:13.50, Z:0.12 [[ 9.41332481e-01 -3.37471253e-01 -2.51271732e-03 8.39451652e+01] [ 3.37469860e-01 9.41335832e-01 -9.71978497e-04 1.34989645e+01] [ 2.69332565e-03 6.69885676e-05 9.99996371e-01 1.24170370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.584012739 meters Centerline goodness : 0.996162 Centerline is valid? [True, True] Translation: X:83.97, Y:13.51, Z:0.13 [[ 9.41107773e-01 -3.38097392e-01 -2.51253935e-03 8.39700845e+01] [ 3.38096000e-01 9.41111125e-01 -9.72438330e-04 1.35108963e+01] [ 2.69335759e-03 6.56897691e-05 9.99996371e-01 1.26920501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.614012739 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:84.00, Y:13.52, Z:0.13 [[ 9.40618745e-01 -3.39455541e-01 -2.51235787e-03 8.39952246e+01] [ 3.39454153e-01 9.40622098e-01 -9.72906956e-04 1.35221832e+01] [ 2.69343799e-03 6.23042075e-05 9.99996371e-01 1.28538026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.644012739 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:84.02, Y:13.53, Z:0.13 [[ 9.40276419e-01 -3.40402622e-01 -2.51217523e-03 8.40203665e+01] [ 3.40401235e-01 9.40279773e-01 -9.73378332e-04 1.35329935e+01] [ 2.69348809e-03 6.00971406e-05 9.99996371e-01 1.28275840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.674012739 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:84.05, Y:13.54, Z:0.13 [[ 9.39914392e-01 -3.41400974e-01 -2.51209594e-03 8.40450686e+01] [ 3.41399591e-01 9.39917747e-01 -9.73582917e-04 1.35431535e+01] [ 2.69354571e-03 5.74560696e-05 9.99996371e-01 1.26413530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.704012739 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:84.07, Y:13.55, Z:0.12 [[ 9.39202699e-01 -3.43354016e-01 -2.51201696e-03 8.40718655e+01] [ 3.43352639e-01 9.39206057e-01 -9.73786659e-04 1.35520056e+01] [ 2.69365510e-03 5.20754047e-05 9.99996371e-01 1.22834790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.734012739 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:84.10, Y:13.56, Z:0.12 [[ 9.39049500e-01 -3.43772785e-01 -2.51183369e-03 8.40966531e+01] [ 3.43771408e-01 9.39052858e-01 -9.74259164e-04 1.35621062e+01] [ 2.69366839e-03 5.13809750e-05 9.99996371e-01 1.23386058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.764012739 meters Centerline goodness : 0.996110 Centerline is valid? [True, True] Translation: X:84.12, Y:13.58, Z:0.13 [[ 9.39427212e-01 -3.42739265e-01 -2.51175391e-03 8.41201230e+01] [ 3.42737884e-01 9.39430569e-01 -9.74464818e-04 1.35753582e+01] [ 2.69360576e-03 5.45655478e-05 9.99996371e-01 1.25177872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.794012739 meters Centerline goodness : 0.996160 Centerline is valid? [True, True] Translation: X:84.15, Y:13.59, Z:0.13 [[ 9.39480126e-01 -3.42594198e-01 -2.51167525e-03 8.41456780e+01] [ 3.42592816e-01 9.39483482e-01 -9.74667511e-04 1.35875232e+01] [ 2.69359284e-03 5.51988594e-05 9.99996371e-01 1.25428206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.824012739 meters Centerline goodness : 0.995643 Centerline is valid? [True, True] Translation: X:84.17, Y:13.60, Z:0.12 [[ 9.39298927e-01 -3.43090685e-01 -2.51149879e-03 8.41702817e+01] [ 3.43089304e-01 9.39302283e-01 -9.75121991e-04 1.36015125e+01] [ 2.69361182e-03 5.42626674e-05 9.99996371e-01 1.23432777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.854012739 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:84.20, Y:13.61, Z:0.12 [[ 9.39126476e-01 -3.43562448e-01 -2.51131930e-03 8.41955080e+01] [ 3.43561067e-01 9.39129832e-01 -9.75584023e-04 1.36141052e+01] [ 2.69362891e-03 5.34052468e-05 9.99996371e-01 1.21813461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.884012739 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:84.22, Y:13.63, Z:0.12 [[ 9.38963731e-01 -3.44006986e-01 -2.51113740e-03 8.42200827e+01] [ 3.44005605e-01 9.38967087e-01 -9.76052004e-04 1.36260612e+01] [ 2.69364408e-03 5.26320896e-05 9.99996371e-01 1.20480671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.914012739 meters Centerline goodness : 0.995847 Centerline is valid? [True, True] Translation: X:84.25, Y:13.64, Z:0.12 [[ 9.38462385e-01 -3.45372329e-01 -2.51105829e-03 8.42455381e+01] [ 3.45370953e-01 9.38465744e-01 -9.76255489e-04 1.36391241e+01] [ 2.69371382e-03 4.89324596e-05 9.99996371e-01 1.21762904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.944012739 meters Centerline goodness : 0.996050 Centerline is valid? [True, True] Translation: X:84.27, Y:13.65, Z:0.12 [[ 9.38209659e-01 -3.46058278e-01 -2.51086909e-03 8.42701317e+01] [ 3.46056903e-01 9.38213017e-01 -9.76741872e-04 1.36505819e+01] [ 2.69373967e-03 4.74850784e-05 9.99996371e-01 1.23542355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.974012739 meters Centerline goodness : 0.996050 Centerline is valid? [True, True] Translation: X:84.30, Y:13.66, Z:0.12 [[ 9.38147368e-01 -3.46227110e-01 -2.51078677e-03 8.42966015e+01] [ 3.46225734e-01 9.38150727e-01 -9.76953439e-04 1.36610980e+01] [ 2.69374420e-03 4.72273050e-05 9.99996371e-01 1.23619091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.004012739 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:84.32, Y:13.68, Z:0.13 [[ 9.37201640e-01 -3.48778989e-01 -2.51061088e-03 8.43207219e+01] [ 3.48777622e-01 9.37205002e-01 -9.77405240e-04 1.36764852e+01] [ 2.69385548e-03 4.03809036e-05 9.99996371e-01 1.26287220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.034012739 meters Centerline goodness : 0.996064 Centerline is valid? [True, True] Translation: X:84.34, Y:13.69, Z:0.13 [[ 9.36794099e-01 -3.49872140e-01 -2.51042503e-03 8.43448923e+01] [ 3.49870776e-01 9.36797462e-01 -9.77882351e-04 1.36880805e+01] [ 2.69389358e-03 3.77500629e-05 9.99996371e-01 1.25543577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.064012739 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:84.37, Y:13.70, Z:0.13 [[ 9.36256656e-01 -3.51307803e-01 -2.51034390e-03 8.43693790e+01] [ 3.51306443e-01 9.36260021e-01 -9.78090565e-04 1.36993017e+01] [ 2.69394548e-03 3.38438141e-05 9.99996371e-01 1.28613045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09401273900001 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:84.39, Y:13.71, Z:0.13 [[ 9.36143558e-01 -3.51609068e-01 -2.51021834e-03 8.43937978e+01] [ 3.51607708e-01 9.36146923e-01 -9.78412696e-04 1.37110933e+01] [ 2.69395196e-03 3.33226239e-05 9.99996371e-01 1.29708038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.124012739 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:84.42, Y:13.73, Z:0.13 [[ 9.35846041e-01 -3.52400180e-01 -2.51013857e-03 8.44173340e+01] [ 3.52398822e-01 9.35849407e-01 -9.78617304e-04 1.37265256e+01] [ 2.69397661e-03 3.12652522e-05 9.99996371e-01 1.31581684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.154012739 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:84.44, Y:13.74, Z:0.13 [[ 9.35654381e-01 -3.52908742e-01 -2.50995574e-03 8.44432186e+01] [ 3.52907385e-01 9.35657747e-01 -9.79086010e-04 1.37382979e+01] [ 2.69398755e-03 3.03041958e-05 9.99996371e-01 1.30731355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.184012739 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:84.47, Y:13.75, Z:0.13 [[ 9.35503111e-01 -3.53309540e-01 -2.50977377e-03 8.44684975e+01] [ 3.53308183e-01 9.35506477e-01 -9.79552264e-04 1.37496892e+01] [ 2.69399477e-03 2.96505808e-05 9.99996371e-01 1.29321910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.214012739 meters Centerline goodness : 0.996185 Centerline is valid? [True, True] Translation: X:84.49, Y:13.76, Z:0.13 [[ 9.35319136e-01 -3.53796292e-01 -2.50959194e-03 8.44918136e+01] [ 3.53794936e-01 9.35322502e-01 -9.80017885e-04 1.37644090e+01] [ 2.69400450e-03 2.87485621e-05 9.99996371e-01 1.29047433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.244012739 meters Centerline goodness : 0.995615 Centerline is valid? [True, True] Translation: X:84.52, Y:13.78, Z:0.13 [[ 9.35152127e-01 -3.54237494e-01 -2.50951292e-03 8.45171150e+01] [ 3.54236138e-01 9.35155494e-01 -9.80220171e-04 1.37778231e+01] [ 2.69401553e-03 2.76948106e-05 9.99996371e-01 1.30888915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.274012739 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:84.54, Y:13.79, Z:0.13 [[ 9.35012379e-01 -3.54606196e-01 -2.50933717e-03 8.45420221e+01] [ 3.54604841e-01 9.35015746e-01 -9.80669888e-04 1.37913657e+01] [ 2.69402138e-03 2.71153778e-05 9.99996371e-01 1.33954372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.304012739 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:84.57, Y:13.80, Z:0.13 [[ 9.34823531e-01 -3.55103745e-01 -2.50914819e-03 8.45662476e+01] [ 3.55102390e-01 9.34826898e-01 -9.81153174e-04 1.38026860e+01] [ 2.69403039e-03 2.62005550e-05 9.99996371e-01 1.32584237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.334012739 meters Centerline goodness : 0.995193 Centerline is valid? [True, True] Translation: X:84.59, Y:13.81, Z:0.13 [[ 9.34594258e-01 -3.55706729e-01 -2.50901985e-03 8.45907487e+01] [ 3.55705376e-01 9.34597626e-01 -9.81481265e-04 1.38144741e+01] [ 2.69404348e-03 2.48149088e-05 9.99996371e-01 1.30799215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.364012739 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:84.62, Y:13.83, Z:0.13 [[ 9.33836850e-01 -3.57690430e-01 -2.50893956e-03 8.46152458e+01] [ 3.57689083e-01 9.33840220e-01 -9.81686449e-04 1.38295262e+01] [ 2.69408852e-03 1.93146880e-05 9.99996371e-01 1.27807609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.394012739 meters Centerline goodness : 0.995629 Centerline is valid? [True, True] Translation: X:84.64, Y:13.84, Z:0.13 [[ 9.32991063e-01 -3.59890791e-01 -2.50874663e-03 8.46400600e+01] [ 3.59889451e-01 9.32994436e-01 -9.82179259e-04 1.38409675e+01] [ 2.69412392e-03 1.34930238e-05 9.99996371e-01 1.27502024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.424012739 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:84.67, Y:13.85, Z:0.13 [[ 9.32245806e-01 -3.61816894e-01 -2.50866282e-03 8.46652649e+01] [ 3.61815560e-01 9.32249181e-01 -9.82393265e-04 1.38519904e+01] [ 2.69414534e-03 8.15875661e-06 9.99996371e-01 1.27232799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.454012739 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:84.69, Y:13.86, Z:0.13 [[ 9.31642450e-01 -3.63367656e-01 -2.50847201e-03 8.46899100e+01] [ 3.63366327e-01 9.31645827e-01 -9.82880251e-04 1.38627066e+01] [ 2.69415437e-03 4.19870358e-06 9.99996371e-01 1.26878725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.484012739 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:84.72, Y:13.87, Z:0.13 [[ 9.30972324e-01 -3.65081142e-01 -2.50838889e-03 8.47154904e+01] [ 3.65079818e-01 9.30975703e-01 -9.83092335e-04 1.38736395e+01] [ 2.69415758e-03 -5.30403394e-07 9.99996371e-01 1.27126913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.514012739 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:84.74, Y:13.88, Z:0.13 [[ 9.29715945e-01 -3.68268883e-01 -2.50820022e-03 8.47410805e+01] [ 3.68267570e-01 9.29719329e-01 -9.83573469e-04 1.38839003e+01] [ 2.69414172e-03 -9.24485955e-06 9.99996371e-01 1.29124975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.544012739 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:84.77, Y:13.89, Z:0.13 [[ 9.28833731e-01 -3.70488340e-01 -2.50801223e-03 8.47662596e+01] [ 3.70487033e-01 9.28837117e-01 -9.84052571e-04 1.38929147e+01] [ 2.69411486e-03 -1.51647906e-05 9.99996371e-01 1.31165852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.574012739 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:84.79, Y:13.90, Z:0.13 [[ 9.28493125e-01 -3.71341121e-01 -2.50793106e-03 8.47930692e+01] [ 3.71339817e-01 9.28496512e-01 -9.84259404e-04 1.39017289e+01] [ 2.69410123e-03 -1.74165703e-05 9.99996371e-01 1.32576789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.604012739 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:84.82, Y:13.91, Z:0.13 [[ 9.28071831e-01 -3.72392788e-01 -2.50774689e-03 8.48196874e+01] [ 3.72391486e-01 9.28075219e-01 -9.84728423e-04 1.39107059e+01] [ 2.69408350e-03 -1.99648808e-05 9.99996371e-01 1.33752448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.634012739 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:84.85, Y:13.92, Z:0.14 [[ 9.28017409e-01 -3.72528389e-01 -2.50755859e-03 8.48456287e+01] [ 3.72527087e-01 9.28020796e-01 -9.85207678e-04 1.39188578e+01] [ 2.69408435e-03 -1.98436213e-05 9.99996371e-01 1.36237865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.664012739 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:84.87, Y:13.93, Z:0.14 [[ 9.28428773e-01 -3.71501987e-01 -2.50747681e-03 8.48704056e+01] [ 3.71500681e-01 9.28432159e-01 -9.85415785e-04 1.39282518e+01] [ 2.69410603e-03 -1.66409724e-05 9.99996371e-01 1.35210226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.694012739 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:84.90, Y:13.94, Z:0.13 [[ 9.29870098e-01 -3.67879482e-01 -2.50738368e-03 8.48967593e+01] [ 3.67878162e-01 9.29873479e-01 -9.85652681e-04 1.39381189e+01] [ 2.69415099e-03 -5.88274578e-06 9.99996371e-01 1.32971947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.724012739 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:84.92, Y:13.95, Z:0.13 [[ 9.30607010e-01 -3.66011348e-01 -2.50719263e-03 8.49223217e+01] [ 3.66010020e-01 9.30610387e-01 -9.86138435e-04 1.39479468e+01] [ 2.69415736e-03 4.97177569e-08 9.99996371e-01 1.32962331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.754012739 meters Centerline goodness : 0.995867 Centerline is valid? [True, True] Translation: X:84.95, Y:13.96, Z:0.13 [[ 9.31659456e-01 -3.63324061e-01 -2.50710969e-03 8.49486812e+01] [ 3.63322722e-01 9.31662829e-01 -9.86349244e-04 1.39584377e+01] [ 2.69414532e-03 8.05168331e-06 9.99996371e-01 1.29869983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.784012739 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:84.97, Y:13.97, Z:0.13 [[ 9.31843721e-01 -3.62851203e-01 -2.50692653e-03 8.49748016e+01] [ 3.62849861e-01 9.31847093e-01 -9.86814556e-04 1.39686952e+01] [ 2.69413904e-03 9.91900535e-06 9.99996371e-01 1.28597389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.814012739 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:85.00, Y:13.98, Z:0.13 [[ 9.31708811e-01 -3.63197478e-01 -2.50674204e-03 8.50000831e+01] [ 3.63196136e-01 9.31712183e-01 -9.87282968e-04 1.39789160e+01] [ 2.69414078e-03 9.42121733e-06 9.99996371e-01 1.28774374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84401273900001 meters Centerline goodness : 0.995612 Centerline is valid? [True, True] Translation: X:85.03, Y:13.99, Z:0.13 [[ 9.31191603e-01 -3.64521488e-01 -2.50666181e-03 8.50266950e+01] [ 3.64520151e-01 9.31194977e-01 -9.87486637e-04 1.39884266e+01] [ 2.69415098e-03 5.81052394e-06 9.99996371e-01 1.33299417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.874012739 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:85.05, Y:14.00, Z:0.14 [[ 9.31030668e-01 -3.64932341e-01 -2.50647805e-03 8.50524980e+01] [ 3.64931004e-01 9.31034042e-01 -9.87952844e-04 1.39985234e+01] [ 2.69415233e-03 5.12284613e-06 9.99996371e-01 1.35014147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.904012739 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:85.08, Y:14.01, Z:0.14 [[ 9.31827386e-01 -3.62893155e-01 -2.50628529e-03 8.50760640e+01] [ 3.62891809e-01 9.31830756e-01 -9.88441587e-04 1.40110278e+01] [ 2.69413241e-03 1.15465357e-05 9.99996371e-01 1.35935620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.934012739 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:85.10, Y:14.02, Z:0.14 [[ 9.32529873e-01 -3.61084138e-01 -2.50620145e-03 8.51009110e+01] [ 3.61082785e-01 9.32533241e-01 -9.88654135e-04 1.40239049e+01] [ 2.69410348e-03 1.70033169e-05 9.99996371e-01 1.35584912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.964012739 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:85.12, Y:14.04, Z:0.14 [[ 9.33393893e-01 -3.58844758e-01 -2.50600684e-03 8.51248339e+01] [ 3.58843395e-01 9.33397257e-01 -9.89147162e-04 1.40357730e+01] [ 2.69405019e-03 2.39999161e-05 9.99996371e-01 1.35030301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.994012739 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:85.15, Y:14.05, Z:0.14 [[ 9.35030864e-01 -3.54557475e-01 -2.50587450e-03 8.51492954e+01] [ 3.54556096e-01 9.35034222e-01 -9.89482314e-04 1.40512383e+01] [ 2.69390677e-03 3.67234219e-05 9.99996371e-01 1.35405398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.024012739 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:85.17, Y:14.07, Z:0.13 [[ 9.36106370e-01 -3.51708098e-01 -2.50568659e-03 8.51729900e+01] [ 3.51706708e-01 9.36109722e-01 -9.89957934e-04 1.40686702e+01] [ 2.69377380e-03 4.54391448e-05 9.99996371e-01 1.33363330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.054012739 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:85.20, Y:14.08, Z:0.13 [[ 9.36004228e-01 -3.51979839e-01 -2.50549431e-03 8.51979922e+01] [ 3.51978448e-01 9.36007581e-01 -9.90444342e-04 1.40827947e+01] [ 2.69377811e-03 4.51800920e-05 9.99996371e-01 1.32051836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.084012739 meters Centerline goodness : 0.995595 Centerline is valid? [True, True] Translation: X:85.22, Y:14.10, Z:0.13 [[ 9.35655588e-01 -3.52905573e-01 -2.50530122e-03 8.52214922e+01] [ 3.52904185e-01 9.35658941e-01 -9.90932522e-04 1.40958836e+01] [ 2.69381310e-03 4.30402665e-05 9.99996371e-01 1.30988211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.114012739 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:85.25, Y:14.11, Z:0.13 [[ 9.33815594e-01 -3.57745944e-01 -2.50521698e-03 8.52451908e+01] [ 3.57744572e-01 9.33818954e-01 -9.91145456e-04 1.41127467e+01] [ 2.69399736e-03 2.93193083e-05 9.99996371e-01 1.33151374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.144012739 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:85.27, Y:14.12, Z:0.13 [[ 9.32609039e-01 -3.60879626e-01 -2.50502601e-03 8.52693857e+01] [ 3.60878264e-01 9.32612403e-01 -9.91627867e-04 1.41249620e+01] [ 2.69407662e-03 2.07916724e-05 9.99996371e-01 1.33484435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.174012739 meters Centerline goodness : 0.994965 Centerline is valid? [True, True] Translation: X:85.29, Y:14.14, Z:0.13 [[ 9.30208474e-01 -3.67023053e-01 -2.50494340e-03 8.52941402e+01] [ 3.67021712e-01 9.30211846e-01 -9.91836519e-04 1.41381061e+01] [ 2.69415489e-03 3.24612006e-06 9.99996371e-01 1.32118201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.204012739 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:85.32, Y:14.15, Z:0.13 [[ 9.29296857e-01 -3.69325166e-01 -2.50475569e-03 8.53194300e+01] [ 3.69323833e-01 9.29300232e-01 -9.92310324e-04 1.41499417e+01] [ 2.69415522e-03 -2.91510640e-06 9.99996371e-01 1.32338227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.234012739 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:85.34, Y:14.16, Z:0.13 [[ 9.28568083e-01 -3.71153665e-01 -2.50456994e-03 8.53445016e+01] [ 3.71152337e-01 9.28571460e-01 -9.92778937e-04 1.41620972e+01] [ 2.69414570e-03 -7.71415201e-06 9.99996371e-01 1.33448934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.264012739 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:85.37, Y:14.17, Z:0.13 [[ 9.27959261e-01 -3.72673231e-01 -2.50438429e-03 8.53686553e+01] [ 3.72671908e-01 9.27962641e-01 -9.93247020e-04 1.41749364e+01] [ 2.69413164e-03 -1.16209016e-05 9.99996371e-01 1.33983844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.294012739 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:85.39, Y:14.19, Z:0.13 [[ 9.27770977e-01 -3.73141720e-01 -2.50430374e-03 8.53936233e+01] [ 3.73140398e-01 9.27774356e-01 -9.93450081e-04 1.41860980e+01] [ 2.69412646e-03 -1.27627423e-05 9.99996371e-01 1.33183830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.324012739 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:85.42, Y:14.20, Z:0.13 [[ 9.27458443e-01 -3.73917860e-01 -2.50417814e-03 8.54189128e+01] [ 3.73916540e-01 9.27461823e-01 -9.93766564e-04 1.41988389e+01] [ 2.69411670e-03 -1.46764379e-05 9.99996371e-01 1.33111205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.354012739 meters Centerline goodness : 0.994586 Centerline is valid? [True, True] Translation: X:85.44, Y:14.21, Z:0.13 [[ 9.27188859e-01 -3.74585837e-01 -2.50399597e-03 8.54434959e+01] [ 3.74584518e-01 9.27192240e-01 -9.94225382e-04 1.42106874e+01] [ 2.69410838e-03 -1.61234263e-05 9.99996371e-01 1.34609078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.384012739 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:85.47, Y:14.22, Z:0.14 [[ 9.26891981e-01 -3.75319845e-01 -2.50387157e-03 8.54684818e+01] [ 3.75318528e-01 9.26895363e-01 -9.94538578e-04 1.42222106e+01] [ 2.69409701e-03 -1.79195582e-05 9.99996371e-01 1.37404692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.414012739 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:85.49, Y:14.23, Z:0.14 [[ 9.26082706e-01 -3.77312276e-01 -2.50369004e-03 8.54932482e+01] [ 3.77310965e-01 9.26086090e-01 -9.94995342e-04 1.42341151e+01] [ 2.69405648e-03 -2.32217269e-05 9.99996371e-01 1.41412611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.444012739 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:85.52, Y:14.25, Z:0.14 [[ 9.25444585e-01 -3.78874718e-01 -2.50356643e-03 8.55192177e+01] [ 3.78873412e-01 9.25447971e-01 -9.95306289e-04 1.42456992e+01] [ 2.69401686e-03 -2.74339368e-05 9.99996371e-01 1.40152480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.474012739 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:85.54, Y:14.26, Z:0.14 [[ 9.24041137e-01 -3.82284854e-01 -2.50338726e-03 8.55443269e+01] [ 3.82283559e-01 9.24044528e-01 -9.95756719e-04 1.42589259e+01] [ 2.69390401e-03 -3.68836207e-05 9.99996371e-01 1.36770767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.504012739 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:85.57, Y:14.27, Z:0.14 [[ 9.23243446e-01 -3.84207330e-01 -2.50333179e-03 8.55700507e+01] [ 3.84206042e-01 9.23246839e-01 -9.95896151e-04 1.42698587e+01] [ 2.69382376e-03 -4.23406050e-05 9.99996371e-01 1.36718624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.534012739 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:85.60, Y:14.28, Z:0.14 [[ 9.21256966e-01 -3.88946445e-01 -2.50315597e-03 8.55966450e+01] [ 3.88945173e-01 9.21260365e-01 -9.96337880e-04 1.42795101e+01] [ 2.69358046e-03 -5.57072183e-05 9.99996371e-01 1.36971845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.564012739 meters Centerline goodness : 0.994160 Centerline is valid? [True, True] Translation: X:85.62, Y:14.29, Z:0.14 [[ 9.19981996e-01 -3.91952628e-01 -2.50297405e-03 8.56219317e+01] [ 3.91951366e-01 9.19985398e-01 -9.96794692e-04 1.42885828e+01] [ 2.69339587e-03 -6.40109267e-05 9.99996371e-01 1.36017345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59401273900001 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:85.65, Y:14.30, Z:0.13 [[ 9.18570064e-01 -3.95250266e-01 -2.50289516e-03 8.56479134e+01] [ 3.95249015e-01 9.18573471e-01 -9.96992731e-04 1.42978202e+01] [ 2.69315474e-03 -7.34591685e-05 9.99996371e-01 1.34832986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.624012739 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:85.67, Y:14.30, Z:0.13 [[ 9.15808079e-01 -4.01608390e-01 -2.50271078e-03 8.56744856e+01] [ 4.01607162e-01 9.15811494e-01 -9.97455361e-04 1.43032448e+01] [ 2.69259774e-03 -9.16288952e-05 9.99996371e-01 1.34864955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.654012739 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:85.70, Y:14.31, Z:0.14 [[ 9.14629180e-01 -4.04286036e-01 -2.50263060e-03 8.57020829e+01] [ 4.04284817e-01 9.14632599e-01 -9.97656494e-04 1.43102434e+01] [ 2.69232612e-03 -9.92898130e-05 9.99996371e-01 1.35368863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.684012739 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:85.73, Y:14.31, Z:0.14 [[ 9.13261008e-01 -4.07367240e-01 -2.50245875e-03 8.57309852e+01] [ 4.07366031e-01 9.13264431e-01 -9.98087371e-04 1.43136034e+01] [ 2.69199466e-03 -1.07902409e-04 9.99996371e-01 1.36640844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.714012739 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:85.76, Y:14.32, Z:0.14 [[ 9.12985769e-01 -4.07983731e-01 -2.50227490e-03 8.57576826e+01] [ 4.07982524e-01 9.12989191e-01 -9.98548070e-04 1.43211193e+01] [ 2.69194131e-03 -1.09224252e-04 9.99996371e-01 1.36676705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.744012739 meters Centerline goodness : 0.987403 Centerline is valid? [True, True] Translation: X:85.78, Y:14.33, Z:0.15 [[ 9.13356675e-01 -4.07152704e-01 -2.50209230e-03 8.57848311e+01] [ 4.07151492e-01 9.13360096e-01 -9.99005412e-04 1.43254294e+01] [ 2.69205902e-03 -1.06282350e-04 9.99996371e-01 1.47475765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.774012739 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:85.81, Y:14.33, Z:0.14 [[ 9.13812614e-01 -4.06128363e-01 -2.50201301e-03 8.58106826e+01] [ 4.06127147e-01 9.13816033e-01 -9.99203950e-04 1.43324878e+01] [ 2.69218467e-03 -1.03050233e-04 9.99996371e-01 1.35202249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.804012739 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:85.84, Y:14.34, Z:0.13 [[ 9.14706352e-01 -4.04111408e-01 -2.50193408e-03 8.58393293e+01] [ 4.04110184e-01 9.14709768e-01 -9.99401559e-04 1.43366529e+01] [ 2.69241311e-03 -9.68980853e-05 9.99996371e-01 1.34807383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.834012739 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:85.87, Y:14.34, Z:0.13 [[ 9.14898514e-01 -4.03676171e-01 -2.50174531e-03 8.58660451e+01] [ 4.03674944e-01 9.14901929e-01 -9.99873863e-04 1.43437891e+01] [ 2.69247686e-03 -9.51087860e-05 9.99996371e-01 1.33770515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.864012739 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:85.89, Y:14.35, Z:0.13 [[ 9.14920399e-01 -4.03626567e-01 -2.50166310e-03 8.58936405e+01] [ 4.03625339e-01 9.14923814e-01 -1.00007950e-03 1.43512046e+01] [ 2.69248980e-03 -9.47414862e-05 9.99996371e-01 1.34301183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.894012739 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:85.92, Y:14.36, Z:0.13 [[ 9.15022386e-01 -4.03395309e-01 -2.50147697e-03 8.59220578e+01] [ 4.03394079e-01 9.15025801e-01 -1.00054485e-03 1.43559773e+01] [ 2.69253107e-03 -9.35600644e-05 9.99996371e-01 1.32072873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.924012739 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:85.95, Y:14.37, Z:0.13 [[ 9.14945098e-01 -4.03570577e-01 -2.50128522e-03 8.59484335e+01] [ 4.03569347e-01 9.14948512e-01 -1.00102398e-03 1.43667055e+01] [ 2.69253102e-03 -9.35600627e-05 9.99996371e-01 1.32149610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.954012739 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:85.97, Y:14.37, Z:0.13 [[ 9.15747967e-01 -4.01745450e-01 -2.50109338e-03 8.59745344e+01] [ 4.01744211e-01 9.15751378e-01 -1.00150307e-03 1.43729004e+01] [ 2.69272901e-03 -8.76753905e-05 9.99996371e-01 1.30589621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.984012739 meters Centerline goodness : 0.996044 Centerline is valid? [True, True] Translation: X:86.00, Y:14.38, Z:0.13 [[ 9.16151952e-01 -4.00823335e-01 -2.50101002e-03 8.60012036e+01] [ 4.00822092e-01 9.16155362e-01 -1.00171120e-03 1.43819819e+01] [ 2.69282296e-03 -8.47403940e-05 9.99996371e-01 1.31264410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.014012739 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:86.03, Y:14.39, Z:0.13 [[ 9.16457857e-01 -4.00123408e-01 -2.50082444e-03 8.60280406e+01] [ 4.00122161e-01 9.16461266e-01 -1.00217430e-03 1.43905714e+01] [ 2.69290213e-03 -8.21847666e-05 9.99996371e-01 1.32568314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.044012739 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:86.06, Y:14.40, Z:0.14 [[ 9.17093865e-01 -3.98663505e-01 -2.50063837e-03 8.60557520e+01] [ 3.98662251e-01 9.17097271e-01 -1.00263837e-03 1.43962883e+01] [ 2.69304395e-03 -7.73966227e-05 9.99996371e-01 1.35192932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.074012739 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:86.08, Y:14.40, Z:0.14 [[ 9.17472648e-01 -3.97791010e-01 -2.50044559e-03 8.60815710e+01] [ 3.97789752e-01 9.17476053e-01 -1.00311890e-03 1.44043523e+01] [ 2.69313063e-03 -7.43174796e-05 9.99996371e-01 1.36530961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.104012739 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:86.11, Y:14.41, Z:0.14 [[ 9.17932560e-01 -3.96728576e-01 -2.50036164e-03 8.61086390e+01] [ 3.96727314e-01 9.17935963e-01 -1.00332811e-03 1.44114009e+01] [ 2.69322080e-03 -7.09742213e-05 9.99996371e-01 1.36772535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.134012739 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:86.13, Y:14.42, Z:0.14 [[ 9.18035136e-01 -3.96491159e-01 -2.50017193e-03 8.61345507e+01] [ 3.96489894e-01 9.18038537e-01 -1.00380062e-03 1.44195836e+01] [ 2.69325225e-03 -6.97686693e-05 9.99996371e-01 1.36963578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.164012739 meters Centerline goodness : 0.994931 Centerline is valid? [True, True] Translation: X:86.16, Y:14.43, Z:0.14 [[ 9.17928276e-01 -3.96738491e-01 -2.50008938e-03 8.61623178e+01] [ 3.96737227e-01 9.17931678e-01 -1.00400618e-03 1.44257823e+01] [ 2.69323914e-03 -7.02728680e-05 9.99996371e-01 1.38080717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.194012739 meters Centerline goodness : 0.989179 Centerline is valid? [True, True] Translation: X:86.19, Y:14.43, Z:0.15 [[ 9.17950044e-01 -3.96688124e-01 -2.49990308e-03 8.61880954e+01] [ 3.96686858e-01 9.17953445e-01 -1.00446985e-03 1.44330892e+01] [ 2.69325590e-03 -6.96255530e-05 9.99996371e-01 1.46103654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.224012739 meters Centerline goodness : 0.987556 Centerline is valid? [True, True] Translation: X:86.21, Y:14.44, Z:0.15 [[ 9.18154969e-01 -3.96213585e-01 -2.49977558e-03 8.62148523e+01] [ 3.96212317e-01 9.18158369e-01 -1.00478704e-03 1.44382234e+01] [ 2.69330015e-03 -6.78916570e-05 9.99996371e-01 1.47071022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.254012739 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:86.24, Y:14.45, Z:0.13 [[ 9.18416528e-01 -3.95606918e-01 -2.49969514e-03 8.62407599e+01] [ 3.95605647e-01 9.18419927e-01 -1.00498713e-03 1.44461025e+01] [ 2.69334969e-03 -6.58967210e-05 9.99996371e-01 1.34056811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.284012739 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:86.27, Y:14.45, Z:0.13 [[ 9.19626846e-01 -3.92785204e-01 -2.49961503e-03 8.62687475e+01] [ 3.92783922e-01 9.19630241e-01 -1.00518634e-03 1.44521926e+01] [ 2.69354389e-03 -5.74122508e-05 9.99996371e-01 1.33013364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.314012739 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:86.30, Y:14.46, Z:0.13 [[ 9.20498733e-01 -3.90737554e-01 -2.49943312e-03 8.62954404e+01] [ 3.90736263e-01 9.20502125e-01 -1.00563846e-03 1.44609101e+01] [ 2.69367421e-03 -5.09302281e-05 9.99996371e-01 1.34250403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34401273900001 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:86.32, Y:14.47, Z:0.14 [[ 9.21484127e-01 -3.88407977e-01 -2.49925002e-03 8.63208100e+01] [ 3.88406677e-01 9.21487516e-01 -1.00609330e-03 1.44695003e+01] [ 2.69380235e-03 -4.36263897e-05 9.99996371e-01 1.35822718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.374012739 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:86.35, Y:14.48, Z:0.14 [[ 9.23514356e-01 -3.83555719e-01 -2.49906832e-03 8.63468326e+01] [ 3.83554399e-01 9.23517737e-01 -1.00654443e-03 1.44785122e+01] [ 2.69399979e-03 -2.89704167e-05 9.99996371e-01 1.36128815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.404012739 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:86.37, Y:14.49, Z:0.14 [[ 9.24370369e-01 -3.81488109e-01 -2.49888540e-03 8.63722769e+01] [ 3.81486780e-01 9.24373746e-01 -1.00699834e-03 1.44890301e+01] [ 2.69406195e-03 -2.24523193e-05 9.99996371e-01 1.36452791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.434012739 meters Centerline goodness : 0.994576 Centerline is valid? [True, True] Translation: X:86.40, Y:14.50, Z:0.14 [[ 9.25728309e-01 -3.78180981e-01 -2.49869874e-03 8.63974302e+01] [ 3.78179639e-01 9.25731681e-01 -1.00746130e-03 1.44996980e+01] [ 2.69412729e-03 -1.23215379e-05 9.99996371e-01 1.35269253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.464012739 meters Centerline goodness : 0.994907 Centerline is valid? [True, True] Translation: X:86.42, Y:14.51, Z:0.14 [[ 9.26057416e-01 -3.77374376e-01 -2.49851245e-03 8.64229933e+01] [ 3.77373030e-01 9.26060786e-01 -1.00792308e-03 1.45105603e+01] [ 2.69413875e-03 -9.47656890e-06 9.99996371e-01 1.36224316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.494012739 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:86.45, Y:14.52, Z:0.14 [[ 9.26186593e-01 -3.77057228e-01 -2.49832184e-03 8.64482307e+01] [ 3.77055880e-01 9.26189962e-01 -1.00839532e-03 1.45230631e+01] [ 2.69414336e-03 -8.04471162e-06 9.99996371e-01 1.39820461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.524012739 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:86.47, Y:14.53, Z:0.14 [[ 9.25920227e-01 -3.77710859e-01 -2.49813192e-03 8.64727980e+01] [ 3.77709512e-01 9.25923597e-01 -1.00886560e-03 1.45344186e+01] [ 2.69413879e-03 -9.43912869e-06 9.99996371e-01 1.41361553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.554012739 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:86.50, Y:14.55, Z:0.14 [[ 9.25542981e-01 -3.78634323e-01 -2.49804989e-03 8.64984275e+01] [ 3.78632978e-01 9.25546352e-01 -1.00906869e-03 1.45456823e+01] [ 2.69412900e-03 -1.19076260e-05 9.99996371e-01 1.42078117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.584012739 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:86.52, Y:14.56, Z:0.14 [[ 9.24337744e-01 -3.81567158e-01 -2.49786018e-03 8.65234722e+01] [ 3.81565823e-01 9.24341119e-01 -1.00953807e-03 1.45563115e+01] [ 2.69408145e-03 -1.99439382e-05 9.99996371e-01 1.43657760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.614012739 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:86.55, Y:14.57, Z:0.14 [[ 9.23682752e-01 -3.83150016e-01 -2.49777777e-03 8.65481491e+01] [ 3.83148687e-01 9.23686129e-01 -1.00974192e-03 1.45665012e+01] [ 2.69404531e-03 -2.43390816e-05 9.99996371e-01 1.43906434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.644012739 meters Centerline goodness : 0.992693 Centerline is valid? [True, True] Translation: X:86.57, Y:14.58, Z:0.14 [[ 9.22729341e-01 -3.85440430e-01 -2.49769696e-03 8.65731032e+01] [ 3.85439108e-01 9.22732721e-01 -1.00994178e-03 1.45764163e+01] [ 2.69397910e-03 -3.08071806e-05 9.99996371e-01 1.41971002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.674012739 meters Centerline goodness : 0.992672 Centerline is valid? [True, True] Translation: X:86.60, Y:14.59, Z:0.14 [[ 9.22312363e-01 -3.86437144e-01 -2.49757079e-03 8.65996546e+01] [ 3.86435825e-01 9.22315745e-01 -1.01025369e-03 1.45862854e+01] [ 2.69394842e-03 -3.33813603e-05 9.99996371e-01 1.40333983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.704012739 meters Centerline goodness : 0.993190 Centerline is valid? [True, True] Translation: X:86.63, Y:14.59, Z:0.14 [[ 9.21713570e-01 -3.87863195e-01 -2.49738749e-03 8.66259929e+01] [ 3.87861879e-01 9.21716953e-01 -1.01070662e-03 1.45948579e+01] [ 2.69390029e-03 -3.70594038e-05 9.99996371e-01 1.38123512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.734012739 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:86.65, Y:14.60, Z:0.14 [[ 9.21625156e-01 -3.88073235e-01 -2.49720564e-03 8.66512064e+01] [ 3.88071919e-01 9.21628539e-01 -1.01115572e-03 1.46035777e+01] [ 2.69389846e-03 -3.71888370e-05 9.99996371e-01 1.38567390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.764012739 meters Centerline goodness : 0.993135 Centerline is valid? [True, True] Translation: X:86.68, Y:14.61, Z:0.14 [[ 9.21578620e-01 -3.88183735e-01 -2.49712649e-03 8.66785119e+01] [ 3.88182419e-01 9.21582002e-01 -1.01135116e-03 1.46106916e+01] [ 2.69389690e-03 -3.73009940e-05 9.99996371e-01 1.40027592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.794012739 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:86.71, Y:14.62, Z:0.14 [[ 9.21591498e-01 -3.88153161e-01 -2.49694607e-03 8.67051163e+01] [ 3.88151844e-01 9.21594880e-01 -1.01179640e-03 1.46193282e+01] [ 2.69390469e-03 -3.67312643e-05 9.99996371e-01 1.40240079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.824012739 meters Centerline goodness : 0.992894 Centerline is valid? [True, True] Translation: X:86.73, Y:14.63, Z:0.14 [[ 9.21748830e-01 -3.87779398e-01 -2.49676623e-03 8.67313340e+01] [ 3.87778078e-01 9.21752210e-01 -1.01223999e-03 1.46279435e+01] [ 2.69392561e-03 -3.51601849e-05 9.99996371e-01 1.40050289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.854012739 meters Centerline goodness : 0.991754 Centerline is valid? [True, True] Translation: X:86.76, Y:14.63, Z:0.14 [[ 9.22631429e-01 -3.85674750e-01 -2.49658673e-03 8.67575723e+01] [ 3.85673422e-01 9.22634807e-01 -1.01268252e-03 1.46347007e+01] [ 2.69400389e-03 -2.85344216e-05 9.99996371e-01 1.38700794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.884012739 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:86.78, Y:14.64, Z:0.14 [[ 9.22982743e-01 -3.84833242e-01 -2.49650861e-03 8.67840644e+01] [ 3.84831909e-01 9.22986119e-01 -1.01287506e-03 1.46434827e+01] [ 2.69403079e-03 -2.58699779e-05 9.99996371e-01 1.38089816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.914012739 meters Centerline goodness : 0.991667 Centerline is valid? [True, True] Translation: X:86.81, Y:14.65, Z:0.14 [[ 9.23880145e-01 -3.82673811e-01 -2.49631802e-03 8.68100746e+01] [ 3.82672470e-01 9.23883518e-01 -1.01334457e-03 1.46511041e+01] [ 2.69408750e-03 -1.90632586e-05 9.99996371e-01 1.39137800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.944012739 meters Centerline goodness : 0.991405 Centerline is valid? [True, True] Translation: X:86.84, Y:14.66, Z:0.14 [[ 9.24357174e-01 -3.81520096e-01 -2.49612824e-03 8.68364898e+01] [ 3.81518750e-01 9.24360544e-01 -1.01381183e-03 1.46609862e+01] [ 2.69411205e-03 -1.51954887e-05 9.99996371e-01 1.39876653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.974012739 meters Centerline goodness : 0.990806 Centerline is valid? [True, True] Translation: X:86.86, Y:14.67, Z:0.14 [[ 9.24866984e-01 -3.80282569e-01 -2.49593713e-03 8.68628484e+01] [ 3.80281216e-01 9.24870352e-01 -1.01428211e-03 1.46703168e+01] [ 2.69413206e-03 -1.10819717e-05 9.99996371e-01 1.39661222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.004012739 meters Centerline goodness : 0.991127 Centerline is valid? [True, True] Translation: X:86.89, Y:14.68, Z:0.14 [[ 9.25712903e-01 -3.78218709e-01 -2.49574417e-03 8.68892265e+01] [ 3.78217348e-01 9.25716267e-01 -1.01475670e-03 1.46780426e+01] [ 2.69415094e-03 -4.56036565e-06 9.99996371e-01 1.37163212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.034012739 meters Centerline goodness : 0.991283 Centerline is valid? [True, True] Translation: X:86.92, Y:14.69, Z:0.14 [[ 9.26057052e-01 -3.77375287e-01 -2.49566000e-03 8.69154107e+01] [ 3.77373922e-01 9.26060415e-01 -1.01496364e-03 1.46886449e+01] [ 2.69415414e-03 -1.88276500e-06 9.99996371e-01 1.36302004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.064012739 meters Centerline goodness : 0.990824 Centerline is valid? [True, True] Translation: X:86.94, Y:14.70, Z:0.14 [[ 9.27150282e-01 -3.74681367e-01 -2.49548503e-03 8.69408446e+01] [ 3.74679991e-01 9.27153640e-01 -1.01539367e-03 1.47010707e+01] [ 2.69414712e-03 6.41422108e-06 9.99996371e-01 1.38108709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09401273900001 meters Centerline goodness : 0.990484 Centerline is valid? [True, True] Translation: X:86.97, Y:14.71, Z:0.14 [[ 9.27919651e-01 -3.72771907e-01 -2.49528897e-03 8.69668674e+01] [ 3.72770523e-01 9.27923006e-01 -1.01587526e-03 1.47126290e+01] [ 2.69412580e-03 1.24804400e-05 9.99996371e-01 1.38966126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.124012739 meters Centerline goodness : 0.990727 Centerline is valid? [True, True] Translation: X:86.99, Y:14.72, Z:0.14 [[ 9.29354428e-01 -3.69180336e-01 -2.49509087e-03 8.69911914e+01] [ 3.69178938e-01 9.29357778e-01 -1.01636157e-03 1.47240050e+01] [ 2.69405281e-03 2.34251248e-05 9.99996371e-01 1.39401785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.154012739 meters Centerline goodness : 0.990597 Centerline is valid? [True, True] Translation: X:87.02, Y:14.74, Z:0.14 [[ 9.29881901e-01 -3.67849731e-01 -2.49500466e-03 8.70157634e+01] [ 3.67848327e-01 9.29885248e-01 -1.01657317e-03 1.47352663e+01] [ 2.69401419e-03 2.75096985e-05 9.99996371e-01 1.38394776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.184012739 meters Centerline goodness : 0.991537 Centerline is valid? [True, True] Translation: X:87.04, Y:14.75, Z:0.14 [[ 9.30192208e-01 -3.67064344e-01 -2.49492221e-03 8.70416267e+01] [ 3.67062937e-01 9.30195553e-01 -1.01677547e-03 1.47470169e+01] [ 2.69398757e-03 3.00031418e-05 9.99996371e-01 1.37260031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.214012739 meters Centerline goodness : 0.990480 Centerline is valid? [True, True] Translation: X:87.07, Y:14.76, Z:0.14 [[ 9.30429317e-01 -3.66462907e-01 -2.49475112e-03 8.70670462e+01] [ 3.66461496e-01 9.30432661e-01 -1.01719508e-03 1.47582977e+01] [ 2.69396219e-03 3.21978900e-05 9.99996371e-01 1.37094987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.244012739 meters Centerline goodness : 0.990492 Centerline is valid? [True, True] Translation: X:87.09, Y:14.77, Z:0.14 [[ 9.30030703e-01 -3.67473357e-01 -2.49456210e-03 8.70930544e+01] [ 3.67471949e-01 9.30034048e-01 -1.01765843e-03 1.47689899e+01] [ 2.69399005e-03 2.97719881e-05 9.99996371e-01 1.41025640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.274012739 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:87.12, Y:14.78, Z:0.14 [[ 9.29710735e-01 -3.68282130e-01 -2.49437177e-03 8.71186082e+01] [ 3.68280724e-01 9.29714081e-01 -1.01812472e-03 1.47800309e+01] [ 2.69400970e-03 2.79324356e-05 9.99996371e-01 1.42184359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.304012739 meters Centerline goodness : 0.990695 Centerline is valid? [True, True] Translation: X:87.14, Y:14.79, Z:0.14 [[ 9.29390170e-01 -3.69090356e-01 -2.49418048e-03 8.71432656e+01] [ 3.69088951e-01 9.29393517e-01 -1.01859314e-03 1.47906162e+01] [ 2.69402807e-03 2.60959911e-05 9.99996371e-01 1.41245582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.334012739 meters Centerline goodness : 0.990962 Centerline is valid? [True, True] Translation: X:87.17, Y:14.80, Z:0.14 [[ 9.28601560e-01 -3.71069970e-01 -2.49405077e-03 8.71691337e+01] [ 3.71068572e-01 9.28604909e-01 -1.01891062e-03 1.48015799e+01] [ 2.69407492e-03 2.06981319e-05 9.99996371e-01 1.36217512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.364012739 meters Centerline goodness : 0.990338 Centerline is valid? [True, True] Translation: X:87.20, Y:14.81, Z:0.14 [[ 9.27061494e-01 -3.74901010e-01 -2.49386942e-03 8.71952693e+01] [ 3.74899625e-01 9.27064848e-01 -1.01935431e-03 1.48105875e+01] [ 2.69413563e-03 1.00534218e-05 9.99996371e-01 1.37371095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.394012739 meters Centerline goodness : 0.990427 Centerline is valid? [True, True] Translation: X:87.22, Y:14.82, Z:0.14 [[ 9.26205565e-01 -3.77010653e-01 -2.49367908e-03 8.72216409e+01] [ 3.77009274e-01 9.26208922e-01 -1.01981972e-03 1.48201281e+01] [ 2.69415071e-03 4.42255381e-06 9.99996371e-01 1.38697423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.424012739 meters Centerline goodness : 0.990809 Centerline is valid? [True, True] Translation: X:87.25, Y:14.83, Z:0.14 [[ 9.25450547e-01 -3.78860221e-01 -2.49348506e-03 8.72468727e+01] [ 3.78858847e-01 9.25453906e-01 -1.02029388e-03 1.48293612e+01] [ 2.69415426e-03 -4.47348479e-07 9.99996371e-01 1.39039297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.454012739 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:87.27, Y:14.84, Z:0.14 [[ 9.24498838e-01 -3.81176708e-01 -2.49340045e-03 8.72721564e+01] [ 3.81175342e-01 9.24502200e-01 -1.02050063e-03 1.48377541e+01] [ 2.69414527e-03 -6.97111968e-06 9.99996371e-01 1.37506225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.484012739 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:87.30, Y:14.85, Z:0.14 [[ 9.24245365e-01 -3.81790896e-01 -2.49331810e-03 8.72981669e+01] [ 3.81789532e-01 9.24248728e-01 -1.02070179e-03 1.48481051e+01] [ 2.69414073e-03 -8.54385154e-06 9.99996371e-01 1.37294430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.514012739 meters Centerline goodness : 0.992331 Centerline is valid? [True, True] Translation: X:87.33, Y:14.86, Z:0.13 [[ 9.24460761e-01 -3.81269046e-01 -2.49313013e-03 8.73262886e+01] [ 3.81267678e-01 9.24464123e-01 -1.02116070e-03 1.48571021e+01] [ 2.69414633e-03 -6.52694259e-06 9.99996371e-01 1.34154768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.544012739 meters Centerline goodness : 0.991715 Centerline is valid? [True, True] Translation: X:87.35, Y:14.87, Z:0.14 [[ 9.24318550e-01 -3.81613674e-01 -2.49441749e-03 8.73518950e+01] [ 3.81612316e-01 9.24321916e-01 -1.01801796e-03 1.48660522e+01] [ 2.69413433e-03 -1.09275536e-05 9.99996371e-01 1.36891248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.574012739 meters Centerline goodness : 0.990632 Centerline is valid? [True, True] Translation: X:87.38, Y:14.87, Z:0.14 [[ 9.23830553e-01 -3.82793540e-01 -2.49294002e-03 8.73792179e+01] [ 3.82792177e-01 9.23833917e-01 -1.02162324e-03 1.48723387e+01] [ 2.69413332e-03 -1.04711739e-05 9.99996371e-01 1.35713287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.604012739 meters Centerline goodness : 0.990623 Centerline is valid? [True, True] Translation: X:87.41, Y:14.88, Z:0.14 [[ 9.23371712e-01 -3.83899034e-01 -2.49274731e-03 8.74060725e+01] [ 3.83897673e-01 9.23375076e-01 -1.02209323e-03 1.48808898e+01] [ 2.69412135e-03 -1.31879177e-05 9.99996371e-01 1.36838169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.634012739 meters Centerline goodness : 0.990225 Centerline is valid? [True, True] Translation: X:87.43, Y:14.89, Z:0.14 [[ 9.22347366e-01 -3.86353626e-01 -2.49255602e-03 8.74334662e+01] [ 3.86352273e-01 9.22350734e-01 -1.02255952e-03 1.48872151e+01] [ 2.69408045e-03 -1.98496049e-05 9.99996371e-01 1.41398597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.664012739 meters Centerline goodness : 0.989964 Centerline is valid? [True, True] Translation: X:87.46, Y:14.90, Z:0.14 [[ 9.21714150e-01 -3.87861849e-01 -2.49236400e-03 8.74605527e+01] [ 3.87860501e-01 9.21717519e-01 -1.02302733e-03 1.48956904e+01] [ 2.69404884e-03 -2.37507809e-05 9.99996371e-01 1.43276803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.694012739 meters Centerline goodness : 0.990288 Centerline is valid? [True, True] Translation: X:87.49, Y:14.90, Z:0.14 [[ 9.21312316e-01 -3.88815389e-01 -2.49216540e-03 8.74860392e+01] [ 3.88814042e-01 9.21315686e-01 -1.02351091e-03 1.49037400e+01] [ 2.69402787e-03 -2.60157016e-05 9.99996371e-01 1.44222516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.724012739 meters Centerline goodness : 0.989244 Centerline is valid? [True, True] Translation: X:87.51, Y:14.91, Z:0.15 [[ 9.21406524e-01 -3.88592084e-01 -2.49203007e-03 8.75134788e+01] [ 3.88590736e-01 9.21409894e-01 -1.02384031e-03 1.49113406e+01] [ 2.69403740e-03 -2.50066551e-05 9.99996371e-01 1.45574167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.754012739 meters Centerline goodness : 0.989753 Centerline is valid? [True, True] Translation: X:87.54, Y:14.92, Z:0.15 [[ 9.21687025e-01 -3.87926305e-01 -2.49183496e-03 8.75400843e+01] [ 3.87924953e-01 9.21690394e-01 -1.02431494e-03 1.49204494e+01] [ 2.69405906e-03 -2.25471659e-05 9.99996371e-01 1.45845587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.784012739 meters Centerline goodness : 0.989361 Centerline is valid? [True, True] Translation: X:87.57, Y:14.93, Z:0.15 [[ 9.22495335e-01 -3.86000193e-01 -2.49163608e-03 8.75666113e+01] [ 3.85998833e-01 9.22498699e-01 -1.02479850e-03 1.49260121e+01] [ 2.69410346e-03 -1.63967870e-05 9.99996371e-01 1.46399029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.814012739 meters Centerline goodness : 0.989361 Centerline is valid? [True, True] Translation: X:87.59, Y:14.94, Z:0.15 [[ 9.22422356e-01 -3.86174559e-01 -2.49154928e-03 8.75928899e+01] [ 3.86173199e-01 9.22425721e-01 -1.02500949e-03 1.49370268e+01] [ 2.69410172e-03 -1.66778899e-05 9.99996371e-01 1.46475782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84401273900001 meters Centerline goodness : 0.990108 Centerline is valid? [True, True] Translation: X:87.62, Y:14.94, Z:0.15 [[ 9.22670124e-01 -3.85582203e-01 -2.49135544e-03 8.76187096e+01] [ 3.85580840e-01 9.22673487e-01 -1.02548041e-03 1.49447913e+01] [ 2.69411461e-03 -1.44387860e-05 9.99996371e-01 1.45117571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.874012739 meters Centerline goodness : 0.989542 Centerline is valid? [True, True] Translation: X:87.65, Y:14.95, Z:0.14 [[ 9.22987284e-01 -3.84822383e-01 -2.49127118e-03 8.76470633e+01] [ 3.84821017e-01 9.22990646e-01 -1.02568506e-03 1.49495996e+01] [ 2.69412657e-03 -1.19992405e-05 9.99996371e-01 1.40534867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.904012739 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:87.67, Y:14.96, Z:0.14 [[ 9.23081445e-01 -3.84596464e-01 -2.49107051e-03 8.76738156e+01] [ 3.84595095e-01 9.23084807e-01 -1.02617220e-03 1.49564641e+01] [ 2.69413154e-03 -1.08129835e-05 9.99996371e-01 1.38599381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.934012739 meters Centerline goodness : 0.990473 Centerline is valid? [True, True] Translation: X:87.70, Y:14.96, Z:0.14 [[ 9.24028127e-01 -3.82316382e-01 -2.49098322e-03 8.77009896e+01] [ 3.82315004e-01 9.24031484e-01 -1.02638404e-03 1.49612311e+01] [ 2.69415036e-03 -3.93253562e-06 9.99996371e-01 1.39049647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.964012739 meters Centerline goodness : 0.989349 Centerline is valid? [True, True] Translation: X:87.73, Y:14.97, Z:0.14 [[ 9.25031573e-01 -3.79882066e-01 -2.49089936e-03 8.77277434e+01] [ 3.79880679e-01 9.25034927e-01 -1.02658751e-03 1.49705534e+01] [ 2.69415110e-03 3.38132207e-06 9.99996371e-01 1.41794115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.994012739 meters Centerline goodness : 0.989527 Centerline is valid? [True, True] Translation: X:87.75, Y:14.98, Z:0.14 [[ 9.26568204e-01 -3.76118545e-01 -2.49071104e-03 8.77537097e+01] [ 3.76117143e-01 9.26571551e-01 -1.02704422e-03 1.49800197e+01] [ 2.69411237e-03 1.48274010e-05 9.99996371e-01 1.44373750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.024012739 meters Centerline goodness : 0.983788 Centerline is valid? [True, True] Translation: X:87.78, Y:14.99, Z:0.15 [[ 9.30542457e-01 -3.66175549e-01 -2.49051699e-03 8.77795832e+01] [ 3.66174110e-01 9.30545789e-01 -1.02751456e-03 1.49898338e+01] [ 2.69379081e-03 4.41830849e-05 9.99996371e-01 1.51938777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.054012739 meters Centerline goodness : 0.989373 Centerline is valid? [True, True] Translation: X:87.80, Y:15.00, Z:0.14 [[ 9.32469362e-01 -3.61240484e-01 -2.49031760e-03 8.78032119e+01] [ 3.61239026e-01 9.32472686e-01 -1.02799758e-03 1.50026815e+01] [ 2.69350749e-03 5.89763382e-05 9.99996371e-01 1.42113834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.084012739 meters Centerline goodness : 0.990617 Centerline is valid? [True, True] Translation: X:87.83, Y:15.02, Z:0.14 [[ 9.35815615e-01 -3.52481111e-01 -2.49023144e-03 8.78258031e+01] [ 3.52479621e-01 9.35818924e-01 -1.02820626e-03 1.50177154e+01] [ 2.69282899e-03 8.44556369e-05 9.99996371e-01 1.39309111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.114012739 meters Centerline goodness : 0.990590 Centerline is valid? [True, True] Translation: X:87.85, Y:15.03, Z:0.14 [[ 9.36927324e-01 -3.49515361e-01 -2.49014746e-03 8.78509707e+01] [ 3.49513861e-01 9.36930629e-01 -1.02840961e-03 1.50303692e+01] [ 2.69254038e-03 9.32040144e-05 9.99996371e-01 1.38728335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.144012739 meters Centerline goodness : 0.990086 Centerline is valid? [True, True] Translation: X:87.87, Y:15.05, Z:0.14 [[ 9.38226375e-01 -3.46013106e-01 -2.48995663e-03 8.78745774e+01] [ 3.46011592e-01 9.38229673e-01 -1.02887144e-03 1.50466605e+01] [ 2.69215419e-03 1.03760466e-04 9.99996371e-01 1.37065093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.174012739 meters Centerline goodness : 0.990730 Centerline is valid? [True, True] Translation: X:87.90, Y:15.06, Z:0.14 [[ 9.38470919e-01 -3.45349295e-01 -2.48976526e-03 8.78980972e+01] [ 3.45347777e-01 9.38474216e-01 -1.02933431e-03 1.50618934e+01] [ 2.69206038e-03 1.06165419e-04 9.99996371e-01 1.36855138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.204012739 meters Centerline goodness : 0.991310 Centerline is valid? [True, True] Translation: X:87.92, Y:15.08, Z:0.14 [[ 9.38551169e-01 -3.45131141e-01 -2.48957369e-03 8.79208373e+01] [ 3.45129621e-01 9.38554465e-01 -1.02979745e-03 1.50769178e+01] [ 2.69201567e-03 1.07291978e-04 9.99996371e-01 1.37383592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.234012739 meters Centerline goodness : 0.990693 Centerline is valid? [True, True] Translation: X:87.94, Y:15.10, Z:0.14 [[ 9.37823053e-01 -3.47104773e-01 -2.48949025e-03 8.79433973e+01] [ 3.47103260e-01 9.37826352e-01 -1.02999912e-03 1.50956731e+01] [ 2.69222717e-03 1.01846736e-04 9.99996371e-01 1.41856521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.264012739 meters Centerline goodness : 0.990301 Centerline is valid? [True, True] Translation: X:87.97, Y:15.11, Z:0.15 [[ 9.36216626e-01 -3.51414614e-01 -2.48943120e-03 8.79658406e+01] [ 3.51413116e-01 9.36219932e-01 -1.03014182e-03 1.51143849e+01] [ 2.69266200e-03 8.96171257e-05 9.99996371e-01 1.46050162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.294012739 meters Centerline goodness : 0.990336 Centerline is valid? [True, True] Translation: X:87.99, Y:15.13, Z:0.15 [[ 9.35316217e-01 -3.53804153e-01 -2.48923937e-03 8.79892313e+01] [ 3.53802661e-01 9.35319525e-01 -1.03060516e-03 1.51284037e+01] [ 2.69286657e-03 8.32422045e-05 9.99996371e-01 1.46797555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.324012739 meters Centerline goodness : 0.990721 Centerline is valid? [True, True] Translation: X:88.01, Y:15.14, Z:0.15 [[ 9.34407768e-01 -3.56196474e-01 -2.48910813e-03 8.80130843e+01] [ 3.56194991e-01 9.34411080e-01 -1.03092201e-03 1.51412889e+01] [ 2.69306100e-03 7.66936879e-05 9.99996371e-01 1.46279326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.354012739 meters Centerline goodness : 0.991388 Centerline is valid? [True, True] Translation: X:88.04, Y:15.16, Z:0.14 [[ 9.32698095e-01 -3.60649510e-01 -2.48902519e-03 8.80370219e+01] [ 3.60648042e-01 9.32701414e-01 -1.03112223e-03 1.51555876e+01] [ 2.69339104e-03 6.40636754e-05 9.99996371e-01 1.43679328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.384012739 meters Centerline goodness : 0.991344 Centerline is valid? [True, True] Translation: X:88.06, Y:15.17, Z:0.14 [[ 9.31336170e-01 -3.64152090e-01 -2.48883456e-03 8.80614581e+01] [ 3.64150633e-01 9.31339494e-01 -1.03158214e-03 1.51702328e+01] [ 2.69360271e-03 5.44390810e-05 9.99996371e-01 1.42643657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.414012739 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:88.09, Y:15.18, Z:0.14 [[ 9.30646039e-01 -3.65912226e-01 -2.48864291e-03 8.80866754e+01] [ 3.65910774e-01 9.30649365e-01 -1.03204429e-03 1.51824447e+01] [ 2.69369157e-03 4.98466747e-05 9.99996371e-01 1.41954787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.444012739 meters Centerline goodness : 0.992010 Centerline is valid? [True, True] Translation: X:88.11, Y:15.19, Z:0.14 [[ 9.29951977e-01 -3.67672583e-01 -2.48845086e-03 8.81122315e+01] [ 3.67671136e-01 9.29955305e-01 -1.03250714e-03 1.51942106e+01] [ 2.69377265e-03 4.52505012e-05 9.99996371e-01 1.42714286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.474012739 meters Centerline goodness : 0.991698 Centerline is valid? [True, True] Translation: X:88.14, Y:15.21, Z:0.14 [[ 9.28858186e-01 -3.70427158e-01 -2.48825839e-03 8.81380427e+01] [ 3.70425720e-01 9.28861518e-01 -1.03297078e-03 1.52054346e+01] [ 2.69388789e-03 3.77684615e-05 9.99996371e-01 1.42461545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.504012739 meters Centerline goodness : 0.991803 Centerline is valid? [True, True] Translation: X:88.16, Y:15.22, Z:0.14 [[ 9.28605326e-01 -3.71060586e-01 -2.48805801e-03 8.81628118e+01] [ 3.71059148e-01 9.28608658e-01 -1.03345319e-03 1.52159160e+01] [ 2.69390596e-03 3.64534523e-05 9.99996371e-01 1.41932166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.534012739 meters Centerline goodness : 0.991610 Centerline is valid? [True, True] Translation: X:88.19, Y:15.23, Z:0.14 [[ 9.28916722e-01 -3.70280346e-01 -2.48797088e-03 8.81868542e+01] [ 3.70278905e-01 9.28920053e-01 -1.03366291e-03 1.52275114e+01] [ 2.69387110e-03 3.89436289e-05 9.99996371e-01 1.40210849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.564012739 meters Centerline goodness : 0.991725 Centerline is valid? [True, True] Translation: X:88.21, Y:15.24, Z:0.14 [[ 9.29167358e-01 -3.69650960e-01 -2.48788671e-03 8.82118543e+01] [ 3.69649516e-01 9.29170687e-01 -1.03386547e-03 1.52394596e+01] [ 2.69384076e-03 4.09879285e-05 9.99996371e-01 1.39721766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.594012739 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:88.24, Y:15.25, Z:0.14 [[ 9.29920629e-01 -3.67751866e-01 -2.48768962e-03 8.82358683e+01] [ 3.67750414e-01 9.29923955e-01 -1.03433947e-03 1.52520528e+01] [ 2.69374245e-03 4.70047207e-05 9.99996371e-01 1.42489569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.624012739 meters Centerline goodness : 0.991149 Centerline is valid? [True, True] Translation: X:88.26, Y:15.26, Z:0.14 [[ 9.29927264e-01 -3.67735089e-01 -2.48760423e-03 8.82613891e+01] [ 3.67733637e-01 9.29930590e-01 -1.03454480e-03 1.52638472e+01] [ 2.69373770e-03 4.72756624e-05 9.99996371e-01 1.43835130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.654012739 meters Centerline goodness : 0.991269 Centerline is valid? [True, True] Translation: X:88.29, Y:15.28, Z:0.14 [[ 9.29533240e-01 -3.68729939e-01 -2.48741037e-03 8.82872658e+01] [ 3.68728489e-01 9.29536567e-01 -1.03501069e-03 1.52754100e+01] [ 2.69377833e-03 4.48977733e-05 9.99996371e-01 1.43024925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.684012739 meters Centerline goodness : 0.992225 Centerline is valid? [True, True] Translation: X:88.31, Y:15.29, Z:0.14 [[ 9.28668071e-01 -3.70903530e-01 -2.48721757e-03 8.83130416e+01] [ 3.70902087e-01 9.28671400e-01 -1.03547380e-03 1.52854977e+01] [ 2.69386872e-03 3.90972717e-05 9.99996371e-01 1.40544344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.714012739 meters Centerline goodness : 0.991598 Centerline is valid? [True, True] Translation: X:88.34, Y:15.30, Z:0.14 [[ 9.27868704e-01 -3.72898756e-01 -2.48702243e-03 8.83388429e+01] [ 3.72897319e-01 9.27872037e-01 -1.03594229e-03 1.52959931e+01] [ 2.69394016e-03 3.38144388e-05 9.99996371e-01 1.40989311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.744012739 meters Centerline goodness : 0.991749 Centerline is valid? [True, True] Translation: X:88.36, Y:15.31, Z:0.14 [[ 9.27702822e-01 -3.73311251e-01 -2.48682740e-03 8.83632364e+01] [ 3.73309814e-01 9.27706154e-01 -1.03641025e-03 1.53070504e+01] [ 2.69394869e-03 3.31236374e-05 9.99996371e-01 1.41375850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.774012739 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:88.39, Y:15.32, Z:0.14 [[ 9.27785830e-01 -3.73104906e-01 -2.48669468e-03 8.83884860e+01] [ 3.73103467e-01 9.27789161e-01 -1.03672859e-03 1.53183333e+01] [ 2.69393690e-03 3.40676844e-05 9.99996371e-01 1.41368719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.804012739 meters Centerline goodness : 0.991812 Centerline is valid? [True, True] Translation: X:88.41, Y:15.33, Z:0.14 [[ 9.28345436e-01 -3.71710330e-01 -2.48650217e-03 8.84146155e+01] [ 3.71708885e-01 9.28348765e-01 -1.03719011e-03 1.53295613e+01] [ 2.69387550e-03 3.86157535e-05 9.99996371e-01 1.40683781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.834012739 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:88.44, Y:15.34, Z:0.14 [[ 9.28604639e-01 -3.71062316e-01 -2.48630813e-03 8.84395012e+01] [ 3.71060868e-01 9.28607967e-01 -1.03765504e-03 1.53398975e+01] [ 2.69384022e-03 4.09996324e-05 9.99996371e-01 1.39710018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.864012739 meters Centerline goodness : 0.991847 Centerline is valid? [True, True] Translation: X:88.46, Y:15.35, Z:0.14 [[ 9.29048823e-01 -3.69948785e-01 -2.48622391e-03 8.84639950e+01] [ 3.69947332e-01 9.29052148e-01 -1.03785680e-03 1.53503440e+01] [ 2.69378553e-03 4.44477384e-05 9.99996371e-01 1.41184755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.894012739 meters Centerline goodness : 0.991480 Centerline is valid? [True, True] Translation: X:88.49, Y:15.36, Z:0.14 [[ 9.29083844e-01 -3.69860826e-01 -2.48614199e-03 8.84897537e+01] [ 3.69859372e-01 9.29087169e-01 -1.03805300e-03 1.53612838e+01] [ 2.69377776e-03 4.49153513e-05 9.99996371e-01 1.41914053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.924012739 meters Centerline goodness : 0.991264 Centerline is valid? [True, True] Translation: X:88.51, Y:15.37, Z:0.14 [[ 9.28843526e-01 -3.70463931e-01 -2.48595519e-03 8.85149196e+01] [ 3.70462478e-01 9.28846852e-01 -1.03850015e-03 1.53724021e+01] [ 2.69379850e-03 4.36510180e-05 9.99996371e-01 1.43233488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.954012739 meters Centerline goodness : 0.991938 Centerline is valid? [True, True] Translation: X:88.54, Y:15.38, Z:0.14 [[ 9.28590213e-01 -3.71098421e-01 -2.48576938e-03 8.85400548e+01] [ 3.71096969e-01 9.28593539e-01 -1.03894473e-03 1.53838861e+01] [ 2.69382013e-03 4.22924306e-05 9.99996371e-01 1.43083934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.984012739 meters Centerline goodness : 0.991428 Centerline is valid? [True, True] Translation: X:88.56, Y:15.40, Z:0.14 [[ 9.28443902e-01 -3.71464322e-01 -2.48557075e-03 8.85649424e+01] [ 3.71462870e-01 9.28447229e-01 -1.03941971e-03 1.53950898e+01] [ 2.69382861e-03 4.17456459e-05 9.99996371e-01 1.43581690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.014012739 meters Centerline goodness : 0.991608 Centerline is valid? [True, True] Translation: X:88.59, Y:15.41, Z:0.14 [[ 9.28284027e-01 -3.71863669e-01 -2.48548418e-03 8.85905124e+01] [ 3.71862218e-01 9.28287353e-01 -1.03962667e-03 1.54070942e+01] [ 2.69384292e-03 4.08111688e-05 9.99996371e-01 1.44836121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.044012739 meters Centerline goodness : 0.991923 Centerline is valid? [True, True] Translation: X:88.62, Y:15.42, Z:0.14 [[ 9.28014432e-01 -3.72535954e-01 -2.48529199e-03 8.86153590e+01] [ 3.72534504e-01 9.28017759e-01 -1.04008593e-03 1.54202478e+01] [ 2.69386450e-03 3.93577355e-05 9.99996371e-01 1.44745976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.074012739 meters Centerline goodness : 0.992265 Centerline is valid? [True, True] Translation: X:88.64, Y:15.43, Z:0.15 [[ 9.27806178e-01 -3.73054312e-01 -2.48509248e-03 8.86395328e+01] [ 3.73052863e-01 9.27809506e-01 -1.04056239e-03 1.54311414e+01] [ 2.69387871e-03 3.83693500e-05 9.99996371e-01 1.45033890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.104012739 meters Centerline goodness : 0.992170 Centerline is valid? [True, True] Translation: X:88.67, Y:15.44, Z:0.14 [[ 9.27492837e-01 -3.73832665e-01 -2.48500556e-03 8.86658927e+01] [ 3.73831218e-01 9.27496166e-01 -1.04076993e-03 1.54417465e+01] [ 2.69390692e-03 3.63340069e-05 9.99996371e-01 1.44663238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.134012739 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:88.69, Y:15.45, Z:0.14 [[ 9.26725431e-01 -3.75731023e-01 -2.48480640e-03 8.86918257e+01] [ 3.75729581e-01 9.26728762e-01 -1.04124520e-03 1.54504894e+01] [ 2.69396968e-03 3.13331337e-05 9.99996371e-01 1.44961026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.164012739 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:88.72, Y:15.46, Z:0.14 [[ 9.26277127e-01 -3.76834857e-01 -2.48471941e-03 8.87164842e+01] [ 3.76833419e-01 9.26280459e-01 -1.04145273e-03 1.54602899e+01] [ 2.69400273e-03 2.83485306e-05 9.99996371e-01 1.43929960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.194012739 meters Centerline goodness : 0.992146 Centerline is valid? [True, True] Translation: X:88.74, Y:15.47, Z:0.14 [[ 9.25230638e-01 -3.79397013e-01 -2.48458637e-03 8.87432069e+01] [ 3.79395583e-01 9.25233974e-01 -1.04177003e-03 1.54702243e+01] [ 2.69406816e-03 2.12364518e-05 9.99996371e-01 1.41348477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.224012739 meters Centerline goodness : 0.991877 Centerline is valid? [True, True] Translation: X:88.77, Y:15.48, Z:0.14 [[ 9.24651405e-01 -3.80806522e-01 -2.48439361e-03 8.87694055e+01] [ 3.80805096e-01 9.24654742e-01 -1.04222953e-03 1.54801762e+01] [ 2.69409413e-03 1.76292523e-05 9.99996371e-01 1.40918532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.254012739 meters Centerline goodness : 0.992367 Centerline is valid? [True, True] Translation: X:88.80, Y:15.49, Z:0.14 [[ 9.23723565e-01 -3.83051699e-01 -2.48420038e-03 8.87951882e+01] [ 3.83050280e-01 9.23726905e-01 -1.04268988e-03 1.54882171e+01] [ 2.69412686e-03 1.15835623e-05 9.99996371e-01 1.44035827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.284012739 meters Centerline goodness : 0.992039 Centerline is valid? [True, True] Translation: X:88.82, Y:15.50, Z:0.14 [[ 9.23062165e-01 -3.84642780e-01 -2.48411656e-03 8.88216730e+01] [ 3.84641366e-01 9.23065508e-01 -1.04288954e-03 1.54983530e+01] [ 2.69414225e-03 7.15788763e-06 9.99996371e-01 1.44966568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.314012739 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:88.85, Y:15.51, Z:0.14 [[ 9.22563917e-01 -3.85836299e-01 -2.48391798e-03 8.88469918e+01] [ 3.85834888e-01 9.22567261e-01 -1.04336231e-03 1.55076931e+01] [ 2.69414846e-03 4.18620744e-06 9.99996371e-01 1.44899468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.344012739 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:88.87, Y:15.52, Z:0.14 [[ 9.22043400e-01 -3.87078543e-01 -2.48383204e-03 8.88722156e+01] [ 3.87077136e-01 9.22046746e-01 -1.04356685e-03 1.55162615e+01] [ 2.69415159e-03 7.79331724e-07 9.99996371e-01 1.43011897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.374012739 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:88.90, Y:15.53, Z:0.14 [[ 9.21718019e-01 -3.87852709e-01 -2.48374658e-03 8.88975694e+01] [ 3.87851304e-01 9.21721366e-01 -1.04377021e-03 1.55262373e+01] [ 2.69415140e-03 -1.26254168e-06 9.99996371e-01 1.40227314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.404012739 meters Centerline goodness : 0.992871 Centerline is valid? [True, True] Translation: X:88.92, Y:15.54, Z:0.14 [[ 9.21475472e-01 -3.88428611e-01 -2.48361357e-03 8.89230088e+01] [ 3.88427208e-01 9.21478819e-01 -1.04408662e-03 1.55363934e+01] [ 2.69415041e-03 -2.60287380e-06 9.99996371e-01 1.39552986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.434012739 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:88.95, Y:15.55, Z:0.14 [[ 9.21181464e-01 -3.89125355e-01 -2.48352907e-03 8.89494052e+01] [ 3.89123954e-01 9.21184812e-01 -1.04428757e-03 1.55466546e+01] [ 2.69414803e-03 -4.42229613e-06 9.99996371e-01 1.40379805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.464012739 meters Centerline goodness : 0.992145 Centerline is valid? [True, True] Translation: X:88.97, Y:15.56, Z:0.14 [[ 9.21113217e-01 -3.89286879e-01 -2.48333609e-03 8.89744382e+01] [ 3.89285478e-01 9.21116565e-01 -1.04474629e-03 1.55563000e+01] [ 2.69414803e-03 -4.39705824e-06 9.99996371e-01 1.44462552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.494012739 meters Centerline goodness : 0.992558 Centerline is valid? [True, True] Translation: X:89.00, Y:15.57, Z:0.14 [[ 9.21479435e-01 -3.88419213e-01 -2.48325247e-03 8.89993391e+01] [ 3.88417807e-01 9.21482781e-01 -1.04494499e-03 1.55664187e+01] [ 2.69415110e-03 -1.64415837e-06 9.99996371e-01 1.44297818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.524012739 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:89.03, Y:15.58, Z:0.14 [[ 9.21668958e-01 -3.87969283e-01 -2.48316959e-03 8.90252084e+01] [ 3.87967876e-01 9.21672304e-01 -1.04514192e-03 1.55772868e+01] [ 2.69415159e-03 -1.15167923e-07 9.99996371e-01 1.43458553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.554012739 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:89.05, Y:15.59, Z:0.14 [[ 9.21855879e-01 -3.87524933e-01 -2.48297665e-03 8.90501454e+01] [ 3.87523523e-01 9.21859222e-01 -1.04560009e-03 1.55875229e+01] [ 2.69415103e-03 1.68073246e-06 9.99996371e-01 1.43065382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.584012739 meters Centerline goodness : 0.992742 Centerline is valid? [True, True] Translation: X:89.08, Y:15.60, Z:0.14 [[ 9.22265942e-01 -3.86548015e-01 -2.48289277e-03 8.90762779e+01] [ 3.86546600e-01 9.22269284e-01 -1.04579923e-03 1.55978460e+01] [ 2.69414735e-03 4.75125673e-06 9.99996371e-01 1.42313969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.614012739 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:89.10, Y:15.61, Z:0.14 [[ 9.22218306e-01 -3.86661652e-01 -2.48270153e-03 8.91025250e+01] [ 3.86660236e-01 9.22221647e-01 -1.04625303e-03 1.56083303e+01] [ 2.69414702e-03 4.91173706e-06 9.99996371e-01 1.40867792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.644012739 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:89.13, Y:15.62, Z:0.14 [[ 9.21836908e-01 -3.87570062e-01 -2.48250632e-03 8.91280044e+01] [ 3.87568648e-01 9.21840250e-01 -1.04671601e-03 1.56173638e+01] [ 2.69415004e-03 2.75983345e-06 9.99996371e-01 1.41791722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.674012739 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:89.15, Y:15.63, Z:0.14 [[ 9.21787498e-01 -3.87687561e-01 -2.48242131e-03 8.91526642e+01] [ 3.87686148e-01 9.21790841e-01 -1.04691759e-03 1.56275297e+01] [ 2.69415015e-03 2.63518976e-06 9.99996371e-01 1.44065358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.704012739 meters Centerline goodness : 0.987556 Centerline is valid? [True, True] Translation: X:89.18, Y:15.64, Z:0.15 [[ 9.22287588e-01 -3.86496370e-01 -2.48229032e-03 8.91784052e+01] [ 3.86494951e-01 9.22290928e-01 -1.04722808e-03 1.56374459e+01] [ 2.69414369e-03 6.45278882e-06 9.99996371e-01 1.53417317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.734012739 meters Centerline goodness : 0.987556 Centerline is valid? [True, True] Translation: X:89.20, Y:15.65, Z:0.15 [[ 9.22214879e-01 -3.86669828e-01 -2.48209402e-03 8.92045756e+01] [ 3.86668409e-01 9.22218219e-01 -1.04769314e-03 1.56487027e+01] [ 2.69414365e-03 6.45085480e-06 9.99996371e-01 1.53494054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.764012739 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:89.23, Y:15.66, Z:0.14 [[ 9.22764214e-01 -3.85357036e-01 -2.48189688e-03 8.92300256e+01] [ 3.85355611e-01 9.22767552e-01 -1.04815993e-03 1.56588923e+01] [ 2.69412971e-03 1.07915880e-05 9.99996371e-01 1.44093331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.794012739 meters Centerline goodness : 0.993316 Centerline is valid? [True, True] Translation: X:89.26, Y:15.67, Z:0.14 [[ 9.23344439e-01 -3.83964697e-01 -2.48176255e-03 8.92555344e+01] [ 3.83963265e-01 9.23347774e-01 -1.04847790e-03 1.56688323e+01] [ 2.69410842e-03 1.52005833e-05 9.99996371e-01 1.44721008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.824012739 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:89.28, Y:15.68, Z:0.15 [[ 9.24388733e-01 -3.81443721e-01 -2.48167921e-03 8.92817918e+01] [ 3.81442280e-01 9.24392064e-01 -1.04867511e-03 1.56797129e+01] [ 2.69405510e-03 2.27660791e-05 9.99996371e-01 1.45721545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.854012739 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:89.31, Y:15.69, Z:0.14 [[ 9.25076083e-01 -3.79773727e-01 -2.48148923e-03 8.93058947e+01] [ 3.79772279e-01 9.25079410e-01 -1.04912448e-03 1.56912093e+01] [ 2.69400451e-03 2.81191402e-05 9.99996371e-01 1.42257160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.884012739 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:89.33, Y:15.70, Z:0.14 [[ 9.25205219e-01 -3.79459017e-01 -2.48140691e-03 8.93313901e+01] [ 3.79457567e-01 9.25208546e-01 -1.04931913e-03 1.57020309e+01] [ 2.69399249e-03 2.92469082e-05 9.99996371e-01 1.40269874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.914012739 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:89.36, Y:15.71, Z:0.14 [[ 9.25297306e-01 -3.79234412e-01 -2.48121938e-03 8.93573237e+01] [ 3.79232961e-01 9.25300632e-01 -1.04976239e-03 1.57129093e+01] [ 2.69397988e-03 3.03821391e-05 9.99996371e-01 1.40456877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.944012739 meters Centerline goodness : 0.993646 Centerline is valid? [True, True] Translation: X:89.38, Y:15.72, Z:0.14 [[ 9.25450523e-01 -3.78860362e-01 -2.48102211e-03 8.93814748e+01] [ 3.78858908e-01 9.25453848e-01 -1.05022841e-03 1.57238254e+01] [ 2.69396138e-03 3.19771075e-05 9.99996371e-01 1.43886136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.974012739 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:89.41, Y:15.74, Z:0.15 [[ 9.25879787e-01 -3.77810092e-01 -2.48093618e-03 8.94070693e+01] [ 3.77808634e-01 9.25883110e-01 -1.05043136e-03 1.57361542e+01] [ 2.69392048e-03 3.52540577e-05 9.99996371e-01 1.47636113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.004012739 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:89.43, Y:15.75, Z:0.15 [[ 9.27488713e-01 -3.73842925e-01 -2.48074230e-03 8.94321906e+01] [ 3.73841451e-01 9.27492030e-01 -1.05088905e-03 1.57492223e+01] [ 2.69373614e-03 4.72834347e-05 9.99996371e-01 1.50787322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.034012739 meters Centerline goodness : 0.993016 Centerline is valid? [True, True] Translation: X:89.46, Y:15.76, Z:0.15 [[ 9.28023454e-01 -3.72513510e-01 -2.48068201e-03 8.94575500e+01] [ 3.72512031e-01 9.28026768e-01 -1.05103134e-03 1.57611429e+01] [ 2.69366268e-03 5.12978385e-05 9.99996371e-01 1.50076230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.064012739 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:89.48, Y:15.78, Z:0.15 [[ 9.28262893e-01 -3.71916453e-01 -2.48049252e-03 8.94819394e+01] [ 3.71914970e-01 9.28266206e-01 -1.05147835e-03 1.57755447e+01] [ 2.69361948e-03 5.35160278e-05 9.99996371e-01 1.46286938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.094012739 meters Centerline goodness : 0.993331 Centerline is valid? [True, True] Translation: X:89.51, Y:15.79, Z:0.15 [[ 9.28026095e-01 -3.72506933e-01 -2.48029432e-03 8.95064655e+01] [ 3.72505451e-01 9.28029408e-01 -1.05194568e-03 1.57876210e+01] [ 2.69364313e-03 5.23098867e-05 9.99996371e-01 1.46623302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.124012739 meters Centerline goodness : 0.993219 Centerline is valid? [True, True] Translation: X:89.53, Y:15.80, Z:0.15 [[ 9.26313257e-01 -3.76746067e-01 -2.48020835e-03 8.95323169e+01] [ 3.76744600e-01 9.26316576e-01 -1.05214833e-03 1.57988692e+01] [ 2.69385085e-03 4.02138453e-05 9.99996371e-01 1.49195036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.154012739 meters Centerline goodness : 0.993203 Centerline is valid? [True, True] Translation: X:89.56, Y:15.81, Z:0.15 [[ 9.25173579e-01 -3.79536162e-01 -2.48001169e-03 8.95581121e+01] [ 3.79534704e-01 9.25176902e-01 -1.05261167e-03 1.58092798e+01] [ 2.69395373e-03 3.25980084e-05 9.99996371e-01 1.48629910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.184012739 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:89.58, Y:15.82, Z:0.15 [[ 9.24130586e-01 -3.82068725e-01 -2.47981591e-03 8.95838265e+01] [ 3.82067275e-01 9.24133913e-01 -1.05307270e-03 1.58194449e+01] [ 2.69402812e-03 2.57201804e-05 9.99996371e-01 1.45639110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.214012739 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:89.61, Y:15.83, Z:0.14 [[ 9.22772542e-01 -3.85337108e-01 -2.47962051e-03 8.96092412e+01] [ 3.85335668e-01 9.22775874e-01 -1.05353261e-03 1.58278032e+01] [ 2.69409919e-03 1.66847389e-05 9.99996371e-01 1.41564193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.244012739 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:89.64, Y:15.84, Z:0.14 [[ 9.22383668e-01 -3.86267034e-01 -2.47953527e-03 8.96356204e+01] [ 3.86265597e-01 9.22387000e-01 -1.05373318e-03 1.58379296e+01] [ 2.69411349e-03 1.41871068e-05 9.99996371e-01 1.42940276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.274012739 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:89.66, Y:15.85, Z:0.15 [[ 9.22423566e-01 -3.86171746e-01 -2.47934152e-03 8.96608031e+01] [ 3.86170308e-01 9.22426898e-01 -1.05418886e-03 1.58478130e+01] [ 2.69410926e-03 1.49605684e-05 9.99996371e-01 1.47468574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.304012739 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:89.69, Y:15.86, Z:0.15 [[ 9.22390955e-01 -3.86249635e-01 -2.47925722e-03 8.96866278e+01] [ 3.86248196e-01 9.22394286e-01 -1.05438708e-03 1.58575460e+01] [ 2.69410932e-03 1.49484800e-05 9.99996371e-01 1.47630613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.334012739 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:89.72, Y:15.86, Z:0.14 [[ 9.22378876e-01 -3.86278478e-01 -2.47906551e-03 8.97151573e+01] [ 3.86277038e-01 9.22382208e-01 -1.05483764e-03 1.58627966e+01] [ 2.69410699e-03 1.53538756e-05 9.99996371e-01 1.43932029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.364012739 meters Centerline goodness : 0.993775 Centerline is valid? [True, True] Translation: X:89.74, Y:15.87, Z:0.14 [[ 9.22370624e-01 -3.86298182e-01 -2.47900584e-03 8.97420888e+01] [ 3.86296742e-01 9.22373956e-01 -1.05497785e-03 1.58714735e+01] [ 2.69410645e-03 1.54487041e-05 9.99996371e-01 1.43846182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.394012739 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:89.77, Y:15.88, Z:0.15 [[ 9.22560215e-01 -3.85845183e-01 -2.47880553e-03 8.97686814e+01] [ 3.85843740e-01 9.22563545e-01 -1.05544829e-03 1.58793953e+01] [ 2.69409526e-03 1.72830106e-05 9.99996371e-01 1.47139309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.424012739 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:89.79, Y:15.89, Z:0.15 [[ 9.22657618e-01 -3.85612210e-01 -2.47860404e-03 8.97945783e+01] [ 3.85610765e-01 9.22660947e-01 -1.05592127e-03 1.58887792e+01] [ 2.69408728e-03 1.84774042e-05 9.99996371e-01 1.48442733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.454012739 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:89.82, Y:15.90, Z:0.15 [[ 9.22915191e-01 -3.84995335e-01 -2.47840290e-03 8.98203419e+01] [ 3.84993886e-01 9.22918519e-01 -1.05639315e-03 1.58971678e+01] [ 2.69407037e-03 2.07913218e-05 9.99996371e-01 1.48958967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.484012739 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:89.85, Y:15.91, Z:0.15 [[ 9.23571619e-01 -3.83417947e-01 -2.47831534e-03 8.98475692e+01] [ 3.83416492e-01 9.23574944e-01 -1.05659852e-03 1.59055607e+01] [ 2.69402879e-03 2.56174317e-05 9.99996371e-01 1.45512392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.514012739 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:89.87, Y:15.92, Z:0.14 [[ 9.23943014e-01 -3.82522111e-01 -2.47811208e-03 8.98727789e+01] [ 3.82520651e-01 9.23946337e-01 -1.05707503e-03 1.59161078e+01] [ 2.69399715e-03 2.87480457e-05 9.99996371e-01 1.44205873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.544012739 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:89.90, Y:15.93, Z:0.15 [[ 9.24570735e-01 -3.81002383e-01 -2.47797335e-03 8.98987690e+01] [ 3.81000917e-01 9.24574055e-01 -1.05740014e-03 1.59258650e+01] [ 2.69394184e-03 3.35311058e-05 9.99996371e-01 1.45019747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.574012739 meters Centerline goodness : 0.992700 Centerline is valid? [True, True] Translation: X:89.92, Y:15.94, Z:0.15 [[ 9.24688084e-01 -3.80717491e-01 -2.47777524e-03 8.99245147e+01] [ 3.80716023e-01 9.24691403e-01 -1.05786415e-03 1.59350586e+01] [ 2.69392485e-03 3.48656403e-05 9.99996371e-01 1.46572770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.604012739 meters Centerline goodness : 0.992847 Centerline is valid? [True, True] Translation: X:89.95, Y:15.95, Z:0.15 [[ 9.24766520e-01 -3.80526930e-01 -2.47768925e-03 8.99509754e+01] [ 3.80525461e-01 9.24769839e-01 -1.05806552e-03 1.59450508e+01] [ 2.69391471e-03 3.56397282e-05 9.99996371e-01 1.47209213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.634012739 meters Centerline goodness : 0.992678 Centerline is valid? [True, True] Translation: X:89.98, Y:15.96, Z:0.15 [[ 9.25220888e-01 -3.79420835e-01 -2.47749396e-03 8.99759025e+01] [ 3.79419360e-01 9.25224205e-01 -1.05852261e-03 1.59576865e+01] [ 2.69386291e-03 3.93580580e-05 9.99996371e-01 1.47868766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.664012739 meters Centerline goodness : 0.992351 Centerline is valid? [True, True] Translation: X:90.00, Y:15.97, Z:0.15 [[ 9.26154489e-01 -3.77136215e-01 -2.47729468e-03 8.99995888e+01] [ 3.77134731e-01 9.26157801e-01 -1.05898877e-03 1.59708508e+01] [ 2.69374882e-03 4.65133406e-05 9.99996371e-01 1.47786913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.694012739 meters Centerline goodness : 0.993189 Centerline is valid? [True, True] Translation: X:90.02, Y:15.98, Z:0.15 [[ 9.26519818e-01 -3.76237810e-01 -2.47715962e-03 9.00243163e+01] [ 3.76236322e-01 9.26523129e-01 -1.05930461e-03 1.59830803e+01] [ 2.69369613e-03 4.94692918e-05 9.99996371e-01 1.47507254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.724012739 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:90.05, Y:16.00, Z:0.15 [[ 9.26848403e-01 -3.75427627e-01 -2.47695331e-03 9.00477993e+01] [ 3.75426135e-01 9.26851711e-01 -1.05978682e-03 1.59956059e+01] [ 2.69364166e-03 5.23487171e-05 9.99996371e-01 1.48317852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.754012739 meters Centerline goodness : 0.992567 Centerline is valid? [True, True] Translation: X:90.07, Y:16.01, Z:0.15 [[ 9.27269719e-01 -3.74385809e-01 -2.47686346e-03 9.00716653e+01] [ 3.74384312e-01 9.27273025e-01 -1.05999676e-03 1.60118833e+01] [ 2.69357642e-03 5.56040751e-05 9.99996371e-01 1.48462904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.784012739 meters Centerline goodness : 0.993072 Centerline is valid? [True, True] Translation: X:90.10, Y:16.03, Z:0.15 [[ 9.27404455e-01 -3.74051926e-01 -2.47666445e-03 9.00953238e+01] [ 3.74050428e-01 9.27407760e-01 -1.06046155e-03 1.60254784e+01] [ 2.69354551e-03 5.70793710e-05 9.99996371e-01 1.47034879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.814012739 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:90.12, Y:16.04, Z:0.15 [[ 9.27168785e-01 -3.74635704e-01 -2.47657804e-03 9.01189963e+01] [ 3.74634207e-01 9.27172091e-01 -1.06066331e-03 1.60384651e+01] [ 2.69357638e-03 5.56030661e-05 9.99996371e-01 1.46492060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.844012739 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:90.14, Y:16.05, Z:0.15 [[ 9.27018539e-01 -3.75007327e-01 -2.47649210e-03 9.01429797e+01] [ 3.75005831e-01 9.27021845e-01 -1.06086393e-03 1.60525588e+01] [ 2.69359402e-03 5.47415516e-05 9.99996371e-01 1.46574848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.874012739 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:90.17, Y:16.07, Z:0.15 [[ 9.26967182e-01 -3.75134258e-01 -2.47629431e-03 9.01658291e+01] [ 3.75132761e-01 9.26970488e-01 -1.06132541e-03 1.60695916e+01] [ 2.69359126e-03 5.48747091e-05 9.99996371e-01 1.48173816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.904012739 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:90.19, Y:16.08, Z:0.15 [[ 9.27024187e-01 -3.74993368e-01 -2.47609400e-03 9.01902394e+01] [ 3.74991869e-01 9.27027492e-01 -1.06179253e-03 1.60828566e+01] [ 2.69357237e-03 5.57922419e-05 9.99996371e-01 1.48780480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.934012739 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:90.21, Y:16.10, Z:0.15 [[ 9.27295306e-01 -3.74322436e-01 -2.47589497e-03 9.02137264e+01] [ 3.74320933e-01 9.27298609e-01 -1.06225642e-03 1.61000061e+01] [ 2.69352037e-03 5.82460776e-05 9.99996371e-01 1.46806005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.964012739 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:90.24, Y:16.11, Z:0.15 [[ 9.27429959e-01 -3.73988692e-01 -2.47569491e-03 9.02367156e+01] [ 3.73987187e-01 9.27433262e-01 -1.06272247e-03 1.61137855e+01] [ 2.69348800e-03 5.97224801e-05 9.99996371e-01 1.45378801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.994012739 meters Centerline goodness : 0.994189 Centerline is valid? [True, True] Translation: X:90.26, Y:16.13, Z:0.14 [[ 9.26850955e-01 -3.75421335e-01 -2.47560820e-03 9.02597699e+01] [ 3.75419835e-01 9.26854259e-01 -1.06292444e-03 1.61298856e+01] [ 2.69357251e-03 5.57801148e-05 9.99996371e-01 1.44792017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.024012739 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:90.28, Y:16.14, Z:0.15 [[ 9.26156140e-01 -3.77132174e-01 -2.47541072e-03 9.02840231e+01] [ 3.77130678e-01 9.26159447e-01 -1.06338413e-03 1.61437174e+01] [ 2.69366139e-03 5.13064149e-05 9.99996371e-01 1.45495847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.054012739 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:90.31, Y:16.16, Z:0.15 [[ 9.25368058e-01 -3.79061776e-01 -2.47520864e-03 9.03069811e+01] [ 3.79060286e-01 9.25371367e-01 -1.06385431e-03 1.61573938e+01] [ 2.69375371e-03 4.62035050e-05 9.99996371e-01 1.46702294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.084012739 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:90.33, Y:16.17, Z:0.15 [[ 9.23828490e-01 -3.82798635e-01 -2.47512088e-03 9.03299994e+01] [ 3.82797158e-01 9.23831805e-01 -1.06405844e-03 1.61725072e+01] [ 2.69391551e-03 3.55382628e-05 9.99996371e-01 1.49013798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.114012739 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:90.36, Y:16.18, Z:0.15 [[ 9.23023009e-01 -3.84736792e-01 -2.47503367e-03 9.03552914e+01] [ 3.84735321e-01 9.23026327e-01 -1.06426127e-03 1.61847376e+01] [ 2.69398170e-03 3.01047655e-05 9.99996371e-01 1.47817751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.144012739 meters Centerline goodness : 0.993953 Centerline is valid? [True, True] Translation: X:90.38, Y:16.20, Z:0.14 [[ 9.21459428e-01 -3.88466728e-01 -2.47483400e-03 9.03790095e+01] [ 3.88465269e-01 9.21462751e-01 -1.06472537e-03 1.61968464e+01] [ 2.69407773e-03 1.97141796e-05 9.99996371e-01 1.44464904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.174012739 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:90.40, Y:16.21, Z:0.14 [[ 9.20843738e-01 -3.89923950e-01 -2.47469799e-03 9.04043494e+01] [ 3.89922496e-01 9.20847063e-01 -1.06504141e-03 1.62094731e+01] [ 2.69410352e-03 1.57962990e-05 9.99996371e-01 1.42980220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.204012739 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:90.43, Y:16.22, Z:0.15 [[ 9.20380633e-01 -3.91015815e-01 -2.47449884e-03 9.04280073e+01] [ 3.91014363e-01 9.20383959e-01 -1.06550391e-03 1.62225660e+01] [ 2.69411792e-03 1.31045742e-05 9.99996371e-01 1.45029054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.234012739 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:90.45, Y:16.24, Z:0.15 [[ 9.20125699e-01 -3.91615340e-01 -2.47441222e-03 9.04527654e+01] [ 3.91613890e-01 9.20129026e-01 -1.06570501e-03 1.62350059e+01] [ 2.69412494e-03 1.15683717e-05 9.99996371e-01 1.46143192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.264012739 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:90.48, Y:16.25, Z:0.15 [[ 9.20133780e-01 -3.91596355e-01 -2.47421947e-03 9.04774555e+01] [ 3.91594904e-01 9.20137107e-01 -1.06615232e-03 1.62470956e+01] [ 2.69412251e-03 1.21110312e-05 9.99996371e-01 1.46798883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.294012739 meters Centerline goodness : 0.994784 Centerline is valid? [True, True] Translation: X:90.50, Y:16.26, Z:0.15 [[ 9.19603424e-01 -3.92840198e-01 -2.47412959e-03 9.05023263e+01] [ 3.92838750e-01 9.19606752e-01 -1.06636086e-03 1.62599698e+01] [ 2.69413569e-03 8.69512046e-06 9.99996371e-01 1.46542779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.324012739 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:90.53, Y:16.27, Z:0.15 [[ 9.18371314e-01 -3.95712028e-01 -2.47393953e-03 9.05282645e+01] [ 3.95710590e-01 9.18374646e-01 -1.06680162e-03 1.62700681e+01] [ 2.69414957e-03 7.55932164e-07 9.99996371e-01 1.49130072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.354012739 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:90.55, Y:16.28, Z:0.15 [[ 9.17585492e-01 -3.97530810e-01 -2.47374503e-03 9.05534326e+01] [ 3.97529377e-01 9.17588827e-01 -1.06725245e-03 1.62809527e+01] [ 2.69414653e-03 -4.09095130e-06 9.99996371e-01 1.49430749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.384012739 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:90.58, Y:16.29, Z:0.15 [[ 9.16830642e-01 -3.99268650e-01 -2.47366064e-03 9.05786182e+01] [ 3.99267223e-01 9.16833979e-01 -1.06744801e-03 1.62919537e+01] [ 2.69413465e-03 -8.98256946e-06 9.99996371e-01 1.48731810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.414012739 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:90.60, Y:16.30, Z:0.15 [[ 9.16027833e-01 -4.01107081e-01 -2.47346127e-03 9.06045787e+01] [ 4.01105660e-01 9.16031173e-01 -1.06790979e-03 1.63023769e+01] [ 2.69411380e-03 -1.38842199e-05 9.99996371e-01 1.48290528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.444012739 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:90.63, Y:16.31, Z:0.15 [[ 9.16053207e-01 -4.01049130e-01 -2.47326293e-03 9.06305900e+01] [ 4.01047707e-01 9.16056546e-01 -1.06836893e-03 1.63130258e+01] [ 2.69411713e-03 -1.32136434e-05 9.99996371e-01 1.48644494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.474012739 meters Centerline goodness : 0.993806 Centerline is valid? [True, True] Translation: X:90.66, Y:16.32, Z:0.15 [[ 9.17199132e-01 -3.98421431e-01 -2.47305972e-03 9.06556915e+01] [ 3.98419998e-01 9.17202466e-01 -1.06883913e-03 1.63231782e+01] [ 2.69414489e-03 -4.97812207e-06 9.99996371e-01 1.47414561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.504012739 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:90.68, Y:16.33, Z:0.15 [[ 9.17984534e-01 -3.96608483e-01 -2.47122794e-03 9.06818974e+01] [ 3.96607031e-01 9.17987860e-01 -1.07307565e-03 1.63348358e+01] [ 2.69414816e-03 4.96047457e-06 9.99996371e-01 1.45866533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.534012739 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:90.71, Y:16.35, Z:0.15 [[ 9.18989535e-01 -3.94274167e-01 -2.47282140e-03 9.07077529e+01] [ 3.94272717e-01 9.18992862e-01 -1.06939101e-03 1.63460891e+01] [ 2.69413846e-03 7.79313343e-06 9.99996371e-01 1.45135217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.564012739 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:90.73, Y:16.36, Z:0.14 [[ 9.20795411e-01 -3.90038071e-01 -2.47261156e-03 9.07325209e+01] [ 3.90036604e-01 9.20798731e-01 -1.06987598e-03 1.63572268e+01] [ 2.69406994e-03 2.07278748e-05 9.99996371e-01 1.44182601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.594012739 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:90.76, Y:16.37, Z:0.14 [[ 9.20723140e-01 -3.90208643e-01 -2.47252007e-03 9.07585814e+01] [ 3.90207177e-01 9.20726460e-01 -1.07008737e-03 1.63687167e+01] [ 2.69407199e-03 2.04591277e-05 9.99996371e-01 1.44259335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.624012739 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:90.78, Y:16.38, Z:0.14 [[ 9.21659351e-01 -3.87992176e-01 -2.47232175e-03 9.07840333e+01] [ 3.87990700e-01 9.21662666e-01 -1.07054537e-03 1.63806173e+01] [ 2.69400988e-03 2.74403064e-05 9.99996371e-01 1.43592467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.654012739 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:90.81, Y:16.39, Z:0.14 [[ 9.21906783e-01 -3.87403889e-01 -2.47212108e-03 9.08094103e+01] [ 3.87402409e-01 9.21910097e-01 -1.07100855e-03 1.63914449e+01] [ 2.69398626e-03 2.96643879e-05 9.99996371e-01 1.44679831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.684012739 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:90.83, Y:16.40, Z:0.15 [[ 9.22048295e-01 -3.87066959e-01 -2.47191916e-03 9.08346012e+01] [ 3.87065477e-01 9.22051608e-01 -1.07147439e-03 1.64025524e+01] [ 2.69396937e-03 3.11565632e-05 9.99996371e-01 1.45887569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.714012739 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:90.86, Y:16.42, Z:0.15 [[ 9.22046159e-01 -3.87072050e-01 -2.47171791e-03 9.08582574e+01] [ 3.87070567e-01 9.22049471e-01 -1.07193843e-03 1.64150915e+01] [ 2.69396360e-03 3.16474631e-05 9.99996371e-01 1.46608822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.744012739 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:90.88, Y:16.43, Z:0.15 [[ 9.21776360e-01 -3.87714113e-01 -2.47163021e-03 9.08830268e+01] [ 3.87712632e-01 9.21779673e-01 -1.07214062e-03 1.64278088e+01] [ 2.69398253e-03 2.99916285e-05 9.99996371e-01 1.46190604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.774012739 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:90.91, Y:16.44, Z:0.15 [[ 9.21489304e-01 -3.88395875e-01 -2.47142459e-03 9.09069918e+01] [ 3.88394395e-01 9.21492617e-01 -1.07261438e-03 1.64410410e+01] [ 2.69399852e-03 2.85152250e-05 9.99996371e-01 1.45039173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.804012739 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:90.93, Y:16.45, Z:0.15 [[ 9.21277483e-01 -3.88898048e-01 -2.47128475e-03 9.09320833e+01] [ 3.88896569e-01 9.21280797e-01 -1.07293648e-03 1.64528815e+01] [ 2.69401009e-03 2.73980578e-05 9.99996371e-01 1.45908483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.834012739 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:90.96, Y:16.47, Z:0.15 [[ 9.20821020e-01 -3.89977618e-01 -2.47108273e-03 9.09571630e+01] [ 3.89976142e-01 9.20824336e-01 -1.07340155e-03 1.64662957e+01] [ 2.69403569e-03 2.47473993e-05 9.99996371e-01 1.47279165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.864012739 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:90.98, Y:16.48, Z:0.15 [[ 9.20377562e-01 -3.91023066e-01 -2.47087730e-03 9.09811979e+01] [ 3.91021592e-01 9.20380878e-01 -1.07387422e-03 1.64779925e+01] [ 2.69405781e-03 2.22033643e-05 9.99996371e-01 1.48747020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.894012739 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:91.01, Y:16.49, Z:0.15 [[ 9.19684369e-01 -3.92650681e-01 -2.47078797e-03 9.10064785e+01] [ 3.92649212e-01 9.19687687e-01 -1.07407971e-03 1.64895135e+01] [ 2.69409141e-03 1.76613744e-05 9.99996371e-01 1.49869670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.924012739 meters Centerline goodness : 0.994655 Centerline is valid? [True, True] Translation: X:91.03, Y:16.50, Z:0.15 [[ 9.18083471e-01 -3.96379409e-01 -2.47057810e-03 9.10329403e+01] [ 3.96377953e-01 9.18086795e-01 -1.07456223e-03 1.64973873e+01] [ 2.69413947e-03 7.25512941e-06 9.99996371e-01 1.50644107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.954012739 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:91.06, Y:16.51, Z:0.15 [[ 9.16393267e-01 -4.00271505e-01 -2.47048712e-03 9.10598696e+01] [ 4.00270062e-01 9.16396597e-01 -1.07477136e-03 1.65051927e+01] [ 2.69414634e-03 -3.94879508e-06 9.99996371e-01 1.52137964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.984012739 meters Centerline goodness : 0.994228 Centerline is valid? [True, True] Translation: X:91.09, Y:16.52, Z:0.15 [[ 9.15778667e-01 -4.01675653e-01 -2.47028351e-03 9.10859611e+01] [ 4.01674214e-01 9.15781999e-01 -1.07523914e-03 1.65155749e+01] [ 2.69413856e-03 -7.56811632e-06 9.99996371e-01 1.52220648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.014012739 meters Centerline goodness : 0.994426 Centerline is valid? [True, True] Translation: X:91.11, Y:16.52, Z:0.15 [[ 9.15390357e-01 -4.02559799e-01 -2.47008039e-03 9.11109354e+01] [ 4.02558362e-01 9.15393690e-01 -1.07570555e-03 1.65249471e+01] [ 2.69413182e-03 -9.66103246e-06 9.99996371e-01 1.51112901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.044012739 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:91.14, Y:16.53, Z:0.15 [[ 9.15037183e-01 -4.03361938e-01 -2.46999201e-03 9.11380619e+01] [ 4.03360503e-01 9.15040516e-01 -1.07590845e-03 1.65319834e+01] [ 2.69412328e-03 -1.18009824e-05 9.99996371e-01 1.47600694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.074012739 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:91.16, Y:16.54, Z:0.15 [[ 9.14939106e-01 -4.03584355e-01 -2.46979219e-03 9.11635450e+01] [ 4.03582920e-01 9.14942440e-01 -1.07636695e-03 1.65405394e+01] [ 2.69412255e-03 -1.19557344e-05 9.99996371e-01 1.46230956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.104012739 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:91.19, Y:16.55, Z:0.15 [[ 9.15005501e-01 -4.03433804e-01 -2.46970516e-03 9.11906031e+01] [ 4.03432368e-01 9.15008834e-01 -1.07656660e-03 1.65489897e+01] [ 2.69412540e-03 -1.12946363e-05 9.99996371e-01 1.45016509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.134012739 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:91.22, Y:16.56, Z:0.15 [[ 9.15094541e-01 -4.03231798e-01 -2.46950422e-03 9.12160290e+01] [ 4.03230360e-01 9.15097873e-01 -1.07702735e-03 1.65586229e+01] [ 2.69412973e-03 -1.01972302e-05 9.99996371e-01 1.46003010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.164012739 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:91.24, Y:16.57, Z:0.15 [[ 9.15072955e-01 -4.03280782e-01 -2.46941703e-03 9.12416220e+01] [ 4.03279343e-01 9.15076287e-01 -1.07722721e-03 1.65663651e+01] [ 2.69413000e-03 -1.01233910e-05 9.99996371e-01 1.47826720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.194012739 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:91.27, Y:16.58, Z:0.15 [[ 9.14991158e-01 -4.03466334e-01 -2.46933008e-03 9.12668207e+01] [ 4.03464896e-01 9.14994490e-01 -1.07742649e-03 1.65761822e+01] [ 2.69412873e-03 -1.04522950e-05 9.99996371e-01 1.47969905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.224012739 meters Centerline goodness : 0.994490 Centerline is valid? [True, True] Translation: X:91.29, Y:16.59, Z:0.15 [[ 9.14938875e-01 -4.03584883e-01 -2.46924395e-03 9.12919853e+01] [ 4.03583444e-01 9.14942207e-01 -1.07762384e-03 1.65864436e+01] [ 2.69412820e-03 -1.05860307e-05 9.99996371e-01 1.47515477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.254012739 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:91.32, Y:16.60, Z:0.14 [[ 9.14803745e-01 -4.03891089e-01 -2.46904822e-03 9.13178436e+01] [ 4.03889650e-01 9.14807077e-01 -1.07807212e-03 1.65962869e+01] [ 2.69412651e-03 -1.09986072e-05 9.99996371e-01 1.43416797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.284012739 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:91.34, Y:16.61, Z:0.14 [[ 9.14788517e-01 -4.03925580e-01 -2.46885459e-03 9.13436739e+01] [ 4.03924140e-01 9.14791849e-01 -1.07851537e-03 1.66070330e+01] [ 2.69412799e-03 -1.06164932e-05 9.99996371e-01 1.42918978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.314012739 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:91.37, Y:16.62, Z:0.15 [[ 9.14789061e-01 -4.03924349e-01 -2.46867244e-03 9.13697239e+01] [ 4.03922908e-01 9.14792392e-01 -1.07893213e-03 1.66172667e+01] [ 2.69412972e-03 -1.01580462e-05 9.99996371e-01 1.46191178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.344012739 meters Centerline goodness : 0.994062 Centerline is valid? [True, True] Translation: X:91.40, Y:16.63, Z:0.15 [[ 9.14752484e-01 -4.04007176e-01 -2.46861177e-03 9.13950654e+01] [ 4.04005735e-01 9.14755815e-01 -1.07907091e-03 1.66277567e+01] [ 2.69412937e-03 -1.02505155e-05 9.99996371e-01 1.49132525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.374012739 meters Centerline goodness : 0.993599 Centerline is valid? [True, True] Translation: X:91.42, Y:16.64, Z:0.15 [[ 9.15062859e-01 -4.03303695e-01 -2.46848019e-03 9.14205096e+01] [ 4.03302251e-01 9.15066189e-01 -1.07937184e-03 1.66371997e+01] [ 2.69413741e-03 -7.85053518e-06 9.99996371e-01 1.51962240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.404012739 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:91.45, Y:16.65, Z:0.15 [[ 9.15416012e-01 -4.02501469e-01 -2.46834958e-03 9.14450587e+01] [ 4.02500021e-01 9.15419339e-01 -1.07967045e-03 1.66471984e+01] [ 2.69414388e-03 -5.16313900e-06 9.99996371e-01 1.49861274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.434012739 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:91.47, Y:16.66, Z:0.15 [[ 9.15735623e-01 -4.01773788e-01 -2.46825479e-03 9.14709597e+01] [ 4.01772337e-01 9.15738949e-01 -1.07988710e-03 1.66580799e+01] [ 2.69414738e-03 -2.78541438e-06 9.99996371e-01 1.46834413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.464012739 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:91.50, Y:16.67, Z:0.14 [[ 9.16085256e-01 -4.00975950e-01 -2.46806330e-03 9.14977791e+01] [ 4.00974495e-01 9.16088581e-01 -1.08032457e-03 1.66672696e+01] [ 2.69414878e-03 3.89783787e-08 9.99996371e-01 1.43671260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.494012739 meters Centerline goodness : 0.994922 Centerline is valid? [True, True] Translation: X:91.52, Y:16.68, Z:0.15 [[ 9.16098325e-01 -4.00946091e-01 -2.46800368e-03 9.15240298e+01] [ 4.00944635e-01 9.16101650e-01 -1.08046075e-03 1.66758429e+01] [ 2.69414876e-03 2.75451722e-07 9.99996371e-01 1.48752916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.524012739 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:91.55, Y:16.69, Z:0.15 [[ 9.16308179e-01 -4.00466266e-01 -2.46794424e-03 9.15497113e+01] [ 4.00464808e-01 9.16311503e-01 -1.08059652e-03 1.66860546e+01] [ 2.69414814e-03 1.83461196e-06 9.99996371e-01 1.51245777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.554012739 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:91.58, Y:16.70, Z:0.15 [[ 9.16475950e-01 -4.00082171e-01 -2.46774450e-03 9.15751825e+01] [ 4.00080710e-01 9.16479272e-01 -1.08105246e-03 1.66961744e+01] [ 2.69414650e-03 3.46160922e-06 9.99996371e-01 1.51858286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.584012739 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:91.60, Y:16.71, Z:0.15 [[ 9.17115516e-01 -3.98613900e-01 -2.46765778e-03 9.16017537e+01] [ 3.98612434e-01 9.17118835e-01 -1.08125038e-03 1.67061606e+01] [ 2.69413686e-03 7.99242885e-06 9.99996371e-01 1.47233253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.614012739 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:91.63, Y:16.72, Z:0.14 [[ 9.18308417e-01 -3.95858008e-01 -2.46747102e-03 9.16276105e+01] [ 3.95856531e-01 9.18311732e-01 -1.08167641e-03 1.67168820e+01] [ 2.69409785e-03 1.65480404e-05 9.99996371e-01 1.43819151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.644012739 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:91.65, Y:16.73, Z:0.14 [[ 9.19033575e-01 -3.94171537e-01 -2.46728424e-03 9.16537451e+01] [ 3.94170052e-01 9.19036887e-01 -1.08210229e-03 1.67280651e+01] [ 2.69405914e-03 2.19587767e-05 9.99996371e-01 1.43462575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.674012739 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:91.68, Y:16.74, Z:0.15 [[ 9.19867484e-01 -3.92221526e-01 -2.46709745e-03 9.16796907e+01] [ 3.92220033e-01 9.19870792e-01 -1.08252797e-03 1.67391539e+01] [ 2.69400166e-03 2.81372328e-05 9.99996371e-01 1.45171871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.704012739 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:91.70, Y:16.75, Z:0.15 [[ 9.21467726e-01 -3.88447093e-01 -2.46690944e-03 9.17048688e+01] [ 3.88445585e-01 9.21471028e-01 -1.08295625e-03 1.67515275e+01] [ 2.69385678e-03 3.96491469e-05 9.99996371e-01 1.50433040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.734012739 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:91.73, Y:16.76, Z:0.15 [[ 9.22023094e-01 -3.87127020e-01 -2.46671564e-03 9.17292890e+01] [ 3.87125506e-01 9.22026393e-01 -1.08339749e-03 1.67630534e+01] [ 2.69378937e-03 4.39889658e-05 9.99996371e-01 1.51932161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.764012739 meters Centerline goodness : 0.993795 Centerline is valid? [True, True] Translation: X:91.75, Y:16.78, Z:0.15 [[ 9.22652793e-01 -3.85623831e-01 -2.46663153e-03 9.17546808e+01] [ 3.85622311e-01 9.22656089e-01 -1.08358896e-03 1.67750440e+01] [ 2.69371033e-03 4.85882301e-05 9.99996371e-01 1.51860415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.794012739 meters Centerline goodness : 0.994116 Centerline is valid? [True, True] Translation: X:91.78, Y:16.79, Z:0.15 [[ 9.22731104e-01 -3.85436409e-01 -2.46643994e-03 9.17790513e+01] [ 3.85434888e-01 9.22734399e-01 -1.08402488e-03 1.67860314e+01] [ 2.69369164e-03 4.96114720e-05 9.99996371e-01 1.51401249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.824012739 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:91.80, Y:16.80, Z:0.15 [[ 9.22631293e-01 -3.85675271e-01 -2.46635682e-03 9.18032227e+01] [ 3.85673750e-01 9.22634588e-01 -1.08421397e-03 1.67969904e+01] [ 2.69370062e-03 4.91206600e-05 9.99996371e-01 1.49816242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.854012739 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:91.83, Y:16.81, Z:0.15 [[ 9.22520546e-01 -3.85940098e-01 -2.46627725e-03 9.18282426e+01] [ 3.85938577e-01 9.22523842e-01 -1.08439494e-03 1.68090311e+01] [ 2.69371105e-03 4.85450847e-05 9.99996371e-01 1.50039708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.884012739 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:91.85, Y:16.82, Z:0.15 [[ 9.22721667e-01 -3.85459005e-01 -2.46608867e-03 9.18516096e+01] [ 3.85457481e-01 9.22724961e-01 -1.08482363e-03 1.68224827e+01] [ 2.69367661e-03 5.04179406e-05 9.99996371e-01 1.53526623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.914012739 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:91.88, Y:16.84, Z:0.15 [[ 9.22924991e-01 -3.84971922e-01 -2.46600676e-03 9.18768161e+01] [ 3.84970396e-01 9.22928284e-01 -1.08500980e-03 1.68357530e+01] [ 2.69364569e-03 5.20430584e-05 9.99996371e-01 1.54993957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.944012739 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:91.90, Y:16.85, Z:0.15 [[ 9.23250698e-01 -3.84190145e-01 -2.46582656e-03 9.19014892e+01] [ 3.84188616e-01 9.23253990e-01 -1.08541916e-03 1.68496390e+01] [ 2.69359156e-03 5.47715032e-05 9.99996371e-01 1.54571585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.974012739 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:91.92, Y:16.87, Z:0.15 [[ 9.24299487e-01 -3.81660030e-01 -2.46564665e-03 9.19239966e+01] [ 3.81658491e-01 9.24302774e-01 -1.08582770e-03 1.68677699e+01] [ 2.69342107e-03 6.25950084e-05 9.99996371e-01 1.51883900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.004012739 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:91.95, Y:16.88, Z:0.15 [[ 9.24759092e-01 -3.80545061e-01 -2.46546674e-03 9.19483125e+01] [ 3.80543517e-01 9.24762376e-01 -1.08623603e-03 1.68830403e+01] [ 2.69333264e-03 6.62892612e-05 9.99996371e-01 1.50866894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.034012739 meters Centerline goodness : 0.995173 Centerline is valid? [True, True] Translation: X:91.97, Y:16.90, Z:0.15 [[ 9.24933179e-01 -3.80121739e-01 -2.46528225e-03 9.19695866e+01] [ 3.80120192e-01 9.24936462e-01 -1.08665459e-03 1.69004938e+01] [ 2.69329048e-03 6.79793264e-05 9.99996371e-01 1.50804679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.064012739 meters Centerline goodness : 0.994232 Centerline is valid? [True, True] Translation: X:91.99, Y:16.92, Z:0.15 [[ 9.24373711e-01 -3.81480230e-01 -2.46515615e-03 9.19937167e+01] [ 3.81478687e-01 9.24376996e-01 -1.08694059e-03 1.69153303e+01] [ 2.69337998e-03 6.43347731e-05 9.99996371e-01 1.52250052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.094012739 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:92.02, Y:16.93, Z:0.15 [[ 9.23028422e-01 -3.84723869e-01 -2.46497272e-03 9.20154263e+01] [ 3.84722336e-01 9.23031712e-01 -1.08735640e-03 1.69327920e+01] [ 2.69357995e-03 5.53307976e-05 9.99996371e-01 1.54433275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.124012739 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:92.04, Y:16.95, Z:0.15 [[ 9.22116184e-01 -3.86905243e-01 -2.46489292e-03 9.20391579e+01] [ 3.86903717e-01 9.22119478e-01 -1.08753727e-03 1.69463273e+01] [ 2.69369964e-03 4.91594812e-05 9.99996371e-01 1.53240753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.154012739 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:92.06, Y:16.96, Z:0.15 [[ 9.19689305e-01 -3.92639155e-01 -2.46481353e-03 9.20631268e+01] [ 3.92637650e-01 9.19692608e-01 -1.08771717e-03 1.69611238e+01] [ 2.69395114e-03 3.25832498e-05 9.99996371e-01 1.49987698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.184012739 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:92.09, Y:16.97, Z:0.15 [[ 9.18253680e-01 -3.95984981e-01 -2.46463258e-03 9.20877491e+01] [ 3.95983487e-01 9.18256987e-01 -1.08812704e-03 1.69739111e+01] [ 2.69404805e-03 2.32228563e-05 9.99996371e-01 1.51004968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.214012739 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:92.11, Y:16.99, Z:0.15 [[ 9.16892052e-01 -3.99127664e-01 -2.46445112e-03 9.21125424e+01] [ 3.99126180e-01 9.16895363e-01 -1.08853786e-03 1.69859912e+01] [ 2.69410938e-03 1.44447530e-05 9.99996371e-01 1.52784326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.244012739 meters Centerline goodness : 0.993533 Centerline is valid? [True, True] Translation: X:92.14, Y:17.00, Z:0.16 [[ 9.14503767e-01 -4.04569880e-01 -2.46427045e-03 9.21370553e+01] [ 4.04568415e-01 9.14507087e-01 -1.08894670e-03 1.69994885e+01] [ 2.69414783e-03 -1.12013049e-06 9.99996371e-01 1.55843040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.274012739 meters Centerline goodness : 0.993750 Centerline is valid? [True, True] Translation: X:92.16, Y:17.01, Z:0.16 [[ 9.13713531e-01 -4.06351463e-01 -2.46406786e-03 9.21617447e+01] [ 4.06350003e-01 9.13716853e-01 -1.08940495e-03 1.70114427e+01] [ 2.69414162e-03 -5.86994073e-06 9.99996371e-01 1.55509243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.304012739 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:92.19, Y:17.02, Z:0.15 [[ 9.12468287e-01 -4.09140018e-01 -2.46398005e-03 9.21882196e+01] [ 4.09138567e-01 9.12471614e-01 -1.08960351e-03 1.70219941e+01] [ 2.69411225e-03 -1.38806212e-05 9.99996371e-01 1.49909223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.334012739 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:92.21, Y:17.03, Z:0.15 [[ 9.11826506e-01 -4.10568330e-01 -2.46379964e-03 9.22137922e+01] [ 4.10566883e-01 9.11829834e-01 -1.09001130e-03 1.70321980e+01] [ 2.69409013e-03 -1.76533431e-05 9.99996371e-01 1.47990902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.364012739 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:92.24, Y:17.04, Z:0.14 [[ 9.11223403e-01 -4.11905135e-01 -2.46359110e-03 9.22394559e+01] [ 4.11903692e-01 9.11226733e-01 -1.09048242e-03 1.70425649e+01] [ 2.69406538e-03 -2.10891643e-05 9.99996371e-01 1.42582893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.394012739 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:92.26, Y:17.05, Z:0.15 [[ 9.11171687e-01 -4.12019524e-01 -2.46352637e-03 9.22646168e+01] [ 4.12018081e-01 9.11175017e-01 -1.09062864e-03 1.70536133e+01] [ 2.69406397e-03 -2.12674725e-05 9.99996371e-01 1.45555664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.424012739 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:92.29, Y:17.06, Z:0.15 [[ 9.11709951e-01 -4.10827090e-01 -2.46333451e-03 9.22912252e+01] [ 4.10825641e-01 9.11713278e-01 -1.09106181e-03 1.70629820e+01] [ 2.69409253e-03 -1.72690754e-05 9.99996371e-01 1.50961064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.454012739 meters Centerline goodness : 0.993580 Centerline is valid? [True, True] Translation: X:92.32, Y:17.07, Z:0.15 [[ 9.12260330e-01 -4.09603494e-01 -2.46327063e-03 9.23181733e+01] [ 4.09602041e-01 9.12263656e-01 -1.09120600e-03 1.70718433e+01] [ 2.69411406e-03 -1.34967327e-05 9.99996371e-01 1.53889709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.484012739 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:92.34, Y:17.08, Z:0.15 [[ 9.12510157e-01 -4.09046630e-01 -2.46320726e-03 9.23444779e+01] [ 4.09045174e-01 9.12513482e-01 -1.09134904e-03 1.70827109e+01] [ 2.69412248e-03 -1.16959571e-05 9.99996371e-01 1.53938579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.514012739 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:92.37, Y:17.09, Z:0.15 [[ 9.12434206e-01 -4.09216022e-01 -2.46300428e-03 9.23704383e+01] [ 4.09214566e-01 9.12437530e-01 -1.09180694e-03 1.70944224e+01] [ 2.69412244e-03 -1.16952319e-05 9.99996371e-01 1.54015317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.544012739 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:92.40, Y:17.10, Z:0.15 [[ 9.12882579e-01 -4.08214810e-01 -2.46280151e-03 9.23955560e+01] [ 4.08213349e-01 9.12885901e-01 -1.09226413e-03 1.71049971e+01] [ 2.69413517e-03 -8.23955231e-06 9.99996371e-01 1.54766209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.574012739 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:92.42, Y:17.12, Z:0.15 [[ 9.14144465e-01 -4.05381096e-01 -2.46271337e-03 9.24215771e+01] [ 4.05379624e-01 9.14147782e-01 -1.09246282e-03 1.71162330e+01] [ 2.69414774e-03 3.35020384e-07 9.99996371e-01 1.54520227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.604012739 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:92.45, Y:17.13, Z:0.15 [[ 9.14903301e-01 -4.03665563e-01 -2.46252468e-03 9.24462066e+01] [ 4.03664083e-01 9.14906615e-01 -1.09288799e-03 1.71285682e+01] [ 2.69414137e-03 5.85405601e-06 9.99996371e-01 1.54518682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.634012739 meters Centerline goodness : 0.993864 Centerline is valid? [True, True] Translation: X:92.47, Y:17.14, Z:0.15 [[ 9.16842430e-01 -3.99241652e-01 -2.46232293e-03 9.24692683e+01] [ 3.99240155e-01 9.16845736e-01 -1.09334235e-03 1.71423856e+01] [ 2.69407809e-03 1.93644645e-05 9.99996371e-01 1.52785823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.664012739 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:92.49, Y:17.16, Z:0.15 [[ 9.17662842e-01 -3.97352294e-01 -2.46223571e-03 9.24947698e+01] [ 3.97350790e-01 9.17666145e-01 -1.09353875e-03 1.71551467e+01] [ 2.69403048e-03 2.51285743e-05 9.99996371e-01 1.51600919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.694012739 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:92.52, Y:17.17, Z:0.15 [[ 9.18468741e-01 -3.95485917e-01 -2.46204929e-03 9.25184964e+01] [ 3.95484405e-01 9.18472040e-01 -1.09395830e-03 1.71678579e+01] [ 2.69396853e-03 3.10644005e-05 9.99996371e-01 1.52165526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.724012739 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:92.54, Y:17.18, Z:0.15 [[ 9.18197319e-01 -3.96115667e-01 -2.46191423e-03 9.25430226e+01] [ 3.96114157e-01 9.18200619e-01 -1.09426216e-03 1.71805027e+01] [ 2.69398556e-03 2.95495074e-05 9.99996371e-01 1.53424889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.754012739 meters Centerline goodness : 0.993370 Centerline is valid? [True, True] Translation: X:92.57, Y:17.19, Z:0.15 [[ 9.17529894e-01 -3.97659192e-01 -2.46185284e-03 9.25680740e+01] [ 3.97657687e-01 9.17533196e-01 -1.09440026e-03 1.71931809e+01] [ 2.69403003e-03 2.51702508e-05 9.99996371e-01 1.54922043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.784012739 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:92.59, Y:17.20, Z:0.16 [[ 9.15742404e-01 -4.01758373e-01 -2.46165591e-03 9.25931379e+01] [ 4.01756881e-01 9.15745712e-01 -1.09484304e-03 1.72040306e+01] [ 2.69411320e-03 1.36070001e-05 9.99996371e-01 1.56524769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.814012739 meters Centerline goodness : 0.993266 Centerline is valid? [True, True] Translation: X:92.62, Y:17.21, Z:0.16 [[ 9.14621867e-01 -4.04302833e-01 -2.46157025e-03 9.26193819e+01] [ 4.04301350e-01 9.14625180e-01 -1.09503559e-03 1.72145744e+01] [ 2.69414012e-03 6.32731861e-06 9.99996371e-01 1.56712988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.844012739 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:92.64, Y:17.22, Z:0.16 [[ 9.12503012e-01 -4.09062580e-01 -2.46137508e-03 9.26439293e+01] [ 4.09061113e-01 9.12506332e-01 -1.09547411e-03 1.72246927e+01] [ 2.69413781e-03 -7.22940782e-06 9.99996371e-01 1.56342037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.874012739 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:92.67, Y:17.24, Z:0.15 [[ 9.11430653e-01 -4.11446359e-01 -2.46129063e-03 9.26697671e+01] [ 4.11444901e-01 9.11433976e-01 -1.09566383e-03 1.72365846e+01] [ 2.69411080e-03 -1.40638809e-05 9.99996371e-01 1.54933288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.904012739 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:92.70, Y:17.24, Z:0.15 [[ 9.09886757e-01 -4.14849410e-01 -2.46109904e-03 9.26957404e+01] [ 4.14847962e-01 9.09890085e-01 -1.09609401e-03 1.72445252e+01] [ 2.69404357e-03 -2.36604926e-05 9.99996371e-01 1.53012141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.934012739 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:92.72, Y:17.25, Z:0.15 [[ 9.09246170e-01 -4.16251541e-01 -2.46101598e-03 9.27212182e+01] [ 4.16250098e-01 9.09249500e-01 -1.09628047e-03 1.72535286e+01] [ 2.69400598e-03 -2.76093278e-05 9.99996371e-01 1.53918249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.964012739 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:92.75, Y:17.26, Z:0.16 [[ 9.08189227e-01 -4.18552593e-01 -2.46088658e-03 9.27479550e+01] [ 4.18551158e-01 9.08192560e-01 -1.09657086e-03 1.72629956e+01] [ 2.69393146e-03 -3.41130907e-05 9.99996371e-01 1.59473942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.994012739 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:92.77, Y:17.27, Z:0.16 [[ 9.07755874e-01 -4.19491618e-01 -2.46069808e-03 9.27740163e+01] [ 4.19490185e-01 9.07759209e-01 -1.09699369e-03 1.72735336e+01] [ 2.69390100e-03 -3.64362267e-05 9.99996371e-01 1.61054445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.024012739 meters Centerline goodness : 0.988055 Centerline is valid? [True, True] Translation: X:92.80, Y:17.28, Z:0.17 [[ 9.07743572e-01 -4.19518240e-01 -2.46049796e-03 9.27995039e+01] [ 4.19516806e-01 9.07746906e-01 -1.09744236e-03 1.72826071e+01] [ 2.69390650e-03 -3.60239988e-05 9.99996371e-01 1.69431387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.054012739 meters Centerline goodness : 0.992799 Centerline is valid? [True, True] Translation: X:92.83, Y:17.29, Z:0.16 [[ 9.07931391e-01 -4.19111603e-01 -2.46041079e-03 9.28269854e+01] [ 4.19110167e-01 9.07934724e-01 -1.09763776e-03 1.72904000e+01] [ 2.69392511e-03 -3.46033951e-05 9.99996371e-01 1.60420327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.084012739 meters Centerline goodness : 0.993127 Centerline is valid? [True, True] Translation: X:92.85, Y:17.30, Z:0.16 [[ 9.07528561e-01 -4.19983164e-01 -2.46020596e-03 9.28518113e+01] [ 4.19981730e-01 9.07531895e-01 -1.09809666e-03 1.73010081e+01] [ 2.69389749e-03 -3.66874713e-05 9.99996371e-01 1.58693949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.114012739 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:92.88, Y:17.31, Z:0.16 [[ 9.05954634e-01 -4.23367629e-01 -2.46006636e-03 9.28780361e+01] [ 4.23366206e-01 9.05957973e-01 -1.09840932e-03 1.73107149e+01] [ 2.69374768e-03 -4.63999515e-05 9.99996371e-01 1.56973931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.144012739 meters Centerline goodness : 0.993457 Centerline is valid? [True, True] Translation: X:92.90, Y:17.32, Z:0.16 [[ 9.04956961e-01 -4.25496001e-01 -2.45988202e-03 9.29042668e+01] [ 4.25494586e-01 9.04960303e-01 -1.09882201e-03 1.73203314e+01] [ 2.69363994e-03 -5.22798548e-05 9.99996371e-01 1.57607836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.174012739 meters Centerline goodness : 0.992278 Centerline is valid? [True, True] Translation: X:92.93, Y:17.33, Z:0.16 [[ 9.03329020e-01 -4.28941292e-01 -2.45967980e-03 9.29324427e+01] [ 4.28939888e-01 9.03332366e-01 -1.09927447e-03 1.73263834e+01] [ 2.69343259e-03 -6.20482542e-05 9.99996371e-01 1.55039123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.204012739 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:92.96, Y:17.33, Z:0.15 [[ 9.02957297e-01 -4.29723248e-01 -2.45947064e-03 9.29583629e+01] [ 4.29721846e-01 9.02960645e-01 -1.09974224e-03 1.73347357e+01] [ 2.69339000e-03 -6.38679832e-05 9.99996371e-01 1.52078599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.234012739 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:92.99, Y:17.34, Z:0.15 [[ 9.02648076e-01 -4.30372399e-01 -2.45937993e-03 9.29864069e+01] [ 4.30370999e-01 9.02651424e-01 -1.09994505e-03 1.73414064e+01] [ 2.69334879e-03 -6.55825101e-05 9.99996371e-01 1.53724897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.264012739 meters Centerline goodness : 0.992306 Centerline is valid? [True, True] Translation: X:93.01, Y:17.35, Z:0.15 [[ 9.02841594e-01 -4.29966287e-01 -2.45917659e-03 9.30124346e+01] [ 4.29964884e-01 9.02844941e-01 -1.10039949e-03 1.73501791e+01] [ 2.69338983e-03 -6.38731460e-05 9.99996371e-01 1.54721878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.294012739 meters Centerline goodness : 0.992912 Centerline is valid? [True, True] Translation: X:93.04, Y:17.36, Z:0.16 [[ 9.03797699e-01 -4.27952885e-01 -2.45908831e-03 9.30399656e+01] [ 4.27951474e-01 9.03801043e-01 -1.10059672e-03 1.73569119e+01] [ 2.69353013e-03 -5.76536803e-05 9.99996371e-01 1.57362342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.324012739 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:93.07, Y:17.37, Z:0.16 [[ 9.04425207e-01 -4.26625128e-01 -2.45888131e-03 9.30651820e+01] [ 4.26623710e-01 9.04428548e-01 -1.10105900e-03 1.73659926e+01] [ 2.69362189e-03 -5.31915493e-05 9.99996371e-01 1.56712165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.354012739 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:93.09, Y:17.37, Z:0.16 [[ 9.05522375e-01 -4.24291390e-01 -2.45879111e-03 9.30928634e+01] [ 4.24289963e-01 9.05525712e-01 -1.10126039e-03 1.73727409e+01] [ 2.69375387e-03 -4.60244659e-05 9.99996371e-01 1.55656625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.384012739 meters Centerline goodness : 0.993067 Centerline is valid? [True, True] Translation: X:93.12, Y:17.38, Z:0.15 [[ 9.05920285e-01 -4.23441133e-01 -2.45857855e-03 9.31188655e+01] [ 4.23439701e-01 9.05923620e-01 -1.10173473e-03 1.73806755e+01] [ 2.69380418e-03 -4.29759278e-05 9.99996371e-01 1.53820956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.414012739 meters Centerline goodness : 0.992857 Centerline is valid? [True, True] Translation: X:93.15, Y:17.39, Z:0.16 [[ 9.06287559e-01 -4.22654488e-01 -2.45848572e-03 9.31453747e+01] [ 4.22653054e-01 9.06290892e-01 -1.10194183e-03 1.73888056e+01] [ 2.69384388e-03 -4.04103286e-05 9.99996371e-01 1.55360895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.444012739 meters Centerline goodness : 0.991743 Centerline is valid? [True, True] Translation: X:93.17, Y:17.40, Z:0.16 [[ 9.07426781e-01 -4.20203039e-01 -2.45827688e-03 9.31730467e+01] [ 4.20201595e-01 9.07430110e-01 -1.10240753e-03 1.73957352e+01] [ 2.69394946e-03 -3.26177509e-05 9.99996371e-01 1.60572987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.474012739 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:93.20, Y:17.40, Z:0.16 [[ 9.09046936e-01 -4.16686482e-01 -2.45821211e-03 9.31999028e+01] [ 4.16685024e-01 9.09050260e-01 -1.10255194e-03 1.74025089e+01] [ 2.69405685e-03 -2.20287051e-05 9.99996371e-01 1.61015316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.504012739 meters Centerline goodness : 0.992713 Centerline is valid? [True, True] Translation: X:93.23, Y:17.41, Z:0.16 [[ 9.10132514e-01 -4.14309987e-01 -2.45800637e-03 9.32264206e+01] [ 4.14308519e-01 9.10135833e-01 -1.10301043e-03 1.74121383e+01] [ 2.69410791e-03 -1.44873214e-05 9.99996371e-01 1.60028234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.534012739 meters Centerline goodness : 0.992355 Centerline is valid? [True, True] Translation: X:93.25, Y:17.42, Z:0.16 [[ 9.11443246e-01 -4.11418484e-01 -2.45780021e-03 9.32523485e+01] [ 4.11417004e-01 9.11446560e-01 -1.10346962e-03 1.74222991e+01] [ 2.69414134e-03 -5.43086118e-06 9.99996371e-01 1.58974250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.564012739 meters Centerline goodness : 0.992262 Centerline is valid? [True, True] Translation: X:93.28, Y:17.43, Z:0.16 [[ 9.14324212e-01 -4.04975549e-01 -2.45759337e-03 9.32786697e+01] [ 4.04974044e-01 9.14327515e-01 -1.10393009e-03 1.74329452e+01] [ 2.69410993e-03 1.40884794e-05 9.99996371e-01 1.58433310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.594012739 meters Centerline goodness : 0.992759 Centerline is valid? [True, True] Translation: X:93.30, Y:17.44, Z:0.16 [[ 9.17246726e-01 -3.98311945e-01 -2.45738496e-03 9.33045234e+01] [ 3.98310415e-01 9.17250017e-01 -1.10439383e-03 1.74437785e+01] [ 2.69392965e-03 3.41995984e-05 9.99996371e-01 1.61994697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.624012739 meters Centerline goodness : 0.992345 Centerline is valid? [True, True] Translation: X:93.33, Y:17.45, Z:0.16 [[ 9.18574495e-01 -3.95240255e-01 -2.45717630e-03 9.33289812e+01] [ 3.95238713e-01 9.18577780e-01 -1.10485787e-03 1.74549286e+01] [ 2.69379186e-03 4.37230589e-05 9.99996371e-01 1.62873914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.654012739 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:93.35, Y:17.47, Z:0.16 [[ 9.19602707e-01 -3.92841983e-01 -2.45708623e-03 9.33541378e+01] [ 3.92840433e-01 9.19605988e-01 -1.10505815e-03 1.74667798e+01] [ 2.69366444e-03 5.09716524e-05 9.99996371e-01 1.63601018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.684012739 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:93.38, Y:17.48, Z:0.16 [[ 9.20521593e-01 -3.90683965e-01 -2.45687596e-03 9.33787680e+01] [ 3.90682405e-01 9.20524870e-01 -1.10552543e-03 1.74786632e+01] [ 2.69352649e-03 5.78018231e-05 9.99996371e-01 1.62992763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.714012739 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:93.40, Y:17.49, Z:0.16 [[ 9.21758216e-01 -3.87757342e-01 -2.45678437e-03 9.34032604e+01] [ 3.87755771e-01 9.21761487e-01 -1.10572895e-03 1.74897755e+01] [ 2.69332373e-03 6.65824273e-05 9.99996371e-01 1.62916390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.744012739 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:93.43, Y:17.50, Z:0.17 [[ 9.22232289e-01 -3.86628464e-01 -2.45669414e-03 9.34287457e+01] [ 3.86626889e-01 9.22235559e-01 -1.10592938e-03 1.75012026e+01] [ 2.69323447e-03 7.00997719e-05 9.99996371e-01 1.66215781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.774012739 meters Centerline goodness : 0.992076 Centerline is valid? [True, True] Translation: X:93.45, Y:17.51, Z:0.17 [[ 9.22298468e-01 -3.86470570e-01 -2.45663103e-03 9.34545795e+01] [ 3.86468994e-01 9.22301737e-01 -1.10606955e-03 1.75130724e+01] [ 2.69321839e-03 7.07145281e-05 9.99996371e-01 1.66199455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.804012739 meters Centerline goodness : 0.992302 Centerline is valid? [True, True] Translation: X:93.48, Y:17.52, Z:0.16 [[ 9.22407357e-01 -3.86210609e-01 -2.45642685e-03 9.34798253e+01] [ 3.86209030e-01 9.22410625e-01 -1.10652282e-03 1.75245256e+01] [ 2.69318508e-03 7.19705625e-05 9.99996371e-01 1.64684765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.834012739 meters Centerline goodness : 0.993244 Centerline is valid? [True, True] Translation: X:93.50, Y:17.54, Z:0.16 [[ 9.23061100e-01 -3.84645515e-01 -2.45621995e-03 9.35048806e+01] [ 3.84643929e-01 9.23064365e-01 -1.10698190e-03 1.75366562e+01] [ 2.69304473e-03 7.70418436e-05 9.99996371e-01 1.60112709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.864012739 meters Centerline goodness : 0.991491 Centerline is valid? [True, True] Translation: X:93.53, Y:17.55, Z:0.16 [[ 9.23587131e-01 -3.83380722e-01 -2.45615565e-03 9.35294829e+01] [ 3.83379132e-01 9.23590394e-01 -1.10712453e-03 1.75497188e+01] [ 2.69293197e-03 8.08871492e-05 9.99996371e-01 1.59868329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.894012739 meters Centerline goodness : 0.992648 Centerline is valid? [True, True] Translation: X:93.55, Y:17.56, Z:0.16 [[ 9.24332219e-01 -3.81580814e-01 -2.45594310e-03 9.35536558e+01] [ 3.81579217e-01 9.24335477e-01 -1.10759584e-03 1.75629937e+01] [ 2.69275266e-03 8.66496735e-05 9.99996371e-01 1.58759208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.924012739 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:93.58, Y:17.58, Z:0.16 [[ 9.25947145e-01 -3.77645141e-01 -2.45579811e-03 9.35770719e+01] [ 3.77643529e-01 9.25950397e-01 -1.10791724e-03 1.75784755e+01] [ 2.69234679e-03 9.84565390e-05 9.99996371e-01 1.59590473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.954012739 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:93.60, Y:17.59, Z:0.16 [[ 9.27245160e-01 -3.74446768e-01 -2.45573467e-03 9.35999044e+01] [ 3.74445144e-01 9.27248406e-01 -1.10805784e-03 1.75949986e+01] [ 2.69198473e-03 1.07903346e-04 9.99996371e-01 1.60063270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.984012739 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:93.62, Y:17.61, Z:0.16 [[ 9.27568474e-01 -3.73645147e-01 -2.45552796e-03 9.36227806e+01] [ 3.73643519e-01 9.27571718e-01 -1.10851571e-03 1.76093238e+01] [ 2.69186981e-03 1.10732119e-04 9.99996371e-01 1.60360727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.014012739 meters Centerline goodness : 0.992993 Centerline is valid? [True, True] Translation: X:93.65, Y:17.62, Z:0.16 [[ 9.27665153e-01 -3.73405055e-01 -2.45543836e-03 9.36459169e+01] [ 3.73403426e-01 9.27668396e-01 -1.10871416e-03 1.76234192e+01] [ 2.69183203e-03 1.11646399e-04 9.99996371e-01 1.60471213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.044012739 meters Centerline goodness : 0.993219 Centerline is valid? [True, True] Translation: X:93.67, Y:17.64, Z:0.16 [[ 9.26734894e-01 -3.75707875e-01 -2.45534900e-03 9.36684119e+01] [ 3.75706253e-01 9.26738141e-01 -1.10891202e-03 1.76413628e+01] [ 2.69209254e-03 1.05177488e-04 9.99996371e-01 1.61723590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.074012739 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:93.69, Y:17.66, Z:0.16 [[ 9.25967728e-01 -3.77594676e-01 -2.45513639e-03 9.36917143e+01] [ 3.77593059e-01 9.25970977e-01 -1.10938254e-03 1.76552892e+01] [ 2.69228198e-03 1.00209971e-04 9.99996371e-01 1.60686818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.104012739 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:93.72, Y:17.67, Z:0.16 [[ 9.24438265e-01 -3.81323834e-01 -2.45504355e-03 9.37152770e+01] [ 3.81322230e-01 9.24441521e-01 -1.10958796e-03 1.76722588e+01] [ 2.69265652e-03 8.95828857e-05 9.99996371e-01 1.60522568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.134012739 meters Centerline goodness : 0.993448 Centerline is valid? [True, True] Translation: X:93.74, Y:17.69, Z:0.16 [[ 9.23702603e-01 -3.83102434e-01 -2.45484212e-03 9.37400257e+01] [ 3.83100835e-01 9.23705861e-01 -1.11003341e-03 1.76863835e+01] [ 2.69280856e-03 8.48886828e-05 9.99996371e-01 1.60700717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.164012739 meters Centerline goodness : 0.993364 Centerline is valid? [True, True] Translation: X:93.76, Y:17.70, Z:0.16 [[ 9.22894889e-01 -3.85044152e-01 -2.45464108e-03 9.37634387e+01] [ 3.85042559e-01 9.22898150e-01 -1.11047781e-03 1.76996859e+01] [ 2.69296669e-03 7.97130168e-05 9.99996371e-01 1.60898698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.194012739 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:93.79, Y:17.71, Z:0.16 [[ 9.21163250e-01 -3.89168655e-01 -2.45455350e-03 9.37885250e+01] [ 3.89167076e-01 9.21166518e-01 -1.11067135e-03 1.77138848e+01] [ 2.69329098e-03 6.78782156e-05 9.99996371e-01 1.63739596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.224012739 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:93.81, Y:17.73, Z:0.17 [[ 9.19495437e-01 -3.93093013e-01 -2.45437718e-03 9.38137060e+01] [ 3.93091447e-01 9.19498711e-01 -1.11106085e-03 1.77270019e+01] [ 2.69354691e-03 5.68207021e-05 9.99996371e-01 1.65430314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.254012739 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:93.84, Y:17.74, Z:0.17 [[ 9.18850304e-01 -3.94598651e-01 -2.45418781e-03 9.38387703e+01] [ 3.94597090e-01 9.18853580e-01 -1.11147899e-03 1.77383639e+01] [ 2.69362736e-03 5.28674419e-05 9.99996371e-01 1.65757046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.284012739 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:93.86, Y:17.75, Z:0.17 [[ 9.18390677e-01 -3.95667211e-01 -2.45397984e-03 9.38647235e+01] [ 3.95665652e-01 9.18393955e-01 -1.11193795e-03 1.77498750e+01] [ 2.69367764e-03 5.02379153e-05 9.99996371e-01 1.65838350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.314012739 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:93.89, Y:17.76, Z:0.17 [[ 9.18403913e-01 -3.95636488e-01 -2.45377193e-03 9.38891591e+01] [ 3.95634928e-01 9.18407190e-01 -1.11239658e-03 1.77621980e+01] [ 2.69366646e-03 5.08314875e-05 9.99996371e-01 1.65482176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.344012739 meters Centerline goodness : 0.994504 Centerline is valid? [True, True] Translation: X:93.91, Y:17.77, Z:0.16 [[ 9.18865402e-01 -3.94563496e-01 -2.45362994e-03 9.39135708e+01] [ 3.94561931e-01 9.18868676e-01 -1.11270967e-03 1.77746476e+01] [ 2.69359832e-03 5.43214481e-05 9.99996371e-01 1.64615715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.374012739 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:93.94, Y:17.79, Z:0.16 [[ 9.20330423e-01 -3.91134110e-01 -2.45349591e-03 9.39385380e+01] [ 3.91132532e-01 9.20333691e-01 -1.11300513e-03 1.77880246e+01] [ 2.69336922e-03 6.46904146e-05 9.99996371e-01 1.63600360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.404012739 meters Centerline goodness : 0.994675 Centerline is valid? [True, True] Translation: X:93.96, Y:17.80, Z:0.16 [[ 9.20257515e-01 -3.91305619e-01 -2.45328840e-03 9.39643959e+01] [ 3.91304040e-01 9.20260783e-01 -1.11346233e-03 1.77999692e+01] [ 2.69336917e-03 6.46904135e-05 9.99996371e-01 1.63677098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.434012739 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:93.99, Y:17.81, Z:0.16 [[ 9.20948400e-01 -3.89676823e-01 -2.45308081e-03 9.39894252e+01] [ 3.89675237e-01 9.20951665e-01 -1.11391949e-03 1.78124170e+01] [ 2.69323747e-03 6.99575276e-05 9.99996371e-01 1.63484250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.464012739 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:94.01, Y:17.83, Z:0.16 [[ 9.21443035e-01 -3.88505749e-01 -2.45287342e-03 9.40127803e+01] [ 3.88504158e-01 9.21446297e-01 -1.11437598e-03 1.78265399e+01] [ 2.69313261e-03 7.38824677e-05 9.99996371e-01 1.63464404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.494012739 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:94.04, Y:17.84, Z:0.16 [[ 9.21332240e-01 -3.88768423e-01 -2.45278350e-03 9.40376299e+01] [ 3.88766833e-01 9.21335502e-01 -1.11457387e-03 1.78399001e+01] [ 2.69314764e-03 7.33319705e-05 9.99996371e-01 1.63831301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.524012739 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:94.06, Y:17.85, Z:0.16 [[ 9.20895023e-01 -3.89802952e-01 -2.45257933e-03 9.40608783e+01] [ 3.89801364e-01 9.20898286e-01 -1.11502295e-03 1.78537272e+01] [ 2.69321534e-03 7.08003141e-05 9.99996371e-01 1.62119272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.554012739 meters Centerline goodness : 0.994431 Centerline is valid? [True, True] Translation: X:94.08, Y:17.87, Z:0.16 [[ 9.20591867e-01 -3.90518372e-01 -2.45249040e-03 9.40845929e+01] [ 3.90516786e-01 9.20595131e-01 -1.11521852e-03 1.78666762e+01] [ 2.69326404e-03 6.89224295e-05 9.99996371e-01 1.60488697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.584012739 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:94.11, Y:17.88, Z:0.16 [[ 9.20433841e-01 -3.90890689e-01 -2.45235196e-03 9.41083149e+01] [ 3.90889103e-01 9.20437105e-01 -1.11552287e-03 1.78828157e+01] [ 2.69328324e-03 6.81673393e-05 9.99996371e-01 1.62106018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.614012739 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:94.13, Y:17.90, Z:0.16 [[ 9.20544261e-01 -3.90630582e-01 -2.45215062e-03 9.41322199e+01] [ 3.90628994e-01 9.20547524e-01 -1.11596529e-03 1.78966364e+01] [ 2.69325135e-03 6.94143139e-05 9.99996371e-01 1.63918146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.644012739 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:94.16, Y:17.91, Z:0.16 [[ 9.20706971e-01 -3.90246923e-01 -2.45205551e-03 9.41568547e+01] [ 3.90245334e-01 9.20710233e-01 -1.11617421e-03 1.79108949e+01] [ 2.69321616e-03 7.07661578e-05 9.99996371e-01 1.64750596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.674012739 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:94.18, Y:17.93, Z:0.16 [[ 9.21411027e-01 -3.88581661e-01 -2.45185590e-03 9.41792129e+01] [ 3.88580064e-01 9.21414286e-01 -1.11661253e-03 1.79272342e+01] [ 2.69307020e-03 7.61167755e-05 9.99996371e-01 1.64222926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.704012739 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:94.20, Y:17.94, Z:0.16 [[ 9.21772362e-01 -3.87723743e-01 -2.45176918e-03 9.42022626e+01] [ 3.87722143e-01 9.21775620e-01 -1.11680289e-03 1.79413390e+01] [ 2.69299206e-03 7.88328407e-05 9.99996371e-01 1.63226111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.734012739 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:94.23, Y:17.96, Z:0.17 [[ 9.22062976e-01 -3.87032114e-01 -2.45168296e-03 9.42251947e+01] [ 3.87030511e-01 9.22066232e-01 -1.11699214e-03 1.79591943e+01] [ 2.69292590e-03 8.10609906e-05 9.99996371e-01 1.65489160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.764012739 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:94.25, Y:17.97, Z:0.17 [[ 9.21771597e-01 -3.87725564e-01 -2.45148663e-03 9.42497898e+01] [ 3.87723962e-01 9.21774854e-01 -1.11742287e-03 1.79729645e+01] [ 2.69297214e-03 7.95085570e-05 9.99996371e-01 1.67237911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.794012739 meters Centerline goodness : 0.994273 Centerline is valid? [True, True] Translation: X:94.27, Y:17.99, Z:0.17 [[ 9.20160869e-01 -3.91532842e-01 -2.45128926e-03 9.42733532e+01] [ 3.91531252e-01 9.20164131e-01 -1.11785568e-03 1.79879301e+01] [ 2.69326566e-03 6.88507005e-05 9.99996371e-01 1.69335552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.824012739 meters Centerline goodness : 0.993948 Centerline is valid? [True, True] Translation: X:94.30, Y:18.00, Z:0.17 [[ 9.19120461e-01 -3.93968995e-01 -2.45122815e-03 9.42978187e+01] [ 3.93967414e-01 9.19123728e-01 -1.11798966e-03 1.80010675e+01] [ 2.69343522e-03 6.18631542e-05 9.99996371e-01 1.70165929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.854012739 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:94.32, Y:18.01, Z:0.17 [[ 9.18257875e-01 -3.95975336e-01 -2.45103269e-03 9.43218124e+01] [ 3.95973761e-01 9.18261145e-01 -1.11841802e-03 1.80138883e+01] [ 2.69355403e-03 5.64515230e-05 9.99996371e-01 1.70770965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.884012739 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:94.35, Y:18.03, Z:0.17 [[ 9.16921341e-01 -3.99060457e-01 -2.45089888e-03 9.43454395e+01] [ 3.99058892e-01 9.16924615e-01 -1.11871116e-03 1.80281395e+01] [ 2.69372290e-03 4.77171459e-05 9.99996371e-01 1.70667223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.914012739 meters Centerline goodness : 0.991059 Centerline is valid? [True, True] Translation: X:94.37, Y:18.04, Z:0.18 [[ 9.15360253e-01 -4.02628367e-01 -2.45081418e-03 9.43697321e+01] [ 4.02626814e-01 9.15363533e-01 -1.11889669e-03 1.80398649e+01] [ 2.69388547e-03 3.74300492e-05 9.99996371e-01 1.78752978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.944012739 meters Centerline goodness : 0.990827 Centerline is valid? [True, True] Translation: X:94.40, Y:18.05, Z:0.18 [[ 9.14427581e-01 -4.04742131e-01 -2.45072991e-03 9.43955716e+01] [ 4.04740585e-01 9.14430865e-01 -1.11908125e-03 1.80510696e+01] [ 2.69396240e-03 3.14089000e-05 9.99996371e-01 1.80443091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.974012739 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:94.42, Y:18.06, Z:0.17 [[ 9.13494220e-01 -4.06844325e-01 -2.45053785e-03 9.44217424e+01] [ 4.06842786e-01 9.13497507e-01 -1.11950165e-03 1.80622902e+01] [ 2.69402311e-03 2.56746354e-05 9.99996371e-01 1.71525363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.004012739 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:94.45, Y:18.07, Z:0.17 [[ 9.11840311e-01 -4.10537749e-01 -2.45034647e-03 9.44474745e+01] [ 4.10536221e-01 9.11843603e-01 -1.11992039e-03 1.80712870e+01] [ 2.69410235e-03 1.52325747e-05 9.99996371e-01 1.71430033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.034012739 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:94.47, Y:18.08, Z:0.17 [[ 9.11054798e-01 -4.12278003e-01 -2.45026321e-03 9.44736237e+01] [ 4.12276481e-01 9.11058093e-01 -1.12010252e-03 1.80812425e+01] [ 2.69412576e-03 1.02888764e-05 9.99996371e-01 1.73914971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.064012739 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:94.50, Y:18.09, Z:0.17 [[ 9.09925748e-01 -4.14763946e-01 -2.45005159e-03 9.44995124e+01] [ 4.14762432e-01 9.09929046e-01 -1.12056521e-03 1.80892827e+01] [ 2.69414316e-03 3.44178391e-06 9.99996371e-01 1.67217982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.094012739 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:94.52, Y:18.10, Z:0.17 [[ 9.09461358e-01 -4.15781235e-01 -2.44995990e-03 9.45249924e+01] [ 4.15779725e-01 9.09464658e-01 -1.12076564e-03 1.80997359e+01] [ 2.69414527e-03 6.49388848e-07 9.99996371e-01 1.67256692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.124012739 meters Centerline goodness : 0.996383 Centerline is valid? [True, True] Translation: X:94.55, Y:18.11, Z:0.16 [[ 9.08673035e-01 -4.17501274e-01 -2.44974677e-03 9.45521290e+01] [ 4.17499769e-01 9.08676337e-01 -1.12123130e-03 1.81082654e+01] [ 2.69414242e-03 -3.93606503e-06 9.99996371e-01 1.62068500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.154012739 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:94.58, Y:18.12, Z:0.16 [[ 9.08126199e-01 -4.18689390e-01 -2.44968046e-03 9.45792780e+01] [ 4.18687888e-01 9.08129503e-01 -1.12137616e-03 1.81171500e+01] [ 2.69413540e-03 -7.30046541e-06 9.99996371e-01 1.60456384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.184012739 meters Centerline goodness : 0.996643 Centerline is valid? [True, True] Translation: X:94.61, Y:18.13, Z:0.16 [[ 9.07754516e-01 -4.19494623e-01 -2.44949412e-03 9.46064045e+01] [ 4.19493123e-01 9.07757821e-01 -1.12178305e-03 1.81254876e+01] [ 2.69412940e-03 -9.24230628e-06 9.99996371e-01 1.59263493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.214012739 meters Centerline goodness : 0.995823 Centerline is valid? [True, True] Translation: X:94.63, Y:18.13, Z:0.16 [[ 9.07728328e-01 -4.19551288e-01 -2.44930764e-03 9.46336883e+01] [ 4.19549787e-01 9.07731633e-01 -1.12219005e-03 1.81321411e+01] [ 2.69413031e-03 -8.96279993e-06 9.99996371e-01 1.62941914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.244012739 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:94.66, Y:18.14, Z:0.17 [[ 9.08605867e-01 -4.17647436e-01 -2.44909905e-03 9.46609149e+01] [ 4.17645927e-01 9.08609168e-01 -1.12264511e-03 1.81389984e+01] [ 2.69414370e-03 -2.81430993e-06 9.99996371e-01 1.65618464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.274012739 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:94.69, Y:18.15, Z:0.17 [[ 9.09048206e-01 -4.16683767e-01 -2.44903414e-03 9.46874868e+01] [ 4.16682254e-01 9.09051505e-01 -1.12278669e-03 1.81474123e+01] [ 2.69414516e-03 1.98159341e-07 9.99996371e-01 1.67260320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.304012739 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:94.71, Y:18.16, Z:0.17 [[ 9.09514400e-01 -4.15665201e-01 -2.44884762e-03 9.47142442e+01] [ 4.15663684e-01 9.09517697e-01 -1.12319335e-03 1.81559111e+01] [ 2.69414264e-03 3.66350357e-06 9.99996371e-01 1.68482904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.334012739 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:94.74, Y:18.16, Z:0.17 [[ 9.10838080e-01 -4.12756583e-01 -2.44864710e-03 9.47408503e+01] [ 4.12755054e-01 9.10841371e-01 -1.12363034e-03 1.81632290e+01] [ 2.69411490e-03 1.27538327e-05 9.99996371e-01 1.68663403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.364012739 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:94.77, Y:18.17, Z:0.17 [[ 9.11597586e-01 -4.11076448e-01 -2.44855360e-03 9.47674312e+01] [ 4.11074912e-01 9.11600874e-01 -1.12383404e-03 1.81730024e+01] [ 2.69408531e-03 1.79454363e-05 9.99996371e-01 1.70470289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.394012739 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:94.79, Y:18.18, Z:0.17 [[ 9.13210712e-01 -4.07480307e-01 -2.44834166e-03 9.47949417e+01] [ 4.07478757e-01 9.13213994e-01 -1.12429558e-03 1.81790658e+01] [ 2.69398817e-03 2.90715507e-05 9.99996371e-01 1.71968064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.424012739 meters Centerline goodness : 0.995753 Centerline is valid? [True, True] Translation: X:94.82, Y:18.19, Z:0.17 [[ 9.14053620e-01 -4.05585980e-01 -2.44812813e-03 9.48203115e+01] [ 4.05584422e-01 9.14056897e-01 -1.12476035e-03 1.81880563e+01] [ 2.69391543e-03 3.51686382e-05 9.99996371e-01 1.72245619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.454012739 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:94.85, Y:18.20, Z:0.17 [[ 9.14870939e-01 -4.03738989e-01 -2.44803522e-03 9.48456183e+01] [ 4.03737424e-01 9.14874214e-01 -1.12496254e-03 1.81979746e+01] [ 2.69383553e-03 4.08321030e-05 9.99996371e-01 1.71860776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.484012739 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:94.87, Y:18.21, Z:0.17 [[ 9.16651129e-01 -3.99680768e-01 -2.44794415e-03 9.48715340e+01] [ 3.99679187e-01 9.16654396e-01 -1.12516067e-03 1.82081403e+01] [ 2.69362384e-03 5.29874666e-05 9.99996371e-01 1.71050295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.514012739 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:94.90, Y:18.22, Z:0.17 [[ 9.17645917e-01 -3.97391469e-01 -2.44774134e-03 9.48971125e+01] [ 3.97389879e-01 9.17649180e-01 -1.12560170e-03 1.82201134e+01] [ 2.69347234e-03 6.01961733e-05 9.99996371e-01 1.70378480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.544012739 meters Centerline goodness : 0.995800 Centerline is valid? [True, True] Translation: X:94.92, Y:18.23, Z:0.17 [[ 9.20143675e-01 -3.91573272e-01 -2.44752547e-03 9.49202551e+01] [ 3.91571660e-01 9.20146927e-01 -1.12607088e-03 1.82334507e+01] [ 2.69302230e-03 7.77653873e-05 9.99996371e-01 1.69463584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.574012739 meters Centerline goodness : 0.996065 Centerline is valid? [True, True] Translation: X:94.94, Y:18.25, Z:0.17 [[ 9.21233181e-01 -3.89003132e-01 -2.44743180e-03 9.49445920e+01] [ 3.89001511e-01 9.21236428e-01 -1.12627443e-03 1.82467325e+01] [ 2.69278761e-03 8.55067096e-05 9.99996371e-01 1.70336993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.604012739 meters Centerline goodness : 0.995715 Centerline is valid? [True, True] Translation: X:94.97, Y:18.26, Z:0.17 [[ 9.22262898e-01 -3.86555504e-01 -2.44723662e-03 9.49686355e+01] [ 3.86553873e-01 9.22266140e-01 -1.12669837e-03 1.82611040e+01] [ 2.69253493e-03 9.31233086e-05 9.99996371e-01 1.71334458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.634012739 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:94.99, Y:18.28, Z:0.17 [[ 9.24036985e-01 -3.82295256e-01 -2.44702528e-03 9.49901423e+01] [ 3.82293609e-01 9.24040219e-01 -1.12715719e-03 1.82788456e+01] [ 2.69205662e-03 1.06052801e-04 9.99996371e-01 1.71903927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.664012739 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:95.01, Y:18.30, Z:0.17 [[ 9.24307300e-01 -3.81641229e-01 -2.44693341e-03 9.50119081e+01] [ 3.81639580e-01 9.24310532e-01 -1.12735659e-03 1.82969102e+01] [ 2.69197208e-03 1.08177282e-04 9.99996371e-01 1.73095404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.694012739 meters Centerline goodness : 0.995717 Centerline is valid? [True, True] Translation: X:95.04, Y:18.31, Z:0.17 [[ 9.23736554e-01 -3.83020614e-01 -2.44684306e-03 9.50351669e+01] [ 3.83018969e-01 9.23739789e-01 -1.12755267e-03 1.83121424e+01] [ 2.69212220e-03 1.04374311e-04 9.99996371e-01 1.73385158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.724012739 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:95.06, Y:18.33, Z:0.17 [[ 9.22816797e-01 -3.85231324e-01 -2.44663716e-03 9.50592749e+01] [ 3.85229685e-01 9.22820035e-01 -1.12799927e-03 1.83276146e+01] [ 2.69234644e-03 9.84194112e-05 9.99996371e-01 1.72223720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.754012739 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:95.08, Y:18.34, Z:0.17 [[ 9.20626723e-01 -3.90436234e-01 -2.44642958e-03 9.50817746e+01] [ 3.90434612e-01 9.20629969e-01 -1.12844929e-03 1.83446907e+01] [ 2.69284388e-03 8.37097887e-05 9.99996371e-01 1.68644919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.784012739 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:95.11, Y:18.36, Z:0.17 [[ 9.19419424e-01 -3.93270820e-01 -2.44621668e-03 9.51054880e+01] [ 3.93269207e-01 9.19422675e-01 -1.12891062e-03 1.83581375e+01] [ 2.69307469e-03 7.59206560e-05 9.99996371e-01 1.67456176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.814012739 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:95.13, Y:18.37, Z:0.17 [[ 9.18334724e-01 -3.95797109e-01 -2.44612381e-03 9.51295947e+01] [ 3.95795505e-01 9.18337979e-01 -1.12911180e-03 1.83714928e+01] [ 2.69326759e-03 6.87377599e-05 9.99996371e-01 1.66772362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.844012739 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:95.15, Y:18.39, Z:0.17 [[ 9.16379880e-01 -4.00302301e-01 -2.44591356e-03 9.51535121e+01] [ 4.00300711e-01 9.16383143e-01 -1.12956707e-03 1.83875877e+01] [ 2.69356225e-03 5.60115972e-05 9.99996371e-01 1.66746130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.874012739 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:95.18, Y:18.40, Z:0.17 [[ 9.14441596e-01 -4.04710496e-01 -2.44578253e-03 9.51777337e+01] [ 4.04708921e-01 9.14444866e-01 -1.12985071e-03 1.84017260e+01] [ 2.69379572e-03 4.33524749e-05 9.99996371e-01 1.70052958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.904012739 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:95.20, Y:18.41, Z:0.17 [[ 9.13217953e-01 -4.07464095e-01 -2.44568325e-03 9.52026160e+01] [ 4.07462529e-01 9.13221227e-01 -1.13006557e-03 1.84137510e+01] [ 2.69391101e-03 3.54718815e-05 9.99996371e-01 1.72109285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.934012739 meters Centerline goodness : 0.996011 Centerline is valid? [True, True] Translation: X:95.23, Y:18.43, Z:0.17 [[ 9.11865608e-01 -4.10481587e-01 -2.44547320e-03 9.52275951e+01] [ 4.10480031e-01 9.11868886e-01 -1.13051995e-03 1.84252930e+01] [ 2.69400854e-03 2.70643490e-05 9.99996371e-01 1.72761171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.964012739 meters Centerline goodness : 0.996033 Centerline is valid? [True, True] Translation: X:95.25, Y:18.44, Z:0.17 [[ 9.09467848e-01 -4.15767067e-01 -2.44526283e-03 9.52536692e+01] [ 4.15765529e-01 9.09471135e-01 -1.13097477e-03 1.84363644e+01] [ 2.69411803e-03 1.19291973e-05 9.99996371e-01 1.70223353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.994012739 meters Centerline goodness : 0.996264 Centerline is valid? [True, True] Translation: X:95.28, Y:18.45, Z:0.17 [[ 9.08403412e-01 -4.18087627e-01 -2.44505298e-03 9.52797003e+01] [ 4.18086096e-01 9.08406702e-01 -1.13142827e-03 1.84477232e+01] [ 2.69413867e-03 5.55064714e-06 9.99996371e-01 1.69076778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.024012739 meters Centerline goodness : 0.995899 Centerline is valid? [True, True] Translation: X:95.31, Y:18.46, Z:0.17 [[ 9.06895008e-01 -4.21349578e-01 -2.44484297e-03 9.53050414e+01] [ 4.21348058e-01 9.06898303e-01 -1.13188188e-03 1.84572622e+01] [ 2.69414190e-03 -3.63181316e-06 9.99996371e-01 1.70389429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.054012739 meters Centerline goodness : 0.995944 Centerline is valid? [True, True] Translation: X:95.33, Y:18.47, Z:0.17 [[ 9.06172250e-01 -4.22901734e-01 -2.44475207e-03 9.53311988e+01] [ 4.22900219e-01 9.06175548e-01 -1.13207819e-03 1.84679767e+01] [ 2.69413238e-03 -8.02834630e-06 9.99996371e-01 1.72793214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.084012739 meters Centerline goodness : 0.996243 Centerline is valid? [True, True] Translation: X:95.36, Y:18.48, Z:0.17 [[ 9.04800358e-01 -4.25828999e-01 -2.44454534e-03 9.53585243e+01] [ 4.25827493e-01 9.04803660e-01 -1.13252441e-03 1.84761595e+01] [ 2.69409531e-03 -1.62461271e-05 9.99996371e-01 1.73068456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.114012739 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:95.38, Y:18.49, Z:0.17 [[ 9.04017815e-01 -4.27487795e-01 -2.44433951e-03 9.53843745e+01] [ 4.27486294e-01 9.04021120e-01 -1.13296848e-03 1.84854531e+01] [ 2.69406474e-03 -2.06979489e-05 9.99996371e-01 1.72206075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.144012739 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:95.41, Y:18.49, Z:0.17 [[ 9.02759980e-01 -4.30137704e-01 -2.44425024e-03 9.54110481e+01] [ 4.30136212e-01 9.02763289e-01 -1.13316105e-03 1.84923810e+01] [ 2.69399467e-03 -2.83880931e-05 9.99996371e-01 1.71848338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.174012739 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:95.44, Y:18.50, Z:0.17 [[ 9.02596650e-01 -4.30480328e-01 -2.44416141e-03 9.54370608e+01] [ 4.30478838e-01 9.02599959e-01 -1.13335262e-03 1.85031647e+01] [ 2.69398599e-03 -2.91994818e-05 9.99996371e-01 1.73011720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.204012739 meters Centerline goodness : 0.996005 Centerline is valid? [True, True] Translation: X:95.46, Y:18.51, Z:0.17 [[ 9.02799583e-01 -4.30054578e-01 -2.44395900e-03 9.54628210e+01] [ 4.30053084e-01 9.02802891e-01 -1.13378892e-03 1.85143438e+01] [ 2.69400437e-03 -2.74479466e-05 9.99996371e-01 1.72839487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.234012739 meters Centerline goodness : 0.996184 Centerline is valid? [True, True] Translation: X:95.49, Y:18.52, Z:0.17 [[ 9.04328534e-01 -4.26830096e-01 -2.44374900e-03 9.54881623e+01] [ 4.26828590e-01 9.04331835e-01 -1.13424137e-03 1.85241277e+01] [ 2.69408837e-03 -1.73351017e-05 9.99996371e-01 1.72181915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.264012739 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:95.51, Y:18.54, Z:0.17 [[ 9.05282775e-01 -4.24802455e-01 -2.44365750e-03 9.55133860e+01] [ 4.24800940e-01 9.05286073e-01 -1.13443847e-03 1.85355224e+01] [ 2.69412135e-03 -1.10803977e-05 9.99996371e-01 1.72086078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.294012739 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:95.54, Y:18.55, Z:0.17 [[ 9.06658544e-01 -4.21858168e-01 -2.44345672e-03 9.55381519e+01] [ 4.21856641e-01 9.06661837e-01 -1.13487076e-03 1.85475954e+01] [ 2.69414346e-03 -1.84817750e-06 9.99996371e-01 1.69713096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.324012739 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:95.56, Y:18.56, Z:0.17 [[ 9.06579726e-01 -4.22027525e-01 -2.44324521e-03 9.55638989e+01] [ 4.22025997e-01 9.06583018e-01 -1.13532594e-03 1.85597719e+01] [ 2.69414341e-03 -1.84952055e-06 9.99996371e-01 1.69789834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.354012739 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:95.59, Y:18.57, Z:0.17 [[ 9.06677962e-01 -4.21816436e-01 -2.44303305e-03 9.55886703e+01] [ 4.21814907e-01 9.06681253e-01 -1.13578229e-03 1.85706010e+01] [ 2.69414390e-03 -7.18980706e-07 9.99996371e-01 1.68224049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.384012739 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:95.61, Y:18.58, Z:0.17 [[ 9.05690007e-01 -4.23933536e-01 -2.44294083e-03 9.56143110e+01] [ 4.23932014e-01 9.05693302e-01 -1.13598061e-03 1.85797741e+01] [ 2.69413542e-03 -6.79453716e-06 9.99996371e-01 1.69875388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.414012739 meters Centerline goodness : 0.995823 Centerline is valid? [True, True] Translation: X:95.64, Y:18.59, Z:0.17 [[ 9.04910860e-01 -4.25594134e-01 -2.44285391e-03 9.56394696e+01] [ 4.25592618e-01 9.04914158e-01 -1.13616749e-03 1.85908328e+01] [ 2.69411931e-03 -1.15302867e-05 9.99996371e-01 1.70789149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.444012739 meters Centerline goodness : 0.995615 Centerline is valid? [True, True] Translation: X:95.66, Y:18.60, Z:0.17 [[ 9.04275712e-01 -4.26941999e-01 -2.44271880e-03 9.56647408e+01] [ 4.26940486e-01 9.04279011e-01 -1.13645790e-03 1.86021202e+01] [ 2.69410095e-03 -1.52242733e-05 9.99996371e-01 1.72233704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.474012739 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:95.69, Y:18.61, Z:0.17 [[ 9.04038261e-01 -4.27444565e-01 -2.44252267e-03 9.56906748e+01] [ 4.27443054e-01 9.04041561e-01 -1.13687928e-03 1.86115716e+01] [ 2.69409487e-03 -1.62569794e-05 9.99996371e-01 1.72821635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.504012739 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:95.72, Y:18.62, Z:0.17 [[ 9.05356260e-01 -4.24645827e-01 -2.44232759e-03 9.57170751e+01] [ 4.24644304e-01 9.05359554e-01 -1.13729821e-03 1.86206334e+01] [ 2.69413355e-03 -7.46044656e-06 9.99996371e-01 1.72082258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.534012739 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:95.74, Y:18.63, Z:0.17 [[ 9.06410755e-01 -4.22390317e-01 -2.44211875e-03 9.57423398e+01] [ 4.22388785e-01 9.06414044e-01 -1.13774647e-03 1.86321664e+01] [ 2.69414382e-03 -2.57932542e-07 9.99996371e-01 1.71693251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.564012739 meters Centerline goodness : 0.995915 Centerline is valid? [True, True] Translation: X:95.77, Y:18.64, Z:0.17 [[ 9.07622459e-01 -4.19780311e-01 -2.44191019e-03 9.57665089e+01] [ 4.19778768e-01 9.07625744e-01 -1.13819391e-03 1.86433823e+01] [ 2.69413195e-03 7.98830625e-06 9.99996371e-01 1.71334323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.594012739 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:95.79, Y:18.65, Z:0.17 [[ 9.10252841e-01 -4.14045653e-01 -2.44181939e-03 9.57925753e+01] [ 4.14044089e-01 9.10256116e-01 -1.13838869e-03 1.86545794e+01] [ 2.69402592e-03 2.52006513e-05 9.99996371e-01 1.72152503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.624012739 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:95.82, Y:18.67, Z:0.17 [[ 9.11456555e-01 -4.11389094e-01 -2.44161288e-03 9.58172772e+01] [ 4.11387519e-01 9.11459825e-01 -1.13883143e-03 1.86661237e+01] [ 2.69393488e-03 3.35463009e-05 9.99996371e-01 1.73403883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.654012739 meters Centerline goodness : 0.995209 Centerline is valid? [True, True] Translation: X:95.84, Y:18.68, Z:0.18 [[ 9.13371694e-01 -4.07119378e-01 -2.44152263e-03 9.58414430e+01] [ 4.07117788e-01 9.13374956e-01 -1.13902488e-03 1.86810277e+01] [ 2.69374473e-03 4.63657903e-05 9.99996371e-01 1.76363819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.684012739 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:95.87, Y:18.69, Z:0.18 [[ 9.14230843e-01 -4.05186383e-01 -2.44131708e-03 9.58655143e+01] [ 4.05184784e-01 9.14234101e-01 -1.13946528e-03 1.86944378e+01] [ 2.69363114e-03 5.25497654e-05 9.99996371e-01 1.77789542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.714012739 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:95.89, Y:18.71, Z:0.18 [[ 9.14948505e-01 -4.03563222e-01 -2.44111289e-03 9.58891000e+01] [ 4.03561616e-01 9.14951760e-01 -1.13990255e-03 1.87073228e+01] [ 2.69352328e-03 5.78126743e-05 9.99996371e-01 1.78611910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.744012739 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:95.91, Y:18.72, Z:0.18 [[ 9.16103282e-01 -4.00934931e-01 -2.44097400e-03 9.59125775e+01] [ 4.00933315e-01 9.16106531e-01 -1.14019990e-03 1.87230452e+01] [ 2.69333819e-03 6.58730715e-05 9.99996371e-01 1.77684761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.774012739 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:95.94, Y:18.74, Z:0.18 [[ 9.16347067e-01 -4.00377441e-01 -2.44077220e-03 9.59365214e+01] [ 4.00375822e-01 9.16350315e-01 -1.14063171e-03 1.87379597e+01] [ 2.69328558e-03 6.79883453e-05 9.99996371e-01 1.76038572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.804012739 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:95.96, Y:18.75, Z:0.17 [[ 9.16631468e-01 -3.99725901e-01 -2.44057135e-03 9.59585955e+01] [ 3.99724279e-01 9.16634714e-01 -1.14106131e-03 1.87539399e+01] [ 2.69322418e-03 7.03770811e-05 9.99996371e-01 1.73956742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.834012739 meters Centerline goodness : 0.995600 Centerline is valid? [True, True] Translation: X:95.98, Y:18.77, Z:0.17 [[ 9.16571698e-01 -3.99862934e-01 -2.44048402e-03 9.59825309e+01] [ 3.99861312e-01 9.16574944e-01 -1.14124806e-03 1.87675956e+01] [ 2.69322930e-03 7.01805315e-05 9.99996371e-01 1.73991085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.864012739 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:96.01, Y:18.78, Z:0.18 [[ 9.15888728e-01 -4.01424815e-01 -2.44039716e-03 9.60053659e+01] [ 4.01423198e-01 9.15891977e-01 -1.14143377e-03 1.87842237e+01] [ 2.69334002e-03 6.57942894e-05 9.99996371e-01 1.75609790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.894012739 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:96.03, Y:18.80, Z:0.18 [[ 9.15371773e-01 -4.02602238e-01 -2.44018328e-03 9.60289118e+01] [ 4.02600623e-01 9.15375024e-01 -1.14189081e-03 1.87982706e+01] [ 2.69341063e-03 6.28353103e-05 9.99996371e-01 1.75872681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.924012739 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:96.05, Y:18.81, Z:0.18 [[ 9.14851888e-01 -4.03782205e-01 -2.44003753e-03 9.60520826e+01] [ 4.03780594e-01 9.14855140e-01 -1.14220217e-03 1.88118491e+01] [ 2.69348179e-03 5.97060100e-05 9.99996371e-01 1.75241461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.954012739 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:96.08, Y:18.83, Z:0.17 [[ 9.14023085e-01 -4.05654837e-01 -2.43989706e-03 9.60750052e+01] [ 4.05653232e-01 9.14026340e-01 -1.14250215e-03 1.88277032e+01] [ 2.69359171e-03 5.45212147e-05 9.99996371e-01 1.74217689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.984012739 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:96.10, Y:18.84, Z:0.17 [[ 9.13225520e-01 -4.07447170e-01 -2.43980803e-03 9.60975464e+01] [ 4.07445570e-01 9.13228778e-01 -1.14269225e-03 1.88447089e+01] [ 2.69368963e-03 4.94467478e-05 9.99996371e-01 1.72282195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.014012739 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:96.12, Y:18.86, Z:0.17 [[ 9.12997665e-01 -4.07957488e-01 -2.43959820e-03 9.61207746e+01] [ 4.07955890e-01 9.13000923e-01 -1.14314005e-03 1.88583923e+01] [ 2.69370795e-03 4.84357410e-05 9.99996371e-01 1.72304643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.044012739 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:96.15, Y:18.87, Z:0.17 [[ 9.12834922e-01 -4.08321508e-01 -2.43950671e-03 9.61453187e+01] [ 4.08319910e-01 9.12838181e-01 -1.14333525e-03 1.88727228e+01] [ 2.69372325e-03 4.75771842e-05 9.99996371e-01 1.73907035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.074012739 meters Centerline goodness : 0.995685 Centerline is valid? [True, True] Translation: X:96.17, Y:18.89, Z:0.17 [[ 9.12607026e-01 -4.08830608e-01 -2.43929692e-03 9.61688560e+01] [ 4.08829011e-01 9.12610285e-01 -1.14378268e-03 1.88885128e+01] [ 2.69374082e-03 4.65687631e-05 9.99996371e-01 1.74206846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.104012739 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:96.19, Y:18.90, Z:0.17 [[ 9.12560612e-01 -4.08934200e-01 -2.43908157e-03 9.61919181e+01] [ 4.08932601e-01 9.12563871e-01 -1.14424172e-03 1.89017554e+01] [ 2.69373729e-03 4.67699593e-05 9.99996371e-01 1.73060633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.134012739 meters Centerline goodness : 0.995592 Centerline is valid? [True, True] Translation: X:96.22, Y:18.92, Z:0.17 [[ 9.12240474e-01 -4.09647860e-01 -2.43898778e-03 9.62156541e+01] [ 4.09646264e-01 9.12243733e-01 -1.14444160e-03 1.89172275e+01] [ 2.69376937e-03 4.48837163e-05 9.99996371e-01 1.71534461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.164012739 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:96.24, Y:18.93, Z:0.17 [[ 9.11909592e-01 -4.10383904e-01 -2.43877202e-03 9.62395039e+01] [ 4.10382309e-01 9.11912852e-01 -1.14490119e-03 1.89296748e+01] [ 2.69379657e-03 4.32174793e-05 9.99996371e-01 1.71625579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.194012739 meters Centerline goodness : 0.996395 Centerline is valid? [True, True] Translation: X:96.26, Y:18.94, Z:0.17 [[ 9.11326529e-01 -4.11677070e-01 -2.43867826e-03 9.62641990e+01] [ 4.11675479e-01 9.11329791e-01 -1.14510087e-03 1.89423317e+01] [ 2.69385192e-03 3.96167599e-05 9.99996371e-01 1.72387628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.224012739 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:96.29, Y:18.96, Z:0.18 [[ 9.09807481e-01 -4.15023374e-01 -2.43847428e-03 9.62883987e+01] [ 4.15021794e-01 9.09810749e-01 -1.14553507e-03 1.89559469e+01] [ 2.69397394e-03 3.01964104e-05 9.99996371e-01 1.75804535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.254012739 meters Centerline goodness : 0.996205 Centerline is valid? [True, True] Translation: X:96.31, Y:18.97, Z:0.18 [[ 9.09137034e-01 -4.16489985e-01 -2.43827167e-03 9.63130968e+01] [ 4.16488410e-01 9.09140303e-01 -1.14596618e-03 1.89685221e+01] [ 2.69401448e-03 2.63284035e-05 9.99996371e-01 1.77130718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.284012739 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:96.34, Y:18.98, Z:0.18 [[ 9.08363722e-01 -4.18173891e-01 -2.43807024e-03 9.63388003e+01] [ 4.18172321e-01 9.08366994e-01 -1.14639455e-03 1.89821011e+01] [ 2.69405481e-03 2.18097299e-05 9.99996371e-01 1.76574336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.314012739 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:96.36, Y:18.99, Z:0.17 [[ 9.08019093e-01 -4.18921689e-01 -2.43818766e-03 9.63637235e+01] [ 4.18920122e-01 9.08022366e-01 -1.14614487e-03 1.89947386e+01] [ 2.69407387e-03 1.93155580e-05 9.99996371e-01 1.74675415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.344012739 meters Centerline goodness : 0.996100 Centerline is valid? [True, True] Translation: X:96.39, Y:19.01, Z:0.17 [[ 9.07338313e-01 -4.20394151e-01 -2.43781098e-03 9.63870575e+01] [ 4.20392587e-01 9.07341588e-01 -1.14694550e-03 1.90085476e+01] [ 2.69409646e-03 1.58299375e-05 9.99996371e-01 1.72039733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.374012739 meters Centerline goodness : 0.995734 Centerline is valid? [True, True] Translation: X:96.41, Y:19.02, Z:0.17 [[ 9.06859696e-01 -4.21425617e-01 -2.43766736e-03 9.64116660e+01] [ 4.21424055e-01 9.06862972e-01 -1.14725066e-03 1.90216235e+01] [ 2.69411108e-03 1.31037202e-05 9.99996371e-01 1.72083990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.404012739 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:96.44, Y:19.03, Z:0.17 [[ 9.05844175e-01 -4.23604047e-01 -2.43745826e-03 9.64358210e+01] [ 4.23602492e-01 9.05847455e-01 -1.14769474e-03 1.90344944e+01] [ 2.69413350e-03 7.11920150e-06 9.99996371e-01 1.73353786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.434012739 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:96.46, Y:19.05, Z:0.17 [[ 9.05300933e-01 -4.24763794e-01 -2.43736720e-03 9.64613410e+01] [ 4.24762243e-01 9.05304214e-01 -1.14788810e-03 1.90466306e+01] [ 2.69414010e-03 3.88260708e-06 9.99996371e-01 1.74965907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.464012739 meters Centerline goodness : 0.995026 Centerline is valid? [True, True] Translation: X:96.49, Y:19.06, Z:0.18 [[ 9.04314046e-01 -4.26860829e-01 -2.43715987e-03 9.64854370e+01] [ 4.26859284e-01 9.04317330e-01 -1.14832812e-03 1.90580489e+01] [ 2.69414220e-03 -1.87506694e-06 9.99996371e-01 1.76973986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.494012739 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:96.51, Y:19.07, Z:0.18 [[ 9.03905494e-01 -4.27725283e-01 -2.43706970e-03 9.65109468e+01] [ 4.27723741e-01 9.03908780e-01 -1.14851945e-03 1.90701310e+01] [ 2.69413951e-03 -4.23952413e-06 9.99996371e-01 1.76047606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.524012739 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:96.54, Y:19.08, Z:0.17 [[ 9.03427124e-01 -4.28734759e-01 -2.43686483e-03 9.65365368e+01] [ 4.28733219e-01 9.03430410e-01 -1.14895398e-03 1.90825549e+01] [ 2.69413430e-03 -6.76871621e-06 9.99996371e-01 1.74623143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.554012739 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:96.56, Y:19.09, Z:0.17 [[ 9.02703543e-01 -4.30256175e-01 -2.43665985e-03 9.65612520e+01] [ 4.30254639e-01 9.02706832e-01 -1.14938853e-03 1.90949187e+01] [ 2.69412100e-03 -1.08271048e-05 9.99996371e-01 1.72715259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.584012739 meters Centerline goodness : 0.995349 Centerline is valid? [True, True] Translation: X:96.59, Y:19.11, Z:0.18 [[ 9.02098041e-01 -4.31524261e-01 -2.43644949e-03 9.65862826e+01] [ 4.31522730e-01 9.02101331e-01 -1.14983426e-03 1.91061261e+01] [ 2.69410571e-03 -1.41200990e-05 9.99996371e-01 1.75718061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.614012739 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:96.61, Y:19.12, Z:0.18 [[ 9.01667615e-01 -4.32422914e-01 -2.43635808e-03 9.66118523e+01] [ 4.32421385e-01 9.01670906e-01 -1.15002793e-03 1.91168374e+01] [ 2.69409162e-03 -1.65903963e-05 9.99996371e-01 1.76407872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.644012739 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:96.64, Y:19.13, Z:0.18 [[ 9.01215465e-01 -4.33364456e-01 -2.43614575e-03 9.66375276e+01] [ 4.33362929e-01 9.01218757e-01 -1.15047753e-03 1.91272776e+01] [ 2.69407631e-03 -1.89071161e-05 9.99996371e-01 1.77068449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.674012739 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:96.66, Y:19.14, Z:0.18 [[ 9.00375973e-01 -4.35105934e-01 -2.43593344e-03 9.66639772e+01] [ 4.35104412e-01 9.00379268e-01 -1.15092688e-03 1.91377471e+01] [ 2.69403908e-03 -2.36184818e-05 9.99996371e-01 1.75957170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.704012739 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:96.69, Y:19.15, Z:0.17 [[ 9.00126738e-01 -4.35621306e-01 -2.43571974e-03 9.66883047e+01] [ 4.35619785e-01 9.00130033e-01 -1.15137897e-03 1.91487900e+01] [ 2.69402970e-03 -2.46607082e-05 9.99996371e-01 1.74187859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.734012739 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:96.71, Y:19.16, Z:0.17 [[ 9.00103556e-01 -4.35669206e-01 -2.43562697e-03 9.67136191e+01] [ 4.35667685e-01 9.00106851e-01 -1.15157518e-03 1.91597547e+01] [ 2.69403036e-03 -2.45870436e-05 9.99996371e-01 1.73816858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.764012739 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:96.74, Y:19.17, Z:0.18 [[ 9.00739611e-01 -4.34352647e-01 -2.43542370e-03 9.67398754e+01] [ 4.34351120e-01 9.00742903e-01 -1.15200489e-03 1.91703746e+01] [ 2.69406699e-03 -2.01725732e-05 9.99996371e-01 1.75876924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.794012739 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:96.76, Y:19.18, Z:0.17 [[ 9.01060617e-01 -4.33686332e-01 -2.43520577e-03 9.67641829e+01] [ 4.33684801e-01 9.01063907e-01 -1.15246539e-03 1.91817446e+01] [ 2.69408452e-03 -1.76705575e-05 9.99996371e-01 1.74934514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.824012739 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:96.79, Y:19.19, Z:0.17 [[ 9.00942104e-01 -4.33932479e-01 -2.43511122e-03 9.67899925e+01] [ 4.33930948e-01 9.00945394e-01 -1.15266514e-03 1.91929500e+01] [ 2.69408108e-03 -1.81855661e-05 9.99996371e-01 1.74166057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.854012739 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:96.82, Y:19.20, Z:0.17 [[ 9.00966313e-01 -4.33882212e-01 -2.43489829e-03 9.68164887e+01] [ 4.33880680e-01 9.00969603e-01 -1.15311476e-03 1.92033602e+01] [ 2.69408533e-03 -1.75377682e-05 9.99996371e-01 1.72962965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.884012739 meters Centerline goodness : 0.991042 Centerline is valid? [True, True] Translation: X:96.84, Y:19.21, Z:0.18 [[ 9.00733878e-01 -4.34364539e-01 -2.43468331e-03 9.68427639e+01] [ 4.34363008e-01 9.00737169e-01 -1.15356850e-03 1.92142265e+01] [ 2.69407900e-03 -1.84781382e-05 9.99996371e-01 1.83251214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.914012739 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:96.87, Y:19.23, Z:0.18 [[ 9.00585717e-01 -4.34671645e-01 -2.43446168e-03 9.68680809e+01] [ 4.34670114e-01 9.00589008e-01 -1.15403603e-03 1.92266608e+01] [ 2.69407617e-03 -1.88793701e-05 9.99996371e-01 1.76563183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.944012739 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:96.89, Y:19.24, Z:0.18 [[ 9.01118067e-01 -4.33566953e-01 -2.43439301e-03 9.68920451e+01] [ 4.33565417e-01 9.01121355e-01 -1.15418086e-03 1.92391887e+01] [ 2.69409821e-03 -1.54154009e-05 9.99996371e-01 1.80390158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.974012739 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:96.92, Y:19.25, Z:0.18 [[ 9.01580692e-01 -4.32604127e-01 -2.43429858e-03 9.69170181e+01] [ 4.32602587e-01 9.01583978e-01 -1.15438000e-03 1.92515830e+01] [ 2.69411415e-03 -1.23171397e-05 9.99996371e-01 1.79784651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.004012739 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:96.94, Y:19.26, Z:0.18 [[ 9.02040857e-01 -4.31643798e-01 -2.43408877e-03 9.69418533e+01] [ 4.31642253e-01 9.02044141e-01 -1.15482221e-03 1.92640400e+01] [ 2.69412736e-03 -8.95874479e-06 9.99996371e-01 1.77226959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.034012739 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:96.97, Y:19.28, Z:0.18 [[ 9.02826202e-01 -4.29998751e-01 -2.43387756e-03 9.69669391e+01] [ 4.29997199e-01 9.02829482e-01 -1.15526719e-03 1.92774194e+01] [ 2.69413987e-03 -3.55504545e-06 9.99996371e-01 1.75663332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.064012739 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:96.99, Y:19.29, Z:0.18 [[ 9.03116368e-01 -4.29388989e-01 -2.43365529e-03 9.69911118e+01] [ 4.29387433e-01 9.03119647e-01 -1.15573523e-03 1.92896465e+01] [ 2.69414189e-03 -1.21759378e-06 9.99996371e-01 1.76709823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.094012739 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:97.02, Y:19.30, Z:0.18 [[ 9.02584572e-01 -4.30505713e-01 -2.43355848e-03 9.70152811e+01] [ 4.30504161e-01 9.02587852e-01 -1.15593904e-03 1.93010220e+01] [ 2.69413868e-03 -4.32431333e-06 9.99996371e-01 1.79527956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.124012739 meters Centerline goodness : 0.993508 Centerline is valid? [True, True] Translation: X:97.04, Y:19.31, Z:0.18 [[ 9.01712298e-01 -4.32329747e-01 -2.43346634e-03 9.70402028e+01] [ 4.32328201e-01 9.01715581e-01 -1.15613297e-03 1.93121643e+01] [ 2.69412519e-03 -9.55680678e-06 9.99996371e-01 1.78866317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.154012739 meters Centerline goodness : 0.993877 Centerline is valid? [True, True] Translation: X:97.07, Y:19.32, Z:0.18 [[ 9.00525082e-01 -4.34797258e-01 -2.43332249e-03 9.70657524e+01] [ 4.34795720e-01 9.00528370e-01 -1.15643567e-03 1.93235809e+01] [ 2.69409099e-03 -1.65988728e-05 9.99996371e-01 1.77631416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.184012739 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:97.09, Y:19.33, Z:0.18 [[ 8.98064993e-01 -4.39856054e-01 -2.43310765e-03 9.70905566e+01] [ 4.39854534e-01 8.98068288e-01 -1.15688750e-03 1.93334969e+01] [ 2.69396080e-03 -3.12532634e-05 9.99996371e-01 1.75453731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.214012739 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:97.12, Y:19.35, Z:0.18 [[ 8.97984803e-01 -4.40019744e-01 -2.43301424e-03 9.71161905e+01] [ 4.40018223e-01 8.97988098e-01 -1.15708392e-03 1.93458931e+01] [ 2.69395760e-03 -3.15268329e-05 9.99996371e-01 1.75530454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.244012739 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:97.14, Y:19.36, Z:0.17 [[ 8.95457578e-01 -4.45140211e-01 -2.43280325e-03 9.71420176e+01] [ 4.45138708e-01 8.95460882e-01 -1.15752736e-03 1.93554144e+01] [ 2.69374212e-03 -4.64182491e-05 9.99996371e-01 1.72838088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.274012739 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:97.17, Y:19.37, Z:0.17 [[ 8.94543038e-01 -4.46975207e-01 -2.43271152e-03 9.71671102e+01] [ 4.46973710e-01 8.94546344e-01 -1.15772012e-03 1.93654041e+01] [ 2.69364538e-03 -5.17276237e-05 9.99996371e-01 1.73526983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.304012739 meters Centerline goodness : 0.993208 Centerline is valid? [True, True] Translation: X:97.19, Y:19.38, Z:0.18 [[ 8.93862110e-01 -4.48335377e-01 -2.43262053e-03 9.71934371e+01] [ 4.48333885e-01 8.93865419e-01 -1.15791126e-03 1.93753585e+01] [ 2.69356795e-03 -5.56132094e-05 9.99996371e-01 1.75060848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.334012739 meters Centerline goodness : 0.993366 Centerline is valid? [True, True] Translation: X:97.22, Y:19.38, Z:0.18 [[ 8.93271312e-01 -4.49511342e-01 -2.43240632e-03 9.72204224e+01] [ 4.49509853e-01 8.93274622e-01 -1.15836108e-03 1.93825630e+01] [ 2.69350328e-03 -5.86598921e-05 9.99996371e-01 1.80190076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.364012739 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:97.25, Y:19.39, Z:0.18 [[ 8.93154424e-01 -4.49743548e-01 -2.43233964e-03 9.72460922e+01] [ 4.49742060e-01 8.93157734e-01 -1.15850108e-03 1.93933038e+01] [ 2.69349135e-03 -5.92050770e-05 9.99996371e-01 1.81658483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.394012739 meters Centerline goodness : 0.993131 Centerline is valid? [True, True] Translation: X:97.27, Y:19.40, Z:0.18 [[ 8.93455499e-01 -4.49145140e-01 -2.43212361e-03 9.72711613e+01] [ 4.49143649e-01 8.93458807e-01 -1.15895444e-03 1.94037507e+01] [ 2.69354101e-03 -5.68986496e-05 9.99996371e-01 1.80786860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.424012739 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:97.30, Y:19.41, Z:0.18 [[ 8.93945338e-01 -4.48169409e-01 -2.43197615e-03 9.72970031e+01] [ 4.48167913e-01 8.93948644e-01 -1.15926378e-03 1.94121046e+01] [ 2.69360835e-03 -5.36152273e-05 9.99996371e-01 1.79445034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.454012739 meters Centerline goodness : 0.993635 Centerline is valid? [True, True] Translation: X:97.32, Y:19.42, Z:0.18 [[ 8.93859931e-01 -4.48339726e-01 -2.43188330e-03 9.73226203e+01] [ 4.48338230e-01 8.93863237e-01 -1.15945854e-03 1.94223462e+01] [ 2.69360240e-03 -5.39127221e-05 9.99996371e-01 1.80691156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.484012739 meters Centerline goodness : 0.993111 Centerline is valid? [True, True] Translation: X:97.35, Y:19.43, Z:0.18 [[ 8.93550349e-01 -4.48956412e-01 -2.43166888e-03 9.73489046e+01] [ 4.48954917e-01 8.93553656e-01 -1.15990804e-03 1.94293644e+01] [ 2.69357477e-03 -5.52734698e-05 9.99996371e-01 1.81109571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.514012739 meters Centerline goodness : 0.992807 Centerline is valid? [True, True] Translation: X:97.38, Y:19.44, Z:0.18 [[ 8.92961162e-01 -4.50127148e-01 -2.43157584e-03 9.73756166e+01] [ 4.50125657e-01 8.92964471e-01 -1.16010307e-03 1.94387623e+01] [ 2.69350472e-03 -5.85876903e-05 9.99996371e-01 1.80742510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.544012739 meters Centerline goodness : 0.992822 Centerline is valid? [True, True] Translation: X:97.40, Y:19.45, Z:0.18 [[ 8.91616483e-01 -4.52784867e-01 -2.43136322e-03 9.74033506e+01] [ 4.52783384e-01 8.91619796e-01 -1.16054850e-03 1.94453847e+01] [ 2.69333038e-03 -6.61166917e-05 9.99996371e-01 1.77629009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.574012739 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:97.43, Y:19.45, Z:0.18 [[ 8.91116389e-01 -4.53768301e-01 -2.43115148e-03 9.74303449e+01] [ 4.53766821e-01 8.91119703e-01 -1.16099189e-03 1.94549214e+01] [ 2.69326830e-03 -6.85969774e-05 9.99996371e-01 1.75088806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.604012739 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:97.46, Y:19.46, Z:0.17 [[ 8.90868930e-01 -4.54253937e-01 -2.43093988e-03 9.74559708e+01] [ 4.54252458e-01 8.90872244e-01 -1.16143478e-03 1.94633204e+01] [ 2.69324319e-03 -6.95742505e-05 9.99996371e-01 1.73860736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.634012739 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:97.48, Y:19.47, Z:0.17 [[ 8.90951535e-01 -4.54091900e-01 -2.43079604e-03 9.74847124e+01] [ 4.54090419e-01 8.90954848e-01 -1.16173575e-03 1.94682655e+01] [ 2.69326431e-03 -6.87509445e-05 9.99996371e-01 1.74814600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.664012739 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:97.51, Y:19.48, Z:0.18 [[ 8.91241412e-01 -4.53522698e-01 -2.43058726e-03 9.75102499e+01] [ 4.53521214e-01 8.91244724e-01 -1.16217240e-03 1.94769867e+01] [ 2.69331963e-03 -6.65467131e-05 9.99996371e-01 1.76039130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.694012739 meters Centerline goodness : 0.993056 Centerline is valid? [True, True] Translation: X:97.54, Y:19.48, Z:0.18 [[ 8.92662372e-01 -4.50719405e-01 -2.43049628e-03 9.75367178e+01] [ 4.50717910e-01 8.92665679e-01 -1.16236263e-03 1.94849783e+01] [ 2.69352001e-03 -5.78708278e-05 9.99996371e-01 1.77174743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.724012739 meters Centerline goodness : 0.988684 Centerline is valid? [True, True] Translation: X:97.56, Y:19.50, Z:0.19 [[ 8.93560237e-01 -4.48936739e-01 -2.43040584e-03 9.75623453e+01] [ 4.48935237e-01 8.93563541e-01 -1.16255171e-03 1.94959073e+01] [ 2.69363422e-03 -5.22848344e-05 9.99996371e-01 1.89655567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.754012739 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:97.59, Y:19.50, Z:0.18 [[ 8.95652642e-01 -4.44747612e-01 -2.43019790e-03 9.75892266e+01] [ 4.44746094e-01 8.95655938e-01 -1.16298623e-03 1.95035158e+01] [ 2.69385653e-03 -3.91893363e-05 9.99996371e-01 1.77858879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.784012739 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:97.61, Y:19.51, Z:0.18 [[ 8.96526328e-01 -4.42983790e-01 -2.42999035e-03 9.76145726e+01] [ 4.42982264e-01 8.96529620e-01 -1.16341972e-03 1.95137546e+01] [ 2.69393440e-03 -3.34062123e-05 9.99996371e-01 1.77402501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.814012739 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:97.64, Y:19.53, Z:0.18 [[ 8.97303258e-01 -4.41407928e-01 -2.42989987e-03 9.76402200e+01] [ 4.41406396e-01 8.97306547e-01 -1.16360866e-03 1.95251884e+01] [ 2.69399115e-03 -2.84634995e-05 9.99996371e-01 1.77605539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.844012739 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:97.67, Y:19.54, Z:0.18 [[ 8.99237577e-01 -4.37453857e-01 -2.42969535e-03 9.76655911e+01] [ 4.37452308e-01 8.99240859e-01 -1.16403556e-03 1.95379790e+01] [ 2.69409318e-03 -1.61313178e-05 9.99996371e-01 1.79957972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.874012739 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:97.69, Y:19.55, Z:0.18 [[ 9.00336151e-01 -4.35188364e-01 -2.42950312e-03 9.76906888e+01] [ 4.35186806e-01 9.00339429e-01 -1.16443663e-03 1.95507773e+01] [ 2.69412673e-03 -8.90331558e-06 9.99996371e-01 1.81452123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.904012739 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:97.72, Y:19.56, Z:0.18 [[ 9.01497674e-01 -4.32777127e-01 -2.42929196e-03 9.77151412e+01] [ 4.32775559e-01 9.01500947e-01 -1.16487699e-03 1.95633203e+01] [ 2.69414112e-03 -1.20429119e-06 9.99996371e-01 1.80914743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.934012739 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:97.74, Y:19.58, Z:0.18 [[ 9.03393629e-01 -4.28805376e-01 -2.42914871e-03 9.77387407e+01] [ 4.28803793e-01 9.03396895e-01 -1.16517565e-03 1.95789579e+01] [ 2.69411898e-03 1.09840784e-05 9.99996371e-01 1.78541063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.964012739 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:97.76, Y:19.59, Z:0.18 [[ 9.04116279e-01 -4.27279598e-01 -2.42893890e-03 9.77618326e+01] [ 4.27278009e-01 9.04119541e-01 -1.16561285e-03 1.95927812e+01] [ 2.69409372e-03 1.60173796e-05 9.99996371e-01 1.78513029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.994012739 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:97.79, Y:19.61, Z:0.18 [[ 9.04963789e-01 -4.25481657e-01 -2.42884768e-03 9.77850235e+01] [ 4.25480061e-01 9.04967048e-01 -1.16580290e-03 1.96085442e+01] [ 2.69405487e-03 2.15831520e-05 9.99996371e-01 1.82594196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.024012739 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:97.81, Y:19.62, Z:0.18 [[ 9.05214855e-01 -4.24947252e-01 -2.42863963e-03 9.78091207e+01] [ 4.24945653e-01 9.05218113e-01 -1.16623616e-03 1.96230464e+01] [ 2.69403743e-03 2.36544440e-05 9.99996371e-01 1.83997820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.054012739 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:97.83, Y:19.64, Z:0.18 [[ 9.05300150e-01 -4.24765514e-01 -2.42843270e-03 9.78323860e+01] [ 4.24763912e-01 9.05303406e-01 -1.16666688e-03 1.96378192e+01] [ 2.69402825e-03 2.46731258e-05 9.99996371e-01 1.84225105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.084012739 meters Centerline goodness : 0.993366 Centerline is valid? [True, True] Translation: X:97.85, Y:19.66, Z:0.18 [[ 9.04964581e-01 -4.25479977e-01 -2.42829131e-03 9.78549705e+01] [ 4.25478377e-01 9.04967839e-01 -1.16696109e-03 1.96551167e+01] [ 2.69404412e-03 2.28730126e-05 9.99996371e-01 1.80738549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.114012739 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:97.88, Y:19.67, Z:0.18 [[ 9.04887347e-01 -4.25644211e-01 -2.42809238e-03 9.78789244e+01] [ 4.25642611e-01 9.04890604e-01 -1.16737487e-03 1.96686184e+01] [ 2.69404433e-03 2.28431698e-05 9.99996371e-01 1.78607171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.144012739 meters Centerline goodness : 0.993620 Centerline is valid? [True, True] Translation: X:97.90, Y:19.69, Z:0.18 [[ 9.04906519e-01 -4.25603450e-01 -2.42800566e-03 9.79016525e+01] [ 4.25601849e-01 9.04909776e-01 -1.16755520e-03 1.96850114e+01] [ 2.69404158e-03 2.31646096e-05 9.99996371e-01 1.80684434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.174012739 meters Centerline goodness : 0.993726 Centerline is valid? [True, True] Translation: X:97.92, Y:19.70, Z:0.18 [[ 9.05158365e-01 -4.25067572e-01 -2.42778575e-03 9.79241008e+01] [ 4.25065968e-01 9.05161620e-01 -1.16801230e-03 1.96995607e+01] [ 2.69402264e-03 2.52670046e-05 9.99996371e-01 1.82906281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.204012739 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:97.95, Y:19.72, Z:0.18 [[ 9.05464374e-01 -4.24415331e-01 -2.42769021e-03 9.79472958e+01] [ 4.24413724e-01 9.05467628e-01 -1.16821084e-03 1.97150302e+01] [ 2.69400149e-03 2.74282547e-05 9.99996371e-01 1.84240149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.234012739 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:97.97, Y:19.73, Z:0.18 [[ 9.06171076e-01 -4.22904350e-01 -2.42746239e-03 9.79696474e+01] [ 4.22902736e-01 9.06174326e-01 -1.16868405e-03 1.97316417e+01] [ 2.69394566e-03 3.24471976e-05 9.99996371e-01 1.81357069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.264012739 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:97.99, Y:19.75, Z:0.18 [[ 9.06212104e-01 -4.22816427e-01 -2.42736344e-03 9.79924056e+01] [ 4.22814812e-01 9.06215354e-01 -1.16888953e-03 1.97456288e+01] [ 2.69393971e-03 3.29366256e-05 9.99996371e-01 1.79304174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.294012739 meters Centerline goodness : 0.994060 Centerline is valid? [True, True] Translation: X:98.01, Y:19.76, Z:0.18 [[ 9.06164953e-01 -4.22917469e-01 -2.42726887e-03 9.80148088e+01] [ 4.22915855e-01 9.06168203e-01 -1.16908588e-03 1.97630655e+01] [ 2.69394071e-03 3.28541629e-05 9.99996371e-01 1.80164707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.324012739 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:98.04, Y:19.78, Z:0.18 [[ 9.05974069e-01 -4.23326229e-01 -2.42707460e-03 9.80390044e+01] [ 4.23324614e-01 9.05977319e-01 -1.16948904e-03 1.97780324e+01] [ 2.69394993e-03 3.20863267e-05 9.99996371e-01 1.81307151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.354012739 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:98.06, Y:19.79, Z:0.18 [[ 9.05752794e-01 -4.23799466e-01 -2.42684964e-03 9.80618517e+01] [ 4.23797852e-01 9.05756044e-01 -1.16995570e-03 1.97920465e+01] [ 2.69396033e-03 3.11969803e-05 9.99996371e-01 1.80990541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.384012739 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:98.08, Y:19.81, Z:0.18 [[ 9.05597221e-01 -4.24131800e-01 -2.42675145e-03 9.80845819e+01] [ 4.24130187e-01 9.05600472e-01 -1.17015932e-03 1.98083013e+01] [ 2.69396904e-03 3.04344816e-05 9.99996371e-01 1.77665445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.414012739 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:98.11, Y:19.82, Z:0.18 [[ 9.05580702e-01 -4.24167071e-01 -2.42653232e-03 9.81075039e+01] [ 4.24165457e-01 9.05583952e-01 -1.17061355e-03 1.98221652e+01] [ 2.69396445e-03 3.08338547e-05 9.99996371e-01 1.77069439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.444012739 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:98.13, Y:19.84, Z:0.18 [[ 9.05365811e-01 -4.24625554e-01 -2.42643697e-03 9.81302849e+01] [ 4.24623941e-01 9.05369062e-01 -1.17081116e-03 1.98390487e+01] [ 2.69397730e-03 2.96891703e-05 9.99996371e-01 1.79961344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.474012739 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:98.15, Y:19.85, Z:0.18 [[ 9.04978117e-01 -4.25451197e-01 -2.42621798e-03 9.81545908e+01] [ 4.25449586e-01 9.04981369e-01 -1.17126479e-03 1.98533084e+01] [ 2.69399807e-03 2.77355653e-05 9.99996371e-01 1.80936807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.504012739 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:98.18, Y:19.87, Z:0.18 [[ 9.04271083e-01 -4.26951898e-01 -2.42599641e-03 9.81772751e+01] [ 4.26950291e-01 9.04274337e-01 -1.17172354e-03 1.98683703e+01] [ 2.69403588e-03 2.37758429e-05 9.99996371e-01 1.80846613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.534012739 meters Centerline goodness : 0.993591 Centerline is valid? [True, True] Translation: X:98.20, Y:19.88, Z:0.18 [[ 9.03858393e-01 -4.27824870e-01 -2.42590031e-03 9.82022278e+01] [ 4.27823266e-01 9.03861649e-01 -1.17192246e-03 1.98819892e+01] [ 2.69405583e-03 2.13953635e-05 9.99996371e-01 1.81262891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.564012739 meters Centerline goodness : 0.993779 Centerline is valid? [True, True] Translation: X:98.23, Y:19.89, Z:0.18 [[ 9.03470453e-01 -4.28643508e-01 -2.42568293e-03 9.82259033e+01] [ 4.28641905e-01 9.03473709e-01 -1.17237223e-03 1.98942276e+01] [ 2.69407050e-03 1.94543115e-05 9.99996371e-01 1.82211816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.594012739 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:98.25, Y:19.91, Z:0.18 [[ 9.02831293e-01 -4.29988108e-01 -2.42558853e-03 9.82504779e+01] [ 4.29986510e-01 9.02834551e-01 -1.17256751e-03 1.99070129e+01] [ 2.69409522e-03 1.56602936e-05 9.99996371e-01 1.84754313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.624012739 meters Centerline goodness : 0.993434 Centerline is valid? [True, True] Translation: X:98.27, Y:19.92, Z:0.19 [[ 9.02657722e-01 -4.30352361e-01 -2.42537061e-03 9.82740895e+01] [ 4.30350762e-01 9.02660980e-01 -1.17301808e-03 1.99193688e+01] [ 2.69409852e-03 1.50737391e-05 9.99996371e-01 1.85504409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.654012739 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:98.30, Y:19.93, Z:0.19 [[ 9.02663436e-01 -4.30340377e-01 -2.42527574e-03 9.82973696e+01] [ 4.30338778e-01 9.02666694e-01 -1.17321420e-03 1.99325265e+01] [ 2.69409708e-03 1.53273640e-05 9.99996371e-01 1.85583041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.684012739 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:98.32, Y:19.94, Z:0.18 [[ 9.02768355e-01 -4.30120234e-01 -2.42518184e-03 9.83220066e+01] [ 4.30118634e-01 9.02771612e-01 -1.17340827e-03 1.99445405e+01] [ 2.69409196e-03 1.61999539e-05 9.99996371e-01 1.84601833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.714012739 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:98.35, Y:19.96, Z:0.18 [[ 9.02915358e-01 -4.29811558e-01 -2.42508882e-03 9.83472411e+01] [ 4.29809956e-01 9.02918614e-01 -1.17360049e-03 1.99561458e+01] [ 2.69408489e-03 1.73345839e-05 9.99996371e-01 1.84285465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.744012739 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:98.37, Y:19.97, Z:0.18 [[ 9.03400750e-01 -4.28790397e-01 -2.42486640e-03 9.83720474e+01] [ 4.28788790e-01 9.03404004e-01 -1.17405986e-03 1.99660787e+01] [ 2.69405961e-03 2.08910241e-05 9.99996371e-01 1.84634268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.774012739 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:98.40, Y:19.98, Z:0.18 [[ 9.03589248e-01 -4.28393035e-01 -2.42476939e-03 9.83964158e+01] [ 4.28391426e-01 9.03592501e-01 -1.17426018e-03 1.99778538e+01] [ 2.69404832e-03 2.22984540e-05 9.99996371e-01 1.83862056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.804012739 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:98.42, Y:19.99, Z:0.18 [[ 9.04435476e-01 -4.26603552e-01 -2.42467478e-03 9.84216924e+01] [ 4.26601936e-01 9.04438726e-01 -1.17445551e-03 1.99905202e+01] [ 2.69399666e-03 2.78482704e-05 9.99996371e-01 1.81565635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.834012739 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:98.45, Y:20.00, Z:0.18 [[ 9.05285786e-01 -4.24796149e-01 -2.42445597e-03 9.84463591e+01] [ 4.24794525e-01 9.05289032e-01 -1.17490704e-03 2.00032080e+01] [ 2.69392938e-03 3.37310225e-05 9.99996371e-01 1.80691108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.864012739 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:98.47, Y:20.02, Z:0.18 [[ 9.06413666e-01 -4.22384172e-01 -2.42423306e-03 9.84703834e+01] [ 4.22382539e-01 9.06416907e-01 -1.17536678e-03 2.00163404e+01] [ 2.69382216e-03 4.14147977e-05 9.99996371e-01 1.79794235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.894012739 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:98.49, Y:20.03, Z:0.18 [[ 9.08792066e-01 -4.17242261e-01 -2.42413603e-03 9.84925291e+01] [ 4.17240609e-01 9.08795297e-01 -1.17556687e-03 2.00323246e+01] [ 2.69353960e-03 5.68978518e-05 9.99996371e-01 1.80567735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.924012739 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:98.52, Y:20.05, Z:0.18 [[ 9.09673361e-01 -4.15317348e-01 -2.42403951e-03 9.85166486e+01] [ 4.15315688e-01 9.09676589e-01 -1.17576588e-03 2.00466516e+01] [ 2.69340795e-03 6.28212623e-05 9.99996371e-01 1.81217026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.954012739 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:98.54, Y:20.06, Z:0.18 [[ 9.10701736e-01 -4.13057469e-01 -2.42382073e-03 9.85410670e+01] [ 4.13055800e-01 9.10704959e-01 -1.17621671e-03 2.00624578e+01] [ 2.69323065e-03 7.00093904e-05 9.99996371e-01 1.78945580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.984012739 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:98.57, Y:20.08, Z:0.18 [[ 9.10684382e-01 -4.13095725e-01 -2.42463122e-03 9.85654200e+01] [ 4.13094061e-01 9.10687607e-01 -1.17454709e-03 2.00765458e+01] [ 2.69328198e-03 6.80409356e-05 9.99996371e-01 1.80975729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.014012739 meters Centerline goodness : 0.994317 Centerline is valid? [True, True] Translation: X:98.59, Y:20.09, Z:0.18 [[ 9.10474933e-01 -4.13557157e-01 -2.42356042e-03 9.85887508e+01] [ 4.13555489e-01 9.10478156e-01 -1.17675244e-03 2.00903350e+01] [ 2.69325321e-03 6.91268873e-05 9.99996371e-01 1.80667663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.044012739 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:98.61, Y:20.11, Z:0.18 [[ 9.09711492e-01 -4.15233824e-01 -2.42346277e-03 9.86128989e+01] [ 4.15232161e-01 9.09714718e-01 -1.17695351e-03 2.01054451e+01] [ 2.69337065e-03 6.43884477e-05 9.99996371e-01 1.81610364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.074012739 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:98.64, Y:20.12, Z:0.18 [[ 9.09548672e-01 -4.15590353e-01 -2.42324315e-03 9.86363166e+01] [ 4.15588690e-01 9.09551898e-01 -1.17740551e-03 2.01180437e+01] [ 2.69338378e-03 6.38351707e-05 9.99996371e-01 1.81738435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.104012739 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:98.66, Y:20.13, Z:0.18 [[ 9.10478766e-01 -4.13548721e-01 -2.42314776e-03 9.86586718e+01] [ 4.13547050e-01 9.10481988e-01 -1.17760180e-03 2.01344883e+01] [ 2.69322811e-03 7.00958309e-05 9.99996371e-01 1.80522548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.134012739 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:98.68, Y:20.15, Z:0.18 [[ 9.10403603e-01 -4.13714162e-01 -2.42305386e-03 9.86841874e+01] [ 4.13712492e-01 9.10406825e-01 -1.17779496e-03 2.01471129e+01] [ 2.69323523e-03 6.98211267e-05 9.99996371e-01 1.80599261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.164012739 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:98.71, Y:20.16, Z:0.18 [[ 9.11330975e-01 -4.11667322e-01 -2.42283976e-03 9.87069431e+01] [ 4.11665643e-01 9.11334193e-01 -1.17823523e-03 2.01634337e+01] [ 2.69305766e-03 7.63623758e-05 9.99996371e-01 1.80245887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.194012739 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:98.73, Y:20.18, Z:0.18 [[ 9.12444533e-01 -4.09193236e-01 -2.42262287e-03 9.87295781e+01] [ 4.09191547e-01 9.12447746e-01 -1.17868102e-03 2.01801456e+01] [ 2.69282508e-03 8.41642496e-05 9.99996371e-01 1.81165893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.224012739 meters Centerline goodness : 0.994188 Centerline is valid? [True, True] Translation: X:98.75, Y:20.20, Z:0.18 [[ 9.14240885e-01 -4.05163840e-01 -2.42239710e-03 9.87508030e+01] [ 4.05162135e-01 9.14244089e-01 -1.17914484e-03 2.01992428e+01] [ 2.69240908e-03 9.65588443e-05 9.99996371e-01 1.82971441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.254012739 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:98.77, Y:20.21, Z:0.18 [[ 9.14276568e-01 -4.05083312e-01 -2.42232709e-03 9.87741078e+01] [ 4.05081607e-01 9.14279772e-01 -1.17928865e-03 2.02143191e+01] [ 2.69239481e-03 9.69558318e-05 9.99996371e-01 1.83965158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.284012739 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:98.80, Y:20.23, Z:0.19 [[ 9.13026682e-01 -4.07892647e-01 -2.42211026e-03 9.87964426e+01] [ 4.07890950e-01 9.13029890e-01 -1.17973381e-03 2.02329962e+01] [ 2.69266381e-03 8.91715865e-05 9.99996371e-01 1.85910969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.314012739 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:98.82, Y:20.25, Z:0.19 [[ 9.11990541e-01 -4.10204079e-01 -2.42188685e-03 9.88189768e+01] [ 4.10202390e-01 9.11993753e-01 -1.18019227e-03 2.02474029e+01] [ 2.69286537e-03 8.28604169e-05 9.99996371e-01 1.87574024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.344012739 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:98.84, Y:20.26, Z:0.19 [[ 9.10824839e-01 -4.12785958e-01 -2.42178947e-03 9.88424379e+01] [ 4.12784278e-01 9.10828056e-01 -1.18039206e-03 2.02620311e+01] [ 2.69308307e-03 7.54537884e-05 9.99996371e-01 1.88130725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.374012739 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:98.86, Y:20.28, Z:0.19 [[ 9.08956419e-01 -4.16884115e-01 -2.42157222e-03 9.88636486e+01] [ 4.16882447e-01 9.08959642e-01 -1.18083758e-03 2.02793063e+01] [ 2.69338385e-03 6.38189424e-05 9.99996371e-01 1.86294621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.404012739 meters Centerline goodness : 0.994180 Centerline is valid? [True, True] Translation: X:98.89, Y:20.30, Z:0.18 [[ 9.08412885e-01 -4.18067181e-01 -2.42142448e-03 9.88860310e+01] [ 4.18065517e-01 9.08416110e-01 -1.18114046e-03 2.02951850e+01] [ 2.69345707e-03 6.06491378e-05 9.99996371e-01 1.84876907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.434012739 meters Centerline goodness : 0.994691 Centerline is valid? [True, True] Translation: X:98.91, Y:20.32, Z:0.18 [[ 9.07541664e-01 -4.19955075e-01 -2.42133267e-03 9.89078744e+01] [ 4.19953417e-01 9.07544893e-01 -1.18132864e-03 2.03150653e+01] [ 2.69357306e-03 5.52580260e-05 9.99996371e-01 1.84165895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.464012739 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:98.93, Y:20.33, Z:0.18 [[ 9.06894753e-01 -4.21350265e-01 -2.42110876e-03 9.89311992e+01] [ 4.21348611e-01 9.06897983e-01 -1.18178737e-03 2.03286798e+01] [ 2.69364507e-03 5.16259528e-05 9.99996371e-01 1.84179717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.494012739 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:98.95, Y:20.34, Z:0.19 [[ 9.04239024e-01 -4.27019819e-01 -2.42101145e-03 9.89548341e+01] [ 4.27018185e-01 9.04242264e-01 -1.18198668e-03 2.03429671e+01] [ 2.69391262e-03 3.49825635e-05 9.99996371e-01 1.88011338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.524012739 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:98.98, Y:20.36, Z:0.19 [[ 9.02381540e-01 -4.30931196e-01 -2.42079065e-03 9.89789142e+01] [ 4.30929574e-01 9.02384787e-01 -1.18243873e-03 2.03567627e+01] [ 2.69403439e-03 2.38206030e-05 9.99996371e-01 1.90082679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.554012739 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:99.00, Y:20.37, Z:0.19 [[ 9.00486922e-01 -4.34876356e-01 -2.42056941e-03 9.90036912e+01] [ 4.34874747e-01 9.00490175e-01 -1.18289145e-03 2.03704700e+01] [ 2.69411049e-03 1.25337663e-05 9.99996371e-01 1.90859750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.584012739 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:99.03, Y:20.38, Z:0.19 [[ 8.96777839e-01 -4.42474462e-01 -2.42034670e-03 9.90288349e+01] [ 4.42472880e-01 8.96781105e-01 -1.18334697e-03 2.03797623e+01] [ 2.69412200e-03 -9.73843959e-06 9.99996371e-01 1.88762874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.614012739 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:99.05, Y:20.39, Z:0.19 [[ 8.94944087e-01 -4.46171742e-01 -2.42025034e-03 9.90547237e+01] [ 4.46170172e-01 8.94947360e-01 -1.18354402e-03 2.03903352e+01] [ 2.69406055e-03 -2.06377908e-05 9.99996371e-01 1.87118462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.644012739 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:99.08, Y:20.40, Z:0.18 [[ 8.92472136e-01 -4.51096032e-01 -2.42003051e-03 9.90809382e+01] [ 4.51094479e-01 8.92475417e-01 -1.18399335e-03 2.04008148e+01] [ 2.69391243e-03 -3.49813290e-05 9.99996371e-01 1.83329222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.674012739 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:99.11, Y:20.41, Z:0.18 [[ 8.91876407e-01 -4.52272725e-01 -2.41996261e-03 9.91062034e+01] [ 4.52271176e-01 8.91879690e-01 -1.18413210e-03 2.04112631e+01] [ 2.69386616e-03 -3.83798486e-05 9.99996371e-01 1.82007131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.704012739 meters Centerline goodness : 0.995124 Centerline is valid? [True, True] Translation: X:99.13, Y:20.42, Z:0.18 [[ 8.91704614e-01 -4.52611341e-01 -2.41986963e-03 9.91322697e+01] [ 4.52609793e-01 8.91707896e-01 -1.18432209e-03 2.04207383e+01] [ 2.69385446e-03 -3.91912237e-05 9.99996371e-01 1.83382162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.734012739 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:99.16, Y:20.43, Z:0.19 [[ 8.92346702e-01 -4.51344114e-01 -2.41964041e-03 9.91602593e+01] [ 4.51342560e-01 8.92349982e-01 -1.18479021e-03 2.04269587e+01] [ 2.69391416e-03 -3.48430647e-05 9.99996371e-01 1.86646550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.764012739 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:99.19, Y:20.44, Z:0.19 [[ 8.92906762e-01 -4.50235117e-01 -2.41956946e-03 9.91867951e+01] [ 4.50233559e-01 8.92910039e-01 -1.18493508e-03 2.04373556e+01] [ 2.69395725e-03 -3.13348221e-05 9.99996371e-01 1.88421992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.794012739 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:99.21, Y:20.45, Z:0.19 [[ 8.94395301e-01 -4.47270827e-01 -2.41935061e-03 9.92145419e+01] [ 4.47269256e-01 8.94398573e-01 -1.18538176e-03 2.04452090e+01] [ 2.69405041e-03 -2.19012667e-05 9.99996371e-01 1.88475183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.824012739 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:99.24, Y:20.45, Z:0.19 [[ 8.95237229e-01 -4.45583271e-01 -2.41913086e-03 9.92402238e+01] [ 4.45581693e-01 8.95240498e-01 -1.18583006e-03 2.04541598e+01] [ 2.69408995e-03 -1.63212074e-05 9.99996371e-01 1.87399563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.854012739 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:99.27, Y:20.46, Z:0.19 [[ 8.96046558e-01 -4.43953504e-01 -2.41903494e-03 9.92668467e+01] [ 4.43951920e-01 8.96049823e-01 -1.18602569e-03 2.04637920e+01] [ 2.69411609e-03 -1.12009731e-05 9.99996371e-01 1.87208833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.884012739 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:99.29, Y:20.47, Z:0.19 [[ 8.97567476e-01 -4.40870475e-01 -2.41880915e-03 9.92933260e+01] [ 4.40868878e-01 8.97570735e-01 -1.18648599e-03 2.04719754e+01] [ 2.69413895e-03 -1.42644152e-06 9.99996371e-01 1.89687574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.914012739 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:99.32, Y:20.48, Z:0.19 [[ 8.98179272e-01 -4.39622730e-01 -2.41871117e-03 9.93189852e+01] [ 4.39621128e-01 8.98182529e-01 -1.18668570e-03 2.04817909e+01] [ 2.69413812e-03 2.53996777e-06 9.99996371e-01 1.90182818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.944012739 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:99.35, Y:20.49, Z:0.19 [[ 8.98883090e-01 -4.38181857e-01 -2.41861343e-03 9.93471095e+01] [ 4.38180250e-01 8.98886344e-01 -1.18688487e-03 2.04887530e+01] [ 2.69413000e-03 7.08209715e-06 9.99996371e-01 1.87763758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.974012739 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:99.37, Y:20.50, Z:0.19 [[ 8.98949344e-01 -4.38045921e-01 -2.41839081e-03 9.93733974e+01] [ 4.38044312e-01 8.98952597e-01 -1.18733831e-03 2.04989919e+01] [ 2.69412740e-03 7.99465982e-06 9.99996371e-01 1.86391801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.004012739 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:99.40, Y:20.51, Z:0.19 [[ 8.99020894e-01 -4.37899057e-01 -2.41816387e-03 9.93992873e+01] [ 4.37897446e-01 8.99024147e-01 -1.18780033e-03 2.05098200e+01] [ 2.69412435e-03 8.94953251e-06 9.99996371e-01 1.86695186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.034012739 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:99.42, Y:20.52, Z:0.19 [[ 8.99343143e-01 -4.37236851e-01 -2.41793729e-03 9.94248517e+01] [ 4.37235237e-01 8.99346394e-01 -1.18826138e-03 2.05183119e+01] [ 2.69411485e-03 1.14473430e-05 9.99996371e-01 1.87964225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.064012739 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:99.45, Y:20.53, Z:0.19 [[ 8.99609805e-01 -4.36687936e-01 -2.41778276e-03 9.94509781e+01] [ 4.36686318e-01 8.99613054e-01 -1.18857573e-03 2.05285009e+01] [ 2.69410561e-03 1.34417268e-05 9.99996371e-01 1.89024797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.094012739 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:99.48, Y:20.54, Z:0.19 [[ 9.00216729e-01 -4.35435409e-01 -2.41755429e-03 9.94782829e+01] [ 4.35433786e-01 9.00219975e-01 -1.18904025e-03 2.05372626e+01] [ 2.69408089e-03 1.77091039e-05 9.99996371e-01 1.89806594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.124012739 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:99.50, Y:20.55, Z:0.19 [[ 9.00434338e-01 -4.34985241e-01 -2.41732344e-03 9.95028952e+01] [ 4.34983615e-01 9.00437583e-01 -1.18950938e-03 2.05475517e+01] [ 2.69406790e-03 1.95789995e-05 9.99996371e-01 1.88566668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.154012739 meters Centerline goodness : 0.994974 Centerline is valid? [True, True] Translation: X:99.53, Y:20.56, Z:0.19 [[ 9.00510147e-01 -4.34828279e-01 -2.41722331e-03 9.95286785e+01] [ 4.34826652e-01 9.00513391e-01 -1.18971281e-03 2.05583248e+01] [ 2.69406274e-03 2.02753402e-05 9.99996371e-01 1.88405935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.184012739 meters Centerline goodness : 0.995623 Centerline is valid? [True, True] Translation: X:99.56, Y:20.57, Z:0.19 [[ 9.00648090e-01 -4.34542491e-01 -2.41699822e-03 9.95556855e+01] [ 4.34540861e-01 9.00651333e-01 -1.19016994e-03 2.05679590e+01] [ 2.69405208e-03 2.16397990e-05 9.99996371e-01 1.87792003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.214012739 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:99.58, Y:20.58, Z:0.19 [[ 9.00661762e-01 -4.34514152e-01 -2.41685548e-03 9.95815657e+01] [ 4.34512522e-01 9.00665005e-01 -1.19045973e-03 2.05797855e+01] [ 2.69404875e-03 2.20475864e-05 9.99996371e-01 1.86870862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.244012739 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:99.61, Y:20.59, Z:0.18 [[ 9.00841253e-01 -4.34141909e-01 -2.41662157e-03 9.96078396e+01] [ 4.34140276e-01 9.00844494e-01 -1.19093436e-03 2.05899950e+01] [ 2.69403476e-03 2.36900424e-05 9.99996371e-01 1.84001752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.274012739 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:99.63, Y:20.60, Z:0.18 [[ 9.00932662e-01 -4.33952186e-01 -2.41654913e-03 9.96327059e+01] [ 4.33950552e-01 9.00935902e-01 -1.19108134e-03 2.06003659e+01] [ 2.69402822e-03 2.44212530e-05 9.99996371e-01 1.84726902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.304012739 meters Centerline goodness : 0.995921 Centerline is valid? [True, True] Translation: X:99.66, Y:20.61, Z:0.19 [[ 9.01022431e-01 -4.33765766e-01 -2.41639549e-03 9.96585761e+01] [ 4.33764131e-01 9.01025671e-01 -1.19139295e-03 2.06118180e+01] [ 2.69401984e-03 2.53260781e-05 9.99996371e-01 1.86994630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.334012739 meters Centerline goodness : 0.996090 Centerline is valid? [True, True] Translation: X:99.68, Y:20.62, Z:0.19 [[ 9.01250426e-01 -4.33291855e-01 -2.41616470e-03 9.96846637e+01] [ 4.33290217e-01 9.01253664e-01 -1.19186083e-03 2.06222105e+01] [ 2.69400087e-03 2.72645523e-05 9.99996371e-01 1.89417427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.364012739 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:99.71, Y:20.63, Z:0.19 [[ 9.01022019e-01 -4.33766623e-01 -2.41609306e-03 9.97094937e+01] [ 4.33764986e-01 9.01025258e-01 -1.19200602e-03 2.06324876e+01] [ 2.69401330e-03 2.60070935e-05 9.99996371e-01 1.89544672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.394012739 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:99.74, Y:20.64, Z:0.19 [[ 9.00257219e-01 -4.35351700e-01 -2.41599608e-03 9.97358446e+01] [ 4.35350069e-01 9.00260460e-01 -1.19220255e-03 2.06412591e+01] [ 2.69405315e-03 2.14848871e-05 9.99996371e-01 1.88297806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.424012739 meters Centerline goodness : 0.995995 Centerline is valid? [True, True] Translation: X:99.76, Y:20.65, Z:0.19 [[ 8.99832980e-01 -4.36227890e-01 -2.41577011e-03 9.97615883e+01] [ 4.36226260e-01 8.99836223e-01 -1.19266027e-03 2.06522036e+01] [ 2.69406912e-03 1.93726853e-05 9.99996371e-01 1.85297018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.454012739 meters Centerline goodness : 0.995945 Centerline is valid? [True, True] Translation: X:99.79, Y:20.66, Z:0.18 [[ 8.99314079e-01 -4.37296641e-01 -2.41554215e-03 9.97870228e+01] [ 4.37295014e-01 8.99317323e-01 -1.19312178e-03 2.06632455e+01] [ 2.69408705e-03 1.66866795e-05 9.99996371e-01 1.83689010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.484012739 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:99.81, Y:20.67, Z:0.18 [[ 8.98423075e-01 -4.39124292e-01 -2.41530688e-03 9.98138076e+01] [ 4.39122670e-01 8.98426322e-01 -1.19359786e-03 2.06724866e+01] [ 2.69411309e-03 1.17398543e-05 9.99996371e-01 1.84233580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.514012739 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:99.84, Y:20.68, Z:0.19 [[ 8.97966742e-01 -4.40056697e-01 -2.41523376e-03 9.98395693e+01] [ 4.40055078e-01 8.97969990e-01 -1.19374581e-03 2.06827244e+01] [ 2.69412327e-03 9.10815612e-06 9.99996371e-01 1.86736013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.544012739 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:99.87, Y:20.69, Z:0.19 [[ 8.97283542e-01 -4.41448087e-01 -2.41500500e-03 9.98665531e+01] [ 4.41446472e-01 8.97286792e-01 -1.19420841e-03 2.06904930e+01] [ 2.69413311e-03 5.44811390e-06 9.99996371e-01 1.87671228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.574012739 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:99.89, Y:20.70, Z:0.19 [[ 8.97025512e-01 -4.41972170e-01 -2.41477682e-03 9.98920405e+01] [ 4.41970556e-01 8.97028762e-01 -1.19466962e-03 2.07004813e+01] [ 2.69413499e-03 4.38887529e-06 9.99996371e-01 1.87750921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.604012739 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:99.92, Y:20.71, Z:0.19 [[ 8.96920326e-01 -4.42185593e-01 -2.41462146e-03 9.99181398e+01] [ 4.42183978e-01 8.96923576e-01 -1.19498356e-03 2.07078501e+01] [ 2.69413543e-03 4.09811897e-06 9.99996371e-01 1.87149374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.634012739 meters Centerline goodness : 0.995988 Centerline is valid? [True, True] Translation: X:99.94, Y:20.72, Z:0.19 [[ 8.97026460e-01 -4.41970248e-01 -2.41452447e-03 9.99437250e+01] [ 4.41968632e-01 8.97029709e-01 -1.19517950e-03 2.07181357e+01] [ 2.69413396e-03 4.96355781e-06 9.99996371e-01 1.87312887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.664012739 meters Centerline goodness : 0.996188 Centerline is valid? [True, True] Translation: X:99.97, Y:20.73, Z:0.19 [[ 8.97577401e-01 -4.40850293e-01 -2.41430408e-03 9.99703353e+01] [ 4.40848671e-01 8.97580648e-01 -1.19562454e-03 2.07276151e+01] [ 2.69412404e-03 8.82282006e-06 9.99996371e-01 1.90857601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.694012739 meters Centerline goodness : 0.996119 Centerline is valid? [True, True] Translation: X:100.00, Y:20.74, Z:0.19 [[ 8.98320466e-01 -4.39334169e-01 -2.41423543e-03 9.99957975e+01] [ 4.39332542e-01 8.98323710e-01 -1.19576313e-03 2.07387540e+01] [ 2.69410453e-03 1.35262976e-05 9.99996371e-01 1.93389262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.724012739 meters Centerline goodness : 0.996394 Centerline is valid? [True, True] Translation: X:100.02, Y:20.75, Z:0.19 [[ 8.99276283e-01 -4.37374370e-01 -2.41401712e-03 1.00021235e+02] [ 4.37372735e-01 8.99279523e-01 -1.19620370e-03 2.07507748e+01] [ 2.69406500e-03 1.98923497e-05 9.99996371e-01 1.94091230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.754012739 meters Centerline goodness : 0.996288 Centerline is valid? [True, True] Translation: X:100.05, Y:20.76, Z:0.19 [[ 9.01896420e-01 -4.31945624e-01 -2.41379884e-03 1.00046659e+02] [ 4.31943968e-01 9.01899649e-01 -1.19664400e-03 2.07623405e+01] [ 2.69388946e-03 3.66230861e-05 9.99996371e-01 1.92423673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.784012739 meters Centerline goodness : 0.996352 Centerline is valid? [True, True] Translation: X:100.07, Y:20.77, Z:0.19 [[ 9.03083410e-01 -4.29458413e-01 -2.41365879e-03 1.00071086e+02] [ 4.29456748e-01 9.03086634e-01 -1.19692641e-03 2.07745739e+01] [ 2.69377311e-03 4.43623310e-05 9.99996371e-01 1.90825496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.814012739 meters Centerline goodness : 0.997050 Centerline is valid? [True, True] Translation: X:100.10, Y:20.79, Z:0.19 [[ 9.04574741e-01 -4.26308238e-01 -2.41350503e-03 1.00095363e+02] [ 4.26306560e-01 9.04577959e-01 -1.19723638e-03 2.07883685e+01] [ 2.69359518e-03 5.40967649e-05 9.99996371e-01 1.91177212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.844012739 meters Centerline goodness : 0.996612 Centerline is valid? [True, True] Translation: X:100.12, Y:20.80, Z:0.19 [[ 9.04906803e-01 -4.25602930e-01 -2.41328281e-03 1.00119272e+02] [ 4.25601249e-01 9.04910019e-01 -1.19768414e-03 2.08013858e+01] [ 2.69354167e-03 5.66963423e-05 9.99996371e-01 1.90822483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.874012739 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:100.14, Y:20.81, Z:0.19 [[ 9.04961035e-01 -4.25487604e-01 -2.41318614e-03 1.00143636e+02] [ 4.25485922e-01 9.04964251e-01 -1.19787888e-03 2.08148941e+01] [ 2.69352981e-03 5.72569814e-05 9.99996371e-01 1.87179208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.904012739 meters Centerline goodness : 0.996643 Centerline is valid? [True, True] Translation: X:100.17, Y:20.83, Z:0.18 [[ 9.04885942e-01 -4.25647282e-01 -2.41297252e-03 1.00167239e+02] [ 4.25645599e-01 9.04889158e-01 -1.19830905e-03 2.08277147e+01] [ 2.69352966e-03 5.72618755e-05 9.99996371e-01 1.84750829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.934012739 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:100.19, Y:20.84, Z:0.18 [[ 9.04664709e-01 -4.26117287e-01 -2.41282685e-03 1.00191833e+02] [ 4.26115605e-01 9.04667925e-01 -1.19860228e-03 2.08415952e+01] [ 2.69355221e-03 5.61900132e-05 9.99996371e-01 1.84965941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.964012739 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:100.22, Y:20.86, Z:0.19 [[ 9.04493791e-01 -4.26479967e-01 -2.41259717e-03 1.00216023e+02] [ 4.26478285e-01 9.04497006e-01 -1.19906442e-03 2.08564158e+01] [ 2.69356387e-03 5.56260235e-05 9.99996371e-01 1.87519289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.994012739 meters Centerline goodness : 0.996606 Centerline is valid? [True, True] Translation: X:100.24, Y:20.87, Z:0.19 [[ 9.04467079e-01 -4.26536615e-01 -2.41236802e-03 1.00239422e+02] [ 4.26534932e-01 9.04470294e-01 -1.19952525e-03 2.08701284e+01] [ 2.69355666e-03 5.59718715e-05 9.99996371e-01 1.87775652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.024012739 meters Centerline goodness : 0.996606 Centerline is valid? [True, True] Translation: X:100.26, Y:20.88, Z:0.19 [[ 9.04386305e-01 -4.26707853e-01 -2.41226845e-03 1.00264834e+02] [ 4.26706170e-01 9.04389521e-01 -1.19972546e-03 2.08829783e+01] [ 2.69356258e-03 5.56854433e-05 9.99996371e-01 1.87852378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.054012739 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:100.29, Y:20.90, Z:0.19 [[ 9.04350791e-01 -4.26783117e-01 -2.41204122e-03 1.00288144e+02] [ 4.26781434e-01 9.04354006e-01 -1.20018214e-03 2.08969625e+01] [ 2.69355661e-03 5.59712572e-05 9.99996371e-01 1.87664479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.084012739 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:100.31, Y:20.91, Z:0.19 [[ 9.04037354e-01 -4.27446658e-01 -2.41194246e-03 1.00311014e+02] [ 4.27444976e-01 9.04040570e-01 -1.20038057e-03 2.09132008e+01] [ 2.69359250e-03 5.42161924e-05 9.99996371e-01 1.87802710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.114012739 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:100.33, Y:20.93, Z:0.19 [[ 9.02598238e-01 -4.30477182e-01 -2.41171605e-03 1.00334693e+02] [ 4.30475510e-01 9.02601459e-01 -1.20083529e-03 2.09277753e+01] [ 2.69375062e-03 4.56871191e-05 9.99996371e-01 1.87691557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.144012739 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:100.36, Y:20.94, Z:0.19 [[ 9.01419790e-01 -4.32939426e-01 -2.41148556e-03 1.00358389e+02] [ 4.32937762e-01 9.01423015e-01 -1.20129798e-03 2.09410837e+01] [ 2.69385784e-03 3.88506168e-05 9.99996371e-01 1.88106677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.174012739 meters Centerline goodness : 0.996144 Centerline is valid? [True, True] Translation: X:100.38, Y:20.96, Z:0.19 [[ 9.00108282e-01 -4.35659576e-01 -2.41138505e-03 1.00382571e+02] [ 4.35657921e-01 9.00111511e-01 -1.20149969e-03 2.09559370e+01] [ 2.69396029e-03 3.09408227e-05 9.99996371e-01 1.87959259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20401273899999 meters Centerline goodness : 0.996733 Centerline is valid? [True, True] Translation: X:100.41, Y:20.97, Z:0.19 [[ 8.98947209e-01 -4.38050342e-01 -2.41115847e-03 1.00405788e+02] [ 4.38048694e-01 8.98950442e-01 -1.20195422e-03 2.09706243e+01] [ 2.69402843e-03 2.42885737e-05 9.99996371e-01 1.86753298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.234012739 meters Centerline goodness : 0.996464 Centerline is valid? [True, True] Translation: X:100.43, Y:20.99, Z:0.19 [[ 8.97283238e-01 -4.41448725e-01 -2.41106027e-03 1.00428242e+02] [ 4.41447088e-01 8.97286478e-01 -1.20215117e-03 2.09861952e+01] [ 2.69409988e-03 1.43145586e-05 9.99996371e-01 1.85887854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.264012739 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:100.45, Y:21.00, Z:0.19 [[ 8.95719971e-01 -4.44612101e-01 -2.41096384e-03 1.00452353e+02] [ 4.44610475e-01 8.95723216e-01 -1.20234454e-03 2.10011538e+01] [ 2.69413322e-03 5.02424316e-06 9.99996371e-01 1.87135983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.294012739 meters Centerline goodness : 0.996790 Centerline is valid? [True, True] Translation: X:100.48, Y:21.01, Z:0.19 [[ 8.94808571e-01 -4.46443512e-01 -2.41073859e-03 1.00476575e+02] [ 4.46441892e-01 8.94811819e-01 -1.20279600e-03 2.10148855e+01] [ 2.69413785e-03 1.74782841e-08 9.99996371e-01 1.87763260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.324012739 meters Centerline goodness : 0.996516 Centerline is valid? [True, True] Translation: X:100.50, Y:21.03, Z:0.19 [[ 8.93964043e-01 -4.48132212e-01 -2.41051309e-03 1.00500291e+02] [ 4.48130596e-01 8.93967293e-01 -1.20324775e-03 2.10281413e+01] [ 2.69413394e-03 -4.56444456e-06 9.99996371e-01 1.88401681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.354012739 meters Centerline goodness : 0.996613 Centerline is valid? [True, True] Translation: X:100.53, Y:21.04, Z:0.19 [[ 8.93053676e-01 -4.49943687e-01 -2.41041543e-03 1.00525234e+02] [ 4.49942078e-01 8.93056929e-01 -1.20344336e-03 2.10413808e+01] [ 2.69411994e-03 -9.80781095e-06 9.99996371e-01 1.89036947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.384012739 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:100.55, Y:21.05, Z:0.19 [[ 8.91120474e-01 -4.53760390e-01 -2.41019300e-03 1.00550289e+02] [ 4.53758794e-01 8.91123733e-01 -1.20388867e-03 2.10539336e+01] [ 2.69405718e-03 -2.08364230e-05 9.99996371e-01 1.88705080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.414012739 meters Centerline goodness : 0.996677 Centerline is valid? [True, True] Translation: X:100.57, Y:21.07, Z:0.19 [[ 8.88623949e-01 -4.58630209e-01 -2.40997002e-03 1.00574452e+02] [ 4.58628629e-01 8.88627216e-01 -1.20433487e-03 2.10665994e+01] [ 2.69390930e-03 -3.50804338e-05 9.99996371e-01 1.88810195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.444012739 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:100.60, Y:21.08, Z:0.19 [[ 8.87089220e-01 -4.61591711e-01 -2.40981826e-03 1.00598888e+02] [ 4.61590141e-01 8.87092493e-01 -1.20463846e-03 2.10781938e+01] [ 2.69378281e-03 -4.37265535e-05 9.99996371e-01 1.87446885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.474012739 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:100.63, Y:21.09, Z:0.19 [[ 8.85422296e-01 -4.64781187e-01 -2.40972251e-03 1.00625066e+02] [ 4.64779628e-01 8.85425573e-01 -1.20482996e-03 2.10892715e+01] [ 2.69361223e-03 -5.32066259e-05 9.99996371e-01 1.87528960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.504012739 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:100.65, Y:21.10, Z:0.20 [[ 8.82651189e-01 -4.70022417e-01 -2.40949100e-03 1.00652220e+02] [ 4.70020877e-01 8.82654475e-01 -1.20529277e-03 2.10977864e+01] [ 2.69326264e-03 -6.86579732e-05 9.99996371e-01 1.99632238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.534012739 meters Centerline goodness : 0.996893 Centerline is valid? [True, True] Translation: X:100.68, Y:21.11, Z:0.19 [[ 8.81427364e-01 -4.72313452e-01 -2.40941937e-03 1.00676864e+02] [ 4.72311920e-01 8.81430654e-01 -1.20543594e-03 2.11080298e+01] [ 2.69307970e-03 -7.54932632e-05 9.99996371e-01 1.92767956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.564012739 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:100.70, Y:21.12, Z:0.19 [[ 8.79875020e-01 -4.75199057e-01 -2.40932202e-03 1.00703440e+02] [ 4.75197535e-01 8.79878315e-01 -1.20563049e-03 2.11172385e+01] [ 2.69282467e-03 -8.40997282e-05 9.99996371e-01 1.91298126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.594012739 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:100.73, Y:21.13, Z:0.19 [[ 8.79405840e-01 -4.76066765e-01 -2.40909712e-03 1.00728995e+02] [ 4.76065245e-01 8.79409136e-01 -1.20607971e-03 2.11276131e+01] [ 2.69275648e-03 -8.62538695e-05 9.99996371e-01 1.88660791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.624012739 meters Centerline goodness : 0.996944 Centerline is valid? [True, True] Translation: X:100.75, Y:21.14, Z:0.19 [[ 8.79129219e-01 -4.76577395e-01 -2.40902733e-03 1.00754189e+02] [ 4.76575877e-01 8.79132515e-01 -1.20621910e-03 2.11388240e+01] [ 2.69271101e-03 -8.76618550e-05 9.99996371e-01 1.86293669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.654012739 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:100.78, Y:21.15, Z:0.19 [[ 8.79232664e-01 -4.76386524e-01 -2.40895802e-03 1.00779680e+02] [ 4.76385004e-01 8.79235960e-01 -1.20635751e-03 2.11494986e+01] [ 2.69273497e-03 -8.69225491e-05 9.99996371e-01 1.87101864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.684012739 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:100.81, Y:21.16, Z:0.19 [[ 8.79307239e-01 -4.76248861e-01 -2.40873994e-03 1.00805375e+02] [ 4.76247339e-01 8.79310534e-01 -1.20679278e-03 2.11604175e+01] [ 2.69276409e-03 -8.60143637e-05 9.99996371e-01 1.89399456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.714012739 meters Centerline goodness : 0.996782 Centerline is valid? [True, True] Translation: X:100.83, Y:21.17, Z:0.19 [[ 8.78856240e-01 -4.77080610e-01 -2.40851773e-03 1.00832425e+02] [ 4.77079091e-01 8.78859536e-01 -1.20723611e-03 2.11678668e+01] [ 2.69269772e-03 -8.80664591e-05 9.99996371e-01 1.92047098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.744012739 meters Centerline goodness : 0.991601 Centerline is valid? [True, True] Translation: X:100.86, Y:21.18, Z:0.20 [[ 8.78404355e-01 -4.77912114e-01 -2.40829524e-03 1.00858267e+02] [ 4.77910597e-01 8.78407652e-01 -1.20767979e-03 2.11782659e+01] [ 2.69262977e-03 -9.01186227e-05 9.99996371e-01 2.04912709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.774012739 meters Centerline goodness : 0.996743 Centerline is valid? [True, True] Translation: X:100.88, Y:21.19, Z:0.19 [[ 8.77697695e-01 -4.79208678e-01 -2.40806943e-03 1.00884510e+02] [ 4.79207165e-01 8.77700993e-01 -1.20812988e-03 2.11881671e+01] [ 2.69251125e-03 -9.35913170e-05 9.99996371e-01 1.92259025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.804012739 meters Centerline goodness : 0.996473 Centerline is valid? [True, True] Translation: X:100.91, Y:21.20, Z:0.19 [[ 8.77413972e-01 -4.79727969e-01 -2.40784177e-03 1.00911838e+02] [ 4.79726456e-01 8.77417271e-01 -1.20858345e-03 2.11954520e+01] [ 2.69247323e-03 -9.46773919e-05 9.99996371e-01 1.92846191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.834012739 meters Centerline goodness : 0.997174 Centerline is valid? [True, True] Translation: X:100.94, Y:21.21, Z:0.19 [[ 8.77650109e-01 -4.79295827e-01 -2.40761347e-03 1.00936746e+02] [ 4.79294311e-01 8.77653406e-01 -1.20903806e-03 2.12050602e+01] [ 2.69253706e-03 -9.28430581e-05 9.99996371e-01 1.92615390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.864012739 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:100.96, Y:21.21, Z:0.20 [[ 8.79204935e-01 -4.76437704e-01 -2.40751441e-03 1.00963875e+02] [ 4.76436177e-01 8.79208227e-01 -1.20923530e-03 2.12128404e+01] [ 2.69283176e-03 -8.38613177e-05 9.99996371e-01 1.95154998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.894012739 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:100.99, Y:21.22, Z:0.20 [[ 8.80401096e-01 -4.74223698e-01 -2.40729110e-03 1.00989539e+02] [ 4.74222161e-01 8.80404383e-01 -1.20967968e-03 2.12234614e+01] [ 2.69304841e-03 -7.65874708e-05 9.99996371e-01 1.96202068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.924012739 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:101.02, Y:21.23, Z:0.20 [[ 8.83820131e-01 -4.67820673e-01 -2.40706457e-03 1.01015232e+02] [ 4.67819111e-01 8.83823407e-01 -1.21013027e-03 2.12331222e+01] [ 2.69354397e-03 -5.65333106e-05 9.99996371e-01 1.95291231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95401273899999 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:101.04, Y:21.25, Z:0.19 [[ 8.85797170e-01 -4.64066352e-01 -2.40696620e-03 1.01040631e+02] [ 4.64064776e-01 8.85800440e-01 -1.21032589e-03 2.12454059e+01] [ 2.69376324e-03 -4.48849787e-05 9.99996371e-01 1.94789563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.984012739 meters Centerline goodness : 0.992291 Centerline is valid? [True, True] Translation: X:101.07, Y:21.26, Z:0.21 [[ 8.87790968e-01 -4.60240594e-01 -2.40675695e-03 1.01065590e+02] [ 4.60239003e-01 8.87794230e-01 -1.21074186e-03 2.12585442e+01] [ 2.69393748e-03 -3.27977297e-05 9.99996371e-01 2.06740487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.014012739 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:101.09, Y:21.27, Z:0.19 [[ 8.91539970e-01 -4.52935637e-01 -2.40652127e-03 1.01088852e+02] [ 4.52934017e-01 8.91543218e-01 -1.21121012e-03 2.12718024e+01] [ 2.69411794e-03 -1.01531174e-05 9.99996371e-01 1.92937495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.044012739 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:101.11, Y:21.29, Z:0.19 [[ 8.94264554e-01 -4.47532253e-01 -2.40641894e-03 1.01112547e+02] [ 4.47530613e-01 8.94267791e-01 -1.21141339e-03 2.12867054e+01] [ 2.69412952e-03 6.37791116e-06 9.99996371e-01 1.93158131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.074012739 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:101.14, Y:21.30, Z:0.19 [[ 8.94926939e-01 -4.46206213e-01 -2.40619172e-03 1.01136079e+02] [ 4.46204567e-01 8.94930174e-01 -1.21186455e-03 2.12992916e+01] [ 2.69411506e-03 1.08764982e-05 9.99996371e-01 1.94134049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.104012739 meters Centerline goodness : 0.997179 Centerline is valid? [True, True] Translation: X:101.16, Y:21.31, Z:0.20 [[ 8.95301586e-01 -4.45454016e-01 -2.40609248e-03 1.01160417e+02] [ 4.45452367e-01 8.95304819e-01 -1.21206155e-03 2.13117394e+01] [ 2.69410388e-03 1.33610416e-05 9.99996371e-01 1.95335943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.134012739 meters Centerline goodness : 0.997388 Centerline is valid? [True, True] Translation: X:101.18, Y:21.33, Z:0.20 [[ 8.95706840e-01 -4.44638582e-01 -2.40593950e-03 1.01184341e+02] [ 4.44636930e-01 8.95710071e-01 -1.21236514e-03 2.13255028e+01] [ 2.69408856e-03 1.61541926e-05 9.99996371e-01 1.96106480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.164012739 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:101.21, Y:21.34, Z:0.20 [[ 8.95722321e-01 -4.44607396e-01 -2.40571258e-03 1.01208419e+02] [ 4.44605743e-01 8.95725551e-01 -1.21281525e-03 2.13397955e+01] [ 2.69408486e-03 1.67520651e-05 9.99996371e-01 1.95652816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.194012739 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:101.23, Y:21.36, Z:0.19 [[ 8.96278737e-01 -4.43484656e-01 -2.40547576e-03 1.01231969e+02] [ 4.43482997e-01 8.96281964e-01 -1.21328477e-03 2.13557854e+01] [ 2.69405772e-03 2.06537467e-05 9.99996371e-01 1.94546200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.224012739 meters Centerline goodness : 0.997544 Centerline is valid? [True, True] Translation: X:101.26, Y:21.37, Z:0.19 [[ 8.96631790e-01 -4.42770423e-01 -2.40523875e-03 1.01255217e+02] [ 4.42768760e-01 8.96635016e-01 -1.21375445e-03 2.13696386e+01] [ 2.69403585e-03 2.33262428e-05 9.99996371e-01 1.93746111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.254012739 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:101.28, Y:21.38, Z:0.19 [[ 8.96830360e-01 -4.42368084e-01 -2.40513582e-03 1.01279034e+02] [ 4.42366419e-01 8.96833584e-01 -1.21395837e-03 2.13838707e+01] [ 2.69402302e-03 2.47633969e-05 9.99996371e-01 1.93993805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.284012739 meters Centerline goodness : 0.997343 Centerline is valid? [True, True] Translation: X:101.30, Y:21.40, Z:0.20 [[ 8.96796757e-01 -4.42436202e-01 -2.40490248e-03 1.01300883e+02] [ 4.42434536e-01 8.96799981e-01 -1.21442045e-03 2.14004072e+01] [ 2.69402007e-03 2.50764112e-05 9.99996371e-01 1.95400545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.314012739 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:101.32, Y:21.42, Z:0.19 [[ 8.96235064e-01 -4.43572910e-01 -2.40480067e-03 1.01324666e+02] [ 4.43571248e-01 8.96238290e-01 -1.21462203e-03 2.14155358e+01] [ 2.69404787e-03 2.18864251e-05 9.99996371e-01 1.94819303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.344012739 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:101.35, Y:21.43, Z:0.19 [[ 8.94131651e-01 -4.47797731e-01 -2.40456907e-03 1.01347787e+02] [ 4.47796083e-01 8.94134885e-01 -1.21508035e-03 2.14303449e+01] [ 2.69411931e-03 9.68519189e-06 9.99996371e-01 1.93639983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.374012739 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:101.37, Y:21.44, Z:0.19 [[ 8.92774402e-01 -4.50497599e-01 -2.40446876e-03 1.01372645e+02] [ 4.50495960e-01 8.92777639e-01 -1.21527882e-03 2.14440910e+01] [ 2.69413613e-03 1.76635798e-06 9.99996371e-01 1.93887501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.404012739 meters Centerline goodness : 0.997309 Centerline is valid? [True, True] Translation: X:101.40, Y:21.46, Z:0.19 [[ 8.91337027e-01 -4.53334892e-01 -2.40404745e-03 1.01396910e+02] [ 4.53333261e-01 8.91340269e-01 -1.21611205e-03 2.14577002e+01] [ 2.69413033e-03 -5.86897016e-06 9.99996371e-01 1.94409463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.434012739 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:101.42, Y:21.47, Z:0.20 [[ 8.88701073e-01 -4.58480776e-01 -2.40417391e-03 1.01421261e+02] [ 4.58479165e-01 8.88704325e-01 -1.21586200e-03 2.14725524e+01] [ 2.69404910e-03 -2.17257763e-05 9.99996371e-01 1.96105982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.464012739 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:101.45, Y:21.49, Z:0.20 [[ 8.87697462e-01 -4.60420935e-01 -2.40395748e-03 1.01446389e+02] [ 4.60419330e-01 8.87700716e-01 -1.21628977e-03 2.14854232e+01] [ 2.69400005e-03 -2.71311532e-05 9.99996371e-01 1.95549421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.494012739 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:101.47, Y:21.50, Z:0.20 [[ 8.86700040e-01 -4.62338903e-01 -2.40374222e-03 1.01470796e+02] [ 4.62337304e-01 8.86703297e-01 -1.21671503e-03 2.14968153e+01] [ 2.69394084e-03 -3.24784348e-05 9.99996371e-01 1.97488603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.524012739 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:101.49, Y:21.51, Z:0.20 [[ 8.86536653e-01 -4.62652121e-01 -2.40364877e-03 1.01494423e+02] [ 4.62650522e-01 8.86539911e-01 -1.21689962e-03 2.15091296e+01] [ 2.69393175e-03 -3.32232370e-05 9.99996371e-01 1.98734747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.554012739 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:101.52, Y:21.52, Z:0.20 [[ 8.86522301e-01 -4.62679623e-01 -2.40350427e-03 1.01518898e+02] [ 4.62678023e-01 8.86525558e-01 -1.21718494e-03 2.15221157e+01] [ 2.69393464e-03 -3.29870108e-05 9.99996371e-01 1.98954807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.584012739 meters Centerline goodness : 0.997281 Centerline is valid? [True, True] Translation: X:101.54, Y:21.53, Z:0.19 [[ 8.86335949e-01 -4.63036511e-01 -2.40327936e-03 1.01543539e+02] [ 4.63034911e-01 8.86339206e-01 -1.21762887e-03 2.15338117e+01] [ 2.69392734e-03 -3.35740030e-05 9.99996371e-01 1.94726960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.614012739 meters Centerline goodness : 0.997551 Centerline is valid? [True, True] Translation: X:101.57, Y:21.55, Z:0.19 [[ 8.85893282e-01 -4.63882870e-01 -2.40318139e-03 1.01567528e+02] [ 4.63881273e-01 8.85896541e-01 -1.21782219e-03 2.15460783e+01] [ 2.69389693e-03 -3.59303421e-05 9.99996371e-01 1.92551823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.644012739 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:101.59, Y:21.56, Z:0.19 [[ 8.84817375e-01 -4.65931795e-01 -2.40308482e-03 1.01592112e+02] [ 4.65930205e-01 8.84820637e-01 -1.21801271e-03 2.15596827e+01] [ 2.69380989e-03 -4.19509912e-05 9.99996371e-01 1.92927394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.674012739 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:101.62, Y:21.57, Z:0.19 [[ 8.84161124e-01 -4.67175913e-01 -2.40286615e-03 1.01616430e+02] [ 4.67174326e-01 8.84164388e-01 -1.21844395e-03 2.15718352e+01] [ 2.69375634e-03 -4.52566073e-05 9.99996371e-01 1.94506445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70401273899999 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:101.64, Y:21.58, Z:0.20 [[ 8.82557022e-01 -4.70199244e-01 -2.40277088e-03 1.01643064e+02] [ 4.70197668e-01 8.82560291e-01 -1.21863179e-03 2.15820519e+01] [ 2.69358992e-03 -5.42652182e-05 9.99996371e-01 1.95238349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.734012739 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:101.67, Y:21.59, Z:0.19 [[ 8.81582189e-01 -4.72024440e-01 -2.40255418e-03 1.01668335e+02] [ 4.72022870e-01 8.81585461e-01 -1.21905888e-03 2.15935380e+01] [ 2.69348242e-03 -5.93599261e-05 9.99996371e-01 1.94688999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.764012739 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:101.69, Y:21.61, Z:0.19 [[ 8.80548176e-01 -4.73950565e-01 -2.40233817e-03 1.01693799e+02] [ 4.73949001e-01 8.80551451e-01 -1.21948441e-03 2.16050608e+01] [ 2.69335768e-03 -6.47710018e-05 9.99996371e-01 1.93276524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.794012739 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:101.72, Y:21.61, Z:0.19 [[ 8.79062753e-01 -4.76700018e-01 -2.40212325e-03 1.01719713e+02] [ 4.76698462e-01 8.79066032e-01 -1.21990760e-03 2.16127189e+01] [ 2.69315493e-03 -7.27131311e-05 9.99996371e-01 1.93702712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.824012739 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:101.75, Y:21.62, Z:0.20 [[ 8.78393292e-01 -4.77932480e-01 -2.40202968e-03 1.01746387e+02] [ 4.77930928e-01 8.78396573e-01 -1.22009182e-03 2.16224627e+01] [ 2.69305615e-03 -7.62838062e-05 9.99996371e-01 1.95063288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.854012739 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:101.77, Y:21.63, Z:0.20 [[ 8.77619693e-01 -4.79351548e-01 -2.40180094e-03 1.01774251e+02] [ 4.79350001e-01 8.77622975e-01 -1.22054193e-03 2.16290956e+01] [ 2.69294435e-03 -8.01316473e-05 9.99996371e-01 1.97324828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.884012739 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:101.80, Y:21.64, Z:0.20 [[ 8.77514382e-01 -4.79544307e-01 -2.40157221e-03 1.01800194e+02] [ 4.79542759e-01 8.77517665e-01 -1.22099182e-03 2.16382555e+01] [ 2.69294172e-03 -8.02186775e-05 9.99996371e-01 1.97633406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.914012739 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:101.83, Y:21.64, Z:0.20 [[ 8.78745187e-01 -4.77285165e-01 -2.40147257e-03 1.01827732e+02] [ 4.77283609e-01 8.78748466e-01 -1.22118776e-03 2.16437668e+01] [ 2.69314514e-03 -7.30706283e-05 9.99996371e-01 1.97210682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.944012739 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:101.85, Y:21.66, Z:0.20 [[ 8.78658264e-01 -4.77445168e-01 -2.40137478e-03 1.01853035e+02] [ 4.77443611e-01 8.78661543e-01 -1.22138003e-03 2.16568434e+01] [ 2.69313766e-03 -7.33453920e-05 9.99996371e-01 1.97287418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.974012739 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:101.88, Y:21.67, Z:0.20 [[ 8.79737057e-01 -4.75454461e-01 -2.40115230e-03 1.01879425e+02] [ 4.75452896e-01 8.79740332e-01 -1.22181725e-03 2.16666473e+01] [ 2.69330899e-03 -6.67568995e-05 9.99996371e-01 1.97473691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.004012739 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:101.91, Y:21.68, Z:0.20 [[ 8.81424311e-01 -4.72319192e-01 -2.40091735e-03 1.01905202e+02] [ 4.72317614e-01 8.81427579e-01 -1.22227877e-03 2.16765913e+01] [ 2.69354049e-03 -5.66493347e-05 9.99996371e-01 1.96475677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.034012739 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:101.93, Y:21.69, Z:0.19 [[ 8.85501396e-01 -4.64630513e-01 -2.40075748e-03 1.01930349e+02] [ 4.64628906e-01 8.85504650e-01 -1.22259270e-03 2.16860709e+01] [ 2.69393579e-03 -3.28537767e-05 9.99996371e-01 1.93394837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.064012739 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:101.96, Y:21.70, Z:0.19 [[ 8.87672179e-01 -4.60469695e-01 -2.40053003e-03 1.01955693e+02] [ 4.60468071e-01 8.87675425e-01 -1.22303913e-03 2.16985470e+01] [ 2.69406397e-03 -1.97096226e-05 9.99996371e-01 1.92860932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.094012739 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:101.98, Y:21.71, Z:0.20 [[ 8.91593668e-01 -4.52829956e-01 -2.40030542e-03 1.01980106e+02] [ 4.52828303e-01 8.91596899e-01 -1.22347979e-03 2.17133202e+01] [ 2.69413317e-03 3.92060436e-06 9.99996371e-01 1.95183378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.124012739 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:102.00, Y:21.73, Z:0.20 [[ 8.93209944e-01 -4.49633447e-01 -2.40007981e-03 1.02003355e+02] [ 4.49631781e-01 8.93213168e-01 -1.22392221e-03 2.17266295e+01] [ 2.69409925e-03 1.40673251e-05 9.99996371e-01 1.96515736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.154012739 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:102.03, Y:21.74, Z:0.20 [[ 8.95738654e-01 -4.44574520e-01 -2.39992546e-03 1.02027043e+02] [ 4.44572835e-01 8.95741869e-01 -1.22422479e-03 2.17416150e+01] [ 2.69397286e-03 2.96438009e-05 9.99996371e-01 1.97206654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.184012739 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:102.05, Y:21.76, Z:0.20 [[ 8.96721788e-01 -4.42588156e-01 -2.39969400e-03 1.02050451e+02] [ 4.42586463e-01 8.96724998e-01 -1.22467831e-03 2.17561416e+01] [ 2.69389372e-03 3.61236431e-05 9.99996371e-01 1.97031841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.214012739 meters Centerline goodness : 0.997670 Centerline is valid? [True, True] Translation: X:102.07, Y:21.77, Z:0.20 [[ 8.97541364e-01 -4.40923737e-01 -2.39953680e-03 1.02073462e+02] [ 4.40922037e-01 8.97544571e-01 -1.22498624e-03 2.17715174e+01] [ 2.69381674e-03 4.14671643e-05 9.99996371e-01 1.97880764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.244012739 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:102.09, Y:21.79, Z:0.20 [[ 8.98509412e-01 -4.38947696e-01 -2.39930813e-03 1.02094693e+02] [ 4.38945988e-01 8.98512614e-01 -1.22543396e-03 2.17906712e+01] [ 2.69371004e-03 4.78972632e-05 9.99996371e-01 1.96807200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.274012739 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:102.12, Y:21.81, Z:0.20 [[ 8.98513185e-01 -4.38939973e-01 -2.39906960e-03 1.02117643e+02] [ 4.38938264e-01 8.98516387e-01 -1.22590076e-03 2.18058209e+01] [ 2.69370020e-03 4.84445534e-05 9.99996371e-01 1.95778407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.304012739 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:102.14, Y:21.82, Z:0.20 [[ 8.98054092e-01 -4.39878497e-01 -2.39896625e-03 1.02138914e+02] [ 4.39876791e-01 8.98057295e-01 -1.22610298e-03 2.18224500e+01] [ 2.69374548e-03 4.58572224e-05 9.99996371e-01 1.95662784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.334012739 meters Centerline goodness : 0.997034 Centerline is valid? [True, True] Translation: X:102.16, Y:21.84, Z:0.20 [[ 8.97574025e-01 -4.40857251e-01 -2.39881162e-03 1.02162116e+02] [ 4.40855547e-01 8.97577229e-01 -1.22640542e-03 2.18382335e+01] [ 2.69378841e-03 4.32602396e-05 9.99996371e-01 1.97068304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.364012739 meters Centerline goodness : 0.997010 Centerline is valid? [True, True] Translation: X:102.18, Y:21.86, Z:0.20 [[ 8.96481796e-01 -4.43074075e-01 -2.39858693e-03 1.02184823e+02] [ 4.43072378e-01 8.96485004e-01 -1.22684471e-03 2.18560932e+01] [ 2.69388030e-03 3.70963362e-05 9.99996371e-01 1.97695469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.394012739 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:102.21, Y:21.87, Z:0.21 [[ 8.95753813e-01 -4.44543985e-01 -2.39835902e-03 1.02208792e+02] [ 4.44542293e-01 8.95757023e-01 -1.22729009e-03 2.18702235e+01] [ 2.69393137e-03 3.31777600e-05 9.99996371e-01 2.08933385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.424012739 meters Centerline goodness : 0.996995 Centerline is valid? [True, True] Translation: X:102.23, Y:21.88, Z:0.20 [[ 8.94552874e-01 -4.46955707e-01 -2.39812406e-03 1.02231131e+02] [ 4.46954021e-01 8.94556088e-01 -1.22774904e-03 2.18848255e+01] [ 2.69400592e-03 2.64352389e-05 9.99996371e-01 1.96321892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45401273899999 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:102.25, Y:21.90, Z:0.20 [[ 8.93976018e-01 -4.48108389e-01 -2.39802209e-03 1.02254554e+02] [ 4.48106707e-01 8.93979234e-01 -1.22794817e-03 2.18999676e+01] [ 2.69403583e-03 2.31864352e-05 9.99996371e-01 1.96901128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.484012739 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:102.28, Y:21.92, Z:0.20 [[ 8.93679254e-01 -4.48699946e-01 -2.39778901e-03 1.02277594e+02] [ 4.48698265e-01 8.93682470e-01 -1.22840313e-03 2.19150345e+01] [ 2.69404643e-03 2.19146186e-05 9.99996371e-01 1.98107258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.514012739 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] Translation: X:102.30, Y:21.93, Z:0.20 [[ 8.93108352e-01 -4.49835218e-01 -2.39763005e-03 1.02300320e+02] [ 4.49833541e-01 8.93111570e-01 -1.22871332e-03 2.19310644e+01] [ 2.69406966e-03 1.88397176e-05 9.99996371e-01 1.99457836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.544012739 meters Centerline goodness : 0.996706 Centerline is valid? [True, True] Translation: X:102.32, Y:21.95, Z:0.20 [[ 8.92285578e-01 -4.51465059e-01 -2.39739866e-03 1.02324083e+02] [ 4.51463386e-01 8.92288799e-01 -1.22916463e-03 2.19452615e+01] [ 2.69409685e-03 1.44281598e-05 9.99996371e-01 1.99790520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.574012739 meters Centerline goodness : 0.996753 Centerline is valid? [True, True] Translation: X:102.35, Y:21.96, Z:0.20 [[ 8.90401246e-01 -4.55170161e-01 -2.39716810e-03 1.02346074e+02] [ 4.55168500e-01 8.90404473e-01 -1.22961410e-03 2.19606459e+01] [ 2.69413285e-03 3.73451648e-06 9.99996371e-01 1.98668448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.604012739 meters Centerline goodness : 0.996262 Centerline is valid? [True, True] Translation: X:102.37, Y:21.97, Z:0.20 [[ 8.89419092e-01 -4.57086352e-01 -2.39706804e-03 1.02370229e+02] [ 4.57084698e-01 8.89422322e-01 -1.22980914e-03 2.19741091e+01] [ 2.69413480e-03 -1.84738869e-06 9.99996371e-01 1.99593135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.634012739 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:102.39, Y:21.99, Z:0.20 [[ 8.88459210e-01 -4.58949329e-01 -2.39684159e-03 1.02394706e+02] [ 4.58947680e-01 8.88462443e-01 -1.23025033e-03 2.19873346e+01] [ 2.69412630e-03 -6.99765115e-06 9.99996371e-01 2.00183499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.664012739 meters Centerline goodness : 0.996293 Centerline is valid? [True, True] Translation: X:102.42, Y:22.00, Z:0.20 [[ 8.86635184e-01 -4.62463304e-01 -2.39659896e-03 1.02418056e+02] [ 4.62461667e-01 8.86638422e-01 -1.23072280e-03 2.20016585e+01] [ 2.69408085e-03 -1.71330143e-05 9.99996371e-01 2.01198834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.694012739 meters Centerline goodness : 0.996420 Centerline is valid? [True, True] Translation: X:102.44, Y:22.01, Z:0.20 [[ 8.84938164e-01 -4.65702376e-01 -2.39649404e-03 1.02442520e+02] [ 4.65700750e-01 8.84941408e-01 -1.23092706e-03 2.20140186e+01] [ 2.69400247e-03 -2.67547414e-05 9.99996371e-01 2.00279746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.724012739 meters Centerline goodness : 0.996488 Centerline is valid? [True, True] Translation: X:102.47, Y:22.03, Z:0.20 [[ 8.83978580e-01 -4.67521259e-01 -2.39639392e-03 1.02468365e+02] [ 4.67519639e-01 8.83981827e-01 -1.23112194e-03 2.20257778e+01] [ 2.69394436e-03 -3.20757967e-05 9.99996371e-01 1.99470688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.754012739 meters Centerline goodness : 0.996596 Centerline is valid? [True, True] Translation: X:102.49, Y:22.04, Z:0.20 [[ 8.83294797e-01 -4.68811860e-01 -2.39617339e-03 1.02494552e+02] [ 4.68810244e-01 8.83298046e-01 -1.23155104e-03 2.20370476e+01] [ 2.69390100e-03 -3.55280074e-05 9.99996371e-01 1.98250739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.784012739 meters Centerline goodness : 0.996649 Centerline is valid? [True, True] Translation: X:102.52, Y:22.05, Z:0.20 [[ 8.82998929e-01 -4.69368886e-01 -2.39595342e-03 1.02520572e+02] [ 4.69367271e-01 8.83002179e-01 -1.23197883e-03 2.20484275e+01] [ 2.69388462e-03 -3.67461318e-05 9.99996371e-01 1.95820757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.814012739 meters Centerline goodness : 0.997189 Centerline is valid? [True, True] Translation: X:102.54, Y:22.06, Z:0.19 [[ 8.83191308e-01 -4.69006796e-01 -2.39572175e-03 1.02544857e+02] [ 4.69005178e-01 8.83194556e-01 -1.23242916e-03 2.20597408e+01] [ 2.69390606e-03 -3.51351857e-05 9.99996371e-01 1.94661688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.844012739 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:102.57, Y:22.07, Z:0.19 [[ 8.83896240e-01 -4.67676917e-01 -2.39556394e-03 1.02572153e+02] [ 4.67675293e-01 8.83899486e-01 -1.23273583e-03 2.20684870e+01] [ 2.69395983e-03 -3.07355011e-05 9.99996371e-01 1.94037943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.874012739 meters Centerline goodness : 0.996347 Centerline is valid? [True, True] Translation: X:102.60, Y:22.08, Z:0.19 [[ 8.84404031e-01 -4.66715945e-01 -2.39532803e-03 1.02598344e+02] [ 4.66714316e-01 8.84407274e-01 -1.23319406e-03 2.20791158e+01] [ 2.69399687e-03 -2.72920922e-05 9.99996371e-01 1.94723626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.904012739 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:102.62, Y:22.09, Z:0.19 [[ 8.85567804e-01 -4.64503960e-01 -2.39509375e-03 1.02624937e+02] [ 4.64502322e-01 8.85571042e-01 -1.23364891e-03 2.20890939e+01] [ 2.69406047e-03 -2.00468510e-05 9.99996371e-01 1.94297135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.934012739 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:102.65, Y:22.10, Z:0.19 [[ 8.85831372e-01 -4.64001126e-01 -2.39486038e-03 1.02649483e+02] [ 4.63999485e-01 8.85834609e-01 -1.23410178e-03 2.20993747e+01] [ 2.69407483e-03 -1.80079142e-05 9.99996371e-01 1.94060197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.964012739 meters Centerline goodness : 0.992941 Centerline is valid? [True, True] Translation: X:102.68, Y:22.11, Z:0.20 [[ 8.86059660e-01 -4.63565038e-01 -2.39470068e-03 1.02676788e+02] [ 4.63563395e-01 8.86062896e-01 -1.23441160e-03 2.21064796e+01] [ 2.69408548e-03 -1.63332571e-05 9.99996371e-01 2.04564760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.994012739 meters Centerline goodness : 0.996493 Centerline is valid? [True, True] Translation: X:102.70, Y:22.12, Z:0.20 [[ 8.85994462e-01 -4.63689638e-01 -2.39445983e-03 1.02701742e+02] [ 4.63687994e-01 8.85997697e-01 -1.23487861e-03 2.21162364e+01] [ 2.69408631e-03 -1.61866642e-05 9.99996371e-01 1.96912765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.024012739 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:102.73, Y:22.13, Z:0.20 [[ 8.85879839e-01 -4.63908587e-01 -2.39435492e-03 1.02727568e+02] [ 4.63906943e-01 8.85883075e-01 -1.23508199e-03 2.21278966e+01] [ 2.69408364e-03 -1.66236336e-05 9.99996371e-01 1.98125072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.054012739 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:102.75, Y:22.14, Z:0.20 [[ 8.86253220e-01 -4.63194880e-01 -2.39414279e-03 1.02754421e+02] [ 4.63193233e-01 8.86256454e-01 -1.23549305e-03 2.21376598e+01] [ 2.69409856e-03 -1.39910408e-05 9.99996371e-01 1.96455418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.084012739 meters Centerline goodness : 0.996529 Centerline is valid? [True, True] Translation: X:102.78, Y:22.15, Z:0.20 [[ 8.86640265e-01 -4.62453576e-01 -2.39391420e-03 1.02778756e+02] [ 4.62451925e-01 8.86643497e-01 -1.23593582e-03 2.21489670e+01] [ 2.69411140e-03 -1.12397649e-05 9.99996371e-01 1.95562783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.114012739 meters Centerline goodness : 0.996800 Centerline is valid? [True, True] Translation: X:102.80, Y:22.16, Z:0.20 [[ 8.88148279e-01 -4.59550764e-01 -2.39381494e-03 1.02803353e+02] [ 4.59549102e-01 8.88151505e-01 -1.23612804e-03 2.21623494e+01] [ 2.69413393e-03 -2.21051500e-06 9.99996371e-01 1.95469155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.144012739 meters Centerline goodness : 0.997035 Centerline is valid? [True, True] Translation: X:102.83, Y:22.18, Z:0.20 [[ 8.88969977e-01 -4.57959223e-01 -2.39357664e-03 1.02827191e+02] [ 4.57957554e-01 8.88973200e-01 -1.23658930e-03 2.21752655e+01] [ 2.69413296e-03 3.13425729e-06 9.99996371e-01 1.96562137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.174012739 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:102.85, Y:22.19, Z:0.20 [[ 8.90303286e-01 -4.55361758e-01 -2.39341382e-03 1.02852276e+02] [ 4.55360078e-01 8.90306503e-01 -1.23690435e-03 2.21884656e+01] [ 2.69411083e-03 1.13549071e-05 9.99996371e-01 2.02413032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20401273899999 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:102.88, Y:22.20, Z:0.20 [[ 8.90802814e-01 -4.54383779e-01 -2.39318231e-03 1.02876386e+02] [ 4.54382095e-01 8.90806029e-01 -1.23735213e-03 2.22020773e+01] [ 2.69409396e-03 1.48175657e-05 9.99996371e-01 2.03695478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.234012739 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:102.90, Y:22.22, Z:0.20 [[ 8.91092605e-01 -4.53815209e-01 -2.39294971e-03 1.02900475e+02] [ 4.53813521e-01 8.91095817e-01 -1.23780179e-03 2.22158776e+01] [ 2.69408076e-03 1.70430858e-05 9.99996371e-01 2.02563871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.264012739 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:102.93, Y:22.23, Z:0.21 [[ 8.90783295e-01 -4.54422047e-01 -2.39271037e-03 1.02925178e+02] [ 4.54420360e-01 8.90786508e-01 -1.23826427e-03 2.22289831e+01] [ 2.69408870e-03 1.57288190e-05 9.99996371e-01 2.07333813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.294012739 meters Centerline goodness : 0.996547 Centerline is valid? [True, True] Translation: X:102.95, Y:22.24, Z:0.20 [[ 8.90014800e-01 -4.55925358e-01 -2.39247072e-03 1.02949401e+02] [ 4.55923675e-01 8.90018015e-01 -1.23872713e-03 2.22403744e+01] [ 2.69410915e-03 1.17014400e-05 9.99996371e-01 1.97557748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.324012739 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:102.97, Y:22.25, Z:0.20 [[ 8.88073414e-01 -4.59695429e-01 -2.39236664e-03 1.02974968e+02] [ 4.59693759e-01 8.88076637e-01 -1.23892811e-03 2.22515650e+01] [ 2.69413451e-03 5.03103483e-07 9.99996371e-01 1.98974840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.354012739 meters Centerline goodness : 0.996370 Centerline is valid? [True, True] Translation: X:103.00, Y:22.26, Z:0.20 [[ 8.86876033e-01 -4.62001276e-01 -2.39212814e-03 1.02999467e+02] [ 4.61999614e-01 8.86879259e-01 -1.23938843e-03 2.22640093e+01] [ 2.69412787e-03 -5.97837856e-06 9.99996371e-01 1.99528035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.384012739 meters Centerline goodness : 0.996561 Centerline is valid? [True, True] Translation: X:103.02, Y:22.28, Z:0.20 [[ 8.85675212e-01 -4.64299146e-01 -2.39202476e-03 1.03024185e+02] [ 4.64297492e-01 8.85678442e-01 -1.23958792e-03 2.22764083e+01] [ 2.69410438e-03 -1.27388052e-05 9.99996371e-01 1.99753304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.414012739 meters Centerline goodness : 0.996729 Centerline is valid? [True, True] Translation: X:103.05, Y:22.29, Z:0.20 [[ 8.83607553e-01 -4.68222138e-01 -2.39179201e-03 1.03050666e+02] [ 4.68220497e-01 8.83610790e-01 -1.24003685e-03 2.22861660e+01] [ 2.69402594e-03 -2.41801125e-05 9.99996371e-01 1.98891829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.444012739 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:103.08, Y:22.29, Z:0.20 [[ 8.81882488e-01 -4.71463209e-01 -2.39155921e-03 1.03078020e+02] [ 4.71461579e-01 8.81885730e-01 -1.24048567e-03 2.22942078e+01] [ 2.69392530e-03 -3.35656898e-05 9.99996371e-01 1.96434532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.474012739 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:103.10, Y:22.31, Z:0.19 [[ 8.81380251e-01 -4.72401455e-01 -2.39131672e-03 1.03102869e+02] [ 4.72399827e-01 8.81383494e-01 -1.24095295e-03 2.23056227e+01] [ 2.69389507e-03 -3.59061868e-05 9.99996371e-01 1.94754717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.504012739 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:103.13, Y:22.32, Z:0.19 [[ 8.80957005e-01 -4.73190276e-01 -2.39121137e-03 1.03127921e+02] [ 4.73188650e-01 8.80960250e-01 -1.24115593e-03 2.23179183e+01] [ 2.69386508e-03 -3.80890661e-05 9.99996371e-01 1.92714488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.534012739 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:103.15, Y:22.33, Z:0.19 [[ 8.80960460e-01 -4.73183845e-01 -2.39097292e-03 1.03154087e+02] [ 4.73182217e-01 8.80963704e-01 -1.24161511e-03 2.23264842e+01] [ 2.69387257e-03 -3.75520486e-05 9.99996371e-01 1.91470408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.564012739 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:103.18, Y:22.34, Z:0.19 [[ 8.81026360e-01 -4.73061134e-01 -2.39086933e-03 1.03180647e+02] [ 4.73059505e-01 8.81029604e-01 -1.24181455e-03 2.23370619e+01] [ 2.69388085e-03 -3.69521034e-05 9.99996371e-01 1.92786021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.594012739 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:103.21, Y:22.35, Z:0.20 [[ 8.80641710e-01 -4.73776808e-01 -2.39063348e-03 1.03207570e+02] [ 4.73775181e-01 8.80644954e-01 -1.24226841e-03 2.23453575e+01] [ 2.69385728e-03 -3.86294353e-05 9.99996371e-01 1.96314054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.624012739 meters Centerline goodness : 0.996855 Centerline is valid? [True, True] Translation: X:103.23, Y:22.36, Z:0.20 [[ 8.80000018e-01 -4.74967634e-01 -2.39056030e-03 1.03233531e+02] [ 4.74966011e-01 8.80003264e-01 -1.24240922e-03 2.23566423e+01] [ 2.69380504e-03 -4.21147542e-05 9.99996371e-01 1.97670343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.654012739 meters Centerline goodness : 0.996888 Centerline is valid? [True, True] Translation: X:103.26, Y:22.36, Z:0.20 [[ 8.78864408e-01 -4.77065655e-01 -2.39032473e-03 1.03260557e+02] [ 4.77064039e-01 8.78867657e-01 -1.24286227e-03 2.23628878e+01] [ 2.69370600e-03 -4.80305556e-05 9.99996371e-01 1.98833475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.684012739 meters Centerline goodness : 0.996664 Centerline is valid? [True, True] Translation: X:103.29, Y:22.37, Z:0.20 [[ 8.78391699e-01 -4.77935466e-01 -2.39022240e-03 1.03285612e+02] [ 4.77933852e-01 8.78394950e-01 -1.24305904e-03 2.23724081e+01] [ 2.69366129e-03 -5.04754541e-05 9.99996371e-01 1.99525461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.714012739 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:103.31, Y:22.38, Z:0.20 [[ 8.78174813e-01 -4.78333864e-01 -2.39012248e-03 1.03310968e+02] [ 4.78332251e-01 8.78178064e-01 -1.24325115e-03 2.23826395e+01] [ 2.69364226e-03 -5.14808222e-05 9.99996371e-01 2.00023651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.744012739 meters Centerline goodness : 0.996749 Centerline is valid? [True, True] Translation: X:103.34, Y:22.39, Z:0.20 [[ 8.78136285e-01 -4.78404590e-01 -2.39002502e-03 1.03338163e+02] [ 4.78402977e-01 8.78139536e-01 -1.24343847e-03 2.23908010e+01] [ 2.69364214e-03 -5.14866517e-05 9.99996371e-01 2.00984038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.774012739 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:103.36, Y:22.40, Z:0.20 [[ 8.78314671e-01 -4.78077010e-01 -2.38980319e-03 1.03364413e+02] [ 4.78075395e-01 8.78317921e-01 -1.24386466e-03 2.24008228e+01] [ 2.69367007e-03 -5.00015225e-05 9.99996371e-01 2.01039772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.804012739 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:103.39, Y:22.41, Z:0.20 [[ 8.79677721e-01 -4.75564293e-01 -2.38958235e-03 1.03392099e+02] [ 4.75562667e-01 8.79680966e-01 -1.24428879e-03 2.24078517e+01] [ 2.69380942e-03 -4.18230302e-05 9.99996371e-01 1.98651778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.834012739 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:103.42, Y:22.42, Z:0.20 [[ 8.79586397e-01 -4.75733183e-01 -2.38934373e-03 1.03417285e+02] [ 4.75731557e-01 8.79589641e-01 -1.24474681e-03 2.24211746e+01] [ 2.69380936e-03 -4.18238503e-05 9.99996371e-01 1.98728516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.864012739 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:103.44, Y:22.43, Z:0.20 [[ 8.80418356e-01 -4.74191744e-01 -2.38910465e-03 1.03443694e+02] [ 4.74190110e-01 8.80421597e-01 -1.24520552e-03 2.24316682e+01] [ 2.69388551e-03 -3.65880003e-05 9.99996371e-01 1.98376421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.894012739 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:103.47, Y:22.44, Z:0.20 [[ 8.81255320e-01 -4.72634482e-01 -2.38886446e-03 1.03468977e+02] [ 4.72632842e-01 8.81258557e-01 -1.24566614e-03 2.24416759e+01] [ 2.69395202e-03 -3.13058868e-05 9.99996371e-01 1.99336704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.924012739 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:103.50, Y:22.45, Z:0.20 [[ 8.82593402e-01 -4.70131025e-01 -2.38870031e-03 1.03495735e+02] [ 4.70129375e-01 8.82596634e-01 -1.24598084e-03 2.24501189e+01] [ 2.69403311e-03 -2.33037180e-05 9.99996371e-01 2.01344741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95401273899999 meters Centerline goodness : 0.996529 Centerline is valid? [True, True] Translation: X:103.52, Y:22.46, Z:0.20 [[ 8.83797854e-01 -4.67862853e-01 -2.38846397e-03 1.03522338e+02] [ 4.67861193e-01 8.83801081e-01 -1.24643372e-03 2.24589290e+01] [ 2.69408708e-03 -1.58741566e-05 9.99996371e-01 2.00120141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.984012739 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:103.55, Y:22.47, Z:0.20 [[ 8.84190892e-01 -4.67119645e-01 -2.38821931e-03 1.03548156e+02] [ 4.67117981e-01 8.84194117e-01 -1.24690234e-03 2.24698991e+01] [ 2.69410204e-03 -1.30804942e-05 9.99996371e-01 1.99555874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.014012739 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:103.57, Y:22.48, Z:0.20 [[ 8.84503046e-01 -4.66528305e-01 -2.38797336e-03 1.03573047e+02] [ 4.66526638e-01 8.84506269e-01 -1.24737319e-03 2.24802645e+01] [ 2.69411230e-03 -1.07477978e-05 9.99996371e-01 1.99517684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.044012739 meters Centerline goodness : 0.996754 Centerline is valid? [True, True] Translation: X:103.60, Y:22.49, Z:0.20 [[ 8.85008208e-01 -4.65569297e-01 -2.38786622e-03 1.03599563e+02] [ 4.65567626e-01 8.85011429e-01 -1.24757824e-03 2.24887010e+01] [ 2.69412302e-03 -7.59622660e-06 9.99996371e-01 2.00982343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.074012739 meters Centerline goodness : 0.996641 Centerline is valid? [True, True] Translation: X:103.62, Y:22.50, Z:0.20 [[ 8.85524334e-01 -4.64586862e-01 -2.38776134e-03 1.03624277e+02] [ 4.64585187e-01 8.85527553e-01 -1.24777894e-03 2.24992570e+01] [ 2.69413016e-03 -4.37993100e-06 9.99996371e-01 2.01451932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.104012739 meters Centerline goodness : 0.991549 Centerline is valid? [True, True] Translation: X:103.65, Y:22.51, Z:0.21 [[ 8.86847799e-01 -4.62055495e-01 -2.38759840e-03 1.03649254e+02] [ 4.62053809e-01 8.86851013e-01 -1.24809064e-03 2.25107797e+01] [ 2.69413120e-03 3.66750309e-06 9.99996371e-01 2.11865264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.134012739 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:103.67, Y:22.52, Z:0.20 [[ 8.87444439e-01 -4.60908524e-01 -2.38736438e-03 1.03674003e+02] [ 4.60906833e-01 8.87447651e-01 -1.24853813e-03 2.25239828e+01] [ 2.69412277e-03 7.65566088e-06 9.99996371e-01 2.00088345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.164012739 meters Centerline goodness : 0.996894 Centerline is valid? [True, True] Translation: X:103.70, Y:22.54, Z:0.20 [[ 8.87907979e-01 -4.60014915e-01 -2.38712931e-03 1.03698541e+02] [ 4.60013220e-01 8.87911188e-01 -1.24898739e-03 2.25375738e+01] [ 2.69411166e-03 1.08748307e-05 9.99996371e-01 1.98094835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.194012739 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:103.72, Y:22.55, Z:0.20 [[ 8.88245917e-01 -4.59362052e-01 -2.38689459e-03 1.03722739e+02] [ 4.59360353e-01 8.88249124e-01 -1.24943581e-03 2.25497133e+01] [ 2.69410042e-03 1.33615187e-05 9.99996371e-01 1.97870792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.224012739 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:103.75, Y:22.56, Z:0.20 [[ 8.88018827e-01 -4.59800898e-01 -2.38679218e-03 1.03747957e+02] [ 4.59799200e-01 8.88022035e-01 -1.24963141e-03 2.25625781e+01] [ 2.69410569e-03 1.22510829e-05 9.99996371e-01 2.00303944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.254012739 meters Centerline goodness : 0.997244 Centerline is valid? [True, True] Translation: X:103.77, Y:22.58, Z:0.20 [[ 8.86979795e-01 -4.61802066e-01 -2.38655970e-03 1.03772843e+02] [ 4.61800374e-01 8.86983006e-01 -1.25007524e-03 2.25762418e+01] [ 2.69412523e-03 6.67731627e-06 9.99996371e-01 2.04628348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.284012739 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:103.80, Y:22.59, Z:0.20 [[ 8.86303981e-01 -4.63097785e-01 -2.38632251e-03 1.03797212e+02] [ 4.63096096e-01 8.86307194e-01 -1.25052787e-03 2.25898735e+01] [ 2.69413149e-03 3.25118893e-06 9.99996371e-01 2.04680056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.314012739 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:103.82, Y:22.60, Z:0.20 [[ 8.85407229e-01 -4.64810009e-01 -2.38608616e-03 1.03821530e+02] [ 4.64808326e-01 8.85410445e-01 -1.25097867e-03 2.26027879e+01] [ 2.69413302e-03 -1.44715856e-06 9.99996371e-01 2.03976437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.344012739 meters Centerline goodness : 0.996750 Centerline is valid? [True, True] Translation: X:103.84, Y:22.62, Z:0.21 [[ 8.85127606e-01 -4.65342270e-01 -2.38584561e-03 1.03844940e+02] [ 4.65340588e-01 8.85130822e-01 -1.25143728e-03 2.26160500e+01] [ 2.69413215e-03 -2.54910999e-06 9.99996371e-01 2.05469120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.374012739 meters Centerline goodness : 0.996694 Centerline is valid? [True, True] Translation: X:103.87, Y:22.63, Z:0.21 [[ 8.84981195e-01 -4.65620654e-01 -2.38574148e-03 1.03868729e+02] [ 4.65618971e-01 8.84984411e-01 -1.25163576e-03 2.26304491e+01] [ 2.69413148e-03 -3.17238650e-06 9.99996371e-01 2.06802622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.404012739 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:103.89, Y:22.65, Z:0.21 [[ 8.85635795e-01 -4.64374361e-01 -2.38550305e-03 1.03892459e+02] [ 4.64372673e-01 8.85639008e-01 -1.25209003e-03 2.26462700e+01] [ 2.69413306e-03 1.13331951e-06 9.99996371e-01 2.06485814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.434012739 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:103.92, Y:22.66, Z:0.21 [[ 8.86238376e-01 -4.63223327e-01 -2.38526272e-03 1.03915989e+02] [ 4.63221634e-01 8.86241586e-01 -1.25254769e-03 2.26593046e+01] [ 2.69412832e-03 5.15053743e-06 9.99996371e-01 2.05018985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.464012739 meters Centerline goodness : 0.997477 Centerline is valid? [True, True] Translation: X:103.94, Y:22.68, Z:0.20 [[ 8.86951337e-01 -4.61856728e-01 -2.38515771e-03 1.03939782e+02] [ 4.61855029e-01 8.86954544e-01 -1.25274762e-03 2.26752851e+01] [ 2.69411639e-03 9.52909815e-06 9.99996371e-01 2.00358362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.494012739 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:103.96, Y:22.69, Z:0.20 [[ 8.87028141e-01 -4.61709204e-01 -2.38491896e-03 1.03962304e+02] [ 4.61707504e-01 8.87031347e-01 -1.25320197e-03 2.26898468e+01] [ 2.69411276e-03 1.04904302e-05 9.99996371e-01 1.99813002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.524012739 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:103.99, Y:22.70, Z:0.20 [[ 8.87004052e-01 -4.61755481e-01 -2.38481554e-03 1.03985747e+02] [ 4.61753780e-01 8.87007258e-01 -1.25339876e-03 2.27046764e+01] [ 2.69411244e-03 1.05721887e-05 9.99996371e-01 2.00908557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.554012739 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:104.01, Y:22.72, Z:0.21 [[ 8.86701062e-01 -4.62337043e-01 -2.38457886e-03 1.04008916e+02] [ 4.62335343e-01 8.86704268e-01 -1.25384887e-03 2.27209856e+01] [ 2.69411703e-03 9.31403523e-06 9.99996371e-01 2.05619843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.584012739 meters Centerline goodness : 0.997930 Centerline is valid? [True, True] Translation: X:104.03, Y:22.74, Z:0.21 [[ 8.86314510e-01 -4.63077644e-01 -2.38434309e-03 1.04032549e+02] [ 4.63075945e-01 8.86317717e-01 -1.25429706e-03 2.27355962e+01] [ 2.69412245e-03 7.56975491e-06 9.99996371e-01 2.06902090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.614012739 meters Centerline goodness : 0.997510 Centerline is valid? [True, True] Translation: X:104.06, Y:22.75, Z:0.21 [[ 8.85512752e-01 -4.64608957e-01 -2.38410509e-03 1.04056097e+02] [ 4.64607263e-01 8.85515961e-01 -1.25474927e-03 2.27503237e+01] [ 2.69413086e-03 3.42393624e-06 9.99996371e-01 2.06789518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.644012739 meters Centerline goodness : 0.997582 Centerline is valid? [True, True] Translation: X:104.08, Y:22.76, Z:0.21 [[ 8.84892309e-01 -4.65789564e-01 -2.38386876e-03 1.04080107e+02] [ 4.65787873e-01 8.84895520e-01 -1.25519810e-03 2.27630885e+01] [ 2.69413297e-03 3.37987691e-07 9.99996371e-01 2.05628665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.674012739 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:104.10, Y:22.78, Z:0.20 [[ 8.83725562e-01 -4.67999411e-01 -2.38376569e-03 1.04104747e+02] [ 4.67997727e-01 8.83728777e-01 -1.25539382e-03 2.27766883e+01] [ 2.69412591e-03 -6.17332114e-06 9.99996371e-01 2.00466732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70401273899999 meters Centerline goodness : 0.997915 Centerline is valid? [True, True] Translation: X:104.13, Y:22.79, Z:0.20 [[ 8.83411484e-01 -4.68592007e-01 -2.38352301e-03 1.04128825e+02] [ 4.68590324e-01 8.83414699e-01 -1.25585441e-03 2.27893472e+01] [ 2.69412260e-03 -7.45961225e-06 9.99996371e-01 1.98725214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.734012739 meters Centerline goodness : 0.997433 Centerline is valid? [True, True] Translation: X:104.16, Y:22.80, Z:0.20 [[ 8.82949869e-01 -4.69461232e-01 -2.38341759e-03 1.04155100e+02] [ 4.69459552e-01 8.82953085e-01 -1.25605445e-03 2.28005110e+01] [ 2.69411478e-03 -9.88504195e-06 9.99996371e-01 2.00964535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.764012739 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:104.18, Y:22.81, Z:0.20 [[ 8.83002320e-01 -4.69362571e-01 -2.38317857e-03 1.04179134e+02] [ 4.69360890e-01 8.83005536e-01 -1.25650779e-03 2.28120427e+01] [ 2.69411760e-03 -9.07152080e-06 9.99996371e-01 2.02233612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.794012739 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:104.20, Y:22.82, Z:0.20 [[ 8.83206042e-01 -4.68979113e-01 -2.38301543e-03 1.04204012e+02] [ 4.68977429e-01 8.83209257e-01 -1.25681711e-03 2.28248785e+01] [ 2.69412226e-03 -7.55198946e-06 9.99996371e-01 2.02584735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.824012739 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:104.23, Y:22.84, Z:0.20 [[ 8.84162458e-01 -4.67173490e-01 -2.38277674e-03 1.04229053e+02] [ 4.67171799e-01 8.84165669e-01 -1.25726947e-03 2.28359948e+01] [ 2.69413236e-03 -1.53563104e-06 9.99996371e-01 2.03490855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.854012739 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:104.25, Y:22.85, Z:0.20 [[ 8.84395243e-01 -4.66732662e-01 -2.38261418e-03 1.04254701e+02] [ 4.66730968e-01 8.84398452e-01 -1.25757747e-03 2.28468232e+01] [ 2.69413277e-03 1.55714700e-07 9.99996371e-01 2.03617927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.884012739 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:104.28, Y:22.86, Z:0.20 [[ 8.84614039e-01 -4.66317838e-01 -2.38237994e-03 1.04280856e+02] [ 4.66316141e-01 8.84617247e-01 -1.25802106e-03 2.28555325e+01] [ 2.69413204e-03 1.92087545e-06 9.99996371e-01 2.03030692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.914012739 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:104.31, Y:22.87, Z:0.21 [[ 8.84755164e-01 -4.66050023e-01 -2.38227791e-03 1.04305574e+02] [ 4.66048325e-01 8.84758371e-01 -1.25821423e-03 2.28679924e+01] [ 2.69413110e-03 2.95490707e-06 9.99996371e-01 2.08112496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.944012739 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:104.33, Y:22.88, Z:0.20 [[ 8.84753645e-01 -4.66052909e-01 -2.38204443e-03 1.04329609e+02] [ 4.66051209e-01 8.84756851e-01 -1.25865612e-03 2.28805021e+01] [ 2.69413047e-03 3.44590110e-06 9.99996371e-01 1.98868425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.974012739 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:104.35, Y:22.89, Z:0.20 [[ 8.85295767e-01 -4.65022291e-01 -2.38194272e-03 1.04354669e+02] [ 4.65020587e-01 8.85298971e-01 -1.25884856e-03 2.28903499e+01] [ 2.69412408e-03 6.80090128e-06 9.99996371e-01 1.99645463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.004012739 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:104.38, Y:22.90, Z:0.20 [[ 8.86337068e-01 -4.63034479e-01 -2.38184168e-03 1.04379660e+02] [ 4.63032768e-01 8.86340268e-01 -1.25903972e-03 2.29010820e+01] [ 2.69410099e-03 1.30628264e-05 9.99996371e-01 2.03955187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.034012739 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:104.40, Y:22.91, Z:0.21 [[ 8.87179944e-01 -4.61417462e-01 -2.38174289e-03 1.04404655e+02] [ 4.61415744e-01 8.87183141e-01 -1.25922655e-03 2.29135454e+01] [ 2.69407126e-03 1.81868741e-05 9.99996371e-01 2.06014454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.064012739 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:104.43, Y:22.93, Z:0.21 [[ 8.88234336e-01 -4.59384471e-01 -2.38151487e-03 1.04430108e+02] [ 4.59382745e-01 8.88237529e-01 -1.25965765e-03 2.29259638e+01] [ 2.69401805e-03 2.48443350e-05 9.99996371e-01 2.07346709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.094012739 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:104.45, Y:22.94, Z:0.20 [[ 8.90459323e-01 -4.55056616e-01 -2.38128865e-03 1.04453869e+02] [ 4.55054873e-01 8.90462506e-01 -1.26008517e-03 2.29398954e+01] [ 2.69385835e-03 3.84375873e-05 9.99996371e-01 2.04985733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.124012739 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:104.48, Y:22.95, Z:0.20 [[ 8.91575614e-01 -4.52865604e-01 -2.38106385e-03 1.04477316e+02] [ 4.52863852e-01 8.91578792e-01 -1.26050981e-03 2.29536716e+01] [ 2.69374757e-03 4.55420628e-05 9.99996371e-01 2.03799167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.154012739 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:104.50, Y:22.97, Z:0.20 [[ 8.93147370e-01 -4.49757832e-01 -2.38096626e-03 1.04501686e+02] [ 4.49756068e-01 8.93150541e-01 -1.26069411e-03 2.29668881e+01] [ 2.69356836e-03 5.51316077e-05 9.99996371e-01 2.03328103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.184012739 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:104.53, Y:22.98, Z:0.20 [[ 8.93390043e-01 -4.49275598e-01 -2.38073152e-03 1.04526244e+02] [ 4.49273831e-01 8.93393214e-01 -1.26113725e-03 2.29798487e+01] [ 2.69352757e-03 5.70870956e-05 9.99996371e-01 2.02963190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.214012739 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:104.55, Y:22.99, Z:0.20 [[ 8.92952078e-01 -4.50145443e-01 -2.38049301e-03 1.04550015e+02] [ 4.50143678e-01 8.92955249e-01 -1.26158729e-03 2.29934670e+01] [ 2.69357150e-03 5.49731176e-05 9.99996371e-01 1.99846152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.244012739 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:104.57, Y:23.01, Z:0.20 [[ 8.92510860e-01 -4.51019620e-01 -2.38038969e-03 1.04573840e+02] [ 4.51017858e-01 8.92514033e-01 -1.26178221e-03 2.30063780e+01] [ 2.69361974e-03 5.25560618e-05 9.99996371e-01 1.99055401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.274012739 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:104.60, Y:23.02, Z:0.20 [[ 8.91821629e-01 -4.52380943e-01 -2.38022942e-03 1.04598570e+02] [ 4.52379185e-01 8.91824804e-01 -1.26208447e-03 2.30193683e+01] [ 2.69369060e-03 4.87879854e-05 9.99996371e-01 1.99235008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.304012739 meters Centerline goodness : 0.998290 Centerline is valid? [True, True] Translation: X:104.62, Y:23.03, Z:0.20 [[ 8.90189770e-01 -4.55583702e-01 -2.37999500e-03 1.04623596e+02] [ 4.55581954e-01 8.90192951e-01 -1.26252637e-03 2.30321219e+01] [ 2.69384121e-03 3.96052821e-05 9.99996371e-01 2.01471734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.334012739 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:104.65, Y:23.05, Z:0.20 [[ 8.89317815e-01 -4.57283458e-01 -2.37975862e-03 1.04647558e+02] [ 4.57281715e-01 8.89320998e-01 -1.26297177e-03 2.30453295e+01] [ 2.69390541e-03 3.49631949e-05 9.99996371e-01 2.01467959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.364012739 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:104.67, Y:23.06, Z:0.20 [[ 8.87712455e-01 -4.60392153e-01 -2.37959690e-03 1.04672495e+02] [ 4.60390421e-01 8.87715644e-01 -1.26327640e-03 2.30575977e+01] [ 2.69400794e-03 2.58825784e-05 9.99996371e-01 2.01549264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.394012739 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:104.70, Y:23.07, Z:0.20 [[ 8.86841002e-01 -4.62068584e-01 -2.37936910e-03 1.04697722e+02] [ 4.62066856e-01 8.86844193e-01 -1.26370532e-03 2.30699556e+01] [ 2.69404820e-03 2.12780967e-05 9.99996371e-01 2.01758007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.424012739 meters Centerline goodness : 0.998003 Centerline is valid? [True, True] Translation: X:104.72, Y:23.08, Z:0.20 [[ 8.84617227e-01 -4.66311808e-01 -2.37913693e-03 1.04723296e+02] [ 4.66310094e-01 8.84620426e-01 -1.26414227e-03 2.30809517e+01] [ 2.69411759e-03 8.86646342e-06 9.99996371e-01 2.02442822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45401273899999 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:104.75, Y:23.09, Z:0.20 [[ 8.83202732e-01 -4.68985367e-01 -2.37890162e-03 1.04748090e+02] [ 4.68983662e-01 8.83205936e-01 -1.26458492e-03 2.30927939e+01] [ 2.69413186e-03 1.21886623e-06 9.99996371e-01 2.02946045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.484012739 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:104.77, Y:23.11, Z:0.20 [[ 8.81704251e-01 -4.71796519e-01 -2.37879907e-03 1.04773430e+02] [ 4.71794824e-01 8.81707460e-01 -1.26477781e-03 2.31053480e+01] [ 2.69412265e-03 -7.14511694e-06 9.99996371e-01 2.03739439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.514012739 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:104.80, Y:23.12, Z:0.21 [[ 8.79364750e-01 -4.76142814e-01 -2.37856551e-03 1.04799309e+02] [ 4.76141134e-01 8.79367966e-01 -1.26521689e-03 2.31166583e+01] [ 2.69405824e-03 -1.99457453e-05 9.99996371e-01 2.07420927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.544012739 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:104.82, Y:23.13, Z:0.21 [[ 8.78460561e-01 -4.77808943e-01 -2.37832828e-03 1.04824358e+02] [ 4.77807267e-01 8.78463781e-01 -1.26566268e-03 2.31277585e+01] [ 2.69402019e-03 -2.45477864e-05 9.99996371e-01 2.08785310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.574012739 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:104.85, Y:23.13, Z:0.21 [[ 8.77107273e-01 -4.80288639e-01 -2.37816660e-03 1.04852150e+02] [ 4.80286971e-01 8.77110496e-01 -1.26596639e-03 2.31349366e+01] [ 2.69394416e-03 -3.18141092e-05 9.99996371e-01 2.08586193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.604012739 meters Centerline goodness : 0.997844 Centerline is valid? [True, True] Translation: X:104.88, Y:23.15, Z:0.21 [[ 8.76483916e-01 -4.81425269e-01 -2.37793234e-03 1.04878088e+02] [ 4.81423605e-01 8.76487141e-01 -1.26640627e-03 2.31450656e+01] [ 2.69390709e-03 -3.48080310e-05 9.99996371e-01 2.06665238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.634012739 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:104.90, Y:23.15, Z:0.20 [[ 8.76005339e-01 -4.82295545e-01 -2.37769569e-03 1.04903640e+02] [ 4.82293883e-01 8.76008565e-01 -1.26685042e-03 2.31535106e+01] [ 2.69387810e-03 -3.69803523e-05 9.99996371e-01 2.02602558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.664012739 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:104.93, Y:23.17, Z:0.20 [[ 8.76168457e-01 -4.81999152e-01 -2.37759253e-03 1.04929703e+02] [ 4.81997488e-01 8.76171682e-01 -1.26704400e-03 2.31651561e+01] [ 2.69389338e-03 -3.58496394e-05 9.99996371e-01 2.01303716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.694012739 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:104.96, Y:23.17, Z:0.20 [[ 8.76972464e-01 -4.80534750e-01 -2.37734577e-03 1.04955718e+02] [ 4.80533079e-01 8.76975685e-01 -1.26750682e-03 2.31743125e+01] [ 2.69395551e-03 -3.08247101e-05 9.99996371e-01 2.00260180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.724012739 meters Centerline goodness : 0.998343 Centerline is valid? [True, True] Translation: X:104.98, Y:23.19, Z:0.20 [[ 8.77280423e-01 -4.79972300e-01 -2.37723809e-03 1.04980462e+02] [ 4.79970627e-01 8.77283643e-01 -1.26770874e-03 2.31860020e+01] [ 2.69397717e-03 -2.88683941e-05 9.99996371e-01 1.99937286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.754012739 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:105.01, Y:23.20, Z:0.20 [[ 8.77428671e-01 -4.79701236e-01 -2.37713378e-03 1.05005515e+02] [ 4.79699562e-01 8.77431891e-01 -1.26790432e-03 2.31984142e+01] [ 2.69398825e-03 -2.78144321e-05 9.99996371e-01 1.99559806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.784012739 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:105.03, Y:23.21, Z:0.20 [[ 8.77337720e-01 -4.79867560e-01 -2.37689285e-03 1.05030573e+02] [ 4.79865885e-01 8.77340939e-01 -1.26835582e-03 2.32120003e+01] [ 2.69398822e-03 -2.78133820e-05 9.99996371e-01 1.99636543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.814012739 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:105.06, Y:23.22, Z:0.20 [[ 8.77646840e-01 -4.79301968e-01 -2.37665232e-03 1.05055162e+02] [ 4.79300289e-01 8.77650057e-01 -1.26880636e-03 2.32230176e+01] [ 2.69401043e-03 -2.55662533e-05 9.99996371e-01 1.99816222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.844012739 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:105.08, Y:23.24, Z:0.20 [[ 8.77817557e-01 -4.78989236e-01 -2.37654777e-03 1.05080009e+02] [ 4.78987556e-01 8.77820774e-01 -1.26900217e-03 2.32354272e+01] [ 2.69402138e-03 -2.43844224e-05 9.99996371e-01 2.01939632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.874012739 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:105.10, Y:23.25, Z:0.20 [[ 8.78591194e-01 -4.77568704e-01 -2.37631000e-03 1.05104171e+02] [ 4.77567017e-01 8.78594407e-01 -1.26944725e-03 2.32482831e+01] [ 2.69406095e-03 -1.95221005e-05 9.99996371e-01 2.04152160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.904012739 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:105.13, Y:23.26, Z:0.20 [[ 8.78903597e-01 -4.76993522e-01 -2.37620663e-03 1.05128394e+02] [ 4.76991833e-01 8.78906809e-01 -1.26964072e-03 2.32627051e+01] [ 2.69407458e-03 -1.75393587e-05 9.99996371e-01 2.02518014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.934012739 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:105.15, Y:23.28, Z:0.20 [[ 8.79232684e-01 -4.76386651e-01 -2.37597098e-03 1.05152427e+02] [ 4.76384959e-01 8.79235894e-01 -1.27008155e-03 2.32773088e+01] [ 2.69408886e-03 -1.51796282e-05 9.99996371e-01 1.99739456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.964012739 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:105.18, Y:23.29, Z:0.20 [[ 8.79872308e-01 -4.75204248e-01 -2.37573571e-03 1.05176471e+02] [ 4.75202550e-01 8.79875515e-01 -1.27052148e-03 2.32927650e+01] [ 2.69410888e-03 -1.10589954e-05 9.99996371e-01 1.98106788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.994012739 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:105.20, Y:23.31, Z:0.20 [[ 8.80365806e-01 -4.74289368e-01 -2.37549362e-03 1.05200507e+02] [ 4.74287666e-01 8.80369011e-01 -1.27097396e-03 2.33072500e+01] [ 2.69412040e-03 -7.74531150e-06 9.99996371e-01 2.03167829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.024012739 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:105.22, Y:23.32, Z:0.20 [[ 8.80324764e-01 -4.74365541e-01 -2.37541838e-03 1.05223643e+02] [ 4.74363838e-01 8.80327969e-01 -1.27111456e-03 2.33209621e+01] [ 2.69412018e-03 -7.81895917e-06 9.99996371e-01 2.04931572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.054012739 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:105.25, Y:23.33, Z:0.21 [[ 8.80023978e-01 -4.74923316e-01 -2.37531626e-03 1.05246946e+02] [ 4.74921615e-01 8.80027183e-01 -1.27130535e-03 2.33344589e+01] [ 2.69411543e-03 -9.30984158e-06 9.99996371e-01 2.05273118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.084012739 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:105.27, Y:23.35, Z:0.20 [[ 8.79472446e-01 -4.75943878e-01 -2.37515708e-03 1.05271127e+02] [ 4.75942180e-01 8.79475653e-01 -1.27160268e-03 2.33477788e+01] [ 2.69410434e-03 -1.20979148e-05 9.99996371e-01 2.02148010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.114012739 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:105.30, Y:23.36, Z:0.20 [[ 8.79190328e-01 -4.76464823e-01 -2.37492383e-03 1.05295456e+02] [ 4.76463125e-01 8.79193535e-01 -1.27203816e-03 2.33607287e+01] [ 2.69409912e-03 -1.31999830e-05 9.99996371e-01 2.00679534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.144012739 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:105.32, Y:23.37, Z:0.20 [[ 8.79006674e-01 -4.76803553e-01 -2.37467959e-03 1.05318734e+02] [ 4.76801855e-01 8.79009881e-01 -1.27249395e-03 2.33744559e+01] [ 2.69409646e-03 -1.37209637e-05 9.99996371e-01 2.00482951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.174012739 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:105.34, Y:23.39, Z:0.20 [[ 8.79010635e-01 -4.76796250e-01 -2.37457320e-03 1.05342859e+02] [ 4.76794552e-01 8.79013843e-01 -1.27269246e-03 2.33882454e+01] [ 2.69409770e-03 -1.34733531e-05 9.99996371e-01 2.00687924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20401273899999 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:105.37, Y:23.40, Z:0.20 [[ 8.78769108e-01 -4.77241258e-01 -2.37433266e-03 1.05366819e+02] [ 4.77239560e-01 8.78772315e-01 -1.27314104e-03 2.34018931e+01] [ 2.69409324e-03 -1.43284574e-05 9.99996371e-01 1.99958570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.234012739 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:105.39, Y:23.41, Z:0.20 [[ 8.78561554e-01 -4.77623241e-01 -2.37409189e-03 1.05391989e+02] [ 4.77621543e-01 8.78564761e-01 -1.27358987e-03 2.34145521e+01] [ 2.69408959e-03 -1.49903305e-05 9.99996371e-01 2.01655208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.264012739 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:105.42, Y:23.43, Z:0.21 [[ 8.79041628e-01 -4.76739112e-01 -2.37385045e-03 1.05416352e+02] [ 4.76737409e-01 8.79044834e-01 -1.27403973e-03 2.34281034e+01] [ 2.69410554e-03 -1.17693556e-05 9.99996371e-01 2.05800107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.294012739 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:105.44, Y:23.44, Z:0.21 [[ 8.79532885e-01 -4.75832187e-01 -2.37377569e-03 1.05440543e+02] [ 4.75830481e-01 8.79536088e-01 -1.27417901e-03 2.34422932e+01] [ 2.69411677e-03 -8.83248581e-06 9.99996371e-01 2.06887925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.324012739 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:105.46, Y:23.46, Z:0.21 [[ 8.80229107e-01 -4.74543028e-01 -2.37353523e-03 1.05463540e+02] [ 4.74541316e-01 8.80232307e-01 -1.27462678e-03 2.34558065e+01] [ 2.69412764e-03 -4.37693849e-06 9.99996371e-01 2.07942503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.354012739 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:105.49, Y:23.47, Z:0.20 [[ 8.81976836e-01 -4.71286779e-01 -2.37337162e-03 1.05486795e+02] [ 4.71285055e-01 8.81980029e-01 -1.27493135e-03 2.34700314e+01] [ 2.69412466e-03 5.92534503e-06 9.99996371e-01 2.04533660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.384012739 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:105.51, Y:23.49, Z:0.20 [[ 8.83526406e-01 -4.68375339e-01 -2.37326886e-03 1.05510171e+02] [ 4.68373603e-01 8.83529593e-01 -1.27512260e-03 2.34857722e+01] [ 2.69408925e-03 1.50280010e-05 9.99996371e-01 2.00538710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.414012739 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:105.53, Y:23.50, Z:0.20 [[ 8.84126179e-01 -4.67242195e-01 -2.37303636e-03 1.05533988e+02] [ 4.67240455e-01 8.84129363e-01 -1.27555515e-03 2.35006319e+01] [ 2.69406431e-03 1.89731169e-05 9.99996371e-01 2.01061330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.444012739 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:105.56, Y:23.51, Z:0.20 [[ 8.84826774e-01 -4.65914101e-01 -2.37280445e-03 1.05557376e+02] [ 4.65912354e-01 8.84829956e-01 -1.27598640e-03 2.35148854e+01] [ 2.69402851e-03 2.35080206e-05 9.99996371e-01 2.02489129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.474012739 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:105.58, Y:23.53, Z:0.20 [[ 8.85751871e-01 -4.64152985e-01 -2.37270319e-03 1.05580100e+02] [ 4.64151231e-01 8.85755048e-01 -1.27617467e-03 2.35306097e+01] [ 2.69397411e-03 2.90809994e-05 9.99996371e-01 2.02536128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.504012739 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:105.60, Y:23.55, Z:0.20 [[ 8.85664480e-01 -4.64319717e-01 -2.37260301e-03 1.05603392e+02] [ 4.64317964e-01 8.85667657e-01 -1.27636090e-03 2.35455477e+01] [ 2.69397728e-03 2.87853109e-05 9.99996371e-01 2.01268948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.534012739 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:105.63, Y:23.56, Z:0.20 [[ 8.85125997e-01 -4.65345399e-01 -2.37237394e-03 1.05625667e+02] [ 4.65343649e-01 8.85129176e-01 -1.27678652e-03 2.35628106e+01] [ 2.69400413e-03 2.61477982e-05 9.99996371e-01 2.02808461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.564012739 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:105.65, Y:23.58, Z:0.20 [[ 8.84430566e-01 -4.66665787e-01 -2.37006575e-03 1.05649529e+02] [ 4.66664029e-01 8.84433741e-01 -1.28107388e-03 2.35783083e+01] [ 2.69399947e-03 2.69964618e-05 9.99996371e-01 2.04264585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.594012739 meters Centerline goodness : 0.995833 Centerline is valid? [True, True] Translation: X:105.67, Y:23.59, Z:0.22 [[ 8.83627035e-01 -4.68185472e-01 -2.37214883e-03 1.05672778e+02] [ 4.68183731e-01 8.83630219e-01 -1.27720499e-03 2.35944921e+01] [ 2.69407121e-03 1.79713669e-05 9.99996371e-01 2.17341508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.624012739 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:105.70, Y:23.61, Z:0.20 [[ 8.83003564e-01 -4.69360288e-01 -2.37190685e-03 1.05696345e+02] [ 4.69358549e-01 8.83006750e-01 -1.27765422e-03 2.36097902e+01] [ 2.69408991e-03 1.48984701e-05 9.99996371e-01 2.04833426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.654012739 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:105.72, Y:23.62, Z:0.20 [[ 8.82372460e-01 -4.70545658e-01 -2.37166085e-03 1.05718609e+02] [ 4.70543922e-01 8.82375648e-01 -1.27811068e-03 2.36244362e+01] [ 2.69410521e-03 1.17990624e-05 9.99996371e-01 2.02387837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.684012739 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:105.74, Y:23.64, Z:0.20 [[ 8.80315347e-01 -4.74383037e-01 -2.37155383e-03 1.05741226e+02] [ 4.74381315e-01 8.80318541e-01 -1.27830923e-03 2.36395628e+01] [ 2.69413102e-03 2.94412827e-07 9.99996371e-01 2.02478236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.714012739 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:105.77, Y:23.65, Z:0.20 [[ 8.78941917e-01 -4.76922933e-01 -2.37140067e-03 1.05765550e+02] [ 4.76921219e-01 8.78945116e-01 -1.27859330e-03 2.36528205e+01] [ 2.69412150e-03 -7.16205605e-06 9.99996371e-01 2.03814596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.744012739 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:105.79, Y:23.66, Z:0.21 [[ 8.76279850e-01 -4.81796640e-01 -2.37117852e-03 1.05790468e+02] [ 4.81794943e-01 8.76283058e-01 -1.27900514e-03 2.36645810e+01] [ 2.69404395e-03 -2.16553875e-05 9.99996371e-01 2.06098609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.774012739 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:105.82, Y:23.68, Z:0.22 [[ 8.75330221e-01 -4.83519785e-01 -2.37095383e-03 1.05815546e+02] [ 4.83518093e-01 8.75333432e-01 -1.27942153e-03 2.36760874e+01] [ 2.69400078e-03 -2.64827421e-05 9.99996371e-01 2.15480292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.804012739 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:105.84, Y:23.69, Z:0.20 [[ 8.74181956e-01 -4.85592717e-01 -2.37071346e-03 1.05840453e+02] [ 4.85591031e-01 8.74185170e-01 -1.27986676e-03 2.36870078e+01] [ 2.69393653e-03 -3.23607668e-05 9.99996371e-01 2.03542435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.834012739 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:105.87, Y:23.69, Z:0.21 [[ 8.72161104e-01 -4.89213029e-01 -2.37060925e-03 1.05867867e+02] [ 4.89211357e-01 8.72164325e-01 -1.28005977e-03 2.36937673e+01] [ 2.69378273e-03 -4.33106213e-05 9.99996371e-01 2.05110021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.864012739 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:105.89, Y:23.70, Z:0.21 [[ 8.71239590e-01 -4.90852277e-01 -2.37051378e-03 1.05893719e+02] [ 4.90850610e-01 8.71242813e-01 -1.28023654e-03 2.37042733e+01] [ 2.69370011e-03 -4.81753704e-05 9.99996371e-01 2.07718076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.894012739 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:105.92, Y:23.71, Z:0.21 [[ 8.70616428e-01 -4.91956722e-01 -2.37027763e-03 1.05921526e+02] [ 4.91955058e-01 8.70619654e-01 -1.28067361e-03 2.37118904e+01] [ 2.69364628e-03 -5.10945847e-05 9.99996371e-01 2.09910473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.924012739 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:105.95, Y:23.72, Z:0.21 [[ 8.70598523e-01 -4.91988409e-01 -2.37004161e-03 1.05946810e+02] [ 4.91986743e-01 8.70601748e-01 -1.28111024e-03 2.37212816e+01] [ 2.69365376e-03 -5.06963671e-05 9.99996371e-01 2.09400673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95401273899999 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:105.97, Y:23.73, Z:0.21 [[ 8.70642751e-01 -4.91910137e-01 -2.36988120e-03 1.05974847e+02] [ 4.91908471e-01 8.70645975e-01 -1.28140691e-03 2.37275739e+01] [ 2.69366458e-03 -5.01169956e-05 9.99996371e-01 2.05255773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.984012739 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:106.00, Y:23.74, Z:0.20 [[ 8.70871147e-01 -4.91505676e-01 -2.36964795e-03 1.06000384e+02] [ 4.91504007e-01 8.70874370e-01 -1.28183810e-03 2.37384325e+01] [ 2.69369637e-03 -4.83756514e-05 9.99996371e-01 2.03314506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.014012739 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:106.03, Y:23.75, Z:0.21 [[ 8.72150971e-01 -4.89231101e-01 -2.36941575e-03 1.06026453e+02] [ 4.89229423e-01 8.72154188e-01 -1.28226717e-03 2.37474794e+01] [ 2.69382085e-03 -4.08573459e-05 9.99996371e-01 2.05720513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.044012739 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:106.05, Y:23.76, Z:0.21 [[ 8.72937934e-01 -4.87825532e-01 -2.36931463e-03 1.06052670e+02] [ 4.87823847e-01 8.72941149e-01 -1.28245399e-03 2.37593843e+01] [ 2.69388603e-03 -3.63054385e-05 9.99996371e-01 2.09558801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.074012739 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:106.08, Y:23.77, Z:0.21 [[ 8.73807364e-01 -4.86266464e-01 -2.37010804e-03 1.06077131e+02] [ 4.86264778e-01 8.73810577e-01 -1.28098852e-03 2.37702750e+01] [ 2.69392723e-03 -3.31628578e-05 9.99996371e-01 2.11399551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.104012739 meters Centerline goodness : 0.998121 Centerline is valid? [True, True] Translation: X:106.10, Y:23.78, Z:0.21 [[ 8.74711445e-01 -4.84638293e-01 -2.36902295e-03 1.06101094e+02] [ 4.84636596e-01 8.74714653e-01 -1.28299210e-03 2.37821696e+01] [ 2.69400619e-03 -2.58673419e-05 9.99996371e-01 2.08845839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.134012739 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:106.13, Y:23.80, Z:0.21 [[ 8.74793012e-01 -4.84491046e-01 -2.36892315e-03 1.06126084e+02] [ 4.84489348e-01 8.74796219e-01 -1.28317635e-03 2.37957465e+01] [ 2.69401247e-03 -2.52043299e-05 9.99996371e-01 2.06418968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.164012739 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:106.15, Y:23.81, Z:0.21 [[ 8.74944219e-01 -4.84217929e-01 -2.36869510e-03 1.06150880e+02] [ 4.84216228e-01 8.74947425e-01 -1.28359719e-03 2.38065986e+01] [ 2.69402445e-03 -2.38846678e-05 9.99996371e-01 2.08433550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.194012739 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:106.18, Y:23.82, Z:0.21 [[ 8.75040417e-01 -4.84044067e-01 -2.36859634e-03 1.06176094e+02] [ 4.84042365e-01 8.75043622e-01 -1.28377941e-03 2.38196367e+01] [ 2.69403092e-03 -2.31421055e-05 9.99996371e-01 2.10719671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.224012739 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:106.20, Y:23.83, Z:0.21 [[ 8.76378821e-01 -4.81616603e-01 -2.36836979e-03 1.06198343e+02] [ 4.81614891e-01 8.76382022e-01 -1.28419722e-03 2.38343151e+01] [ 2.69408741e-03 -1.51989082e-05 9.99996371e-01 2.13204912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.254012739 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:106.22, Y:23.85, Z:0.21 [[ 8.77644387e-01 -4.79306500e-01 -2.36827123e-03 1.06220845e+02] [ 4.79304779e-01 8.77647582e-01 -1.28437896e-03 2.38493881e+01] [ 2.69411870e-03 -7.89573130e-06 9.99996371e-01 2.13644562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.284012739 meters Centerline goodness : 0.997234 Centerline is valid? [True, True] Translation: X:106.24, Y:23.86, Z:0.21 [[ 8.79279234e-01 -4.76300767e-01 -2.36817347e-03 1.06244054e+02] [ 4.76299035e-01 8.79282423e-01 -1.28455918e-03 2.38646463e+01] [ 2.69412983e-03 1.52747429e-06 9.99996371e-01 2.12900780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.314012739 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:106.27, Y:23.88, Z:0.21 [[ 8.82931254e-01 -4.69496319e-01 -2.36793509e-03 1.06265344e+02] [ 4.69494561e-01 8.82934429e-01 -1.28499845e-03 2.38823502e+01] [ 2.69403346e-03 2.28326436e-05 9.99996371e-01 2.09386672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.344012739 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:106.29, Y:23.90, Z:0.21 [[ 8.84356020e-01 -4.66807052e-01 -2.36777317e-03 1.06287217e+02] [ 4.66805284e-01 8.84359189e-01 -1.28529674e-03 2.38983974e+01] [ 2.69394754e-03 3.13708823e-05 9.99996371e-01 2.07347104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.374012739 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:106.31, Y:23.92, Z:0.21 [[ 8.86188654e-01 -4.63318533e-01 -2.36767117e-03 1.06309031e+02] [ 4.63316751e-01 8.86191816e-01 -1.28548462e-03 2.39177476e+01] [ 2.69379966e-03 4.22001706e-05 9.99996371e-01 2.07822896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.404012739 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:106.33, Y:23.93, Z:0.21 [[ 8.86536480e-01 -4.62652640e-01 -2.36743689e-03 1.06332046e+02] [ 4.62650855e-01 8.86539640e-01 -1.28591594e-03 2.39334895e+01] [ 2.69375905e-03 4.47146914e-05 9.99996371e-01 2.08884994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.434012739 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:106.35, Y:23.95, Z:0.21 [[ 8.86006161e-01 -4.63667424e-01 -2.36720293e-03 1.06354065e+02] [ 4.63665641e-01 8.86009322e-01 -1.28634647e-03 2.39512892e+01] [ 2.69380082e-03 4.21202339e-05 9.99996371e-01 2.08062030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.464012739 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:106.38, Y:23.97, Z:0.21 [[ 8.85210366e-01 -4.65184916e-01 -2.36696727e-03 1.06376527e+02] [ 4.65183138e-01 8.85213529e-01 -1.28677997e-03 2.39668066e+01] [ 2.69386208e-03 3.79977122e-05 9.99996371e-01 2.06471542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.494012739 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:106.40, Y:23.98, Z:0.20 [[ 8.84196760e-01 -4.67108646e-01 -2.36686479e-03 1.06399780e+02] [ 4.67106874e-01 8.84199928e-01 -1.28696844e-03 2.39825988e+01] [ 2.69393576e-03 3.23545129e-05 9.99996371e-01 2.04697132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.524012739 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:106.42, Y:24.00, Z:0.20 [[ 8.82578829e-01 -4.70158494e-01 -2.36663029e-03 1.06423189e+02] [ 4.70156732e-01 8.82582002e-01 -1.28739952e-03 2.39988323e+01] [ 2.69402712e-03 2.35443959e-05 9.99996371e-01 2.04684063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.554012739 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:106.45, Y:24.01, Z:0.21 [[ 8.81918219e-01 -4.71396495e-01 -2.36639538e-03 1.06446011e+02] [ 4.71394736e-01 8.81921393e-01 -1.28783116e-03 2.40127644e+01] [ 2.69405381e-03 2.02554398e-05 9.99996371e-01 2.06343260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.584012739 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:106.47, Y:24.03, Z:0.21 [[ 8.81095552e-01 -4.72932373e-01 -2.36623451e-03 1.06468127e+02] [ 4.72930619e-01 8.81098729e-01 -1.28812668e-03 2.40278354e+01] [ 2.69408303e-03 1.58979338e-05 9.99996371e-01 2.07097996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.614012739 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:106.49, Y:24.04, Z:0.21 [[ 8.80754807e-01 -4.73566650e-01 -2.36607548e-03 1.06492253e+02] [ 4.73564897e-01 8.80757985e-01 -1.28841872e-03 2.40423242e+01] [ 2.69409201e-03 1.42906837e-05 9.99996371e-01 2.06328698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.644012739 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:106.52, Y:24.06, Z:0.21 [[ 8.80347082e-01 -4.74324169e-01 -2.36584645e-03 1.06515090e+02] [ 4.74322419e-01 8.80350261e-01 -1.28883914e-03 2.40576162e+01] [ 2.69410109e-03 1.24517697e-05 9.99996371e-01 2.08509304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.674012739 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:106.54, Y:24.07, Z:0.21 [[ 8.80265118e-01 -4.74476265e-01 -2.36574653e-03 1.06540012e+02] [ 4.74474514e-01 8.80268296e-01 -1.28902252e-03 2.40714354e+01] [ 2.69410226e-03 1.21951221e-05 9.99996371e-01 2.08586061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70401273899999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:106.56, Y:24.09, Z:0.21 [[ 8.80256236e-01 -4.74492743e-01 -2.36552375e-03 1.06563916e+02] [ 4.74490991e-01 8.80259415e-01 -1.28943122e-03 2.40861381e+01] [ 2.69410031e-03 1.26101688e-05 9.99996371e-01 2.10028036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.734012739 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:106.59, Y:24.10, Z:0.21 [[ 8.80429378e-01 -4.74171399e-01 -2.36528549e-03 1.06587281e+02] [ 4.74169645e-01 8.80432555e-01 -1.28986814e-03 2.41016977e+01] [ 2.69409292e-03 1.40912210e-05 9.99996371e-01 2.10454511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.764012739 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:106.61, Y:24.12, Z:0.21 [[ 8.80365968e-01 -4.74289118e-01 -2.36513051e-03 1.06610691e+02] [ 4.74287364e-01 8.80369145e-01 -1.29015224e-03 2.41157875e+01] [ 2.69409310e-03 1.40546101e-05 9.99996371e-01 2.09911171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.794012739 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:106.63, Y:24.13, Z:0.21 [[ 8.80078626e-01 -4.74822092e-01 -2.36496036e-03 1.06634128e+02] [ 4.74820338e-01 8.80081804e-01 -1.29046407e-03 2.41295235e+01] [ 2.69409943e-03 1.27785664e-05 9.99996371e-01 2.09770161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.824012739 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:106.66, Y:24.14, Z:0.21 [[ 8.79328066e-01 -4.76210625e-01 -2.36485395e-03 1.06658121e+02] [ 4.76208876e-01 8.79331246e-01 -1.29065903e-03 2.41424614e+01] [ 2.69411552e-03 8.74826839e-06 9.99996371e-01 2.09241086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.854012739 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:106.68, Y:24.16, Z:0.21 [[ 8.78489124e-01 -4.77756493e-01 -2.36475561e-03 1.06682455e+02] [ 4.77754749e-01 8.78492307e-01 -1.29083919e-03 2.41564378e+01] [ 2.69412642e-03 4.21496565e-06 9.99996371e-01 2.09137989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.884012739 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:106.71, Y:24.17, Z:0.21 [[ 8.78149214e-01 -4.78380985e-01 -2.36453593e-03 1.06706276e+02] [ 4.78379242e-01 8.78152398e-01 -1.29124148e-03 2.41704817e+01] [ 2.69412826e-03 2.75778730e-06 9.99996371e-01 2.09637601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.914012739 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:106.73, Y:24.18, Z:0.21 [[ 8.78540712e-01 -4.77661625e-01 -2.36428393e-03 1.06729255e+02] [ 4.77659878e-01 8.78543893e-01 -1.29170273e-03 2.41839416e+01] [ 2.69412403e-03 5.48985772e-06 9.99996371e-01 2.11646350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.944012739 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:106.75, Y:24.20, Z:0.21 [[ 8.79140317e-01 -4.76557146e-01 -2.36417433e-03 1.06752053e+02] [ 4.76555395e-01 8.79143496e-01 -1.29190330e-03 2.41976617e+01] [ 2.69411423e-03 9.10424611e-06 9.99996371e-01 2.11344928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.974012739 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:106.77, Y:24.22, Z:0.20 [[ 8.80525783e-01 -4.73992359e-01 -2.36406937e-03 1.06774401e+02] [ 4.73990599e-01 8.80528956e-01 -1.29209533e-03 2.42150287e+01] [ 2.69407485e-03 1.71765950e-05 9.99996371e-01 2.04685681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.004012739 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:106.80, Y:24.23, Z:0.20 [[ 8.81039701e-01 -4.73036423e-01 -2.36382998e-03 1.06797904e+02] [ 4.73034658e-01 8.81042872e-01 -1.29253313e-03 2.42304239e+01] [ 2.69405081e-03 2.05994955e-05 9.99996371e-01 2.01912965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.034012739 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:106.82, Y:24.24, Z:0.20 [[ 8.81177818e-01 -4.72779089e-01 -2.36359042e-03 1.06821423e+02] [ 4.72777321e-01 8.81180988e-01 -1.29297106e-03 2.42449193e+01] [ 2.69404062e-03 2.18854727e-05 9.99996371e-01 2.00588065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.064012739 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:106.84, Y:24.26, Z:0.20 [[ 8.80685953e-01 -4.73694698e-01 -2.36334642e-03 1.06844849e+02] [ 4.73692933e-01 8.80689124e-01 -1.29341691e-03 2.42611182e+01] [ 2.69405822e-03 1.95936084e-05 9.99996371e-01 2.01408414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.094012739 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:106.87, Y:24.28, Z:0.20 [[ 8.80295808e-01 -4.74419335e-01 -2.36309708e-03 1.06867214e+02] [ 4.74417571e-01 8.80298980e-01 -1.29387230e-03 2.42766227e+01] [ 2.69406998e-03 1.78955834e-05 9.99996371e-01 2.01839565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.124012739 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:106.89, Y:24.30, Z:0.20 [[ 8.80182743e-01 -4.74629072e-01 -2.36298860e-03 1.06887780e+02] [ 4.74627308e-01 8.80185914e-01 -1.29407037e-03 2.42961871e+01] [ 2.69407270e-03 1.74794896e-05 9.99996371e-01 2.02183791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.154012739 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:106.91, Y:24.31, Z:0.20 [[ 8.80402999e-01 -4.74220387e-01 -2.36288335e-03 1.06910902e+02] [ 4.74218621e-01 8.80406170e-01 -1.29426253e-03 2.43126929e+01] [ 2.69406276e-03 1.89493278e-05 9.99996371e-01 2.03495074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.184012739 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:106.93, Y:24.33, Z:0.21 [[ 8.80914798e-01 -4.73268990e-01 -2.36266815e-03 1.06932434e+02] [ 4.73267219e-01 8.80917966e-01 -1.29465525e-03 2.43318713e+01] [ 2.69403700e-03 2.23075788e-05 9.99996371e-01 2.05505615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.214012739 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:106.95, Y:24.35, Z:0.21 [[ 8.80932952e-01 -4.73235199e-01 -2.36242134e-03 1.06954471e+02] [ 4.73233428e-01 8.80936119e-01 -1.29510546e-03 2.43483225e+01] [ 2.69403178e-03 2.29243220e-05 9.99996371e-01 2.06263036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.244012739 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:106.98, Y:24.37, Z:0.21 [[ 8.80308906e-01 -4.74395035e-01 -2.36231391e-03 1.06975340e+02] [ 4.74393267e-01 8.80312076e-01 -1.29530139e-03 2.43660642e+01] [ 2.69405801e-03 1.95995405e-05 9.99996371e-01 2.09029615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.274012739 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:107.00, Y:24.38, Z:0.21 [[ 8.79287030e-01 -4.76286405e-01 -2.36220815e-03 1.06998820e+02] [ 4.76284643e-01 8.79290203e-01 -1.29549423e-03 2.43806937e+01] [ 2.69409277e-03 1.40278095e-05 9.99996371e-01 2.10131590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.304012739 meters Centerline goodness : 0.998416 Centerline is valid? [True, True] Translation: X:107.02, Y:24.39, Z:0.21 [[ 8.77941477e-01 -4.78762138e-01 -2.36196425e-03 1.07021306e+02] [ 4.78760384e-01 8.77944654e-01 -1.29593876e-03 2.43948411e+01] [ 2.69412030e-03 6.94348155e-06 9.99996371e-01 2.11460758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.334012739 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:107.04, Y:24.41, Z:0.21 [[ 8.75231285e-01 -4.83698894e-01 -2.36179736e-03 1.07044187e+02] [ 4.83697157e-01 8.75234471e-01 -1.29624284e-03 2.44112625e+01] [ 2.69411769e-03 -7.88238815e-06 9.99996371e-01 2.13819821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.364012739 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:107.07, Y:24.43, Z:0.21 [[ 8.74142138e-01 -4.85664437e-01 -2.36155742e-03 1.07068304e+02] [ 4.85662706e-01 8.74145328e-01 -1.29667983e-03 2.44257429e+01] [ 2.69409566e-03 -1.34378887e-05 9.99996371e-01 2.13857656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.394012739 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:107.09, Y:24.44, Z:0.21 [[ 8.73275582e-01 -4.87220876e-01 -2.36130029e-03 1.07091683e+02] [ 4.87219149e-01 8.73278774e-01 -1.29714790e-03 2.44399265e+01] [ 2.69407096e-03 -1.77031265e-05 9.99996371e-01 2.10897359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.424012739 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:107.12, Y:24.45, Z:0.21 [[ 8.73079646e-01 -4.87571899e-01 -2.36120423e-03 1.07115102e+02] [ 4.87570174e-01 8.73082838e-01 -1.29732274e-03 2.44547583e+01] [ 2.69406500e-03 -1.85866816e-05 9.99996371e-01 2.07329687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45401273899999 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:107.14, Y:24.47, Z:0.21 [[ 8.73125060e-01 -4.87490570e-01 -2.36096064e-03 1.07138853e+02] [ 4.87488843e-01 8.73128252e-01 -1.29776588e-03 2.44697595e+01] [ 2.69407007e-03 -1.78300559e-05 9.99996371e-01 2.05209297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.484012739 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:107.16, Y:24.48, Z:0.21 [[ 8.73999030e-01 -4.85921931e-01 -2.36071713e-03 1.07162816e+02] [ 4.85920197e-01 8.74002218e-01 -1.29820870e-03 2.44837443e+01] [ 2.69410008e-03 -1.24869918e-05 9.99996371e-01 2.06578825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.514012739 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:107.19, Y:24.50, Z:0.21 [[ 8.75206101e-01 -4.83744466e-01 -2.36047294e-03 1.07186459e+02] [ 4.83742723e-01 8.75209284e-01 -1.29865255e-03 2.44974886e+01] [ 2.69412381e-03 -5.27297250e-06 9.99996371e-01 2.11867071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.544012739 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:107.21, Y:24.51, Z:0.21 [[ 8.75530227e-01 -4.83157583e-01 -2.36036675e-03 1.07210578e+02] [ 4.83155838e-01 8.75533409e-01 -1.29884553e-03 2.45125116e+01] [ 2.69412701e-03 -3.24645127e-06 9.99996371e-01 2.11168215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.574012739 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:107.23, Y:24.53, Z:0.21 [[ 8.75557603e-01 -4.83107972e-01 -2.36013131e-03 1.07234687e+02] [ 4.83106225e-01 8.75560784e-01 -1.29927319e-03 2.45274155e+01] [ 2.69412766e-03 -2.60561010e-06 9.99996371e-01 2.09849622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.604012739 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:107.26, Y:24.54, Z:0.21 [[ 8.75250663e-01 -4.83663838e-01 -2.35988005e-03 1.07259480e+02] [ 4.83662092e-01 8.75253844e-01 -1.29972940e-03 2.45399939e+01] [ 2.69412620e-03 -3.79549953e-06 9.99996371e-01 2.07375800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.634012739 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:107.28, Y:24.55, Z:0.21 [[ 8.75018785e-01 -4.84083214e-01 -2.35963054e-03 1.07284343e+02] [ 4.84081468e-01 8.75021966e-01 -1.30018223e-03 2.45533770e+01] [ 2.69412495e-03 -4.56954514e-06 9.99996371e-01 2.07105915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.664012739 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:107.31, Y:24.57, Z:0.21 [[ 8.75491593e-01 -4.83227590e-01 -2.35938181e-03 1.07306402e+02] [ 4.83225840e-01 8.75494772e-01 -1.30063342e-03 2.45683329e+01] [ 2.69412840e-03 -1.42063337e-06 9.99996371e-01 2.06917355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.694012739 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:107.33, Y:24.58, Z:0.21 [[ 8.76142139e-01 -4.82047079e-01 -2.35927372e-03 1.07329769e+02] [ 4.82045324e-01 8.76145315e-01 -1.30082946e-03 2.45833338e+01] [ 2.69412766e-03 2.43463822e-06 9.99996371e-01 2.07870323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.724012739 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:107.35, Y:24.60, Z:0.21 [[ 8.78230003e-01 -4.78232681e-01 -2.35902788e-03 1.07352939e+02] [ 4.78230911e-01 8.78233171e-01 -1.30127515e-03 2.45992446e+01] [ 2.69408883e-03 1.46588282e-05 9.99996371e-01 2.08368134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.754012739 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:107.38, Y:24.61, Z:0.21 [[ 8.78880934e-01 -4.77035365e-01 -2.35878355e-03 1.07376514e+02] [ 4.77033589e-01 8.78884099e-01 -1.30171789e-03 2.46148294e+01] [ 2.69406282e-03 1.88360538e-05 9.99996371e-01 2.09108190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.784012739 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:107.40, Y:24.63, Z:0.21 [[ 8.79219253e-01 -4.76411527e-01 -2.35853957e-03 1.07398398e+02] [ 4.76409748e-01 8.79222416e-01 -1.30215979e-03 2.46300017e+01] [ 2.69404479e-03 2.12527175e-05 9.99996371e-01 2.10046309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.814012739 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:107.42, Y:24.65, Z:0.21 [[ 8.78283002e-01 -4.78135343e-01 -2.35837337e-03 1.07420272e+02] [ 4.78133569e-01 8.78286168e-01 -1.30246073e-03 2.46466177e+01] [ 2.69407922e-03 1.63116423e-05 9.99996371e-01 2.11880371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.844012739 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:107.44, Y:24.66, Z:0.21 [[ 8.75680052e-01 -4.82885995e-01 -2.35826781e-03 1.07444271e+02] [ 4.82884238e-01 8.75683228e-01 -1.30265183e-03 2.46604417e+01] [ 2.69412789e-03 1.93586986e-06 9.99996371e-01 2.12479982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.874012739 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:107.47, Y:24.67, Z:0.21 [[ 8.74276920e-01 -4.85421782e-01 -2.35802900e-03 1.07468881e+02] [ 4.85420033e-01 8.74280100e-01 -1.30308397e-03 2.46740050e+01] [ 2.69412318e-03 -5.37827305e-06 9.99996371e-01 2.12438207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.904012739 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:107.49, Y:24.69, Z:0.21 [[ 8.73085264e-01 -4.87561855e-01 -2.35779099e-03 1.07493404e+02] [ 4.87560113e-01 8.73088448e-01 -1.30351449e-03 2.46877800e+01] [ 2.69410402e-03 -1.14855428e-05 9.99996371e-01 2.11879453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.934012739 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:107.52, Y:24.70, Z:0.21 [[ 8.71990552e-01 -4.89517027e-01 -2.35755331e-03 1.07517486e+02] [ 4.89515290e-01 8.71993739e-01 -1.30394422e-03 2.47016665e+01] [ 2.69407462e-03 -1.70313483e-05 9.99996371e-01 2.12077359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.964012739 meters Centerline goodness : 0.997956 Centerline is valid? [True, True] Translation: X:107.54, Y:24.72, Z:0.21 [[ 8.72229648e-01 -4.89090876e-01 -2.35731188e-03 1.07541318e+02] [ 4.89089136e-01 8.72232833e-01 -1.30438053e-03 2.47152668e+01] [ 2.69408544e-03 -1.52162583e-05 9.99996371e-01 2.12361583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.994012739 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:107.56, Y:24.73, Z:0.21 [[ 8.74098128e-01 -4.85743663e-01 -2.35720715e-03 1.07564592e+02] [ 4.85741911e-01 8.74101306e-01 -1.30456976e-03 2.47284079e+01] [ 2.69412435e-03 -4.67232163e-06 9.99996371e-01 2.11427534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.024012739 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:107.59, Y:24.74, Z:0.21 [[ 8.75088885e-01 -4.83956492e-01 -2.35710498e-03 1.07588797e+02] [ 4.83954734e-01 8.75092060e-01 -1.30475434e-03 2.47421194e+01] [ 2.69412819e-03 1.04390856e-06 9.99996371e-01 2.10149306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.054012739 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:107.61, Y:24.76, Z:0.21 [[ 8.75932466e-01 -4.82427984e-01 -2.35685978e-03 1.07613204e+02] [ 4.82426218e-01 8.75935637e-01 -1.30519712e-03 2.47558915e+01] [ 2.69412109e-03 6.25358009e-06 9.99996371e-01 2.08515991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.084012739 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:107.64, Y:24.77, Z:0.21 [[ 8.76679770e-01 -4.81068631e-01 -2.35661405e-03 1.07637597e+02] [ 4.81066860e-01 8.76682937e-01 -1.30564064e-03 2.47689356e+01] [ 2.69410608e-03 1.09398164e-05 9.99996371e-01 2.06141320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.114012739 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:107.66, Y:24.78, Z:0.21 [[ 8.76706502e-01 -4.81019913e-01 -2.35636295e-03 1.07662503e+02] [ 4.81018140e-01 8.76709669e-01 -1.30609367e-03 2.47798107e+01] [ 2.69410324e-03 1.16074882e-05 9.99996371e-01 2.07341903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.144012739 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:107.69, Y:24.79, Z:0.21 [[ 8.76544540e-01 -4.81314988e-01 -2.35625570e-03 1.07687235e+02] [ 4.81313216e-01 8.76547707e-01 -1.30628712e-03 2.47920502e+01] [ 2.69410610e-03 1.09218395e-05 9.99996371e-01 2.08517561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.174012739 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:107.71, Y:24.80, Z:0.21 [[ 8.76569030e-01 -4.81270386e-01 -2.35601033e-03 1.07711691e+02] [ 4.81268612e-01 8.76572197e-01 -1.30672952e-03 2.48048249e+01] [ 2.69410337e-03 1.15648097e-05 9.99996371e-01 2.09152063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20401273899999 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:107.74, Y:24.82, Z:0.21 [[ 8.77927022e-01 -4.78788675e-01 -2.35576373e-03 1.07736906e+02] [ 4.78786891e-01 8.77930182e-01 -1.30717394e-03 2.48179281e+01] [ 2.69405616e-03 1.96945315e-05 9.99996371e-01 2.07376449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.234012739 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:107.76, Y:24.83, Z:0.21 [[ 8.78691014e-01 -4.77385121e-01 -2.35551398e-03 1.07762012e+02] [ 4.77383331e-01 8.78694171e-01 -1.30762383e-03 2.48312219e+01] [ 2.69401656e-03 2.45142026e-05 9.99996371e-01 2.06317651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.264012739 meters Centerline goodness : 0.998417 Centerline is valid? [True, True] Translation: X:107.79, Y:24.84, Z:0.21 [[ 8.80181066e-01 -4.74632220e-01 -2.35525798e-03 1.07785916e+02] [ 4.74630419e-01 8.80184216e-01 -1.30808476e-03 2.48432148e+01] [ 2.69392007e-03 3.34743585e-05 9.99996371e-01 2.05878638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.294012739 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:107.81, Y:24.86, Z:0.21 [[ 8.80584438e-01 -4.73883425e-01 -2.35514696e-03 1.07809560e+02] [ 4.73881620e-01 8.80587587e-01 -1.30828463e-03 2.48565161e+01] [ 2.69388757e-03 3.59942294e-05 9.99996371e-01 2.07541151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.324012739 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:107.83, Y:24.87, Z:0.21 [[ 8.80941843e-01 -4.73218684e-01 -2.35504430e-03 1.07832795e+02] [ 4.73216877e-01 8.80944990e-01 -1.30846938e-03 2.48695293e+01] [ 2.69385664e-03 3.82387192e-05 9.99996371e-01 2.10950364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.354012739 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:107.86, Y:24.88, Z:0.21 [[ 8.81775815e-01 -4.71662873e-01 -2.35487890e-03 1.07856738e+02] [ 4.71661059e-01 8.81778959e-01 -1.30876700e-03 2.48831682e+01] [ 2.69377947e-03 4.33344093e-05 9.99996371e-01 2.14105041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.384012739 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:107.88, Y:24.90, Z:0.21 [[ 8.82021700e-01 -4.71202905e-01 -2.35463302e-03 1.07881072e+02] [ 4.71201088e-01 8.82024841e-01 -1.30920921e-03 2.48978486e+01] [ 2.69374800e-03 4.52452890e-05 9.99996371e-01 2.13135652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.414012739 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:107.90, Y:24.91, Z:0.21 [[ 8.81840406e-01 -4.71542104e-01 -2.35438886e-03 1.07903662e+02] [ 4.71540287e-01 8.81843548e-01 -1.30964815e-03 2.49127488e+01] [ 2.69375687e-03 4.47114619e-05 9.99996371e-01 2.11118998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.444012739 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:107.93, Y:24.93, Z:0.21 [[ 8.81425656e-01 -4.72316917e-01 -2.35428275e-03 1.07928091e+02] [ 4.72315103e-01 8.81428799e-01 -1.30983887e-03 2.49265623e+01] [ 2.69379167e-03 4.25622853e-05 9.99996371e-01 2.10837655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.474012739 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:107.95, Y:24.94, Z:0.21 [[ 8.80611274e-01 -4.73833559e-01 -2.35404224e-03 1.07952214e+02] [ 4.73831749e-01 8.80614420e-01 -1.31027097e-03 2.49401104e+01] [ 2.69385390e-03 3.84194324e-05 9.99996371e-01 2.11496271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.504012739 meters Centerline goodness : 0.998068 Centerline is valid? [True, True] Translation: X:107.98, Y:24.95, Z:0.21 [[ 8.80220840e-01 -4.74558461e-01 -2.35379754e-03 1.07975190e+02] [ 4.74556652e-01 8.80223986e-01 -1.31071041e-03 2.49538828e+01] [ 2.69387777e-03 3.67043347e-05 9.99996371e-01 2.11707531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.534012739 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:108.00, Y:24.97, Z:0.21 [[ 8.79956177e-01 -4.75049036e-01 -2.35369090e-03 1.07998506e+02] [ 4.75047229e-01 8.79959324e-01 -1.31090187e-03 2.49677912e+01] [ 2.69389493e-03 3.54218554e-05 9.99996371e-01 2.11724594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.564012739 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:108.02, Y:24.98, Z:0.21 [[ 8.79534279e-01 -4.75829710e-01 -2.35358859e-03 1.08022914e+02] [ 4.75827905e-01 8.79537427e-01 -1.31108555e-03 2.49811023e+01] [ 2.69392271e-03 3.32415546e-05 9.99996371e-01 2.14446304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.594012739 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:108.05, Y:25.00, Z:0.21 [[ 8.79446923e-01 -4.75991146e-01 -2.35334911e-03 1.08047696e+02] [ 4.75989340e-01 8.79450071e-01 -1.31151526e-03 2.49951461e+01] [ 2.69392269e-03 3.32389672e-05 9.99996371e-01 2.14523042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.624012739 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:108.07, Y:25.01, Z:0.22 [[ 8.79518213e-01 -4.75859408e-01 -2.35310829e-03 1.08072423e+02] [ 4.75857600e-01 8.79521360e-01 -1.31194718e-03 2.50088609e+01] [ 2.69391142e-03 3.41369741e-05 9.99996371e-01 2.15751838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.654012739 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:108.10, Y:25.03, Z:0.21 [[ 8.80299586e-01 -4.74412377e-01 -2.35286582e-03 1.08095140e+02] [ 4.74410563e-01 8.80302729e-01 -1.31238190e-03 2.50254887e+01] [ 2.69384442e-03 3.90648462e-05 9.99996371e-01 2.14406377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.684012739 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:108.12, Y:25.04, Z:0.21 [[ 8.81008160e-01 -4.73095219e-01 -2.35262353e-03 1.08117405e+02] [ 4.73093400e-01 8.81011301e-01 -1.31281609e-03 2.50402273e+01] [ 2.69377493e-03 4.35910264e-05 9.99996371e-01 2.13819436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.714012739 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:108.14, Y:25.06, Z:0.21 [[ 8.81546844e-01 -4.72090698e-01 -2.35251840e-03 1.08141620e+02] [ 4.72088874e-01 8.81549982e-01 -1.31300445e-03 2.50550960e+01] [ 2.69371974e-03 4.68771631e-05 9.99996371e-01 2.13029403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.744012739 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:108.16, Y:25.07, Z:0.21 [[ 8.82186600e-01 -4.70894117e-01 -2.35227526e-03 1.08163727e+02] [ 4.70892288e-01 8.82189735e-01 -1.31343990e-03 2.50708206e+01] [ 2.69364421e-03 5.10307988e-05 9.99996371e-01 2.11454915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.774012739 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:108.18, Y:25.09, Z:0.21 [[ 8.82650849e-01 -4.70023346e-01 -2.35216925e-03 1.08183017e+02] [ 4.70021514e-01 8.82653982e-01 -1.31362972e-03 2.50865422e+01] [ 2.69358819e-03 5.39062350e-05 9.99996371e-01 2.09772523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.804012739 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:108.21, Y:25.10, Z:0.21 [[ 8.82091920e-01 -4.71071480e-01 -2.34624711e-03 1.08208844e+02] [ 4.71069623e-01 8.82095038e-01 -1.32423217e-03 2.51040113e+01] [ 2.69342095e-03 6.28487574e-05 9.99996371e-01 2.11263916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.834012739 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:108.23, Y:25.12, Z:0.21 [[ 8.81905037e-01 -4.71421227e-01 -2.35204059e-03 1.08232276e+02] [ 4.71419398e-01 8.81908172e-01 -1.31386083e-03 2.51198789e+01] [ 2.69366570e-03 4.99029286e-05 9.99996371e-01 2.12275221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.864012739 meters Centerline goodness : 0.997818 Centerline is valid? [True, True] Translation: X:108.25, Y:25.14, Z:0.21 [[ 8.81958511e-01 -4.71321178e-01 -2.35179201e-03 1.08252952e+02] [ 4.71319349e-01 8.81961646e-01 -1.31430563e-03 2.51396908e+01] [ 2.69365043e-03 5.07179568e-05 9.99996371e-01 2.12927434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.894012739 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:108.27, Y:25.16, Z:0.21 [[ 8.81909603e-01 -4.71412687e-01 -2.35153865e-03 1.08274380e+02] [ 4.71410856e-01 8.81912737e-01 -1.31475879e-03 2.51568858e+01] [ 2.69364586e-03 5.09575524e-05 9.99996371e-01 2.12375611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.924012739 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:108.29, Y:25.18, Z:0.21 [[ 8.81518055e-01 -4.72144459e-01 -2.35142839e-03 1.08294622e+02] [ 4.72142630e-01 8.81521190e-01 -1.31495596e-03 2.51774867e+01] [ 2.69368312e-03 4.89478406e-05 9.99996371e-01 2.13606412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95401273899999 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:108.32, Y:25.19, Z:0.21 [[ 8.81236591e-01 -4.72669591e-01 -2.35117583e-03 1.08315990e+02] [ 4.72667763e-01 8.81239727e-01 -1.31540739e-03 2.51941106e+01] [ 2.69370262e-03 4.78601072e-05 9.99996371e-01 2.14238984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.984012739 meters Centerline goodness : 0.997175 Centerline is valid? [True, True] Translation: X:108.34, Y:25.21, Z:0.21 [[ 8.80832439e-01 -4.73422314e-01 -2.35100321e-03 1.08338222e+02] [ 4.73420488e-01 8.80835575e-01 -1.31571584e-03 2.52110544e+01] [ 2.69373650e-03 4.59121048e-05 9.99996371e-01 2.14602527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.014012739 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] Translation: X:108.36, Y:25.23, Z:0.21 [[ 8.79364927e-01 -4.76142626e-01 -2.35077697e-03 1.08359333e+02] [ 4.76140808e-01 8.79368068e-01 -1.31611994e-03 2.52306432e+01] [ 2.69385900e-03 3.80488646e-05 9.99996371e-01 2.14454728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.044012739 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:108.38, Y:25.25, Z:0.21 [[ 8.77987710e-01 -4.78677402e-01 -2.35052949e-03 1.08382210e+02] [ 4.78675593e-01 8.77990856e-01 -1.31656177e-03 2.52466017e+01] [ 2.69395177e-03 3.07839594e-05 9.99996371e-01 2.13828947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.074012739 meters Centerline goodness : 0.997770 Centerline is valid? [True, True] Translation: X:108.40, Y:25.26, Z:0.21 [[ 8.74823236e-01 -4.84436561e-01 -2.35027832e-03 1.08403046e+02] [ 4.84434771e-01 8.74826393e-01 -1.31701000e-03 2.52645589e+01] [ 2.69409330e-03 1.35944117e-05 9.99996371e-01 2.13849485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.104012739 meters Centerline goodness : 0.997293 Centerline is valid? [True, True] Translation: X:108.43, Y:25.28, Z:0.21 [[ 8.73015066e-01 -4.87687576e-01 -2.35016946e-03 1.08425900e+02] [ 4.87685797e-01 8.73018229e-01 -1.31720423e-03 2.52801569e+01] [ 2.69412492e-03 3.79486676e-06 9.99996371e-01 2.14106591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.134012739 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:108.45, Y:25.29, Z:0.22 [[ 8.69384471e-01 -4.94130670e-01 -2.34992485e-03 1.08449316e+02] [ 4.94128914e-01 8.69387647e-01 -1.31764047e-03 2.52946015e+01] [ 2.69408221e-03 -1.56296541e-05 9.99996371e-01 2.15091518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.164012739 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:108.47, Y:25.31, Z:0.22 [[ 8.67536514e-01 -4.97367948e-01 -2.34968038e-03 1.08473987e+02] [ 4.97366202e-01 8.67539696e-01 -1.31807628e-03 2.53081772e+01] [ 2.69400990e-03 -2.51723094e-05 9.99996371e-01 2.15737900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.194012739 meters Centerline goodness : 0.996800 Centerline is valid? [True, True] Translation: X:108.50, Y:25.32, Z:0.21 [[ 8.64893778e-01 -5.01949433e-01 -2.34942805e-03 1.08497581e+02] [ 5.01947703e-01 8.64896968e-01 -1.31852591e-03 2.53204648e+01] [ 2.69384652e-03 -3.89051588e-05 9.99996371e-01 2.14211094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.224012739 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:108.52, Y:25.33, Z:0.21 [[ 8.63913864e-01 -5.03634109e-01 -2.34931867e-03 1.08521134e+02] [ 5.03632385e-01 8.63917057e-01 -1.31872076e-03 2.53330877e+01] [ 2.69376923e-03 -4.39318120e-05 9.99996371e-01 2.13569330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.254012739 meters Centerline goodness : 0.996700 Centerline is valid? [True, True] Translation: X:108.55, Y:25.34, Z:0.22 [[ 8.62619546e-01 -5.05847803e-01 -2.34921251e-03 1.08546583e+02] [ 5.05846086e-01 8.62622744e-01 -1.31890985e-03 2.53440562e+01] [ 2.69365179e-03 -5.06225406e-05 9.99996371e-01 2.15938575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.284012739 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:108.57, Y:25.36, Z:0.22 [[ 8.62136751e-01 -5.06670212e-01 -2.34897140e-03 1.08571522e+02] [ 5.06668497e-01 8.62139950e-01 -1.31933913e-03 2.53564916e+01] [ 2.69361192e-03 -5.26990544e-05 9.99996371e-01 2.16344632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.314012739 meters Centerline goodness : 0.997037 Centerline is valid? [True, True] Translation: X:108.60, Y:25.37, Z:0.22 [[ 8.61700779e-01 -5.07411323e-01 -2.34872986e-03 1.08596594e+02] [ 5.07409609e-01 8.61703979e-01 -1.31976899e-03 2.53692897e+01] [ 2.69357559e-03 -5.45221361e-05 9.99996371e-01 2.15961173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.344012739 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:108.62, Y:25.38, Z:0.21 [[ 8.61348274e-01 -5.08009484e-01 -2.34848076e-03 1.08621447e+02] [ 5.08007772e-01 8.61351474e-01 -1.32021210e-03 2.53796547e+01] [ 2.69354763e-03 -5.58840613e-05 9.99996371e-01 2.14374542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.374012739 meters Centerline goodness : 0.996664 Centerline is valid? [True, True] Translation: X:108.65, Y:25.39, Z:0.22 [[ 8.61123312e-01 -5.08390723e-01 -2.34837290e-03 1.08646876e+02] [ 5.08389011e-01 8.61126512e-01 -1.32040393e-03 2.53924484e+01] [ 2.69352727e-03 -5.68563706e-05 9.99996371e-01 2.15325453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.404012739 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:108.67, Y:25.40, Z:0.22 [[ 8.60971247e-01 -5.08648207e-01 -2.34812657e-03 1.08673038e+02] [ 5.08646496e-01 8.60974447e-01 -1.32084185e-03 2.54031626e+01] [ 2.69352081e-03 -5.71594943e-05 9.99996371e-01 2.17760971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.434012739 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:108.70, Y:25.41, Z:0.22 [[ 8.61049400e-01 -5.08515897e-01 -2.34787873e-03 1.08697545e+02] [ 5.08514184e-01 8.61052600e-01 -1.32128225e-03 2.54143677e+01] [ 2.69354011e-03 -5.62403413e-05 9.99996371e-01 2.18221858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.464012739 meters Centerline goodness : 0.996726 Centerline is valid? [True, True] Translation: X:108.72, Y:25.43, Z:0.22 [[ 8.61348432e-01 -5.08009219e-01 -2.34770941e-03 1.08722623e+02] [ 5.08007503e-01 8.61351630e-01 -1.32158304e-03 2.54258933e+01] [ 2.69357969e-03 -5.43105105e-05 9.99996371e-01 2.18936226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.494012739 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:108.75, Y:25.44, Z:0.22 [[ 8.62407262e-01 -5.06209645e-01 -2.34746373e-03 1.08746985e+02] [ 5.06207921e-01 8.62410455e-01 -1.32201929e-03 2.54368773e+01] [ 2.69369617e-03 -4.81856996e-05 9.99996371e-01 2.19017692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.524012739 meters Centerline goodness : 0.996394 Centerline is valid? [True, True] Translation: X:108.77, Y:25.45, Z:0.22 [[ 8.64280557e-01 -5.03004581e-01 -2.34735689e-03 1.08771957e+02] [ 5.03002845e-01 8.64283744e-01 -1.32220895e-03 2.54486840e+01] [ 2.69385956e-03 -3.79677070e-05 9.99996371e-01 2.19814449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.554012739 meters Centerline goodness : 0.996553 Centerline is valid? [True, True] Translation: X:108.80, Y:25.46, Z:0.22 [[ 8.65130335e-01 -5.01541619e-01 -2.34710982e-03 1.08795986e+02] [ 5.01539876e-01 8.65133518e-01 -1.32264739e-03 2.54609013e+01] [ 2.69392609e-03 -3.29067899e-05 9.99996371e-01 2.20299108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.584012739 meters Centerline goodness : 0.996832 Centerline is valid? [True, True] Translation: X:108.82, Y:25.47, Z:0.22 [[ 8.65709134e-01 -5.00541894e-01 -2.34700203e-03 1.08820237e+02] [ 5.00540147e-01 8.65712315e-01 -1.32283865e-03 2.54731551e+01] [ 2.69396472e-03 -2.95752389e-05 9.99996371e-01 2.20543558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.614012739 meters Centerline goodness : 0.996489 Centerline is valid? [True, True] Translation: X:108.85, Y:25.49, Z:0.22 [[ 8.65778290e-01 -5.00422267e-01 -2.34689566e-03 1.08845972e+02] [ 5.00420519e-01 8.65781470e-01 -1.32302733e-03 2.54852087e+01] [ 2.69397111e-03 -2.89864065e-05 9.99996371e-01 2.19270433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.644012739 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:108.87, Y:25.50, Z:0.22 [[ 8.65338988e-01 -5.01181534e-01 -2.34666248e-03 1.08871498e+02] [ 5.01179787e-01 8.65342169e-01 -1.32344079e-03 2.54976821e+01] [ 2.69395009e-03 -3.08748955e-05 9.99996371e-01 2.19112624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.674012739 meters Centerline goodness : 0.996104 Centerline is valid? [True, True] Translation: X:108.90, Y:25.51, Z:0.22 [[ 8.63695732e-01 -5.04008113e-01 -2.34641023e-03 1.08897803e+02] [ 5.04006375e-01 8.63698918e-01 -1.32388787e-03 2.55086257e+01] [ 2.69384220e-03 -3.91694152e-05 9.99996371e-01 2.20194145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70401273899999 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:108.92, Y:25.52, Z:0.22 [[ 8.62809403e-01 -5.05523917e-01 -2.34615496e-03 1.08921963e+02] [ 5.05522184e-01 8.62812591e-01 -1.32434010e-03 2.55202913e+01] [ 2.69377763e-03 -4.33802891e-05 9.99996371e-01 2.20811027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.734012739 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:108.95, Y:25.53, Z:0.22 [[ 8.61407403e-01 -5.07909227e-01 -2.34598117e-03 1.08948782e+02] [ 5.07907502e-01 8.61410596e-01 -1.32464789e-03 2.55299229e+01] [ 2.69365392e-03 -5.04799376e-05 9.99996371e-01 2.20631806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.764012739 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:108.97, Y:25.54, Z:0.22 [[ 8.61022172e-01 -5.08562009e-01 -2.34573605e-03 1.08974483e+02] [ 5.08560286e-01 8.61025365e-01 -1.32508181e-03 2.55418766e+01] [ 2.69362451e-03 -5.20233731e-05 9.99996371e-01 2.20622718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.794012739 meters Centerline goodness : 0.991376 Centerline is valid? [True, True] Translation: X:109.00, Y:25.55, Z:0.23 [[ 8.60932584e-01 -5.08713657e-01 -2.34548910e-03 1.09000104e+02] [ 5.08711932e-01 8.60935777e-01 -1.32551878e-03 2.55530149e+01] [ 2.69362499e-03 -5.19959834e-05 9.99996371e-01 2.28765089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.824012739 meters Centerline goodness : 0.995697 Centerline is valid? [True, True] Translation: X:109.02, Y:25.57, Z:0.22 [[ 8.60708156e-01 -5.09093282e-01 -2.34523263e-03 1.09024886e+02] [ 5.09091558e-01 8.60711350e-01 -1.32597239e-03 2.55650743e+01] [ 2.69361198e-03 -5.26628803e-05 9.99996371e-01 2.19166493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.854012739 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:109.05, Y:25.57, Z:0.22 [[ 8.61784385e-01 -5.07269332e-01 -2.34497762e-03 1.09050382e+02] [ 5.07267600e-01 8.61787574e-01 -1.32642323e-03 2.55748734e+01] [ 2.69372640e-03 -4.64403417e-05 9.99996371e-01 2.18092046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.884012739 meters Centerline goodness : 0.996398 Centerline is valid? [True, True] Translation: X:109.07, Y:25.59, Z:0.22 [[ 8.62487287e-01 -5.06073296e-01 -2.34480860e-03 1.09074009e+02] [ 5.06071559e-01 8.62490474e-01 -1.32672196e-03 2.55871838e+01] [ 2.69379363e-03 -4.23601214e-05 9.99996371e-01 2.17819452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.914012739 meters Centerline goodness : 0.996263 Centerline is valid? [True, True] Translation: X:109.10, Y:25.60, Z:0.22 [[ 8.63677460e-01 -5.04039432e-01 -2.34464352e-03 1.09098057e+02] [ 5.04037686e-01 8.63680641e-01 -1.32701362e-03 2.56005931e+01] [ 2.69389041e-03 -3.56769392e-05 9.99996371e-01 2.19007622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.944012739 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:109.12, Y:25.62, Z:0.22 [[ 8.66151324e-01 -4.99776337e-01 -2.34440365e-03 1.09122222e+02] [ 4.99774575e-01 8.66154497e-01 -1.32743727e-03 2.56153459e+01] [ 2.69403750e-03 -2.19117878e-05 9.99996371e-01 2.21734617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.974012739 meters Centerline goodness : 0.996136 Centerline is valid? [True, True] Translation: X:109.15, Y:25.63, Z:0.22 [[ 8.67178612e-01 -4.97991726e-01 -2.34415109e-03 1.09145317e+02] [ 4.97989956e-01 8.67181781e-01 -1.32788311e-03 2.56290502e+01] [ 2.69407992e-03 -1.58518673e-05 9.99996371e-01 2.22872696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.004012739 meters Centerline goodness : 0.996200 Centerline is valid? [True, True] Translation: X:109.17, Y:25.65, Z:0.23 [[ 8.68142526e-01 -4.96309441e-01 -2.34397827e-03 1.09167557e+02] [ 4.96307664e-01 8.68145690e-01 -1.32818811e-03 2.56455443e+01] [ 2.69410693e-03 -1.02777997e-05 9.99996371e-01 2.26551259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.034012739 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:109.19, Y:25.66, Z:0.23 [[ 8.68342213e-01 -4.95959986e-01 -2.34372972e-03 1.09189903e+02] [ 4.95958206e-01 8.68345376e-01 -1.32862656e-03 2.56606767e+01] [ 2.69411247e-03 -8.68946370e-06 9.99996371e-01 2.27059512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.064012739 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:109.21, Y:25.68, Z:0.23 [[ 8.68111940e-01 -4.96362939e-01 -2.34362159e-03 1.09212243e+02] [ 4.96361160e-01 8.68115103e-01 -1.32881726e-03 2.56757173e+01] [ 2.69410894e-03 -9.72059958e-06 9.99996371e-01 2.26714749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.094012739 meters Centerline goodness : 0.995750 Centerline is valid? [True, True] Translation: X:109.23, Y:25.69, Z:0.23 [[ 8.67078831e-01 -4.98165444e-01 -2.34351424e-03 1.09234761e+02] [ 4.98163671e-01 8.67081997e-01 -1.32900655e-03 2.56918104e+01] [ 2.69408415e-03 -1.51002122e-05 9.99996371e-01 2.25333545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.124012739 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:109.26, Y:25.71, Z:0.23 [[ 8.66385430e-01 -4.99370399e-01 -2.34326326e-03 1.09257597e+02] [ 4.99368629e-01 8.66388599e-01 -1.32944894e-03 2.57068548e+01] [ 2.69406402e-03 -1.83369720e-05 9.99996371e-01 2.25393267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.154012739 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:109.28, Y:25.72, Z:0.22 [[ 8.64376618e-01 -5.02839509e-01 -2.34315468e-03 1.09280051e+02] [ 5.02837752e-01 8.64379793e-01 -1.32964027e-03 2.57236145e+01] [ 2.69397122e-03 -2.89166703e-05 9.99996371e-01 2.24351312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.184012739 meters Centerline goodness : 0.996358 Centerline is valid? [True, True] Translation: X:109.30, Y:25.74, Z:0.22 [[ 8.63279343e-01 -5.04720999e-01 -2.34289286e-03 1.09303548e+02] [ 5.04719248e-01 8.63282522e-01 -1.33010145e-03 2.57366520e+01] [ 2.69390859e-03 -3.42540200e-05 9.99996371e-01 2.23458491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.214012739 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:109.33, Y:25.75, Z:0.22 [[ 8.60618104e-01 -5.09245511e-01 -2.34277952e-03 1.09327881e+02] [ 5.09243776e-01 8.60621291e-01 -1.33030106e-03 2.57478652e+01] [ 2.69369578e-03 -4.81647127e-05 9.99996371e-01 2.21946450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.244012739 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:109.35, Y:25.76, Z:0.22 [[ 8.59305570e-01 -5.11457183e-01 -2.34266999e-03 1.09351807e+02] [ 5.11455455e-01 8.59308761e-01 -1.33049392e-03 2.57605024e+01] [ 2.69356751e-03 -5.48705123e-05 9.99996371e-01 2.22465880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.274012739 meters Centerline goodness : 0.995852 Centerline is valid? [True, True] Translation: X:109.38, Y:25.77, Z:0.22 [[ 8.58072780e-01 -5.13522753e-01 -2.34256546e-03 1.09376337e+02] [ 5.13521032e-01 8.58075975e-01 -1.33067794e-03 2.57736943e+01] [ 2.69343253e-03 -6.11381134e-05 9.99996371e-01 2.23316047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.304012739 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:109.40, Y:25.78, Z:0.23 [[ 8.56616428e-01 -5.15948456e-01 -2.34231465e-03 1.09402108e+02] [ 5.15946743e-01 8.56619627e-01 -1.33111927e-03 2.57837390e+01] [ 2.69326163e-03 -6.82509769e-05 9.99996371e-01 2.25560644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.334012739 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:109.43, Y:25.80, Z:0.22 [[ 8.56090223e-01 -5.16821095e-01 -2.34220558e-03 1.09427984e+02] [ 5.16819385e-01 8.56093424e-01 -1.33131116e-03 2.57955684e+01] [ 2.69319649e-03 -7.07747739e-05 9.99996371e-01 2.24636724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.364012739 meters Centerline goodness : 0.996218 Centerline is valid? [True, True] Translation: X:109.45, Y:25.80, Z:0.22 [[ 8.56146401e-01 -5.16728028e-01 -2.34195654e-03 1.09454427e+02] [ 5.16726317e-01 8.56149601e-01 -1.33174910e-03 2.58047961e+01] [ 2.69321725e-03 -6.99783769e-05 9.99996371e-01 2.21747414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.394012739 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:109.48, Y:25.82, Z:0.22 [[ 8.56214397e-01 -5.16615351e-01 -2.34187892e-03 1.09478950e+02] [ 5.16613639e-01 8.56217597e-01 -1.33188558e-03 2.58168531e+01] [ 2.69323048e-03 -6.94669817e-05 9.99996371e-01 2.22585871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.424012739 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:109.50, Y:25.83, Z:0.22 [[ 8.56214410e-01 -5.16615332e-01 -2.34171321e-03 1.09504552e+02] [ 5.16613619e-01 8.56217609e-01 -1.33217689e-03 2.58285332e+01] [ 2.69323909e-03 -6.91318877e-05 9.99996371e-01 2.23441159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45401273899999 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:109.53, Y:25.84, Z:0.22 [[ 8.56119599e-01 -5.16772436e-01 -2.34146842e-03 1.09529218e+02] [ 5.16770722e-01 8.56122798e-01 -1.33260698e-03 2.58427792e+01] [ 2.69323905e-03 -6.91313735e-05 9.99996371e-01 2.23517896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.484012739 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:109.56, Y:25.85, Z:0.22 [[ 8.55915697e-01 -5.17110084e-01 -2.34122382e-03 1.09557262e+02] [ 5.17108370e-01 8.55918896e-01 -1.33303659e-03 2.58504320e+01] [ 2.69322436e-03 -6.96994916e-05 9.99996371e-01 2.23859404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.514012739 meters Centerline goodness : 0.995916 Centerline is valid? [True, True] Translation: X:109.58, Y:25.86, Z:0.22 [[ 8.55647812e-01 -5.17553225e-01 -2.34097005e-03 1.09583846e+02] [ 5.17551512e-01 8.55651012e-01 -1.33348208e-03 2.58580498e+01] [ 2.69320134e-03 -7.05815656e-05 9.99996371e-01 2.23955411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.544012739 meters Centerline goodness : 0.996211 Centerline is valid? [True, True] Translation: X:109.61, Y:25.87, Z:0.22 [[ 8.55528954e-01 -5.17749678e-01 -2.34085973e-03 1.09608982e+02] [ 5.17747965e-01 8.55532154e-01 -1.33367571e-03 2.58690457e+01] [ 2.69319094e-03 -7.09771760e-05 9.99996371e-01 2.24661044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.574012739 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:109.63, Y:25.88, Z:0.23 [[ 8.55682622e-01 -5.17495674e-01 -2.34068965e-03 1.09634676e+02] [ 5.17493959e-01 8.55685820e-01 -1.33397415e-03 2.58798322e+01] [ 2.69322079e-03 -6.98342529e-05 9.99996371e-01 2.25789302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.604012739 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:109.66, Y:25.89, Z:0.23 [[ 8.56213582e-01 -5.16616710e-01 -2.34044078e-03 1.09662998e+02] [ 5.16614990e-01 8.56216778e-01 -1.33441064e-03 2.58890562e+01] [ 2.69330350e-03 -6.65662799e-05 9.99996371e-01 2.29156074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.634012739 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:109.69, Y:25.90, Z:0.23 [[ 8.57052042e-01 -5.15224534e-01 -2.34022211e-03 1.09688023e+02] [ 5.15222809e-01 8.57055235e-01 -1.33479403e-03 2.59002737e+01] [ 2.69341824e-03 -6.17478571e-05 9.99996371e-01 2.30267422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.664012739 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:109.72, Y:25.91, Z:0.23 [[ 8.59406391e-01 -5.11287766e-01 -2.34011290e-03 1.09715323e+02] [ 5.11286025e-01 8.59409575e-01 -1.33498546e-03 2.59098551e+01] [ 2.69367717e-03 -4.91719877e-05 9.99996371e-01 2.29260702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.694012739 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:109.74, Y:25.92, Z:0.23 [[ 8.60868583e-01 -5.08821981e-01 -2.33985583e-03 1.09740686e+02] [ 5.08820230e-01 8.60871762e-01 -1.33543588e-03 2.59217955e+01] [ 2.69381494e-03 -4.09311916e-05 9.99996371e-01 2.28282823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.724012739 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:109.77, Y:25.93, Z:0.23 [[ 8.64297112e-01 -5.02976171e-01 -2.33973466e-03 1.09767425e+02] [ 5.02974398e-01 8.64300278e-01 -1.33564814e-03 2.59333825e+01] [ 2.69403251e-03 -2.24298027e-05 9.99996371e-01 2.25664547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.754012739 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:109.79, Y:25.95, Z:0.23 [[ 8.65870642e-01 -5.00262488e-01 -2.33961040e-03 1.09791476e+02] [ 5.00260705e-01 8.65873803e-01 -1.33586578e-03 2.59463148e+01] [ 2.69409089e-03 -1.37281855e-05 9.99996371e-01 2.26147107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.784012739 meters Centerline goodness : 0.996048 Centerline is valid? [True, True] Translation: X:109.82, Y:25.96, Z:0.23 [[ 8.67477391e-01 -4.97471108e-01 -2.33943696e-03 1.09815719e+02] [ 4.97469314e-01 8.67480545e-01 -1.33616944e-03 2.59603312e+01] [ 2.69412174e-03 -4.70131881e-06 9.99996371e-01 2.25799664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.814012739 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:109.84, Y:25.98, Z:0.22 [[ 8.70050404e-01 -4.92957221e-01 -2.33918635e-03 1.09838995e+02] [ 4.92955409e-01 8.70053549e-01 -1.33660804e-03 2.59751070e+01] [ 2.69410797e-03 9.80179996e-06 9.99996371e-01 2.24060558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.844012739 meters Centerline goodness : 0.995612 Centerline is valid? [True, True] Translation: X:109.86, Y:25.99, Z:0.22 [[ 8.70940862e-01 -4.91382280e-01 -2.33893721e-03 1.09861823e+02] [ 4.91380461e-01 8.70944002e-01 -1.33704385e-03 2.59895261e+01] [ 2.69408299e-03 1.51780812e-05 9.99996371e-01 2.23958253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.874012739 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:109.89, Y:26.01, Z:0.22 [[ 8.72708730e-01 -4.88235601e-01 -2.33882879e-03 1.09885063e+02] [ 4.88233771e-01 8.72711864e-01 -1.33723349e-03 2.60061301e+01] [ 2.69400863e-03 2.51201386e-05 9.99996371e-01 2.24616713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.904012739 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:109.91, Y:26.02, Z:0.23 [[ 8.73285337e-01 -4.87203502e-01 -2.33858178e-03 1.09907053e+02] [ 4.87201666e-01 8.73288467e-01 -1.33766533e-03 2.60216229e+01] [ 2.69397173e-03 2.88025749e-05 9.99996371e-01 2.25955301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.934012739 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:109.93, Y:26.04, Z:0.23 [[ 8.73598292e-01 -4.86642123e-01 -2.33847478e-03 1.09929601e+02] [ 4.86640285e-01 8.73601421e-01 -1.33785234e-03 2.60381904e+01] [ 2.69395020e-03 3.07494857e-05 9.99996371e-01 2.26665866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.964012739 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:109.95, Y:26.06, Z:0.22 [[ 8.73642140e-01 -4.86563402e-01 -2.33823060e-03 1.09950708e+02] [ 4.86561563e-01 8.73645268e-01 -1.33827899e-03 2.60582154e+01] [ 2.69394167e-03 3.14837873e-05 9.99996371e-01 2.24313452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.994012739 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:109.97, Y:26.08, Z:0.22 [[ 8.73343037e-01 -4.87100066e-01 -2.33798234e-03 1.09971583e+02] [ 4.87098227e-01 8.73346166e-01 -1.33871256e-03 2.60771420e+01] [ 2.69395488e-03 3.03282408e-05 9.99996371e-01 2.22641833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.024012739 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:109.99, Y:26.09, Z:0.22 [[ 8.72823832e-01 -4.88029809e-01 -2.33773453e-03 1.09993722e+02] [ 4.88027972e-01 8.72826962e-01 -1.33914514e-03 2.60921770e+01] [ 2.69398048e-03 2.79579528e-05 9.99996371e-01 2.22508432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.054012739 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:110.02, Y:26.11, Z:0.22 [[ 8.72055264e-01 -4.89401831e-01 -2.33762673e-03 1.10016618e+02] [ 4.89399999e-01 8.72058397e-01 -1.33933330e-03 2.61073833e+01] [ 2.69401919e-03 2.39381290e-05 9.99996371e-01 2.22987905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.084012739 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:110.04, Y:26.12, Z:0.22 [[ 8.70263616e-01 -4.92580730e-01 -2.33751958e-03 1.10039301e+02] [ 4.92578909e-01 8.70266755e-01 -1.33952029e-03 2.61235064e+01] [ 2.69408746e-03 1.43229255e-05 9.99996371e-01 2.24772726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.114012739 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:110.06, Y:26.14, Z:0.23 [[ 8.69216191e-01 -4.94426688e-01 -2.33728366e-03 1.10063651e+02] [ 4.94424873e-01 8.69219334e-01 -1.33993180e-03 2.61382965e+01] [ 2.69411019e-03 9.07923537e-06 9.99996371e-01 2.25129685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.144012739 meters Centerline goodness : 0.995686 Centerline is valid? [True, True] Translation: X:110.09, Y:26.15, Z:0.22 [[ 8.67094266e-01 -4.98138607e-01 -2.33704010e-03 1.10087768e+02] [ 4.98136804e-01 8.67097416e-01 -1.34035647e-03 2.61533676e+01] [ 2.69412474e-03 -1.95027251e-06 9.99996371e-01 2.23860167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.174012739 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:110.11, Y:26.17, Z:0.22 [[ 8.66244625e-01 -4.99614640e-01 -2.33679035e-03 1.10111937e+02] [ 4.99612841e-01 8.66247777e-01 -1.34079175e-03 2.61672603e+01] [ 2.69411863e-03 -6.03681732e-06 9.99996371e-01 2.22303352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20401273899999 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:110.14, Y:26.18, Z:0.22 [[ 8.64620840e-01 -5.02419488e-01 -2.33671285e-03 1.10137042e+02] [ 5.02417699e-01 8.64623998e-01 -1.34092680e-03 2.61803918e+01] [ 2.69408576e-03 -1.46126380e-05 9.99996371e-01 2.21523343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.234012739 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:110.16, Y:26.19, Z:0.22 [[ 8.63996775e-01 -5.03491920e-01 -2.33647224e-03 1.10162091e+02] [ 5.03490134e-01 8.63999934e-01 -1.34134592e-03 2.61935915e+01] [ 2.69406869e-03 -1.74721719e-05 9.99996371e-01 2.22907327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.264012739 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:110.19, Y:26.21, Z:0.22 [[ 8.63376367e-01 -5.04555042e-01 -2.33622399e-03 1.10185953e+02] [ 5.04553258e-01 8.63379528e-01 -1.34177816e-03 2.62065139e+01] [ 2.69404890e-03 -2.02898779e-05 9.99996371e-01 2.24987193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.294012739 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:110.21, Y:26.22, Z:0.23 [[ 8.61996741e-01 -5.06908434e-01 -2.33611626e-03 1.10211616e+02] [ 5.06906659e-01 8.61999906e-01 -1.34196569e-03 2.62189260e+01] [ 2.69398573e-03 -2.74228376e-05 9.99996371e-01 2.26734288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.324012739 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:110.24, Y:26.23, Z:0.23 [[ 8.60195905e-01 -5.09958379e-01 -2.33588108e-03 1.10237338e+02] [ 5.09956613e-01 8.60199076e-01 -1.34237493e-03 2.62294702e+01] [ 2.69387809e-03 -3.64925885e-05 9.99996371e-01 2.25578353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.354012739 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:110.26, Y:26.24, Z:0.22 [[ 8.59292822e-01 -5.11478633e-01 -2.33562057e-03 1.10262588e+02] [ 5.11476872e-01 8.59295995e-01 -1.34282805e-03 2.62421900e+01] [ 2.69381725e-03 -4.07333981e-05 9.99996371e-01 2.24474316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.384012739 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:110.29, Y:26.26, Z:0.22 [[ 8.58508975e-01 -5.12793219e-01 -2.33536203e-03 1.10287823e+02] [ 5.12791462e-01 8.58512151e-01 -1.34327753e-03 2.62552758e+01] [ 2.69376029e-03 -4.43378991e-05 9.99996371e-01 2.23500211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.414012739 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:110.31, Y:26.27, Z:0.22 [[ 8.57465278e-01 -5.14536534e-01 -2.33510333e-03 1.10313902e+02] [ 5.14534782e-01 8.57468456e-01 -1.34372710e-03 2.62658874e+01] [ 2.69367413e-03 -4.92925472e-05 9.99996371e-01 2.20916590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.444012739 meters Centerline goodness : 0.996072 Centerline is valid? [True, True] Translation: X:110.34, Y:26.28, Z:0.22 [[ 8.56850861e-01 -5.15559065e-01 -2.33487826e-03 1.10339307e+02] [ 5.15557316e-01 8.56854041e-01 -1.34411807e-03 2.62769513e+01] [ 2.69362213e-03 -5.20548458e-05 9.99996371e-01 2.18955352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.474012739 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:110.37, Y:26.28, Z:0.22 [[ 8.55843844e-01 -5.17229025e-01 -2.33464688e-03 1.10366367e+02] [ 5.17227281e-01 8.55847026e-01 -1.34451984e-03 2.62844827e+01] [ 2.69352528e-03 -5.68440294e-05 9.99996371e-01 2.19209062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.504012739 meters Centerline goodness : 0.990851 Centerline is valid? [True, True] Translation: X:110.39, Y:26.29, Z:0.23 [[ 8.55376369e-01 -5.18001755e-01 -2.33452115e-03 1.10392353e+02] [ 5.18000012e-01 8.55379552e-01 -1.34473811e-03 2.62946728e+01] [ 2.69347836e-03 -5.90247786e-05 9.99996371e-01 2.28907830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.534012739 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:110.42, Y:26.31, Z:0.22 [[ 8.54613527e-01 -5.19259348e-01 -2.33427005e-03 1.10417766e+02] [ 5.19257610e-01 8.54616713e-01 -1.34517384e-03 2.63066752e+01] [ 2.69340029e-03 -6.24837292e-05 9.99996371e-01 2.22062408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.564012739 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:110.45, Y:26.31, Z:0.22 [[ 8.52965846e-01 -5.21961510e-01 -2.33401635e-03 1.10445349e+02] [ 5.21959781e-01 8.52969036e-01 -1.34561390e-03 2.63120427e+01] [ 2.69320234e-03 -7.04999599e-05 9.99996371e-01 2.22039548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.594012739 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:110.48, Y:26.32, Z:0.22 [[ 8.51000529e-01 -5.25159644e-01 -2.33390612e-03 1.10475193e+02] [ 5.25157926e-01 8.51003726e-01 -1.34580506e-03 2.63172378e+01] [ 2.69292531e-03 -8.03884789e-05 9.99996371e-01 2.18676407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.624012739 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:110.50, Y:26.33, Z:0.22 [[ 8.50150932e-01 -5.26533899e-01 -2.33366743e-03 1.10501665e+02] [ 5.26532185e-01 8.50154131e-01 -1.34621883e-03 2.63272464e+01] [ 2.69280685e-03 -8.42618187e-05 9.99996371e-01 2.19172651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.654012739 meters Centerline goodness : 0.994995 Centerline is valid? [True, True] Translation: X:110.53, Y:26.34, Z:0.22 [[ 8.49694745e-01 -5.27269756e-01 -2.33341069e-03 1.10528511e+02] [ 5.27268044e-01 8.49697944e-01 -1.34666369e-03 2.63371124e+01] [ 2.69274930e-03 -8.60798298e-05 9.99996371e-01 2.20223105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.684012739 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:110.56, Y:26.34, Z:0.22 [[ 8.49792335e-01 -5.27112459e-01 -2.33315509e-03 1.10556827e+02] [ 5.27110745e-01 8.49795533e-01 -1.34710638e-03 2.63423806e+01] [ 2.69278133e-03 -8.50704423e-05 9.99996371e-01 2.22040794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.714012739 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:110.58, Y:26.35, Z:0.22 [[ 8.50027091e-01 -5.26733805e-01 -2.33298034e-03 1.10582634e+02] [ 5.26732088e-01 8.50030289e-01 -1.34740895e-03 2.63528245e+01] [ 2.69282980e-03 -8.35214936e-05 9.99996371e-01 2.21132323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.744012739 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:110.61, Y:26.36, Z:0.22 [[ 8.50916811e-01 -5.25295287e-01 -2.33272671e-03 1.10609969e+02] [ 5.25293564e-01 8.50920005e-01 -1.34784791e-03 2.63595454e+01] [ 2.69298198e-03 -7.84598819e-05 9.99996371e-01 2.20149405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.774012739 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:110.64, Y:26.37, Z:0.22 [[ 8.51181079e-01 -5.24866964e-01 -2.33247448e-03 1.10636277e+02] [ 5.24865238e-01 8.51184272e-01 -1.34828425e-03 2.63704773e+01] [ 2.69303546e-03 -7.66007307e-05 9.99996371e-01 2.21804397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.804012739 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:110.66, Y:26.38, Z:0.23 [[ 8.52430065e-01 -5.22836060e-01 -2.33222127e-03 1.10664666e+02] [ 5.22834325e-01 8.52433252e-01 -1.34872211e-03 2.63785738e+01] [ 2.69322352e-03 -6.96740588e-05 9.99996371e-01 2.27376566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.834012739 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:110.69, Y:26.39, Z:0.23 [[ 8.53703961e-01 -5.20753406e-01 -2.33200123e-03 1.10690415e+02] [ 5.20751662e-01 8.53707143e-01 -1.34910246e-03 2.63900799e+01] [ 2.69339581e-03 -6.26594087e-05 9.99996371e-01 2.28542070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.864012739 meters Centerline goodness : 0.993945 Centerline is valid? [True, True] Translation: X:110.71, Y:26.40, Z:0.23 [[ 8.55489273e-01 -5.17815282e-01 -2.33174986e-03 1.10714735e+02] [ 5.17813526e-01 8.55492449e-01 -1.34953679e-03 2.64014496e+01] [ 2.69360517e-03 -5.28973649e-05 9.99996371e-01 2.28292190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.894012739 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:110.74, Y:26.41, Z:0.22 [[ 8.59042993e-01 -5.11898134e-01 -2.33164353e-03 1.10740296e+02] [ 5.11896356e-01 8.59046157e-01 -1.34972047e-03 2.64136791e+01] [ 2.69390880e-03 -3.40919086e-05 9.99996371e-01 2.22635989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.924012739 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:110.76, Y:26.43, Z:0.22 [[ 8.60381483e-01 -5.09645237e-01 -2.33142546e-03 1.10764423e+02] [ 5.09643449e-01 8.60384642e-01 -1.35009704e-03 2.64278153e+01] [ 2.69399319e-03 -2.65972215e-05 9.99996371e-01 2.20534790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95401273899999 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:110.79, Y:26.44, Z:0.22 [[ 8.62955308e-01 -5.05274878e-01 -2.33117808e-03 1.10788028e+02] [ 5.05273073e-01 8.62958457e-01 -1.35052405e-03 2.64408548e+01] [ 2.69409572e-03 -1.24396118e-05 9.99996371e-01 2.22931513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.984012739 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:110.81, Y:26.45, Z:0.23 [[ 8.64245563e-01 -5.03064781e-01 -2.33105418e-03 1.10811188e+02] [ 5.03062967e-01 8.64248706e-01 -1.35073787e-03 2.64538753e+01] [ 2.69411921e-03 -5.29782115e-06 9.99996371e-01 2.25902267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01401273899998 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:110.84, Y:26.47, Z:0.23 [[ 8.65496621e-01 -5.00909339e-01 -2.33088717e-03 1.10835346e+02] [ 5.00907518e-01 8.65499759e-01 -1.35102602e-03 2.64687425e+01] [ 2.69412383e-03 1.74954770e-06 9.99996371e-01 2.27665799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04401273899998 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:110.86, Y:26.49, Z:0.23 [[ 8.68004002e-01 -4.96551730e-01 -2.33064380e-03 1.10857802e+02] [ 4.96549891e-01 8.68007131e-01 -1.35144573e-03 2.64857384e+01] [ 2.69407815e-03 1.57793760e-05 9.99996371e-01 2.25454089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07401273899998 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:110.88, Y:26.50, Z:0.22 [[ 8.69656550e-01 -4.93651754e-01 -2.33056845e-03 1.10880569e+02] [ 4.93649904e-01 8.69659672e-01 -1.35157565e-03 2.65012608e+01] [ 2.69400908e-03 2.49217205e-05 9.99996371e-01 2.21537380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10401273899998 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:110.90, Y:26.52, Z:0.22 [[ 8.70064344e-01 -4.92932659e-01 -2.33049351e-03 1.10904536e+02] [ 4.92930806e-01 8.70067465e-01 -1.35170486e-03 2.65163274e+01] [ 2.69398605e-03 2.72981573e-05 9.99996371e-01 2.21745879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13401273899999 meters Centerline goodness : 0.995246 Centerline is valid? [True, True] Translation: X:110.93, Y:26.53, Z:0.22 [[ 8.70569629e-01 -4.92039726e-01 -2.33025404e-03 1.10927714e+02] [ 4.92037869e-01 8.70572747e-01 -1.35211756e-03 2.65319928e+01] [ 2.69395121e-03 3.05392500e-05 9.99996371e-01 2.22287339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.164012739 meters Centerline goodness : 0.995127 Centerline is valid? [True, True] Translation: X:110.95, Y:26.55, Z:0.22 [[ 8.71776832e-01 -4.89897669e-01 -2.33001516e-03 1.10947904e+02] [ 4.89895803e-01 8.71779945e-01 -1.35252908e-03 2.65502515e+01] [ 2.69386133e-03 3.76388716e-05 9.99996371e-01 2.21871097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.194012739 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:110.97, Y:26.57, Z:0.22 [[ 8.72263071e-01 -4.89031397e-01 -2.32991150e-03 1.10970634e+02] [ 4.89029528e-01 8.72266181e-01 -1.35270762e-03 2.65665552e+01] [ 2.69381951e-03 4.05213842e-05 9.99996371e-01 2.21654493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.224012739 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:110.99, Y:26.58, Z:0.22 [[ 8.73488060e-01 -4.86839995e-01 -2.32967574e-03 1.10992781e+02] [ 4.86838117e-01 8.73491166e-01 -1.35311355e-03 2.65833410e+01] [ 2.69370097e-03 4.77535781e-05 9.99996371e-01 2.20675232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.254012739 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:111.01, Y:26.60, Z:0.22 [[ 8.73865359e-01 -4.86162430e-01 -2.32941755e-03 1.11014878e+02] [ 4.86160548e-01 8.73868462e-01 -1.35355787e-03 2.65987677e+01] [ 2.69365352e-03 5.03564179e-05 9.99996371e-01 2.21173002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.284012739 meters Centerline goodness : 0.995605 Centerline is valid? [True, True] Translation: X:111.04, Y:26.62, Z:0.22 [[ 8.74245377e-01 -4.85478727e-01 -2.32930570e-03 1.11036151e+02] [ 4.85476843e-01 8.74248479e-01 -1.35375032e-03 2.66171736e+01] [ 2.69360895e-03 5.26859777e-05 9.99996371e-01 2.23626771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.314012739 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:111.06, Y:26.63, Z:0.22 [[ 8.74051702e-01 -4.85827333e-01 -2.32906201e-03 1.11059380e+02] [ 4.85825448e-01 8.74054804e-01 -1.35416945e-03 2.66330710e+01] [ 2.69362037e-03 5.20965134e-05 9.99996371e-01 2.24938210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.344012739 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:111.08, Y:26.65, Z:0.23 [[ 8.73683089e-01 -4.86489914e-01 -2.32881970e-03 1.11083077e+02] [ 4.86488031e-01 8.73686191e-01 -1.35458603e-03 2.66483457e+01] [ 2.69365006e-03 5.05359941e-05 9.99996371e-01 2.25183291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.374012739 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:111.11, Y:26.66, Z:0.23 [[ 8.73594322e-01 -4.86649298e-01 -2.32857228e-03 1.11107617e+02] [ 4.86647414e-01 8.73597424e-01 -1.35501121e-03 2.66628410e+01] [ 2.69365000e-03 5.05364217e-05 9.99996371e-01 2.25260028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.404012739 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:111.13, Y:26.68, Z:0.23 [[ 8.73134579e-01 -4.87473676e-01 -2.32832500e-03 1.11129696e+02] [ 4.87471794e-01 8.73137683e-01 -1.35543598e-03 2.66788902e+01] [ 2.69368766e-03 4.84852610e-05 9.99996371e-01 2.26179982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.434012739 meters Centerline goodness : 0.996029 Centerline is valid? [True, True] Translation: X:111.15, Y:26.70, Z:0.23 [[ 8.73237375e-01 -4.87289509e-01 -2.32821750e-03 1.11151022e+02] [ 4.87287626e-01 8.73240478e-01 -1.35562062e-03 2.66973372e+01] [ 2.69367347e-03 4.92670138e-05 9.99996371e-01 2.25943355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.464012739 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:111.17, Y:26.71, Z:0.23 [[ 8.73243484e-01 -4.87278563e-01 -2.32796783e-03 1.11174221e+02] [ 4.87276678e-01 8.73246586e-01 -1.35604923e-03 2.67133340e+01] [ 2.69366368e-03 4.97967192e-05 9.99996371e-01 2.25463829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.494012739 meters Centerline goodness : 0.996031 Centerline is valid? [True, True] Translation: X:111.20, Y:26.73, Z:0.23 [[ 8.73441072e-01 -4.86924302e-01 -2.32771271e-03 1.11196641e+02] [ 4.86922415e-01 8.73444172e-01 -1.35648702e-03 2.67281016e+01] [ 2.69363359e-03 5.13959881e-05 9.99996371e-01 2.25525819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52401273899997 meters Centerline goodness : 0.996095 Centerline is valid? [True, True] Translation: X:111.22, Y:26.75, Z:0.22 [[ 8.73824235e-01 -4.86236350e-01 -2.32760225e-03 1.11218535e+02] [ 4.86234461e-01 8.73827334e-01 -1.35667653e-03 2.67454955e+01] [ 2.69358791e-03 5.37364099e-05 9.99996371e-01 2.23796053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55401273899997 meters Centerline goodness : 0.996961 Centerline is valid? [True, True] Translation: X:111.24, Y:26.76, Z:0.22 [[ 8.74070546e-01 -4.85793437e-01 -2.32735267e-03 1.11240510e+02] [ 4.85791544e-01 8.74073643e-01 -1.35710455e-03 2.67607572e+01] [ 2.69355011e-03 5.55968691e-05 9.99996371e-01 2.22218369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58401273899997 meters Centerline goodness : 0.996693 Centerline is valid? [True, True] Translation: X:111.26, Y:26.78, Z:0.22 [[ 8.74478360e-01 -4.85058947e-01 -2.32724415e-03 1.11261920e+02] [ 4.85057052e-01 8.74481454e-01 -1.35729061e-03 2.67782343e+01] [ 2.69349781e-03 5.80750752e-05 9.99996371e-01 2.20097962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61401273899997 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:111.28, Y:26.79, Z:0.22 [[ 8.74441278e-01 -4.85125794e-01 -2.32713782e-03 1.11284993e+02] [ 4.85123899e-01 8.74444372e-01 -1.35747290e-03 2.67948179e+01] [ 2.69349769e-03 5.80801655e-05 9.99996371e-01 2.19736111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64401273899998 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:111.31, Y:26.81, Z:0.22 [[ 8.73748699e-01 -4.86372076e-01 -2.32688371e-03 1.11305776e+02] [ 4.86370183e-01 8.73751796e-01 -1.35790834e-03 2.68118119e+01] [ 2.69356752e-03 5.47437889e-05 9.99996371e-01 2.21851214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67401273899998 meters Centerline goodness : 0.997319 Centerline is valid? [True, True] Translation: X:111.33, Y:26.83, Z:0.22 [[ 8.72960560e-01 -4.87785246e-01 -2.32671026e-03 1.11329689e+02] [ 4.87783358e-01 8.72963660e-01 -1.35820548e-03 2.68266138e+01] [ 2.69364609e-03 5.07292724e-05 9.99996371e-01 2.22724980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70401273899998 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:111.35, Y:26.84, Z:0.22 [[ 8.71899411e-01 -4.89679492e-01 -2.32646087e-03 1.11352940e+02] [ 4.89677609e-01 8.71902514e-01 -1.35863251e-03 2.68416350e+01] [ 2.69374156e-03 4.53750897e-05 9.99996371e-01 2.23406065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73401273899998 meters Centerline goodness : 0.996806 Centerline is valid? [True, True] Translation: X:111.37, Y:26.86, Z:0.22 [[ 8.70043132e-01 -4.92970118e-01 -2.32621188e-03 1.11374377e+02] [ 4.92968246e-01 8.70046241e-01 -1.35905868e-03 2.68578515e+01] [ 2.69388723e-03 3.56910824e-05 9.99996371e-01 2.23142542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76401273899998 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:111.40, Y:26.87, Z:0.22 [[ 8.68209583e-01 -4.96192210e-01 -2.32610325e-03 1.11396639e+02] [ 4.96190349e-01 8.68212698e-01 -1.35924460e-03 2.68728776e+01] [ 2.69399896e-03 2.59192057e-05 9.99996371e-01 2.24894104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79401273899998 meters Centerline goodness : 0.996811 Centerline is valid? [True, True] Translation: X:111.42, Y:26.89, Z:0.23 [[ 8.67429566e-01 -4.97554557e-01 -2.32593439e-03 1.11421064e+02] [ 4.97552700e-01 8.67432685e-01 -1.35953349e-03 2.68867206e+01] [ 2.69403359e-03 2.20246064e-05 9.99996371e-01 2.26856835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82401273899998 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:111.45, Y:26.90, Z:0.23 [[ 8.66912109e-01 -4.98455602e-01 -2.32568808e-03 1.11446210e+02] [ 4.98453747e-01 8.66915228e-01 -1.35995470e-03 2.69000300e+01] [ 2.69405145e-03 1.97132639e-05 9.99996371e-01 2.28867028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85401273899998 meters Centerline goodness : 0.995028 Centerline is valid? [True, True] Translation: X:111.47, Y:26.91, Z:0.23 [[ 8.66433340e-01 -4.99287352e-01 -2.32543228e-03 1.11471535e+02] [ 4.99285499e-01 8.66436461e-01 -1.36039197e-03 2.69112799e+01] [ 2.69406582e-03 1.76343435e-05 9.99996371e-01 2.32672818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88401273899999 meters Centerline goodness : 0.996824 Centerline is valid? [True, True] Translation: X:111.50, Y:26.92, Z:0.23 [[ 8.66439109e-01 -4.99277341e-01 -2.32517279e-03 1.11495111e+02] [ 4.99275487e-01 8.66442229e-01 -1.36083533e-03 2.69245510e+01] [ 2.69406214e-03 1.81791758e-05 9.99996371e-01 2.29130512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.914012739 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:111.52, Y:26.94, Z:0.23 [[ 8.66894814e-01 -4.98485682e-01 -2.32506045e-03 1.11520094e+02] [ 4.98483824e-01 8.66897932e-01 -1.36102725e-03 2.69370284e+01] [ 2.69404269e-03 2.08624359e-05 9.99996371e-01 2.29679823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.944012739 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:111.54, Y:26.95, Z:0.23 [[ 8.67359001e-01 -4.97677565e-01 -2.32480913e-03 1.11543887e+02] [ 4.97675703e-01 8.67362116e-01 -1.36145640e-03 2.69498706e+01] [ 2.69401767e-03 2.38704474e-05 9.99996371e-01 2.29832898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.974012739 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:111.57, Y:26.96, Z:0.23 [[ 8.68101718e-01 -4.96380905e-01 -2.32469966e-03 1.11567779e+02] [ 4.96379038e-01 8.68104830e-01 -1.36164330e-03 2.69638772e+01] [ 2.69397674e-03 2.81127049e-05 9.99996371e-01 2.29182547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.004012739 meters Centerline goodness : 0.996450 Centerline is valid? [True, True] Translation: X:111.59, Y:26.98, Z:0.23 [[ 8.70650443e-01 -4.91896741e-01 -2.32444972e-03 1.11590886e+02] [ 4.91894857e-01 8.70653544e-01 -1.36206983e-03 2.69807619e+01] [ 2.69378810e-03 4.25018317e-05 9.99996371e-01 2.27257902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.034012739 meters Centerline goodness : 0.996626 Centerline is valid? [True, True] Translation: X:111.61, Y:27.00, Z:0.23 [[ 8.72173651e-01 -4.89190883e-01 -2.32419562e-03 1.11613127e+02] [ 4.89188988e-01 8.72176747e-01 -1.36250328e-03 2.69955767e+01] [ 2.69363356e-03 5.13685590e-05 9.99996371e-01 2.27251280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.064012739 meters Centerline goodness : 0.996534 Centerline is valid? [True, True] Translation: X:111.64, Y:27.01, Z:0.23 [[ 8.74728992e-01 -4.84606841e-01 -2.32408555e-03 1.11636290e+02] [ 4.84604929e-01 8.74732076e-01 -1.36269100e-03 2.70119621e+01] [ 2.69332156e-03 6.57220115e-05 9.99996371e-01 2.27287338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.094012739 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:111.66, Y:27.03, Z:0.23 [[ 8.75465873e-01 -4.83274358e-01 -2.32384276e-03 1.11659766e+02] [ 4.83272440e-01 8.75468955e-01 -1.36310493e-03 2.70277824e+01] [ 2.69320585e-03 7.03026837e-05 9.99996371e-01 2.25781429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.124012739 meters Centerline goodness : 0.996996 Centerline is valid? [True, True] Translation: X:111.68, Y:27.04, Z:0.22 [[ 8.75576317e-01 -4.83074232e-01 -2.32359357e-03 1.11682831e+02] [ 4.83072313e-01 8.75579398e-01 -1.36352957e-03 2.70434928e+01] [ 2.69317666e-03 7.14104849e-05 9.99996371e-01 2.24739456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.154012739 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:111.71, Y:27.06, Z:0.23 [[ 8.75084497e-01 -4.83964591e-01 -2.32334550e-03 1.11705882e+02] [ 4.83962674e-01 8.75087579e-01 -1.36395213e-03 2.70591080e+01] [ 2.69323532e-03 6.91608628e-05 9.99996371e-01 2.25250211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.184012739 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:111.73, Y:27.07, Z:0.23 [[ 8.74813987e-01 -4.84453394e-01 -2.32309123e-03 1.11728806e+02] [ 4.84451478e-01 8.74817069e-01 -1.36438507e-03 2.70742331e+01] [ 2.69326084e-03 6.81581592e-05 9.99996371e-01 2.26667102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.214012739 meters Centerline goodness : 0.996602 Centerline is valid? [True, True] Translation: X:111.75, Y:27.09, Z:0.23 [[ 8.74520569e-01 -4.84982864e-01 -2.32283795e-03 1.11750598e+02] [ 4.84980948e-01 8.74523652e-01 -1.36481614e-03 2.70916392e+01] [ 2.69328916e-03 6.70276360e-05 9.99996371e-01 2.26893134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.244012739 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:111.77, Y:27.11, Z:0.23 [[ 8.74266023e-01 -4.85441579e-01 -2.32258442e-03 1.11773715e+02] [ 4.85439664e-01 8.74269105e-01 -1.36524745e-03 2.71070581e+01] [ 2.69331168e-03 6.61148543e-05 9.99996371e-01 2.26025321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27401273899997 meters Centerline goodness : 0.997052 Centerline is valid? [True, True] Translation: X:111.80, Y:27.12, Z:0.22 [[ 8.74163053e-01 -4.85626979e-01 -2.32234912e-03 1.11795867e+02] [ 4.85625063e-01 8.74166136e-01 -1.36564758e-03 2.71234590e+01] [ 2.69331427e-03 6.60077194e-05 9.99996371e-01 2.24010107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30401273899997 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:111.82, Y:27.14, Z:0.22 [[ 8.74262596e-01 -4.85447753e-01 -2.32223944e-03 1.11817912e+02] [ 4.85445836e-01 8.74265678e-01 -1.36583406e-03 2.71384980e+01] [ 2.69329531e-03 6.67761673e-05 9.99996371e-01 2.23959927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33401273899997 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:111.84, Y:27.15, Z:0.23 [[ 8.74482882e-01 -4.85050819e-01 -2.32213098e-03 1.11841105e+02] [ 4.85048900e-01 8.74485962e-01 -1.36601844e-03 2.71547880e+01] [ 2.69325931e-03 6.82126610e-05 9.99996371e-01 2.25221328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36401273899997 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:111.86, Y:27.17, Z:0.23 [[ 8.75273957e-01 -4.83621865e-01 -2.32187596e-03 1.11863274e+02] [ 4.83619940e-01 8.75277034e-01 -1.36645178e-03 2.71728015e+01] [ 2.69313066e-03 7.31141431e-05 9.99996371e-01 2.28628030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39401273899998 meters Centerline goodness : 0.996683 Centerline is valid? [True, True] Translation: X:111.89, Y:27.19, Z:0.23 [[ 8.75434799e-01 -4.83330657e-01 -2.32161906e-03 1.11885294e+02] [ 4.83328730e-01 8.75437874e-01 -1.36688811e-03 2.71886791e+01] [ 2.69309218e-03 7.45162248e-05 9.99996371e-01 2.29538583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42401273899998 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:111.91, Y:27.21, Z:0.23 [[ 8.75303468e-01 -4.83568454e-01 -2.32144361e-03 1.11907367e+02] [ 4.83566527e-01 8.75306544e-01 -1.36718601e-03 2.72059708e+01] [ 2.69310281e-03 7.41302360e-05 9.99996371e-01 2.29091697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45401273899998 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:111.93, Y:27.22, Z:0.23 [[ 8.75044364e-01 -4.84037161e-01 -2.32119248e-03 1.11929925e+02] [ 4.84035235e-01 8.75047439e-01 -1.36761225e-03 2.72210902e+01] [ 2.69312869e-03 7.31824443e-05 9.99996371e-01 2.28776641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48401273899998 meters Centerline goodness : 0.996978 Centerline is valid? [True, True] Translation: X:111.95, Y:27.24, Z:0.23 [[ 8.74947867e-01 -4.84211568e-01 -2.32108283e-03 1.11953097e+02] [ 4.84209642e-01 8.74950943e-01 -1.36779831e-03 2.72367107e+01] [ 2.69313738e-03 7.28615302e-05 9.99996371e-01 2.28586832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51401273899998 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:111.97, Y:27.25, Z:0.23 [[ 8.74998918e-01 -4.84119311e-01 -2.32083549e-03 1.11973864e+02] [ 4.84117383e-01 8.75001993e-01 -1.36821786e-03 2.72548086e+01] [ 2.69311637e-03 7.36323417e-05 9.99996371e-01 2.29170960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54401273899998 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:112.00, Y:27.27, Z:0.23 [[ 8.75541706e-01 -4.83136974e-01 -2.32066632e-03 1.11995692e+02] [ 4.83135041e-01 8.75544778e-01 -1.36850474e-03 2.72730961e+01] [ 2.69302252e-03 7.69877597e-05 9.99996371e-01 2.27199689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57401273899998 meters Centerline goodness : 0.996917 Centerline is valid? [True, True] Translation: X:112.02, Y:27.29, Z:0.23 [[ 8.75702463e-01 -4.82845535e-01 -2.32042704e-03 1.12019125e+02] [ 4.82843601e-01 8.75705534e-01 -1.36891034e-03 2.72893383e+01] [ 2.69298305e-03 7.83548096e-05 9.99996371e-01 2.25774030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60401273899998 meters Centerline goodness : 0.996888 Centerline is valid? [True, True] Translation: X:112.04, Y:27.31, Z:0.23 [[ 8.75617947e-01 -4.82998786e-01 -2.32018709e-03 1.12041647e+02] [ 4.82996851e-01 8.75621018e-01 -1.36931692e-03 2.73053164e+01] [ 2.69298299e-03 7.83554080e-05 9.99996371e-01 2.25352509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63401273899999 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:112.06, Y:27.32, Z:0.23 [[ 8.75451214e-01 -4.83300930e-01 -2.31992860e-03 1.12062908e+02] [ 4.83298995e-01 8.75454285e-01 -1.36975472e-03 2.73230323e+01] [ 2.69299516e-03 7.79342698e-05 9.99996371e-01 2.26968170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.664012739 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:112.09, Y:27.34, Z:0.23 [[ 8.75311641e-01 -4.83553667e-01 -2.31981649e-03 1.12085745e+02] [ 4.83551733e-01 8.75314712e-01 -1.36994455e-03 2.73388089e+01] [ 2.69301122e-03 7.73771273e-05 9.99996371e-01 2.28589228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.694012739 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:112.11, Y:27.36, Z:0.23 [[ 8.74902895e-01 -4.84292829e-01 -2.31957060e-03 1.12106675e+02] [ 4.84290896e-01 8.74905967e-01 -1.37036077e-03 2.73565112e+01] [ 2.69306205e-03 7.55856801e-05 9.99996371e-01 2.30146067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.724012739 meters Centerline goodness : 0.996694 Centerline is valid? [True, True] Translation: X:112.13, Y:27.37, Z:0.23 [[ 8.74657382e-01 -4.84736098e-01 -2.31946376e-03 1.12128767e+02] [ 4.84734166e-01 8.74660454e-01 -1.37054158e-03 2.73736956e+01] [ 2.69309420e-03 7.44309794e-05 9.99996371e-01 2.28379155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.754012739 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:112.15, Y:27.39, Z:0.23 [[ 8.74376262e-01 -4.85243004e-01 -2.31922105e-03 1.12150767e+02] [ 4.85241073e-01 8.74379335e-01 -1.37095217e-03 2.73905595e+01] [ 2.69312391e-03 7.33467259e-05 9.99996371e-01 2.25499337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.784012739 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:112.17, Y:27.41, Z:0.22 [[ 8.73102668e-01 -4.87530874e-01 -2.31897724e-03 1.12172613e+02] [ 4.87528950e-01 8.73105745e-01 -1.37136446e-03 2.74092002e+01] [ 2.69329486e-03 6.67734344e-05 9.99996371e-01 2.22306458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.814012739 meters Centerline goodness : 0.996839 Centerline is valid? [True, True] Translation: X:112.19, Y:27.43, Z:0.22 [[ 8.71224947e-01 -4.90878513e-01 -2.31872956e-03 1.12194094e+02] [ 4.90876599e-01 8.71228031e-01 -1.37178311e-03 2.74267381e+01] [ 2.69352104e-03 5.69215824e-05 9.99996371e-01 2.24323419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.844012739 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:112.22, Y:27.44, Z:0.23 [[ 8.69997434e-01 -4.93050797e-01 -2.31862191e-03 1.12217473e+02] [ 4.93048891e-01 8.70000522e-01 -1.37196504e-03 2.74426977e+01] [ 2.69365073e-03 5.04121077e-05 9.99996371e-01 2.25214171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.874012739 meters Centerline goodness : 0.996739 Centerline is valid? [True, True] Translation: X:112.24, Y:27.46, Z:0.23 [[ 8.69094725e-01 -4.94640257e-01 -2.31836996e-03 1.12239758e+02] [ 4.94638355e-01 8.69097816e-01 -1.37239066e-03 2.74571180e+01] [ 2.69372994e-03 4.59827833e-05 9.99996371e-01 2.25952741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.904012739 meters Centerline goodness : 0.996752 Centerline is valid? [True, True] Translation: X:112.26, Y:27.47, Z:0.23 [[ 8.67573998e-01 -4.97302708e-01 -2.31826006e-03 1.12262047e+02] [ 4.97300816e-01 8.67577094e-01 -1.37257627e-03 2.74735080e+01] [ 2.69385523e-03 3.79388666e-05 9.99996371e-01 2.26898573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.934012739 meters Centerline goodness : 0.996508 Centerline is valid? [True, True] Translation: X:112.29, Y:27.49, Z:0.23 [[ 8.67366097e-01 -4.97665229e-01 -2.31802281e-03 1.12285328e+02] [ 4.97663337e-01 8.67369194e-01 -1.37297683e-03 2.74892469e+01] [ 2.69386440e-03 3.72785923e-05 9.99996371e-01 2.27387215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.964012739 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:112.31, Y:27.51, Z:0.23 [[ 8.67676652e-01 -4.97123581e-01 -2.31777801e-03 1.12306784e+02] [ 4.97121686e-01 8.67679747e-01 -1.37338996e-03 2.75056946e+01] [ 2.69383357e-03 3.94406943e-05 9.99996371e-01 2.28042750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.994012739 meters Centerline goodness : 0.996544 Centerline is valid? [True, True] Translation: X:112.33, Y:27.52, Z:0.23 [[ 8.67951431e-01 -4.96643676e-01 -2.31767154e-03 1.12330645e+02] [ 4.96641779e-01 8.67954525e-01 -1.37356961e-03 2.75212654e+01] [ 2.69380816e-03 4.11391948e-05 9.99996371e-01 2.29161085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02401273899997 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:112.35, Y:27.54, Z:0.23 [[ 8.68173215e-01 -4.96255879e-01 -2.31741469e-03 1.12353786e+02] [ 4.96253979e-01 8.68176307e-01 -1.37400282e-03 2.75365905e+01] [ 2.69378150e-03 4.28461857e-05 9.99996371e-01 2.31288436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05401273899997 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:112.38, Y:27.55, Z:0.23 [[ 8.68283312e-01 -4.96063222e-01 -2.31732632e-03 1.12376454e+02] [ 4.96061321e-01 8.68286403e-01 -1.37415184e-03 2.75523133e+01] [ 2.69376913e-03 4.36171522e-05 9.99996371e-01 2.33490152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08401273899997 meters Centerline goodness : 0.996497 Centerline is valid? [True, True] Translation: X:112.40, Y:27.57, Z:0.23 [[ 8.68050745e-01 -4.96470075e-01 -2.31706924e-03 1.12399381e+02] [ 4.96468173e-01 8.68053837e-01 -1.37458519e-03 2.75666124e+01] [ 2.69378125e-03 4.28585709e-05 9.99996371e-01 2.33098946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11401273899997 meters Centerline goodness : 0.996743 Centerline is valid? [True, True] Translation: X:112.42, Y:27.58, Z:0.23 [[ 8.67196196e-01 -4.97961233e-01 -2.31695766e-03 1.12422545e+02] [ 4.97959337e-01 8.67199290e-01 -1.37477323e-03 2.75799028e+01] [ 2.69384782e-03 3.84474138e-05 9.99996371e-01 2.30961115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14401273899998 meters Centerline goodness : 0.996353 Centerline is valid? [True, True] Translation: X:112.45, Y:27.59, Z:0.23 [[ 8.66783788e-01 -4.98678751e-01 -2.31678402e-03 1.12446860e+02] [ 4.98676857e-01 8.66786884e-01 -1.37506580e-03 2.75945589e+01] [ 2.69387410e-03 3.65581696e-05 9.99996371e-01 2.32002307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17401273899998 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:112.47, Y:27.61, Z:0.23 [[ 8.66519646e-01 -4.99137592e-01 -2.31653194e-03 1.12470711e+02] [ 4.99135698e-01 8.66522742e-01 -1.37549033e-03 2.76090790e+01] [ 2.69388654e-03 3.56256099e-05 9.99996371e-01 2.33607804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20401273899998 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:112.49, Y:27.62, Z:0.23 [[ 8.67061807e-01 -4.98195201e-01 -2.31628126e-03 1.12493568e+02] [ 4.98193302e-01 8.67064900e-01 -1.37591234e-03 2.76233565e+01] [ 2.69383911e-03 3.90452258e-05 9.99996371e-01 2.34185558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23401273899998 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:112.52, Y:27.64, Z:0.23 [[ 8.67640625e-01 -4.97186465e-01 -2.31617201e-03 1.12517421e+02] [ 4.97184563e-01 8.67643715e-01 -1.37609623e-03 2.76376344e+01] [ 2.69378851e-03 4.23920214e-05 9.99996371e-01 2.31936691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26401273899998 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:112.54, Y:27.65, Z:0.23 [[ 8.67550965e-01 -4.97342900e-01 -2.31592317e-03 1.12541800e+02] [ 4.97340997e-01 8.67554055e-01 -1.37651489e-03 2.76523563e+01] [ 2.69378844e-03 4.23932785e-05 9.99996371e-01 2.32013428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29401273899998 meters Centerline goodness : 0.995991 Centerline is valid? [True, True] Translation: X:112.57, Y:27.67, Z:0.23 [[ 8.68244076e-01 -4.96131899e-01 -2.31567490e-03 1.12566002e+02] [ 4.96129991e-01 8.68247163e-01 -1.37693242e-03 2.76669817e+01] [ 2.69371826e-03 4.66376506e-05 9.99996371e-01 2.29976490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32401273899998 meters Centerline goodness : 0.996631 Centerline is valid? [True, True] Translation: X:112.59, Y:27.68, Z:0.23 [[ 8.69431140e-01 -4.94048713e-01 -2.31542729e-03 1.12588125e+02] [ 4.94046796e-01 8.69434222e-01 -1.37734867e-03 2.76827025e+01] [ 2.69358906e-03 5.35803949e-05 9.99996371e-01 2.27125346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35401273899998 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:112.61, Y:27.70, Z:0.23 [[ 8.69881443e-01 -4.93255425e-01 -2.31532175e-03 1.12611078e+02] [ 4.93253504e-01 8.69884523e-01 -1.37752606e-03 2.76987109e+01] [ 2.69353476e-03 5.62437901e-05 9.99996371e-01 2.27720983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38401273899999 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:112.63, Y:27.72, Z:0.23 [[ 8.70699289e-01 -4.91810319e-01 -2.31506993e-03 1.12632911e+02] [ 4.91808392e-01 8.70702364e-01 -1.37794915e-03 2.77171981e+01] [ 2.69342647e-03 6.12085273e-05 9.99996371e-01 2.28104299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.414012739 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:112.65, Y:27.73, Z:0.23 [[ 8.70901645e-01 -4.91451897e-01 -2.31481842e-03 1.12654334e+02] [ 4.91449968e-01 8.70904719e-01 -1.37837152e-03 2.77332620e+01] [ 2.69338959e-03 6.28085885e-05 9.99996371e-01 2.28421480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.444012739 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:112.68, Y:27.75, Z:0.23 [[ 8.70791953e-01 -4.91646232e-01 -2.31470915e-03 1.12676814e+02] [ 4.91644303e-01 8.70795027e-01 -1.37855499e-03 2.77508722e+01] [ 2.69339859e-03 6.24210229e-05 9.99996371e-01 2.27333467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.474012739 meters Centerline goodness : 0.996297 Centerline is valid? [True, True] Translation: X:112.70, Y:27.77, Z:0.23 [[ 8.69859062e-01 -4.93294897e-01 -2.31444873e-03 1.12696579e+02] [ 4.93292973e-01 8.69862139e-01 -1.37899208e-03 2.77701930e+01] [ 2.69350108e-03 5.78274618e-05 9.99996371e-01 2.27403702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.504012739 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:112.72, Y:27.79, Z:0.23 [[ 8.68687808e-01 -4.95354557e-01 -2.31433540e-03 1.12719332e+02] [ 4.95352639e-01 8.68690889e-01 -1.37918225e-03 2.77872112e+01] [ 2.69362629e-03 5.16666545e-05 9.99996371e-01 2.28821563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.534012739 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:112.74, Y:27.80, Z:0.23 [[ 8.65585782e-01 -5.00755329e-01 -2.31408632e-03 1.12740854e+02] [ 5.00753429e-01 8.65588874e-01 -1.37960005e-03 2.78046151e+01] [ 2.69388945e-03 3.53755330e-05 9.99996371e-01 2.30461208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.564012739 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:112.76, Y:27.82, Z:0.23 [[ 8.63849840e-01 -5.03744082e-01 -2.31397774e-03 1.12763299e+02] [ 5.03742193e-01 8.63852938e-01 -1.37978214e-03 2.78201422e+01] [ 2.69399356e-03 2.62763611e-05 9.99996371e-01 2.31848576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.594012739 meters Centerline goodness : 0.995735 Centerline is valid? [True, True] Translation: X:112.79, Y:27.84, Z:0.23 [[ 8.62254739e-01 -5.06469557e-01 -2.31386998e-03 1.12786886e+02] [ 5.06467677e-01 8.62257843e-01 -1.37996283e-03 2.78361775e+01] [ 2.69406170e-03 1.79791300e-05 9.99996371e-01 2.32260675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.624012739 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:112.81, Y:27.85, Z:0.23 [[ 8.60243186e-01 -5.09878719e-01 -2.31363232e-03 1.12809038e+02] [ 5.09876851e-01 8.60246297e-01 -1.38036117e-03 2.78528484e+01] [ 2.69411042e-03 7.77872721e-06 9.99996371e-01 2.32788559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.654012739 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:112.83, Y:27.87, Z:0.23 [[ 8.59768839e-01 -5.10678168e-01 -2.31337913e-03 1.12832698e+02] [ 5.10676301e-01 8.59771952e-01 -1.38078536e-03 2.78687006e+01] [ 2.69411543e-03 5.76832977e-06 9.99996371e-01 2.31925564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.684012739 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:112.85, Y:27.88, Z:0.23 [[ 8.59544085e-01 -5.11056372e-01 -2.31312755e-03 1.12854880e+02] [ 5.11054505e-01 8.59547198e-01 -1.38120669e-03 2.78839066e+01] [ 2.69411679e-03 5.07378903e-06 9.99996371e-01 2.30691356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.714012739 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:112.88, Y:27.90, Z:0.23 [[ 8.59197432e-01 -5.11638957e-01 -2.31302166e-03 1.12878443e+02] [ 5.11637092e-01 8.59200546e-01 -1.38138400e-03 2.78982201e+01] [ 2.69411934e-03 3.45391478e-06 9.99996371e-01 2.30540243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.744012739 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:112.90, Y:27.91, Z:0.23 [[ 8.58752919e-01 -5.12384694e-01 -2.31277264e-03 1.12901901e+02] [ 5.12382831e-01 8.58756034e-01 -1.38180079e-03 2.79119840e+01] [ 2.69412104e-03 1.60046625e-06 9.99996371e-01 2.30000671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77401273899997 meters Centerline goodness : 0.994271 Centerline is valid? [True, True] Translation: X:112.93, Y:27.93, Z:0.23 [[ 8.57364635e-01 -5.14704317e-01 -2.31266451e-03 1.12925684e+02] [ 5.14702462e-01 8.57367754e-01 -1.38198174e-03 2.79260218e+01] [ 2.69411595e-03 -5.47184252e-06 9.99996371e-01 2.32641343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80401273899997 meters Centerline goodness : 0.994330 Centerline is valid? [True, True] Translation: X:112.95, Y:27.94, Z:0.23 [[ 8.56787167e-01 -5.15665010e-01 -2.31258773e-03 1.12950160e+02] [ 5.15663158e-01 8.56790288e-01 -1.38211022e-03 2.79405962e+01] [ 2.69410858e-03 -8.34199599e-06 9.99996371e-01 2.32231540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83401273899997 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:112.97, Y:27.96, Z:0.23 [[ 8.56207979e-01 -5.16626122e-01 -2.31243089e-03 1.12973972e+02] [ 5.16624272e-01 8.56211101e-01 -1.38237258e-03 2.79553283e+01] [ 2.69409878e-03 -1.10594935e-05 9.99996371e-01 2.29355439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86401273899997 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:113.00, Y:27.97, Z:0.23 [[ 8.56159527e-01 -5.16706414e-01 -2.31216684e-03 1.12997406e+02] [ 5.16704564e-01 8.56162649e-01 -1.38281409e-03 2.79697792e+01] [ 2.69409979e-03 -1.07977041e-05 9.99996371e-01 2.28821834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89401273899998 meters Centerline goodness : 0.995325 Centerline is valid? [True, True] Translation: X:113.02, Y:27.98, Z:0.23 [[ 8.56011224e-01 -5.16952066e-01 -2.31208474e-03 1.13021641e+02] [ 5.16950216e-01 8.56014347e-01 -1.38295135e-03 2.79844401e+01] [ 2.69409726e-03 -1.14108268e-05 9.99996371e-01 2.27327312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92401273899998 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:113.05, Y:28.00, Z:0.23 [[ 8.55158287e-01 -5.18361805e-01 -2.31182605e-03 1.13046403e+02] [ 5.18359959e-01 8.55161411e-01 -1.38338365e-03 2.79981644e+01] [ 2.69407767e-03 -1.53460598e-05 9.99996371e-01 2.28717275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95401273899998 meters Centerline goodness : 0.994450 Centerline is valid? [True, True] Translation: X:113.07, Y:28.01, Z:0.23 [[ 8.54589429e-01 -5.19299109e-01 -2.31156181e-03 1.13069603e+02] [ 5.19297266e-01 8.54592555e-01 -1.38382505e-03 2.80111031e+01] [ 2.69406263e-03 -1.77854689e-05 9.99996371e-01 2.30169547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98401273899998 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:113.09, Y:28.02, Z:0.23 [[ 8.53729923e-01 -5.20710934e-01 -2.31144705e-03 1.13094236e+02] [ 5.20709095e-01 8.53733052e-01 -1.38401670e-03 2.80233301e+01] [ 2.69403137e-03 -2.20150330e-05 9.99996371e-01 2.29801476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01401273899998 meters Centerline goodness : 0.991333 Centerline is valid? [True, True] Translation: X:113.12, Y:28.04, Z:0.24 [[ 8.53180339e-01 -5.21610935e-01 -2.31127959e-03 1.13119282e+02] [ 5.21609099e-01 8.53183469e-01 -1.38429631e-03 2.80367709e+01] [ 2.69400963e-03 -2.45300694e-05 9.99996371e-01 2.37233114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04401273899998 meters Centerline goodness : 0.994133 Centerline is valid? [True, True] Translation: X:113.14, Y:28.05, Z:0.23 [[ 8.52769918e-01 -5.22281654e-01 -2.31101750e-03 1.13143995e+02] [ 5.22279819e-01 8.52773049e-01 -1.38473372e-03 2.80497666e+01] [ 2.69399445e-03 -2.61385434e-05 9.99996371e-01 2.31376808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07401273899998 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:113.17, Y:28.06, Z:0.23 [[ 8.52456916e-01 -5.22792374e-01 -2.31093600e-03 1.13168000e+02] [ 5.22790540e-01 8.52460048e-01 -1.38486971e-03 2.80642859e+01] [ 2.69397994e-03 -2.75937125e-05 9.99996371e-01 2.32126913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10401273899998 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:113.19, Y:28.08, Z:0.23 [[ 8.52595417e-01 -5.22566470e-01 -2.31068273e-03 1.13191212e+02] [ 5.22564634e-01 8.52598548e-01 -1.38529217e-03 2.80775825e+01] [ 2.69399198e-03 -2.63873224e-05 9.99996371e-01 2.32428767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13401273899999 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:113.22, Y:28.09, Z:0.23 [[ 8.53509502e-01 -5.21072155e-01 -2.31057253e-03 1.13216841e+02] [ 5.21070314e-01 8.53512629e-01 -1.38547594e-03 2.80912877e+01] [ 2.69403577e-03 -2.14538744e-05 9.99996371e-01 2.27141965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.164012739 meters Centerline goodness : 0.994524 Centerline is valid? [True, True] Translation: X:113.24, Y:28.11, Z:0.23 [[ 8.54085865e-01 -5.20126905e-01 -2.31035085e-03 1.13239917e+02] [ 5.20125059e-01 8.54088990e-01 -1.38584552e-03 2.81053132e+01] [ 2.69406076e-03 -1.80402993e-05 9.99996371e-01 2.25985621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.194012739 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:113.26, Y:28.12, Z:0.23 [[ 8.54791104e-01 -5.18967082e-01 -2.31024380e-03 1.13264059e+02] [ 5.18965231e-01 8.54794225e-01 -1.38602394e-03 2.81203284e+01] [ 2.69408386e-03 -1.41752765e-05 9.99996371e-01 2.26637116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.224012739 meters Centerline goodness : 0.990068 Centerline is valid? [True, True] Translation: X:113.29, Y:28.13, Z:0.24 [[ 8.54591251e-01 -5.19296118e-01 -2.30998980e-03 1.13288567e+02] [ 5.19294267e-01 8.54594373e-01 -1.38644714e-03 2.81342023e+01] [ 2.69408090e-03 -1.47188647e-05 9.99996371e-01 2.36052486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.254012739 meters Centerline goodness : 0.993333 Centerline is valid? [True, True] Translation: X:113.31, Y:28.15, Z:0.23 [[ 8.54481985e-01 -5.19475892e-01 -2.30973452e-03 1.13311433e+02] [ 5.19474041e-01 8.54485106e-01 -1.38687229e-03 2.81476285e+01] [ 2.69408047e-03 -1.47897365e-05 9.99996371e-01 2.30170289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.284012739 meters Centerline goodness : 0.990401 Centerline is valid? [True, True] Translation: X:113.34, Y:28.16, Z:0.24 [[ 8.53407097e-01 -5.21239862e-01 -2.30948054e-03 1.13335549e+02] [ 5.21238016e-01 8.53410221e-01 -1.38729510e-03 2.81613741e+01] [ 2.69404781e-03 -1.98615753e-05 9.99996371e-01 2.37273533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.314012739 meters Centerline goodness : 0.993363 Centerline is valid? [True, True] Translation: X:113.36, Y:28.17, Z:0.23 [[ 8.52942908e-01 -5.21999102e-01 -2.30922568e-03 1.13359153e+02] [ 5.21997258e-01 8.52946034e-01 -1.38771920e-03 2.81742666e+01] [ 2.69403306e-03 -2.17642187e-05 9.99996371e-01 2.29850177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.344012739 meters Centerline goodness : 0.987834 Centerline is valid? [True, True] Translation: X:113.39, Y:28.19, Z:0.24 [[ 8.50937283e-01 -5.25262228e-01 -2.30911593e-03 1.13385881e+02] [ 5.25260396e-01 8.50940415e-01 -1.38790180e-03 2.81857314e+01] [ 2.69393246e-03 -3.18697568e-05 9.99996371e-01 2.36399150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.374012739 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:113.41, Y:28.20, Z:0.23 [[ 8.50165389e-01 -5.26510665e-01 -2.30889804e-03 1.13409838e+02] [ 5.26508836e-01 8.50168523e-01 -1.38826419e-03 2.81977295e+01] [ 2.69388833e-03 -3.54010549e-05 9.99996371e-01 2.26189567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.404012739 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:113.43, Y:28.21, Z:0.23 [[ 8.49298517e-01 -5.27907851e-01 -2.30872824e-03 1.13434399e+02] [ 5.27906026e-01 8.49301654e-01 -1.38854651e-03 2.82105792e+01] [ 2.69383131e-03 -3.95010599e-05 9.99996371e-01 2.27190262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.434012739 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:113.46, Y:28.22, Z:0.23 [[ 8.48384137e-01 -5.29376074e-01 -2.30848137e-03 1.13460158e+02] [ 5.29374254e-01 8.48387276e-01 -1.38895680e-03 2.82222725e+01] [ 2.69376672e-03 -4.36816852e-05 9.99996371e-01 2.30376206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.464012739 meters Centerline goodness : 0.992525 Centerline is valid? [True, True] Translation: X:113.49, Y:28.23, Z:0.23 [[ 8.48636881e-01 -5.28970809e-01 -2.30823606e-03 1.13485036e+02] [ 5.28968986e-01 8.48640019e-01 -1.38936435e-03 2.82344311e+01] [ 2.69379468e-03 -4.19194586e-05 9.99996371e-01 2.31326042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.494012739 meters Centerline goodness : 0.991844 Centerline is valid? [True, True] Translation: X:113.51, Y:28.24, Z:0.23 [[ 8.50348561e-01 -5.26214782e-01 -2.30798189e-03 1.13510821e+02] [ 5.26212948e-01 8.50351693e-01 -1.38978645e-03 2.82449317e+01] [ 2.69392248e-03 -3.26870485e-05 9.99996371e-01 2.33769254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52401273899997 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:113.53, Y:28.26, Z:0.24 [[ 8.51665759e-01 -5.24080252e-01 -2.30772724e-03 1.13534327e+02] [ 5.24078408e-01 8.51668885e-01 -1.39020917e-03 2.82586781e+01] [ 2.69400065e-03 -2.54364739e-05 9.99996371e-01 2.35354365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55401273899997 meters Centerline goodness : 0.992372 Centerline is valid? [True, True] Translation: X:113.56, Y:28.27, Z:0.24 [[ 8.53117972e-01 -5.21712949e-01 -2.30761624e-03 1.13557629e+02] [ 5.21711096e-01 8.53121093e-01 -1.39039340e-03 2.82735191e+01] [ 2.69406232e-03 -1.77394025e-05 9.99996371e-01 2.35187784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58401273899997 meters Centerline goodness : 0.991626 Centerline is valid? [True, True] Translation: X:113.58, Y:28.29, Z:0.23 [[ 8.56313065e-01 -5.16451944e-01 -2.30736456e-03 1.13580067e+02] [ 5.16450071e-01 8.56316174e-01 -1.39081094e-03 2.82891790e+01] [ 2.69412060e-03 -6.69013718e-07 9.99996371e-01 2.34242608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61401273899997 meters Centerline goodness : 0.991901 Centerline is valid? [True, True] Translation: X:113.60, Y:28.30, Z:0.23 [[ 8.57630084e-01 -5.14261914e-01 -2.30719312e-03 1.13603210e+02] [ 5.14260033e-01 8.57633187e-01 -1.39109526e-03 2.83038996e+01] [ 2.69411271e-03 6.54793497e-06 9.99996371e-01 2.34169474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64401273899998 meters Centerline goodness : 0.991401 Centerline is valid? [True, True] Translation: X:113.63, Y:28.32, Z:0.24 [[ 8.59263145e-01 -5.11528617e-01 -2.30702206e-03 1.13625252e+02] [ 5.11526725e-01 8.59266241e-01 -1.39137891e-03 2.83215807e+01] [ 2.69407630e-03 1.54571784e-05 9.99996371e-01 2.36692697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67401273899998 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:113.65, Y:28.34, Z:0.24 [[ 8.59726184e-01 -5.10750005e-01 -2.30677367e-03 1.13647564e+02] [ 5.10748109e-01 8.59729278e-01 -1.39179058e-03 2.83377585e+01] [ 2.69405791e-03 1.83785150e-05 9.99996371e-01 2.37921336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70401273899998 meters Centerline goodness : 0.991438 Centerline is valid? [True, True] Translation: X:113.67, Y:28.35, Z:0.24 [[ 8.59914447e-01 -5.10432976e-01 -2.30666604e-03 1.13670692e+02] [ 5.10431078e-01 8.59917541e-01 -1.39196894e-03 2.83542180e+01] [ 2.69404944e-03 1.95801634e-05 9.99996371e-01 2.37178825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73401273899998 meters Centerline goodness : 0.991101 Centerline is valid? [True, True] Translation: X:113.69, Y:28.37, Z:0.23 [[ 8.60119316e-01 -5.10087682e-01 -2.30642810e-03 1.13692730e+02] [ 5.10085782e-01 8.60122408e-01 -1.39236309e-03 2.83707125e+01] [ 2.69403775e-03 2.11222035e-05 9.99996371e-01 2.33888312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76401273899998 meters Centerline goodness : 0.991481 Centerline is valid? [True, True] Translation: X:113.72, Y:28.39, Z:0.23 [[ 8.59911950e-01 -5.10437184e-01 -2.30635409e-03 1.13715888e+02] [ 5.10435285e-01 8.59915043e-01 -1.39248566e-03 2.83865223e+01] [ 2.69404504e-03 2.01705542e-05 9.99996371e-01 2.32462307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79401273899998 meters Centerline goodness : 0.991502 Centerline is valid? [True, True] Translation: X:113.74, Y:28.40, Z:0.23 [[ 8.59242714e-01 -5.11562938e-01 -2.30610433e-03 1.13737123e+02] [ 5.11561042e-01 8.59245809e-01 -1.39289918e-03 2.84032255e+01] [ 2.69406608e-03 1.71253347e-05 9.99996371e-01 2.32592578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82401273899998 meters Centerline goodness : 0.992802 Centerline is valid? [True, True] Translation: X:113.76, Y:28.42, Z:0.23 [[ 8.58807213e-01 -5.12293718e-01 -2.30599551e-03 1.13760190e+02] [ 5.12291824e-01 8.58810309e-01 -1.39307930e-03 2.84187262e+01] [ 2.69407849e-03 1.50439081e-05 9.99996371e-01 2.31377953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85401273899998 meters Centerline goodness : 0.991438 Centerline is valid? [True, True] Translation: X:113.78, Y:28.43, Z:0.23 [[ 8.58515161e-01 -5.12782996e-01 -2.30574474e-03 1.13783440e+02] [ 5.12781103e-01 8.58518257e-01 -1.39349424e-03 2.84341082e+01] [ 2.69408411e-03 1.39935968e-05 9.99996371e-01 2.29802128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88401273899999 meters Centerline goodness : 0.991501 Centerline is valid? [True, True] Translation: X:113.81, Y:28.45, Z:0.23 [[ 8.58629125e-01 -5.12592148e-01 -2.30566684e-03 1.13805220e+02] [ 5.12590254e-01 8.58632220e-01 -1.39362313e-03 2.84510382e+01] [ 2.69408011e-03 1.47430616e-05 9.99996371e-01 2.28281966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.914012739 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:113.83, Y:28.47, Z:0.23 [[ 8.58893057e-01 -5.12149784e-01 -2.30550248e-03 1.13828534e+02] [ 5.12147888e-01 8.58896151e-01 -1.39389498e-03 2.84670665e+01] [ 2.69407022e-03 1.64485000e-05 9.99996371e-01 2.27712223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.944012739 meters Centerline goodness : 0.991898 Centerline is valid? [True, True] Translation: X:113.85, Y:28.48, Z:0.23 [[ 8.59318238e-01 -5.11436069e-01 -2.30524378e-03 1.13850182e+02] [ 5.11434168e-01 8.59321329e-01 -1.39432269e-03 2.84839042e+01] [ 2.69405206e-03 1.91864821e-05 9.99996371e-01 2.28007924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.974012739 meters Centerline goodness : 0.992530 Centerline is valid? [True, True] Translation: X:113.87, Y:28.50, Z:0.23 [[ 8.59221122e-01 -5.11599209e-01 -2.30513077e-03 1.13873295e+02] [ 5.11597309e-01 8.59224214e-01 -1.39450949e-03 2.85005353e+01] [ 2.69405413e-03 1.88933063e-05 9.99996371e-01 2.27993761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.004012739 meters Centerline goodness : 0.991570 Centerline is valid? [True, True] Translation: X:113.89, Y:28.52, Z:0.23 [[ 8.58786338e-01 -5.12328717e-01 -2.30486880e-03 1.13893863e+02] [ 5.12326818e-01 8.58789430e-01 -1.39494235e-03 2.85186123e+01] [ 2.69406599e-03 1.71113388e-05 9.99996371e-01 2.27850885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.034012739 meters Centerline goodness : 0.992322 Centerline is valid? [True, True] Translation: X:113.92, Y:28.54, Z:0.23 [[ 8.58394773e-01 -5.12984505e-01 -2.30469033e-03 1.13916716e+02] [ 5.12982608e-01 8.58397867e-01 -1.39523715e-03 2.85350777e+01] [ 2.69407630e-03 1.53982260e-05 9.99996371e-01 2.26573818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.064012739 meters Centerline goodness : 0.992303 Centerline is valid? [True, True] Translation: X:113.94, Y:28.55, Z:0.22 [[ 8.58006088e-01 -5.13634346e-01 -2.30443921e-03 1.13939438e+02] [ 5.13632450e-01 8.58009183e-01 -1.39565179e-03 2.85512652e+01] [ 2.69408470e-03 1.38429737e-05 9.99996371e-01 2.24865508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.094012739 meters Centerline goodness : 0.991443 Centerline is valid? [True, True] Translation: X:113.96, Y:28.57, Z:0.22 [[ 8.57353042e-01 -5.14723667e-01 -2.30417810e-03 1.13960922e+02] [ 5.14721773e-01 8.57356138e-01 -1.39608273e-03 2.85679435e+01] [ 2.69409806e-03 1.09251386e-05 9.99996371e-01 2.24394219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.124012739 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:113.98, Y:28.58, Z:0.23 [[ 8.57049679e-01 -5.15228628e-01 -2.30406482e-03 1.13983865e+02] [ 5.15226736e-01 8.57052776e-01 -1.39626966e-03 2.85843413e+01] [ 2.69410326e-03 9.55666414e-06 9.99996371e-01 2.26348583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.154012739 meters Centerline goodness : 0.991348 Centerline is valid? [True, True] Translation: X:114.00, Y:28.60, Z:0.23 [[ 8.57127546e-01 -5.15099080e-01 -2.30380623e-03 1.14004404e+02] [ 5.15097187e-01 8.57130642e-01 -1.39669621e-03 2.86026359e+01] [ 2.69409984e-03 1.04626855e-05 9.99996371e-01 2.28978817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.184012739 meters Centerline goodness : 0.991348 Centerline is valid? [True, True] Translation: X:114.03, Y:28.62, Z:0.23 [[ 8.57033358e-01 -5.15255777e-01 -2.30362939e-03 1.14028648e+02] [ 5.15253883e-01 8.57036454e-01 -1.39698781e-03 2.86175610e+01] [ 2.69410041e-03 1.03111653e-05 9.99996371e-01 2.29055542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.214012739 meters Centerline goodness : 0.990996 Centerline is valid? [True, True] Translation: X:114.05, Y:28.63, Z:0.23 [[ 8.57167786e-01 -5.15032116e-01 -2.30337391e-03 1.14050401e+02] [ 5.15030221e-01 8.57170881e-01 -1.39740893e-03 2.86336527e+01] [ 2.69409552e-03 1.15067449e-05 9.99996371e-01 2.30316926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.244012739 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:114.07, Y:28.65, Z:0.23 [[ 8.57418126e-01 -5.14615248e-01 -2.30319977e-03 1.14072016e+02] [ 5.14613350e-01 8.57421219e-01 -1.39769589e-03 2.86522722e+01] [ 2.69408797e-03 1.31524446e-05 9.99996371e-01 2.28611525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27401273899997 meters Centerline goodness : 0.991033 Centerline is valid? [True, True] Translation: X:114.10, Y:28.67, Z:0.23 [[ 8.57344503e-01 -5.14737894e-01 -2.30293864e-03 1.14095046e+02] [ 5.14735996e-01 8.57347596e-01 -1.39812601e-03 2.86691640e+01] [ 2.69408734e-03 1.32702348e-05 9.99996371e-01 2.30320042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30401273899997 meters Centerline goodness : 0.990553 Centerline is valid? [True, True] Translation: X:114.12, Y:28.69, Z:0.23 [[ 8.57466561e-01 -5.14534541e-01 -2.30267707e-03 1.14117959e+02] [ 5.14532641e-01 8.57469653e-01 -1.39855667e-03 2.86855886e+01] [ 2.69408142e-03 1.44130679e-05 9.99996371e-01 2.31714384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33401273899997 meters Centerline goodness : 0.989750 Centerline is valid? [True, True] Translation: X:114.14, Y:28.70, Z:0.23 [[ 8.58175850e-01 -5.13350668e-01 -2.30241570e-03 1.14140704e+02] [ 5.13348762e-01 8.58178939e-01 -1.39898684e-03 2.87024433e+01] [ 2.69405549e-03 1.86344695e-05 9.99996371e-01 2.30884171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36401273899997 meters Centerline goodness : 0.989445 Centerline is valid? [True, True] Translation: X:114.16, Y:28.72, Z:0.23 [[ 8.58475737e-01 -5.12849012e-01 -2.30215545e-03 1.14163926e+02] [ 5.12847103e-01 8.58478824e-01 -1.39941497e-03 2.87184399e+01] [ 2.69404028e-03 2.07100446e-05 9.99996371e-01 2.29431366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39401273899998 meters Centerline goodness : 0.990837 Centerline is valid? [True, True] Translation: X:114.19, Y:28.74, Z:0.23 [[ 8.58710970e-01 -5.12455044e-01 -2.30189391e-03 1.14185002e+02] [ 5.12453132e-01 8.58714055e-01 -1.39984503e-03 2.87373894e+01] [ 2.69402630e-03 2.24495391e-05 9.99996371e-01 2.29296343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42401273899998 meters Centerline goodness : 0.990481 Centerline is valid? [True, True] Translation: X:114.21, Y:28.75, Z:0.23 [[ 8.58495002e-01 -5.12816764e-01 -2.30162579e-03 1.14206797e+02] [ 5.12814853e-01 8.58498087e-01 -1.40028573e-03 2.87537925e+01] [ 2.69403134e-03 2.18304115e-05 9.99996371e-01 2.30292242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45401273899998 meters Centerline goodness : 0.990149 Centerline is valid? [True, True] Translation: X:114.23, Y:28.77, Z:0.23 [[ 8.57324086e-01 -5.14771905e-01 -2.30150929e-03 1.14229635e+02] [ 5.14770000e-01 8.57327175e-01 -1.40047720e-03 2.87701944e+01] [ 2.69407277e-03 1.59149000e-05 9.99996371e-01 2.31053529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48401273899998 meters Centerline goodness : 0.990256 Centerline is valid? [True, True] Translation: X:114.25, Y:28.79, Z:0.23 [[ 8.56185646e-01 -5.16663183e-01 -2.30124385e-03 1.14253377e+02] [ 5.16661284e-01 8.56188738e-01 -1.40091322e-03 2.87853482e+01] [ 2.69409935e-03 1.04781908e-05 9.99996371e-01 2.30173288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51401273899998 meters Centerline goodness : 0.990015 Centerline is valid? [True, True] Translation: X:114.28, Y:28.80, Z:0.23 [[ 8.54940094e-01 -5.18721642e-01 -2.30097606e-03 1.14275787e+02] [ 5.18719749e-01 8.54943190e-01 -1.40135292e-03 2.87998234e+01] [ 2.69411590e-03 4.51107345e-06 9.99996371e-01 2.30514614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54401273899998 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:114.30, Y:28.82, Z:0.23 [[ 8.53051277e-01 -5.21822025e-01 -2.30079338e-03 1.14299621e+02] [ 5.21820142e-01 8.53054380e-01 -1.40165280e-03 2.88150940e+01] [ 2.69411517e-03 -4.91862183e-06 9.99996371e-01 2.28361022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57401273899998 meters Centerline goodness : 0.990202 Centerline is valid? [True, True] Translation: X:114.32, Y:28.83, Z:0.23 [[ 8.52141240e-01 -5.23306807e-01 -2.30053225e-03 1.14323480e+02] [ 5.23304929e-01 8.52144345e-01 -1.40208125e-03 2.88305009e+01] [ 2.69410421e-03 -9.10861584e-06 9.99996371e-01 2.28160928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60401273899998 meters Centerline goodness : 0.991000 Centerline is valid? [True, True] Translation: X:114.35, Y:28.85, Z:0.23 [[ 8.51045924e-01 -5.25086226e-01 -2.30027175e-03 1.14346905e+02] [ 5.25084353e-01 8.51049032e-01 -1.40250851e-03 2.88463740e+01] [ 2.69408194e-03 -1.42375504e-05 9.99996371e-01 2.28385869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63401273899999 meters Centerline goodness : 0.991185 Centerline is valid? [True, True] Translation: X:114.37, Y:28.86, Z:0.23 [[ 8.50989012e-01 -5.25178456e-01 -2.30001291e-03 1.14369986e+02] [ 5.25176583e-01 8.50992120e-01 -1.40293285e-03 2.88611932e+01] [ 2.69408297e-03 -1.40324760e-05 9.99996371e-01 2.28042139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.664012739 meters Centerline goodness : 0.990406 Centerline is valid? [True, True] Translation: X:114.39, Y:28.88, Z:0.23 [[ 8.51287616e-01 -5.24694297e-01 -2.29990050e-03 1.14393728e+02] [ 5.24692421e-01 8.51290723e-01 -1.40311711e-03 2.88764708e+01] [ 2.69409150e-03 -1.22841416e-05 9.99996371e-01 2.28037961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.694012739 meters Centerline goodness : 0.990645 Centerline is valid? [True, True] Translation: X:114.42, Y:28.89, Z:0.23 [[ 8.51664929e-01 -5.24081635e-01 -2.29963921e-03 1.14416276e+02] [ 5.24079756e-01 8.51668034e-01 -1.40354522e-03 2.88913243e+01] [ 2.69410148e-03 -9.84411089e-06 9.99996371e-01 2.28969119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.724012739 meters Centerline goodness : 0.990500 Centerline is valid? [True, True] Translation: X:114.44, Y:28.91, Z:0.23 [[ 8.52002733e-01 -5.23532286e-01 -2.29952553e-03 1.14439347e+02] [ 5.23530404e-01 8.52005836e-01 -1.40373145e-03 2.89067297e+01] [ 2.69410791e-03 -7.88849362e-06 9.99996371e-01 2.30290253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.754012739 meters Centerline goodness : 0.990301 Centerline is valid? [True, True] Translation: X:114.46, Y:28.92, Z:0.23 [[ 8.52481439e-01 -5.22752437e-01 -2.29926684e-03 1.14463304e+02] [ 5.22750551e-01 8.52484539e-01 -1.40415505e-03 2.89215375e+01] [ 2.69411490e-03 -4.92688940e-06 9.99996371e-01 2.31047939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.784012739 meters Centerline goodness : 0.990570 Centerline is valid? [True, True] Translation: X:114.49, Y:28.94, Z:0.23 [[ 8.52334098e-01 -5.22992639e-01 -2.29900257e-03 1.14487734e+02] [ 5.22990753e-01 8.52337198e-01 -1.40458759e-03 2.89358373e+01] [ 2.69411438e-03 -5.17919139e-06 9.99996371e-01 2.30568106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.814012739 meters Centerline goodness : 0.990218 Centerline is valid? [True, True] Translation: X:114.51, Y:28.95, Z:0.23 [[ 8.51626940e-01 -5.24143369e-01 -2.29873784e-03 1.14512197e+02] [ 5.24141486e-01 8.51630042e-01 -1.40502071e-03 2.89491925e+01] [ 2.69410650e-03 -8.31037568e-06 9.99996371e-01 2.31081429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.844012739 meters Centerline goodness : 0.989722 Centerline is valid? [True, True] Translation: X:114.53, Y:28.96, Z:0.23 [[ 8.51058608e-01 -5.25065675e-01 -2.29847270e-03 1.14534779e+02] [ 5.25063794e-01 8.51061712e-01 -1.40545432e-03 2.89631369e+01] [ 2.69409793e-03 -1.07207965e-05 9.99996371e-01 2.32689194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.874012739 meters Centerline goodness : 0.989662 Centerline is valid? [True, True] Translation: X:114.56, Y:28.98, Z:0.23 [[ 8.50457170e-01 -5.26039275e-01 -2.29829157e-03 1.14559121e+02] [ 5.26037397e-01 8.50460276e-01 -1.40575046e-03 2.89770446e+01] [ 2.69408564e-03 -1.34567582e-05 9.99996371e-01 2.34270904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.904012739 meters Centerline goodness : 0.990107 Centerline is valid? [True, True] Translation: X:114.58, Y:28.99, Z:0.24 [[ 8.48667867e-01 -5.28921138e-01 -2.29821156e-03 1.14584625e+02] [ 5.28919270e-01 8.48670978e-01 -1.40588125e-03 2.89895436e+01] [ 2.69402577e-03 -2.24421421e-05 9.99996371e-01 2.35585102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.934012739 meters Centerline goodness : 0.989780 Centerline is valid? [True, True] Translation: X:114.61, Y:29.00, Z:0.23 [[ 8.47655537e-01 -5.30541997e-01 -2.29795100e-03 1.14609414e+02] [ 5.30540134e-01 8.47658651e-01 -1.40630702e-03 2.90031356e+01] [ 2.69398298e-03 -2.70913004e-05 9.99996371e-01 2.34825069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.964012739 meters Centerline goodness : 0.989856 Centerline is valid? [True, True] Translation: X:114.63, Y:29.02, Z:0.23 [[ 8.46699172e-01 -5.32066944e-01 -2.29768756e-03 1.14633592e+02] [ 5.32065085e-01 8.46702289e-01 -1.40673731e-03 2.90160704e+01] [ 2.69393574e-03 -3.14360133e-05 9.99996371e-01 2.34412681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.994012739 meters Centerline goodness : 0.989864 Centerline is valid? [True, True] Translation: X:114.66, Y:29.03, Z:0.23 [[ 8.44631471e-01 -5.35343254e-01 -2.29757335e-03 1.14659520e+02] [ 5.35341407e-01 8.44634595e-01 -1.40692382e-03 2.90264057e+01] [ 2.69379711e-03 -4.16540106e-05 9.99996371e-01 2.34448170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02401273899997 meters Centerline goodness : 0.990163 Centerline is valid? [True, True] Translation: X:114.69, Y:29.04, Z:0.23 [[ 8.43569451e-01 -5.37015180e-01 -2.29730588e-03 1.14685453e+02] [ 5.37013338e-01 8.43572578e-01 -1.40736043e-03 2.90376223e+01] [ 2.69371815e-03 -4.64776318e-05 9.99996371e-01 2.31959289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05401273899997 meters Centerline goodness : 0.990736 Centerline is valid? [True, True] Translation: X:114.71, Y:29.05, Z:0.23 [[ 8.43400578e-01 -5.37280362e-01 -2.29722279e-03 1.14709220e+02] [ 5.37278521e-01 8.43403705e-01 -1.40749603e-03 2.90513183e+01] [ 2.69370619e-03 -4.71654958e-05 9.99996371e-01 2.29840493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08401273899997 meters Centerline goodness : 0.990384 Centerline is valid? [True, True] Translation: X:114.73, Y:29.07, Z:0.23 [[ 8.43325060e-01 -5.37398889e-01 -2.29714098e-03 1.14733423e+02] [ 5.37397047e-01 8.43328188e-01 -1.40762954e-03 2.90660750e+01] [ 2.69370229e-03 -4.73875163e-05 9.99996371e-01 2.27601273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11401273899997 meters Centerline goodness : 0.990280 Centerline is valid? [True, True] Translation: X:114.76, Y:29.08, Z:0.23 [[ 8.43601917e-01 -5.36964180e-01 -2.29687448e-03 1.14756681e+02] [ 5.36962336e-01 8.43605042e-01 -1.40806427e-03 2.90798381e+01] [ 2.69373497e-03 -4.54893700e-05 9.99996371e-01 2.26684011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14401273899998 meters Centerline goodness : 0.990125 Centerline is valid? [True, True] Translation: X:114.78, Y:29.09, Z:0.23 [[ 8.44466305e-01 -5.35603756e-01 -2.29675813e-03 1.14781379e+02] [ 5.35601907e-01 8.44469428e-01 -1.40825403e-03 2.90930716e+01] [ 2.69380817e-03 -4.09249570e-05 9.99996371e-01 2.28267299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17401273899998 meters Centerline goodness : 0.989757 Centerline is valid? [True, True] Translation: X:114.80, Y:29.11, Z:0.23 [[ 8.45715953e-01 -5.33628385e-01 -2.29648515e-03 1.14804555e+02] [ 5.33626526e-01 8.45719070e-01 -1.40869903e-03 2.91067379e+01] [ 2.69390308e-03 -3.41061504e-05 9.99996371e-01 2.29908647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20401273899998 meters Centerline goodness : 0.990628 Centerline is valid? [True, True] Translation: X:114.83, Y:29.12, Z:0.23 [[ 8.46284888e-01 -5.32725647e-01 -2.29636650e-03 1.14828778e+02] [ 5.32723785e-01 8.46288003e-01 -1.40889242e-03 2.91209997e+01] [ 2.69394055e-03 -3.10046911e-05 9.99996371e-01 2.27641205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23401273899998 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:114.85, Y:29.14, Z:0.23 [[ 8.46681965e-01 -5.32094332e-01 -2.29609782e-03 1.14852941e+02] [ 5.32092467e-01 8.46685078e-01 -1.40933017e-03 2.91351809e+01] [ 2.69396835e-03 -2.84819141e-05 9.99996371e-01 2.26031900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26401273899998 meters Centerline goodness : 0.990330 Centerline is valid? [True, True] Translation: X:114.88, Y:29.15, Z:0.22 [[ 8.47130133e-01 -5.31380529e-01 -2.29582818e-03 1.14877782e+02] [ 5.31378659e-01 8.47133244e-01 -1.40976929e-03 2.91470168e+01] [ 2.69399632e-03 -2.56960547e-05 9.99996371e-01 2.23571525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29401273899998 meters Centerline goodness : 0.990864 Centerline is valid? [True, True] Translation: X:114.90, Y:29.16, Z:0.22 [[ 8.47193175e-01 -5.31280014e-01 -2.29571098e-03 1.14901894e+02] [ 5.31278144e-01 8.47196286e-01 -1.40996010e-03 2.91589375e+01] [ 2.69400144e-03 -2.51524984e-05 9.99996371e-01 2.23311542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32401273899998 meters Centerline goodness : 0.990855 Centerline is valid? [True, True] Translation: X:114.93, Y:29.17, Z:0.22 [[ 8.47282383e-01 -5.31137736e-01 -2.29553045e-03 1.14925959e+02] [ 5.31135864e-01 8.47285492e-01 -1.41025396e-03 2.91726544e+01] [ 2.69400874e-03 -2.43552088e-05 9.99996371e-01 2.23080648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35401273899998 meters Centerline goodness : 0.991419 Centerline is valid? [True, True] Translation: X:114.95, Y:29.19, Z:0.22 [[ 8.47752056e-01 -5.30387766e-01 -2.29526447e-03 1.14950295e+02] [ 5.30385891e-01 8.47755163e-01 -1.41068672e-03 2.91862869e+01] [ 2.69403329e-03 -2.14633234e-05 9.99996371e-01 2.23018520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38401273899999 meters Centerline goodness : 0.990894 Centerline is valid? [True, True] Translation: X:114.97, Y:29.20, Z:0.22 [[ 8.49562666e-01 -5.27482711e-01 -2.29499491e-03 1.14974341e+02] [ 5.27480823e-01 8.49565765e-01 -1.41112513e-03 2.91995527e+01] [ 2.69409321e-03 -1.17265764e-05 9.99996371e-01 2.24867497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.414012739 meters Centerline goodness : 0.991241 Centerline is valid? [True, True] Translation: X:115.00, Y:29.21, Z:0.23 [[ 8.50662615e-01 -5.25706999e-01 -2.29487810e-03 1.14997933e+02] [ 5.25705105e-01 8.50665710e-01 -1.41131506e-03 2.92141221e+01] [ 2.69411232e-03 -5.87617151e-06 9.99996371e-01 2.26385620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.444012739 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:115.02, Y:29.23, Z:0.23 [[ 8.52776467e-01 -5.22271034e-01 -2.29461120e-03 1.15020868e+02] [ 5.22269126e-01 8.52779554e-01 -1.41174887e-03 2.92289461e+01] [ 2.69411306e-03 5.50162444e-06 9.99996371e-01 2.26589557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.474012739 meters Centerline goodness : 0.991047 Centerline is valid? [True, True] Translation: X:115.04, Y:29.24, Z:0.23 [[ 8.53326977e-01 -5.21371082e-01 -2.29449498e-03 1.15044155e+02] [ 5.21369170e-01 8.53330062e-01 -1.41193775e-03 2.92433726e+01] [ 2.69410505e-03 8.56562663e-06 9.99996371e-01 2.25619011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.504012739 meters Centerline goodness : 0.990563 Centerline is valid? [True, True] Translation: X:115.07, Y:29.26, Z:0.22 [[ 8.53911701e-01 -5.20412859e-01 -2.29437966e-03 1.15068652e+02] [ 5.20410943e-01 8.53914783e-01 -1.41212511e-03 2.92566540e+01] [ 2.69409277e-03 1.18098750e-05 9.99996371e-01 2.24366135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.534012739 meters Centerline goodness : 0.984313 Centerline is valid? [True, True] Translation: X:115.09, Y:29.27, Z:0.24 [[ 8.54015628e-01 -5.20242293e-01 -2.29411692e-03 1.15093092e+02] [ 5.20240376e-01 8.54018710e-01 -1.41255182e-03 2.92705994e+01] [ 2.69408797e-03 1.28490812e-05 9.99996371e-01 2.36867320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.564012739 meters Centerline goodness : 0.990835 Centerline is valid? [True, True] Translation: X:115.12, Y:29.28, Z:0.23 [[ 8.54121550e-01 -5.20068376e-01 -2.29385424e-03 1.15117481e+02] [ 5.20066457e-01 8.54124630e-01 -1.41297827e-03 2.92848684e+01] [ 2.69408272e-03 1.38985449e-05 9.99996371e-01 2.27653219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.594012739 meters Centerline goodness : 0.990301 Centerline is valid? [True, True] Translation: X:115.14, Y:29.30, Z:0.23 [[ 8.54086897e-01 -5.20125285e-01 -2.29359106e-03 1.15140548e+02] [ 5.20123365e-01 8.54089976e-01 -1.41340533e-03 2.92980738e+01] [ 2.69408099e-03 1.42206700e-05 9.99996371e-01 2.29785150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.624012739 meters Centerline goodness : 0.989859 Centerline is valid? [True, True] Translation: X:115.16, Y:29.31, Z:0.23 [[ 8.54297790e-01 -5.19778825e-01 -2.29347679e-03 1.15164963e+02] [ 5.19776903e-01 8.54300868e-01 -1.41359074e-03 2.93121275e+01] [ 2.69407374e-03 1.55311846e-05 9.99996371e-01 2.30718904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.654012739 meters Centerline goodness : 0.990203 Centerline is valid? [True, True] Translation: X:115.19, Y:29.33, Z:0.23 [[ 8.55471338e-01 -5.17845084e-01 -2.29321841e-03 1.15189070e+02] [ 5.17843154e-01 8.55474411e-01 -1.41400977e-03 2.93253663e+01] [ 2.69402768e-03 2.21173735e-05 9.99996371e-01 2.31918875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.684012739 meters Centerline goodness : 0.989697 Centerline is valid? [True, True] Translation: X:115.21, Y:29.34, Z:0.23 [[ 8.56287051e-01 -5.16495139e-01 -2.29296018e-03 1.15212056e+02] [ 5.16493203e-01 8.56290121e-01 -1.41442839e-03 2.93394618e+01] [ 2.69398454e-03 2.68583613e-05 9.99996371e-01 2.31844649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.714012739 meters Centerline goodness : 0.989586 Centerline is valid? [True, True] Translation: X:115.24, Y:29.35, Z:0.23 [[ 8.58142039e-01 -5.13407230e-01 -2.29284784e-03 1.15235521e+02] [ 5.13405282e-01 8.58145102e-01 -1.41461048e-03 2.93541273e+01] [ 2.69386739e-03 3.67765351e-05 9.99996371e-01 2.31992332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.744012739 meters Centerline goodness : 0.989302 Centerline is valid? [True, True] Translation: X:115.26, Y:29.37, Z:0.23 [[ 8.58952258e-01 -5.12050546e-01 -2.29268019e-03 1.15258116e+02] [ 5.12048593e-01 8.58955317e-01 -1.41488214e-03 2.93688674e+01] [ 2.69380101e-03 4.13525484e-05 9.99996371e-01 2.31757370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77401273899997 meters Centerline goodness : 0.989774 Centerline is valid? [True, True] Translation: X:115.28, Y:29.39, Z:0.23 [[ 8.60834214e-01 -5.08880339e-01 -2.29249604e-03 1.15280415e+02] [ 5.08878374e-01 8.60837265e-01 -1.41518045e-03 2.93855183e+01] [ 2.69362353e-03 5.16340880e-05 9.99996371e-01 2.29278523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80401273899997 meters Centerline goodness : 0.990482 Centerline is valid? [True, True] Translation: X:115.30, Y:29.40, Z:0.23 [[ 8.61446749e-01 -5.07842735e-01 -2.29241341e-03 1.15303086e+02] [ 5.07840765e-01 8.61449798e-01 -1.41531428e-03 2.94016772e+01] [ 2.69355615e-03 5.50369023e-05 9.99996371e-01 2.27219445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83401273899997 meters Centerline goodness : 0.990611 Centerline is valid? [True, True] Translation: X:115.33, Y:29.42, Z:0.23 [[ 8.61890143e-01 -5.07089861e-01 -2.29214749e-03 1.15326313e+02] [ 5.07087888e-01 8.61893189e-01 -1.41574483e-03 2.94175720e+01] [ 2.69349615e-03 5.78962830e-05 9.99996371e-01 2.26588934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86401273899997 meters Centerline goodness : 0.990805 Centerline is valid? [True, True] Translation: X:115.35, Y:29.43, Z:0.23 [[ 8.61317288e-01 -5.08062276e-01 -2.29187980e-03 1.15348277e+02] [ 5.08060305e-01 8.61320336e-01 -1.41617804e-03 2.94334148e+01] [ 2.69354932e-03 5.53654847e-05 9.99996371e-01 2.26656931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89401273899998 meters Centerline goodness : 0.990598 Centerline is valid? [True, True] Translation: X:115.37, Y:29.45, Z:0.23 [[ 8.60507897e-01 -5.09431945e-01 -2.29169728e-03 1.15371727e+02] [ 5.09429978e-01 8.60510947e-01 -1.41647333e-03 2.94488719e+01] [ 2.69362736e-03 5.14271890e-05 9.99996371e-01 2.26635986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92401273899998 meters Centerline goodness : 0.990579 Centerline is valid? [True, True] Translation: X:115.40, Y:29.46, Z:0.23 [[ 8.58422634e-01 -5.12937940e-01 -2.29143766e-03 1.15395856e+02] [ 5.12935985e-01 8.58425691e-01 -1.41689320e-03 2.94636270e+01] [ 2.69380724e-03 4.09323594e-05 9.99996371e-01 2.25834135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95401273899998 meters Centerline goodness : 0.990225 Centerline is valid? [True, True] Translation: X:115.42, Y:29.48, Z:0.23 [[ 8.57372783e-01 -5.14690841e-01 -2.29116760e-03 1.15419102e+02] [ 5.14688891e-01 8.57375843e-01 -1.41732976e-03 2.94775592e+01] [ 2.69387840e-03 3.59414438e-05 9.99996371e-01 2.26231072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98401273899998 meters Centerline goodness : 0.990735 Centerline is valid? [True, True] Translation: X:115.44, Y:29.49, Z:0.22 [[ 8.55779127e-01 -5.17336291e-01 -2.29105010e-03 1.15442198e+02] [ 5.17334349e-01 8.55782193e-01 -1.41751966e-03 2.94936557e+01] [ 2.69397425e-03 2.78448240e-05 9.99996371e-01 2.24756056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01401273899998 meters Centerline goodness : 0.990955 Centerline is valid? [True, True] Translation: X:115.47, Y:29.51, Z:0.22 [[ 8.55006017e-01 -5.18613018e-01 -2.29078008e-03 1.15465664e+02] [ 5.18611080e-01 8.55009086e-01 -1.41795589e-03 2.95097716e+01] [ 2.69400817e-03 2.43368874e-05 9.99996371e-01 2.24037817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04401273899998 meters Centerline goodness : 0.991232 Centerline is valid? [True, True] Translation: X:115.49, Y:29.53, Z:0.22 [[ 8.54357996e-01 -5.19679871e-01 -2.29051173e-03 1.15488607e+02] [ 5.19677936e-01 8.54361066e-01 -1.41838924e-03 2.95251262e+01] [ 2.69403239e-03 2.14837815e-05 9.99996371e-01 2.23867530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07401273899998 meters Centerline goodness : 0.991232 Centerline is valid? [True, True] Translation: X:115.51, Y:29.54, Z:0.22 [[ 8.54259035e-01 -5.19842530e-01 -2.29024124e-03 1.15512712e+02] [ 5.19840594e-01 8.54262105e-01 -1.41882588e-03 2.95402741e+01] [ 2.69403233e-03 2.14844580e-05 9.99996371e-01 2.23944268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10401273899998 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:115.54, Y:29.56, Z:0.22 [[ 8.53511487e-01 -5.21068996e-01 -2.28997101e-03 1.15535367e+02] [ 5.21067063e-01 8.53514558e-01 -1.41926188e-03 2.95556269e+01] [ 2.69405696e-03 1.81278462e-05 9.99996371e-01 2.24738672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13401273899999 meters Centerline goodness : 0.990112 Centerline is valid? [True, True] Translation: X:115.56, Y:29.57, Z:0.23 [[ 8.53428769e-01 -5.21204464e-01 -2.28985357e-03 1.15557819e+02] [ 5.21202532e-01 8.53431840e-01 -1.41945134e-03 2.95710274e+01] [ 2.69405832e-03 1.79231377e-05 9.99996371e-01 2.27235356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.164012739 meters Centerline goodness : 0.990632 Centerline is valid? [True, True] Translation: X:115.58, Y:29.59, Z:0.23 [[ 8.53213742e-01 -5.21556390e-01 -2.28973788e-03 1.15581029e+02] [ 5.21554458e-01 8.53216814e-01 -1.41963794e-03 2.95868323e+01] [ 2.69406410e-03 1.70315970e-05 9.99996371e-01 2.27534969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.194012739 meters Centerline goodness : 0.990706 Centerline is valid? [True, True] Translation: X:115.60, Y:29.60, Z:0.23 [[ 8.53082894e-01 -5.21770385e-01 -2.28947238e-03 1.15603680e+02] [ 5.21768452e-01 8.53085966e-01 -1.42006599e-03 2.96016656e+01] [ 2.69406513e-03 1.68595473e-05 9.99996371e-01 2.27640488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.224012739 meters Centerline goodness : 0.990541 Centerline is valid? [True, True] Translation: X:115.63, Y:29.62, Z:0.22 [[ 8.52209786e-01 -5.23195221e-01 -2.28935721e-03 1.15627314e+02] [ 5.23193293e-01 8.52212861e-01 -1.42025162e-03 2.96168179e+01] [ 2.69408852e-03 1.25759927e-05 9.99996371e-01 2.24604850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.254012739 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:115.65, Y:29.63, Z:0.22 [[ 8.51390628e-01 -5.24527176e-01 -2.28909506e-03 1.15650047e+02] [ 5.24525252e-01 8.51393705e-01 -1.42067402e-03 2.96307984e+01] [ 2.69410326e-03 8.86038122e-06 9.99996371e-01 2.23475532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.284012739 meters Centerline goodness : 0.991583 Centerline is valid? [True, True] Translation: X:115.67, Y:29.65, Z:0.22 [[ 8.49845838e-01 -5.27026387e-01 -2.28898127e-03 1.15673224e+02] [ 5.27024472e-01 8.49848920e-01 -1.42085734e-03 2.96458913e+01] [ 2.69411757e-03 1.16055087e-06 9.99996371e-01 2.22251187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.314012739 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:115.70, Y:29.66, Z:0.22 [[ 8.49073027e-01 -5.28270533e-01 -2.28872243e-03 1.15696605e+02] [ 5.28268621e-01 8.49076112e-01 -1.42127416e-03 2.96606907e+01] [ 2.69411680e-03 -2.29468883e-06 9.99996371e-01 2.21803809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.344012739 meters Centerline goodness : 0.990930 Centerline is valid? [True, True] Translation: X:115.72, Y:29.68, Z:0.22 [[ 8.48034754e-01 -5.29935674e-01 -2.28846486e-03 1.15721139e+02] [ 5.29933767e-01 8.48037842e-01 -1.42168877e-03 2.96750393e+01] [ 2.69410839e-03 -7.09331678e-06 9.99996371e-01 2.24983756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.374012739 meters Centerline goodness : 0.988802 Centerline is valid? [True, True] Translation: X:115.75, Y:29.69, Z:0.23 [[ 8.47699788e-01 -5.30471332e-01 -2.28820910e-03 1.15745459e+02] [ 5.30469426e-01 8.47702876e-01 -1.42210029e-03 2.96891066e+01] [ 2.69410487e-03 -8.31085826e-06 9.99996371e-01 2.30678941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.404012739 meters Centerline goodness : 0.991376 Centerline is valid? [True, True] Translation: X:115.77, Y:29.70, Z:0.23 [[ 8.47631900e-01 -5.30579803e-01 -2.28795486e-03 1.15769514e+02] [ 5.30577897e-01 8.47634988e-01 -1.42250921e-03 2.97034321e+01] [ 2.69410525e-03 -8.17409433e-06 9.99996371e-01 2.28560202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.434012739 meters Centerline goodness : 0.984138 Centerline is valid? [True, True] Translation: X:115.79, Y:29.72, Z:0.24 [[ 8.48783349e-01 -5.28735844e-01 -2.28770098e-03 1.15792154e+02] [ 5.28733929e-01 8.48786432e-01 -1.42291739e-03 2.97174533e+01] [ 2.69411698e-03 -1.83654029e-06 9.99996371e-01 2.40572185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.464012739 meters Centerline goodness : 0.990354 Centerline is valid? [True, True] Translation: X:115.82, Y:29.73, Z:0.23 [[ 8.50225537e-01 -5.26413623e-01 -2.28759038e-03 1.15815809e+02] [ 5.26411700e-01 8.50228615e-01 -1.42309517e-03 2.97327671e+01] [ 2.69411148e-03 5.73751203e-06 9.99996371e-01 2.30240196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.494012739 meters Centerline goodness : 0.990219 Centerline is valid? [True, True] Translation: X:115.84, Y:29.75, Z:0.23 [[ 8.50468765e-01 -5.26020577e-01 -2.28733939e-03 1.15838742e+02] [ 5.26018651e-01 8.50471841e-01 -1.42349847e-03 2.97478002e+01] [ 2.69410723e-03 7.45780701e-06 9.99996371e-01 2.30813718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52401273899997 meters Centerline goodness : 0.990713 Centerline is valid? [True, True] Translation: X:115.86, Y:29.76, Z:0.23 [[ 8.50360924e-01 -5.26194896e-01 -2.28716832e-03 1.15861256e+02] [ 5.26192970e-01 8.50364000e-01 -1.42377328e-03 2.97628701e+01] [ 2.69410783e-03 7.22926596e-06 9.99996371e-01 2.30692828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55401273899997 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:115.88, Y:29.78, Z:0.23 [[ 8.50044972e-01 -5.26705150e-01 -2.28692025e-03 1.15883878e+02] [ 5.26703225e-01 8.50048049e-01 -1.42417163e-03 2.97788222e+01] [ 2.69411063e-03 6.08165987e-06 9.99996371e-01 2.27831724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58401273899997 meters Centerline goodness : 0.990367 Centerline is valid? [True, True] Translation: X:115.91, Y:29.79, Z:0.23 [[ 8.49851261e-01 -5.27017652e-01 -2.28667207e-03 1.15907422e+02] [ 5.27015727e-01 8.49854337e-01 -1.42456999e-03 2.97934814e+01] [ 2.69411171e-03 5.56046176e-06 9.99996371e-01 2.26327065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61401273899997 meters Centerline goodness : 0.990863 Centerline is valid? [True, True] Translation: X:115.93, Y:29.81, Z:0.23 [[ 8.48459506e-01 -5.29255363e-01 -2.28642575e-03 1.15931324e+02] [ 5.29253445e-01 8.48462586e-01 -1.42496524e-03 2.98080638e+01] [ 2.69411720e-03 -1.07339936e-06 9.99996371e-01 2.25686092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64401273899998 meters Centerline goodness : 0.991086 Centerline is valid? [True, True] Translation: X:115.95, Y:29.82, Z:0.23 [[ 8.46940342e-01 -5.31683017e-01 -2.28618073e-03 1.15954522e+02] [ 5.31681106e-01 8.46943428e-01 -1.42535823e-03 2.98221378e+01] [ 2.69410451e-03 -8.32570940e-06 9.99996371e-01 2.25812815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67401273899998 meters Centerline goodness : 0.991096 Centerline is valid? [True, True] Translation: X:115.98, Y:29.83, Z:0.23 [[ 8.43777027e-01 -5.36689019e-01 -2.28601399e-03 1.15979603e+02] [ 5.36687126e-01 8.43780123e-01 -1.42562560e-03 2.98344283e+01] [ 2.69401077e-03 -2.39641515e-05 9.99996371e-01 2.27416355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70401273899998 meters Centerline goodness : 0.991055 Centerline is valid? [True, True] Translation: X:116.00, Y:29.85, Z:0.23 [[ 8.42462845e-01 -5.38749598e-01 -2.28577157e-03 1.16003868e+02] [ 5.38747711e-01 8.42465946e-01 -1.42601417e-03 2.98475840e+01] [ 2.69394927e-03 -3.00902494e-05 9.99996371e-01 2.28596928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73401273899998 meters Centerline goodness : 0.991270 Centerline is valid? [True, True] Translation: X:116.03, Y:29.86, Z:0.23 [[ 8.40514543e-01 -5.41784164e-01 -2.28551385e-03 1.16029045e+02] [ 5.41782287e-01 8.40517649e-01 -1.42642711e-03 2.98589546e+01] [ 2.69383035e-03 -3.93181958e-05 9.99996371e-01 2.30263268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76401273899998 meters Centerline goodness : 0.990207 Centerline is valid? [True, True] Translation: X:116.05, Y:29.87, Z:0.23 [[ 8.39874654e-01 -5.42775591e-01 -2.28533912e-03 1.16053677e+02] [ 5.42773718e-01 8.39877762e-01 -1.42670700e-03 2.98713125e+01] [ 2.69378724e-03 -4.21669624e-05 9.99996371e-01 2.30512880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79401273899998 meters Centerline goodness : 0.990522 Centerline is valid? [True, True] Translation: X:116.08, Y:29.88, Z:0.23 [[ 8.39648845e-01 -5.43124843e-01 -2.28523077e-03 1.16079203e+02] [ 5.43122970e-01 8.39651954e-01 -1.42688052e-03 2.98835363e+01] [ 2.69377274e-03 -4.30827454e-05 9.99996371e-01 2.29264255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82401273899998 meters Centerline goodness : 0.990611 Centerline is valid? [True, True] Translation: X:116.10, Y:29.89, Z:0.23 [[ 8.40175352e-01 -5.42310019e-01 -2.28499270e-03 1.16104317e+02] [ 5.42308142e-01 8.40178458e-01 -1.42726168e-03 2.98938470e+01] [ 2.69381995e-03 -4.00200629e-05 9.99996371e-01 2.27557845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85401273899998 meters Centerline goodness : 0.991609 Centerline is valid? [True, True] Translation: X:116.13, Y:29.91, Z:0.23 [[ 8.40939996e-01 -5.41123555e-01 -2.28485919e-03 1.16128959e+02] [ 5.41121674e-01 8.40943099e-01 -1.42747537e-03 2.99076528e+01] [ 2.69387712e-03 -3.59657005e-05 9.99996371e-01 2.26320885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88401273899999 meters Centerline goodness : 0.991399 Centerline is valid? [True, True] Translation: X:116.15, Y:29.92, Z:0.23 [[ 8.43167570e-01 -5.37646007e-01 -2.28462406e-03 1.16154869e+02] [ 5.37644112e-01 8.43170665e-01 -1.42785159e-03 2.99191673e+01] [ 2.69400669e-03 -2.43965210e-05 9.99996371e-01 2.25217934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.914012739 meters Centerline goodness : 0.991776 Centerline is valid? [True, True] Translation: X:116.18, Y:29.93, Z:0.23 [[ 8.44206032e-01 -5.36013952e-01 -2.28437786e-03 1.16178375e+02] [ 5.36012049e-01 8.44209123e-01 -1.42824536e-03 2.99315796e+01] [ 2.69405207e-03 -1.87207117e-05 9.99996371e-01 2.27619668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.944012739 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:116.20, Y:29.95, Z:0.23 [[ 8.46034715e-01 -5.33122915e-01 -2.28426306e-03 1.16202477e+02] [ 5.33121002e-01 8.46037799e-01 -1.42842894e-03 2.99450086e+01] [ 2.69410110e-03 -9.28813916e-06 9.99996371e-01 2.29299074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.974012739 meters Centerline goodness : 0.992477 Centerline is valid? [True, True] Translation: X:116.23, Y:29.96, Z:0.23 [[ 8.46911081e-01 -5.31729634e-01 -2.28399917e-03 1.16226967e+02] [ 5.31727715e-01 8.46914161e-01 -1.42885077e-03 2.99587394e+01] [ 2.69411354e-03 -4.35610876e-06 9.99996371e-01 2.27788167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.004012739 meters Centerline goodness : 0.991935 Centerline is valid? [True, True] Translation: X:116.25, Y:29.97, Z:0.22 [[ 8.48362569e-01 -5.29410744e-01 -2.28372738e-03 1.16254086e+02] [ 5.29408814e-01 8.48365643e-01 -1.42928505e-03 2.99679967e+01] [ 2.69411470e-03 3.52653235e-06 9.99996371e-01 2.23057014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.034012739 meters Centerline goodness : 0.991588 Centerline is valid? [True, True] Translation: X:116.28, Y:29.98, Z:0.22 [[ 8.48989524e-01 -5.28404743e-01 -2.28364310e-03 1.16277742e+02] [ 5.28402810e-01 8.48992596e-01 -1.42941969e-03 2.99803067e+01] [ 2.69410823e-03 6.87891336e-06 9.99996371e-01 2.22180857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.064012739 meters Centerline goodness : 0.991631 Centerline is valid? [True, True] Translation: X:116.30, Y:30.00, Z:0.22 [[ 8.49706504e-01 -5.27251030e-01 -2.28225363e-03 1.16301589e+02] [ 5.27249086e-01 8.49709569e-01 -1.43163893e-03 2.99950855e+01] [ 2.69408585e-03 1.31567680e-05 9.99996371e-01 2.23347317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.094012739 meters Centerline goodness : 0.992178 Centerline is valid? [True, True] Translation: X:116.33, Y:30.01, Z:0.22 [[ 8.49514973e-01 -5.27559572e-01 -2.28205200e-03 1.16326796e+02] [ 5.27557629e-01 8.49518038e-01 -1.43196091e-03 3.00101476e+01] [ 2.69408903e-03 1.25582903e-05 9.99996371e-01 2.24396028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.124012739 meters Centerline goodness : 0.991350 Centerline is valid? [True, True] Translation: X:116.35, Y:30.02, Z:0.23 [[ 8.49262423e-01 -5.27966025e-01 -2.28317147e-03 1.16350931e+02] [ 5.27964088e-01 8.49265492e-01 -1.43017376e-03 3.00232411e+01] [ 2.69410190e-03 9.16029330e-06 9.99996371e-01 2.26993856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.154012739 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:116.38, Y:30.04, Z:0.23 [[ 8.48445430e-01 -5.29277943e-01 -2.28298894e-03 1.16375792e+02] [ 5.29276010e-01 8.48448501e-01 -1.43046508e-03 3.00353987e+01] [ 2.69411216e-03 5.34028668e-06 9.99996371e-01 2.26047437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.184012739 meters Centerline goodness : 0.991757 Centerline is valid? [True, True] Translation: X:116.40, Y:30.05, Z:0.22 [[ 8.48191377e-01 -5.29684979e-01 -2.28275252e-03 1.16399969e+02] [ 5.29683046e-01 8.48194449e-01 -1.43084226e-03 3.00495677e+01] [ 2.69411367e-03 4.49275678e-06 9.99996371e-01 2.24750379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.214012739 meters Centerline goodness : 0.991331 Centerline is valid? [True, True] Translation: X:116.42, Y:30.06, Z:0.23 [[ 8.47716024e-01 -5.30445410e-01 -2.28248953e-03 1.16424097e+02] [ 5.30443479e-01 8.47719097e-01 -1.43126166e-03 3.00625799e+01] [ 2.69411614e-03 2.57175311e-06 9.99996371e-01 2.25884186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.244012739 meters Centerline goodness : 0.991203 Centerline is valid? [True, True] Translation: X:116.45, Y:30.08, Z:0.23 [[ 8.47328502e-01 -5.31064216e-01 -2.28237515e-03 1.16448363e+02] [ 5.31062286e-01 8.47331576e-01 -1.43144403e-03 3.00763862e+01] [ 2.69411723e-03 8.19957738e-07 9.99996371e-01 2.25928425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27401273899997 meters Centerline goodness : 0.991938 Centerline is valid? [True, True] Translation: X:116.47, Y:30.09, Z:0.22 [[ 8.46883266e-01 -5.31773942e-01 -2.28213072e-03 1.16473555e+02] [ 5.31772015e-01 8.46886341e-01 -1.43183362e-03 3.00884636e+01] [ 2.69411714e-03 -9.77313530e-07 9.99996371e-01 2.23401304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30401273899997 meters Centerline goodness : 0.991772 Centerline is valid? [True, True] Translation: X:116.50, Y:30.10, Z:0.22 [[ 8.47154430e-01 -5.31341853e-01 -2.28186790e-03 1.16496554e+02] [ 5.31339922e-01 8.47157503e-01 -1.43225234e-03 3.01023166e+01] [ 2.69411713e-03 8.91398937e-07 9.99996371e-01 2.23628467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33401273899997 meters Centerline goodness : 0.992106 Centerline is valid? [True, True] Translation: X:116.52, Y:30.12, Z:0.23 [[ 8.48814574e-01 -5.28685741e-01 -2.28168928e-03 1.16519371e+02] [ 5.28683800e-01 8.48817641e-01 -1.43253684e-03 3.01185998e+01] [ 2.69409991e-03 9.66599134e-06 9.99996371e-01 2.25503524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36401273899997 meters Centerline goodness : 0.992579 Centerline is valid? [True, True] Translation: X:116.54, Y:30.13, Z:0.23 [[ 8.49734763e-01 -5.27205489e-01 -2.28142420e-03 1.16542351e+02] [ 5.27203542e-01 8.49737825e-01 -1.43295887e-03 3.01342793e+01] [ 2.69407622e-03 1.48600473e-05 9.99996371e-01 2.26940133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39401273899998 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:116.56, Y:30.15, Z:0.23 [[ 8.52118680e-01 -5.23343627e-01 -2.28115625e-03 1.16564920e+02] [ 5.23341665e-01 8.52121733e-01 -1.43338530e-03 3.01492569e+01] [ 2.69397588e-03 2.75902816e-05 9.99996371e-01 2.27840821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42401273899998 meters Centerline goodness : 0.991659 Centerline is valid? [True, True] Translation: X:116.59, Y:30.16, Z:0.23 [[ 8.52997480e-01 -5.21910045e-01 -2.28103960e-03 1.16587426e+02] [ 5.21908077e-01 8.53000530e-01 -1.43357092e-03 3.01643126e+01] [ 2.69392305e-03 3.23393905e-05 9.99996371e-01 2.27605924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45401273899998 meters Centerline goodness : 0.991591 Centerline is valid? [True, True] Translation: X:116.61, Y:30.18, Z:0.23 [[ 8.53761780e-01 -5.20658833e-01 -2.28092355e-03 1.16609454e+02] [ 5.20656860e-01 8.53764826e-01 -1.43375554e-03 3.01796743e+01] [ 2.69386978e-03 3.65071890e-05 9.99996371e-01 2.27311334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48401273899998 meters Centerline goodness : 0.991449 Centerline is valid? [True, True] Translation: X:116.63, Y:30.20, Z:0.23 [[ 8.54754546e-01 -5.19027422e-01 -2.28080904e-03 1.16630621e+02] [ 5.19025443e-01 8.54757588e-01 -1.43393768e-03 3.01970617e+01] [ 2.69379181e-03 4.18668264e-05 9.99996371e-01 2.28364579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51401273899998 meters Centerline goodness : 0.991343 Centerline is valid? [True, True] Translation: X:116.65, Y:30.21, Z:0.23 [[ 8.54781845e-01 -5.18982461e-01 -2.28069570e-03 1.16653059e+02] [ 5.18980482e-01 8.54784887e-01 -1.43411792e-03 3.02136659e+01] [ 2.69378626e-03 4.22214092e-05 9.99996371e-01 2.27223183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54401273899998 meters Centerline goodness : 0.992056 Centerline is valid? [True, True] Translation: X:116.67, Y:30.23, Z:0.22 [[ 8.54603936e-01 -5.19275373e-01 -2.28043625e-03 1.16674670e+02] [ 5.19273393e-01 8.54606977e-01 -1.43453036e-03 3.02314533e+01] [ 2.69379302e-03 4.17854234e-05 9.99996371e-01 2.23673353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57401273899998 meters Centerline goodness : 0.991767 Centerline is valid? [True, True] Translation: X:116.70, Y:30.25, Z:0.22 [[ 8.54530126e-01 -5.19396827e-01 -2.28031408e-03 1.16697645e+02] [ 5.19394847e-01 8.54533168e-01 -1.43472454e-03 3.02477127e+01] [ 2.69379538e-03 4.16319615e-05 9.99996371e-01 2.23667299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60401273899998 meters Centerline goodness : 0.991942 Centerline is valid? [True, True] Translation: X:116.72, Y:30.27, Z:0.23 [[ 8.54098369e-01 -5.20106512e-01 -2.27877137e-03 1.16719547e+02] [ 5.20104528e-01 8.54101408e-01 -1.43717569e-03 3.02654553e+01] [ 2.69378627e-03 4.22900993e-05 9.99996371e-01 2.25259591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63401273899999 meters Centerline goodness : 0.991588 Centerline is valid? [True, True] Translation: X:116.74, Y:30.28, Z:0.23 [[ 8.53722884e-01 -5.20722612e-01 -2.27999406e-03 1.16741946e+02] [ 5.20720635e-01 8.53725928e-01 -1.43523333e-03 3.02815948e+01] [ 2.69384850e-03 3.80515834e-05 9.99996371e-01 2.25241276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.664012739 meters Centerline goodness : 0.992330 Centerline is valid? [True, True] Translation: X:116.76, Y:30.30, Z:0.22 [[ 8.52592491e-01 -5.22571380e-01 -2.27973955e-03 1.16764744e+02] [ 5.22569409e-01 8.52595538e-01 -1.43563749e-03 3.02988303e+01] [ 2.69391883e-03 3.26915971e-05 9.99996371e-01 2.20833663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.694012739 meters Centerline goodness : 0.992723 Centerline is valid? [True, True] Translation: X:116.79, Y:30.31, Z:0.22 [[ 8.51703711e-01 -5.24018696e-01 -2.27947665e-03 1.16788265e+02] [ 5.24016729e-01 8.51706760e-01 -1.43605481e-03 3.03147637e+01] [ 2.69396524e-03 2.86093109e-05 9.99996371e-01 2.20112458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.724012739 meters Centerline goodness : 0.992274 Centerline is valid? [True, True] Translation: X:116.81, Y:30.33, Z:0.22 [[ 8.50122304e-01 -5.26580358e-01 -2.27921394e-03 1.16811706e+02] [ 5.26578399e-01 8.50125359e-01 -1.43647164e-03 3.03303079e+01] [ 2.69403532e-03 2.09917528e-05 9.99996371e-01 2.21752951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.754012739 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:116.83, Y:30.35, Z:0.22 [[ 8.49407412e-01 -5.27732749e-01 -2.27894520e-03 1.16834701e+02] [ 5.27730793e-01 8.49410469e-01 -1.43689787e-03 3.03454733e+01] [ 2.69405797e-03 1.78421403e-05 9.99996371e-01 2.22634885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.784012739 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:116.86, Y:30.36, Z:0.22 [[ 8.48820142e-01 -5.28676815e-01 -2.27866369e-03 1.16857032e+02] [ 5.28674861e-01 8.48823200e-01 -1.43734415e-03 3.03603255e+01] [ 2.69407313e-03 1.53744508e-05 9.99996371e-01 2.23515310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.814012739 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:116.88, Y:30.37, Z:0.22 [[ 8.47448329e-01 -5.30872996e-01 -2.27854140e-03 1.16881362e+02] [ 5.30871049e-01 8.47451392e-01 -1.43753798e-03 3.03740143e+01] [ 2.69410318e-03 8.62749567e-06 9.99996371e-01 2.21192757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.844012739 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:116.91, Y:30.39, Z:0.22 [[ 8.45897735e-01 -5.33340258e-01 -2.27827648e-03 1.16906051e+02] [ 5.33338320e-01 8.45900803e-01 -1.43795771e-03 3.03852798e+01] [ 2.69411664e-03 1.27301769e-06 9.99996371e-01 2.16963690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.874012739 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:116.93, Y:30.40, Z:0.22 [[ 8.45336890e-01 -5.34228745e-01 -2.27816130e-03 1.16930331e+02] [ 5.34226809e-01 8.45339960e-01 -1.43814017e-03 3.03994421e+01] [ 2.69411660e-03 -1.34190064e-06 9.99996371e-01 2.16307233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.904012739 meters Centerline goodness : 0.988464 Centerline is valid? [True, True] Translation: X:116.95, Y:30.41, Z:0.23 [[ 8.45202606e-01 -5.34441171e-01 -2.27789362e-03 1.16952835e+02] [ 5.34439235e-01 8.45205676e-01 -1.43856403e-03 3.04134291e+01] [ 2.69411646e-03 -1.51765396e-06 9.99996371e-01 2.25935782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.934012739 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:116.98, Y:30.43, Z:0.22 [[ 8.46041694e-01 -5.33111867e-01 -2.27777727e-03 1.16977771e+02] [ 5.33109926e-01 8.46044761e-01 -1.43874822e-03 3.04263063e+01] [ 2.69411528e-03 2.93531144e-06 9.99996371e-01 2.20087898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.964012739 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:117.00, Y:30.44, Z:0.22 [[ 8.46639247e-01 -5.32162380e-01 -2.27750330e-03 1.17001075e+02] [ 5.32160434e-01 8.46642310e-01 -1.43918178e-03 3.04404997e+01] [ 2.69410906e-03 6.47063311e-06 9.99996371e-01 2.20439209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.994012739 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:117.03, Y:30.46, Z:0.22 [[ 8.46539880e-01 -5.32320434e-01 -2.27738378e-03 1.17025048e+02] [ 5.32318488e-01 8.46542944e-01 -1.43937090e-03 3.04558701e+01] [ 2.69410971e-03 6.19138040e-06 9.99996371e-01 2.20515936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02401273899997 meters Centerline goodness : 0.992619 Centerline is valid? [True, True] Translation: X:117.05, Y:30.47, Z:0.22 [[ 8.46825945e-01 -5.31865241e-01 -2.27711497e-03 1.17048695e+02] [ 5.31863292e-01 8.46829006e-01 -1.43979602e-03 3.04705620e+01] [ 2.69410447e-03 8.14276084e-06 9.99996371e-01 2.21678584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05401273899997 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:117.07, Y:30.48, Z:0.22 [[ 8.46176089e-01 -5.32898530e-01 -2.27684566e-03 1.17072867e+02] [ 5.32896584e-01 8.46179152e-01 -1.44022179e-03 3.04839246e+01] [ 2.69411140e-03 5.35796731e-06 9.99996371e-01 2.21251581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08401273899997 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:117.10, Y:30.50, Z:0.22 [[ 8.45737336e-01 -5.33594580e-01 -2.27657538e-03 1.17097180e+02] [ 5.33592635e-01 8.45740400e-01 -1.44064889e-03 3.04978551e+01] [ 2.69411421e-03 3.64669398e-06 9.99996371e-01 2.22006139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11401273899997 meters Centerline goodness : 0.992305 Centerline is valid? [True, True] Translation: X:117.12, Y:30.51, Z:0.22 [[ 8.45248461e-01 -5.34368654e-01 -2.27632284e-03 1.17121033e+02] [ 5.34366711e-01 8.45251526e-01 -1.44104780e-03 3.05120652e+01] [ 2.69411613e-03 1.65228615e-06 9.99996371e-01 2.23660617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14401273899998 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:117.14, Y:30.53, Z:0.22 [[ 8.45239659e-01 -5.34382577e-01 -2.27605051e-03 1.17143562e+02] [ 5.34380633e-01 8.45242723e-01 -1.44147782e-03 3.05264141e+01] [ 2.69411576e-03 2.11690491e-06 9.99996371e-01 2.23560286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17401273899998 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:117.17, Y:30.54, Z:0.22 [[ 8.44959325e-01 -5.34825728e-01 -2.27593246e-03 1.17167126e+02] [ 5.34823785e-01 8.44962390e-01 -1.44166417e-03 3.05408435e+01] [ 2.69411642e-03 9.24773555e-07 9.99996371e-01 2.24185962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20401273899998 meters Centerline goodness : 0.991825 Centerline is valid? [True, True] Translation: X:117.19, Y:30.55, Z:0.23 [[ 8.43504230e-01 -5.37117711e-01 -2.27566163e-03 1.17191732e+02] [ 5.37115775e-01 8.43507300e-01 -1.44209155e-03 3.05543266e+01] [ 2.69411011e-03 -5.88343491e-06 9.99996371e-01 2.25987577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23401273899998 meters Centerline goodness : 0.992554 Centerline is valid? [True, True] Translation: X:117.22, Y:30.57, Z:0.22 [[ 8.41617393e-01 -5.40069427e-01 -2.27557759e-03 1.17216708e+02] [ 5.40067501e-01 8.41620469e-01 -1.44222416e-03 3.05681068e+01] [ 2.69407385e-03 -1.51645634e-05 9.99996371e-01 2.23167531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26401273899998 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:117.24, Y:30.58, Z:0.22 [[ 8.41063498e-01 -5.40931618e-01 -2.27534171e-03 1.17239504e+02] [ 5.40929695e-01 8.41066576e-01 -1.44259620e-03 3.05819967e+01] [ 2.69405976e-03 -1.74848859e-05 9.99996371e-01 2.20588247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29401273899998 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:117.26, Y:30.60, Z:0.22 [[ 8.40818596e-01 -5.41312212e-01 -2.27522452e-03 1.17263055e+02] [ 5.41310290e-01 8.40821675e-01 -1.44278100e-03 3.05955898e+01] [ 2.69405307e-03 -1.84853450e-05 9.99996371e-01 2.17944079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32401273899998 meters Centerline goodness : 0.993248 Centerline is valid? [True, True] Translation: X:117.29, Y:30.61, Z:0.22 [[ 8.41437243e-01 -5.40350063e-01 -2.27510871e-03 1.17287444e+02] [ 5.40348136e-01 8.41440318e-01 -1.44296359e-03 3.06078882e+01] [ 2.69407367e-03 -1.51874480e-05 9.99996371e-01 2.18140729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35401273899998 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:117.31, Y:30.62, Z:0.22 [[ 8.42281807e-01 -5.39032636e-01 -2.27484585e-03 1.17311554e+02] [ 5.39030703e-01 8.42284879e-01 -1.44337788e-03 3.06220615e+01] [ 2.69409605e-03 -1.04808249e-05 9.99996371e-01 2.19621018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38401273899999 meters Centerline goodness : 0.993019 Centerline is valid? [True, True] Translation: X:117.33, Y:30.64, Z:0.22 [[ 8.44655389e-01 -5.35305613e-01 -2.27458188e-03 1.17334585e+02] [ 5.35303666e-01 8.44658452e-01 -1.44379374e-03 3.06373174e+01] [ 2.69411571e-03 1.91613916e-06 9.99996371e-01 2.19598617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.414012739 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:117.36, Y:30.65, Z:0.22 [[ 8.45737953e-01 -5.33593612e-01 -2.27431945e-03 1.17357465e+02] [ 5.33591657e-01 8.45741011e-01 -1.44420702e-03 3.06531776e+01] [ 2.69410487e-03 7.86280260e-06 9.99996371e-01 2.17431762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.444012739 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:117.38, Y:30.67, Z:0.22 [[ 8.46591462e-01 -5.32238410e-01 -2.27405586e-03 1.17380475e+02] [ 5.32236450e-01 8.46594516e-01 -1.44462195e-03 3.06688644e+01] [ 2.69408651e-03 1.26691961e-05 9.99996371e-01 2.16313937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.474012739 meters Centerline goodness : 0.993054 Centerline is valid? [True, True] Translation: X:117.40, Y:30.68, Z:0.21 [[ 8.47386262e-01 -5.30972083e-01 -2.27379304e-03 1.17402749e+02] [ 5.30970117e-01 8.47389313e-01 -1.44503550e-03 3.06837122e+01] [ 2.69406143e-03 1.71870712e-05 9.99996371e-01 2.14825612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.504012739 meters Centerline goodness : 0.992525 Centerline is valid? [True, True] Translation: X:117.43, Y:30.70, Z:0.22 [[ 8.47162303e-01 -5.31329336e-01 -2.27361409e-03 1.17425095e+02] [ 5.31327370e-01 8.47165354e-01 -1.44531700e-03 3.06987366e+01] [ 2.69406641e-03 1.63846830e-05 9.99996371e-01 2.17448028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.534012739 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:117.45, Y:30.71, Z:0.22 [[ 8.46893430e-01 -5.31757792e-01 -2.27350096e-03 1.17448266e+02] [ 5.31755827e-01 8.46896482e-01 -1.44549494e-03 3.07137167e+01] [ 2.69407316e-03 1.52327853e-05 9.99996371e-01 2.18247733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.564012739 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:117.47, Y:30.73, Z:0.22 [[ 8.46340675e-01 -5.32637113e-01 -2.27324350e-03 1.17471583e+02] [ 5.32635151e-01 8.46343728e-01 -1.44589972e-03 3.07291992e+01] [ 2.69408523e-03 1.29143564e-05 9.99996371e-01 2.18117428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.594012739 meters Centerline goodness : 0.993153 Centerline is valid? [True, True] Translation: X:117.49, Y:30.74, Z:0.22 [[ 8.44698512e-01 -5.35237571e-01 -2.27297721e-03 1.17493300e+02] [ 5.35235617e-01 8.44701570e-01 -1.44631821e-03 3.07446987e+01] [ 2.69411126e-03 5.12447786e-06 9.99996371e-01 2.17196511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.624012739 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:117.52, Y:30.76, Z:0.22 [[ 8.43985774e-01 -5.36360744e-01 -2.27279655e-03 1.17516334e+02] [ 5.36358793e-01 8.43988834e-01 -1.44660205e-03 3.07598161e+01] [ 2.69411546e-03 1.87713705e-06 9.99996371e-01 2.17111961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.654012739 meters Centerline goodness : 0.992263 Centerline is valid? [True, True] Translation: X:117.54, Y:30.77, Z:0.22 [[ 8.43157093e-01 -5.37662490e-01 -2.27253241e-03 1.17539863e+02] [ 5.37660543e-01 8.43160155e-01 -1.44701687e-03 3.07739715e+01] [ 2.69411548e-03 -1.78847367e-06 9.99996371e-01 2.18773984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.684012739 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:117.56, Y:30.79, Z:0.22 [[ 8.42949900e-01 -5.37987270e-01 -2.27241781e-03 1.17562573e+02] [ 5.37985323e-01 8.42952963e-01 -1.44719683e-03 3.07894028e+01] [ 2.69411479e-03 -2.61300655e-06 9.99996371e-01 2.18893466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.714012739 meters Centerline goodness : 0.992681 Centerline is valid? [True, True] Translation: X:117.58, Y:30.81, Z:0.22 [[ 8.42886818e-01 -5.38086098e-01 -2.27230803e-03 1.17583755e+02] [ 5.38084151e-01 8.42889881e-01 -1.44736917e-03 3.08076712e+01] [ 2.69411468e-03 -2.72454354e-06 9.99996371e-01 2.16249921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.744012739 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:117.61, Y:30.82, Z:0.22 [[ 8.42993667e-01 -5.37918688e-01 -2.27203121e-03 1.17605502e+02] [ 5.37916740e-01 8.42996729e-01 -1.44780359e-03 3.08231080e+01] [ 2.69411548e-03 -1.67436270e-06 9.99996371e-01 2.16037204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77401273899997 meters Centerline goodness : 0.992603 Centerline is valid? [True, True] Translation: X:117.63, Y:30.84, Z:0.22 [[ 8.42844805e-01 -5.38151906e-01 -2.27191064e-03 1.17629042e+02] [ 5.38149958e-01 8.42847867e-01 -1.44799277e-03 3.08389645e+01] [ 2.69411510e-03 -2.19543339e-06 9.99996371e-01 2.17392565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80401273899997 meters Centerline goodness : 0.992077 Centerline is valid? [True, True] Translation: X:117.65, Y:30.85, Z:0.22 [[ 8.42067464e-01 -5.39367431e-01 -2.27163665e-03 1.17650912e+02] [ 5.39365486e-01 8.42070528e-01 -1.44842247e-03 3.08545732e+01] [ 2.69411018e-03 -5.57296637e-06 9.99996371e-01 2.19846518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83401273899997 meters Centerline goodness : 0.992419 Centerline is valid? [True, True] Translation: X:117.67, Y:30.87, Z:0.22 [[ 8.40938563e-01 -5.41125840e-01 -2.27151707e-03 1.17673188e+02] [ 5.41123901e-01 8.40941630e-01 -1.44860998e-03 3.08689570e+01] [ 2.69409356e-03 -1.09801867e-05 9.99996371e-01 2.22218611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86401273899997 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:117.70, Y:30.88, Z:0.22 [[ 8.40376098e-01 -5.41998944e-01 -2.27134099e-03 1.17697740e+02] [ 5.41997008e-01 8.40379167e-01 -1.44888602e-03 3.08824215e+01] [ 2.69408234e-03 -1.34508374e-05 9.99996371e-01 2.20178910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89401273899998 meters Centerline goodness : 0.992046 Centerline is valid? [True, True] Translation: X:117.72, Y:30.90, Z:0.22 [[ 8.39373238e-01 -5.43550747e-01 -2.27001704e-03 1.17722417e+02] [ 5.43548811e-01 8.39376307e-01 -1.45096094e-03 3.08952504e+01] [ 2.69406942e-03 -1.59672842e-05 9.99996371e-01 2.21794095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92401273899998 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:117.75, Y:30.91, Z:0.22 [[ 8.37005333e-01 -5.47190017e-01 -2.27097150e-03 1.17748450e+02] [ 5.47188098e-01 8.37008414e-01 -1.44946552e-03 3.09072002e+01] [ 2.69395532e-03 -2.94382022e-05 9.99996371e-01 2.21063801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95401273899998 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:117.77, Y:30.92, Z:0.22 [[ 8.35906666e-01 -5.48866914e-01 -2.27070409e-03 1.17772685e+02] [ 5.48865000e-01 8.35909750e-01 -1.44988432e-03 3.09202283e+01] [ 2.69389722e-03 -3.43420279e-05 9.99996371e-01 2.20129226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98401273899998 meters Centerline goodness : 0.991949 Centerline is valid? [True, True] Translation: X:117.80, Y:30.93, Z:0.22 [[ 8.35160735e-01 -5.50001265e-01 -2.27052198e-03 1.17799614e+02] [ 5.49999354e-01 8.35163821e-01 -1.45016946e-03 3.09294198e+01] [ 2.69385285e-03 -3.76610297e-05 9.99996371e-01 2.19342946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01401273899998 meters Centerline goodness : 0.991961 Centerline is valid? [True, True] Translation: X:117.83, Y:30.94, Z:0.22 [[ 8.35357651e-01 -5.49702139e-01 -2.27025742e-03 1.17825080e+02] [ 5.49700226e-01 8.35360735e-01 -1.45058350e-03 3.09419995e+01] [ 2.69387276e-03 -3.62049910e-05 9.99996371e-01 2.20065588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04401273899998 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:117.85, Y:30.95, Z:0.22 [[ 8.36863779e-01 -5.47406487e-01 -2.26999252e-03 1.17850665e+02] [ 5.47404565e-01 8.36866857e-01 -1.45099793e-03 3.09517192e+01] [ 2.69396719e-03 -2.83166602e-05 9.99996371e-01 2.20689085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07401273899998 meters Centerline goodness : 0.991667 Centerline is valid? [True, True] Translation: X:117.88, Y:30.96, Z:0.22 [[ 8.37700926e-01 -5.46124534e-01 -2.26987717e-03 1.17875300e+02] [ 5.46122607e-01 8.37704000e-01 -1.45117836e-03 3.09639634e+01] [ 2.69400929e-03 -2.39777841e-05 9.99996371e-01 2.20414096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10401273899998 meters Centerline goodness : 0.991521 Centerline is valid? [True, True] Translation: X:117.90, Y:30.98, Z:0.22 [[ 8.38478939e-01 -5.44929277e-01 -2.26976270e-03 1.17900478e+02] [ 5.44927345e-01 8.38482011e-01 -1.45135738e-03 3.09760645e+01] [ 2.69404232e-03 -1.99231635e-05 9.99996371e-01 2.19261928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13401273899999 meters Centerline goodness : 0.992061 Centerline is valid? [True, True] Translation: X:117.93, Y:30.98, Z:0.22 [[ 8.40445693e-01 -5.41891029e-01 -2.26950107e-03 1.17927153e+02] [ 5.41889084e-01 8.40448757e-01 -1.45176636e-03 3.09842948e+01] [ 2.69409852e-03 -9.68707006e-06 9.99996371e-01 2.18937311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.164012739 meters Centerline goodness : 0.992499 Centerline is valid? [True, True] Translation: X:117.95, Y:30.99, Z:0.22 [[ 8.42683785e-01 -5.38404020e-01 -2.26938747e-03 1.17953664e+02] [ 5.38402062e-01 8.42686840e-01 -1.45194392e-03 3.09945906e+01] [ 2.69411540e-03 1.68670503e-06 9.99996371e-01 2.17921091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.194012739 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:117.98, Y:31.01, Z:0.22 [[ 8.43523741e-01 -5.37087096e-01 -2.26914483e-03 1.17977723e+02] [ 5.37085132e-01 8.43526793e-01 -1.45232303e-03 3.10073793e+01] [ 2.69410842e-03 6.34500441e-06 9.99996371e-01 2.15517802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.224012739 meters Centerline goodness : 0.992582 Centerline is valid? [True, True] Translation: X:118.00, Y:31.02, Z:0.21 [[ 8.44430102e-01 -5.35660951e-01 -2.26900260e-03 1.18001808e+02] [ 5.35658982e-01 8.44433150e-01 -1.45254521e-03 3.10207027e+01] [ 2.69409276e-03 1.11612830e-05 9.99996371e-01 2.12831062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.254012739 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:118.03, Y:31.03, Z:0.21 [[ 8.46254990e-01 -5.32773259e-01 -2.26886392e-03 1.18026732e+02] [ 5.32771278e-01 8.46258031e-01 -1.45276180e-03 3.10339390e+01] [ 2.69403695e-03 2.06213909e-05 9.99996371e-01 2.10524957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.284012739 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:118.05, Y:31.05, Z:0.21 [[ 8.46944874e-01 -5.31675873e-01 -2.26860651e-03 1.18050644e+02] [ 5.31673888e-01 8.46947912e-01 -1.45316364e-03 3.10483223e+01] [ 2.69400360e-03 2.45906531e-05 9.99996371e-01 2.11236810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.314012739 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:118.08, Y:31.06, Z:0.22 [[ 8.47847142e-01 -5.30235871e-01 -2.26834856e-03 1.18075364e+02] [ 5.30233879e-01 8.47850176e-01 -1.45356619e-03 3.10615558e+01] [ 2.69395266e-03 2.96466794e-05 9.99996371e-01 2.17249486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.344012739 meters Centerline goodness : 0.990349 Centerline is valid? [True, True] Translation: X:118.10, Y:31.08, Z:0.22 [[ 8.48171126e-01 -5.29717469e-01 -2.26823369e-03 1.18099222e+02] [ 5.29715475e-01 8.48174158e-01 -1.45374542e-03 3.10762738e+01] [ 2.69393154e-03 3.15064023e-05 9.99996371e-01 2.21004398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.374012739 meters Centerline goodness : 0.990884 Centerline is valid? [True, True] Translation: X:118.12, Y:31.09, Z:0.22 [[ 8.49077032e-01 -5.28264185e-01 -2.26797909e-03 1.18121402e+02] [ 5.28262185e-01 8.49080060e-01 -1.45414251e-03 3.10932660e+01] [ 2.69386723e-03 3.65914197e-05 9.99996371e-01 2.21484879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.404012739 meters Centerline goodness : 0.991173 Centerline is valid? [True, True] Translation: X:118.14, Y:31.11, Z:0.22 [[ 8.49483766e-01 -5.27609883e-01 -2.26772619e-03 1.18143444e+02] [ 5.27607879e-01 8.49486792e-01 -1.45453680e-03 3.11102052e+01] [ 2.69383144e-03 3.91351983e-05 9.99996371e-01 2.19456310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.434012739 meters Centerline goodness : 0.991904 Centerline is valid? [True, True] Translation: X:118.17, Y:31.13, Z:0.22 [[ 8.49882955e-01 -5.26966623e-01 -2.26747440e-03 1.18165958e+02] [ 5.26964616e-01 8.49885979e-01 -1.45492922e-03 3.11272160e+01] [ 2.69379383e-03 4.16407671e-05 9.99996371e-01 2.17624972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.464012739 meters Centerline goodness : 0.991216 Centerline is valid? [True, True] Translation: X:118.19, Y:31.14, Z:0.22 [[ 8.49719751e-01 -5.27229745e-01 -2.26722274e-03 1.18187483e+02] [ 5.27227738e-01 8.49722775e-01 -1.45532126e-03 3.11443571e+01] [ 2.69379946e-03 4.12725006e-05 9.99996371e-01 2.16143360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.494012739 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:118.21, Y:31.16, Z:0.22 [[ 8.48934626e-01 -5.28493010e-01 -2.26708597e-03 1.18209400e+02] [ 5.28491007e-01 8.48937652e-01 -1.45553430e-03 3.11608798e+01] [ 2.69385434e-03 3.75189209e-05 9.99996371e-01 2.16377426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52401273899997 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:118.23, Y:31.18, Z:0.22 [[ 8.46835069e-01 -5.31850757e-01 -2.26691658e-03 1.18230940e+02] [ 5.31848765e-01 8.46838102e-01 -1.45579806e-03 3.11796050e+01] [ 2.69397864e-03 2.71640704e-05 9.99996371e-01 2.17273513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55401273899997 meters Centerline goodness : 0.990909 Centerline is valid? [True, True] Translation: X:118.25, Y:31.20, Z:0.22 [[ 8.45401871e-01 -5.34125958e-01 -2.26667003e-03 1.18252808e+02] [ 5.34123973e-01 8.45404909e-01 -1.45618183e-03 3.11950618e+01] [ 2.69403849e-03 2.03760423e-05 9.99996371e-01 2.18083012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58401273899997 meters Centerline goodness : 0.991102 Centerline is valid? [True, True] Translation: X:118.28, Y:31.21, Z:0.22 [[ 8.43843043e-01 -5.36585298e-01 -2.26653537e-03 1.18276196e+02] [ 5.36583322e-01 8.43846087e-01 -1.45639141e-03 3.12105624e+01] [ 2.69408522e-03 1.27806794e-05 9.99996371e-01 2.18695345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61401273899997 meters Centerline goodness : 0.991530 Centerline is valid? [True, True] Translation: X:118.30, Y:31.23, Z:0.22 [[ 8.40629972e-01 -5.41605128e-01 -2.26628876e-03 1.18298837e+02] [ 5.41603169e-01 8.40633027e-01 -1.45677505e-03 3.12257395e+01] [ 2.69411402e-03 -2.82040014e-06 9.99996371e-01 2.17625143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64401273899998 meters Centerline goodness : 0.991819 Centerline is valid? [True, True] Translation: X:118.32, Y:31.24, Z:0.22 [[ 8.38188337e-01 -5.45376179e-01 -2.26615455e-03 1.18322984e+02] [ 5.45374233e-01 8.38191400e-01 -1.45698380e-03 3.12408326e+01] [ 2.69407551e-03 -1.46754724e-05 9.99996371e-01 2.15064645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67401273899998 meters Centerline goodness : 0.991948 Centerline is valid? [True, True] Translation: X:118.35, Y:31.25, Z:0.22 [[ 8.37437749e-01 -5.46528025e-01 -2.26588670e-03 1.18346926e+02] [ 5.46526082e-01 8.37440814e-01 -1.45740024e-03 3.12547343e+01] [ 2.69405608e-03 -1.78842001e-05 9.99996371e-01 2.15189002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70401273899998 meters Centerline goodness : 0.991199 Centerline is valid? [True, True] Translation: X:118.37, Y:31.27, Z:0.22 [[ 8.37060399e-01 -5.47105799e-01 -2.26562064e-03 1.18371334e+02] [ 5.47103857e-01 8.37063465e-01 -1.45781374e-03 3.12684376e+01] [ 2.69404661e-03 -1.92516408e-05 9.99996371e-01 2.16805332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73401273899998 meters Centerline goodness : 0.990834 Centerline is valid? [True, True] Translation: X:118.40, Y:31.28, Z:0.22 [[ 8.37474398e-01 -5.46471867e-01 -2.26535188e-03 1.18396360e+02] [ 5.46469921e-01 8.37477462e-01 -1.45823125e-03 3.12809830e+01] [ 2.69406349e-03 -1.67153251e-05 9.99996371e-01 2.19970547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76401273899998 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:118.42, Y:31.29, Z:0.22 [[ 8.38080575e-01 -5.45541766e-01 -2.26507450e-03 1.18419952e+02] [ 5.45539816e-01 8.38083636e-01 -1.45866198e-03 3.12947503e+01] [ 2.69408290e-03 -1.32120544e-05 9.99996371e-01 2.20055240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79401273899998 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:118.44, Y:31.31, Z:0.22 [[ 8.38802738e-01 -5.44430745e-01 -2.26495376e-03 1.18444782e+02] [ 5.44428791e-01 8.38805796e-01 -1.45884943e-03 3.13070889e+01] [ 2.69409882e-03 -9.41913438e-06 9.99996371e-01 2.18671723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82401273899998 meters Centerline goodness : 0.991140 Centerline is valid? [True, True] Translation: X:118.47, Y:31.32, Z:0.22 [[ 8.39005794e-01 -5.44117772e-01 -2.26468072e-03 1.18469072e+02] [ 5.44115815e-01 8.39008850e-01 -1.45927316e-03 3.13205187e+01] [ 2.69410363e-03 -7.90995717e-06 9.99996371e-01 2.17976854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85401273899998 meters Centerline goodness : 0.991590 Centerline is valid? [True, True] Translation: X:118.49, Y:31.33, Z:0.22 [[ 8.39542613e-01 -5.43289124e-01 -2.26440505e-03 1.18493413e+02] [ 5.43287163e-01 8.39545667e-01 -1.45970080e-03 3.13324052e+01] [ 2.69411102e-03 -4.74117317e-06 9.99996371e-01 2.17229131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88401273899999 meters Centerline goodness : 0.991590 Centerline is valid? [True, True] Translation: X:118.52, Y:31.35, Z:0.22 [[ 8.39445499e-01 -5.43439166e-01 -2.26421693e-03 1.18517247e+02] [ 5.43437205e-01 8.39448553e-01 -1.45999255e-03 3.13480114e+01] [ 2.69411076e-03 -4.87554891e-06 9.99996371e-01 2.17305871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.914012739 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:118.54, Y:31.36, Z:0.22 [[ 8.39792428e-01 -5.42902894e-01 -2.26395592e-03 1.18541921e+02] [ 5.42900930e-01 8.39795480e-01 -1.46039718e-03 3.13615825e+01] [ 2.69411380e-03 -2.67328050e-06 9.99996371e-01 2.16070855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.944012739 meters Centerline goodness : 0.990896 Centerline is valid? [True, True] Translation: X:118.57, Y:31.37, Z:0.22 [[ 8.40045152e-01 -5.42511768e-01 -2.26368128e-03 1.18565628e+02] [ 5.42509801e-01 8.40048202e-01 -1.46082276e-03 3.13739317e+01] [ 2.69411493e-03 -9.12202890e-07 9.99996371e-01 2.15019568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.974012739 meters Centerline goodness : 0.990867 Centerline is valid? [True, True] Translation: X:118.59, Y:31.39, Z:0.22 [[ 8.40088322e-01 -5.42444917e-01 -2.26356208e-03 1.18591209e+02] [ 5.42442949e-01 8.40091371e-01 -1.46100743e-03 3.13856982e+01] [ 2.69411503e-03 -4.78008381e-07 9.99996371e-01 2.15415592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.004012739 meters Centerline goodness : 0.991061 Centerline is valid? [True, True] Translation: X:118.62, Y:31.40, Z:0.22 [[ 8.40645313e-01 -5.41581318e-01 -2.26562101e-03 1.18615938e+02] [ 5.41579356e-01 8.40648367e-01 -1.45781750e-03 3.13992438e+01] [ 2.69411732e-03 -1.50611952e-06 9.99996371e-01 2.16706019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.034012739 meters Centerline goodness : 0.990861 Centerline is valid? [True, True] Translation: X:118.64, Y:31.41, Z:0.22 [[ 8.41835074e-01 -5.39730105e-01 -2.26332405e-03 1.18640135e+02] [ 5.39728127e-01 8.41838116e-01 -1.46137494e-03 3.14116903e+01] [ 2.69410051e-03 8.65702541e-06 9.99996371e-01 2.19273715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.064012739 meters Centerline goodness : 0.990949 Centerline is valid? [True, True] Translation: X:118.66, Y:31.43, Z:0.22 [[ 8.42563195e-01 -5.38592741e-01 -2.26306730e-03 1.18664289e+02] [ 5.38590757e-01 8.42566234e-01 -1.46177244e-03 3.14253540e+01] [ 2.69408412e-03 1.27685260e-05 9.99996371e-01 2.18375564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.094012739 meters Centerline goodness : 0.991139 Centerline is valid? [True, True] Translation: X:118.69, Y:31.44, Z:0.22 [[ 8.43179542e-01 -5.37627324e-01 -2.26279522e-03 1.18688658e+02] [ 5.37625336e-01 8.43182578e-01 -1.46219349e-03 3.14389131e+01] [ 2.69406468e-03 1.63555964e-05 9.99996371e-01 2.17525723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.124012739 meters Centerline goodness : 0.990749 Centerline is valid? [True, True] Translation: X:118.71, Y:31.45, Z:0.22 [[ 8.44595465e-01 -5.35400207e-01 -2.26251272e-03 1.18713317e+02] [ 5.35398210e-01 8.44598495e-01 -1.46263048e-03 3.14502066e+01] [ 2.69400750e-03 2.39858049e-05 9.99996371e-01 2.17977254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.154012739 meters Centerline goodness : 0.991179 Centerline is valid? [True, True] Translation: X:118.74, Y:31.46, Z:0.22 [[ 8.45394854e-01 -5.34137082e-01 -2.26239010e-03 1.18737408e+02] [ 5.34135080e-01 8.45397881e-01 -1.46282013e-03 3.14649334e+01] [ 2.69396627e-03 2.82386969e-05 9.99996371e-01 2.18740730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.184012739 meters Centerline goodness : 0.991370 Centerline is valid? [True, True] Translation: X:118.76, Y:31.48, Z:0.22 [[ 8.47327696e-01 -5.31065588e-01 -2.26211903e-03 1.18760669e+02] [ 5.31063574e-01 8.47330714e-01 -1.46323919e-03 3.14810099e+01] [ 2.69383892e-03 3.85140788e-05 9.99996371e-01 2.17582785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.214012739 meters Centerline goodness : 0.991215 Centerline is valid? [True, True] Translation: X:118.78, Y:31.50, Z:0.22 [[ 8.48115742e-01 -5.29806164e-01 -2.26184257e-03 1.18783437e+02] [ 5.29804144e-01 8.48118757e-01 -1.46366642e-03 3.14964358e+01] [ 2.69377060e-03 4.30249652e-05 9.99996371e-01 2.16242581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.244012739 meters Centerline goodness : 0.991074 Centerline is valid? [True, True] Translation: X:118.81, Y:31.51, Z:0.22 [[ 8.48806035e-01 -5.28699536e-01 -2.26156859e-03 1.18806588e+02] [ 5.28697511e-01 8.48809047e-01 -1.46408963e-03 3.15126573e+01] [ 2.69370339e-03 4.70424350e-05 9.99996371e-01 2.16017343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27401273899997 meters Centerline goodness : 0.991493 Centerline is valid? [True, True] Translation: X:118.83, Y:31.53, Z:0.22 [[ 8.49619697e-01 -5.27390991e-01 -2.26129280e-03 1.18828366e+02] [ 5.27388960e-01 8.49622704e-01 -1.46451546e-03 3.15293041e+01] [ 2.69361797e-03 5.17003233e-05 9.99996371e-01 2.15977232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30401273899997 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:118.85, Y:31.54, Z:0.21 [[ 8.49379567e-01 -5.27777641e-01 -2.26117316e-03 1.18851540e+02] [ 5.27775611e-01 8.49382575e-01 -1.46470017e-03 3.15441288e+01] [ 2.69363708e-03 5.06943505e-05 9.99996371e-01 2.14489192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33401273899997 meters Centerline goodness : 0.991064 Centerline is valid? [True, True] Translation: X:118.87, Y:31.56, Z:0.21 [[ 8.48597746e-01 -5.29033793e-01 -2.26089903e-03 1.18874707e+02] [ 5.29031767e-01 8.48600756e-01 -1.46512319e-03 3.15594939e+01] [ 2.69370030e-03 4.72128282e-05 9.99996371e-01 2.13966472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36401273899997 meters Centerline goodness : 0.990797 Centerline is valid? [True, True] Translation: X:118.90, Y:31.57, Z:0.21 [[ 8.47915518e-01 -5.30126555e-01 -2.26062334e-03 1.18896845e+02] [ 5.30124531e-01 8.47918530e-01 -1.46554844e-03 3.15749620e+01] [ 2.69375056e-03 4.42493729e-05 9.99996371e-01 2.14428726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39401273899998 meters Centerline goodness : 0.990679 Centerline is valid? [True, True] Translation: X:118.92, Y:31.59, Z:0.22 [[ 8.46966539e-01 -5.31641394e-01 -2.26043493e-03 1.18919415e+02] [ 5.31639375e-01 8.46969555e-01 -1.46583899e-03 3.15922927e+01] [ 2.69382024e-03 3.97803623e-05 9.99996371e-01 2.17875097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42401273899998 meters Centerline goodness : 0.990738 Centerline is valid? [True, True] Translation: X:118.94, Y:31.61, Z:0.22 [[ 8.46210786e-01 -5.32843501e-01 -2.26016621e-03 1.18942426e+02] [ 5.32841485e-01 8.46213804e-01 -1.46625319e-03 3.16087252e+01] [ 2.69386733e-03 3.64489446e-05 9.99996371e-01 2.17220106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45401273899998 meters Centerline goodness : 0.991067 Centerline is valid? [True, True] Translation: X:118.96, Y:31.62, Z:0.21 [[ 8.44118958e-01 -5.36151170e-01 -2.25989072e-03 1.18964861e+02] [ 5.36149164e-01 8.44121983e-01 -1.46667768e-03 3.16246628e+01] [ 2.69398439e-03 2.64119149e-05 9.99996371e-01 2.11755491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48401273899998 meters Centerline goodness : 0.990441 Centerline is valid? [True, True] Translation: X:118.99, Y:31.64, Z:0.21 [[ 8.42699394e-01 -5.38379628e-01 -2.25977083e-03 1.18988299e+02] [ 5.38377630e-01 8.42702424e-01 -1.46686237e-03 3.16398391e+01] [ 2.69404318e-03 1.95139669e-05 9.99996371e-01 2.13032376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51401273899998 meters Centerline goodness : 0.990582 Centerline is valid? [True, True] Translation: X:119.01, Y:31.65, Z:0.21 [[ 8.41447299e-01 -5.40334468e-01 -2.25951575e-03 1.19012585e+02] [ 5.40332476e-01 8.41450333e-01 -1.46725519e-03 3.16545531e+01] [ 2.69407883e-03 1.37281756e-05 9.99996371e-01 2.14332125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54401273899998 meters Centerline goodness : 0.990070 Centerline is valid? [True, True] Translation: X:119.04, Y:31.67, Z:0.22 [[ 8.39330239e-01 -5.43617187e-01 -2.25924090e-03 1.19037430e+02] [ 5.43615206e-01 8.39333279e-01 -1.46767828e-03 3.16675034e+01] [ 2.69411121e-03 3.70905337e-06 9.99996371e-01 2.17402816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57401273899998 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:119.06, Y:31.68, Z:0.22 [[ 8.38228888e-01 -5.45313881e-01 -2.25896523e-03 1.19061023e+02] [ 5.45311905e-01 8.38231931e-01 -1.46810245e-03 3.16798206e+01] [ 2.69411343e-03 -1.23474568e-06 9.99996371e-01 2.20604409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60401273899998 meters Centerline goodness : 0.990021 Centerline is valid? [True, True] Translation: X:119.09, Y:31.69, Z:0.22 [[ 8.38204084e-01 -5.45352006e-01 -2.25884512e-03 1.19085033e+02] [ 5.45350029e-01 8.38207128e-01 -1.46828723e-03 3.16943816e+01] [ 2.69411347e-03 -1.13689360e-06 9.99996371e-01 2.21449337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63401273899999 meters Centerline goodness : 0.989934 Centerline is valid? [True, True] Translation: X:119.11, Y:31.71, Z:0.22 [[ 8.38689278e-01 -5.44605540e-01 -2.25857032e-03 1.19108723e+02] [ 5.44603560e-01 8.38692319e-01 -1.46870982e-03 3.17090511e+01] [ 2.69411308e-03 1.76574455e-06 9.99996371e-01 2.21482082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.664012739 meters Centerline goodness : 0.990411 Centerline is valid? [True, True] Translation: X:119.13, Y:31.72, Z:0.22 [[ 8.41218576e-01 -5.40690491e-01 -2.25829564e-03 1.19131268e+02] [ 5.40688496e-01 8.41221607e-01 -1.46913205e-03 3.17242989e+01] [ 2.69407281e-03 1.48266966e-05 9.99996371e-01 2.19580394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.694012739 meters Centerline goodness : 0.990273 Centerline is valid? [True, True] Translation: X:119.16, Y:31.74, Z:0.22 [[ 8.42227276e-01 -5.39117906e-01 -2.25814379e-03 1.19155805e+02] [ 5.39115904e-01 8.42230303e-01 -1.46936541e-03 3.17402469e+01] [ 2.69403833e-03 2.01384019e-05 9.99996371e-01 2.18759757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.724012739 meters Centerline goodness : 0.990658 Centerline is valid? [True, True] Translation: X:119.18, Y:31.75, Z:0.22 [[ 8.43326262e-01 -5.37397164e-01 -2.25911176e-03 1.19179825e+02] [ 5.37395159e-01 8.43329288e-01 -1.46787821e-03 3.17527582e+01] [ 2.69400870e-03 2.38645220e-05 9.99996371e-01 2.18352215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.754012739 meters Centerline goodness : 0.990253 Centerline is valid? [True, True] Translation: X:119.20, Y:31.77, Z:0.22 [[ 8.43308128e-01 -5.37425627e-01 -2.25778299e-03 1.19204036e+02] [ 5.37423617e-01 8.43311150e-01 -1.46991918e-03 3.17666060e+01] [ 2.69398581e-03 2.62088895e-05 9.99996371e-01 2.18172808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.784012739 meters Centerline goodness : 0.990467 Centerline is valid? [True, True] Translation: X:119.23, Y:31.78, Z:0.22 [[ 8.43037102e-01 -5.37850674e-01 -2.25751115e-03 1.19227593e+02] [ 5.37848665e-01 8.43040125e-01 -1.47033655e-03 3.17802852e+01] [ 2.69399399e-03 2.53489067e-05 9.99996371e-01 2.16788558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.814012739 meters Centerline goodness : 0.990625 Centerline is valid? [True, True] Translation: X:119.25, Y:31.79, Z:0.21 [[ 8.42642428e-01 -5.38468795e-01 -2.25739300e-03 1.19251701e+02] [ 5.38466788e-01 8.42645451e-01 -1.47051793e-03 3.17924511e+01] [ 2.69400996e-03 2.35896370e-05 9.99996371e-01 2.14793545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.844012739 meters Centerline goodness : 0.990694 Centerline is valid? [True, True] Translation: X:119.28, Y:31.81, Z:0.22 [[ 8.43170306e-01 -5.37641832e-01 -2.25720830e-03 1.19275422e+02] [ 5.37639821e-01 8.43173327e-01 -1.47080139e-03 3.18074143e+01] [ 2.69398218e-03 2.65709931e-05 9.99996371e-01 2.15328527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.874012739 meters Centerline goodness : 0.990688 Centerline is valid? [True, True] Translation: X:119.30, Y:31.82, Z:0.22 [[ 8.45834627e-01 -5.33440427e-01 -2.25693962e-03 1.19297490e+02] [ 5.33438400e-01 8.45837638e-01 -1.47121356e-03 3.18242524e+01] [ 2.69380927e-03 4.04651157e-05 9.99996371e-01 2.19163012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.904012739 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:119.32, Y:31.84, Z:0.22 [[ 8.47610408e-01 -5.30614271e-01 -2.25667258e-03 1.19319383e+02] [ 5.30612232e-01 8.47613410e-01 -1.47162305e-03 3.18407774e+01] [ 2.69365013e-03 4.99449412e-05 9.99996371e-01 2.21170786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.934012739 meters Centerline goodness : 0.990369 Centerline is valid? [True, True] Translation: X:119.34, Y:31.86, Z:0.22 [[ 8.50496385e-01 -5.25976052e-01 -2.25655689e-03 1.19340991e+02] [ 5.25973997e-01 8.50499376e-01 -1.47180042e-03 3.18596555e+01] [ 2.69333201e-03 6.48706917e-05 9.99996371e-01 2.22150216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.964012739 meters Centerline goodness : 0.990538 Centerline is valid? [True, True] Translation: X:119.36, Y:31.88, Z:0.22 [[ 8.51444682e-01 -5.24439570e-01 -2.25629416e-03 1.19363294e+02] [ 5.24437508e-01 8.51447669e-01 -1.47220309e-03 3.18770659e+01] [ 2.69319796e-03 7.02142064e-05 9.99996371e-01 2.21443629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99401273899997 meters Centerline goodness : 0.991102 Centerline is valid? [True, True] Translation: X:119.38, Y:31.89, Z:0.22 [[ 8.52126889e-01 -5.23330369e-01 -2.25602527e-03 1.19384557e+02] [ 5.23328303e-01 8.52129872e-01 -1.47261503e-03 3.18946090e+01] [ 2.69309069e-03 7.42129914e-05 9.99996371e-01 2.19567700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02401273899997 meters Centerline goodness : 0.991017 Centerline is valid? [True, True] Translation: X:119.41, Y:31.91, Z:0.22 [[ 8.51611533e-01 -5.24168586e-01 -2.25590874e-03 1.19407848e+02] [ 5.24166522e-01 8.51614518e-01 -1.47279352e-03 3.19109660e+01] [ 2.69315673e-03 7.17761069e-05 9.99996371e-01 2.19359788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05401273899997 meters Centerline goodness : 0.991091 Centerline is valid? [True, True] Translation: X:119.43, Y:31.93, Z:0.22 [[ 8.50568088e-01 -5.25860096e-01 -2.25564034e-03 1.19430557e+02] [ 5.25858036e-01 8.50571076e-01 -1.47320447e-03 3.19265839e+01] [ 2.69328187e-03 6.69141130e-05 9.99996371e-01 2.18883837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08401273899997 meters Centerline goodness : 0.991517 Centerline is valid? [True, True] Translation: X:119.45, Y:31.94, Z:0.22 [[ 8.47901230e-01 -5.30149429e-01 -2.25535619e-03 1.19450964e+02] [ 5.30147383e-01 8.47904228e-01 -1.47363935e-03 3.19439273e+01] [ 2.69357511e-03 5.38294343e-05 9.99996371e-01 2.16658233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11401273899997 meters Centerline goodness : 0.991873 Centerline is valid? [True, True] Translation: X:119.47, Y:31.96, Z:0.22 [[ 8.46617263e-01 -5.32197449e-01 -2.25523253e-03 1.19472581e+02] [ 5.32195410e-01 8.46620265e-01 -1.47382856e-03 3.19603918e+01] [ 2.69369337e-03 4.75443011e-05 9.99996371e-01 2.15983119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14401273899998 meters Centerline goodness : 0.991835 Centerline is valid? [True, True] Translation: X:119.49, Y:31.98, Z:0.21 [[ 8.44881180e-01 -5.34949255e-01 -2.25511249e-03 1.19494460e+02] [ 5.34947226e-01 8.44884189e-01 -1.47401222e-03 3.19755975e+01] [ 2.69383063e-03 3.89990144e-05 9.99996371e-01 2.14599489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17401273899998 meters Centerline goodness : 0.992036 Centerline is valid? [True, True] Translation: X:119.52, Y:31.99, Z:0.21 [[ 8.43941852e-01 -5.36429925e-01 -2.25499369e-03 1.19517988e+02] [ 5.36427901e-01 8.43944864e-01 -1.47419394e-03 3.19915725e+01] [ 2.69389209e-03 3.44924331e-05 9.99996371e-01 2.13236561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20401273899998 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:119.54, Y:32.01, Z:0.21 [[ 8.42643425e-01 -5.38467245e-01 -2.25471985e-03 1.19541166e+02] [ 5.38465227e-01 8.42646441e-01 -1.47461265e-03 3.20081742e+01] [ 2.69396227e-03 2.84844128e-05 9.99996371e-01 2.12988862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23401273899998 meters Centerline goodness : 0.992348 Centerline is valid? [True, True] Translation: X:119.56, Y:32.02, Z:0.21 [[ 8.41958469e-01 -5.39537629e-01 -2.25444481e-03 1.19564822e+02] [ 5.39535614e-01 8.41961487e-01 -1.47503303e-03 3.20239029e+01] [ 2.69399153e-03 2.55632850e-05 9.99996371e-01 2.14689543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26401273899998 meters Centerline goodness : 0.991980 Centerline is valid? [True, True] Translation: X:119.59, Y:32.04, Z:0.22 [[ 8.41266838e-01 -5.40615415e-01 -2.25416944e-03 1.19588559e+02] [ 5.40613402e-01 8.41269857e-01 -1.47545373e-03 3.20386483e+01] [ 2.69401783e-03 2.26160831e-05 9.99996371e-01 2.17532688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29401273899998 meters Centerline goodness : 0.991473 Centerline is valid? [True, True] Translation: X:119.61, Y:32.05, Z:0.22 [[ 8.40399045e-01 -5.41963436e-01 -2.25389031e-03 1.19611769e+02] [ 5.41961427e-01 8.40402067e-01 -1.47588001e-03 3.20529373e+01] [ 2.69404707e-03 1.88065436e-05 9.99996371e-01 2.18208464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32401273899998 meters Centerline goodness : 0.991563 Centerline is valid? [True, True] Translation: X:119.64, Y:32.07, Z:0.22 [[ 8.39833214e-01 -5.42839842e-01 -2.25376872e-03 1.19635170e+02] [ 5.42837835e-01 8.39836238e-01 -1.47606565e-03 3.20684102e+01] [ 2.69406389e-03 1.62180234e-05 9.99996371e-01 2.17023703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35401273899998 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:119.66, Y:32.08, Z:0.22 [[ 8.38731892e-01 -5.44539930e-01 -2.25349197e-03 1.19658139e+02] [ 5.44537928e-01 8.38734919e-01 -1.47648804e-03 3.20823940e+01] [ 2.69408910e-03 1.12657570e-05 9.99996371e-01 2.16700430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38401273899999 meters Centerline goodness : 0.992129 Centerline is valid? [True, True] Translation: X:119.68, Y:32.10, Z:0.22 [[ 8.37964920e-01 -5.45719447e-01 -2.25330292e-03 1.19680941e+02] [ 5.45717449e-01 8.37967950e-01 -1.47677650e-03 3.20966406e+01] [ 2.69410128e-03 7.82018093e-06 9.99996371e-01 2.16961184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.414012739 meters Centerline goodness : 0.991502 Centerline is valid? [True, True] Translation: X:119.71, Y:32.11, Z:0.22 [[ 8.36468264e-01 -5.48010735e-01 -2.25315305e-03 1.19705819e+02] [ 5.48008745e-01 8.36471299e-01 -1.47700513e-03 3.21104404e+01] [ 2.69411252e-03 7.20347336e-07 9.99996371e-01 2.16694720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.444012739 meters Centerline goodness : 0.991344 Centerline is valid? [True, True] Translation: X:119.73, Y:32.12, Z:0.22 [[ 8.35839864e-01 -5.48968711e-01 -2.25287849e-03 1.19729775e+02] [ 5.48966723e-01 8.35842900e-01 -1.47742380e-03 3.21249781e+01] [ 2.69411193e-03 -1.86561508e-06 9.99996371e-01 2.16938200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.474012739 meters Centerline goodness : 0.986462 Centerline is valid? [True, True] Translation: X:119.75, Y:32.14, Z:0.23 [[ 8.35492617e-01 -5.49497055e-01 -2.25259431e-03 1.19753412e+02] [ 5.49495067e-01 8.35495653e-01 -1.47785695e-03 3.21392525e+01] [ 2.69411080e-03 -3.05089687e-06 9.99996371e-01 2.28103969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.504012739 meters Centerline goodness : 0.991353 Centerline is valid? [True, True] Translation: X:119.78, Y:32.15, Z:0.22 [[ 8.34791007e-01 -5.50562351e-01 -2.25230255e-03 1.19778137e+02] [ 5.50560366e-01 8.34794045e-01 -1.47830147e-03 3.21512284e+01] [ 2.69410589e-03 -5.95575009e-06 9.99996371e-01 2.18502010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.534012739 meters Centerline goodness : 0.991869 Centerline is valid? [True, True] Translation: X:119.80, Y:32.17, Z:0.22 [[ 8.34539663e-01 -5.50943262e-01 -2.25217603e-03 1.19801964e+02] [ 5.50941278e-01 8.34542702e-01 -1.47849420e-03 3.21651720e+01] [ 2.69410349e-03 -6.95468933e-06 9.99996371e-01 2.16973564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.564012739 meters Centerline goodness : 0.992381 Centerline is valid? [True, True] Translation: X:119.83, Y:32.18, Z:0.22 [[ 8.34562702e-01 -5.50908363e-01 -2.25189657e-03 1.19826745e+02] [ 5.50906378e-01 8.34565740e-01 -1.47891972e-03 3.21781443e+01] [ 2.69410497e-03 -6.33294862e-06 9.99996371e-01 2.16283362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.594012739 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:119.85, Y:32.19, Z:0.22 [[ 8.34934087e-01 -5.50345347e-01 -2.25160921e-03 1.19850002e+02] [ 5.50343358e-01 8.34937123e-01 -1.47935709e-03 3.21913709e+01] [ 2.69410940e-03 -3.99250809e-06 9.99996371e-01 2.17247138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.624012739 meters Centerline goodness : 0.991226 Centerline is valid? [True, True] Translation: X:119.87, Y:32.20, Z:0.22 [[ 8.35720059e-01 -5.49151084e-01 -2.25148373e-03 1.19874757e+02] [ 5.49149091e-01 8.35723092e-01 -1.47954804e-03 3.22039868e+01] [ 2.69411235e-03 8.77333140e-08 9.99996371e-01 2.20202615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.654012739 meters Centerline goodness : 0.990741 Centerline is valid? [True, True] Translation: X:119.90, Y:32.22, Z:0.22 [[ 8.35989227e-01 -5.48741236e-01 -2.25120727e-03 1.19899021e+02] [ 5.48739240e-01 8.35992258e-01 -1.47996856e-03 3.22182349e+01] [ 2.69411163e-03 1.91200999e-06 9.99996371e-01 2.20127349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.684012739 meters Centerline goodness : 0.991463 Centerline is valid? [True, True] Translation: X:119.92, Y:32.23, Z:0.22 [[ 8.36811181e-01 -5.47486968e-01 -2.25092374e-03 1.19922890e+02] [ 5.47484966e-01 8.36814209e-01 -1.48039966e-03 3.22319399e+01] [ 2.69410449e-03 6.46808076e-06 9.99996371e-01 2.17807103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.714012739 meters Centerline goodness : 0.992007 Centerline is valid? [True, True] Translation: X:119.95, Y:32.25, Z:0.22 [[ 8.37071305e-01 -5.47089175e-01 -2.25080023e-03 1.19946375e+02] [ 5.47087171e-01 8.37074331e-01 -1.48058742e-03 3.22468553e+01] [ 2.69410045e-03 7.97331183e-06 9.99996371e-01 2.17288218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74401273899997 meters Centerline goodness : 0.992418 Centerline is valid? [True, True] Translation: X:119.97, Y:32.26, Z:0.22 [[ 8.37032530e-01 -5.47148497e-01 -2.25052100e-03 1.19969807e+02] [ 5.47146493e-01 8.37035556e-01 -1.48101174e-03 3.22615972e+01] [ 2.69409944e-03 8.29033409e-06 9.99996371e-01 2.18063639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77401273899997 meters Centerline goodness : 0.991137 Centerline is valid? [True, True] Translation: X:119.99, Y:32.28, Z:0.22 [[ 8.36603554e-01 -5.47804190e-01 -2.25023959e-03 1.19994380e+02] [ 5.47802187e-01 8.36606580e-01 -1.48143919e-03 3.22754488e+01] [ 2.69410384e-03 6.69112360e-06 9.99996371e-01 2.21561848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80401273899997 meters Centerline goodness : 0.991137 Centerline is valid? [True, True] Translation: X:120.02, Y:32.29, Z:0.22 [[ 8.36500271e-01 -5.47961891e-01 -2.24996044e-03 1.20018075e+02] [ 5.47959887e-01 8.36503297e-01 -1.48186302e-03 3.22912797e+01] [ 2.69410380e-03 6.69075046e-06 9.99996371e-01 2.21638586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83401273899997 meters Centerline goodness : 0.991719 Centerline is valid? [True, True] Translation: X:120.04, Y:32.31, Z:0.22 [[ 8.36551642e-01 -5.47883463e-01 -2.24968102e-03 1.20041524e+02] [ 5.47881458e-01 8.36554667e-01 -1.48228712e-03 3.23060898e+01] [ 2.69410175e-03 7.45120616e-06 9.99996371e-01 2.22863159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86401273899997 meters Centerline goodness : 0.990806 Centerline is valid? [True, True] Translation: X:120.07, Y:32.32, Z:0.23 [[ 8.36370794e-01 -5.48159507e-01 -2.24714058e-03 1.20065136e+02] [ 5.48157492e-01 8.36373813e-01 -1.48614146e-03 3.23210494e+01] [ 2.69409210e-03 1.11783682e-05 9.99996371e-01 2.25022729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89401273899998 meters Centerline goodness : 0.991249 Centerline is valid? [True, True] Translation: X:120.09, Y:32.34, Z:0.22 [[ 8.36359019e-01 -5.48177463e-01 -2.24933079e-03 1.20088723e+02] [ 5.48175458e-01 8.36362044e-01 -1.48281906e-03 3.23355916e+01] [ 2.69410289e-03 7.14116225e-06 9.99996371e-01 2.24071252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92401273899998 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:120.11, Y:32.35, Z:0.22 [[ 8.36180721e-01 -5.48449399e-01 -2.24905282e-03 1.20112388e+02] [ 5.48447393e-01 8.36183746e-01 -1.48324055e-03 3.23495083e+01] [ 2.69410380e-03 6.76999884e-06 9.99996371e-01 2.22604728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95401273899998 meters Centerline goodness : 0.985123 Centerline is valid? [True, True] Translation: X:120.14, Y:32.36, Z:0.23 [[ 8.35815732e-01 -5.49005469e-01 -2.24889931e-03 1.20135508e+02] [ 5.49003465e-01 8.35818757e-01 -1.48347327e-03 3.23631300e+01] [ 2.69410716e-03 5.25678394e-06 9.99996371e-01 2.29851093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98401273899998 meters Centerline goodness : 0.990944 Centerline is valid? [True, True] Translation: X:120.16, Y:32.38, Z:0.22 [[ 8.35565420e-01 -5.49386360e-01 -2.24871104e-03 1.20157991e+02] [ 5.49384356e-01 8.35568446e-01 -1.48375861e-03 3.23774045e+01] [ 2.69410873e-03 4.37071810e-06 9.99996371e-01 2.18712170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01401273899998 meters Centerline goodness : 0.991047 Centerline is valid? [True, True] Translation: X:120.18, Y:32.39, Z:0.22 [[ 8.34774700e-01 -5.50587102e-01 -2.24570429e-03 1.20182423e+02] [ 5.50585090e-01 8.34777721e-01 -1.48831402e-03 3.23918661e+01] [ 2.69411041e-03 5.95559236e-06 9.99996371e-01 2.19930410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04401273899998 meters Centerline goodness : 0.990988 Centerline is valid? [True, True] Translation: X:120.20, Y:32.41, Z:0.22 [[ 8.34220226e-01 -5.51426839e-01 -2.24836103e-03 1.20204961e+02] [ 5.51424841e-01 8.34223256e-01 -1.48428966e-03 3.24060755e+01] [ 2.69411221e-03 -1.57766237e-06 9.99996371e-01 2.21382048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07401273899998 meters Centerline goodness : 0.991276 Centerline is valid? [True, True] Translation: X:120.23, Y:32.42, Z:0.22 [[ 8.33096331e-01 -5.53123357e-01 -2.24821302e-03 1.20228833e+02] [ 5.53121365e-01 8.33099365e-01 -1.48451382e-03 3.24213193e+01] [ 2.69410410e-03 -6.79163697e-06 9.99996371e-01 2.19203243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10401273899998 meters Centerline goodness : 0.991653 Centerline is valid? [True, True] Translation: X:120.25, Y:32.44, Z:0.22 [[ 8.33072807e-01 -5.53158788e-01 -2.24792109e-03 1.20251376e+02] [ 5.53156795e-01 8.33075840e-01 -1.48495573e-03 3.24357983e+01] [ 2.69410506e-03 -6.37658836e-06 9.99996371e-01 2.17526888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13401273899999 meters Centerline goodness : 0.990982 Centerline is valid? [True, True] Translation: X:120.28, Y:32.45, Z:0.22 [[ 8.33789754e-01 -5.52077524e-01 -2.24779380e-03 1.20275996e+02] [ 5.52075527e-01 8.33792784e-01 -1.48514839e-03 3.24491021e+01] [ 2.69411130e-03 -2.65043061e-06 9.99996371e-01 2.15986149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.164012739 meters Centerline goodness : 0.990907 Centerline is valid? [True, True] Translation: X:120.30, Y:32.46, Z:0.22 [[ 8.34328635e-01 -5.51262803e-01 -2.24750447e-03 1.20298620e+02] [ 5.51260801e-01 8.34331662e-01 -1.48558611e-03 3.24634254e+01] [ 2.69411250e-03 5.05923241e-07 9.99996371e-01 2.16158650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.194012739 meters Centerline goodness : 0.992047 Centerline is valid? [True, True] Translation: X:120.32, Y:32.48, Z:0.21 [[ 8.34778794e-01 -5.50580888e-01 -2.24737888e-03 1.20321641e+02] [ 5.50578883e-01 8.34781820e-01 -1.48577608e-03 3.24797314e+01] [ 2.69411094e-03 2.93500895e-06 9.99996371e-01 2.14889739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.224012739 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:120.34, Y:32.50, Z:0.21 [[ 8.34902735e-01 -5.50392927e-01 -2.24709554e-03 1.20344046e+02] [ 5.50390920e-01 8.34905759e-01 -1.48620448e-03 3.24956009e+01] [ 2.69410944e-03 4.05520560e-06 9.99996371e-01 2.13451275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.254012739 meters Centerline goodness : 0.990957 Centerline is valid? [True, True] Translation: X:120.37, Y:32.51, Z:0.21 [[ 8.35076214e-01 -5.50129683e-01 -2.24694418e-03 1.20366649e+02] [ 5.50127675e-01 8.35079237e-01 -1.48643328e-03 3.25113506e+01] [ 2.69410750e-03 5.17889707e-06 9.99996371e-01 2.13791989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.284012739 meters Centerline goodness : 0.991019 Centerline is valid? [True, True] Translation: X:120.39, Y:32.53, Z:0.22 [[ 8.35785634e-01 -5.49051297e-01 -2.24666271e-03 1.20389448e+02] [ 5.49049283e-01 8.35788654e-01 -1.48685858e-03 3.25276933e+01] [ 2.69409684e-03 9.16648463e-06 9.99996371e-01 2.16572847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.314012739 meters Centerline goodness : 0.990794 Centerline is valid? [True, True] Translation: X:120.41, Y:32.54, Z:0.22 [[ 8.36430761e-01 -5.48068003e-01 -2.24638045e-03 1.20412111e+02] [ 5.48065985e-01 8.36433777e-01 -1.48728491e-03 3.25436747e+01] [ 2.69408175e-03 1.28461297e-05 9.99996371e-01 2.19086460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.344012739 meters Centerline goodness : 0.991193 Centerline is valid? [True, True] Translation: X:120.43, Y:32.56, Z:0.22 [[ 8.38276287e-01 -5.45241068e-01 -2.24609862e-03 1.20433841e+02] [ 5.45239039e-01 8.38279295e-01 -1.48771041e-03 3.25613690e+01] [ 2.69401878e-03 2.24517064e-05 9.99996371e-01 2.19737723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.374012739 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:120.45, Y:32.58, Z:0.22 [[ 8.39172184e-01 -5.43861198e-01 -2.24581342e-03 1.20454664e+02] [ 5.43859162e-01 8.39175188e-01 -1.48814082e-03 3.25780224e+01] [ 2.69397294e-03 2.74001764e-05 9.99996371e-01 2.19374538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.404012739 meters Centerline goodness : 0.990921 Centerline is valid? [True, True] Translation: X:120.48, Y:32.60, Z:0.22 [[ 8.39875225e-01 -5.42774873e-01 -2.24568968e-03 1.20476069e+02] [ 5.42772833e-01 8.39878227e-01 -1.48832752e-03 3.25953398e+01] [ 2.69393265e-03 3.11100651e-05 9.99996371e-01 2.18717887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.434012739 meters Centerline goodness : 0.991378 Centerline is valid? [True, True] Translation: X:120.50, Y:32.62, Z:0.22 [[ 8.39887557e-01 -5.42755791e-01 -2.24556888e-03 1.20496671e+02] [ 5.42753751e-01 8.39890558e-01 -1.48850975e-03 3.26151904e+01] [ 2.69392939e-03 3.13898880e-05 9.99996371e-01 2.19667079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.464012739 meters Centerline goodness : 0.990343 Centerline is valid? [True, True] Translation: X:120.52, Y:32.63, Z:0.22 [[ 8.39780962e-01 -5.42920707e-01 -2.24529277e-03 1.20515831e+02] [ 5.42918666e-01 8.39783963e-01 -1.48892614e-03 3.26345740e+01] [ 2.69392969e-03 3.13604695e-05 9.99996371e-01 2.24360690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49401273899997 meters Centerline goodness : 0.991125 Centerline is valid? [True, True] Translation: X:120.54, Y:32.65, Z:0.22 [[ 8.39373199e-01 -5.43550910e-01 -2.24510456e-03 1.20537910e+02] [ 5.43548871e-01 8.39376201e-01 -1.48920988e-03 3.26525401e+01] [ 2.69394872e-03 2.96788112e-05 9.99996371e-01 2.24953625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52401273899997 meters Centerline goodness : 0.991087 Centerline is valid? [True, True] Translation: X:120.56, Y:32.67, Z:0.22 [[ 8.38563106e-01 -5.44799852e-01 -2.24482395e-03 1.20558946e+02] [ 5.44797816e-01 8.38566110e-01 -1.48963274e-03 3.26689604e+01] [ 2.69398498e-03 2.61758758e-05 9.99996371e-01 2.23700011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55401273899997 meters Centerline goodness : 0.991334 Centerline is valid? [True, True] Translation: X:120.58, Y:32.69, Z:0.22 [[ 8.35526075e-01 -5.49446211e-01 -2.24470178e-03 1.20580180e+02] [ 5.49444191e-01 8.35529091e-01 -1.48981681e-03 3.26869753e+01] [ 2.69408784e-03 1.14424359e-05 9.99996371e-01 2.18995251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58401273899997 meters Centerline goodness : 0.991614 Centerline is valid? [True, True] Translation: X:120.60, Y:32.71, Z:0.22 [[ 8.31721954e-01 -5.55187854e-01 -2.24452836e-03 1.20602160e+02] [ 5.55185854e-01 8.31724983e-01 -1.49007804e-03 3.27051926e+01] [ 2.69410354e-03 -6.79977999e-06 9.99996371e-01 2.20086082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61401273899997 meters Centerline goodness : 0.991859 Centerline is valid? [True, True] Translation: X:120.62, Y:32.72, Z:0.22 [[ 8.30426807e-01 -5.57123220e-01 -2.24424368e-03 1.20624733e+02] [ 5.57121226e-01 8.30429839e-01 -1.49050668e-03 3.27205761e+01] [ 2.69408280e-03 -1.25590912e-05 9.99996371e-01 2.21360184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64401273899998 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:120.65, Y:32.74, Z:0.22 [[ 8.29522905e-01 -5.58468185e-01 -2.24405049e-03 1.20647361e+02] [ 5.58466196e-01 8.29525940e-01 -1.49079748e-03 3.27354834e+01] [ 2.69406106e-03 -1.65756843e-05 9.99996371e-01 2.21403624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67401273899998 meters Centerline goodness : 0.992265 Centerline is valid? [True, True] Translation: X:120.67, Y:32.75, Z:0.22 [[ 8.28406498e-01 -5.60122879e-01 -2.24390042e-03 1.20670364e+02] [ 5.60120895e-01 8.28409536e-01 -1.49102334e-03 3.27507664e+01] [ 2.69402479e-03 -2.16820898e-05 9.99996371e-01 2.18438235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70401273899998 meters Centerline goodness : 0.993058 Centerline is valid? [True, True] Translation: X:120.69, Y:32.77, Z:0.22 [[ 8.28121240e-01 -5.60544537e-01 -2.24362098e-03 1.20692361e+02] [ 5.60542553e-01 8.28124279e-01 -1.49144371e-03 3.27663189e+01] [ 2.69401762e-03 -2.25488179e-05 9.99996371e-01 2.18040204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73401273899998 meters Centerline goodness : 0.992338 Centerline is valid? [True, True] Translation: X:120.71, Y:32.78, Z:0.22 [[ 8.28294201e-01 -5.60288929e-01 -2.24343078e-03 1.20714630e+02] [ 5.60286944e-01 8.28297238e-01 -1.49172975e-03 3.27818910e+01] [ 2.69402718e-03 -2.13738761e-05 9.99996371e-01 2.20354931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76401273899998 meters Centerline goodness : 0.984414 Centerline is valid? [True, True] Translation: X:120.74, Y:32.80, Z:0.23 [[ 8.29037951e-01 -5.59187843e-01 -2.24315625e-03 1.20737973e+02] [ 5.59185853e-01 8.29040986e-01 -1.49214244e-03 3.27973620e+01] [ 2.69405639e-03 -1.72985283e-05 9.99996371e-01 2.34479869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79401273899998 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:120.76, Y:32.81, Z:0.22 [[ 8.30362438e-01 -5.57219158e-01 -2.24287051e-03 1.20759312e+02] [ 5.57217160e-01 8.30365467e-01 -1.49257182e-03 3.28137133e+01] [ 2.69409184e-03 -1.03903591e-05 9.99996371e-01 2.24829306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82401273899998 meters Centerline goodness : 0.992201 Centerline is valid? [True, True] Translation: X:120.78, Y:32.83, Z:0.23 [[ 8.30870727e-01 -5.56460964e-01 -2.24274647e-03 1.20781376e+02] [ 5.56458962e-01 8.30873754e-01 -1.49275818e-03 3.28303143e+01] [ 2.69410084e-03 -7.70730263e-06 9.99996371e-01 2.25532561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85401273899998 meters Centerline goodness : 0.992112 Centerline is valid? [True, True] Translation: X:120.80, Y:32.85, Z:0.23 [[ 8.31552076e-01 -5.55442271e-01 -2.24245691e-03 1.20803156e+02] [ 5.55440264e-01 8.31555100e-01 -1.49319304e-03 3.28469416e+01] [ 2.69410901e-03 -3.88308171e-06 9.99996371e-01 2.25941045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88401273899999 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:120.82, Y:32.87, Z:0.22 [[ 8.33181257e-01 -5.52995448e-01 -2.24233092e-03 1.20822494e+02] [ 5.52993432e-01 8.33184274e-01 -1.49338222e-03 3.28660152e+01] [ 2.69410843e-03 4.26380075e-06 9.99996371e-01 2.23814369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.914012739 meters Centerline goodness : 0.992456 Centerline is valid? [True, True] Translation: X:120.84, Y:32.88, Z:0.22 [[ 8.34253227e-01 -5.51376936e-01 -2.24217685e-03 1.20843949e+02] [ 5.51374913e-01 8.34256240e-01 -1.49361351e-03 3.28835245e+01] [ 2.69409407e-03 9.77182599e-06 9.99996371e-01 2.23626827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.944012739 meters Centerline goodness : 0.992444 Centerline is valid? [True, True] Translation: X:120.86, Y:32.90, Z:0.22 [[ 8.36179706e-01 -5.48450976e-01 -2.24189066e-03 1.20863821e+02] [ 5.48448941e-01 8.36182711e-01 -1.49404295e-03 3.29030874e+01] [ 2.69403952e-03 1.97258367e-05 9.99996371e-01 2.24064873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.974012739 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:120.89, Y:32.92, Z:0.22 [[ 8.36851005e-01 -5.47426132e-01 -2.24169622e-03 1.20885508e+02] [ 5.47424093e-01 8.36854007e-01 -1.49433464e-03 3.29208508e+01] [ 2.69401029e-03 2.33769294e-05 9.99996371e-01 2.22773168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.004012739 meters Centerline goodness : 0.992838 Centerline is valid? [True, True] Translation: X:120.91, Y:32.94, Z:0.22 [[ 8.37157258e-01 -5.46957678e-01 -2.24141305e-03 1.20907574e+02] [ 5.46955636e-01 8.37160258e-01 -1.49475926e-03 3.29383562e+01] [ 2.69399198e-03 2.53950616e-05 9.99996371e-01 2.21232292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.034012739 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:120.93, Y:32.96, Z:0.22 [[ 8.37015746e-01 -5.47174212e-01 -2.24113098e-03 1.20928333e+02] [ 5.47172170e-01 8.37018746e-01 -1.49518205e-03 3.29560002e+01] [ 2.69399370e-03 2.52064166e-05 9.99996371e-01 2.16904077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.064012739 meters Centerline goodness : 0.992251 Centerline is valid? [True, True] Translation: X:120.95, Y:32.97, Z:0.22 [[ 8.36574022e-01 -5.47849326e-01 -2.24093797e-03 1.20950457e+02] [ 5.47847285e-01 8.36577023e-01 -1.49547126e-03 3.29732694e+01] [ 2.69401014e-03 2.33806259e-05 9.99996371e-01 2.17131678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.094012739 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:120.97, Y:32.99, Z:0.22 [[ 8.35378305e-01 -5.49670871e-01 -2.24065023e-03 1.20971594e+02] [ 5.49668836e-01 8.35381310e-01 -1.49590226e-03 3.29924108e+01] [ 2.69405122e-03 1.80286910e-05 9.99996371e-01 2.18926296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.124012739 meters Centerline goodness : 0.992802 Centerline is valid? [True, True] Translation: X:120.99, Y:33.01, Z:0.22 [[ 8.34713474e-01 -5.50679941e-01 -2.24036286e-03 1.20992592e+02] [ 5.50677908e-01 8.34716480e-01 -1.49633252e-03 3.30089975e+01] [ 2.69406811e-03 1.52905760e-05 9.99996371e-01 2.18680457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.154012739 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:121.01, Y:33.03, Z:0.22 [[ 8.34348033e-01 -5.51233473e-01 -2.24023798e-03 1.21014419e+02] [ 5.51231441e-01 8.34351040e-01 -1.49651946e-03 3.30274600e+01] [ 2.69407651e-03 1.37284545e-05 9.99996371e-01 2.18574174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.184012739 meters Centerline goodness : 0.992292 Centerline is valid? [True, True] Translation: X:121.04, Y:33.04, Z:0.22 [[ 8.34436018e-01 -5.51100277e-01 -2.23996185e-03 1.21035981e+02] [ 5.51098244e-01 8.34439024e-01 -1.49693266e-03 3.30439791e+01] [ 2.69407158e-03 1.46554824e-05 9.99996371e-01 2.18026391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.214012739 meters Centerline goodness : 0.992772 Centerline is valid? [True, True] Translation: X:121.06, Y:33.06, Z:0.22 [[ 8.34522491e-01 -5.50969324e-01 -2.23984156e-03 1.21057547e+02] [ 5.50967290e-01 8.34525496e-01 -1.49711262e-03 3.30618509e+01] [ 2.69406802e-03 1.52947177e-05 9.99996371e-01 2.17363223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24401273899997 meters Centerline goodness : 0.992690 Centerline is valid? [True, True] Translation: X:121.08, Y:33.08, Z:0.22 [[ 8.34122247e-01 -5.51575073e-01 -2.23960755e-03 1.21079368e+02] [ 5.51573041e-01 8.34125253e-01 -1.49746260e-03 3.30782434e+01] [ 2.69407626e-03 1.37597198e-05 9.99996371e-01 2.17642712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27401273899997 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:121.10, Y:33.09, Z:0.22 [[ 8.33709038e-01 -5.52199443e-01 -2.23940714e-03 1.21102209e+02] [ 5.52197412e-01 8.33712046e-01 -1.49776223e-03 3.30947384e+01] [ 2.69408418e-03 1.21030822e-05 9.99996371e-01 2.18419421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30401273899997 meters Centerline goodness : 0.992062 Centerline is valid? [True, True] Translation: X:121.12, Y:33.11, Z:0.22 [[ 8.33320238e-01 -5.52786004e-01 -2.23913693e-03 1.21123965e+02] [ 5.52783974e-01 8.33323247e-01 -1.49816609e-03 3.31125830e+01] [ 2.69409010e-03 1.06931167e-05 9.99996371e-01 2.20713327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33401273899997 meters Centerline goodness : 0.992286 Centerline is valid? [True, True] Translation: X:121.15, Y:33.13, Z:0.22 [[ 8.32970308e-01 -5.53313160e-01 -2.23885310e-03 1.21146799e+02] [ 5.53311131e-01 8.32973317e-01 -1.49859012e-03 3.31300342e+01] [ 2.69409453e-03 9.49873661e-06 9.99996371e-01 2.21796663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36401273899997 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:121.17, Y:33.15, Z:0.22 [[ 8.33008937e-01 -5.53254992e-01 -2.24153104e-03 1.21166330e+02] [ 5.53252973e-01 8.33011953e-01 -1.49459007e-03 3.31485652e+01] [ 2.69411157e-03 4.87317847e-06 9.99996371e-01 2.23006827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39401273899998 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:121.19, Y:33.17, Z:0.22 [[ 8.33137370e-01 -5.53061581e-01 -2.23847940e-03 1.21187598e+02] [ 5.53059550e-01 8.33140377e-01 -1.49914668e-03 3.31658257e+01] [ 2.69408801e-03 1.09827111e-05 9.99996371e-01 2.23640651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42401273899998 meters Centerline goodness : 0.992170 Centerline is valid? [True, True] Translation: X:121.21, Y:33.18, Z:0.23 [[ 8.33254699e-01 -5.52884796e-01 -2.23835643e-03 1.21208873e+02] [ 5.52882763e-01 8.33257705e-01 -1.49933028e-03 3.31844841e+01] [ 2.69408465e-03 1.17753152e-05 9.99996371e-01 2.25323427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45401273899998 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:121.23, Y:33.20, Z:0.23 [[ 8.33450386e-01 -5.52589762e-01 -2.23807697e-03 1.21230097e+02] [ 5.52587727e-01 8.33453391e-01 -1.49974730e-03 3.32010120e+01] [ 2.69407785e-03 1.32311013e-05 9.99996371e-01 2.25365743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48401273899998 meters Centerline goodness : 0.992019 Centerline is valid? [True, True] Translation: X:121.25, Y:33.22, Z:0.22 [[ 8.33557216e-01 -5.52428601e-01 -2.23795550e-03 1.21251429e+02] [ 5.52426565e-01 8.33560220e-01 -1.49992855e-03 3.32188305e+01] [ 2.69407411e-03 1.39701924e-05 9.99996371e-01 2.23714269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51401273899998 meters Centerline goodness : 0.992427 Centerline is valid? [True, True] Translation: X:121.27, Y:33.24, Z:0.22 [[ 8.33871812e-01 -5.51953615e-01 -2.23766491e-03 1.21270331e+02] [ 5.51951576e-01 8.33874815e-01 -1.50036193e-03 3.32385028e+01] [ 2.69406261e-03 1.60268483e-05 9.99996371e-01 2.20524986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54401273899998 meters Centerline goodness : 0.992139 Centerline is valid? [True, True] Translation: X:121.29, Y:33.26, Z:0.22 [[ 8.34370935e-01 -5.51198817e-01 -2.23753871e-03 1.21290163e+02] [ 5.51196775e-01 8.34373935e-01 -1.50055013e-03 3.32595457e+01] [ 2.69404543e-03 1.86912954e-05 9.99996371e-01 2.21777903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57401273899998 meters Centerline goodness : 0.992209 Centerline is valid? [True, True] Translation: X:121.31, Y:33.28, Z:0.22 [[ 8.34631274e-01 -5.50804531e-01 -2.23726377e-03 1.21311018e+02] [ 5.50802487e-01 8.34634272e-01 -1.50095994e-03 3.32784808e+01] [ 2.69403255e-03 2.04576604e-05 9.99996371e-01 2.22570015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60401273899998 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:121.33, Y:33.30, Z:0.22 [[ 8.35141886e-01 -5.50030024e-01 -2.23698790e-03 1.21331699e+02] [ 5.50027975e-01 8.35144881e-01 -1.50137098e-03 3.32969066e+01] [ 2.69400810e-03 2.34518673e-05 9.99996371e-01 2.23343865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63401273899999 meters Centerline goodness : 0.992060 Centerline is valid? [True, True] Translation: X:121.35, Y:33.32, Z:0.22 [[ 8.35576097e-01 -5.49370170e-01 -2.23686816e-03 1.21351468e+02] [ 5.49368118e-01 8.35579090e-01 -1.50154934e-03 3.33184330e+01] [ 2.69398668e-03 2.57946860e-05 9.99996371e-01 2.23612849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.664012739 meters Centerline goodness : 0.992086 Centerline is valid? [True, True] Translation: X:121.37, Y:33.34, Z:0.22 [[ 8.35583918e-01 -5.49358274e-01 -2.23659824e-03 1.21373084e+02] [ 5.49356222e-01 8.35586911e-01 -1.50195130e-03 3.33371394e+01] [ 2.69398159e-03 2.63171933e-05 9.99996371e-01 2.23652633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.694012739 meters Centerline goodness : 0.992086 Centerline is valid? [True, True] Translation: X:121.40, Y:33.35, Z:0.22 [[ 8.35485006e-01 -5.49508693e-01 -2.23632792e-03 1.21396610e+02] [ 5.49506640e-01 8.35487998e-01 -1.50235368e-03 3.33531825e+01] [ 2.69398154e-03 2.63169292e-05 9.99996371e-01 2.23729369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.724012739 meters Centerline goodness : 0.992142 Centerline is valid? [True, True] Translation: X:121.42, Y:33.37, Z:0.22 [[ 8.34773197e-01 -5.50589420e-01 -2.23605739e-03 1.21415698e+02] [ 5.50587370e-01 8.34776191e-01 -1.50275623e-03 3.33730983e+01] [ 2.69400915e-03 2.33156640e-05 9.99996371e-01 2.21544806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.754012739 meters Centerline goodness : 0.992055 Centerline is valid? [True, True] Translation: X:121.44, Y:33.39, Z:0.22 [[ 8.34254938e-01 -5.51374372e-01 -2.23593979e-03 1.21437370e+02] [ 5.51372324e-01 8.34257934e-01 -1.50293118e-03 3.33908354e+01] [ 2.69402824e-03 2.09924404e-05 9.99996371e-01 2.21746607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.784012739 meters Centerline goodness : 0.991569 Centerline is valid? [True, True] Translation: X:121.46, Y:33.41, Z:0.22 [[ 8.33120093e-01 -5.53087618e-01 -2.23566841e-03 1.21455823e+02] [ 5.53085575e-01 8.33123092e-01 -1.50333476e-03 3.34112638e+01] [ 2.69406282e-03 1.59424512e-05 9.99996371e-01 2.22686181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.814012739 meters Centerline goodness : 0.992604 Centerline is valid? [True, True] Translation: X:121.48, Y:33.43, Z:0.22 [[ 8.32707029e-01 -5.53709315e-01 -2.23555067e-03 1.21476418e+02] [ 5.53707274e-01 8.32710030e-01 -1.50350982e-03 3.34290195e+01] [ 2.69407286e-03 1.41425317e-05 9.99996371e-01 2.22045572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.844012739 meters Centerline goodness : 0.991542 Centerline is valid? [True, True] Translation: X:121.50, Y:33.45, Z:0.22 [[ 8.32196981e-01 -5.54475596e-01 -2.23543586e-03 1.21498759e+02] [ 5.54473558e-01 8.32199984e-01 -1.50368050e-03 3.34458956e+01] [ 2.69408383e-03 1.18682968e-05 9.99996371e-01 2.22044306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.874012739 meters Centerline goodness : 0.992125 Centerline is valid? [True, True] Translation: X:121.52, Y:33.46, Z:0.22 [[ 8.31119085e-01 -5.56089985e-01 -2.23515246e-03 1.21519227e+02] [ 5.56087950e-01 8.31122090e-01 -1.50410164e-03 3.34636600e+01] [ 2.69410045e-03 7.14623083e-06 9.99996371e-01 2.19984480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.904012739 meters Centerline goodness : 0.992390 Centerline is valid? [True, True] Translation: X:121.54, Y:33.48, Z:0.22 [[ 8.30739556e-01 -5.56656801e-01 -2.23502941e-03 1.21541544e+02] [ 5.56654768e-01 8.30742563e-01 -1.50428448e-03 3.34812774e+01] [ 2.69410424e-03 5.52884317e-06 9.99996371e-01 2.18921757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.934012739 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:121.56, Y:33.50, Z:0.22 [[ 8.30359037e-01 -5.57224260e-01 -2.23476922e-03 1.21561786e+02] [ 5.57222229e-01 8.30362044e-01 -1.50467091e-03 3.34991139e+01] [ 2.69410667e-03 4.15400242e-06 9.99996371e-01 2.17644803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.964012739 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:121.58, Y:33.52, Z:0.22 [[ 8.29660986e-01 -5.58263070e-01 -2.23459177e-03 1.21583913e+02] [ 5.58261041e-01 8.29663995e-01 -1.50493440e-03 3.35159653e+01] [ 2.69410963e-03 1.09983125e-06 9.99996371e-01 2.17307935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99401273899997 meters Centerline goodness : 0.991916 Centerline is valid? [True, True] Translation: X:121.60, Y:33.54, Z:0.22 [[ 8.27310281e-01 -5.61740783e-01 -2.23432413e-03 1.21604499e+02] [ 5.61738766e-01 8.27313298e-01 -1.50533164e-03 3.35350195e+01] [ 2.69409224e-03 -9.73014086e-06 9.99996371e-01 2.16620425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02401273899997 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:121.63, Y:33.55, Z:0.22 [[ 8.25914386e-01 -5.63791128e-01 -2.23405859e-03 1.21626403e+02] [ 5.63789118e-01 8.25917407e-01 -1.50572564e-03 3.35526269e+01] [ 2.69406263e-03 -1.59374520e-05 9.99996371e-01 2.17774111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05401273899997 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:121.65, Y:33.57, Z:0.22 [[ 8.22864456e-01 -5.68233312e-01 -2.23378322e-03 1.21647565e+02] [ 5.68231317e-01 8.22867488e-01 -1.50613403e-03 3.35700634e+01] [ 2.69394312e-03 -2.99614209e-05 9.99996371e-01 2.20107446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08401273899997 meters Centerline goodness : 0.991930 Centerline is valid? [True, True] Translation: X:121.67, Y:33.59, Z:0.22 [[ 8.20942501e-01 -5.71006497e-01 -2.23367008e-03 1.21670287e+02] [ 5.71004512e-01 8.20945539e-01 -1.50630182e-03 3.35861599e+01] [ 2.69382961e-03 -3.88485104e-05 9.99996371e-01 2.21825238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11401273899997 meters Centerline goodness : 0.991171 Centerline is valid? [True, True] Translation: X:121.69, Y:33.60, Z:0.22 [[ 8.16963783e-01 -5.76684653e-01 -2.23338727e-03 1.21693166e+02] [ 5.76682688e-01 8.16966834e-01 -1.50672102e-03 3.36016466e+01] [ 2.69350621e-03 -5.70192678e-05 9.99996371e-01 2.24606288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14401273899998 meters Centerline goodness : 0.991339 Centerline is valid? [True, True] Translation: X:121.72, Y:33.62, Z:0.23 [[ 8.14727286e-01 -5.79840032e-01 -2.23310518e-03 1.21715595e+02] [ 5.79838077e-01 8.14730344e-01 -1.50713898e-03 3.36164544e+01] [ 2.69327807e-03 -6.69321664e-05 9.99996371e-01 2.26465908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17401273899998 meters Centerline goodness : 0.983442 Centerline is valid? [True, True] Translation: X:121.74, Y:33.63, Z:0.24 [[ 8.10969190e-01 -5.85084598e-01 -2.23291391e-03 1.21738634e+02] [ 5.85082663e-01 8.10972259e-01 -1.50742231e-03 3.36322921e+01] [ 2.69280082e-03 -8.39661665e-05 9.99996371e-01 2.38823434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20401273899998 meters Centerline goodness : 0.982433 Centerline is valid? [True, True] Translation: X:121.76, Y:33.65, Z:0.24 [[ 8.09423388e-01 -5.87221248e-01 -2.23262508e-03 1.21761819e+02] [ 5.87219319e-01 8.09426463e-01 -1.50784997e-03 3.36470266e+01] [ 2.69258736e-03 -9.05515406e-05 9.99996371e-01 2.38342193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23401273899998 meters Centerline goodness : 0.991877 Centerline is valid? [True, True] Translation: X:121.79, Y:33.66, Z:0.22 [[ 8.07647057e-01 -5.89661977e-01 -2.23249981e-03 1.21785784e+02] [ 5.89660057e-01 8.07650137e-01 -1.50803543e-03 3.36610636e+01] [ 2.69230992e-03 -9.84555867e-05 9.99996371e-01 2.24702606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26401273899998 meters Centerline goodness : 0.991608 Centerline is valid? [True, True] Translation: X:121.81, Y:33.67, Z:0.23 [[ 8.04585444e-01 -5.93832705e-01 -2.23222263e-03 1.21812111e+02] [ 5.93830799e-01 8.04588532e-01 -1.50844559e-03 3.36719133e+01] [ 2.69178506e-03 -1.11889187e-04 9.99996371e-01 2.26163725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29401273899998 meters Centerline goodness : 0.991730 Centerline is valid? [True, True] Translation: X:121.84, Y:33.68, Z:0.23 [[ 8.03240377e-01 -5.95650833e-01 -2.23194007e-03 1.21835773e+02] [ 5.95648933e-01 8.03243470e-01 -1.50886357e-03 3.36848215e+01] [ 2.69154713e-03 -1.17472581e-04 9.99996371e-01 2.26634904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32401273899998 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:121.86, Y:33.69, Z:0.23 [[ 8.00955575e-01 -5.98719622e-01 -2.23181753e-03 1.21863265e+02] [ 5.98717734e-01 8.00958674e-01 -1.50904479e-03 3.36949857e+01] [ 2.69108834e-03 -1.27550897e-04 9.99996371e-01 2.26947174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35401273899998 meters Centerline goodness : 0.991746 Centerline is valid? [True, True] Translation: X:121.89, Y:33.71, Z:0.23 [[ 8.00072889e-01 -5.99898652e-01 -2.23153536e-03 1.21887961e+02] [ 5.99896767e-01 8.00075990e-01 -1.50946195e-03 3.37064701e+01] [ 2.69092205e-03 -1.31011267e-04 9.99996371e-01 2.27218141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38401273899999 meters Centerline goodness : 0.992100 Centerline is valid? [True, True] Translation: X:121.91, Y:33.72, Z:0.23 [[ 7.99900236e-01 -6.00128848e-01 -2.23141263e-03 1.21914790e+02] [ 6.00126963e-01 7.99903337e-01 -1.50964335e-03 3.37152426e+01] [ 2.69089494e-03 -1.31566815e-04 9.99996371e-01 2.27481671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.414012739 meters Centerline goodness : 0.991718 Centerline is valid? [True, True] Translation: X:121.94, Y:33.73, Z:0.23 [[ 8.00842768e-01 -5.98870506e-01 -2.23129379e-03 1.21940146e+02] [ 5.98868616e-01 8.00845866e-01 -1.50981898e-03 3.37285753e+01] [ 2.69110847e-03 -1.27124216e-04 9.99996371e-01 2.27920823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.444012739 meters Centerline goodness : 0.991397 Centerline is valid? [True, True] Translation: X:121.96, Y:33.74, Z:0.23 [[ 8.02150313e-01 -5.97117994e-01 -2.23102729e-03 1.21964671e+02] [ 5.97116096e-01 8.02153406e-01 -1.51021269e-03 3.37420213e+01] [ 2.69140131e-03 -1.20764726e-04 9.99996371e-01 2.28536646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.474012739 meters Centerline goodness : 0.991879 Centerline is valid? [True, True] Translation: X:121.99, Y:33.75, Z:0.23 [[ 8.05950653e-01 -5.91978521e-01 -2.23075332e-03 1.21990272e+02] [ 5.91976603e-01 8.05953733e-01 -1.51061725e-03 3.37537008e+01] [ 2.69213694e-03 -1.03070811e-04 9.99996371e-01 2.29590418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.504012739 meters Centerline goodness : 0.992204 Centerline is valid? [True, True] Translation: X:122.01, Y:33.77, Z:0.23 [[ 8.07763719e-01 -5.89502162e-01 -2.23047989e-03 1.22014704e+02] [ 5.89500233e-01 8.07766793e-01 -1.51102088e-03 3.37670300e+01] [ 2.69245766e-03 -9.43205680e-05 9.99996371e-01 2.28438246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.534012739 meters Centerline goodness : 0.991483 Centerline is valid? [True, True] Translation: X:122.04, Y:33.78, Z:0.23 [[ 8.11734133e-01 -5.84022879e-01 -2.23020672e-03 1.22039890e+02] [ 5.84020928e-01 8.11737193e-01 -1.51142395e-03 3.37775455e+01] [ 2.69304792e-03 -7.56129892e-05 9.99996371e-01 2.26536992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.564012739 meters Centerline goodness : 0.991093 Centerline is valid? [True, True] Translation: X:122.06, Y:33.79, Z:0.23 [[ 8.13294614e-01 -5.81847830e-01 -2.23005761e-03 1.22063307e+02] [ 5.81845871e-01 8.13297669e-01 -1.51164394e-03 3.37923267e+01] [ 2.69324740e-03 -6.81379403e-05 9.99996371e-01 2.25580584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.594012739 meters Centerline goodness : 0.991287 Centerline is valid? [True, True] Translation: X:122.08, Y:33.81, Z:0.23 [[ 8.16813188e-01 -5.76897950e-01 -2.22976960e-03 1.22084871e+02] [ 5.76895971e-01 8.16816230e-01 -1.51206865e-03 3.38081507e+01] [ 2.69362130e-03 -5.12674812e-05 9.99996371e-01 2.25635524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.624012739 meters Centerline goodness : 0.991280 Centerline is valid? [True, True] Translation: X:122.11, Y:33.82, Z:0.22 [[ 8.18389253e-01 -5.74659952e-01 -2.22964376e-03 1.22107234e+02] [ 5.74657964e-01 8.18392289e-01 -1.51225419e-03 3.38239778e+01] [ 2.69375518e-03 -4.36699625e-05 9.99996371e-01 2.24388613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.654012739 meters Centerline goodness : 0.991965 Centerline is valid? [True, True] Translation: X:122.13, Y:33.84, Z:0.22 [[ 8.20729252e-01 -5.71312983e-01 -2.22945837e-03 1.22128832e+02] [ 5.71310982e-01 8.20732280e-01 -1.51252745e-03 3.38393653e+01] [ 2.69391502e-03 -3.23385241e-05 9.99996371e-01 2.21877623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.684012739 meters Centerline goodness : 0.991648 Centerline is valid? [True, True] Translation: X:122.15, Y:33.86, Z:0.22 [[ 8.21684604e-01 -5.69938103e-01 -2.22932903e-03 1.22152006e+02] [ 5.69936097e-01 8.21687628e-01 -1.51271806e-03 3.38557135e+01] [ 2.69396774e-03 -2.75979457e-05 9.99996371e-01 2.21475842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.714012739 meters Centerline goodness : 0.991989 Centerline is valid? [True, True] Translation: X:122.17, Y:33.87, Z:0.22 [[ 8.23030901e-01 -5.67992225e-01 -2.22905710e-03 1.22173522e+02] [ 5.67990210e-01 8.23033919e-01 -1.51311866e-03 3.38720636e+01] [ 2.69402923e-03 -2.07391954e-05 9.99996371e-01 2.23181748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74401273899997 meters Centerline goodness : 0.991126 Centerline is valid? [True, True] Translation: X:122.20, Y:33.89, Z:0.23 [[ 8.23597401e-01 -5.67170480e-01 -2.22890229e-03 1.22196597e+02] [ 5.67168461e-01 8.23600417e-01 -1.51334667e-03 3.38885416e+01] [ 2.69405041e-03 -1.77746958e-05 9.99996371e-01 2.25708425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77401273899997 meters Centerline goodness : 0.991323 Centerline is valid? [True, True] Translation: X:122.22, Y:33.90, Z:0.23 [[ 8.24356236e-01 -5.66066984e-01 -2.22863182e-03 1.22218223e+02] [ 5.66064960e-01 8.24359248e-01 -1.51374486e-03 3.39046671e+01] [ 2.69407424e-03 -1.36853642e-05 9.99996371e-01 2.27610632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80401273899997 meters Centerline goodness : 0.990586 Centerline is valid? [True, True] Translation: X:122.24, Y:33.92, Z:0.23 [[ 8.25699579e-01 -5.64105698e-01 -2.22848177e-03 1.22238902e+02] [ 5.64103667e-01 8.25702586e-01 -1.51396573e-03 3.39238174e+01] [ 2.69409986e-03 -7.01387557e-06 9.99996371e-01 2.30136202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83401273899997 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:122.26, Y:33.94, Z:0.23 [[ 8.26603429e-01 -5.62780424e-01 -2.22821448e-03 1.22260313e+02] [ 5.62778386e-01 8.26606433e-01 -1.51435903e-03 3.39421889e+01] [ 2.69410803e-03 -2.21658351e-06 9.99996371e-01 2.29795735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86401273899997 meters Centerline goodness : 0.991062 Centerline is valid? [True, True] Translation: X:122.28, Y:33.96, Z:0.23 [[ 8.26643912e-01 -5.62720960e-01 -2.22793302e-03 1.22282389e+02] [ 5.62718921e-01 8.26646914e-01 -1.51477299e-03 3.39578407e+01] [ 2.69410847e-03 -1.52219907e-06 9.99996371e-01 2.29471242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89401273899998 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:122.31, Y:33.97, Z:0.23 [[ 8.25998509e-01 -5.63667899e-01 -2.22774078e-03 1.22305768e+02] [ 5.63665862e-01 8.26001513e-01 -1.51505566e-03 3.39737599e+01] [ 2.69410550e-03 -4.26770857e-06 9.99996371e-01 2.30176076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92401273899998 meters Centerline goodness : 0.990284 Centerline is valid? [True, True] Translation: X:122.33, Y:33.99, Z:0.23 [[ 8.23352795e-01 -5.67525518e-01 -2.22746078e-03 1.22328791e+02] [ 5.67523494e-01 8.23355808e-01 -1.51546721e-03 3.39871628e+01] [ 2.69405908e-03 -1.63721596e-05 9.99996371e-01 2.31292707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95401273899998 meters Centerline goodness : 0.990333 Centerline is valid? [True, True] Translation: X:122.35, Y:34.00, Z:0.23 [[ 8.21365400e-01 -5.70398035e-01 -2.22727013e-03 1.22352981e+02] [ 5.70396022e-01 8.21368420e-01 -1.51574736e-03 3.40019669e+01] [ 2.69398866e-03 -2.54435842e-05 9.99996371e-01 2.31862017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98401273899998 meters Centerline goodness : 0.989943 Centerline is valid? [True, True] Translation: X:122.38, Y:34.01, Z:0.23 [[ 8.18164985e-01 -5.74979215e-01 -2.22699154e-03 1.22377522e+02] [ 5.74977218e-01 8.18168015e-01 -1.51615656e-03 3.40144466e+01] [ 2.69381176e-03 -4.00031909e-05 9.99996371e-01 2.31258896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01401273899998 meters Centerline goodness : 0.990387 Centerline is valid? [True, True] Translation: X:122.40, Y:34.03, Z:0.23 [[ 8.17168060e-01 -5.76395180e-01 -2.22687122e-03 1.22401726e+02] [ 5.76393187e-01 8.17171093e-01 -1.51633326e-03 3.40293849e+01] [ 2.69374197e-03 -4.44542866e-05 9.99996371e-01 2.30783270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04401273899998 meters Centerline goodness : 0.990441 Centerline is valid? [True, True] Translation: X:122.43, Y:34.04, Z:0.23 [[ 8.17025001e-01 -5.76597945e-01 -2.22659098e-03 1.22425134e+02] [ 5.76595952e-01 8.17028034e-01 -1.51674465e-03 3.40434052e+01] [ 2.69373910e-03 -4.46250437e-05 9.99996371e-01 2.29074096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07401273899998 meters Centerline goodness : 0.990001 Centerline is valid? [True, True] Translation: X:122.45, Y:34.06, Z:0.23 [[ 8.17180478e-01 -5.76377576e-01 -2.22640017e-03 1.22448567e+02] [ 5.76375581e-01 8.17183509e-01 -1.51702469e-03 3.40591947e+01] [ 2.69375652e-03 -4.35597308e-05 9.99996371e-01 2.29444884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10401273899998 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:122.47, Y:34.07, Z:0.23 [[ 8.18706336e-01 -5.74208133e-01 -2.22611586e-03 1.22471106e+02] [ 5.74206129e-01 8.18709362e-01 -1.51744178e-03 3.40744020e+01] [ 2.69386931e-03 -3.59101672e-05 9.99996371e-01 2.32331503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13401273899999 meters Centerline goodness : 0.990706 Centerline is valid? [True, True] Translation: X:122.49, Y:34.09, Z:0.23 [[ 8.19228900e-01 -5.73462339e-01 -2.22599225e-03 1.22493758e+02] [ 5.73460331e-01 8.19231924e-01 -1.51762308e-03 3.40899793e+01] [ 2.69390360e-03 -3.32375707e-05 9.99996371e-01 2.33622875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.164012739 meters Centerline goodness : 0.990581 Centerline is valid? [True, True] Translation: X:122.52, Y:34.11, Z:0.23 [[ 8.19645551e-01 -5.72866666e-01 -2.22571110e-03 1.22515623e+02] [ 5.72864656e-01 8.19648572e-01 -1.51803530e-03 3.41052612e+01] [ 2.69393275e-03 -3.07803447e-05 9.99996371e-01 2.33123404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.194012739 meters Centerline goodness : 0.990128 Centerline is valid? [True, True] Translation: X:122.54, Y:34.12, Z:0.23 [[ 8.20495461e-01 -5.71648708e-01 -2.22558919e-03 1.22538372e+02] [ 5.71646693e-01 8.20498479e-01 -1.51821401e-03 3.41223865e+01] [ 2.69397762e-03 -2.65629972e-05 9.99996371e-01 2.30513828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.224012739 meters Centerline goodness : 0.990756 Centerline is valid? [True, True] Translation: X:122.56, Y:34.14, Z:0.23 [[ 8.20660530e-01 -5.71411711e-01 -2.22531093e-03 1.22560498e+02] [ 5.71409693e-01 8.20663546e-01 -1.51862176e-03 3.41388329e+01] [ 2.69398982e-03 -2.52912949e-05 9.99996371e-01 2.29262086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.254012739 meters Centerline goodness : 0.990997 Centerline is valid? [True, True] Translation: X:122.58, Y:34.16, Z:0.23 [[ 8.20244044e-01 -5.72009404e-01 -2.22503230e-03 1.22582719e+02] [ 5.72007387e-01 8.20247061e-01 -1.51902989e-03 3.41567139e+01] [ 2.69397559e-03 -2.67596965e-05 9.99996371e-01 2.30721270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.284012739 meters Centerline goodness : 0.990801 Centerline is valid? [True, True] Translation: X:122.61, Y:34.17, Z:0.23 [[ 8.20144997e-01 -5.72151408e-01 -2.22475365e-03 1.22606069e+02] [ 5.72149391e-01 8.20148014e-01 -1.51943790e-03 3.41728658e+01] [ 2.69397582e-03 -2.67320555e-05 9.99996371e-01 2.32148359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.314012739 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:122.63, Y:34.19, Z:0.23 [[ 8.20282849e-01 -5.71953756e-01 -2.22446753e-03 1.22628592e+02] [ 5.71951737e-01 8.20285865e-01 -1.51985665e-03 3.41891066e+01] [ 2.69398699e-03 -2.55757271e-05 9.99996371e-01 2.30908776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.344012739 meters Centerline goodness : 0.990959 Centerline is valid? [True, True] Translation: X:122.65, Y:34.21, Z:0.23 [[ 8.20421605e-01 -5.71754705e-01 -2.22418078e-03 1.22650101e+02] [ 5.71752684e-01 8.20424620e-01 -1.52027617e-03 3.42050276e+01] [ 2.69399773e-03 -2.44139107e-05 9.99996371e-01 2.29819794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.374012739 meters Centerline goodness : 0.991320 Centerline is valid? [True, True] Translation: X:122.67, Y:34.22, Z:0.23 [[ 8.20948558e-01 -5.70997828e-01 -2.22405662e-03 1.22670873e+02] [ 5.70995804e-01 8.20951570e-01 -1.52045779e-03 3.42222857e+01] [ 2.69402087e-03 -2.17093726e-05 9.99996371e-01 2.31633425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.404012739 meters Centerline goodness : 0.990968 Centerline is valid? [True, True] Translation: X:122.69, Y:34.24, Z:0.23 [[ 8.21330017e-01 -5.70448996e-01 -2.22390410e-03 1.22693485e+02] [ 5.70446969e-01 8.21333028e-01 -1.52068084e-03 3.42377909e+01] [ 2.69403675e-03 -1.96385384e-05 9.99996371e-01 2.32592165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.434012739 meters Centerline goodness : 0.990665 Centerline is valid? [True, True] Translation: X:122.72, Y:34.25, Z:0.23 [[ 8.21406588e-01 -5.70338735e-01 -2.22375413e-03 1.22717545e+02] [ 5.70336708e-01 8.21409598e-01 -1.52090012e-03 3.42519544e+01] [ 2.69404123e-03 -1.90112270e-05 9.99996371e-01 2.32522782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.464012739 meters Centerline goodness : 0.990900 Centerline is valid? [True, True] Translation: X:122.74, Y:34.27, Z:0.23 [[ 8.21158939e-01 -5.70695236e-01 -2.22348521e-03 1.22740337e+02] [ 5.70693209e-01 8.21161949e-01 -1.52129316e-03 3.42674004e+01] [ 2.69403621e-03 -1.97044324e-05 9.99996371e-01 2.32672893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49401273899997 meters Centerline goodness : 0.991034 Centerline is valid? [True, True] Translation: X:122.76, Y:34.28, Z:0.23 [[ 8.21039652e-01 -5.70866838e-01 -2.22321645e-03 1.22763867e+02] [ 5.70864811e-01 8.21042662e-01 -1.52168582e-03 3.42834171e+01] [ 2.69403553e-03 -1.97916441e-05 9.99996371e-01 2.31733708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52401273899997 meters Centerline goodness : 0.991491 Centerline is valid? [True, True] Translation: X:122.79, Y:34.30, Z:0.23 [[ 8.20957930e-01 -5.70984357e-01 -2.22296646e-03 1.22787793e+02] [ 5.70982328e-01 8.20960939e-01 -1.52205094e-03 3.42982899e+01] [ 2.69403591e-03 -1.97347704e-05 9.99996371e-01 2.32006584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55401273899997 meters Centerline goodness : 0.987427 Centerline is valid? [True, True] Translation: X:122.81, Y:34.31, Z:0.24 [[ 8.21652042e-01 -5.69985071e-01 -2.22269308e-03 1.22812401e+02] [ 5.69983038e-01 8.21655049e-01 -1.52245006e-03 3.43122075e+01] [ 2.69406080e-03 -1.59731544e-05 9.99996371e-01 2.44240425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58401273899997 meters Centerline goodness : 0.991706 Centerline is valid? [True, True] Translation: X:122.84, Y:34.33, Z:0.24 [[ 8.21997396e-01 -5.69486911e-01 -2.22241666e-03 1.22835032e+02] [ 5.69484875e-01 8.22000400e-01 -1.52285346e-03 3.43272697e+01] [ 2.69407250e-03 -1.38510913e-05 9.99996371e-01 2.35579110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61401273899997 meters Centerline goodness : 0.991706 Centerline is valid? [True, True] Translation: X:122.86, Y:34.34, Z:0.24 [[ 8.21896010e-01 -5.69633225e-01 -2.22226366e-03 1.22858410e+02] [ 5.69631189e-01 8.21899014e-01 -1.52307670e-03 3.43435320e+01] [ 2.69407140e-03 -1.40600233e-05 9.99996371e-01 2.35655839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64401273899998 meters Centerline goodness : 0.991864 Centerline is valid? [True, True] Translation: X:122.88, Y:34.36, Z:0.24 [[ 8.22203058e-01 -5.69189946e-01 -2.22199246e-03 1.22880894e+02] [ 5.69187907e-01 8.22206060e-01 -1.52347224e-03 3.43595527e+01] [ 2.69408075e-03 -1.21277084e-05 9.99996371e-01 2.35091237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67401273899998 meters Centerline goodness : 0.991883 Centerline is valid? [True, True] Translation: X:122.90, Y:34.38, Z:0.23 [[ 8.23085547e-01 -5.67913062e-01 -2.22171841e-03 1.22902855e+02] [ 5.67911018e-01 8.23088546e-01 -1.52387180e-03 3.43751955e+01] [ 2.69409767e-03 -7.46150825e-06 9.99996371e-01 2.30747510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70401273899998 meters Centerline goodness : 0.992106 Centerline is valid? [True, True] Translation: X:122.93, Y:34.39, Z:0.23 [[ 8.23321941e-01 -5.67570300e-01 -2.22158843e-03 1.22926154e+02] [ 5.67568254e-01 8.23324939e-01 -1.52406126e-03 3.43912898e+01] [ 2.69410106e-03 -6.10998572e-06 9.99996371e-01 2.30528368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73401273899998 meters Centerline goodness : 0.991919 Centerline is valid? [True, True] Translation: X:122.95, Y:34.41, Z:0.23 [[ 8.23572295e-01 -5.67206965e-01 -2.22131758e-03 1.22950326e+02] [ 5.67204916e-01 8.23575291e-01 -1.52445592e-03 3.44063019e+01] [ 2.69410429e-03 -4.44259307e-06 9.99996371e-01 2.34178303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76401273899998 meters Centerline goodness : 0.992219 Centerline is valid? [True, True] Translation: X:122.97, Y:34.42, Z:0.23 [[ 8.23136986e-01 -5.67838506e-01 -2.22103085e-03 1.22972952e+02] [ 5.67836459e-01 8.23139983e-01 -1.52487355e-03 3.44207459e+01] [ 2.69410122e-03 -6.00247418e-06 9.99996371e-01 2.34852993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79401273899998 meters Centerline goodness : 0.991912 Centerline is valid? [True, True] Translation: X:123.00, Y:34.43, Z:0.23 [[ 8.22026126e-01 -5.69445446e-01 -2.22083481e-03 1.22995746e+02] [ 5.69443404e-01 8.22029126e-01 -1.52515901e-03 3.44346423e+01] [ 2.69408575e-03 -1.09191836e-05 9.99996371e-01 2.32438470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82401273899998 meters Centerline goodness : 0.992861 Centerline is valid? [True, True] Translation: X:123.02, Y:34.45, Z:0.23 [[ 8.21582488e-01 -5.70085330e-01 -2.22071329e-03 1.23018444e+02] [ 5.70083290e-01 8.21585489e-01 -1.52533593e-03 3.44499865e+01] [ 2.69407745e-03 -1.28022475e-05 9.99996371e-01 2.30763770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85401273899998 meters Centerline goodness : 0.989356 Centerline is valid? [True, True] Translation: X:123.04, Y:34.47, Z:0.24 [[ 8.21009452e-01 -5.70910281e-01 -2.22057180e-03 1.23042342e+02] [ 5.70908243e-01 8.21012455e-01 -1.52554189e-03 3.44651396e+01] [ 2.69406465e-03 -1.52584349e-05 9.99996371e-01 2.39162802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88401273899999 meters Centerline goodness : 0.992280 Centerline is valid? [True, True] Translation: X:123.07, Y:34.48, Z:0.23 [[ 8.20990846e-01 -5.70937038e-01 -2.22028822e-03 1.23065687e+02] [ 5.70934999e-01 8.20993848e-01 -1.52595450e-03 3.44800931e+01] [ 2.69406691e-03 -1.48455812e-05 9.99996371e-01 2.32295801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.914012739 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:123.09, Y:34.49, Z:0.23 [[ 8.21532728e-01 -5.70157039e-01 -2.22000268e-03 1.23088807e+02] [ 5.70154996e-01 8.21535727e-01 -1.52636980e-03 3.44943209e+01] [ 2.69408200e-03 -1.17828763e-05 9.99996371e-01 2.32127011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.944012739 meters Centerline goodness : 0.992886 Centerline is valid? [True, True] Translation: X:123.11, Y:34.51, Z:0.23 [[ 8.21534259e-01 -5.70154832e-01 -2.21987868e-03 1.23112671e+02] [ 5.70152789e-01 8.21537259e-01 -1.52655011e-03 3.45094469e+01] [ 2.69408297e-03 -1.15568024e-05 9.99996371e-01 2.31938238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.974012739 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:123.14, Y:34.52, Z:0.23 [[ 8.21451117e-01 -5.70274614e-01 -2.21959092e-03 1.23136120e+02] [ 5.70272570e-01 8.21454116e-01 -1.52696840e-03 3.45241594e+01] [ 2.69408341e-03 -1.14419251e-05 9.99996371e-01 2.31877094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.004012739 meters Centerline goodness : 0.993116 Centerline is valid? [True, True] Translation: X:123.16, Y:34.54, Z:0.23 [[ 8.21767566e-01 -5.69818518e-01 -2.21930309e-03 1.23160218e+02] [ 5.69816471e-01 8.21770562e-01 -1.52738662e-03 3.45383575e+01] [ 2.69409113e-03 -9.43866518e-06 9.99996371e-01 2.34274334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.034012739 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:123.18, Y:34.55, Z:0.24 [[ 8.23219927e-01 -5.67718265e-01 -2.21901256e-03 1.23181709e+02] [ 5.67716209e-01 8.23222918e-01 -1.52780859e-03 3.45547547e+01] [ 2.69410684e-03 -2.04691826e-06 9.99996371e-01 2.37535511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.064012739 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:123.20, Y:34.57, Z:0.24 [[ 8.24313181e-01 -5.66129718e-01 -2.21881454e-03 1.23203629e+02] [ 5.66127655e-01 8.24316167e-01 -1.52809613e-03 3.45721335e+01] [ 2.69410532e-03 3.49750685e-06 9.99996371e-01 2.37528230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.094012739 meters Centerline goodness : 0.993157 Centerline is valid? [True, True] Translation: X:123.23, Y:34.59, Z:0.24 [[ 8.25633364e-01 -5.64202647e-01 -2.21852808e-03 1.23226202e+02] [ 5.64200576e-01 8.25636345e-01 -1.52851189e-03 3.45894877e+01] [ 2.69408787e-03 1.02955945e-05 9.99996371e-01 2.36622329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.124012739 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:123.25, Y:34.61, Z:0.24 [[ 8.27722390e-01 -5.61133429e-01 -2.21823413e-03 1.23247129e+02] [ 5.61131346e-01 8.27725362e-01 -1.52893836e-03 3.46074350e+01] [ 2.69402708e-03 2.08158096e-05 9.99996371e-01 2.36059957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.154012739 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:123.27, Y:34.63, Z:0.24 [[ 8.28221398e-01 -5.60396642e-01 -2.21794193e-03 1.23268661e+02] [ 5.60394555e-01 8.28224368e-01 -1.52936212e-03 3.46253376e+01] [ 2.69400295e-03 2.37278526e-05 9.99996371e-01 2.37965559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.184012739 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:123.29, Y:34.64, Z:0.24 [[ 8.28398027e-01 -5.60135512e-01 -2.21766064e-03 1.23290081e+02] [ 5.60133423e-01 8.28400995e-01 -1.52976990e-03 3.46431479e+01] [ 2.69399073e-03 2.50725194e-05 9.99996371e-01 2.40788516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.214012739 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:123.31, Y:34.66, Z:0.24 [[ 8.28085255e-01 -5.60597800e-01 -2.21736887e-03 1.23311979e+02] [ 5.60595712e-01 8.28088224e-01 -1.53019271e-03 3.46582728e+01] [ 2.69399971e-03 2.40825436e-05 9.99996371e-01 2.39552242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24401273899997 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:123.33, Y:34.67, Z:0.24 [[ 8.26900256e-01 -5.62344246e-01 -2.21724198e-03 1.23334915e+02] [ 5.62342164e-01 8.26903228e-01 -1.53037655e-03 3.46745203e+01] [ 2.69404299e-03 1.86201115e-05 9.99996371e-01 2.36816505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27401273899997 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:123.36, Y:34.69, Z:0.24 [[ 8.26391920e-01 -5.63091005e-01 -2.21696640e-03 1.23356077e+02] [ 5.63088925e-01 8.26394893e-01 -1.53077566e-03 3.46908310e+01] [ 2.69405571e-03 1.66714154e-05 9.99996371e-01 2.36376907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30401273899997 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:123.38, Y:34.71, Z:0.24 [[ 8.26368260e-01 -5.63125728e-01 -2.21681627e-03 1.23377661e+02] [ 5.63123647e-01 8.26371233e-01 -1.53099303e-03 3.47086123e+01] [ 2.69405476e-03 1.68223851e-05 9.99996371e-01 2.36819932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33401273899997 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:123.40, Y:34.72, Z:0.24 [[ 8.27016463e-01 -5.62173334e-01 -2.21654308e-03 1.23399770e+02] [ 5.62171248e-01 8.27019433e-01 -1.53138846e-03 3.47246854e+01] [ 2.69402995e-03 2.04066737e-05 9.99996371e-01 2.37651353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36401273899997 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:123.42, Y:34.74, Z:0.24 [[ 8.28612024e-01 -5.59818900e-01 -2.21639224e-03 1.23420768e+02] [ 5.59816806e-01 8.28614988e-01 -1.53160673e-03 3.47429596e+01] [ 2.69395823e-03 2.83341279e-05 9.99996371e-01 2.40485947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39401273899998 meters Centerline goodness : 0.995003 Centerline is valid? [True, True] Translation: X:123.44, Y:34.76, Z:0.24 [[ 8.29199635e-01 -5.58948167e-01 -2.21611004e-03 1.23442621e+02] [ 5.58946069e-01 8.29202596e-01 -1.53201494e-03 3.47608526e+01] [ 2.69392115e-03 3.16602333e-05 9.99996371e-01 2.41898991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42401273899998 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:123.46, Y:34.78, Z:0.24 [[ 8.29145481e-01 -5.59028498e-01 -2.21582716e-03 1.23463306e+02] [ 5.59026399e-01 8.29148441e-01 -1.53242398e-03 3.47793346e+01] [ 2.69391831e-03 3.18965403e-05 9.99996371e-01 2.39412343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45401273899998 meters Centerline goodness : 0.994497 Centerline is valid? [True, True] Translation: X:123.49, Y:34.80, Z:0.24 [[ 8.28667151e-01 -5.59737299e-01 -2.21554022e-03 1.23485027e+02] [ 5.59735201e-01 8.28670112e-01 -1.53283872e-03 3.47959986e+01] [ 2.69393897e-03 3.00972433e-05 9.99996371e-01 2.38255945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48401273899998 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:123.51, Y:34.81, Z:0.24 [[ 8.27886293e-01 -5.60891592e-01 -2.21534443e-03 1.23506878e+02] [ 5.60889497e-01 8.27889257e-01 -1.53312163e-03 3.48130218e+01] [ 2.69397489e-03 2.66869638e-05 9.99996371e-01 2.37226182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51401273899998 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:123.53, Y:34.83, Z:0.24 [[ 8.24957020e-01 -5.65191126e-01 -2.21506788e-03 1.23531144e+02] [ 5.65189046e-01 8.24959993e-01 -1.53352109e-03 3.48337003e+01] [ 2.69407490e-03 1.31568869e-05 9.99996371e-01 2.36055481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54401273899998 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:123.55, Y:34.85, Z:0.23 [[ 8.23386142e-01 -5.67477154e-01 -2.22277820e-03 1.23552964e+02] [ 5.67475112e-01 8.23389142e-01 -1.52238589e-03 3.48484154e+01] [ 2.69413065e-03 -7.85986303e-06 9.99996371e-01 2.33521232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57401273899998 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:123.58, Y:34.86, Z:0.23 [[ 8.22797993e-01 -5.68329622e-01 -2.21453129e-03 1.23575934e+02] [ 5.68327551e-01 8.22800973e-01 -1.53428914e-03 3.48642277e+01] [ 2.69410047e-03 3.83088209e-06 9.99996371e-01 2.30993291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60401273899998 meters Centerline goodness : 0.994806 Centerline is valid? [True, True] Translation: X:123.60, Y:34.88, Z:0.23 [[ 8.22226271e-01 -5.69156443e-01 -2.21439884e-03 1.23599765e+02] [ 5.69154374e-01 8.22229253e-01 -1.53448028e-03 3.48813105e+01] [ 2.69410284e-03 1.35521324e-06 9.99996371e-01 2.28520602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63401273899999 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:123.62, Y:34.90, Z:0.23 [[ 8.22161300e-01 -5.69250291e-01 -2.21415971e-03 1.23621527e+02] [ 5.69248222e-01 8.22164282e-01 -1.53482527e-03 3.48970792e+01] [ 2.69410275e-03 1.46746110e-06 9.99996371e-01 2.28965194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.664012739 meters Centerline goodness : 0.995165 Centerline is valid? [True, True] Translation: X:123.64, Y:34.91, Z:0.23 [[ 8.22123605e-01 -5.69304730e-01 -2.21403131e-03 1.23644143e+02] [ 5.69302661e-01 8.22126587e-01 -1.53501046e-03 3.49127281e+01] [ 2.69410272e-03 1.51442369e-06 9.99996371e-01 2.29736857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.694012739 meters Centerline goodness : 0.994650 Centerline is valid? [True, True] Translation: X:123.67, Y:34.93, Z:0.24 [[ 8.22298873e-01 -5.69051546e-01 -2.21389801e-03 1.23667738e+02] [ 5.69049475e-01 8.22301854e-01 -1.53520269e-03 3.49287552e+01] [ 2.69410190e-03 2.57793917e-06 9.99996371e-01 2.35622450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.724012739 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:123.69, Y:34.94, Z:0.24 [[ 8.22532095e-01 -5.68714386e-01 -2.21364291e-03 1.23689721e+02] [ 5.68712312e-01 8.22535074e-01 -1.53557044e-03 3.49442505e+01] [ 2.69409993e-03 4.12999372e-06 9.99996371e-01 2.36529161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.754012739 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:123.71, Y:34.96, Z:0.24 [[ 8.23055348e-01 -5.67956859e-01 -2.21351626e-03 1.23711951e+02] [ 5.67954783e-01 8.23058325e-01 -1.53575298e-03 3.49608837e+01] [ 2.69409442e-03 6.83255684e-06 9.99996371e-01 2.35104124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.784012739 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:123.73, Y:34.98, Z:0.23 [[ 8.23290876e-01 -5.67615394e-01 -2.21322802e-03 1.23733811e+02] [ 5.67613316e-01 8.23293850e-01 -1.53616826e-03 3.49759880e+01] [ 2.69408977e-03 8.45561998e-06 9.99996371e-01 2.33345630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.814012739 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:123.76, Y:34.99, Z:0.23 [[ 8.23626878e-01 -5.67127735e-01 -2.21310241e-03 1.23756443e+02] [ 5.67125655e-01 8.23629851e-01 -1.53634920e-03 3.49920120e+01] [ 2.69408345e-03 1.02713444e-05 9.99996371e-01 2.33040085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.844012739 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:123.78, Y:35.01, Z:0.23 [[ 8.23755158e-01 -5.66941393e-01 -2.21281271e-03 1.23778600e+02] [ 5.66939310e-01 8.23758130e-01 -1.53676634e-03 3.50084866e+01] [ 2.69407891e-03 1.13886924e-05 9.99996371e-01 2.34616142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.874012739 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:123.80, Y:35.03, Z:0.24 [[ 8.24462665e-01 -5.65912023e-01 -2.21272251e-03 1.23798966e+02] [ 5.65909936e-01 8.24465634e-01 -1.53689621e-03 3.50261442e+01] [ 2.69406171e-03 1.49118947e-05 9.99996371e-01 2.35996035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.904012739 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:123.82, Y:35.04, Z:0.24 [[ 8.24605244e-01 -5.65704249e-01 -2.21252777e-03 1.23820779e+02] [ 5.65702160e-01 8.24608212e-01 -1.53717651e-03 3.50437997e+01] [ 2.69405585e-03 1.59320707e-05 9.99996371e-01 2.37238314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.934012739 meters Centerline goodness : 0.994611 Centerline is valid? [True, True] Translation: X:123.84, Y:35.06, Z:0.24 [[ 8.25062605e-01 -5.65036993e-01 -2.21224034e-03 1.23841837e+02] [ 5.65034901e-01 8.25065571e-01 -1.53759006e-03 3.50622780e+01] [ 2.69403860e-03 1.86150578e-05 9.99996371e-01 2.39082859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.964012739 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:123.86, Y:35.08, Z:0.24 [[ 8.25374807e-01 -5.64580849e-01 -2.21215112e-03 1.23863147e+02] [ 5.64578755e-01 8.25377771e-01 -1.53771840e-03 3.50780408e+01] [ 2.69402672e-03 2.02605031e-05 9.99996371e-01 2.39598686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99401273899997 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:123.88, Y:35.10, Z:0.24 [[ 8.26175287e-01 -5.63408823e-01 -2.21202859e-03 1.23884704e+02] [ 5.63406725e-01 8.26178248e-01 -1.53789464e-03 3.50952700e+01] [ 2.69399332e-03 2.42987676e-05 9.99996371e-01 2.37747285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02401273899997 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:123.91, Y:35.11, Z:0.24 [[ 8.26067465e-01 -5.63566901e-01 -2.21175113e-03 1.23908209e+02] [ 5.63564802e-01 8.26070426e-01 -1.53829357e-03 3.51140475e+01] [ 2.69399354e-03 2.42691779e-05 9.99996371e-01 2.37123179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05401273899997 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:123.93, Y:35.13, Z:0.24 [[ 8.26775418e-01 -5.62527778e-01 -2.21523954e-03 1.23929168e+02] [ 5.62525689e-01 8.26778385e-01 -1.53327803e-03 3.51318319e+01] [ 2.69402365e-03 2.15474348e-05 9.99996371e-01 2.38717178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08401273899997 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:123.95, Y:35.15, Z:0.24 [[ 8.26761022e-01 -5.62548951e-01 -2.21136741e-03 1.23950831e+02] [ 5.62546847e-01 8.26763979e-01 -1.53884241e-03 3.51493582e+01] [ 2.69395310e-03 2.82571591e-05 9.99996371e-01 2.40521417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11401273899997 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:123.97, Y:35.17, Z:0.24 [[ 8.27138828e-01 -5.61993301e-01 -2.21107093e-03 1.23970579e+02] [ 5.61991194e-01 8.27141783e-01 -1.53926828e-03 3.51674639e+01] [ 2.69392761e-03 3.05861713e-05 9.99996371e-01 2.38580771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14401273899998 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:123.99, Y:35.19, Z:0.24 [[ 8.27494530e-01 -5.61469425e-01 -2.21094224e-03 1.23992472e+02] [ 5.61467315e-01 8.27497483e-01 -1.53945310e-03 3.51855642e+01] [ 2.69390498e-03 3.25172204e-05 9.99996371e-01 2.37086157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17401273899998 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:124.01, Y:35.21, Z:0.24 [[ 8.27698752e-01 -5.61168325e-01 -2.21066441e-03 1.24012322e+02] [ 5.61166213e-01 8.27701704e-01 -1.53985196e-03 3.52056868e+01] [ 2.69388684e-03 3.39833649e-05 9.99996371e-01 2.35310034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20401273899998 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:124.03, Y:35.22, Z:0.23 [[ 8.27371156e-01 -5.61651213e-01 -2.21037644e-03 1.24032761e+02] [ 5.61649102e-01 8.27374108e-01 -1.54026522e-03 3.52226856e+01] [ 2.69390006e-03 3.29150765e-05 9.99996371e-01 2.34473199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23401273899998 meters Centerline goodness : 0.994470 Centerline is valid? [True, True] Translation: X:124.05, Y:35.24, Z:0.24 [[ 8.26650454e-01 -5.62711420e-01 -2.21023326e-03 1.24054214e+02] [ 5.62709312e-01 8.26653408e-01 -1.54047065e-03 3.52400669e+01] [ 2.69393728e-03 2.97119255e-05 9.99996371e-01 2.36274768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26401273899998 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:124.08, Y:35.26, Z:0.24 [[ 8.24070650e-01 -5.66482727e-01 -2.20995284e-03 1.24075039e+02] [ 5.66480631e-01 8.24073613e-01 -1.54087284e-03 3.52582332e+01] [ 2.69404167e-03 1.78926034e-05 9.99996371e-01 2.38641107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29401273899998 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:124.10, Y:35.28, Z:0.24 [[ 8.21457449e-01 -5.70265531e-01 -2.20983641e-03 1.24096865e+02] [ 5.70263449e-01 8.21460422e-01 -1.54103980e-03 3.52764904e+01] [ 2.69409502e-03 5.70969197e-06 9.99996371e-01 2.36998935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32401273899998 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:124.12, Y:35.29, Z:0.24 [[ 8.20654872e-01 -5.71419897e-01 -2.20955147e-03 1.24119376e+02] [ 5.71417818e-01 8.20657847e-01 -1.54144824e-03 3.52928916e+01] [ 2.69409994e-03 2.41992894e-06 9.99996371e-01 2.36030453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35401273899998 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:124.14, Y:35.31, Z:0.23 [[ 8.19877452e-01 -5.72534787e-01 -2.20925168e-03 1.24141931e+02] [ 5.72532711e-01 8.19880429e-01 -1.54187778e-03 3.53085880e+01] [ 2.69410088e-03 -7.18024020e-07 9.99996371e-01 2.34286745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38401273899999 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:124.17, Y:35.32, Z:0.24 [[ 8.18751079e-01 -5.74144399e-01 -2.20904783e-03 1.24165118e+02] [ 5.74142327e-01 8.18754059e-01 -1.54216978e-03 3.53238011e+01] [ 2.69409502e-03 -5.65468789e-06 9.99996371e-01 2.35660776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.414012739 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:124.19, Y:35.34, Z:0.24 [[ 8.18279751e-01 -5.74815944e-01 -2.20894951e-03 1.24187628e+02] [ 5.74813875e-01 8.18282733e-01 -1.54231060e-03 3.53396379e+01] [ 2.69408996e-03 -7.69328941e-06 9.99996371e-01 2.35729820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.444012739 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:124.21, Y:35.35, Z:0.23 [[ 8.18145230e-01 -5.75007395e-01 -2.20866609e-03 1.24211596e+02] [ 5.75005325e-01 8.18148211e-01 -1.54271637e-03 3.53549999e+01] [ 2.69408953e-03 -7.82872123e-06 9.99996371e-01 2.32943558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.474012739 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:124.24, Y:35.37, Z:0.23 [[ 8.16274778e-01 -5.77659597e-01 -2.20840888e-03 1.24236968e+02] [ 5.77657536e-01 8.16277765e-01 -1.54308448e-03 3.53668637e+01] [ 2.69405262e-03 -1.61230954e-05 9.99996371e-01 2.30218053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.504012739 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:124.26, Y:35.38, Z:0.23 [[ 8.16168341e-01 -5.77809970e-01 -2.20828737e-03 1.24260198e+02] [ 5.77807910e-01 8.16171329e-01 -1.54325834e-03 3.53833208e+01] [ 2.69405090e-03 -1.64073091e-05 9.99996371e-01 2.30294764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.534012739 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:124.28, Y:35.40, Z:0.23 [[ 8.15109918e-01 -5.79302120e-01 -2.20800298e-03 1.24284244e+02] [ 5.79300063e-01 8.15112909e-01 -1.54366512e-03 3.53959941e+01] [ 2.69402021e-03 -2.08395134e-05 9.99996371e-01 2.29826737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.564012739 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:124.31, Y:35.41, Z:0.23 [[ 8.14245807e-01 -5.80516056e-01 -2.20788404e-03 1.24308229e+02] [ 5.80514003e-01 8.14248800e-01 -1.54383523e-03 3.54094621e+01] [ 2.69398807e-03 -2.46462356e-05 9.99996371e-01 2.31475948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.594012739 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:124.33, Y:35.42, Z:0.23 [[ 8.13536466e-01 -5.81509711e-01 -2.20777548e-03 1.24334382e+02] [ 5.81507662e-01 8.13539461e-01 -1.54399046e-03 3.54220541e+01] [ 2.69395792e-03 -2.77458189e-05 9.99996371e-01 2.34443106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.624012739 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:124.36, Y:35.44, Z:0.23 [[ 8.13550562e-01 -5.81489991e-01 -2.20752160e-03 1.24357779e+02] [ 5.81487941e-01 8.13553557e-01 -1.54435335e-03 3.54353468e+01] [ 2.69396307e-03 -2.72376515e-05 9.99996371e-01 2.33510146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.654012739 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:124.38, Y:35.45, Z:0.23 [[ 8.14871013e-01 -5.79638129e-01 -2.20739581e-03 1.24383191e+02] [ 5.79636071e-01 8.14874002e-01 -1.54453314e-03 3.54485958e+01] [ 2.69401975e-03 -2.08909536e-05 9.99996371e-01 2.31462683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.684012739 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:124.41, Y:35.46, Z:0.23 [[ 8.15994529e-01 -5.78055410e-01 -2.20714832e-03 1.24405722e+02] [ 5.78053345e-01 8.15997514e-01 -1.54488672e-03 3.54639829e+01] [ 2.69405767e-03 -1.52303573e-05 9.99996371e-01 2.31691182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.714012739 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:124.43, Y:35.48, Z:0.24 [[ 8.18429417e-01 -5.74602835e-01 -2.20702674e-03 1.24429886e+02] [ 5.74600758e-01 8.18432393e-01 -1.54506039e-03 3.54789899e+01] [ 2.69409826e-03 -3.63636373e-06 9.99996371e-01 2.35664074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74401273899997 meters Centerline goodness : 0.995501 Centerline is valid? [True, True] Translation: X:124.45, Y:35.49, Z:0.24 [[ 8.19368543e-01 -5.73262872e-01 -2.20677942e-03 1.24453426e+02] [ 5.73260789e-01 8.19371515e-01 -1.54541355e-03 3.54939277e+01] [ 2.69410041e-03 1.20314140e-06 9.99996371e-01 2.36173281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77401273899997 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:124.48, Y:35.51, Z:0.23 [[ 8.19581389e-01 -5.72958530e-01 -2.20659560e-03 1.24477529e+02] [ 5.72956445e-01 8.19584360e-01 -1.54567596e-03 3.55086831e+01] [ 2.69409947e-03 2.52408092e-06 9.99996371e-01 2.34803550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80401273899997 meters Centerline goodness : 0.996044 Centerline is valid? [True, True] Translation: X:124.50, Y:35.52, Z:0.23 [[ 8.18311221e-01 -5.74771152e-01 -2.20630069e-03 1.24500982e+02] [ 5.74769073e-01 8.18314196e-01 -1.54609680e-03 3.55218857e+01] [ 2.69409902e-03 -2.92504138e-06 9.99996371e-01 2.33373385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83401273899997 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:124.52, Y:35.54, Z:0.23 [[ 8.17398881e-01 -5.76067880e-01 -2.20617237e-03 1.24524815e+02] [ 5.76065804e-01 8.17401858e-01 -1.54627989e-03 3.55357740e+01] [ 2.69409157e-03 -6.97300894e-06 9.99996371e-01 2.32782135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86401273899997 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:124.55, Y:35.55, Z:0.23 [[ 8.16156854e-01 -5.77826204e-01 -2.20604609e-03 1.24548757e+02] [ 5.77824135e-01 8.16159836e-01 -1.54646003e-03 3.55502987e+01] [ 2.69407134e-03 -1.25527191e-05 9.99996371e-01 2.34567233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89401273899998 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:124.57, Y:35.56, Z:0.23 [[ 8.14341011e-01 -5.80382505e-01 -2.20575558e-03 1.24572747e+02] [ 5.80380444e-01 8.14343998e-01 -1.54687428e-03 3.55636284e+01] [ 2.69402259e-03 -2.04942355e-05 9.99996371e-01 2.34378816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92401273899998 meters Centerline goodness : 0.996596 Centerline is valid? [True, True] Translation: X:124.60, Y:35.58, Z:0.23 [[ 8.13698305e-01 -5.81283240e-01 -2.20555816e-03 1.24596539e+02] [ 5.81281181e-01 8.13701293e-01 -1.54715572e-03 3.55786515e+01] [ 2.69400121e-03 -2.31314625e-05 9.99996371e-01 2.34351445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95401273899998 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:124.62, Y:35.59, Z:0.24 [[ 8.13307929e-01 -5.81829313e-01 -2.20526959e-03 1.24620256e+02] [ 5.81827256e-01 8.13310918e-01 -1.54756693e-03 3.55914425e+01] [ 2.69398964e-03 -2.44374954e-05 9.99996371e-01 2.35100751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98401273899998 meters Centerline goodness : 0.996500 Centerline is valid? [True, True] Translation: X:124.64, Y:35.61, Z:0.23 [[ 8.13240011e-01 -5.81924241e-01 -2.20514405e-03 1.24643149e+02] [ 5.81922184e-01 8.13243000e-01 -1.54774578e-03 3.56064248e+01] [ 2.69398876e-03 -2.45334437e-05 9.99996371e-01 2.34797378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01401273899998 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:124.67, Y:35.62, Z:0.23 [[ 8.13771204e-01 -5.81181181e-01 -2.20499026e-03 1.24666088e+02] [ 5.81179120e-01 8.13774191e-01 -1.54796485e-03 3.56218367e+01] [ 2.69401221e-03 -2.18050800e-05 9.99996371e-01 2.33329785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04401273899998 meters Centerline goodness : 0.996593 Centerline is valid? [True, True] Translation: X:124.69, Y:35.64, Z:0.23 [[ 8.14023970e-01 -5.80827095e-01 -2.20470930e-03 1.24688937e+02] [ 5.80825032e-01 8.14026956e-01 -1.54836491e-03 3.56372353e+01] [ 2.69402509e-03 -2.01441930e-05 9.99996371e-01 2.33273459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07401273899998 meters Centerline goodness : 0.996457 Centerline is valid? [True, True] Translation: X:124.71, Y:35.65, Z:0.23 [[ 8.14687147e-01 -5.79896537e-01 -2.20442535e-03 1.24712485e+02] [ 5.79894469e-01 8.14690129e-01 -1.54876906e-03 3.56524712e+01] [ 2.69404939e-03 -1.65718182e-05 9.99996371e-01 2.33064984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10401273899998 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:124.73, Y:35.67, Z:0.23 [[ 8.14977308e-01 -5.79488679e-01 -2.20413832e-03 1.24734151e+02] [ 5.79486608e-01 8.14980289e-01 -1.54917745e-03 3.56682959e+01] [ 2.69406008e-03 -1.47241674e-05 9.99996371e-01 2.32283320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13401273899999 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:124.76, Y:35.68, Z:0.23 [[ 8.15274984e-01 -5.79069808e-01 -2.20394218e-03 1.24756948e+02] [ 5.79067736e-01 8.15277963e-01 -1.54945644e-03 3.56847558e+01] [ 2.69406893e-03 -1.29987372e-05 9.99996371e-01 2.32352537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.164012739 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:124.78, Y:35.70, Z:0.23 [[ 8.15035013e-01 -5.79407518e-01 -2.20365163e-03 1.24778889e+02] [ 5.79405445e-01 8.15037992e-01 -1.54986955e-03 3.56998606e+01] [ 2.69406587e-03 -1.36098032e-05 9.99996371e-01 2.31335616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.194012739 meters Centerline goodness : 0.996542 Centerline is valid? [True, True] Translation: X:124.80, Y:35.72, Z:0.23 [[ 8.13626010e-01 -5.81384435e-01 -2.20352550e-03 1.24802487e+02] [ 5.81382369e-01 8.13628993e-01 -1.55004886e-03 3.57153526e+01] [ 2.69402651e-03 -1.99308054e-05 9.99996371e-01 2.32005937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.224012739 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:124.83, Y:35.73, Z:0.23 [[ 8.12869748e-01 -5.82441344e-01 -2.20323592e-03 1.24825333e+02] [ 5.82439281e-01 8.12872733e-01 -1.55046036e-03 3.57305661e+01] [ 2.69400262e-03 -2.29288249e-05 9.99996371e-01 2.30587347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.254012739 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:124.85, Y:35.74, Z:0.23 [[ 8.12133608e-01 -5.83467350e-01 -2.20311026e-03 1.24850879e+02] [ 5.83465290e-01 8.12136596e-01 -1.55063889e-03 3.57445293e+01] [ 2.69397363e-03 -2.61124149e-05 9.99996371e-01 2.26738529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.284012739 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:124.87, Y:35.76, Z:0.23 [[ 8.12011623e-01 -5.83637105e-01 -2.20285711e-03 1.24874714e+02] [ 5.83635045e-01 8.12014611e-01 -1.55099844e-03 3.57584223e+01] [ 2.69397240e-03 -2.62358511e-05 9.99996371e-01 2.25426352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.314012739 meters Centerline goodness : 0.997133 Centerline is valid? [True, True] Translation: X:124.90, Y:35.77, Z:0.23 [[ 8.12766544e-01 -5.82585353e-01 -2.20273122e-03 1.24899945e+02] [ 5.82583288e-01 8.12769528e-01 -1.55117720e-03 3.57702456e+01] [ 2.69400593e-03 -2.25294650e-05 9.99996371e-01 2.28243011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.344012739 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:124.92, Y:35.79, Z:0.23 [[ 8.13373975e-01 -5.81736989e-01 -2.20264438e-03 1.24923257e+02] [ 5.81734921e-01 8.13376957e-01 -1.55130051e-03 3.57851694e+01] [ 2.69402907e-03 -1.95676932e-05 9.99996371e-01 2.30373957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.374012739 meters Centerline goodness : 0.997242 Centerline is valid? [True, True] Translation: X:124.95, Y:35.80, Z:0.23 [[ 8.15838705e-01 -5.78275330e-01 -2.20235805e-03 1.24946080e+02] [ 5.78273248e-01 8.15841677e-01 -1.55170690e-03 3.57995436e+01] [ 2.69408930e-03 -7.62219634e-06 9.99996371e-01 2.29662683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.404012739 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:124.97, Y:35.82, Z:0.23 [[ 8.17551881e-01 -5.75850738e-01 -2.20207265e-03 1.24969383e+02] [ 5.75848647e-01 8.17554847e-01 -1.55211181e-03 3.58153050e+01] [ 2.69409990e-03 8.71376205e-07 9.99996371e-01 2.31890937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.434012739 meters Centerline goodness : 0.997001 Centerline is valid? [True, True] Translation: X:124.99, Y:35.83, Z:0.24 [[ 8.21827900e-01 -5.69731564e-01 -2.20179186e-03 1.24993362e+02] [ 5.69729449e-01 8.21830849e-01 -1.55251003e-03 3.58315565e+01] [ 2.69401444e-03 2.14703924e-05 9.99996371e-01 2.36072967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.464012739 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:125.02, Y:35.85, Z:0.24 [[ 8.23869753e-01 -5.66774897e-01 -2.20155341e-03 1.25015183e+02] [ 5.66772770e-01 8.23872694e-01 -1.55284809e-03 3.58476097e+01] [ 2.69391506e-03 3.15640508e-05 9.99996371e-01 2.36535140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49401273899997 meters Centerline goodness : 0.997582 Centerline is valid? [True, True] Translation: X:125.04, Y:35.87, Z:0.23 [[ 8.27560828e-01 -5.61371739e-01 -2.20142510e-03 1.25036891e+02] [ 5.61369593e-01 8.27563755e-01 -1.55302998e-03 3.58657183e+01] [ 2.69364676e-03 4.94136633e-05 9.99996371e-01 2.34059635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52401273899997 meters Centerline goodness : 0.997448 Centerline is valid? [True, True] Translation: X:125.06, Y:35.88, Z:0.23 [[ 8.28751728e-01 -5.59612123e-01 -2.20113273e-03 1.25058655e+02] [ 5.59609970e-01 8.28754649e-01 -1.55344424e-03 3.58834490e+01] [ 2.69352521e-03 5.56437770e-05 9.99996371e-01 2.33557144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55401273899997 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:125.08, Y:35.90, Z:0.23 [[ 8.29233757e-01 -5.58897604e-01 -2.20084007e-03 1.25078985e+02] [ 5.58895447e-01 8.29236676e-01 -1.55385875e-03 3.59011646e+01] [ 2.69346524e-03 5.84726333e-05 9.99996371e-01 2.32720795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58401273899997 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:125.10, Y:35.92, Z:0.23 [[ 8.28275782e-01 -5.60316326e-01 -2.20064128e-03 1.25100455e+02] [ 5.60314173e-01 8.28278704e-01 -1.55414024e-03 3.59169377e+01] [ 2.69355446e-03 5.42062275e-05 9.99996371e-01 2.32869970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61401273899997 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:125.12, Y:35.93, Z:0.23 [[ 8.25617696e-01 -5.64225644e-01 -2.20051558e-03 1.25123635e+02] [ 5.64223505e-01 8.25620628e-01 -1.55431820e-03 3.59334398e+01] [ 2.69377724e-03 4.16899982e-05 9.99996371e-01 2.31758100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64401273899998 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:125.15, Y:35.95, Z:0.23 [[ 8.24474378e-01 -5.65895007e-01 -2.20022929e-03 1.25145543e+02] [ 5.65892872e-01 8.24477313e-01 -1.55472335e-03 3.59484417e+01] [ 2.69384932e-03 3.67354983e-05 9.99996371e-01 2.30135728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67401273899998 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:125.17, Y:35.96, Z:0.23 [[ 8.23582757e-01 -5.67191856e-01 -2.20007719e-03 1.25168722e+02] [ 5.67189726e-01 8.23585695e-01 -1.55493856e-03 3.59639669e+01] [ 2.69390059e-03 3.27594120e-05 9.99996371e-01 2.30303267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70401273899998 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:125.19, Y:35.98, Z:0.23 [[ 8.22790579e-01 -5.68340412e-01 -2.19979249e-03 1.25191375e+02] [ 5.68338285e-01 8.22793519e-01 -1.55534122e-03 3.59805848e+01] [ 2.69393828e-03 2.94938158e-05 9.99996371e-01 2.31148641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73401273899998 meters Centerline goodness : 0.997328 Centerline is valid? [True, True] Translation: X:125.21, Y:36.00, Z:0.23 [[ 8.23125759e-01 -5.67854865e-01 -2.19950945e-03 1.25212925e+02] [ 5.67852735e-01 8.23128697e-01 -1.55574138e-03 3.59984565e+01] [ 2.69391466e-03 3.15733498e-05 9.99996371e-01 2.33314108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76401273899998 meters Centerline goodness : 0.997500 Centerline is valid? [True, True] Translation: X:125.24, Y:36.02, Z:0.23 [[ 8.23453143e-01 -5.67380017e-01 -2.19938320e-03 1.25235370e+02] [ 5.67377885e-01 8.23456080e-01 -1.55591985e-03 3.60150415e+01] [ 2.69389330e-03 3.33457035e-05 9.99996371e-01 2.34149121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79401273899998 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:125.26, Y:36.03, Z:0.23 [[ 8.24112708e-01 -5.66421582e-01 -2.19910269e-03 1.25257030e+02] [ 5.66419445e-01 8.24115642e-01 -1.55631621e-03 3.60311981e+01] [ 2.69384602e-03 3.69654426e-05 9.99996371e-01 2.31020227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82401273899998 meters Centerline goodness : 0.997263 Centerline is valid? [True, True] Translation: X:125.28, Y:36.05, Z:0.23 [[ 8.24312704e-01 -5.66130489e-01 -2.19899888e-03 1.25279855e+02] [ 5.66128351e-01 8.24315636e-01 -1.55646287e-03 3.60486466e+01] [ 2.69383025e-03 3.80965084e-05 9.99996371e-01 2.28178578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85401273899998 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:125.30, Y:36.07, Z:0.22 [[ 8.24586508e-01 -5.65731611e-01 -2.19874839e-03 1.25301745e+02] [ 5.65729470e-01 8.24589439e-01 -1.55681666e-03 3.60670791e+01] [ 2.69380510e-03 3.98332531e-05 9.99996371e-01 2.24825571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88401273899999 meters Centerline goodness : 0.997729 Centerline is valid? [True, True] Translation: X:125.32, Y:36.08, Z:0.23 [[ 8.24561835e-01 -5.65767573e-01 -2.19849140e-03 1.25324104e+02] [ 5.65765431e-01 8.24564765e-01 -1.55717948e-03 3.60837271e+01] [ 2.69380020e-03 4.01603348e-05 9.99996371e-01 2.25876546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.914012739 meters Centerline goodness : 0.997999 Centerline is valid? [True, True] Translation: X:125.35, Y:36.10, Z:0.23 [[ 8.25737796e-01 -5.64049873e-01 -2.19819751e-03 1.25346817e+02] [ 5.64047725e-01 8.25740721e-01 -1.55759424e-03 3.61004307e+01] [ 2.69370203e-03 4.62761315e-05 9.99996371e-01 2.30045191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.944012739 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:125.37, Y:36.12, Z:0.23 [[ 8.26148638e-01 -5.63447953e-01 -2.19810644e-03 1.25369827e+02] [ 5.63445802e-01 8.26151561e-01 -1.55772276e-03 3.61177174e+01] [ 2.69366476e-03 4.83966873e-05 9.99996371e-01 2.32504951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.974012739 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:125.39, Y:36.14, Z:0.23 [[ 8.26930566e-01 -5.62299750e-01 -2.19784872e-03 1.25390374e+02] [ 5.62297594e-01 8.26933485e-01 -1.55808629e-03 3.61361250e+01] [ 2.69358624e-03 5.25841293e-05 9.99996371e-01 2.32906295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.004012739 meters Centerline goodness : 0.997773 Centerline is valid? [True, True] Translation: X:125.41, Y:36.15, Z:0.23 [[ 8.27370899e-01 -5.61651641e-01 -2.19772520e-03 1.25412201e+02] [ 5.61649482e-01 8.27373816e-01 -1.55826051e-03 3.61538766e+01] [ 2.69353986e-03 5.49081772e-05 9.99996371e-01 2.32457462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.034012739 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:125.43, Y:36.17, Z:0.23 [[ 8.27683553e-01 -5.61190794e-01 -2.19743231e-03 1.25433782e+02] [ 5.61188632e-01 8.27686468e-01 -1.55867343e-03 3.61718260e+01] [ 2.69349816e-03 5.69143329e-05 9.99996371e-01 2.30805044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.064012739 meters Centerline goodness : 0.997713 Centerline is valid? [True, True] Translation: X:125.45, Y:36.19, Z:0.23 [[ 8.28220139e-01 -5.60398586e-01 -2.19713862e-03 1.25454533e+02] [ 5.60396420e-01 8.28223051e-01 -1.55908731e-03 3.61902346e+01] [ 2.69343117e-03 5.99988959e-05 9.99996371e-01 2.27437286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.094012739 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:125.48, Y:36.21, Z:0.23 [[ 8.28080618e-01 -5.60604730e-01 -2.19700235e-03 1.25476343e+02] [ 5.60602565e-01 8.28083530e-01 -1.55927931e-03 3.62082214e+01] [ 2.69344082e-03 5.95638248e-05 9.99996371e-01 2.27996328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.124012739 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:125.50, Y:36.23, Z:0.23 [[ 8.27654469e-01 -5.61233690e-01 -2.19670991e-03 1.25496450e+02] [ 5.61231525e-01 8.27657382e-01 -1.55969119e-03 3.62289250e+01] [ 2.69347441e-03 5.80225361e-05 9.99996371e-01 2.30704080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.154012739 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:125.52, Y:36.25, Z:0.23 [[ 8.26938828e-01 -5.62287605e-01 -2.19645042e-03 1.25517018e+02] [ 5.62285443e-01 8.26941743e-01 -1.56005653e-03 3.62462058e+01] [ 2.69353699e-03 5.50392209e-05 9.99996371e-01 2.31373766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.184012739 meters Centerline goodness : 0.997660 Centerline is valid? [True, True] Translation: X:125.54, Y:36.26, Z:0.23 [[ 8.25412200e-01 -5.64526241e-01 -2.19624855e-03 1.25537944e+02] [ 5.64524087e-01 8.25415120e-01 -1.56034067e-03 3.62648726e+01] [ 2.69367002e-03 4.80890220e-05 9.99996371e-01 2.31955828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.214012739 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:125.56, Y:36.28, Z:0.23 [[ 8.24557449e-01 -5.65773975e-01 -2.19595278e-03 1.25559238e+02] [ 5.65771824e-01 8.24560372e-01 -1.56075682e-03 3.62825074e+01] [ 2.69373123e-03 4.45254497e-05 9.99996371e-01 2.31614261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24401273899997 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:125.58, Y:36.30, Z:0.23 [[ 8.23172603e-01 -5.67786971e-01 -2.19565258e-03 1.25578754e+02] [ 5.67784826e-01 8.23175531e-01 -1.56117902e-03 3.63008043e+01] [ 2.69382458e-03 3.84615753e-05 9.99996371e-01 2.32317249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27401273899997 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:125.60, Y:36.32, Z:0.23 [[ 8.22813762e-01 -5.68306865e-01 -2.19544823e-03 1.25599912e+02] [ 5.68304721e-01 8.22816690e-01 -1.56146634e-03 3.63173001e+01] [ 2.69384349e-03 3.71123994e-05 9.99996371e-01 2.32068108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30401273899997 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:125.62, Y:36.34, Z:0.23 [[ 8.21927264e-01 -5.69588231e-01 -2.19531944e-03 1.25620510e+02] [ 5.69586091e-01 8.21930195e-01 -1.56164739e-03 3.63357672e+01] [ 2.69389531e-03 3.31371509e-05 9.99996371e-01 2.31263008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33401273899997 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:125.64, Y:36.35, Z:0.23 [[ 8.21547060e-01 -5.70136483e-01 -2.19502821e-03 1.25642801e+02] [ 5.70134344e-01 8.21549992e-01 -1.56205663e-03 3.63531658e+01] [ 2.69391088e-03 3.18420578e-05 9.99996371e-01 2.31747898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36401273899997 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:125.66, Y:36.37, Z:0.23 [[ 8.21291916e-01 -5.70503964e-01 -2.19473408e-03 1.25664477e+02] [ 5.70501825e-01 8.21294847e-01 -1.56246978e-03 3.63693909e+01] [ 2.69391899e-03 3.11440036e-05 9.99996371e-01 2.34035060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39401273899998 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:125.69, Y:36.39, Z:0.23 [[ 8.21609589e-01 -5.70046373e-01 -2.19460586e-03 1.25687047e+02] [ 5.70044232e-01 8.21612519e-01 -1.56264985e-03 3.63859854e+01] [ 2.69389853e-03 3.28656898e-05 9.99996371e-01 2.34862877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42401273899998 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:125.71, Y:36.40, Z:0.23 [[ 8.21500661e-01 -5.70203340e-01 -2.19430705e-03 1.25710128e+02] [ 5.70201199e-01 8.21503591e-01 -1.56306934e-03 3.64026547e+01] [ 2.69389848e-03 3.28659866e-05 9.99996371e-01 2.34939613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45401273899998 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:125.73, Y:36.42, Z:0.24 [[ 8.22109766e-01 -5.69324793e-01 -2.19400833e-03 1.25731034e+02] [ 5.69322647e-01 8.22112692e-01 -1.56348853e-03 3.64203897e+01] [ 2.69385488e-03 3.62605588e-05 9.99996371e-01 2.36321392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48401273899998 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:125.75, Y:36.44, Z:0.24 [[ 8.21729168e-01 -5.69873987e-01 -2.19388359e-03 1.25752903e+02] [ 5.69871843e-01 8.21732096e-01 -1.56366353e-03 3.64357621e+01] [ 2.69387574e-03 3.46754474e-05 9.99996371e-01 2.36122561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51401273899998 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:125.77, Y:36.45, Z:0.23 [[ 8.21124911e-01 -5.70744311e-01 -2.19375520e-03 1.25774873e+02] [ 5.70742170e-01 8.21127840e-01 -1.56384365e-03 3.64515502e+01] [ 2.69390833e-03 3.20423726e-05 9.99996371e-01 2.34278756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54401273899998 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:125.80, Y:36.47, Z:0.23 [[ 8.20344196e-01 -5.71865883e-01 -2.19362767e-03 1.25796997e+02] [ 5.71863745e-01 8.20347129e-01 -1.56402252e-03 3.64679708e+01] [ 2.69394728e-03 2.85806604e-05 9.99996371e-01 2.31775525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57401273899998 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:125.82, Y:36.49, Z:0.23 [[ 8.19118383e-01 -5.73620313e-01 -2.19333668e-03 1.25818898e+02] [ 5.73618180e-01 8.19121320e-01 -1.56443048e-03 3.64851150e+01] [ 2.69399794e-03 2.33159676e-05 9.99996371e-01 2.30673853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60401273899998 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:125.84, Y:36.50, Z:0.23 [[ 8.19007754e-01 -5.73778259e-01 -2.19304679e-03 1.25840095e+02] [ 5.73776125e-01 8.19010689e-01 -1.56483674e-03 3.65013860e+01] [ 2.69399807e-03 2.32955345e-05 9.99996371e-01 2.31578731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63401273899999 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:125.86, Y:36.52, Z:0.23 [[ 8.19632402e-01 -5.72885605e-01 -2.19292176e-03 1.25859877e+02] [ 5.72883468e-01 8.19635336e-01 -1.56501194e-03 3.65193304e+01] [ 2.69396898e-03 2.64458729e-05 9.99996371e-01 2.32120596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.664012739 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:125.88, Y:36.54, Z:0.23 [[ 8.20377793e-01 -5.71817688e-01 -2.19279721e-03 1.25880757e+02] [ 5.71815547e-01 8.20380723e-01 -1.56518644e-03 3.65378792e+01] [ 2.69392985e-03 3.01686653e-05 9.99996371e-01 2.33253942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.694012739 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:125.90, Y:36.56, Z:0.24 [[ 8.22134885e-01 -5.69288524e-01 -2.19251361e-03 1.25900137e+02] [ 5.69286372e-01 8.22137808e-01 -1.56558360e-03 3.65595275e+01] [ 2.69381711e-03 3.89527780e-05 9.99996371e-01 2.35557675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.724012739 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:125.92, Y:36.58, Z:0.24 [[ 8.22960145e-01 -5.68094882e-01 -2.19221567e-03 1.25920646e+02] [ 5.68092725e-01 8.22963063e-01 -1.56600069e-03 3.65772139e+01] [ 2.69374950e-03 4.33743791e-05 9.99996371e-01 2.36188486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.754012739 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:125.94, Y:36.60, Z:0.24 [[ 8.22425063e-01 -5.68869238e-01 -2.19208580e-03 1.25941034e+02] [ 5.68867084e-01 8.22427984e-01 -1.56618245e-03 3.65955156e+01] [ 2.69378572e-03 4.10622462e-05 9.99996371e-01 2.38800515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.784012739 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:125.96, Y:36.61, Z:0.24 [[ 8.20966903e-01 -5.70971575e-01 -2.19196634e-03 1.25963305e+02] [ 5.70969427e-01 8.20969829e-01 -1.56634963e-03 3.66121080e+01] [ 2.69387934e-03 3.43754454e-05 9.99996371e-01 2.40859382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.814012739 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:125.99, Y:36.63, Z:0.24 [[ 8.19178173e-01 -5.73534931e-01 -2.19167266e-03 1.25985389e+02] [ 5.73532792e-01 8.19181105e-01 -1.56676044e-03 3.66275005e+01] [ 2.69396867e-03 2.64598109e-05 9.99996371e-01 2.41699924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.844012739 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:126.01, Y:36.64, Z:0.24 [[ 8.15307892e-01 -5.79023521e-01 -2.19154546e-03 1.26009413e+02] [ 5.79021401e-01 8.15310838e-01 -1.56693834e-03 3.66425623e+01] [ 2.69408492e-03 8.58547477e-06 9.99996371e-01 2.39946380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.874012739 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:126.03, Y:36.66, Z:0.24 [[ 8.12812138e-01 -5.82521782e-01 -2.19125363e-03 1.26033241e+02] [ 5.82519674e-01 8.12815092e-01 -1.56734635e-03 3.66565239e+01] [ 2.69409741e-03 -2.49021278e-06 9.99996371e-01 2.36234490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.904012739 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:126.06, Y:36.67, Z:0.23 [[ 8.12635071e-01 -5.82768770e-01 -2.19113099e-03 1.26055943e+02] [ 5.82766662e-01 8.12638025e-01 -1.56751777e-03 3.66718893e+01] [ 2.69409677e-03 -3.09818097e-06 9.99996371e-01 2.34421940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.934012739 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:126.08, Y:36.69, Z:0.24 [[ 8.13523420e-01 -5.81528025e-01 -2.19100532e-03 1.26079333e+02] [ 5.81525912e-01 8.13526371e-01 -1.56769341e-03 3.66873472e+01] [ 2.69409826e-03 1.22893268e-06 9.99996371e-01 2.36661510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.964012739 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:126.10, Y:36.70, Z:0.24 [[ 8.14041214e-01 -5.80802981e-01 -2.19071879e-03 1.26102758e+02] [ 5.80800864e-01 8.14044162e-01 -1.56809371e-03 3.67019613e+01] [ 2.69409534e-03 4.12153599e-06 9.99996371e-01 2.38680657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99401273899997 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:126.13, Y:36.71, Z:0.24 [[ 8.15137882e-01 -5.79262837e-01 -2.19043364e-03 1.26127137e+02] [ 5.79260714e-01 8.15140825e-01 -1.56849193e-03 3.67136419e+01] [ 2.69408097e-03 9.70504052e-06 9.99996371e-01 2.38191815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02401273899997 meters Centerline goodness : 0.998157 Centerline is valid? [True, True] Translation: X:126.15, Y:36.73, Z:0.24 [[ 8.15542008e-01 -5.78693732e-01 -2.19030963e-03 1.26151045e+02] [ 5.78691606e-01 8.15544949e-01 -1.56866508e-03 3.67289828e+01] [ 2.69407261e-03 1.17984699e-05 9.99996371e-01 2.36933785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05401273899997 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:126.17, Y:36.74, Z:0.23 [[ 8.16608226e-01 -5.77188192e-01 -2.19002924e-03 1.26174220e+02] [ 5.77186059e-01 8.16611163e-01 -1.56905644e-03 3.67429891e+01] [ 2.69404317e-03 1.72500455e-05 9.99996371e-01 2.34022409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08401273899997 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:126.20, Y:36.76, Z:0.23 [[ 8.17208960e-01 -5.76337332e-01 -2.18983778e-03 1.26198275e+02] [ 5.76335196e-01 8.17211894e-01 -1.56932360e-03 3.67580617e+01] [ 2.69402126e-03 2.03847194e-05 9.99996371e-01 2.34335185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11401273899997 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:126.22, Y:36.77, Z:0.23 [[ 8.18737527e-01 -5.74163798e-01 -2.18953869e-03 1.26221275e+02] [ 5.74161653e-01 8.18740454e-01 -1.56974079e-03 3.67721317e+01] [ 2.69395224e-03 2.80565428e-05 9.99996371e-01 2.32552372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14401273899998 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:126.24, Y:36.79, Z:0.23 [[ 8.19929312e-01 -5.72460592e-01 -2.18941242e-03 1.26242327e+02] [ 5.72458440e-01 8.19932235e-01 -1.56991689e-03 3.67890187e+01] [ 2.69388537e-03 3.38732552e-05 9.99996371e-01 2.31605428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17401273899998 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:126.27, Y:36.81, Z:0.23 [[ 8.21254713e-01 -5.70557538e-01 -2.18921108e-03 1.26265202e+02] [ 5.70555379e-01 8.21257629e-01 -1.57019760e-03 3.68066634e+01] [ 2.69379438e-03 4.04660178e-05 9.99996371e-01 2.33615095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20401273899998 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:126.29, Y:36.82, Z:0.24 [[ 8.23621939e-01 -5.67135001e-01 -2.18896228e-03 1.26287959e+02] [ 5.67132829e-01 8.23624846e-01 -1.57054437e-03 3.68234800e+01] [ 2.69359440e-03 5.21024259e-05 9.99996371e-01 2.35093635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23401273899998 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:126.31, Y:36.84, Z:0.23 [[ 8.24350970e-01 -5.66074808e-01 -2.18867254e-03 1.26309333e+02] [ 5.66072631e-01 8.24353873e-01 -1.57094804e-03 3.68415812e+01] [ 2.69351479e-03 5.60649143e-05 9.99996371e-01 2.31967379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26401273899998 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:126.33, Y:36.86, Z:0.23 [[ 8.23640803e-01 -5.67107606e-01 -2.18853581e-03 1.26330922e+02] [ 5.67105432e-01 8.23643709e-01 -1.57113849e-03 3.68592339e+01] [ 2.69357834e-03 5.29232189e-05 9.99996371e-01 2.31080668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29401273899998 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:126.35, Y:36.88, Z:0.23 [[ 8.20734166e-01 -5.71306084e-01 -2.18825123e-03 1.26354261e+02] [ 5.71303923e-01 8.20737082e-01 -1.57153475e-03 3.68753410e+01] [ 2.69380629e-03 3.96557525e-05 9.99996371e-01 2.32345616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32401273899998 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:126.38, Y:36.89, Z:0.23 [[ 8.18848164e-01 -5.74006007e-01 -2.18796315e-03 1.26376970e+02] [ 5.74003856e-01 8.18851087e-01 -1.57193573e-03 3.68909741e+01] [ 2.69391656e-03 3.12774015e-05 9.99996371e-01 2.33085102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35401273899998 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:126.40, Y:36.91, Z:0.23 [[ 8.14921115e-01 -5.79567762e-01 -2.18767173e-03 1.26398712e+02] [ 5.79565630e-01 8.14924051e-01 -1.57234120e-03 3.69066959e+01] [ 2.69406458e-03 1.34346976e-05 9.99996371e-01 2.33835060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38401273899999 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:126.42, Y:36.92, Z:0.23 [[ 8.13086386e-01 -5.82138939e-01 -2.18754513e-03 1.26421674e+02] [ 5.82136815e-01 8.13089328e-01 -1.57251732e-03 3.69218360e+01] [ 2.69409316e-03 5.14186744e-06 9.99996371e-01 2.34849385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.414012739 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:126.45, Y:36.94, Z:0.24 [[ 8.10668372e-01 -5.85501500e-01 -2.18734994e-03 1.26446098e+02] [ 5.85499388e-01 8.10671323e-01 -1.57278878e-03 3.69353518e+01] [ 2.69409205e-03 -5.68193235e-06 9.99996371e-01 2.36362699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.444012739 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:126.47, Y:36.95, Z:0.24 [[ 8.10043532e-01 -5.86365665e-01 -2.18705537e-03 1.26468290e+02] [ 5.86363555e-01 8.10046484e-01 -1.57319828e-03 3.69500295e+01] [ 2.69408597e-03 -8.05047213e-06 9.99996371e-01 2.36409849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.474012739 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:126.49, Y:36.96, Z:0.23 [[ 8.09579098e-01 -5.87006731e-01 -2.18692765e-03 1.26492791e+02] [ 5.87004622e-01 8.09582052e-01 -1.57337581e-03 3.69641822e+01] [ 2.69407956e-03 -9.96446675e-06 9.99996371e-01 2.34825994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.504012739 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:126.52, Y:36.98, Z:0.23 [[ 8.09735295e-01 -5.86791249e-01 -2.18663992e-03 1.26515938e+02] [ 5.86789139e-01 8.09738248e-01 -1.57377559e-03 3.69783035e+01] [ 2.69408372e-03 -8.75491590e-06 9.99996371e-01 2.33856377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.534012739 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:126.54, Y:36.99, Z:0.24 [[ 8.09655639e-01 -5.86901155e-01 -2.18648456e-03 1.26539671e+02] [ 5.86899044e-01 8.09658591e-01 -1.57399140e-03 3.69933070e+01] [ 2.69408338e-03 -8.85468455e-06 9.99996371e-01 2.35851561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.564012739 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:126.56, Y:37.01, Z:0.24 [[ 8.09915399e-01 -5.86542639e-01 -2.18619316e-03 1.26562884e+02] [ 5.86540526e-01 8.09918349e-01 -1.57439604e-03 3.70079387e+01] [ 2.69408836e-03 -7.16328788e-06 9.99996371e-01 2.40100718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.594012739 meters Centerline goodness : 0.997861 Centerline is valid? [True, True] Translation: X:126.59, Y:37.02, Z:0.24 [[ 8.09342634e-01 -5.87332719e-01 -2.18607388e-03 1.26586517e+02] [ 5.87330608e-01 8.09345586e-01 -1.57456164e-03 3.70236887e+01] [ 2.69408081e-03 -9.58823091e-06 9.99996371e-01 2.40511216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.624012739 meters Centerline goodness : 0.997895 Centerline is valid? [True, True] Translation: X:126.61, Y:37.04, Z:0.24 [[ 8.08393718e-01 -5.88638106e-01 -2.18577519e-03 1.26610213e+02] [ 5.88635999e-01 8.08396673e-01 -1.57497617e-03 3.70390293e+01] [ 2.69406438e-03 -1.34251249e-05 9.99996371e-01 2.40288118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.654012739 meters Centerline goodness : 0.997239 Centerline is valid? [True, True] Translation: X:126.63, Y:37.05, Z:0.24 [[ 8.06751804e-01 -5.90886411e-01 -2.18547772e-03 1.26634586e+02] [ 5.90884312e-01 8.06754763e-01 -1.57538883e-03 3.70538028e+01] [ 2.69402042e-03 -2.04167220e-05 9.99996371e-01 2.39960549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.684012739 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:126.66, Y:37.07, Z:0.24 [[ 8.06384490e-01 -5.91387588e-01 -2.18517388e-03 1.26656449e+02] [ 5.91385489e-01 8.06387451e-01 -1.57581017e-03 3.70688115e+01] [ 2.69401137e-03 -2.15712381e-05 9.99996371e-01 2.38898839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.714012739 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:126.68, Y:37.08, Z:0.24 [[ 8.06332987e-01 -5.91457809e-01 -2.18504200e-03 1.26678757e+02] [ 5.91455710e-01 8.06335947e-01 -1.57599301e-03 3.70841590e+01] [ 2.69401129e-03 -2.15804185e-05 9.99996371e-01 2.36429568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74401273899997 meters Centerline goodness : 0.995427 Centerline is valid? [True, True] Translation: X:126.70, Y:37.10, Z:0.24 [[ 8.06095564e-01 -5.91781351e-01 -2.18483890e-03 1.26701244e+02] [ 5.91779252e-01 8.06098525e-01 -1.57627453e-03 3.71008419e+01] [ 2.69400528e-03 -2.23144261e-05 9.99996371e-01 2.44110214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77401273899997 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:126.72, Y:37.12, Z:0.24 [[ 8.05934995e-01 -5.92000010e-01 -2.18454189e-03 1.26724687e+02] [ 5.91997911e-01 8.05937955e-01 -1.57668604e-03 3.71151203e+01] [ 2.69400338e-03 -2.25377836e-05 9.99996371e-01 2.37778077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80401273899997 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:126.75, Y:37.13, Z:0.24 [[ 8.05990861e-01 -5.91923948e-01 -2.18441251e-03 1.26747504e+02] [ 5.91921848e-01 8.05993821e-01 -1.57686527e-03 3.71300823e+01] [ 2.69400730e-03 -2.20624915e-05 9.99996371e-01 2.38137341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83401273899997 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:126.77, Y:37.14, Z:0.24 [[ 8.06225016e-01 -5.91604980e-01 -2.18421191e-03 1.26772183e+02] [ 5.91602878e-01 8.06227974e-01 -1.57714309e-03 3.71418876e+01] [ 2.69401845e-03 -2.06538376e-05 9.99996371e-01 2.38406016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86401273899997 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:126.80, Y:37.16, Z:0.24 [[ 8.06130330e-01 -5.91733996e-01 -2.18392167e-03 1.26796039e+02] [ 5.91731894e-01 8.06133288e-01 -1.57754489e-03 3.71561140e+01] [ 2.69401890e-03 -2.05893247e-05 9.99996371e-01 2.39147198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89401273899998 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:126.82, Y:37.17, Z:0.24 [[ 8.06297470e-01 -5.91506231e-01 -2.18363045e-03 1.26820700e+02] [ 5.91504126e-01 8.06300427e-01 -1.57794789e-03 3.71694537e+01] [ 2.69402817e-03 -1.93310296e-05 9.99996371e-01 2.40785847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92401273899998 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:126.84, Y:37.18, Z:0.24 [[ 8.06542654e-01 -5.91171871e-01 -2.18333504e-03 1.26843421e+02] [ 5.91169764e-01 8.06545609e-01 -1.57835653e-03 3.71839059e+01] [ 2.69403927e-03 -1.77097927e-05 9.99996371e-01 2.39217951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95401273899998 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:126.87, Y:37.20, Z:0.23 [[ 8.07817990e-01 -5.89427967e-01 -2.18317537e-03 1.26867337e+02] [ 5.89425854e-01 8.07820940e-01 -1.57857735e-03 3.71977516e+01] [ 2.69407242e-03 -1.16168257e-05 9.99996371e-01 2.34430768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98401273899998 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:126.89, Y:37.21, Z:0.23 [[ 8.08404356e-01 -5.88623506e-01 -2.18304525e-03 1.26890644e+02] [ 5.88621389e-01 8.08407303e-01 -1.57875728e-03 3.72140819e+01] [ 2.69408337e-03 -8.71286613e-06 9.99996371e-01 2.34974716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01401273899998 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:126.91, Y:37.23, Z:0.24 [[ 8.10222999e-01 -5.86117674e-01 -2.18275949e-03 1.26914156e+02] [ 5.86115547e-01 8.10225939e-01 -1.57915227e-03 3.72289457e+01] [ 2.69409741e-03 1.16217925e-07 9.99996371e-01 2.37661463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04401273899998 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:126.94, Y:37.25, Z:0.24 [[ 8.11214496e-01 -5.84744626e-01 -2.18260932e-03 1.26937157e+02] [ 5.84742494e-01 8.11217432e-01 -1.57935979e-03 3.72450097e+01] [ 2.69409288e-03 4.93514150e-06 9.99996371e-01 2.39251293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07401273899998 meters Centerline goodness : 0.997478 Centerline is valid? [True, True] Translation: X:126.96, Y:37.26, Z:0.24 [[ 8.12199380e-01 -5.83375869e-01 -2.18233579e-03 1.26960135e+02] [ 5.83373730e-01 8.12202312e-01 -1.57973767e-03 3.72615257e+01] [ 2.69407901e-03 9.94458662e-06 9.99996371e-01 2.39637229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10401273899998 meters Centerline goodness : 0.998203 Centerline is valid? [True, True] Translation: X:126.98, Y:37.28, Z:0.24 [[ 8.14202987e-01 -5.80576209e-01 -2.18203823e-03 1.26982134e+02] [ 5.80574059e-01 8.14205911e-01 -1.58014857e-03 3.72775964e+01] [ 2.69402509e-03 1.97268981e-05 9.99996371e-01 2.37841625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13401273899999 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:127.00, Y:37.29, Z:0.24 [[ 8.15079702e-01 -5.79344733e-01 -2.18187708e-03 1.27004853e+02] [ 5.79342578e-01 8.15082622e-01 -1.58037105e-03 3.72945717e+01] [ 2.69398974e-03 2.40740723e-05 9.99996371e-01 2.37771653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.164012739 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:127.03, Y:37.31, Z:0.24 [[ 8.16349848e-01 -5.77553605e-01 -2.18160598e-03 1.27026932e+02] [ 5.77551442e-01 8.16352762e-01 -1.58074520e-03 3.73125383e+01] [ 2.69392516e-03 3.04514247e-05 9.99996371e-01 2.38545375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.194012739 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:127.05, Y:37.33, Z:0.24 [[ 8.16634496e-01 -5.77151056e-01 -2.18132929e-03 1.27048815e+02] [ 5.77148891e-01 8.16637409e-01 -1.58112692e-03 3.73307358e+01] [ 2.69390417e-03 3.22510070e-05 9.99996371e-01 2.39787139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.224012739 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:127.07, Y:37.35, Z:0.24 [[ 8.15583855e-01 -5.78634788e-01 -2.18105095e-03 1.27069506e+02] [ 5.78632628e-01 8.15586771e-01 -1.58151078e-03 3.73501852e+01] [ 2.69395346e-03 2.78274173e-05 9.99996371e-01 2.40141578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.254012739 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:127.09, Y:37.37, Z:0.24 [[ 8.14385533e-01 -5.80320126e-01 -2.18075154e-03 1.27090385e+02] [ 5.80317970e-01 8.14388452e-01 -1.58192353e-03 3.73669489e+01] [ 2.69400093e-03 2.27663320e-05 9.99996371e-01 2.40397197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.284012739 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:127.11, Y:37.38, Z:0.24 [[ 8.12439484e-01 -5.83041447e-01 -2.18054751e-03 1.27111134e+02] [ 5.83039301e-01 8.12442411e-01 -1.58220473e-03 3.73840610e+01] [ 2.69406021e-03 1.41006979e-05 9.99996371e-01 2.41962987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.314012739 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:127.13, Y:37.40, Z:0.24 [[ 8.12337676e-01 -5.83183287e-01 -2.18039362e-03 1.27134058e+02] [ 5.83181140e-01 8.12340602e-01 -1.58241676e-03 3.74009559e+01] [ 2.69406127e-03 1.38923168e-05 9.99996371e-01 2.42039716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.344012739 meters Centerline goodness : 0.997515 Centerline is valid? [True, True] Translation: X:127.16, Y:37.42, Z:0.24 [[ 8.11654290e-01 -5.84134026e-01 -2.18011727e-03 1.27156130e+02] [ 5.84131882e-01 8.11657218e-01 -1.58279740e-03 3.74184544e+01] [ 2.69407374e-03 1.12082968e-05 9.99996371e-01 2.42144742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.374012739 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:127.18, Y:37.44, Z:0.24 [[ 8.11003221e-01 -5.85037626e-01 -2.17982126e-03 1.27177963e+02] [ 5.85035484e-01 8.11006151e-01 -1.58320495e-03 3.74362534e+01] [ 2.69408292e-03 8.71153052e-06 9.99996371e-01 2.39206990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.404012739 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:127.20, Y:37.45, Z:0.24 [[ 8.11253414e-01 -5.84690643e-01 -2.17952283e-03 1.27198884e+02] [ 5.84688499e-01 8.11256342e-01 -1.58361569e-03 3.74532392e+01] [ 2.69407699e-03 1.03716984e-05 9.99996371e-01 2.37825137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.434012739 meters Centerline goodness : 0.997100 Centerline is valid? [True, True] Translation: X:127.22, Y:37.47, Z:0.24 [[ 8.12176780e-01 -5.83407344e-01 -2.17932007e-03 1.27219182e+02] [ 5.83405194e-01 8.12179704e-01 -1.58389468e-03 3.74717522e+01] [ 2.69405531e-03 1.49758303e-05 9.99996371e-01 2.40009735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.464012739 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:127.24, Y:37.49, Z:0.24 [[ 8.12425791e-01 -5.83060534e-01 -2.17915544e-03 1.27240900e+02] [ 5.83058382e-01 8.12428713e-01 -1.58412113e-03 3.74877766e+01] [ 2.69404697e-03 1.64060173e-05 9.99996371e-01 2.40684479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49401273899997 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:127.26, Y:37.50, Z:0.24 [[ 8.12124925e-01 -5.83479526e-01 -2.17899675e-03 1.27263393e+02] [ 5.83477375e-01 8.12127849e-01 -1.58433940e-03 3.75046133e+01] [ 2.69405354e-03 1.52862128e-05 9.99996371e-01 2.41753156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52401273899997 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:127.29, Y:37.52, Z:0.24 [[ 8.11802533e-01 -5.83927993e-01 -2.17870472e-03 1.27285024e+02] [ 5.83925843e-01 8.11805456e-01 -1.58474088e-03 3.75207796e+01] [ 2.69405894e-03 1.42946665e-05 9.99996371e-01 2.41846437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55401273899997 meters Centerline goodness : 0.995980 Centerline is valid? [True, True] Translation: X:127.31, Y:37.54, Z:0.24 [[ 8.11526599e-01 -5.84311417e-01 -2.17854678e-03 1.27306834e+02] [ 5.84309268e-01 8.11529524e-01 -1.58495796e-03 3.75373995e+01] [ 2.69406407e-03 1.32904697e-05 9.99996371e-01 2.41100030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58401273899997 meters Centerline goodness : 0.996859 Centerline is valid? [True, True] Translation: X:127.33, Y:37.55, Z:0.24 [[ 8.11636080e-01 -5.84159335e-01 -2.17835082e-03 1.27329558e+02] [ 5.84157184e-01 8.11639003e-01 -1.58522725e-03 3.75536935e+01] [ 2.69405978e-03 1.41283535e-05 9.99996371e-01 2.41500639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61401273899997 meters Centerline goodness : 0.996758 Centerline is valid? [True, True] Translation: X:127.35, Y:37.57, Z:0.24 [[ 8.11979462e-01 -5.83681941e-01 -2.17806467e-03 1.27351756e+02] [ 5.83679788e-01 8.11982383e-01 -1.58562031e-03 3.75713644e+01] [ 2.69404808e-03 1.61988026e-05 9.99996371e-01 2.42111239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64401273899998 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:127.37, Y:37.59, Z:0.24 [[ 8.12197999e-01 -5.83377809e-01 -2.17777567e-03 1.27373486e+02] [ 5.83375653e-01 8.12200918e-01 -1.58601714e-03 3.75896776e+01] [ 2.69403860e-03 1.76986461e-05 9.99996371e-01 2.40783294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67401273899998 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:127.39, Y:37.61, Z:0.24 [[ 8.12976732e-01 -5.82292102e-01 -2.17748028e-03 1.27393260e+02] [ 5.82289942e-01 8.12979647e-01 -1.58642258e-03 3.76091282e+01] [ 2.69400849e-03 2.17997802e-05 9.99996371e-01 2.38698612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70401273899998 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:127.41, Y:37.63, Z:0.24 [[ 8.12947440e-01 -5.82332997e-01 -2.17735575e-03 1.27414239e+02] [ 5.82330836e-01 8.12950355e-01 -1.58659348e-03 3.76261699e+01] [ 2.69400787e-03 2.18757155e-05 9.99996371e-01 2.39614910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73401273899998 meters Centerline goodness : 0.996253 Centerline is valid? [True, True] Translation: X:127.44, Y:37.64, Z:0.25 [[ 8.12514795e-01 -5.82936504e-01 -2.17719304e-03 1.27436031e+02] [ 5.82934344e-01 8.12517712e-01 -1.58681673e-03 3.76437555e+01] [ 2.69402130e-03 2.01514671e-05 9.99996371e-01 2.45672438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76401273899998 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:127.46, Y:37.66, Z:0.25 [[ 8.12007883e-01 -5.83642407e-01 -2.17689801e-03 1.27458212e+02] [ 5.83640249e-01 8.12010801e-01 -1.58722137e-03 3.76612181e+01] [ 2.69403440e-03 1.83109743e-05 9.99996371e-01 2.47700627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79401273899998 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:127.48, Y:37.68, Z:0.25 [[ 8.10622292e-01 -5.85565336e-01 -2.17659522e-03 1.27478419e+02] [ 5.85563184e-01 8.10625214e-01 -1.58763648e-03 3.76797579e+01] [ 2.69406786e-03 1.24394919e-05 9.99996371e-01 2.47259303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82401273899998 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:127.50, Y:37.70, Z:0.25 [[ 8.09687990e-01 -5.86856560e-01 -2.17646364e-03 1.27499336e+02] [ 5.86854412e-01 8.09690915e-01 -1.58781684e-03 3.76965449e+01] [ 2.69408357e-03 8.36892898e-06 9.99996371e-01 2.46387064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85401273899998 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:127.52, Y:37.71, Z:0.24 [[ 8.08562779e-01 -5.88405894e-01 -2.17627399e-03 1.27520626e+02] [ 5.88403751e-01 8.08565708e-01 -1.58807674e-03 3.77131147e+01] [ 2.69409423e-03 3.53196444e-06 9.99996371e-01 2.44844405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88401273899999 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:127.54, Y:37.73, Z:0.24 [[ 8.06084737e-01 -5.91796132e-01 -2.17612370e-03 1.27542601e+02] [ 5.91794001e-01 8.06087674e-01 -1.58828264e-03 3.77304553e+01] [ 2.69408602e-03 -7.52655744e-06 9.99996371e-01 2.43681169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.914012739 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:127.56, Y:37.75, Z:0.24 [[ 8.03888357e-01 -5.94776240e-01 -2.17583897e-03 1.27563662e+02] [ 5.94774118e-01 8.03891301e-01 -1.58867261e-03 3.77466885e+01] [ 2.69404275e-03 -1.70172878e-05 9.99996371e-01 2.40567792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.944012739 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:127.59, Y:37.76, Z:0.24 [[ 8.03392225e-01 -5.95446219e-01 -2.17564571e-03 1.27585665e+02] [ 5.95444099e-01 8.03395171e-01 -1.58893723e-03 3.77625421e+01] [ 2.69402993e-03 -1.89355848e-05 9.99996371e-01 2.39684038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.974012739 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:127.61, Y:37.78, Z:0.24 [[ 8.02759733e-01 -5.96298648e-01 -2.17549543e-03 1.27609040e+02] [ 5.96296531e-01 8.02762681e-01 -1.58914296e-03 3.77787060e+01] [ 2.69401035e-03 -2.15404034e-05 9.99996371e-01 2.40163229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.004012739 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:127.63, Y:37.79, Z:0.24 [[ 8.01294691e-01 -5.98265899e-01 -2.17521483e-03 1.27631929e+02] [ 5.98263788e-01 8.01297643e-01 -1.58952696e-03 3.77946522e+01] [ 2.69395429e-03 -2.76727464e-05 9.99996371e-01 2.42790292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.034012739 meters Centerline goodness : 0.988604 Centerline is valid? [True, True] Translation: X:127.65, Y:37.81, Z:0.25 [[ 7.99956976e-01 -6.00053420e-01 -2.17491498e-03 1.27654432e+02] [ 6.00051315e-01 7.99959931e-01 -1.58993713e-03 3.78109576e+01] [ 2.69389205e-03 -3.31793003e-05 9.99996371e-01 2.53003017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.064012739 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:127.68, Y:37.82, Z:0.24 [[ 7.99304649e-01 -6.00922083e-01 -2.17460577e-03 1.27677656e+02] [ 6.00919979e-01 7.99307606e-01 -1.59035994e-03 3.78243642e+01] [ 2.69386134e-03 -3.55819627e-05 9.99996371e-01 2.41257745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.094012739 meters Centerline goodness : 0.994403 Centerline is valid? [True, True] Translation: X:127.70, Y:37.84, Z:0.24 [[ 7.98911738e-01 -6.01444350e-01 -2.17447203e-03 1.27703194e+02] [ 6.01442248e-01 7.98914697e-01 -1.59054277e-03 3.78370492e+01] [ 2.69384063e-03 -3.71160509e-05 9.99996371e-01 2.40961308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.124012739 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:127.72, Y:37.85, Z:0.24 [[ 7.99381189e-01 -6.00820262e-01 -2.17419413e-03 1.27724877e+02] [ 6.00818157e-01 7.99384145e-01 -1.59092256e-03 3.78523785e+01] [ 2.69387482e-03 -3.45417450e-05 9.99996371e-01 2.41271612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.154012739 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:127.75, Y:37.87, Z:0.24 [[ 8.00116710e-01 -5.99840415e-01 -2.17403234e-03 1.27746732e+02] [ 5.99838305e-01 8.00119663e-01 -1.59114361e-03 3.78677935e+01] [ 2.69391827e-03 -3.09672848e-05 9.99996371e-01 2.42043391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.184012739 meters Centerline goodness : 0.995021 Centerline is valid? [True, True] Translation: X:127.77, Y:37.88, Z:0.24 [[ 8.02253414e-01 -5.96979677e-01 -2.17383531e-03 1.27771020e+02] [ 5.96977556e-01 8.02256359e-01 -1.59141276e-03 3.78819694e+01] [ 2.69401427e-03 -2.10145668e-05 9.99996371e-01 2.42988398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.214012739 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:127.79, Y:37.90, Z:0.24 [[ 8.02973379e-01 -5.96010930e-01 -2.17354820e-03 1.27794001e+02] [ 5.96008804e-01 8.02976321e-01 -1.59180479e-03 3.78968238e+01] [ 2.69404079e-03 -1.72769900e-05 9.99996371e-01 2.42996956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24401273899997 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:127.82, Y:37.91, Z:0.24 [[ 8.03391713e-01 -5.95446918e-01 -2.17338920e-03 1.27817992e+02] [ 5.95444790e-01 8.03394652e-01 -1.59202185e-03 3.79117823e+01] [ 2.69405377e-03 -1.51161146e-05 9.99996371e-01 2.43555852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27401273899997 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:127.84, Y:37.92, Z:0.24 [[ 8.03395497e-01 -5.95441814e-01 -2.17309524e-03 1.27842349e+02] [ 5.95439685e-01 8.03398436e-01 -1.59242300e-03 3.79246037e+01] [ 2.69405656e-03 -1.46016762e-05 9.99996371e-01 2.41916482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30401273899997 meters Centerline goodness : 0.995147 Centerline is valid? [True, True] Translation: X:127.87, Y:37.94, Z:0.24 [[ 8.03339296e-01 -5.95517635e-01 -2.17293701e-03 1.27865878e+02] [ 5.95515506e-01 8.03342235e-01 -1.59263889e-03 3.79387711e+01] [ 2.69405662e-03 -1.45882808e-05 9.99996371e-01 2.40778306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33401273899997 meters Centerline goodness : 0.994415 Centerline is valid? [True, True] Translation: X:127.89, Y:37.95, Z:0.24 [[ 8.03302624e-01 -5.95567102e-01 -2.17278356e-03 1.27889868e+02] [ 5.95564972e-01 8.03305562e-01 -1.59284820e-03 3.79538174e+01] [ 2.69405711e-03 -1.44946428e-05 9.99996371e-01 2.43291810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36401273899997 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:127.91, Y:37.97, Z:0.24 [[ 8.03352748e-01 -5.95499490e-01 -2.17247888e-03 1.27912392e+02] [ 5.95497359e-01 8.03355685e-01 -1.59326366e-03 3.79691452e+01] [ 2.69406095e-03 -1.37526964e-05 9.99996371e-01 2.42769201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39401273899998 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:127.94, Y:37.98, Z:0.24 [[ 8.03424232e-01 -5.95403043e-01 -2.17234647e-03 1.27935809e+02] [ 5.95400911e-01 8.03427169e-01 -1.59344416e-03 3.79838692e+01] [ 2.69406368e-03 -1.32054166e-05 9.99996371e-01 2.42573316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42401273899998 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:127.96, Y:38.00, Z:0.24 [[ 8.04125563e-01 -5.94455517e-01 -2.17207012e-03 1.27959528e+02] [ 5.94453380e-01 8.04128496e-01 -1.59382078e-03 3.79973729e+01] [ 2.69407903e-03 -9.56239804e-06 9.99996371e-01 2.43097961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45401273899998 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:127.98, Y:38.01, Z:0.25 [[ 8.05449256e-01 -5.92660762e-01 -2.17190819e-03 1.27981815e+02] [ 5.92658618e-01 8.05452184e-01 -1.59404141e-03 3.80142481e+01] [ 2.69409399e-03 -3.28063724e-06 9.99996371e-01 2.45501484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48401273899998 meters Centerline goodness : 0.989006 Centerline is valid? [True, True] Translation: X:128.00, Y:38.03, Z:0.25 [[ 8.06449496e-01 -5.91298990e-01 -2.17161459e-03 1.28004195e+02] [ 5.91296840e-01 8.06452419e-01 -1.59444130e-03 3.80307271e+01] [ 2.69409537e-03 1.76753783e-06 9.99996371e-01 2.54834851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51401273899998 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:128.03, Y:38.04, Z:0.25 [[ 8.09069197e-01 -5.87709384e-01 -2.17131181e-03 1.28027178e+02] [ 5.87707220e-01 8.09072111e-01 -1.59485352e-03 3.80444315e+01] [ 2.69405820e-03 1.42512292e-05 9.99996371e-01 2.45899362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54401273899998 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:128.05, Y:38.06, Z:0.25 [[ 8.10686466e-01 -5.85476506e-01 -2.17114685e-03 1.28049564e+02] [ 5.85474334e-01 8.10689373e-01 -1.59507804e-03 3.80616005e+01] [ 2.69400640e-03 2.19574239e-05 9.99996371e-01 2.46464622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57401273899998 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:128.07, Y:38.08, Z:0.25 [[ 8.12697701e-01 -5.82681503e-01 -2.17084792e-03 1.28070572e+02] [ 5.82679319e-01 8.12700600e-01 -1.59548478e-03 3.80778116e+01] [ 2.69390888e-03 3.17386233e-05 9.99996371e-01 2.46246835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60401273899998 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:128.09, Y:38.09, Z:0.25 [[ 8.16106119e-01 -5.77897993e-01 -2.17068288e-03 1.28092482e+02] [ 5.77895792e-01 8.16109005e-01 -1.59570928e-03 3.80949068e+01] [ 2.69367104e-03 4.78396042e-05 9.99996371e-01 2.47913155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63401273899999 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:128.11, Y:38.11, Z:0.25 [[ 8.18532414e-01 -5.74456244e-01 -2.17036746e-03 1.28113266e+02] [ 5.74454030e-01 8.18535289e-01 -1.59613818e-03 3.81115970e+01] [ 2.69343390e-03 5.97145061e-05 9.99996371e-01 2.46097304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.664012739 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:128.13, Y:38.13, Z:0.25 [[ 8.19663822e-01 -5.72840736e-01 -2.17023039e-03 1.28133191e+02] [ 5.72838515e-01 8.19666693e-01 -1.59632453e-03 3.81292500e+01] [ 2.69330528e-03 6.52579142e-05 9.99996371e-01 2.46424461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.694012739 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:128.15, Y:38.15, Z:0.25 [[ 8.20948818e-01 -5.70997662e-01 -2.17010002e-03 1.28153512e+02] [ 5.70995434e-01 8.20951683e-01 -1.59650174e-03 3.81478669e+01] [ 2.69314602e-03 7.15290100e-05 9.99996371e-01 2.47219085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.724012739 meters Centerline goodness : 0.992994 Centerline is valid? [True, True] Translation: X:128.17, Y:38.17, Z:0.25 [[ 8.24068038e-01 -5.66486681e-01 -2.16993593e-03 1.28172378e+02] [ 5.66484438e-01 8.24070890e-01 -1.59672474e-03 3.81691757e+01] [ 2.69270433e-03 8.65748897e-05 9.99996371e-01 2.48805621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.754012739 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:128.19, Y:38.19, Z:0.25 [[ 8.25456452e-01 -5.64461635e-01 -2.16963948e-03 1.28192363e+02] [ 5.64459384e-01 8.25459298e-01 -1.59712745e-03 3.81883831e+01] [ 2.69246626e-03 9.36857913e-05 9.99996371e-01 2.46944918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.784012739 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:128.21, Y:38.21, Z:0.24 [[ 8.26953025e-01 -5.62266831e-01 -2.16934479e-03 1.28210148e+02] [ 5.62264570e-01 8.26955864e-01 -1.59752762e-03 3.82120898e+01] [ 2.69218919e-03 1.01334577e-04 9.99996371e-01 2.44574674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.814012739 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:128.23, Y:38.23, Z:0.24 [[ 8.26901755e-01 -5.62342229e-01 -2.16904753e-03 1.28228965e+02] [ 5.62339968e-01 8.26904594e-01 -1.59793113e-03 3.82312940e+01] [ 2.69217952e-03 1.01589937e-04 9.99996371e-01 2.43981203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.844012739 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:128.25, Y:38.25, Z:0.25 [[ 8.25202463e-01 -5.64832888e-01 -2.16891807e-03 1.28246718e+02] [ 5.64830635e-01 8.25205308e-01 -1.59810683e-03 3.82521432e+01] [ 2.69246600e-03 9.36903193e-05 9.99996371e-01 2.45566746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.874012739 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:128.27, Y:38.27, Z:0.25 [[ 8.23788914e-01 -5.66892514e-01 -2.16879168e-03 1.28267419e+02] [ 5.66890267e-01 8.23791764e-01 -1.59827834e-03 3.82711945e+01] [ 2.69268475e-03 8.71770836e-05 9.99996371e-01 2.47079123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.904012739 meters Centerline goodness : 0.993037 Centerline is valid? [True, True] Translation: X:128.29, Y:38.29, Z:0.25 [[ 8.20631051e-01 -5.71454264e-01 -2.16849485e-03 1.28285447e+02] [ 5.71452032e-01 8.20633913e-01 -1.59868097e-03 3.82926758e+01] [ 2.69311347e-03 7.27364535e-05 9.99996371e-01 2.49361529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.934012739 meters Centerline goodness : 0.990559 Centerline is valid? [True, True] Translation: X:128.31, Y:38.31, Z:0.25 [[ 8.18889654e-01 -5.73946891e-01 -2.16829212e-03 1.28305938e+02] [ 5.73944667e-01 8.18892522e-01 -1.59895588e-03 3.83122534e+01] [ 2.69331396e-03 6.48887254e-05 9.99996371e-01 2.53408304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.964012739 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:128.33, Y:38.33, Z:0.25 [[ 8.17155373e-01 -5.76413390e-01 -2.16799314e-03 1.28326516e+02] [ 5.76411174e-01 8.17158247e-01 -1.59936115e-03 3.83294175e+01] [ 2.69348666e-03 5.72710885e-05 9.99996371e-01 2.48447054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99401273899997 meters Centerline goodness : 0.993055 Centerline is valid? [True, True] Translation: X:128.35, Y:38.35, Z:0.25 [[ 8.13912034e-01 -5.80984080e-01 -2.16786283e-03 1.28347254e+02] [ 5.80981880e-01 8.13914920e-01 -1.59953776e-03 3.83488500e+01] [ 2.69376188e-03 4.23940133e-05 9.99996371e-01 2.46160008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02401273899997 meters Centerline goodness : 0.992564 Centerline is valid? [True, True] Translation: X:128.37, Y:38.37, Z:0.24 [[ 8.11907690e-01 -5.83781813e-01 -2.16757120e-03 1.28367963e+02] [ 5.83779621e-01 8.11910583e-01 -1.59993286e-03 3.83696406e+01] [ 2.69388570e-03 3.36139015e-05 9.99996371e-01 2.43702646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05401273899997 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:128.39, Y:38.39, Z:0.24 [[ 8.11441654e-01 -5.84429418e-01 -2.16731756e-03 1.28389120e+02] [ 5.84427228e-01 8.11444548e-01 -1.60027638e-03 3.83876800e+01] [ 2.69390661e-03 3.18915265e-05 9.99996371e-01 2.43383634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08401273899997 meters Centerline goodness : 0.992952 Centerline is valid? [True, True] Translation: X:128.41, Y:38.41, Z:0.24 [[ 8.10937406e-01 -5.85128898e-01 -2.16702358e-03 1.28409588e+02] [ 5.85126709e-01 8.10940301e-01 -1.60067437e-03 3.84074653e+01] [ 2.69392759e-03 3.00633493e-05 9.99996371e-01 2.43837958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11401273899997 meters Centerline goodness : 0.992365 Centerline is valid? [True, True] Translation: X:128.43, Y:38.43, Z:0.25 [[ 8.10599257e-01 -5.85597259e-01 -2.16672714e-03 1.28430560e+02] [ 5.85595071e-01 8.10602152e-01 -1.60107554e-03 3.84261575e+01] [ 2.69393913e-03 2.90059070e-05 9.99996371e-01 2.45594553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14401273899998 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:128.45, Y:38.45, Z:0.25 [[ 8.09938909e-01 -5.86510248e-01 -2.16642549e-03 1.28450391e+02] [ 5.86508062e-01 8.09941806e-01 -1.60148360e-03 3.84455457e+01] [ 2.69396512e-03 2.64778663e-05 9.99996371e-01 2.47246001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17401273899998 meters Centerline goodness : 0.992746 Centerline is valid? [True, True] Translation: X:128.47, Y:38.46, Z:0.25 [[ 8.09599842e-01 -5.86978197e-01 -2.16633171e-03 1.28471522e+02] [ 5.86976012e-01 8.09602740e-01 -1.60161045e-03 3.84633202e+01] [ 2.69397850e-03 2.50788189e-05 9.99996371e-01 2.46352901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20401273899998 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:128.49, Y:38.48, Z:0.25 [[ 8.07829427e-01 -5.89412356e-01 -2.16603857e-03 1.28491632e+02] [ 5.89410179e-01 8.07832331e-01 -1.60200681e-03 3.84826442e+01] [ 2.69403859e-03 1.74630622e-05 9.99996371e-01 2.45196679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23401273899998 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:128.51, Y:38.50, Z:0.25 [[ 8.07719391e-01 -5.89563138e-01 -2.16573919e-03 1.28514401e+02] [ 5.89560961e-01 8.07722295e-01 -1.60241143e-03 3.84997282e+01] [ 2.69403854e-03 1.74635105e-05 9.99996371e-01 2.45273415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26401273899998 meters Centerline goodness : 0.992065 Centerline is valid? [True, True] Translation: X:128.54, Y:38.52, Z:0.25 [[ 8.06177016e-01 -5.91670458e-01 -2.16544000e-03 1.28536625e+02] [ 5.91668287e-01 8.06179924e-01 -1.60281564e-03 3.85174648e+01] [ 2.69407292e-03 1.09309565e-05 9.99996371e-01 2.47404720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29401273899998 meters Centerline goodness : 0.991549 Centerline is valid? [True, True] Translation: X:128.56, Y:38.53, Z:0.25 [[ 8.02341818e-01 -5.96860888e-01 -2.16513765e-03 1.28559987e+02] [ 5.96858735e-01 8.02344739e-01 -1.60322396e-03 3.85345596e+01] [ 2.69408848e-03 -5.94769136e-06 9.99996371e-01 2.53074437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32401273899998 meters Centerline goodness : 0.992277 Centerline is valid? [True, True] Translation: X:128.58, Y:38.55, Z:0.25 [[ 8.00508594e-01 -5.99317365e-01 -2.16487285e-03 1.28582403e+02] [ 5.99315220e-01 8.00511522e-01 -1.60358145e-03 3.85507242e+01] [ 2.69405987e-03 -1.37605127e-05 9.99996371e-01 2.53245728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35401273899998 meters Centerline goodness : 0.992409 Centerline is valid? [True, True] Translation: X:128.61, Y:38.57, Z:0.25 [[ 7.97731492e-01 -6.03008939e-01 -2.16456419e-03 1.28605180e+02] [ 6.03006807e-01 7.97734429e-01 -1.60399798e-03 3.85653747e+01] [ 2.69397250e-03 -2.56872326e-05 9.99996371e-01 2.49689941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38401273899999 meters Centerline goodness : 0.991935 Centerline is valid? [True, True] Translation: X:128.63, Y:38.58, Z:0.25 [[ 7.96843593e-01 -6.04181764e-01 -2.16443016e-03 1.28627970e+02] [ 6.04179635e-01 7.96846532e-01 -1.60417882e-03 3.85807673e+01] [ 2.69393425e-03 -2.94250133e-05 9.99996371e-01 2.48620994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.414012739 meters Centerline goodness : 0.992401 Centerline is valid? [True, True] Translation: X:128.65, Y:38.60, Z:0.25 [[ 7.96464998e-01 -6.04680762e-01 -2.16413422e-03 1.28652318e+02] [ 6.04678633e-01 7.96467938e-01 -1.60457796e-03 3.85952857e+01] [ 2.69392094e-03 -3.06155382e-05 9.99996371e-01 2.47661848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.444012739 meters Centerline goodness : 0.991913 Centerline is valid? [True, True] Translation: X:128.68, Y:38.61, Z:0.25 [[ 7.96707548e-01 -6.04361151e-01 -2.16383732e-03 1.28675051e+02] [ 6.04359021e-01 7.96710486e-01 -1.60497824e-03 3.86097799e+01] [ 2.69393838e-03 -2.90363284e-05 9.99996371e-01 2.47413893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.474012739 meters Centerline goodness : 0.991839 Centerline is valid? [True, True] Translation: X:128.70, Y:38.62, Z:0.25 [[ 7.97308360e-01 -6.03568304e-01 -2.16370793e-03 1.28699897e+02] [ 6.03566170e-01 7.97311295e-01 -1.60515265e-03 3.86231253e+01] [ 2.69396804e-03 -2.61392843e-05 9.99996371e-01 2.49056483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.504012739 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:128.72, Y:38.64, Z:0.25 [[ 7.97784855e-01 -6.02938342e-01 -2.16340156e-03 1.28722151e+02] [ 6.02936205e-01 7.97787788e-01 -1.60556548e-03 3.86380125e+01] [ 2.69399233e-03 -2.34973028e-05 9.99996371e-01 2.49021898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.534012739 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:128.74, Y:38.65, Z:0.25 [[ 7.98238292e-01 -6.02337903e-01 -2.16326797e-03 1.28744969e+02] [ 6.02335763e-01 7.98241223e-01 -1.60574544e-03 3.86519505e+01] [ 2.69401101e-03 -2.12461640e-05 9.99996371e-01 2.50466268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.564012739 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:128.77, Y:38.67, Z:0.25 [[ 7.98243275e-01 -6.02331300e-01 -2.16310170e-03 1.28767496e+02] [ 6.02329160e-01 7.98246205e-01 -1.60596940e-03 3.86677201e+01] [ 2.69401336e-03 -2.09449560e-05 9.99996371e-01 2.52369028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.594012739 meters Centerline goodness : 0.992121 Centerline is valid? [True, True] Translation: X:128.79, Y:38.68, Z:0.25 [[ 7.97739099e-01 -6.02998882e-01 -2.16280672e-03 1.28793194e+02] [ 6.02996743e-01 7.97742031e-01 -1.60636655e-03 3.86803992e+01] [ 2.69399906e-03 -2.27040065e-05 9.99996371e-01 2.53258226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.624012739 meters Centerline goodness : 0.992019 Centerline is valid? [True, True] Translation: X:128.82, Y:38.69, Z:0.25 [[ 7.96993302e-01 -6.03984271e-01 -2.16251231e-03 1.28817971e+02] [ 6.03982134e-01 7.96996236e-01 -1.60676280e-03 3.86944897e+01] [ 2.69397363e-03 -2.55396133e-05 9.99996371e-01 2.51973476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.654012739 meters Centerline goodness : 0.990733 Centerline is valid? [True, True] Translation: X:128.85, Y:38.71, Z:0.25 [[ 7.94477539e-01 -6.07289688e-01 -2.16221766e-03 1.28845386e+02] [ 6.07287562e-01 7.94480481e-01 -1.60715921e-03 3.87085751e+01] [ 2.69385094e-03 -3.62359990e-05 9.99996371e-01 2.49208853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.684012739 meters Centerline goodness : 0.991255 Centerline is valid? [True, True] Translation: X:128.87, Y:38.72, Z:0.25 [[ 7.93975792e-01 -6.07945503e-01 -2.16936432e-03 1.28867983e+02] [ 6.07943406e-01 7.93978755e-01 -1.59754572e-03 3.87210659e+01] [ 2.69364991e-03 -5.04381007e-05 9.99996371e-01 2.46853177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.714012739 meters Centerline goodness : 0.992101 Centerline is valid? [True, True] Translation: X:128.89, Y:38.73, Z:0.25 [[ 7.92515492e-01 -6.09847950e-01 -2.16162021e-03 1.28894919e+02] [ 6.09845832e-01 7.92518439e-01 -1.60795634e-03 3.87292639e+01] [ 2.69373275e-03 -4.39247624e-05 9.99996371e-01 2.46105741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74401273899997 meters Centerline goodness : 0.991023 Centerline is valid? [True, True] Translation: X:128.92, Y:38.74, Z:0.25 [[ 7.92060172e-01 -6.10439196e-01 -2.16145736e-03 1.28919841e+02] [ 6.10437079e-01 7.92063120e-01 -1.60817522e-03 3.87427682e+01] [ 2.69370385e-03 -4.56621767e-05 9.99996371e-01 2.45238194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77401273899997 meters Centerline goodness : 0.991280 Centerline is valid? [True, True] Translation: X:128.95, Y:38.75, Z:0.25 [[ 7.92733111e-01 -6.09565046e-01 -2.16116210e-03 1.28946024e+02] [ 6.09562925e-01 7.92736055e-01 -1.60857191e-03 3.87542070e+01] [ 2.69376032e-03 -4.21960730e-05 9.99996371e-01 2.45766742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80401273899997 meters Centerline goodness : 0.991839 Centerline is valid? [True, True] Translation: X:128.97, Y:38.77, Z:0.24 [[ 7.93559240e-01 -6.08489165e-01 -2.16085180e-03 1.28969491e+02] [ 6.08487039e-01 7.93562181e-01 -1.60898864e-03 3.87677687e+01] [ 2.69382242e-03 -3.80225131e-05 9.99996371e-01 2.44867387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83401273899997 meters Centerline goodness : 0.991182 Centerline is valid? [True, True] Translation: X:129.00, Y:38.78, Z:0.25 [[ 7.95834012e-01 -6.05510989e-01 -2.16064049e-03 1.28996326e+02] [ 6.05508851e-01 7.95836944e-01 -1.60927234e-03 3.87777463e+01] [ 2.69394961e-03 -2.75732747e-05 9.99996371e-01 2.45633836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86401273899997 meters Centerline goodness : 0.992240 Centerline is valid? [True, True] Translation: X:129.02, Y:38.79, Z:0.24 [[ 7.96702628e-01 -6.04367649e-01 -2.16034855e-03 1.29021531e+02] [ 6.04365505e-01 7.96705557e-01 -1.60966416e-03 3.87915495e+01] [ 2.69399064e-03 -2.32164697e-05 9.99996371e-01 2.42762300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89401273899998 meters Centerline goodness : 0.991041 Centerline is valid? [True, True] Translation: X:129.04, Y:38.81, Z:0.25 [[ 7.97173200e-01 -6.03746819e-01 -2.16059135e-03 1.29044874e+02] [ 6.03744675e-01 7.97176127e-01 -1.60933834e-03 3.88060975e+01] [ 2.69400475e-03 -2.15241289e-05 9.99996371e-01 2.45843959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92401273899998 meters Centerline goodness : 0.991954 Centerline is valid? [True, True] Translation: X:129.07, Y:38.82, Z:0.24 [[ 7.98876749e-01 -6.01490876e-01 -2.16014563e-03 1.29069147e+02] [ 6.01488722e-01 7.98879669e-01 -1.60993640e-03 3.88193385e+01] [ 2.69405848e-03 -1.31624776e-05 9.99996371e-01 2.42197628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95401273899998 meters Centerline goodness : 0.991527 Centerline is valid? [True, True] Translation: X:129.09, Y:38.83, Z:0.24 [[ 7.99772617e-01 -6.00299171e-01 -2.16005079e-03 1.29093176e+02] [ 6.00297012e-01 7.99775534e-01 -1.61006363e-03 3.88325330e+01] [ 2.69407564e-03 -8.98723177e-06 9.99996371e-01 2.41880743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98401273899998 meters Centerline goodness : 0.992592 Centerline is valid? [True, True] Translation: X:129.12, Y:38.85, Z:0.24 [[ 8.00231388e-01 -5.99687470e-01 -2.15979915e-03 1.29116483e+02] [ 5.99685307e-01 8.00234302e-01 -1.61040112e-03 3.88491679e+01] [ 2.69408274e-03 -6.50629225e-06 9.99996371e-01 2.44904587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01401273899998 meters Centerline goodness : 0.991259 Centerline is valid? [True, True] Translation: X:129.14, Y:38.87, Z:0.25 [[ 8.00814630e-01 -5.98908395e-01 -2.15942561e-03 1.29138384e+02] [ 5.98906229e-01 8.00817541e-01 -1.61090191e-03 3.88661436e+01] [ 2.69408859e-03 -3.25962932e-06 9.99996371e-01 2.51480450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04401273899998 meters Centerline goodness : 0.991290 Centerline is valid? [True, True] Translation: X:129.16, Y:38.88, Z:0.25 [[ 8.02242020e-01 -5.96995040e-01 -2.15941835e-03 1.29160936e+02] [ 5.96992866e-01 8.02244927e-01 -1.61091164e-03 3.88808638e+01] [ 2.69408868e-03 3.18365617e-06 9.99996371e-01 2.51604245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07401273899998 meters Centerline goodness : 0.991790 Centerline is valid? [True, True] Translation: X:129.18, Y:38.90, Z:0.25 [[ 8.02434617e-01 -5.96736141e-01 -2.15924549e-03 1.29184439e+02] [ 5.96733966e-01 8.02437523e-01 -1.61114331e-03 3.88958223e+01] [ 2.69408705e-03 4.34203823e-06 9.99996371e-01 2.49952218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10401273899998 meters Centerline goodness : 0.990886 Centerline is valid? [True, True] Translation: X:129.21, Y:38.91, Z:0.25 [[ 8.01838103e-01 -5.97537442e-01 -2.15896533e-03 1.29207634e+02] [ 5.97535269e-01 8.01841010e-01 -1.61151865e-03 3.89103957e+01] [ 2.69408967e-03 2.11912432e-06 9.99996371e-01 2.49842727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13401273899999 meters Centerline goodness : 0.991146 Centerline is valid? [True, True] Translation: X:129.23, Y:38.93, Z:0.25 [[ 8.01934478e-01 -5.97408096e-01 -2.15880454e-03 1.29229908e+02] [ 5.97405922e-01 8.01937383e-01 -1.61173401e-03 3.89274284e+01] [ 2.69408901e-03 2.82245632e-06 9.99996371e-01 2.50162396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.164012739 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:129.25, Y:38.94, Z:0.25 [[ 8.02503688e-01 -5.96643253e-01 -2.15849426e-03 1.29250393e+02] [ 5.96641075e-01 8.02506591e-01 -1.61214945e-03 3.89409990e+01] [ 2.69408396e-03 5.90954125e-06 9.99996371e-01 2.47727284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.194012739 meters Centerline goodness : 0.991868 Centerline is valid? [True, True] Translation: X:129.28, Y:38.96, Z:0.25 [[ 8.02204373e-01 -5.97045654e-01 -2.15191347e-03 1.29275737e+02] [ 5.97043454e-01 8.02207259e-01 -1.62095319e-03 3.89581174e+01] [ 2.69406366e-03 1.55498835e-05 9.99996371e-01 2.48512473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.224012739 meters Centerline goodness : 0.991098 Centerline is valid? [True, True] Translation: X:129.30, Y:38.97, Z:0.25 [[ 8.02170561e-01 -5.97091060e-01 -2.15788937e-03 1.29300818e+02] [ 5.97088882e-01 8.02173464e-01 -1.61295836e-03 3.89714174e+01] [ 2.69408461e-03 5.41595770e-06 9.99996371e-01 2.48609894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.254012739 meters Centerline goodness : 0.991271 Centerline is valid? [True, True] Translation: X:129.32, Y:38.99, Z:0.25 [[ 8.01514135e-01 -5.97971936e-01 -2.15758546e-03 1.29323883e+02] [ 5.97969760e-01 8.01517039e-01 -1.61336479e-03 3.89874856e+01] [ 2.69408837e-03 2.96382503e-06 9.99996371e-01 2.50494801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.284012739 meters Centerline goodness : 0.991216 Centerline is valid? [True, True] Translation: X:129.35, Y:39.00, Z:0.26 [[ 8.01049867e-01 -5.98593733e-01 -2.15728037e-03 1.29348846e+02] [ 5.98591557e-01 8.01052772e-01 -1.61377263e-03 3.90017201e+01] [ 2.69408960e-03 1.38253689e-06 9.99996371e-01 2.56471059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.314012739 meters Centerline goodness : 0.991568 Centerline is valid? [True, True] Translation: X:129.37, Y:39.02, Z:0.26 [[ 8.01614133e-01 -5.97837879e-01 -2.15697434e-03 1.29371654e+02] [ 5.97835699e-01 8.01617035e-01 -1.61418159e-03 3.90157196e+01] [ 2.69408627e-03 4.43450978e-06 9.99996371e-01 2.59100776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.344012739 meters Centerline goodness : 0.991612 Centerline is valid? [True, True] Translation: X:129.39, Y:39.03, Z:0.26 [[ 8.03548175e-01 -5.95235818e-01 -2.15687466e-03 1.29394529e+02] [ 5.95233629e-01 8.03551069e-01 -1.61431476e-03 3.90296295e+01] [ 2.69405691e-03 1.33353517e-05 9.99996371e-01 2.58433787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.374012739 meters Centerline goodness : 0.991635 Centerline is valid? [True, True] Translation: X:129.42, Y:39.05, Z:0.25 [[ 8.04468748e-01 -5.93991062e-01 -2.15670994e-03 1.29416243e+02] [ 5.93988868e-01 8.04471639e-01 -1.61453480e-03 3.90466119e+01] [ 2.69403122e-03 1.77810965e-05 9.99996371e-01 2.54873070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.404012739 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:129.44, Y:39.06, Z:0.25 [[ 8.06210992e-01 -5.91624194e-01 -2.15641346e-03 1.29439553e+02] [ 5.91621990e-01 8.06213875e-01 -1.61493069e-03 3.90626372e+01] [ 2.69396252e-03 2.61932492e-05 9.99996371e-01 2.52097447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.434012739 meters Centerline goodness : 0.990852 Centerline is valid? [True, True] Translation: X:129.46, Y:39.08, Z:0.26 [[ 8.08203733e-01 -5.88899038e-01 -2.15612890e-03 1.29463428e+02] [ 5.88896824e-01 8.08206608e-01 -1.61531052e-03 3.90776993e+01] [ 2.69385244e-03 3.57625272e-05 9.99996371e-01 2.58072677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.464012739 meters Centerline goodness : 0.991629 Centerline is valid? [True, True] Translation: X:129.49, Y:39.09, Z:0.26 [[ 8.09501018e-01 -5.87114511e-01 -2.15703357e-03 1.29485830e+02] [ 5.87112294e-01 8.09503891e-01 -1.61410331e-03 3.90948071e+01] [ 2.69379054e-03 4.01973466e-05 9.99996371e-01 2.57667375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49401273899997 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:129.51, Y:39.11, Z:0.26 [[ 8.10548665e-01 -5.85667324e-01 -2.15570185e-03 1.29507631e+02] [ 5.85665097e-01 8.10551530e-01 -1.61587991e-03 3.91129217e+01] [ 2.69367550e-03 4.72299647e-05 9.99996371e-01 2.55645647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52401273899997 meters Centerline goodness : 0.990751 Centerline is valid? [True, True] Translation: X:129.53, Y:39.13, Z:0.25 [[ 8.12660014e-01 -5.82734121e-01 -2.15539191e-03 1.29527485e+02] [ 5.82731883e-01 8.12662870e-01 -1.61629322e-03 3.91316660e+01] [ 2.69347619e-03 5.74812866e-05 9.99996371e-01 2.51723837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55401273899997 meters Centerline goodness : 0.991017 Centerline is valid? [True, True] Translation: X:129.55, Y:39.15, Z:0.25 [[ 8.13796194e-01 -5.81146376e-01 -2.15525272e-03 1.29548917e+02] [ 5.81144131e-01 8.13799045e-01 -1.61647881e-03 3.91503217e+01] [ 2.69335341e-03 6.29718323e-05 9.99996371e-01 2.53206036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58401273899997 meters Centerline goodness : 0.990909 Centerline is valid? [True, True] Translation: X:129.57, Y:39.17, Z:0.26 [[ 8.15673609e-01 -5.78508358e-01 -2.15494775e-03 1.29568175e+02] [ 5.78506103e-01 8.15676452e-01 -1.61688527e-03 3.91708827e+01] [ 2.69312178e-03 7.22002251e-05 9.99996371e-01 2.55684782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61401273899997 meters Centerline goodness : 0.990514 Centerline is valid? [True, True] Translation: X:129.59, Y:39.19, Z:0.26 [[ 8.15821301e-01 -5.78300062e-01 -2.15478814e-03 1.29588945e+02] [ 5.78297806e-01 8.15824143e-01 -1.61709795e-03 3.91894429e+01] [ 2.69309603e-03 7.31537046e-05 9.99996371e-01 2.56574470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64401273899998 meters Centerline goodness : 0.990002 Centerline is valid? [True, True] Translation: X:129.61, Y:39.21, Z:0.26 [[ 8.14785815e-01 -5.79758083e-01 -2.15448777e-03 1.29610051e+02] [ 5.79755831e-01 8.14788660e-01 -1.61749804e-03 3.92100930e+01] [ 2.69320977e-03 6.88376177e-05 9.99996371e-01 2.57179151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67401273899998 meters Centerline goodness : 0.990528 Centerline is valid? [True, True] Translation: X:129.63, Y:39.23, Z:0.26 [[ 8.13595021e-01 -5.81427981e-01 -2.15525410e-03 1.29630552e+02] [ 5.81425738e-01 8.13597873e-01 -1.61647748e-03 3.92274912e+01] [ 2.69337539e-03 6.20378263e-05 9.99996371e-01 2.56456846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70401273899998 meters Centerline goodness : 0.990594 Centerline is valid? [True, True] Translation: X:129.65, Y:39.25, Z:0.26 [[ 8.10963502e-01 -5.85092777e-01 -2.15410364e-03 1.29651667e+02] [ 5.85090542e-01 8.10966361e-01 -1.61800912e-03 3.92465939e+01] [ 2.69359104e-03 5.18006717e-05 9.99996371e-01 2.57127394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73401273899998 meters Centerline goodness : 0.989797 Centerline is valid? [True, True] Translation: X:129.67, Y:39.26, Z:0.26 [[ 8.09587280e-01 -5.86995569e-01 -2.15380436e-03 1.29672784e+02] [ 5.86993340e-01 8.09590143e-01 -1.61840741e-03 3.92644099e+01] [ 2.69369676e-03 4.59732383e-05 9.99996371e-01 2.56779208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76401273899998 meters Centerline goodness : 0.990506 Centerline is valid? [True, True] Translation: X:129.69, Y:39.28, Z:0.25 [[ 8.07567535e-01 -5.89771175e-01 -2.15350078e-03 1.29692311e+02] [ 5.89768954e-01 8.07570406e-01 -1.61881126e-03 3.92847229e+01] [ 2.69383171e-03 3.72315118e-05 9.99996371e-01 2.52772040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79401273899998 meters Centerline goodness : 0.990297 Centerline is valid? [True, True] Translation: X:129.71, Y:39.30, Z:0.25 [[ 8.07243233e-01 -5.90214983e-01 -2.15319023e-03 1.29712411e+02] [ 5.90212763e-01 8.07246104e-01 -1.61922422e-03 3.93026860e+01] [ 2.69384482e-03 3.62674424e-05 9.99996371e-01 2.52795666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82401273899998 meters Centerline goodness : 0.990145 Centerline is valid? [True, True] Translation: X:129.73, Y:39.32, Z:0.25 [[ 8.06994671e-01 -5.90554804e-01 -2.15042197e-03 1.29732814e+02] [ 5.90552575e-01 8.06997536e-01 -1.62290393e-03 3.93216496e+01] [ 2.69379895e-03 3.97375913e-05 9.99996371e-01 2.54312290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85401273899998 meters Centerline goodness : 0.990223 Centerline is valid? [True, True] Translation: X:129.76, Y:39.34, Z:0.25 [[ 8.06878196e-01 -5.90713935e-01 -2.15047970e-03 1.29755251e+02] [ 5.90711707e-01 8.06881060e-01 -1.62282720e-03 3.93401598e+01] [ 2.69380799e-03 3.91103474e-05 9.99996371e-01 2.53780714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88401273899999 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:129.77, Y:39.36, Z:0.25 [[ 8.06115501e-01 -5.91754311e-01 -2.15271075e-03 1.29774706e+02] [ 5.91752095e-01 8.06118375e-01 -1.61986226e-03 3.93587632e+01] [ 2.69390017e-03 3.19249802e-05 9.99996371e-01 2.51388693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.914012739 meters Centerline goodness : 0.990590 Centerline is valid? [True, True] Translation: X:129.80, Y:39.38, Z:0.25 [[ 8.04998735e-01 -5.93272621e-01 -2.15254965e-03 1.29796517e+02] [ 5.93270410e-01 8.05001612e-01 -1.62007631e-03 3.93766242e+01] [ 2.69395286e-03 2.71153655e-05 9.99996371e-01 2.51132393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.944012739 meters Centerline goodness : 0.990297 Centerline is valid? [True, True] Translation: X:129.82, Y:39.39, Z:0.25 [[ 8.03676525e-01 -5.95062527e-01 -2.15223815e-03 1.29818945e+02] [ 5.95060321e-01 8.03679406e-01 -1.62049002e-03 3.93936526e+01] [ 2.69400237e-03 2.16382605e-05 9.99996371e-01 2.52089247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.974012739 meters Centerline goodness : 0.990952 Centerline is valid? [True, True] Translation: X:129.84, Y:39.41, Z:0.25 [[ 8.03498651e-01 -5.95302685e-01 -2.15192823e-03 1.29840060e+02] [ 5.95300479e-01 8.03501533e-01 -1.62090147e-03 3.94106026e+01] [ 2.69400463e-03 2.13482418e-05 9.99996371e-01 2.52734075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.004012739 meters Centerline goodness : 0.990831 Centerline is valid? [True, True] Translation: X:129.86, Y:39.43, Z:0.25 [[ 8.04044183e-01 -5.94565657e-01 -2.15175842e-03 1.29860325e+02] [ 5.94563448e-01 8.04047062e-01 -1.62112687e-03 3.94282015e+01] [ 2.69398140e-03 2.41007221e-05 9.99996371e-01 2.52370990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.034012739 meters Centerline goodness : 0.990928 Centerline is valid? [True, True] Translation: X:129.88, Y:39.45, Z:0.25 [[ 8.05489868e-01 -5.92605639e-01 -2.15159168e-03 1.29880458e+02] [ 5.92603422e-01 8.05492741e-01 -1.62134814e-03 3.94483781e+01] [ 2.69391153e-03 3.09389044e-05 9.99996371e-01 2.52066999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.064012739 meters Centerline goodness : 0.990438 Centerline is valid? [True, True] Translation: X:129.90, Y:39.47, Z:0.26 [[ 8.06141257e-01 -5.91719229e-01 -2.15128569e-03 1.29902212e+02] [ 5.91717008e-01 8.06144127e-01 -1.62175405e-03 3.94675651e+01] [ 2.69386938e-03 3.44105176e-05 9.99996371e-01 2.55568772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.094012739 meters Centerline goodness : 0.990567 Centerline is valid? [True, True] Translation: X:129.92, Y:39.48, Z:0.26 [[ 8.05820521e-01 -5.92155943e-01 -2.15101354e-03 1.29922585e+02] [ 5.92153723e-01 8.05823391e-01 -1.62211493e-03 3.94847705e+01] [ 2.69388202e-03 3.34028241e-05 9.99996371e-01 2.57665696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.124012739 meters Centerline goodness : 0.990567 Centerline is valid? [True, True] Translation: X:129.95, Y:39.50, Z:0.26 [[ 8.05710871e-01 -5.92305130e-01 -2.15084477e-03 1.29945202e+02] [ 5.92302909e-01 8.05713741e-01 -1.62233868e-03 3.95020766e+01] [ 2.69388471e-03 3.31843009e-05 9.99996371e-01 2.57742425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.154012739 meters Centerline goodness : 0.990114 Centerline is valid? [True, True] Translation: X:129.97, Y:39.52, Z:0.26 [[ 8.04962704e-01 -5.93321515e-01 -2.15054432e-03 1.29968293e+02] [ 5.93319297e-01 8.04965576e-01 -1.62273685e-03 3.95213688e+01] [ 2.69391884e-03 3.02832010e-05 9.99996371e-01 2.59250771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.184012739 meters Centerline goodness : 0.990293 Centerline is valid? [True, True] Translation: X:129.99, Y:39.54, Z:0.26 [[ 8.04376889e-01 -5.94115460e-01 -2.15394949e-03 1.29988062e+02] [ 5.94113257e-01 8.04379773e-01 -1.61822491e-03 3.95384109e+01] [ 2.69400584e-03 2.19727735e-05 9.99996371e-01 2.58440383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.214012739 meters Centerline goodness : 0.989305 Centerline is valid? [True, True] Translation: X:130.01, Y:39.56, Z:0.26 [[ 8.02610840e-01 -5.96499134e-01 -2.15010508e-03 1.30009848e+02] [ 5.96496925e-01 8.02613720e-01 -1.62331688e-03 3.95559128e+01] [ 2.69401095e-03 2.03606549e-05 9.99996371e-01 2.58075839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24401273899997 meters Centerline goodness : 0.989683 Centerline is valid? [True, True] Translation: X:130.03, Y:39.57, Z:0.26 [[ 8.01470054e-01 -5.98031045e-01 -2.14979200e-03 1.30031772e+02] [ 5.98028841e-01 8.01472937e-01 -1.62373140e-03 3.95724390e+01] [ 2.69404189e-03 1.57344805e-05 9.99996371e-01 2.58290730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27401273899997 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:130.05, Y:39.59, Z:0.26 [[ 7.98582926e-01 -6.01880959e-01 -2.14962026e-03 1.30053310e+02] [ 6.01878769e-01 7.98585819e-01 -1.62395872e-03 3.95902001e+01] [ 2.69408609e-03 3.05491162e-06 9.99996371e-01 2.59746074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30401273899997 meters Centerline goodness : 0.989802 Centerline is valid? [True, True] Translation: X:130.07, Y:39.61, Z:0.26 [[ 7.96853291e-01 -6.04169027e-01 -2.14930991e-03 1.30074263e+02] [ 6.04166843e-01 7.96856190e-01 -1.62436937e-03 3.96075426e+01] [ 2.69408457e-03 -4.15770475e-06 9.99996371e-01 2.59296907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33401273899997 meters Centerline goodness : 0.989734 Centerline is valid? [True, True] Translation: X:130.10, Y:39.62, Z:0.26 [[ 7.95837334e-01 -6.05506663e-01 -2.14914101e-03 1.30096417e+02] [ 6.05504483e-01 7.95840236e-01 -1.62459281e-03 3.96242853e+01] [ 2.69407466e-03 -8.40290532e-06 9.99996371e-01 2.56840685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36401273899997 meters Centerline goodness : 0.990702 Centerline is valid? [True, True] Translation: X:130.12, Y:39.64, Z:0.25 [[ 7.95121725e-01 -6.06446061e-01 -2.14883523e-03 1.30119397e+02] [ 6.06443884e-01 7.95124628e-01 -1.62499716e-03 3.96399322e+01] [ 2.69406494e-03 -1.10774351e-05 9.99996371e-01 2.52098688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39401273899998 meters Centerline goodness : 0.990268 Centerline is valid? [True, True] Translation: X:130.14, Y:39.66, Z:0.25 [[ 7.94896224e-01 -6.06741607e-01 -2.14853065e-03 1.30141739e+02] [ 6.06739430e-01 7.94899127e-01 -1.62539977e-03 3.96557367e+01] [ 2.69406281e-03 -1.15741173e-05 9.99996371e-01 2.54938990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42401273899998 meters Centerline goodness : 0.989999 Centerline is valid? [True, True] Translation: X:130.16, Y:39.67, Z:0.26 [[ 7.94868041e-01 -6.06778528e-01 -2.14839539e-03 1.30164963e+02] [ 6.06776351e-01 7.94870944e-01 -1.62557853e-03 3.96727275e+01] [ 2.69406322e-03 -1.14750939e-05 9.99996371e-01 2.57085297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45401273899998 meters Centerline goodness : 0.990238 Centerline is valid? [True, True] Translation: X:130.19, Y:39.69, Z:0.26 [[ 7.94918107e-01 -6.06712928e-01 -2.15078716e-03 1.30187603e+02] [ 6.06710759e-01 7.94921017e-01 -1.62241786e-03 3.96873666e+01] [ 2.69404781e-03 -1.52163699e-05 9.99996371e-01 2.57354155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48401273899998 meters Centerline goodness : 0.989893 Centerline is valid? [True, True] Translation: X:130.21, Y:39.70, Z:0.26 [[ 7.94919940e-01 -6.06710537e-01 -2.14801129e-03 1.30209896e+02] [ 6.06708358e-01 7.94922842e-01 -1.62608470e-03 3.97039434e+01] [ 2.69406596e-03 -1.06092481e-05 9.99996371e-01 2.56667290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51401273899998 meters Centerline goodness : 0.990272 Centerline is valid? [True, True] Translation: X:130.23, Y:39.72, Z:0.26 [[ 7.94975238e-01 -6.06638079e-01 -2.14771243e-03 1.30232269e+02] [ 6.06635899e-01 7.94978139e-01 -1.62647934e-03 3.97206106e+01] [ 2.69406873e-03 -9.86866398e-06 9.99996371e-01 2.56716172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54401273899998 meters Centerline goodness : 0.990319 Centerline is valid? [True, True] Translation: X:130.26, Y:39.73, Z:0.26 [[ 7.95136517e-01 -6.06426671e-01 -2.14740273e-03 1.30256073e+02] [ 6.06424489e-01 7.95139417e-01 -1.62688813e-03 3.97335800e+01] [ 2.69407291e-03 -8.63944173e-06 9.99996371e-01 2.58289584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57401273899998 meters Centerline goodness : 0.990401 Centerline is valid? [True, True] Translation: X:130.28, Y:39.75, Z:0.26 [[ 7.95072978e-01 -6.06509974e-01 -2.14723107e-03 1.30280920e+02] [ 6.06507792e-01 7.95075878e-01 -1.62711466e-03 3.97466671e+01] [ 2.69407290e-03 -8.63747938e-06 9.99996371e-01 2.57373300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60401273899998 meters Centerline goodness : 0.990396 Centerline is valid? [True, True] Translation: X:130.30, Y:39.76, Z:0.26 [[ 7.95343918e-01 -6.06154635e-01 -2.14691498e-03 1.30302630e+02] [ 6.06152451e-01 7.95346816e-01 -1.62753163e-03 3.97620758e+01] [ 2.69407783e-03 -6.91039480e-06 9.99996371e-01 2.55784933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63401273899999 meters Centerline goodness : 0.990253 Centerline is valid? [True, True] Translation: X:130.32, Y:39.78, Z:0.25 [[ 7.96697781e-01 -6.04374088e-01 -2.14669872e-03 1.30324718e+02] [ 6.04371895e-01 7.96700673e-01 -1.62781681e-03 3.97773564e+01] [ 2.69408662e-03 -5.26335135e-07 9.99996371e-01 2.53314667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.664012739 meters Centerline goodness : 0.990710 Centerline is valid? [True, True] Translation: X:130.35, Y:39.79, Z:0.25 [[ 7.97429722e-01 -6.03408015e-01 -2.14643548e-03 1.30347770e+02] [ 6.03405818e-01 7.97432610e-01 -1.62816384e-03 3.97933858e+01] [ 2.69408476e-03 3.17458189e-06 9.99996371e-01 2.53162934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.694012739 meters Centerline goodness : 0.989739 Centerline is valid? [True, True] Translation: X:130.37, Y:39.81, Z:0.26 [[ 7.98690980e-01 -6.01737577e-01 -2.14614442e-03 1.30371240e+02] [ 6.01735373e-01 7.98693864e-01 -1.62854742e-03 3.98086084e+01] [ 2.69407056e-03 9.29512366e-06 9.99996371e-01 2.56989454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.724012739 meters Centerline goodness : 0.990342 Centerline is valid? [True, True] Translation: X:130.39, Y:39.83, Z:0.26 [[ 7.99127615e-01 -6.01157592e-01 -2.14585427e-03 1.30393550e+02] [ 6.01155385e-01 7.99130496e-01 -1.62892964e-03 3.98255735e+01] [ 2.69406101e-03 1.17308071e-05 9.99996371e-01 2.57487961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.754012739 meters Centerline goodness : 0.990622 Centerline is valid? [True, True] Translation: X:130.42, Y:39.84, Z:0.25 [[ 8.00297522e-01 -5.99599260e-01 -2.14556513e-03 1.30416388e+02] [ 5.99597047e-01 8.00300398e-01 -1.62931039e-03 3.98419676e+01] [ 2.69402994e-03 1.74585537e-05 9.99996371e-01 2.54534925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.784012739 meters Centerline goodness : 0.990606 Centerline is valid? [True, True] Translation: X:130.44, Y:39.86, Z:0.25 [[ 8.00988266e-01 -5.98676203e-01 -2.14527622e-03 1.30437945e+02] [ 5.98673985e-01 8.00991138e-01 -1.62969072e-03 3.98580573e+01] [ 2.69400429e-03 2.10420770e-05 9.99996371e-01 2.53971988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.814012739 meters Centerline goodness : 0.989669 Centerline is valid? [True, True] Translation: X:130.46, Y:39.88, Z:0.26 [[ 8.02607342e-01 -5.96503858e-01 -2.14501776e-03 1.30458956e+02] [ 5.96501632e-01 8.02610208e-01 -1.63003083e-03 3.98768259e+01] [ 2.69393283e-03 2.87681195e-05 9.99996371e-01 2.56328046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.844012739 meters Centerline goodness : 0.990542 Centerline is valid? [True, True] Translation: X:130.48, Y:39.89, Z:0.26 [[ 8.03248227e-01 -5.95640568e-01 -2.14471018e-03 1.30479602e+02] [ 5.95638337e-01 8.03251090e-01 -1.63043543e-03 3.98945117e+01] [ 2.69389427e-03 3.21727668e-05 9.99996371e-01 2.56338088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.874012739 meters Centerline goodness : 0.990043 Centerline is valid? [True, True] Translation: X:130.50, Y:39.91, Z:0.26 [[ 8.04096793e-01 -5.94494531e-01 -2.14454128e-03 1.30501074e+02] [ 5.94492296e-01 8.04099652e-01 -1.63065755e-03 3.99128088e+01] [ 2.69384190e-03 3.62932320e-05 9.99996371e-01 2.58938453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.904012739 meters Centerline goodness : 0.990181 Centerline is valid? [True, True] Translation: X:130.52, Y:39.93, Z:0.26 [[ 8.04142014e-01 -5.94433363e-01 -2.14425651e-03 1.30523172e+02] [ 5.94431127e-01 8.04144872e-01 -1.63103192e-03 3.99301698e+01] [ 2.69383267e-03 3.69684824e-05 9.99996371e-01 2.59690350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.934012739 meters Centerline goodness : 0.990255 Centerline is valid? [True, True] Translation: X:130.54, Y:39.95, Z:0.26 [[ 8.04446643e-01 -5.94021045e-01 -2.14394808e-03 1.30543952e+02] [ 5.94018806e-01 8.04449499e-01 -1.63143725e-03 3.99466952e+01] [ 2.69380602e-03 3.88587341e-05 9.99996371e-01 2.59679060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.964012739 meters Centerline goodness : 0.990428 Centerline is valid? [True, True] Translation: X:130.56, Y:39.97, Z:0.26 [[ 8.05937802e-01 -5.91996337e-01 -2.14377978e-03 1.30564241e+02] [ 5.91994090e-01 8.05940652e-01 -1.63165838e-03 3.99660324e+01] [ 2.69369506e-03 4.59102103e-05 9.99996371e-01 2.57473104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99401273899997 meters Centerline goodness : 0.989979 Centerline is valid? [True, True] Translation: X:130.58, Y:39.99, Z:0.26 [[ 8.06599286e-01 -5.91094745e-01 -2.14347171e-03 1.30583299e+02] [ 5.91092494e-01 8.06602133e-01 -1.63206298e-03 3.99856317e+01] [ 2.69363270e-03 4.94307941e-05 9.99996371e-01 2.57626173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02401273899997 meters Centerline goodness : 0.990351 Centerline is valid? [True, True] Translation: X:130.60, Y:40.00, Z:0.26 [[ 8.06126194e-01 -5.91739779e-01 -2.14330303e-03 1.30604535e+02] [ 5.91737530e-01 8.06129042e-01 -1.63228447e-03 4.00034265e+01] [ 2.69366647e-03 4.75544330e-05 9.99996371e-01 2.60091525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05401273899997 meters Centerline goodness : 0.990728 Centerline is valid? [True, True] Translation: X:130.63, Y:40.02, Z:0.26 [[ 8.04398587e-01 -5.94086123e-01 -2.14300434e-03 1.30626072e+02] [ 5.94083881e-01 8.04401440e-01 -1.63267652e-03 4.00217899e+01] [ 2.69378624e-03 4.01983536e-05 9.99996371e-01 2.61765856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08401273899997 meters Centerline goodness : 0.990671 Centerline is valid? [True, True] Translation: X:130.65, Y:40.04, Z:0.26 [[ 8.03384912e-01 -5.95456205e-01 -2.14269923e-03 1.30647043e+02] [ 5.95453966e-01 8.03387769e-01 -1.63307684e-03 4.00389593e+01] [ 2.69384409e-03 3.61105423e-05 9.99996371e-01 2.59969408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11401273899997 meters Centerline goodness : 0.990643 Centerline is valid? [True, True] Translation: X:130.67, Y:40.06, Z:0.26 [[ 8.02062832e-01 -5.97235819e-01 -2.14253310e-03 1.30669432e+02] [ 5.97233586e-01 8.02065693e-01 -1.63329477e-03 4.00564097e+01] [ 2.69391444e-03 3.04122971e-05 9.99996371e-01 2.56812326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14401273899998 meters Centerline goodness : 0.990310 Centerline is valid? [True, True] Translation: X:130.69, Y:40.07, Z:0.25 [[ 7.99087547e-01 -6.01210864e-01 -2.14223275e-03 1.30692231e+02] [ 6.01208644e-01 7.99090419e-01 -1.63368861e-03 4.00727169e+01] [ 2.69402901e-03 1.75313768e-05 9.99996371e-01 2.53608024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17401273899998 meters Centerline goodness : 0.991050 Centerline is valid? [True, True] Translation: X:130.71, Y:40.09, Z:0.26 [[ 7.96764890e-01 -6.04285629e-01 -2.14193259e-03 1.30713977e+02] [ 6.04283420e-01 7.96767770e-01 -1.63408206e-03 4.00892970e+01] [ 2.69407516e-03 7.64485859e-06 9.99996371e-01 2.56314118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20401273899998 meters Centerline goodness : 0.990904 Centerline is valid? [True, True] Translation: X:130.74, Y:40.11, Z:0.26 [[ 7.95779405e-01 -6.05582820e-01 -2.14176361e-03 1.30736439e+02] [ 6.05580615e-01 7.95782287e-01 -1.63430350e-03 4.01067898e+01] [ 2.69408367e-03 3.53454316e-06 9.99996371e-01 2.57437843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23401273899998 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:130.76, Y:40.12, Z:0.26 [[ 7.93705577e-01 -6.08298340e-01 -2.14146170e-03 1.30758698e+02] [ 6.08296144e-01 7.93708466e-01 -1.63469901e-03 4.01222161e+01] [ 2.69408098e-03 -5.17317854e-06 9.99996371e-01 2.57354334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26401273899998 meters Centerline goodness : 0.991017 Centerline is valid? [True, True] Translation: X:130.78, Y:40.14, Z:0.26 [[ 7.92592409e-01 -6.09748053e-01 -2.14129708e-03 1.30781588e+02] [ 6.09745861e-01 7.92595301e-01 -1.63491462e-03 4.01383393e+01] [ 2.69406801e-03 -9.82611118e-06 9.99996371e-01 2.57891117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29401273899998 meters Centerline goodness : 0.990943 Centerline is valid? [True, True] Translation: X:130.80, Y:40.15, Z:0.26 [[ 7.91345113e-01 -6.11365952e-01 -2.14100229e-03 1.30804373e+02] [ 6.11363765e-01 7.91348010e-01 -1.63530058e-03 4.01542109e+01] [ 2.69404499e-03 -1.48441015e-05 9.99996371e-01 2.61405769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32401273899998 meters Centerline goodness : 0.991632 Centerline is valid? [True, True] Translation: X:130.83, Y:40.17, Z:0.26 [[ 7.91012248e-01 -6.11796568e-01 -2.14070492e-03 1.30826479e+02] [ 6.11794381e-01 7.91015145e-01 -1.63568976e-03 4.01699586e+01] [ 2.69403939e-03 -1.58206040e-05 9.99996371e-01 2.60455505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35401273899998 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:130.85, Y:40.18, Z:0.26 [[ 7.90403080e-01 -6.12583374e-01 -2.14054280e-03 1.30849684e+02] [ 6.12581190e-01 7.90405978e-01 -1.63590189e-03 4.01849152e+01] [ 2.69402412e-03 -1.82343634e-05 9.99996371e-01 2.59115935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38401273899999 meters Centerline goodness : 0.991077 Centerline is valid? [True, True] Translation: X:130.87, Y:40.20, Z:0.26 [[ 7.90331198e-01 -6.12676111e-01 -2.14024047e-03 1.30872117e+02] [ 6.12673927e-01 7.90334095e-01 -1.63629732e-03 4.02003570e+01] [ 2.69402530e-03 -1.80527118e-05 9.99996371e-01 2.58824670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.414012739 meters Centerline goodness : 0.990804 Centerline is valid? [True, True] Translation: X:130.90, Y:40.21, Z:0.26 [[ 7.89848768e-01 -6.13297924e-01 -2.14007559e-03 1.30896498e+02] [ 6.13295741e-01 7.89851667e-01 -1.63651294e-03 4.02149306e+01] [ 2.69401226e-03 -1.99015166e-05 9.99996371e-01 2.58639118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.444012739 meters Centerline goodness : 0.991412 Centerline is valid? [True, True] Translation: X:130.92, Y:40.23, Z:0.26 [[ 7.89218618e-01 -6.14108618e-01 -2.13976949e-03 1.30918504e+02] [ 6.14106437e-01 7.89221518e-01 -1.63691307e-03 4.02298719e+01] [ 2.69399455e-03 -2.21639477e-05 9.99996371e-01 2.58227062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.474012739 meters Centerline goodness : 0.991719 Centerline is valid? [True, True] Translation: X:130.94, Y:40.24, Z:0.26 [[ 7.88840910e-01 -6.14593720e-01 -2.13956092e-03 1.30942483e+02] [ 6.14591540e-01 7.88843811e-01 -1.63718565e-03 4.02437644e+01] [ 2.69398341e-03 -2.34770203e-05 9.99996371e-01 2.60396239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.504012739 meters Centerline goodness : 0.991716 Centerline is valid? [True, True] Translation: X:130.96, Y:40.26, Z:0.26 [[ 7.89121659e-01 -6.14233205e-01 -2.13925901e-03 1.30964908e+02] [ 6.14231023e-01 7.89124559e-01 -1.63758005e-03 4.02583707e+01] [ 2.69399786e-03 -2.17493612e-05 9.99996371e-01 2.61295830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.534012739 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:130.99, Y:40.27, Z:0.26 [[ 7.91119693e-01 -6.11657630e-01 -2.13909410e-03 1.30988799e+02] [ 6.11655437e-01 7.91122584e-01 -1.63779543e-03 4.02738283e+01] [ 2.69405572e-03 -1.26963186e-05 9.99996371e-01 2.62856805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.564012739 meters Centerline goodness : 0.991378 Centerline is valid? [True, True] Translation: X:131.01, Y:40.29, Z:0.26 [[ 7.92617186e-01 -6.09715854e-01 -2.13879538e-03 1.31010428e+02] [ 6.09713653e-01 7.92620071e-01 -1.63818544e-03 4.02911668e+01] [ 2.69407978e-03 -5.59881150e-06 9.99996371e-01 2.63518980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.594012739 meters Centerline goodness : 0.991234 Centerline is valid? [True, True] Translation: X:131.03, Y:40.31, Z:0.26 [[ 7.95532177e-01 -6.05907569e-01 -2.13849722e-03 1.31029924e+02] [ 6.05905353e-01 7.95535051e-01 -1.63857456e-03 4.03103469e+01] [ 2.69407423e-03 7.81187247e-06 9.99996371e-01 2.62123949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.624012739 meters Centerline goodness : 0.991922 Centerline is valid? [True, True] Translation: X:131.05, Y:40.33, Z:0.26 [[ 7.96926469e-01 -6.04072538e-01 -2.13822924e-03 1.31051234e+02] [ 6.04070315e-01 7.96929338e-01 -1.63892418e-03 4.03289588e+01] [ 2.69404670e-03 1.44612518e-05 9.99996371e-01 2.61914595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.654012739 meters Centerline goodness : 0.991091 Centerline is valid? [True, True] Translation: X:131.07, Y:40.35, Z:0.27 [[ 7.99692988e-01 -6.00405325e-01 -2.13793306e-03 1.31071524e+02] [ 6.00403088e-01 7.99695845e-01 -1.63931046e-03 4.03471999e+01] [ 2.69394691e-03 2.73234683e-05 9.99996371e-01 2.65556605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.684012739 meters Centerline goodness : 0.991561 Centerline is valid? [True, True] Translation: X:131.09, Y:40.36, Z:0.26 [[ 8.00704627e-01 -5.99055533e-01 -2.13766528e-03 1.31092713e+02] [ 5.99053290e-01 8.00707479e-01 -1.63965956e-03 4.03649034e+01] [ 2.69389171e-03 3.23075732e-05 9.99996371e-01 2.64515785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.714012739 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:131.11, Y:40.38, Z:0.26 [[ 8.01822332e-01 -5.97558683e-01 -2.13735211e-03 1.31113855e+02] [ 5.97556434e-01 8.01825180e-01 -1.64006769e-03 4.03829834e+01] [ 2.69381943e-03 3.78543902e-05 9.99996371e-01 2.57578680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74401273899997 meters Centerline goodness : 0.991721 Centerline is valid? [True, True] Translation: X:131.14, Y:40.40, Z:0.26 [[ 8.01710830e-01 -5.97708271e-01 -2.13718913e-03 1.31135587e+02] [ 5.97706022e-01 8.01713678e-01 -1.64028004e-03 4.04002259e+01] [ 2.69382271e-03 3.76194605e-05 9.99996371e-01 2.57709126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77401273899997 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:131.16, Y:40.42, Z:0.26 [[ 8.00683711e-01 -5.99083490e-01 -2.13688027e-03 1.31157377e+02] [ 5.99081245e-01 8.00686562e-01 -1.64068231e-03 4.04179716e+01] [ 2.69387700e-03 3.35027054e-05 9.99996371e-01 2.62256744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80401273899997 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:131.18, Y:40.44, Z:0.27 [[ 8.00053403e-01 -5.99924984e-01 -2.13674619e-03 1.31178558e+02] [ 5.99922741e-01 8.00056256e-01 -1.64085692e-03 4.04364588e+01] [ 2.69390821e-03 3.08905312e-05 9.99996371e-01 2.66262615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83401273899997 meters Centerline goodness : 0.992495 Centerline is valid? [True, True] Translation: X:131.20, Y:40.46, Z:0.26 [[ 7.99509668e-01 -6.00649420e-01 -2.13644113e-03 1.31198180e+02] [ 6.00647179e-01 7.99512522e-01 -1.64125401e-03 4.04561088e+01] [ 2.69392971e-03 2.89511092e-05 9.99996371e-01 2.63609977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86401273899997 meters Centerline goodness : 0.993123 Centerline is valid? [True, True] Translation: X:131.22, Y:40.47, Z:0.26 [[ 7.99424038e-01 -6.00763385e-01 -2.13613660e-03 1.31218933e+02] [ 6.00761143e-01 7.99426891e-01 -1.64165028e-03 4.04732154e+01] [ 2.69392842e-03 2.90668306e-05 9.99996371e-01 2.60031480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89401273899998 meters Centerline goodness : 0.992603 Centerline is valid? [True, True] Translation: X:131.24, Y:40.49, Z:0.26 [[ 7.98717861e-01 -6.01701933e-01 -2.13597961e-03 1.31241193e+02] [ 6.01699694e-01 7.98720716e-01 -1.64185451e-03 4.04904113e+01] [ 2.69395820e-03 2.61602465e-05 9.99996371e-01 2.57602583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92401273899998 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:131.26, Y:40.51, Z:0.26 [[ 7.98137148e-01 -6.02472018e-01 -2.13567787e-03 1.31261926e+02] [ 6.02469780e-01 7.98140005e-01 -1.64224692e-03 4.05075463e+01] [ 2.69397776e-03 2.40568944e-05 9.99996371e-01 2.58292770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95401273899998 meters Centerline goodness : 0.992972 Centerline is valid? [True, True] Translation: X:131.28, Y:40.53, Z:0.26 [[ 7.97090338e-01 -6.03856302e-01 -2.13551079e-03 1.31281413e+02] [ 6.03854069e-01 7.97093198e-01 -1.64246415e-03 4.05261026e+01] [ 2.69401345e-03 1.96554272e-05 9.99996371e-01 2.58062609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98401273899998 meters Centerline goodness : 0.992312 Centerline is valid? [True, True] Translation: X:131.30, Y:40.54, Z:0.26 [[ 7.96528284e-01 -6.04597497e-01 -2.13534741e-03 1.31302115e+02] [ 6.04595266e-01 7.96531146e-01 -1.64267653e-03 4.05443830e+01] [ 2.69402884e-03 1.74173878e-05 9.99996371e-01 2.59267273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01401273899998 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:131.32, Y:40.56, Z:0.26 [[ 7.95552856e-01 -6.05880429e-01 -2.13504718e-03 1.31323164e+02] [ 6.05878201e-01 7.95555721e-01 -1.64306666e-03 4.05616744e+01] [ 2.69405093e-03 1.35678317e-05 9.99996371e-01 2.61112853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04401273899998 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:131.35, Y:40.58, Z:0.26 [[ 7.95444092e-01 -6.06023216e-01 -2.13487614e-03 1.31345610e+02] [ 6.06020989e-01 7.95446957e-01 -1.64328886e-03 4.05792027e+01] [ 2.69405193e-03 1.33646660e-05 9.99996371e-01 2.61189583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07401273899998 meters Centerline goodness : 0.991787 Centerline is valid? [True, True] Translation: X:131.37, Y:40.60, Z:0.26 [[ 7.94793065e-01 -6.06876780e-01 -2.13458111e-03 1.31368065e+02] [ 6.06874555e-01 7.94795932e-01 -1.64367200e-03 4.05955587e+01] [ 2.69406276e-03 1.09561497e-05 9.99996371e-01 2.62660351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10401273899998 meters Centerline goodness : 0.991470 Centerline is valid? [True, True] Translation: X:131.39, Y:40.61, Z:0.26 [[ 7.93379856e-01 -6.08723130e-01 -2.13428407e-03 1.31390509e+02] [ 6.08720910e-01 7.93382726e-01 -1.64405762e-03 4.06125893e+01] [ 2.69408001e-03 5.17885454e-06 9.99996371e-01 2.62483541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13401273899999 meters Centerline goodness : 0.992024 Centerline is valid? [True, True] Translation: X:131.41, Y:40.63, Z:0.26 [[ 7.92873258e-01 -6.09382837e-01 -2.13397210e-03 1.31411727e+02] [ 6.09380619e-01 7.92876130e-01 -1.64446245e-03 4.06288114e+01] [ 2.69408274e-03 3.44905998e-06 9.99996371e-01 2.59997491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.164012739 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:131.43, Y:40.64, Z:0.26 [[ 7.93020228e-01 -6.09191567e-01 -2.13366309e-03 1.31434987e+02] [ 6.09189346e-01 7.93023099e-01 -1.64486329e-03 4.06445617e+01] [ 2.69408096e-03 4.60504327e-06 9.99996371e-01 2.60035487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.194012739 meters Centerline goodness : 0.991992 Centerline is valid? [True, True] Translation: X:131.46, Y:40.66, Z:0.26 [[ 7.93151983e-01 -6.09020017e-01 -2.13335986e-03 1.31458299e+02] [ 6.09017795e-01 7.93154852e-01 -1.64525648e-03 4.06591267e+01] [ 2.69407885e-03 5.68432080e-06 9.99996371e-01 2.62786199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.224012739 meters Centerline goodness : 0.991726 Centerline is valid? [True, True] Translation: X:131.48, Y:40.68, Z:0.27 [[ 7.93207466e-01 -6.08947753e-01 -2.13318716e-03 1.31480262e+02] [ 6.08945529e-01 7.93210334e-01 -1.64548037e-03 4.06757012e+01] [ 2.69407767e-03 6.21252501e-06 9.99996371e-01 2.66813655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.254012739 meters Centerline goodness : 0.991638 Centerline is valid? [True, True] Translation: X:131.50, Y:40.69, Z:0.27 [[ 7.93701412e-01 -6.08303806e-01 -2.13288594e-03 1.31503453e+02] [ 6.08301579e-01 7.93704277e-01 -1.64587072e-03 4.06913897e+01] [ 2.69407012e-03 8.89202393e-06 9.99996371e-01 2.70869079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.284012739 meters Centerline goodness : 0.991324 Centerline is valid? [True, True] Translation: X:131.53, Y:40.71, Z:0.27 [[ 7.94407521e-01 -6.07381382e-01 -2.13256996e-03 1.31525941e+02] [ 6.07379151e-01 7.94410383e-01 -1.64628003e-03 4.07068868e+01] [ 2.69405556e-03 1.25387058e-05 9.99996371e-01 2.72205875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.314012739 meters Centerline goodness : 0.991500 Centerline is valid? [True, True] Translation: X:131.55, Y:40.72, Z:0.27 [[ 7.95248171e-01 -6.06280298e-01 -2.13239781e-03 1.31548259e+02] [ 6.06278063e-01 7.95251029e-01 -1.64650299e-03 4.07225060e+01] [ 2.69403388e-03 1.65524726e-05 9.99996371e-01 2.72964940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.344012739 meters Centerline goodness : 0.991224 Centerline is valid? [True, True] Translation: X:131.57, Y:40.74, Z:0.27 [[ 7.97188928e-01 -6.03726152e-01 -2.13223009e-03 1.31569991e+02] [ 6.03723906e-01 7.97191779e-01 -1.64672015e-03 4.07385740e+01] [ 2.69396432e-03 2.54687935e-05 9.99996371e-01 2.68710491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.374012739 meters Centerline goodness : 0.992110 Centerline is valid? [True, True] Translation: X:131.59, Y:40.75, Z:0.27 [[ 7.98893487e-01 -6.01468746e-01 -2.13196152e-03 1.31591939e+02] [ 6.01466491e-01 7.98896331e-01 -1.64706780e-03 4.07544421e+01] [ 2.69387604e-03 3.35283259e-05 9.99996371e-01 2.67706331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.404012739 meters Centerline goodness : 0.991563 Centerline is valid? [True, True] Translation: X:131.61, Y:40.77, Z:0.27 [[ 7.99660299e-01 -6.00448883e-01 -2.13169547e-03 1.31613938e+02] [ 6.00446624e-01 7.99663140e-01 -1.64741205e-03 4.07704151e+01] [ 2.69382502e-03 3.74006663e-05 9.99996371e-01 2.68173766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.434012739 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:131.64, Y:40.79, Z:0.27 [[ 7.99897634e-01 -6.00132678e-01 -2.13149522e-03 1.31636000e+02] [ 6.00130418e-01 7.99900473e-01 -1.64767110e-03 4.07868956e+01] [ 2.69380531e-03 3.87930975e-05 9.99996371e-01 2.66899196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.464012739 meters Centerline goodness : 0.991594 Centerline is valid? [True, True] Translation: X:131.66, Y:40.80, Z:0.27 [[ 7.99924342e-01 -6.00097080e-01 -2.13118895e-03 1.31658419e+02] [ 6.00094818e-01 7.99927180e-01 -1.64806715e-03 4.08043423e+01] [ 2.69379626e-03 3.94135839e-05 9.99996371e-01 2.65612595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49401273899997 meters Centerline goodness : 0.991045 Centerline is valid? [True, True] Translation: X:131.68, Y:40.82, Z:0.27 [[ 8.00264589e-01 -5.99643267e-01 -2.13088229e-03 1.31680492e+02] [ 5.99641002e-01 8.00267425e-01 -1.64846356e-03 4.08205910e+01] [ 2.69376576e-03 4.14426241e-05 9.99996371e-01 2.65923520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52401273899997 meters Centerline goodness : 0.991045 Centerline is valid? [True, True] Translation: X:131.70, Y:40.84, Z:0.27 [[ 8.00731932e-01 -5.99019060e-01 -2.13071341e-03 1.31701866e+02] [ 5.99016793e-01 8.00734765e-01 -1.64868181e-03 4.08374964e+01] [ 2.69372813e-03 4.38190561e-05 9.99996371e-01 2.69677915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55401273899997 meters Centerline goodness : 0.991289 Centerline is valid? [True, True] Translation: X:131.72, Y:40.86, Z:0.27 [[ 8.00704308e-01 -5.99055985e-01 -2.13053903e-03 1.31723619e+02] [ 5.99053717e-01 8.00707141e-01 -1.64890713e-03 4.08550765e+01] [ 2.69372550e-03 4.39797223e-05 9.99996371e-01 2.69184999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58401273899997 meters Centerline goodness : 0.991758 Centerline is valid? [True, True] Translation: X:131.75, Y:40.87, Z:0.27 [[ 8.00707709e-01 -5.99051439e-01 -2.13023949e-03 1.31745619e+02] [ 5.99049170e-01 8.00710542e-01 -1.64929402e-03 4.08723578e+01] [ 2.69371717e-03 4.44842380e-05 9.99996371e-01 2.66105011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61401273899997 meters Centerline goodness : 0.991919 Centerline is valid? [True, True] Translation: X:131.77, Y:40.89, Z:0.27 [[ 8.00934396e-01 -5.98748325e-01 -2.12992810e-03 1.31768487e+02] [ 5.98746054e-01 8.00937227e-01 -1.64969606e-03 4.08887556e+01] [ 2.69369146e-03 4.60122775e-05 9.99996371e-01 2.65493708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64401273899998 meters Centerline goodness : 0.991766 Centerline is valid? [True, True] Translation: X:131.79, Y:40.91, Z:0.27 [[ 8.00991249e-01 -5.98672267e-01 -2.12961675e-03 1.31790408e+02] [ 5.98669995e-01 8.00994079e-01 -1.65009788e-03 4.09053203e+01] [ 2.69367825e-03 4.67763155e-05 9.99996371e-01 2.65844522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67401273899998 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:131.81, Y:40.92, Z:0.27 [[ 8.01971493e-01 -5.97358510e-01 -2.12944703e-03 1.31810392e+02] [ 5.97356233e-01 8.01974318e-01 -1.65031688e-03 4.09243634e+01] [ 2.69359266e-03 5.14686385e-05 9.99996371e-01 2.71588065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70401273899998 meters Centerline goodness : 0.991406 Centerline is valid? [True, True] Translation: X:131.83, Y:40.94, Z:0.27 [[ 8.02829503e-01 -5.96204877e-01 -2.12927437e-03 1.31831203e+02] [ 5.96202595e-01 8.02832325e-01 -1.65053961e-03 4.09431912e+01] [ 2.69351006e-03 5.56229915e-05 9.99996371e-01 2.72022448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73401273899998 meters Centerline goodness : 0.991742 Centerline is valid? [True, True] Translation: X:131.85, Y:40.96, Z:0.27 [[ 8.05155988e-01 -5.93059274e-01 -2.12897075e-03 1.31851814e+02] [ 5.93056980e-01 8.05158800e-01 -1.65093115e-03 4.09631031e+01] [ 2.69325957e-03 6.66561344e-05 9.99996371e-01 2.66486893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76401273899998 meters Centerline goodness : 0.992167 Centerline is valid? [True, True] Translation: X:131.87, Y:40.98, Z:0.26 [[ 8.06324049e-01 -5.91470199e-01 -2.12867660e-03 1.31871724e+02] [ 5.91467899e-01 8.06326856e-01 -1.65131034e-03 4.09809291e+01] [ 2.69310996e-03 7.24473673e-05 9.99996371e-01 2.64294448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79401273899998 meters Centerline goodness : 0.992654 Centerline is valid? [True, True] Translation: X:131.89, Y:41.00, Z:0.27 [[ 8.07437194e-01 -5.89949699e-01 -2.12850882e-03 1.31890075e+02] [ 5.89947393e-01 8.07439995e-01 -1.65152657e-03 4.10010769e+01] [ 2.69296076e-03 7.77957523e-05 9.99996371e-01 2.65926649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82401273899998 meters Centerline goodness : 0.992036 Centerline is valid? [True, True] Translation: X:131.91, Y:41.02, Z:0.27 [[ 8.05904623e-01 -5.92041560e-01 -2.12834325e-03 1.31911098e+02] [ 5.92039260e-01 8.05907431e-01 -1.65173991e-03 4.10202844e+01] [ 2.69314632e-03 7.10820671e-05 9.99996371e-01 2.68170622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85401273899998 meters Centerline goodness : 0.991797 Centerline is valid? [True, True] Translation: X:131.93, Y:41.04, Z:0.27 [[ 8.04542817e-01 -5.93890838e-01 -2.12804497e-03 1.31932549e+02] [ 5.93888543e-01 8.04545629e-01 -1.65212413e-03 4.10382873e+01] [ 2.69329066e-03 6.53830762e-05 9.99996371e-01 2.67209989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88401273899999 meters Centerline goodness : 0.992556 Centerline is valid? [True, True] Translation: X:131.95, Y:41.06, Z:0.27 [[ 8.02958556e-01 -5.96031065e-01 -2.12774742e-03 1.31952747e+02] [ 5.96028777e-01 8.02961373e-01 -1.65250724e-03 4.10581048e+01] [ 2.69344464e-03 5.86961321e-05 9.99996371e-01 2.65062407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.914012739 meters Centerline goodness : 0.992334 Centerline is valid? [True, True] Translation: X:131.97, Y:41.08, Z:0.26 [[ 8.02119859e-01 -5.97159279e-01 -2.12744883e-03 1.31973488e+02] [ 5.97156994e-01 8.02122679e-01 -1.65289156e-03 4.10756108e+01] [ 2.69351449e-03 5.53961922e-05 9.99996371e-01 2.63781820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.944012739 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:132.00, Y:41.09, Z:0.26 [[ 8.01246137e-01 -5.98331098e-01 -2.12728878e-03 1.31995830e+02] [ 5.98328817e-01 8.01248959e-01 -1.65309752e-03 4.10932272e+01] [ 2.69358758e-03 5.17198204e-05 9.99996371e-01 2.62406434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.974012739 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:132.02, Y:41.11, Z:0.26 [[ 8.00017807e-01 -5.99972486e-01 -2.12699148e-03 1.32018820e+02] [ 5.99970210e-01 8.00020633e-01 -1.65347996e-03 4.11112306e+01] [ 2.69367955e-03 4.66818840e-05 9.99996371e-01 2.60891270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.004012739 meters Centerline goodness : 0.991813 Centerline is valid? [True, True] Translation: X:132.04, Y:41.13, Z:0.27 [[ 7.98100835e-01 -6.02520153e-01 -2.12673284e-03 1.32041204e+02] [ 6.02517884e-01 7.98103667e-01 -1.65381257e-03 4.11300625e+01] [ 2.69380868e-03 3.85146193e-05 9.99996371e-01 2.65141662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.034012739 meters Centerline goodness : 0.992107 Centerline is valid? [True, True] Translation: X:132.06, Y:41.15, Z:0.27 [[ 7.97450253e-01 -6.03380951e-01 -2.12645728e-03 1.32062675e+02] [ 6.03378685e-01 7.97453087e-01 -1.65416680e-03 4.11465911e+01] [ 2.69384266e-03 3.60567327e-05 9.99996371e-01 2.65523194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.064012739 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:132.09, Y:41.16, Z:0.26 [[ 7.97315409e-01 -6.03559125e-01 -2.12627671e-03 1.32085414e+02] [ 6.03556859e-01 7.97318243e-01 -1.65439887e-03 4.11640645e+01] [ 2.69384675e-03 3.57488184e-05 9.99996371e-01 2.63201402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.094012739 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:132.11, Y:41.18, Z:0.26 [[ 7.97521776e-01 -6.03286414e-01 -2.12600249e-03 1.32106623e+02] [ 6.03284146e-01 7.97524608e-01 -1.65475119e-03 4.11820350e+01] [ 2.69382821e-03 3.71165066e-05 9.99996371e-01 2.61597130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.124012739 meters Centerline goodness : 0.992228 Centerline is valid? [True, True] Translation: X:132.13, Y:41.20, Z:0.26 [[ 7.98428676e-01 -6.02085650e-01 -2.12569560e-03 1.32126448e+02] [ 6.02083377e-01 7.98431505e-01 -1.65514532e-03 4.12015771e+01] [ 2.69376159e-03 4.16695056e-05 9.99996371e-01 2.61621522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.154012739 meters Centerline goodness : 0.992435 Centerline is valid? [True, True] Translation: X:132.15, Y:41.22, Z:0.26 [[ 7.99142431e-01 -6.01137969e-01 -2.12539101e-03 1.32148400e+02] [ 6.01135691e-01 7.99145256e-01 -1.65553635e-03 4.12203480e+01] [ 2.69370191e-03 4.53609490e-05 9.99996371e-01 2.63122347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.184012739 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:132.17, Y:41.24, Z:0.26 [[ 8.01168991e-01 -5.98434401e-01 -2.12511882e-03 1.32167277e+02] [ 5.98432113e-01 8.01171807e-01 -1.65588567e-03 4.12403859e+01] [ 2.69352424e-03 5.49049057e-05 9.99996371e-01 2.62636250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.214012739 meters Centerline goodness : 0.991847 Centerline is valid? [True, True] Translation: X:132.19, Y:41.26, Z:0.26 [[ 8.01740737e-01 -5.97668198e-01 -2.12494744e-03 1.32187736e+02] [ 5.97665907e-01 8.01743551e-01 -1.65610558e-03 4.12596086e+01] [ 2.69346454e-03 5.77586742e-05 9.99996371e-01 2.64400218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24401273899997 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:132.21, Y:41.28, Z:0.26 [[ 8.01671173e-01 -5.97761504e-01 -2.12463157e-03 1.32207084e+02] [ 5.97759212e-01 8.01673987e-01 -1.65651071e-03 4.12787749e+01] [ 2.69346019e-03 5.79587887e-05 9.99996371e-01 2.62822967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27401273899997 meters Centerline goodness : 0.992483 Centerline is valid? [True, True] Translation: X:132.23, Y:41.30, Z:0.26 [[ 8.00643333e-01 -5.99137496e-01 -2.12445990e-03 1.32228069e+02] [ 5.99135208e-01 8.00646150e-01 -1.65673084e-03 4.12967015e+01] [ 2.69355021e-03 5.36117750e-05 9.99996371e-01 2.64030396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30401273899997 meters Centerline goodness : 0.992569 Centerline is valid? [True, True] Translation: X:132.25, Y:41.32, Z:0.26 [[ 7.97939471e-01 -6.02733845e-01 -2.12414813e-03 1.32247988e+02] [ 6.02731569e-01 7.97942297e-01 -1.65713048e-03 4.13157289e+01] [ 2.69375627e-03 4.19986872e-05 9.99996371e-01 2.64140983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33401273899997 meters Centerline goodness : 0.991911 Centerline is valid? [True, True] Translation: X:132.27, Y:41.33, Z:0.26 [[ 7.96070675e-01 -6.05199941e-01 -2.12397401e-03 1.32269439e+02] [ 6.05197673e-01 7.96073508e-01 -1.65735362e-03 4.13340219e+01] [ 2.69386976e-03 3.39464885e-05 9.99996371e-01 2.63401943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36401273899997 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:132.29, Y:41.35, Z:0.26 [[ 7.92274755e-01 -6.10160801e-01 -2.12366664e-03 1.32291203e+02] [ 6.10158550e-01 7.92277601e-01 -1.65774738e-03 4.13524038e+01] [ 2.69402598e-03 1.76180458e-05 9.99996371e-01 2.62315646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39401273899998 meters Centerline goodness : 0.992743 Centerline is valid? [True, True] Translation: X:132.31, Y:41.37, Z:0.26 [[ 7.90489468e-01 -6.12471952e-01 -2.12337981e-03 1.32313645e+02] [ 6.12469708e-01 7.90492320e-01 -1.65811470e-03 4.13696126e+01] [ 2.69406418e-03 1.02163904e-05 9.99996371e-01 2.64807008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42401273899998 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:132.34, Y:41.38, Z:0.27 [[ 7.87749689e-01 -6.15991818e-01 -2.12305770e-03 1.32336925e+02] [ 6.15989585e-01 7.87752550e-01 -1.65852703e-03 4.13847389e+01] [ 2.69408319e-03 -1.27727757e-06 9.99996371e-01 2.69023434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45401273899998 meters Centerline goodness : 0.991836 Centerline is valid? [True, True] Translation: X:132.36, Y:41.40, Z:0.27 [[ 7.85980049e-01 -6.18248215e-01 -2.12291664e-03 1.32361441e+02] [ 6.18245990e-01 7.85982916e-01 -1.65870756e-03 4.13993118e+01] [ 2.69406920e-03 -8.77365596e-06 9.99996371e-01 2.68040680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48401273899998 meters Centerline goodness : 0.991374 Centerline is valid? [True, True] Translation: X:132.38, Y:41.42, Z:0.27 [[ 7.85560657e-01 -6.18781018e-01 -2.12261506e-03 1.32384507e+02] [ 6.18778794e-01 7.85563525e-01 -1.65909339e-03 4.14159461e+01] [ 2.69406447e-03 -1.01106952e-05 9.99996371e-01 2.67834499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51401273899998 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:132.41, Y:41.43, Z:0.27 [[ 7.85397970e-01 -6.18987499e-01 -2.12230917e-03 1.32407107e+02] [ 6.18985275e-01 7.85400838e-01 -1.65948460e-03 4.14324519e+01] [ 2.69406362e-03 -1.03222818e-05 9.99996371e-01 2.67590393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54401273899998 meters Centerline goodness : 0.992033 Centerline is valid? [True, True] Translation: X:132.43, Y:41.45, Z:0.27 [[ 7.86299786e-01 -6.17841520e-01 -2.12200206e-03 1.32430134e+02] [ 6.17839290e-01 7.86302649e-01 -1.65987721e-03 4.14478751e+01] [ 2.69407690e-03 -5.89515696e-06 9.99996371e-01 2.69805322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57401273899998 meters Centerline goodness : 0.991440 Centerline is valid? [True, True] Translation: X:132.45, Y:41.46, Z:0.28 [[ 7.88086177e-01 -6.15561269e-01 -2.12169230e-03 1.32454428e+02] [ 6.15559030e-01 7.88089033e-01 -1.66027306e-03 4.14617127e+01] [ 2.69408222e-03 2.41138930e-06 9.99996371e-01 2.75071185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60401273899998 meters Centerline goodness : 0.991299 Centerline is valid? [True, True] Translation: X:132.48, Y:41.48, Z:0.28 [[ 7.88569567e-01 -6.14941898e-01 -2.12155684e-03 1.32477569e+02] [ 6.14939656e-01 7.88572420e-01 -1.66044614e-03 4.14777627e+01] [ 2.69407911e-03 4.74785526e-06 9.99996371e-01 2.76768862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63401273899999 meters Centerline goodness : 0.990937 Centerline is valid? [True, True] Translation: X:132.50, Y:41.49, Z:0.27 [[ 7.89149909e-01 -6.14196973e-01 -2.12124825e-03 1.32499286e+02] [ 6.14194727e-01 7.89152760e-01 -1.66084028e-03 4.14937978e+01] [ 2.69407198e-03 7.79246323e-06 9.99996371e-01 2.73468935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.664012739 meters Centerline goodness : 0.991615 Centerline is valid? [True, True] Translation: X:132.52, Y:41.51, Z:0.27 [[ 7.89148700e-01 -6.14198527e-01 -2.12108162e-03 1.32522112e+02] [ 6.14196281e-01 7.89151550e-01 -1.66105305e-03 4.15108431e+01] [ 2.69407119e-03 8.05741138e-06 9.99996371e-01 2.70116376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.694012739 meters Centerline goodness : 0.991808 Centerline is valid? [True, True] Translation: X:132.55, Y:41.52, Z:0.27 [[ 7.88765307e-01 -6.14690811e-01 -2.12079401e-03 1.32546848e+02] [ 6.14688566e-01 7.88768158e-01 -1.66142018e-03 4.15247648e+01] [ 2.69407450e-03 6.84276913e-06 9.99996371e-01 2.66946357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.724012739 meters Centerline goodness : 0.992135 Centerline is valid? [True, True] Translation: X:132.57, Y:41.54, Z:0.27 [[ 7.88310509e-01 -6.15273959e-01 -2.12063404e-03 1.32569461e+02] [ 6.15271715e-01 7.88313361e-01 -1.66162435e-03 4.15409144e+01] [ 2.69407834e-03 5.10979366e-06 9.99996371e-01 2.67598452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.754012739 meters Centerline goodness : 0.992630 Centerline is valid? [True, True] Translation: X:132.59, Y:41.56, Z:0.27 [[ 7.88508216e-01 -6.15020567e-01 -2.12032972e-03 1.32591261e+02] [ 6.15018321e-01 7.88511067e-01 -1.66201259e-03 4.15567176e+01] [ 2.69407537e-03 6.46895738e-06 9.99996371e-01 2.65740438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.784012739 meters Centerline goodness : 0.992549 Centerline is valid? [True, True] Translation: X:132.61, Y:41.57, Z:0.26 [[ 7.88893479e-01 -6.14526309e-01 -2.12008096e-03 1.32613920e+02] [ 6.14524060e-01 7.88896328e-01 -1.66232985e-03 4.15729093e+01] [ 2.69406951e-03 8.56042039e-06 9.99996371e-01 2.63728555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.814012739 meters Centerline goodness : 0.991520 Centerline is valid? [True, True] Translation: X:132.64, Y:41.59, Z:0.27 [[ 7.90249497e-01 -6.12781559e-01 -2.11977872e-03 1.32638496e+02] [ 6.12779303e-01 7.90252340e-01 -1.66271517e-03 4.15879144e+01] [ 2.69404128e-03 1.50033006e-05 9.99996371e-01 2.65860748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.844012739 meters Centerline goodness : 0.992624 Centerline is valid? [True, True] Translation: X:132.66, Y:41.60, Z:0.27 [[ 7.90401676e-01 -6.12585258e-01 -2.11950264e-03 1.32660911e+02] [ 6.12583001e-01 7.90404517e-01 -1.66306701e-03 4.16047259e+01] [ 2.69403480e-03 1.61196642e-05 9.99996371e-01 2.68078606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.874012739 meters Centerline goodness : 0.991964 Centerline is valid? [True, True] Translation: X:132.68, Y:41.62, Z:0.27 [[ 7.90306354e-01 -6.12708230e-01 -2.11920333e-03 1.32683586e+02] [ 6.12705972e-01 7.90309196e-01 -1.66344833e-03 4.16212605e+01] [ 2.69403436e-03 1.61852524e-05 9.99996371e-01 2.69933429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.904012739 meters Centerline goodness : 0.992024 Centerline is valid? [True, True] Translation: X:132.71, Y:41.64, Z:0.27 [[ 7.89998683e-01 -6.13104878e-01 -2.11888156e-03 1.32706236e+02] [ 6.13102620e-01 7.90001524e-01 -1.66385810e-03 4.16366491e+01] [ 2.69403918e-03 1.53538674e-05 9.99996371e-01 2.68579435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.934012739 meters Centerline goodness : 0.992024 Centerline is valid? [True, True] Translation: X:132.73, Y:41.65, Z:0.27 [[ 7.89886933e-01 -6.13248844e-01 -2.11870631e-03 1.32728512e+02] [ 6.13246586e-01 7.89889774e-01 -1.66408123e-03 4.16543963e+01] [ 2.69404034e-03 1.51466100e-05 9.99996371e-01 2.68656167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.964012739 meters Centerline goodness : 0.991849 Centerline is valid? [True, True] Translation: X:132.75, Y:41.67, Z:0.27 [[ 7.88656128e-01 -6.14830891e-01 -2.11840296e-03 1.32751579e+02] [ 6.14828638e-01 7.88658973e-01 -1.66446731e-03 4.16683269e+01] [ 2.69406342e-03 1.02375330e-05 9.99996371e-01 2.67135839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99401273899997 meters Centerline goodness : 0.992254 Centerline is valid? [True, True] Translation: X:132.77, Y:41.69, Z:0.27 [[ 7.87644009e-01 -6.16126959e-01 -2.11814476e-03 1.32773373e+02] [ 6.16124710e-01 7.87646857e-01 -1.66479582e-03 4.16850750e+01] [ 2.69407565e-03 6.22512385e-06 9.99996371e-01 2.65409226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02401273899997 meters Centerline goodness : 0.992715 Centerline is valid? [True, True] Translation: X:132.80, Y:41.70, Z:0.26 [[ 7.84626516e-01 -6.19965116e-01 -2.11784536e-03 1.32796931e+02] [ 6.19962880e-01 7.84629374e-01 -1.66517661e-03 4.17011139e+01] [ 2.69407509e-03 -6.44378617e-06 9.99996371e-01 2.63854854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05401273899997 meters Centerline goodness : 0.991795 Centerline is valid? [True, True] Translation: X:132.82, Y:41.71, Z:0.27 [[ 7.81245407e-01 -6.24220418e-01 -2.11754793e-03 1.32821629e+02] [ 6.24218197e-01 7.81248276e-01 -1.66555475e-03 4.17142955e+01] [ 2.69400396e-03 -2.06049524e-05 9.99996371e-01 2.69943270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08401273899997 meters Centerline goodness : 0.991862 Centerline is valid? [True, True] Translation: X:132.84, Y:41.73, Z:0.27 [[ 7.80079191e-01 -6.25677211e-01 -2.11741073e-03 1.32844438e+02] [ 6.25674994e-01 7.80082064e-01 -1.66572915e-03 4.17302518e+01] [ 2.69396291e-03 -2.54102980e-05 9.99996371e-01 2.72708696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11401273899997 meters Centerline goodness : 0.991553 Centerline is valid? [True, True] Translation: X:132.87, Y:41.75, Z:0.27 [[ 7.78759381e-01 -6.27319173e-01 -2.11711513e-03 1.32865688e+02] [ 6.27316961e-01 7.78762258e-01 -1.66610478e-03 4.17461468e+01] [ 2.69390883e-03 -3.06074984e-05 9.99996371e-01 2.72380226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14401273899998 meters Centerline goodness : 0.992335 Centerline is valid? [True, True] Translation: X:132.89, Y:41.76, Z:0.27 [[ 7.78280042e-01 -6.27913764e-01 -2.11691323e-03 1.32887930e+02] [ 6.27911553e-01 7.78282921e-01 -1.66636127e-03 4.17629957e+01] [ 2.69388859e-03 -3.23385535e-05 9.99996371e-01 2.70292530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17401273899998 meters Centerline goodness : 0.992444 Centerline is valid? [True, True] Translation: X:132.91, Y:41.78, Z:0.27 [[ 7.77780942e-01 -6.28531882e-01 -2.11662266e-03 1.32910020e+02] [ 6.28529673e-01 7.77783821e-01 -1.66673026e-03 4.17795069e+01] [ 2.69386797e-03 -3.40091165e-05 9.99996371e-01 2.68446670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20401273899998 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:132.93, Y:41.80, Z:0.27 [[ 7.76255254e-01 -6.30415183e-01 -2.11633328e-03 1.32932086e+02] [ 6.30412980e-01 7.76258137e-01 -1.66709762e-03 4.17957518e+01] [ 2.69378459e-03 -4.00706840e-05 9.99996371e-01 2.68925664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23401273899998 meters Centerline goodness : 0.991936 Centerline is valid? [True, True] Translation: X:132.96, Y:41.81, Z:0.27 [[ 7.75209616e-01 -6.31700541e-01 -2.11607094e-03 1.32955291e+02] [ 6.31698341e-01 7.75212503e-01 -1.66743055e-03 4.18101460e+01] [ 2.69372143e-03 -4.41103080e-05 9.99996371e-01 2.73726192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26401273899998 meters Centerline goodness : 0.991622 Centerline is valid? [True, True] Translation: X:132.98, Y:41.83, Z:0.28 [[ 7.74808225e-01 -6.32192801e-01 -2.11581601e-03 1.32977809e+02] [ 6.32190603e-01 7.74811113e-01 -1.66775398e-03 4.18251752e+01] [ 2.69369981e-03 -4.54094974e-05 9.99996371e-01 2.75462380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29401273899998 meters Centerline goodness : 0.991218 Centerline is valid? [True, True] Translation: X:133.00, Y:41.84, Z:0.28 [[ 7.73625317e-01 -6.33639798e-01 -2.11555870e-03 1.33002366e+02] [ 6.33637604e-01 7.73628208e-01 -1.66808031e-03 4.18391943e+01] [ 2.69361796e-03 -5.00283826e-05 9.99996371e-01 2.76300843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32401273899998 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:133.02, Y:41.86, Z:0.28 [[ 7.73091899e-01 -6.34290502e-01 -2.11524818e-03 1.33024619e+02] [ 6.34288310e-01 7.73094791e-01 -1.66847397e-03 4.18551710e+01] [ 2.69358455e-03 -5.17934816e-05 9.99996371e-01 2.75376147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35401273899998 meters Centerline goodness : 0.991446 Centerline is valid? [True, True] Translation: X:133.05, Y:41.87, Z:0.27 [[ 7.72960623e-01 -6.34450472e-01 -2.11496955e-03 1.33047062e+02] [ 6.34448280e-01 7.72963515e-01 -1.66882709e-03 4.18697183e+01] [ 2.69358244e-03 -5.19011642e-05 9.99996371e-01 2.73932166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38401273899999 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:133.07, Y:41.89, Z:0.27 [[ 7.73222382e-01 -6.34131434e-01 -2.11467201e-03 1.33069587e+02] [ 6.34129239e-01 7.73225272e-01 -1.66920405e-03 4.18868825e+01] [ 2.69361259e-03 -5.03094185e-05 9.99996371e-01 2.72404863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.414012739 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:133.09, Y:41.90, Z:0.27 [[ 7.74685273e-01 -6.32343464e-01 -2.11439266e-03 1.33092396e+02] [ 6.32341262e-01 7.74688158e-01 -1.66955782e-03 4.19038708e+01] [ 2.69372893e-03 -4.36358609e-05 9.99996371e-01 2.67693863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.444012739 meters Centerline goodness : 0.991181 Centerline is valid? [True, True] Translation: X:133.12, Y:41.92, Z:0.27 [[ 7.75468715e-01 -6.31382454e-01 -2.11411451e-03 1.33116372e+02] [ 6.31380247e-01 7.75471595e-01 -1.66990997e-03 4.19191099e+01] [ 2.69378760e-03 -3.98472038e-05 9.99996371e-01 2.68468622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.474012739 meters Centerline goodness : 0.991962 Centerline is valid? [True, True] Translation: X:133.14, Y:41.93, Z:0.27 [[ 7.76403742e-01 -6.30232307e-01 -2.11379917e-03 1.33142386e+02] [ 6.30230095e-01 7.76406619e-01 -1.67030903e-03 4.19303230e+01] [ 2.69385038e-03 -3.53456686e-05 9.99996371e-01 2.68927079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.504012739 meters Centerline goodness : 0.990647 Centerline is valid? [True, True] Translation: X:133.17, Y:41.94, Z:0.27 [[ 7.76783362e-01 -6.29764354e-01 -2.11359377e-03 1.33166939e+02] [ 6.29762139e-01 7.76786237e-01 -1.67056890e-03 4.19447187e+01] [ 2.69387529e-03 -3.33911995e-05 9.99996371e-01 2.71981214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.534012739 meters Centerline goodness : 0.990681 Centerline is valid? [True, True] Translation: X:133.19, Y:41.96, Z:0.27 [[ 7.76797832e-01 -6.29746506e-01 -2.11327403e-03 1.33189892e+02] [ 6.29744290e-01 7.76800706e-01 -1.67097327e-03 4.19592953e+01] [ 2.69388234e-03 -3.28138415e-05 9.99996371e-01 2.71488438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.564012739 meters Centerline goodness : 0.991807 Centerline is valid? [True, True] Translation: X:133.21, Y:41.97, Z:0.27 [[ 7.77813918e-01 -6.28491086e-01 -2.11298650e-03 1.33214960e+02] [ 6.28488864e-01 7.77816787e-01 -1.67133678e-03 4.19712111e+01] [ 2.69393664e-03 -2.79994796e-05 9.99996371e-01 2.69554368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.594012739 meters Centerline goodness : 0.991130 Centerline is valid? [True, True] Translation: X:133.24, Y:41.99, Z:0.27 [[ 7.78842834e-01 -6.27215574e-01 -2.11270636e-03 1.33237984e+02] [ 6.27213347e-01 7.78845699e-01 -1.67169083e-03 4.19873209e+01] [ 2.69398278e-03 -2.31331998e-05 9.99996371e-01 2.70256575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.624012739 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:133.26, Y:42.00, Z:0.27 [[ 7.80206077e-01 -6.25518996e-01 -2.11240477e-03 1.33259728e+02] [ 6.25516762e-01 7.80208937e-01 -1.67207183e-03 4.20037106e+01] [ 2.69402978e-03 -1.67839868e-05 9.99996371e-01 2.68977916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.654012739 meters Centerline goodness : 0.992237 Centerline is valid? [True, True] Translation: X:133.28, Y:42.02, Z:0.27 [[ 7.83716040e-01 -6.21115696e-01 -2.11213541e-03 1.33283476e+02] [ 6.21113444e-01 7.83718886e-01 -1.67241202e-03 4.20184556e+01] [ 2.69408177e-03 -1.17957192e-06 9.99996371e-01 2.68284969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.684012739 meters Centerline goodness : 0.992156 Centerline is valid? [True, True] Translation: X:133.31, Y:42.03, Z:0.26 [[ 7.86249439e-01 -6.17905624e-01 -2.11185690e-03 1.33307045e+02] [ 6.17903359e-01 7.86252275e-01 -1.67276364e-03 4.20336079e+01] [ 2.69406235e-03 1.02859974e-05 9.99996371e-01 2.63205153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.714012739 meters Centerline goodness : 0.992192 Centerline is valid? [True, True] Translation: X:133.33, Y:42.05, Z:0.26 [[ 7.86698483e-01 -6.17333814e-01 -2.11157729e-03 1.33328362e+02] [ 6.17331547e-01 7.86701317e-01 -1.67311653e-03 4.20510443e+01] [ 2.69405204e-03 1.26949651e-05 9.99996371e-01 2.60640022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74401273899997 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:133.35, Y:42.07, Z:0.26 [[ 7.85463943e-01 -6.18903819e-01 -2.11129747e-03 1.33350755e+02] [ 6.18901557e-01 7.85466780e-01 -1.67346956e-03 4.20684178e+01] [ 2.69407072e-03 7.76470446e-06 9.99996371e-01 2.62954159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77401273899997 meters Centerline goodness : 0.991819 Centerline is valid? [True, True] Translation: X:133.37, Y:42.08, Z:0.26 [[ 7.84476953e-01 -6.20154379e-01 -2.11099081e-03 1.33373347e+02] [ 6.20152120e-01 7.84479794e-01 -1.67385630e-03 4.20843290e+01] [ 2.69407895e-03 3.96626385e-06 9.99996371e-01 2.63785825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80401273899997 meters Centerline goodness : 0.991626 Centerline is valid? [True, True] Translation: X:133.40, Y:42.10, Z:0.26 [[ 7.82142477e-01 -6.23096053e-01 -2.11071758e-03 1.33396417e+02] [ 6.23093804e-01 7.82145325e-01 -1.67420076e-03 4.20996017e+01] [ 2.69407578e-03 -5.71151708e-06 9.99996371e-01 2.64934040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83401273899997 meters Centerline goodness : 0.992334 Centerline is valid? [True, True] Translation: X:133.42, Y:42.12, Z:0.26 [[ 7.81139770e-01 -6.24352630e-01 -2.11041710e-03 1.33417801e+02] [ 6.24350384e-01 7.81142621e-01 -1.67457945e-03 4.21153977e+01] [ 2.69406483e-03 -9.55912040e-06 9.99996371e-01 2.64042871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86401273899997 meters Centerline goodness : 0.991114 Centerline is valid? [True, True] Translation: X:133.44, Y:42.13, Z:0.27 [[ 7.79207343e-01 -6.26762686e-01 -2.11021230e-03 1.33442755e+02] [ 6.26760448e-01 7.79210200e-01 -1.67483750e-03 4.21287706e+01] [ 2.69402459e-03 -1.75519298e-05 9.99996371e-01 2.67845029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89401273899998 meters Centerline goodness : 0.989915 Centerline is valid? [True, True] Translation: X:133.47, Y:42.14, Z:0.27 [[ 7.78241674e-01 -6.27961340e-01 -2.10991354e-03 1.33467034e+02] [ 6.27959106e-01 7.78244534e-01 -1.67521378e-03 4.21438287e+01] [ 2.69399817e-03 -2.12182387e-05 9.99996371e-01 2.68850345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92401273899998 meters Centerline goodness : 0.989552 Centerline is valid? [True, True] Translation: X:133.49, Y:42.16, Z:0.27 [[ 7.76977329e-01 -6.29525043e-01 -2.10961728e-03 1.33490801e+02] [ 6.29522814e-01 7.76980192e-01 -1.67558678e-03 4.21564936e+01] [ 2.69395468e-03 -2.61592645e-05 9.99996371e-01 2.72377072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95401273899998 meters Centerline goodness : 0.988497 Centerline is valid? [True, True] Translation: X:133.52, Y:42.17, Z:0.28 [[ 7.76654140e-01 -6.29923723e-01 -2.10942199e-03 1.33515061e+02] [ 6.29921494e-01 7.76657004e-01 -1.67583259e-03 4.21710537e+01] [ 2.69394407e-03 -2.72279335e-05 9.99996371e-01 2.75018512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98401273899998 meters Centerline goodness : 0.988762 Centerline is valid? [True, True] Translation: X:133.54, Y:42.19, Z:0.28 [[ 7.76710468e-01 -6.29854269e-01 -2.10911527e-03 1.33538550e+02] [ 6.29852039e-01 7.76713332e-01 -1.67621853e-03 4.21865685e+01] [ 2.69395134e-03 -2.64940726e-05 9.99996371e-01 2.76386062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01401273899998 meters Centerline goodness : 0.987782 Centerline is valid? [True, True] Translation: X:133.56, Y:42.20, Z:0.28 [[ 7.77227683e-01 -6.29215927e-01 -2.10880170e-03 1.33561341e+02] [ 6.29213693e-01 7.77230543e-01 -1.67661293e-03 4.22020477e+01] [ 2.69397665e-03 -2.37769168e-05 9.99996371e-01 2.77830381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04401273899998 meters Centerline goodness : 0.987871 Centerline is valid? [True, True] Translation: X:133.58, Y:42.22, Z:0.28 [[ 7.78768438e-01 -6.27307958e-01 -2.10851811e-03 1.33583873e+02] [ 6.27305717e-01 7.78771292e-01 -1.67696950e-03 4.22185750e+01] [ 2.69402968e-03 -1.67145476e-05 9.99996371e-01 2.79940148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07401273899998 meters Centerline goodness : 0.988564 Centerline is valid? [True, True] Translation: X:133.61, Y:42.24, Z:0.27 [[ 7.80116029e-01 -6.25631310e-01 -2.10822432e-03 1.33606508e+02] [ 6.25629062e-01 7.80118878e-01 -1.67733876e-03 4.22356545e+01] [ 2.69406124e-03 -1.04475427e-05 9.99996371e-01 2.74694559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10401273899998 meters Centerline goodness : 0.988778 Centerline is valid? [True, True] Translation: X:133.63, Y:42.25, Z:0.27 [[ 7.80933673e-01 -6.24610402e-01 -2.10791453e-03 1.33628091e+02] [ 6.24608149e-01 7.80936518e-01 -1.67772798e-03 4.22520068e+01] [ 2.69407378e-03 -6.42632122e-06 9.99996371e-01 2.73612903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13401273899999 meters Centerline goodness : 0.988679 Centerline is valid? [True, True] Translation: X:133.65, Y:42.27, Z:0.28 [[ 7.83010966e-01 -6.22004329e-01 -2.10763826e-03 1.33650558e+02] [ 6.22002066e-01 7.83013802e-01 -1.67807497e-03 4.22675646e+01] [ 2.69407975e-03 2.99574768e-06 9.99996371e-01 2.75613766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.164012739 meters Centerline goodness : 0.989206 Centerline is valid? [True, True] Translation: X:133.67, Y:42.29, Z:0.28 [[ 7.83932189e-01 -6.20842881e-01 -2.10736121e-03 1.33672160e+02] [ 6.20840612e-01 7.83935021e-01 -1.67842283e-03 4.22851863e+01] [ 2.69407112e-03 7.43425910e-06 9.99996371e-01 2.76565950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.194012739 meters Centerline goodness : 0.989600 Centerline is valid? [True, True] Translation: X:133.69, Y:42.31, Z:0.27 [[ 7.86819986e-01 -6.17178961e-01 -2.10707701e-03 1.33692413e+02] [ 6.17176678e-01 7.86822807e-01 -1.67877953e-03 4.23050079e+01] [ 2.69400366e-03 2.04584921e-05 9.99996371e-01 2.72858142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.224012739 meters Centerline goodness : 0.989768 Centerline is valid? [True, True] Translation: X:133.71, Y:42.32, Z:0.27 [[ 7.88384429e-01 -6.15179285e-01 -2.10679184e-03 1.33712828e+02] [ 6.15176994e-01 7.88387244e-01 -1.67913733e-03 4.23240135e+01] [ 2.69393832e-03 2.77558552e-05 9.99996371e-01 2.70759078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.254012739 meters Centerline goodness : 0.990418 Centerline is valid? [True, True] Translation: X:133.73, Y:42.34, Z:0.27 [[ 7.91421434e-01 -6.11267270e-01 -2.10649338e-03 1.33732173e+02] [ 6.11264965e-01 7.91424237e-01 -1.67951167e-03 4.23437666e+01] [ 2.69376043e-03 4.15759395e-05 9.99996371e-01 2.68861314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.284012739 meters Centerline goodness : 0.989266 Centerline is valid? [True, True] Translation: X:133.75, Y:42.36, Z:0.27 [[ 7.93034700e-01 -6.09172823e-01 -2.10623009e-03 1.33752747e+02] [ 6.09170509e-01 7.93037495e-01 -1.67984179e-03 4.23622957e+01] [ 2.69363340e-03 4.91195762e-05 9.99996371e-01 2.73882632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.314012739 meters Centerline goodness : 0.989593 Centerline is valid? [True, True] Translation: X:133.77, Y:42.38, Z:0.27 [[ 7.95434280e-01 -6.06036196e-01 -2.10590759e-03 1.33771854e+02] [ 6.06033870e-01 7.95437066e-01 -1.68024599e-03 4.23823619e+01] [ 2.69340684e-03 6.02739347e-05 9.99996371e-01 2.71996556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.344012739 meters Centerline goodness : 0.989856 Centerline is valid? [True, True] Translation: X:133.79, Y:42.40, Z:0.27 [[ 7.96642087e-01 -6.04447641e-01 -2.10574535e-03 1.33789793e+02] [ 6.04445309e-01 7.96644867e-01 -1.68044928e-03 4.24025280e+01] [ 2.69327483e-03 6.59087229e-05 9.99996371e-01 2.70122265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.374012739 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:133.81, Y:42.42, Z:0.27 [[ 7.97037306e-01 -6.03926402e-01 -2.10547585e-03 1.33809963e+02] [ 6.03924067e-01 7.97040084e-01 -1.68078688e-03 4.24212964e+01] [ 2.69322023e-03 6.81023122e-05 9.99996371e-01 2.70655680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.404012739 meters Centerline goodness : 0.989444 Centerline is valid? [True, True] Translation: X:133.83, Y:42.44, Z:0.28 [[ 7.98251956e-01 -6.02320000e-01 -2.10520605e-03 1.33830035e+02] [ 6.02317658e-01 7.98254729e-01 -1.68112475e-03 4.24418265e+01] [ 2.69306574e-03 7.39583388e-05 9.99996371e-01 2.78005697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.434012739 meters Centerline goodness : 0.989785 Centerline is valid? [True, True] Translation: X:133.85, Y:42.46, Z:0.28 [[ 7.98772202e-01 -6.01629901e-01 -2.10493506e-03 1.33849723e+02] [ 6.01627556e-01 7.98774972e-01 -1.68146398e-03 4.24607913e+01] [ 2.69298845e-03 7.67197509e-05 9.99996371e-01 2.78088725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.464012739 meters Centerline goodness : 0.989717 Centerline is valid? [True, True] Translation: X:133.87, Y:42.48, Z:0.28 [[ 7.99148284e-01 -6.01130261e-01 -2.10465480e-03 1.33867301e+02] [ 6.01127914e-01 7.99151051e-01 -1.68181471e-03 4.24833621e+01] [ 2.69292681e-03 7.88525874e-05 9.99996371e-01 2.76691168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49401273899997 meters Centerline goodness : 0.990301 Centerline is valid? [True, True] Translation: X:133.89, Y:42.50, Z:0.28 [[ 7.99482663e-01 -6.00685478e-01 -2.10434476e-03 1.33886794e+02] [ 6.00683128e-01 7.99485428e-01 -1.68220254e-03 4.25028481e+01] [ 2.69286761e-03 8.08473746e-05 9.99996371e-01 2.75658643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52401273899997 meters Centerline goodness : 0.990434 Centerline is valid? [True, True] Translation: X:133.90, Y:42.53, Z:0.28 [[ 8.00267261e-01 -5.99639794e-01 -2.10417731e-03 1.33904528e+02] [ 5.99637440e-01 8.00270023e-01 -1.68241197e-03 4.25257143e+01] [ 2.69275120e-03 8.46357224e-05 9.99996371e-01 2.75520964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55401273899997 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:133.92, Y:42.55, Z:0.28 [[ 8.00582319e-01 -5.99219095e-01 -2.10386821e-03 1.33923271e+02] [ 5.99216739e-01 8.00585079e-01 -1.68279842e-03 4.25452375e+01] [ 2.69269044e-03 8.65456198e-05 9.99996371e-01 2.75521170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58401273899997 meters Centerline goodness : 0.990515 Centerline is valid? [True, True] Translation: X:133.94, Y:42.57, Z:0.28 [[ 8.00562455e-01 -5.99245634e-01 -2.10370124e-03 1.33940488e+02] [ 5.99243277e-01 8.00565215e-01 -1.68300713e-03 4.25680392e+01] [ 2.69268471e-03 8.67234988e-05 9.99996371e-01 2.76276661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61401273899997 meters Centerline goodness : 0.990355 Centerline is valid? [True, True] Translation: X:133.96, Y:42.59, Z:0.28 [[ 7.99859491e-01 -6.00183614e-01 -2.10339582e-03 1.33960603e+02] [ 6.00181259e-01 7.99862252e-01 -1.68338875e-03 4.25879808e+01] [ 2.69276926e-03 8.40557163e-05 9.99996371e-01 2.77868055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64401273899998 meters Centerline goodness : 0.990783 Centerline is valid? [True, True] Translation: X:133.98, Y:42.61, Z:0.28 [[ 7.97510645e-01 -6.03301209e-01 -2.10307401e-03 1.33978438e+02] [ 6.03298863e-01 7.97513414e-01 -1.68379070e-03 4.26085140e+01] [ 2.69306269e-03 7.40588483e-05 9.99996371e-01 2.79770428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67401273899998 meters Centerline goodness : 0.990419 Centerline is valid? [True, True] Translation: X:134.00, Y:42.63, Z:0.28 [[ 7.96480303e-01 -6.04660817e-01 -2.10289079e-03 1.33997717e+02] [ 6.04658476e-01 7.96483076e-01 -1.68401948e-03 4.26269469e+01] [ 2.69317752e-03 6.97576032e-05 9.99996371e-01 2.81466833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70401273899998 meters Centerline goodness : 0.990404 Centerline is valid? [True, True] Translation: X:134.02, Y:42.65, Z:0.28 [[ 7.94741647e-01 -6.06944226e-01 -2.10261499e-03 1.34017216e+02] [ 6.06941892e-01 7.94744426e-01 -1.68436378e-03 4.26472547e+01] [ 2.69335641e-03 6.24689235e-05 9.99996371e-01 2.82293449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73401273899998 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:134.04, Y:42.67, Z:0.28 [[ 7.92808665e-01 -6.09466981e-01 -2.10231007e-03 1.34036657e+02] [ 6.09464655e-01 7.92811451e-01 -1.68474427e-03 4.26672571e+01] [ 2.69353150e-03 5.43961778e-05 9.99996371e-01 2.80093528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76401273899998 meters Centerline goodness : 0.991432 Centerline is valid? [True, True] Translation: X:134.06, Y:42.69, Z:0.28 [[ 7.91721481e-01 -6.10878612e-01 -2.10200508e-03 1.34057484e+02] [ 6.10876290e-01 7.91724270e-01 -1.68512471e-03 4.26857086e+01] [ 2.69361508e-03 5.00843663e-05 9.99996371e-01 2.78743653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79401273899998 meters Centerline goodness : 0.991441 Centerline is valid? [True, True] Translation: X:134.08, Y:42.70, Z:0.28 [[ 7.89625764e-01 -6.13585150e-01 -2.10169333e-03 1.34078318e+02] [ 6.13582836e-01 7.89628560e-01 -1.68551343e-03 4.27029673e+01] [ 2.69376309e-03 4.13618713e-05 9.99996371e-01 2.75457185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82401273899998 meters Centerline goodness : 0.991888 Centerline is valid? [True, True] Translation: X:134.10, Y:42.72, Z:0.27 [[ 7.88461857e-01 -6.15080063e-01 -2.10153504e-03 1.34100489e+02] [ 6.15077754e-01 7.88464657e-01 -1.68571077e-03 4.27207594e+01] [ 2.69383319e-03 3.65111861e-05 9.99996371e-01 2.74923711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85401273899998 meters Centerline goodness : 0.991888 Centerline is valid? [True, True] Translation: X:134.12, Y:42.74, Z:0.28 [[ 7.88352152e-01 -6.15220668e-01 -2.10123491e-03 1.34122579e+02] [ 6.15218358e-01 7.88354951e-01 -1.68608480e-03 4.27387448e+01] [ 2.69383316e-03 3.65102939e-05 9.99996371e-01 2.75000446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88401273899999 meters Centerline goodness : 0.991298 Centerline is valid? [True, True] Translation: X:134.15, Y:42.76, Z:0.28 [[ 7.86112900e-01 -6.18079359e-01 -2.10093414e-03 1.34145497e+02] [ 6.18077059e-01 7.86115707e-01 -1.68645948e-03 4.27556316e+01] [ 2.69394313e-03 2.72083610e-05 9.99996371e-01 2.76083564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.914012739 meters Centerline goodness : 0.991691 Centerline is valid? [True, True] Translation: X:134.17, Y:42.77, Z:0.28 [[ 7.84859375e-01 -6.19670355e-01 -2.10061161e-03 1.34166646e+02] [ 6.19668059e-01 7.84862186e-01 -1.68686113e-03 4.27721411e+01] [ 2.69398845e-03 2.22668510e-05 9.99996371e-01 2.76478762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.944012739 meters Centerline goodness : 0.991441 Centerline is valid? [True, True] Translation: X:134.19, Y:42.79, Z:0.28 [[ 7.82136376e-01 -6.23103745e-01 -2.10039117e-03 1.34187600e+02] [ 6.23101461e-01 7.82139196e-01 -1.68713556e-03 4.27899200e+01] [ 2.69405875e-03 1.08132815e-05 9.99996371e-01 2.75636738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.974012739 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:134.21, Y:42.81, Z:0.27 [[ 7.80780354e-01 -6.24802072e-01 -2.10010612e-03 1.34208504e+02] [ 6.24799793e-01 7.80783178e-01 -1.68749031e-03 4.28065771e+01] [ 2.69407497e-03 5.41341476e-06 9.99996371e-01 2.72876163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.004012739 meters Centerline goodness : 0.992000 Centerline is valid? [True, True] Translation: X:134.23, Y:42.82, Z:0.27 [[ 7.78269348e-01 -6.27927076e-01 -2.09983290e-03 1.34231699e+02] [ 6.27924807e-01 7.78272181e-01 -1.68783022e-03 4.28226350e+01] [ 2.69407583e-03 -4.95064022e-06 9.99996371e-01 2.72900248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.034012739 meters Centerline goodness : 0.992073 Centerline is valid? [True, True] Translation: X:134.25, Y:42.84, Z:0.28 [[ 7.76113852e-01 -6.30589312e-01 -2.09951360e-03 1.34254743e+02] [ 6.30587052e-01 7.76116692e-01 -1.68822731e-03 4.28376334e+01] [ 2.69404565e-03 -1.36694959e-05 9.99996371e-01 2.75014718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.064012739 meters Centerline goodness : 0.991588 Centerline is valid? [True, True] Translation: X:134.28, Y:42.85, Z:0.28 [[ 7.75233359e-01 -6.31671459e-01 -2.09922541e-03 1.34277100e+02] [ 6.31669202e-01 7.75236201e-01 -1.68858558e-03 4.28546909e+01] [ 2.69402685e-03 -1.69681688e-05 9.99996371e-01 2.76769226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.094012739 meters Centerline goodness : 0.992110 Centerline is valid? [True, True] Translation: X:134.30, Y:42.87, Z:0.28 [[ 7.73890327e-01 -6.33316158e-01 -2.09890266e-03 1.34299661e+02] [ 6.33313906e-01 7.73893173e-01 -1.68898667e-03 4.28690858e+01] [ 2.69398899e-03 -2.21737986e-05 9.99996371e-01 2.75736703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.124012739 meters Centerline goodness : 0.992488 Centerline is valid? [True, True] Translation: X:134.32, Y:42.89, Z:0.28 [[ 7.73513523e-01 -6.33776321e-01 -2.09868249e-03 1.34323112e+02] [ 6.33774070e-01 7.73516370e-01 -1.68926020e-03 4.28853202e+01] [ 2.69397838e-03 -2.34249377e-05 9.99996371e-01 2.75616914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.154012739 meters Centerline goodness : 0.991836 Centerline is valid? [True, True] Translation: X:134.35, Y:42.90, Z:0.28 [[ 7.73640031e-01 -6.33621890e-01 -2.09836720e-03 1.34345599e+02] [ 6.33619638e-01 7.73642876e-01 -1.68965176e-03 4.29011604e+01] [ 2.69398718e-03 -2.23844251e-05 9.99996371e-01 2.77387247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.184012739 meters Centerline goodness : 0.992076 Centerline is valid? [True, True] Translation: X:134.37, Y:42.92, Z:0.28 [[ 7.73970540e-01 -6.33218131e-01 -2.09808263e-03 1.34367371e+02] [ 6.33215876e-01 7.73973384e-01 -1.69000504e-03 4.29183786e+01] [ 2.69400194e-03 -2.05251191e-05 9.99996371e-01 2.79996178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.214012739 meters Centerline goodness : 0.991667 Centerline is valid? [True, True] Translation: X:134.39, Y:42.93, Z:0.28 [[ 7.75742113e-01 -6.31046570e-01 -2.09776573e-03 1.34390370e+02] [ 6.31044306e-01 7.75744949e-01 -1.69039830e-03 4.29332620e+01] [ 2.69405122e-03 -1.24699704e-05 9.99996371e-01 2.80441318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24401273899997 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:134.41, Y:42.95, Z:0.28 [[ 7.76526152e-01 -6.30081531e-01 -2.09754913e-03 1.34412771e+02] [ 6.30079263e-01 7.76528985e-01 -1.69066704e-03 4.29484835e+01] [ 2.69406577e-03 -8.77503391e-06 9.99996371e-01 2.79549108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27401273899997 meters Centerline goodness : 0.992590 Centerline is valid? [True, True] Translation: X:134.44, Y:42.96, Z:0.28 [[ 7.77852308e-01 -6.28443624e-01 -2.09727095e-03 1.34435851e+02] [ 6.28441349e-01 7.77855135e-01 -1.69101204e-03 4.29647649e+01] [ 2.69407872e-03 -2.65416917e-06 9.99996371e-01 2.79009237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30401273899997 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:134.46, Y:42.98, Z:0.28 [[ 7.78577914e-01 -6.27544448e-01 -2.09695307e-03 1.34458215e+02] [ 6.27542169e-01 7.78580738e-01 -1.69140615e-03 4.29793555e+01] [ 2.69407981e-03 9.64996553e-07 9.99996371e-01 2.80601547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33401273899997 meters Centerline goodness : 0.991092 Centerline is valid? [True, True] Translation: X:134.48, Y:43.00, Z:0.28 [[ 7.78871237e-01 -6.27180357e-01 -2.09666576e-03 1.34481296e+02] [ 6.27178076e-01 7.78874059e-01 -1.69176222e-03 4.29951856e+01] [ 2.69407860e-03 2.68213805e-06 9.99996371e-01 2.82091188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36401273899997 meters Centerline goodness : 0.990919 Centerline is valid? [True, True] Translation: X:134.50, Y:43.01, Z:0.28 [[ 7.80579990e-01 -6.25052386e-01 -2.09635213e-03 1.34503542e+02] [ 6.25050095e-01 7.80582805e-01 -1.69215077e-03 4.30126362e+01] [ 2.69405930e-03 1.05339269e-05 9.99996371e-01 2.80684894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39401273899998 meters Centerline goodness : 0.991827 Centerline is valid? [True, True] Translation: X:134.52, Y:43.03, Z:0.28 [[ 7.82147482e-01 -6.23089819e-01 -2.09603517e-03 1.34524100e+02] [ 6.23087520e-01 7.82150291e-01 -1.69254329e-03 4.30308189e+01] [ 2.69402101e-03 1.78051176e-05 9.99996371e-01 2.78253539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42401273899998 meters Centerline goodness : 0.992642 Centerline is valid? [True, True] Translation: X:134.55, Y:43.05, Z:0.27 [[ 7.85035780e-01 -6.19446876e-01 -2.09575959e-03 1.34545123e+02] [ 6.19444563e-01 7.85038577e-01 -1.69288446e-03 4.30481743e+01] [ 2.69390411e-03 3.07679883e-05 9.99996371e-01 2.74331525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45401273899998 meters Centerline goodness : 0.992351 Centerline is valid? [True, True] Translation: X:134.57, Y:43.06, Z:0.28 [[ 7.86223269e-01 -6.17938977e-01 -2.09549831e-03 1.34567531e+02] [ 6.17936659e-01 7.86226061e-01 -1.69320781e-03 4.30648657e+01] [ 2.69383448e-03 3.63541549e-05 9.99996371e-01 2.78407141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48401273899998 meters Centerline goodness : 0.991703 Centerline is valid? [True, True] Translation: X:134.59, Y:43.08, Z:0.28 [[ 7.87140537e-01 -6.16770123e-01 -2.09536287e-03 1.34588812e+02] [ 6.16767800e-01 7.87143325e-01 -1.69337540e-03 4.30832458e+01] [ 2.69377425e-03 4.05720700e-05 9.99996371e-01 2.82107965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51401273899998 meters Centerline goodness : 0.991515 Centerline is valid? [True, True] Translation: X:134.61, Y:43.10, Z:0.28 [[ 7.88344261e-01 -6.15230799e-01 -2.09504581e-03 1.34609537e+02] [ 6.15228469e-01 7.88347044e-01 -1.69376758e-03 4.31016640e+01] [ 2.69368115e-03 4.63401250e-05 9.99996371e-01 2.82456006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54401273899998 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:134.63, Y:43.12, Z:0.28 [[ 7.90649000e-01 -6.12266095e-01 -2.09473029e-03 1.34629607e+02] [ 6.12263754e-01 7.90651772e-01 -1.69415770e-03 4.31204211e+01] [ 2.69347754e-03 5.69566630e-05 9.99996371e-01 2.79200036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57401273899998 meters Centerline goodness : 0.993432 Centerline is valid? [True, True] Translation: X:134.65, Y:43.14, Z:0.28 [[ 7.91632786e-01 -6.10993572e-01 -2.09446049e-03 1.34649804e+02] [ 6.10991226e-01 7.91635554e-01 -1.69449119e-03 4.31395127e+01] [ 2.69337261e-03 6.17178006e-05 9.99996371e-01 2.79625524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60401273899998 meters Centerline goodness : 0.993254 Centerline is valid? [True, True] Translation: X:134.67, Y:43.16, Z:0.28 [[ 7.91931491e-01 -6.10606362e-01 -2.09413935e-03 1.34671531e+02] [ 6.10604013e-01 7.91934257e-01 -1.69488797e-03 4.31575511e+01] [ 2.69333007e-03 6.35452664e-05 9.99996371e-01 2.81944821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63401273899999 meters Centerline goodness : 0.992474 Centerline is valid? [True, True] Translation: X:134.69, Y:43.17, Z:0.28 [[ 7.92013468e-01 -6.10500027e-01 -2.09381803e-03 1.34692195e+02] [ 6.10497677e-01 7.92016233e-01 -1.69528482e-03 4.31742505e+01] [ 2.69330930e-03 6.44173670e-05 9.99996371e-01 2.83475761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.664012739 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:134.71, Y:43.19, Z:0.28 [[ 7.91540753e-01 -6.11112799e-01 -2.09363786e-03 1.34714219e+02] [ 6.11110450e-01 7.91543520e-01 -1.69550730e-03 4.31917113e+01] [ 2.69335170e-03 6.26191504e-05 9.99996371e-01 2.82545118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.694012739 meters Centerline goodness : 0.992163 Centerline is valid? [True, True] Translation: X:134.74, Y:43.21, Z:0.28 [[ 7.91110184e-01 -6.11670087e-01 -2.09332321e-03 1.34735969e+02] [ 6.11667739e-01 7.91112951e-01 -1.69589569e-03 4.32079868e+01] [ 2.69338377e-03 6.12220743e-05 9.99996371e-01 2.80399358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.724012739 meters Centerline goodness : 0.991955 Centerline is valid? [True, True] Translation: X:134.76, Y:43.22, Z:0.28 [[ 7.90504221e-01 -6.12453015e-01 -2.09304491e-03 1.34759106e+02] [ 6.12450669e-01 7.90506990e-01 -1.69623910e-03 4.32233864e+01] [ 2.69343338e-03 5.89974098e-05 9.99996371e-01 2.78297979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.754012739 meters Centerline goodness : 0.992268 Centerline is valid? [True, True] Translation: X:134.78, Y:43.24, Z:0.28 [[ 7.89549184e-01 -6.13683719e-01 -2.09273050e-03 1.34781504e+02] [ 6.13681376e-01 7.89551955e-01 -1.69662690e-03 4.32398283e+01] [ 2.69351177e-03 5.53006509e-05 9.99996371e-01 2.78553731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.784012739 meters Centerline goodness : 0.992383 Centerline is valid? [True, True] Translation: X:134.80, Y:43.25, Z:0.28 [[ 7.87401043e-01 -6.16437523e-01 -2.09241463e-03 1.34803406e+02] [ 6.16435189e-01 7.87403822e-01 -1.69701638e-03 4.32549290e+01] [ 2.69367985e-03 4.63944599e-05 9.99996371e-01 2.81525623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.814012739 meters Centerline goodness : 0.992122 Centerline is valid? [True, True] Translation: X:134.83, Y:43.27, Z:0.28 [[ 7.86591982e-01 -6.17469575e-01 -2.09212874e-03 1.34826040e+02] [ 6.17467244e-01 7.86594763e-01 -1.69736876e-03 4.32716833e+01] [ 2.69373108e-03 4.33156892e-05 9.99996371e-01 2.81279166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.844012739 meters Centerline goodness : 0.991810 Centerline is valid? [True, True] Translation: X:134.85, Y:43.29, Z:0.28 [[ 7.86174110e-01 -6.18001532e-01 -2.09181683e-03 1.34848392e+02] [ 6.17999202e-01 7.86176891e-01 -1.69775306e-03 4.32877293e+01] [ 2.69375205e-03 4.19883661e-05 9.99996371e-01 2.80564662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.874012739 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:134.87, Y:43.30, Z:0.28 [[ 7.86907220e-01 -6.17067786e-01 -2.09153858e-03 1.34871701e+02] [ 6.17065451e-01 7.86909998e-01 -1.69809578e-03 4.33039144e+01] [ 2.69369283e-03 4.56276285e-05 9.99996371e-01 2.79117585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.904012739 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:134.89, Y:43.32, Z:0.28 [[ 7.87284654e-01 -6.16586166e-01 -2.09122338e-03 1.34892670e+02] [ 6.16583829e-01 7.87287430e-01 -1.69848387e-03 4.33205802e+01] [ 2.69365554e-03 4.77757669e-05 9.99996371e-01 2.77945322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.934012739 meters Centerline goodness : 0.992038 Centerline is valid? [True, True] Translation: X:134.91, Y:43.34, Z:0.28 [[ 7.87988561e-01 -6.15686329e-01 -2.09094431e-03 1.34913782e+02] [ 6.15683987e-01 7.87991334e-01 -1.69882735e-03 4.33369407e+01] [ 2.69359077e-03 5.12955929e-05 9.99996371e-01 2.76311784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.964012739 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:134.93, Y:43.36, Z:0.28 [[ 7.88384499e-01 -6.15179251e-01 -2.09073261e-03 1.34933386e+02] [ 6.15176907e-01 7.88387269e-01 -1.69908784e-03 4.33551386e+01] [ 2.69355056e-03 5.33640966e-05 9.99996371e-01 2.78168511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99401273899997 meters Centerline goodness : 0.991063 Centerline is valid? [True, True] Translation: X:134.95, Y:43.37, Z:0.28 [[ 7.88751792e-01 -6.14708256e-01 -2.09045665e-03 1.34954109e+02] [ 6.14705910e-01 7.88754560e-01 -1.69942730e-03 4.33738289e+01] [ 2.69350921e-03 5.54102684e-05 9.99996371e-01 2.80191526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02401273899997 meters Centerline goodness : 0.991241 Centerline is valid? [True, True] Translation: X:134.97, Y:43.39, Z:0.28 [[ 7.89927566e-01 -6.13196601e-01 -2.09014731e-03 1.34972518e+02] [ 6.13194248e-01 7.89930329e-01 -1.69980768e-03 4.33938963e+01] [ 2.69338704e-03 6.10586405e-05 9.99996371e-01 2.81978881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05401273899997 meters Centerline goodness : 0.991029 Centerline is valid? [True, True] Translation: X:134.99, Y:43.41, Z:0.28 [[ 7.90119066e-01 -6.12949830e-01 -2.08986847e-03 1.34992641e+02] [ 6.12947475e-01 7.90121828e-01 -1.70015044e-03 4.34131733e+01] [ 2.69335762e-03 6.23416796e-05 9.99996371e-01 2.84215345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08401273899997 meters Centerline goodness : 0.991492 Centerline is valid? [True, True] Translation: X:135.01, Y:43.43, Z:0.29 [[ 7.89957567e-01 -6.13157953e-01 -2.08954910e-03 1.35011634e+02] [ 6.13155598e-01 7.89960328e-01 -1.70054287e-03 4.34335665e+01] [ 2.69336228e-03 6.21379815e-05 9.99996371e-01 2.86009016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11401273899997 meters Centerline goodness : 0.991743 Centerline is valid? [True, True] Translation: X:135.03, Y:43.45, Z:0.29 [[ 7.89702606e-01 -6.13486290e-01 -2.08936981e-03 1.35031855e+02] [ 6.13483936e-01 7.89705368e-01 -1.70076313e-03 4.34513364e+01] [ 2.69338141e-03 6.13022603e-05 9.99996371e-01 2.85503850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14401273899998 meters Centerline goodness : 0.991007 Centerline is valid? [True, True] Translation: X:135.05, Y:43.47, Z:0.28 [[ 7.88461291e-01 -6.15080830e-01 -2.08919652e-03 1.35052528e+02] [ 6.15078480e-01 7.88464057e-01 -1.70097596e-03 4.34694531e+01] [ 2.69349407e-03 5.61338821e-05 9.99996371e-01 2.83243691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17401273899998 meters Centerline goodness : 0.991531 Centerline is valid? [True, True] Translation: X:135.07, Y:43.49, Z:0.28 [[ 7.86507569e-01 -6.17577104e-01 -2.08892263e-03 1.35072347e+02] [ 6.17574763e-01 7.86510342e-01 -1.70131225e-03 4.34874162e+01] [ 2.69365075e-03 4.80290599e-05 9.99996371e-01 2.83526074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20401273899998 meters Centerline goodness : 0.991932 Centerline is valid? [True, True] Translation: X:135.09, Y:43.50, Z:0.28 [[ 7.85305177e-01 -6.19105336e-01 -2.08864756e-03 1.35092940e+02] [ 6.19102999e-01 7.85307953e-01 -1.70164988e-03 4.35047632e+01] [ 2.69373206e-03 4.32264888e-05 9.99996371e-01 2.83730977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23401273899998 meters Centerline goodness : 0.991531 Centerline is valid? [True, True] Translation: X:135.11, Y:43.52, Z:0.28 [[ 7.83981490e-01 -6.20780687e-01 -2.08837460e-03 1.35114744e+02] [ 6.20778355e-01 7.83984271e-01 -1.70198481e-03 4.35220050e+01] [ 2.69381214e-03 3.79068367e-05 9.99996371e-01 2.84495648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26401273899998 meters Centerline goodness : 0.992190 Centerline is valid? [True, True] Translation: X:135.14, Y:43.54, Z:0.28 [[ 7.83448045e-01 -6.21453781e-01 -2.08805053e-03 1.35135521e+02] [ 6.21451450e-01 7.83450826e-01 -1.70238230e-03 4.35386523e+01] [ 2.69383683e-03 3.61060575e-05 9.99996371e-01 2.82180927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29401273899998 meters Centerline goodness : 0.992011 Centerline is valid? [True, True] Translation: X:135.16, Y:43.56, Z:0.28 [[ 7.83426176e-01 -6.21481349e-01 -2.08787569e-03 1.35156954e+02] [ 6.21479018e-01 7.83428958e-01 -1.70259670e-03 4.35567307e+01] [ 2.69383437e-03 3.62878838e-05 9.99996371e-01 2.83539584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32401273899998 meters Centerline goodness : 0.991262 Centerline is valid? [True, True] Translation: X:135.18, Y:43.58, Z:0.29 [[ 7.84827441e-01 -6.19710843e-01 -2.08755403e-03 1.35177029e+02] [ 6.19708505e-01 7.84830216e-01 -1.70299100e-03 4.35753680e+01] [ 2.69373747e-03 4.28790840e-05 9.99996371e-01 2.86004856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35401273899998 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:135.20, Y:43.59, Z:0.29 [[ 7.85950037e-01 -6.18286489e-01 -2.08726401e-03 1.35197667e+02] [ 6.18284145e-01 7.85952807e-01 -1.70334638e-03 4.35946348e+01] [ 2.69364706e-03 4.82229037e-05 9.99996371e-01 2.85336302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38401273899999 meters Centerline goodness : 0.992602 Centerline is valid? [True, True] Translation: X:135.22, Y:43.62, Z:0.28 [[ 7.88520885e-01 -6.15004438e-01 -2.08696080e-03 1.35216110e+02] [ 6.15002081e-01 7.88523644e-01 -1.70371779e-03 4.36161962e+01] [ 2.69341194e-03 5.99318229e-05 9.99996371e-01 2.82761690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.414012739 meters Centerline goodness : 0.991744 Centerline is valid? [True, True] Translation: X:135.24, Y:43.64, Z:0.28 [[ 7.89108907e-01 -6.14249769e-01 -2.08665711e-03 1.35236579e+02] [ 6.14247409e-01 7.89111663e-01 -1.70408967e-03 4.36355008e+01] [ 2.69334215e-03 6.29886136e-05 9.99996371e-01 2.83165453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.444012739 meters Centerline goodness : 0.991468 Centerline is valid? [True, True] Translation: X:135.26, Y:43.66, Z:0.29 [[ 7.88224341e-01 -6.15384462e-01 -2.08634292e-03 1.35257471e+02] [ 6.15382104e-01 7.88227100e-01 -1.70447425e-03 4.36560785e+01] [ 2.69341900e-03 5.96099987e-05 9.99996371e-01 2.86906619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.474012739 meters Centerline goodness : 0.991008 Centerline is valid? [True, True] Translation: X:135.28, Y:43.68, Z:0.29 [[ 7.84865377e-01 -6.19662802e-01 -2.08606218e-03 1.35275457e+02] [ 6.19660458e-01 7.84868148e-01 -1.70481777e-03 4.36764571e+01] [ 2.69369592e-03 4.54021943e-05 9.99996371e-01 2.86856928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.504012739 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:135.30, Y:43.70, Z:0.28 [[ 7.83024127e-01 -6.21987834e-01 -2.08584372e-03 1.35295567e+02] [ 6.21985498e-01 7.83026904e-01 -1.70508501e-03 4.36959807e+01] [ 2.69381389e-03 3.77581505e-05 9.99996371e-01 2.84268715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.534012739 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:135.32, Y:43.72, Z:0.28 [[ 7.80847447e-01 -6.24718269e-01 -2.08553055e-03 1.35315610e+02] [ 6.24715941e-01 7.80850231e-01 -1.70546797e-03 4.37153556e+01] [ 2.69392401e-03 2.88461263e-05 9.99996371e-01 2.79612277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.564012739 meters Centerline goodness : 0.992537 Centerline is valid? [True, True] Translation: X:135.34, Y:43.73, Z:0.28 [[ 7.80247059e-01 -6.25467968e-01 -2.08522226e-03 1.35335773e+02] [ 6.25465642e-01 7.80249845e-01 -1.70584482e-03 4.37339401e+01] [ 2.69394564e-03 2.67455228e-05 9.99996371e-01 2.80213381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.594012739 meters Centerline goodness : 0.992655 Centerline is valid? [True, True] Translation: X:135.36, Y:43.75, Z:0.29 [[ 7.79099351e-01 -6.26897004e-01 -2.08493659e-03 1.35355053e+02] [ 6.26894683e-01 7.79102141e-01 -1.70619391e-03 4.37541012e+01] [ 2.69398641e-03 2.22589057e-05 9.99996371e-01 2.85708941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.624012739 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:135.38, Y:43.77, Z:0.29 [[ 7.78146358e-01 -6.28079533e-01 -2.08466074e-03 1.35376417e+02] [ 6.28077214e-01 7.78149151e-01 -1.70653088e-03 4.37728624e+01] [ 2.69401410e-03 1.86028760e-05 9.99996371e-01 2.86762712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.654012739 meters Centerline goodness : 0.992916 Centerline is valid? [True, True] Translation: X:135.40, Y:43.79, Z:0.28 [[ 7.75986900e-01 -6.30745579e-01 -2.08434269e-03 1.35397357e+02] [ 6.30743270e-01 7.75989700e-01 -1.70691926e-03 4.37896258e+01] [ 2.69406023e-03 9.86186048e-06 9.99996371e-01 2.82315782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.684012739 meters Centerline goodness : 0.992234 Centerline is valid? [True, True] Translation: X:135.42, Y:43.81, Z:0.28 [[ 7.74008352e-01 -6.33171958e-01 -2.08408323e-03 1.35419956e+02] [ 6.33169656e-01 7.74011157e-01 -1.70723599e-03 4.38062432e+01] [ 2.69407763e-03 1.83665832e-06 9.99996371e-01 2.83242181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.714012739 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:135.44, Y:43.82, Z:0.28 [[ 7.73163640e-01 -6.34203157e-01 -2.08347936e-03 1.35442354e+02] [ 6.34200857e-01 7.73166447e-01 -1.70797292e-03 4.38238341e+01] [ 2.69407815e-03 -8.01833220e-07 9.99996371e-01 2.84868192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74401273899997 meters Centerline goodness : 0.992978 Centerline is valid? [True, True] Translation: X:135.46, Y:43.84, Z:0.28 [[ 7.73047503e-01 -6.34344715e-01 -2.08358118e-03 1.35464260e+02] [ 6.34342416e-01 7.73050311e-01 -1.70784870e-03 4.38420435e+01] [ 2.69407787e-03 -1.45574763e-06 9.99996371e-01 2.84944936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77401273899997 meters Centerline goodness : 0.991501 Centerline is valid? [True, True] Translation: X:135.49, Y:43.86, Z:0.29 [[ 7.72075987e-01 -6.35526814e-01 -2.08326840e-03 1.35486689e+02] [ 6.35524518e-01 7.72078797e-01 -1.70823015e-03 4.38594202e+01] [ 2.69407342e-03 -5.08466395e-06 9.99996371e-01 2.88999382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80401273899997 meters Centerline goodness : 0.991974 Centerline is valid? [True, True] Translation: X:135.51, Y:43.88, Z:0.29 [[ 7.72071125e-01 -6.35532721e-01 -2.08295459e-03 1.35507716e+02] [ 6.35530424e-01 7.72073935e-01 -1.70861272e-03 4.38766877e+01] [ 2.69407423e-03 -4.61046847e-06 9.99996371e-01 2.89381475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83401273899997 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:135.53, Y:43.89, Z:0.29 [[ 7.72274201e-01 -6.35285937e-01 -2.08266808e-03 1.35529141e+02] [ 6.35283638e-01 7.72277009e-01 -1.70896187e-03 4.38945180e+01] [ 2.69407612e-03 -3.29779554e-06 9.99996371e-01 2.89695944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86401273899997 meters Centerline goodness : 0.991980 Centerline is valid? [True, True] Translation: X:135.55, Y:43.91, Z:0.29 [[ 7.73572202e-01 -6.33704751e-01 -2.08235178e-03 1.35550267e+02] [ 6.33702446e-01 7.73575005e-01 -1.70934720e-03 4.39123938e+01] [ 2.69407673e-03 2.71206192e-06 9.99996371e-01 2.89668826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89401273899998 meters Centerline goodness : 0.992501 Centerline is valid? [True, True] Translation: X:135.57, Y:43.93, Z:0.29 [[ 7.74230227e-01 -6.32900640e-01 -2.08202547e-03 1.35571323e+02] [ 6.32898331e-01 7.74233027e-01 -1.70974456e-03 4.39295249e+01] [ 2.69407131e-03 6.02547865e-06 9.99996371e-01 2.88931728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92401273899998 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:135.59, Y:43.95, Z:0.29 [[ 7.74584995e-01 -6.32466404e-01 -2.08180277e-03 1.35592270e+02] [ 6.32464092e-01 7.74587793e-01 -1.71001567e-03 4.39462557e+01] [ 2.69406648e-03 7.88697803e-06 9.99996371e-01 2.88386714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95401273899998 meters Centerline goodness : 0.992283 Centerline is valid? [True, True] Translation: X:135.61, Y:43.96, Z:0.29 [[ 7.74966800e-01 -6.31998518e-01 -2.08152726e-03 1.35613012e+02] [ 6.31996203e-01 7.74969595e-01 -1.71035097e-03 4.39638265e+01] [ 2.69405962e-03 9.94789477e-06 9.99996371e-01 2.89015700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98401273899998 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:135.63, Y:43.98, Z:0.29 [[ 7.75086073e-01 -6.31852236e-01 -2.08125170e-03 1.35633711e+02] [ 6.31849920e-01 7.75088867e-01 -1.71068623e-03 4.39828569e+01] [ 2.69405594e-03 1.08903481e-05 9.99996371e-01 2.88340823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01401273899998 meters Centerline goodness : 0.992799 Centerline is valid? [True, True] Translation: X:135.65, Y:44.00, Z:0.29 [[ 7.73776789e-01 -6.33454932e-01 -2.08092353e-03 1.35653457e+02] [ 6.33452621e-01 7.73779587e-01 -1.71108533e-03 4.40010294e+01] [ 2.69407159e-03 5.83165072e-06 9.99996371e-01 2.86890486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04401273899998 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:135.67, Y:44.02, Z:0.29 [[ 7.73352999e-01 -6.33972247e-01 -2.08062814e-03 1.35674531e+02] [ 6.33969937e-01 7.73355798e-01 -1.71144444e-03 4.40178399e+01] [ 2.69407411e-03 4.49500074e-06 9.99996371e-01 2.87622196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07401273899998 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:135.69, Y:44.04, Z:0.29 [[ 7.71638429e-01 -6.36058022e-01 -2.08033649e-03 1.35694515e+02] [ 6.36055718e-01 7.71641233e-01 -1.71179888e-03 4.40356511e+01] [ 2.69407682e-03 -2.32011755e-06 9.99996371e-01 2.88763324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10401273899998 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:135.71, Y:44.05, Z:0.29 [[ 7.70884446e-01 -6.36971620e-01 -2.08005372e-03 1.35714950e+02] [ 6.36969319e-01 7.70887252e-01 -1.71214241e-03 4.40547823e+01] [ 2.69407302e-03 -5.06645127e-06 9.99996371e-01 2.88929588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13401273899999 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:135.73, Y:44.07, Z:0.29 [[ 7.70295390e-01 -6.37683846e-01 -2.07974463e-03 1.35734760e+02] [ 6.37681547e-01 7.70298197e-01 -1.71251779e-03 4.40739180e+01] [ 2.69406846e-03 -7.07021593e-06 9.99996371e-01 2.87678736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.164012739 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:135.76, Y:44.09, Z:0.29 [[ 7.69965050e-01 -6.38082681e-01 -2.07707135e-03 1.35756660e+02] [ 6.38080374e-01 7.69967852e-01 -1.71576314e-03 4.40920024e+01] [ 2.69407691e-03 -4.26081013e-06 9.99996371e-01 2.88499005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.194012739 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:135.78, Y:44.11, Z:0.29 [[ 7.69246929e-01 -6.38948229e-01 -2.07933193e-03 1.35778373e+02] [ 6.38945932e-01 7.69249739e-01 -1.71301916e-03 4.41102728e+01] [ 2.69405610e-03 -1.08459540e-05 9.99996371e-01 2.94543370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.224012739 meters Centerline goodness : 0.993237 Centerline is valid? [True, True] Translation: X:135.80, Y:44.13, Z:0.29 [[ 7.68167134e-01 -6.40245993e-01 -2.07901503e-03 1.35800293e+02] [ 6.40243700e-01 7.68169948e-01 -1.71340368e-03 4.41268106e+01] [ 2.69403670e-03 -1.48958826e-05 9.99996371e-01 2.88852608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.254012739 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:135.82, Y:44.14, Z:0.28 [[ 7.67313848e-01 -6.41268382e-01 -2.07873785e-03 1.35822955e+02] [ 6.41266092e-01 7.67316664e-01 -1.71373989e-03 4.41431515e+01] [ 2.69401740e-03 -1.80477488e-05 9.99996371e-01 2.84731523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.284012739 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:135.85, Y:44.16, Z:0.28 [[ 7.66226656e-01 -6.42567033e-01 -2.07842190e-03 1.35846796e+02] [ 6.42564747e-01 7.66229475e-01 -1.71412299e-03 4.41584493e+01] [ 2.69398704e-03 -2.21139125e-05 9.99996371e-01 2.84024022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.314012739 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:135.87, Y:44.17, Z:0.29 [[ 7.65994643e-01 -6.42843595e-01 -2.07810059e-03 1.35869045e+02] [ 6.42841309e-01 7.65997462e-01 -1.71451244e-03 4.41746144e+01] [ 2.69398312e-03 -2.25815546e-05 9.99996371e-01 2.85450829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.344012739 meters Centerline goodness : 0.993091 Centerline is valid? [True, True] Translation: X:135.89, Y:44.19, Z:0.29 [[ 7.65627972e-01 -6.43280259e-01 -2.07778256e-03 1.35893491e+02] [ 6.43277974e-01 7.65630791e-01 -1.71489776e-03 4.41886584e+01] [ 2.69397418e-03 -2.36180640e-05 9.99996371e-01 2.86062805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.374012739 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:135.92, Y:44.20, Z:0.28 [[ 7.65001557e-01 -6.44025079e-01 -2.07746118e-03 1.35916191e+02] [ 6.44022795e-01 7.65004377e-01 -1.71528700e-03 4.42033927e+01] [ 2.69395474e-03 -2.57351358e-05 9.99996371e-01 2.82450242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.404012739 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:135.94, Y:44.22, Z:0.28 [[ 7.65658150e-01 -6.43244341e-01 -2.07720162e-03 1.35938787e+02] [ 6.43242054e-01 7.65660967e-01 -1.71560127e-03 4.42196985e+01] [ 2.69398301e-03 -2.25793383e-05 9.99996371e-01 2.82552926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.434012739 meters Centerline goodness : 0.993677 Centerline is valid? [True, True] Translation: X:135.96, Y:44.23, Z:0.29 [[ 7.67689214e-01 -6.40818974e-01 -2.07688525e-03 1.35963577e+02] [ 6.40816677e-01 7.67692023e-01 -1.71598417e-03 4.42346902e+01] [ 2.69404346e-03 -1.35601643e-05 9.99996371e-01 2.88501264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.464012739 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:135.99, Y:44.25, Z:0.29 [[ 7.68283617e-01 -6.40106219e-01 -2.07660528e-03 1.35986352e+02] [ 6.40103918e-01 7.68286424e-01 -1.71632292e-03 4.42515754e+01] [ 2.69405662e-03 -1.06203986e-05 9.99996371e-01 2.90098000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49401273899997 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:136.01, Y:44.27, Z:0.29 [[ 7.68716847e-01 -6.39585880e-01 -2.07628089e-03 1.36008080e+02] [ 6.39583576e-01 7.68719651e-01 -1.71671525e-03 4.42679297e+01] [ 2.69406476e-03 -8.28722434e-06 9.99996371e-01 2.89974200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52401273899997 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:136.03, Y:44.28, Z:0.29 [[ 7.67932924e-01 -6.40526903e-01 -2.07598825e-03 1.36030894e+02] [ 6.40524602e-01 7.67935730e-01 -1.71706906e-03 4.42829767e+01] [ 2.69405448e-03 -1.11276843e-05 9.99996371e-01 2.88528082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55401273899997 meters Centerline goodness : 0.993314 Centerline is valid? [True, True] Translation: X:136.05, Y:44.30, Z:0.29 [[ 7.67042258e-01 -6.41593225e-01 -2.07570279e-03 1.36053010e+02] [ 6.41590926e-01 7.67045066e-01 -1.71741408e-03 4.42978706e+01] [ 2.69403882e-03 -1.44229031e-05 9.99996371e-01 2.87734770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58401273899997 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:136.08, Y:44.31, Z:0.29 [[ 7.65690404e-01 -6.43205953e-01 -2.07541966e-03 1.36076650e+02] [ 6.43203660e-01 7.65693216e-01 -1.71775616e-03 4.43122671e+01] [ 2.69400574e-03 -1.96481167e-05 9.99996371e-01 2.88039820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61401273899997 meters Centerline goodness : 0.992935 Centerline is valid? [True, True] Translation: X:136.10, Y:44.33, Z:0.29 [[ 7.65088752e-01 -6.43921498e-01 -2.07513652e-03 1.36100150e+02] [ 6.43919206e-01 7.65091566e-01 -1.71809813e-03 4.43276358e+01] [ 2.69398978e-03 -2.17227071e-05 9.99996371e-01 2.90348014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64401273899998 meters Centerline goodness : 0.992683 Centerline is valid? [True, True] Translation: X:136.12, Y:44.34, Z:0.29 [[ 7.64918218e-01 -6.44124068e-01 -2.07482251e-03 1.36123790e+02] [ 6.44121776e-01 7.64921032e-01 -1.71847726e-03 4.43436659e+01] [ 2.69398794e-03 -2.19438034e-05 9.99996371e-01 2.90494040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67401273899998 meters Centerline goodness : 0.992922 Centerline is valid? [True, True] Translation: X:136.15, Y:44.36, Z:0.29 [[ 7.64252496e-01 -6.44913808e-01 -2.07451044e-03 1.36146995e+02] [ 6.44911518e-01 7.64255311e-01 -1.71885390e-03 4.43573963e+01] [ 2.69396824e-03 -2.42372954e-05 9.99996371e-01 2.87191083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70401273899998 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:136.17, Y:44.37, Z:0.29 [[ 7.63792207e-01 -6.45458878e-01 -2.07418199e-03 1.36169473e+02] [ 6.45456588e-01 7.63795023e-01 -1.71925016e-03 4.43736886e+01] [ 2.69395516e-03 -2.56445556e-05 9.99996371e-01 2.85996369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73401273899998 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:136.19, Y:44.39, Z:0.28 [[ 7.63623424e-01 -6.45658552e-01 -2.07387134e-03 1.36193215e+02] [ 6.45656262e-01 7.63626240e-01 -1.71962481e-03 4.43867953e+01] [ 2.69395303e-03 -2.58622352e-05 9.99996371e-01 2.84856066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76401273899998 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:136.22, Y:44.40, Z:0.29 [[ 7.63975769e-01 -6.45241601e-01 -2.07354385e-03 1.36216718e+02] [ 6.45239309e-01 7.63978583e-01 -1.72001961e-03 4.44026232e+01] [ 2.69397130e-03 -2.38786936e-05 9.99996371e-01 2.86011406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79401273899998 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:136.24, Y:44.42, Z:0.29 [[ 7.65960070e-01 -6.42884805e-01 -2.07323567e-03 1.36239764e+02] [ 6.42882503e-01 7.65962876e-01 -1.72039099e-03 4.44163381e+01] [ 2.69403478e-03 -1.50961290e-05 9.99996371e-01 2.90605775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82401273899998 meters Centerline goodness : 0.992370 Centerline is valid? [True, True] Translation: X:136.26, Y:44.43, Z:0.29 [[ 7.66657543e-01 -6.42052890e-01 -2.07298602e-03 1.36262435e+02] [ 6.42050585e-01 7.66660346e-01 -1.72069175e-03 4.44332443e+01] [ 2.69405129e-03 -1.17805801e-05 9.99996371e-01 2.92003744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85401273899998 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:136.28, Y:44.45, Z:0.29 [[ 7.68152219e-01 -6.40263908e-01 -2.07268100e-03 1.36284666e+02] [ 6.40261595e-01 7.68155016e-01 -1.72105909e-03 4.44480953e+01] [ 2.69407233e-03 -5.02268321e-06 9.99996371e-01 2.91238956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88401273899999 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:136.31, Y:44.46, Z:0.29 [[ 7.70354342e-01 -6.37612651e-01 -2.07245782e-03 1.36308855e+02] [ 6.37610328e-01 7.70357130e-01 -1.72132780e-03 4.44631278e+01] [ 2.69407304e-03 4.61183485e-06 9.99996371e-01 2.87352435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.914012739 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:136.33, Y:44.48, Z:0.29 [[ 7.71963909e-01 -6.35662984e-01 -2.07215596e-03 1.36330921e+02] [ 6.35660653e-01 7.71966690e-01 -1.72169110e-03 4.44784587e+01] [ 2.69405068e-03 1.18953825e-05 9.99996371e-01 2.86073848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.944012739 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:136.35, Y:44.49, Z:0.29 [[ 7.75857044e-01 -6.30905345e-01 -2.07184025e-03 1.36353341e+02] [ 6.30902996e-01 7.75859810e-01 -1.72207094e-03 4.44941264e+01] [ 2.69392134e-03 2.89506523e-05 9.99996371e-01 2.87586023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.974012739 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:136.38, Y:44.51, Z:0.29 [[ 7.79647200e-01 -6.26215580e-01 -2.07152314e-03 1.36375014e+02] [ 6.26213212e-01 7.79649951e-01 -1.72245231e-03 4.45124925e+01] [ 2.69368939e-03 4.56899580e-05 9.99996371e-01 2.89836776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.004012739 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:136.40, Y:44.53, Z:0.29 [[ 7.81438112e-01 -6.23979317e-01 -2.07122557e-03 1.36396601e+02] [ 6.23976941e-01 7.81440855e-01 -1.72281006e-03 4.45308951e+01] [ 2.69353813e-03 5.38724473e-05 9.99996371e-01 2.89919507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.034012739 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:136.42, Y:44.55, Z:0.29 [[ 7.82730886e-01 -6.22356868e-01 -2.07092863e-03 1.36417527e+02] [ 6.22354485e-01 7.82733623e-01 -1.72316694e-03 4.45496841e+01] [ 2.69341024e-03 5.99242644e-05 9.99996371e-01 2.91289910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.064012739 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:136.43, Y:44.57, Z:0.29 [[ 7.85434852e-01 -6.18940875e-01 -2.07060395e-03 1.36434734e+02] [ 6.18938479e-01 7.85437578e-01 -1.72355698e-03 4.45710202e+01] [ 2.69311002e-03 7.21652622e-05 9.99996371e-01 2.90408520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.094012739 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:136.45, Y:44.59, Z:0.29 [[ 7.87484000e-01 -6.16331618e-01 -2.07038292e-03 1.36453027e+02] [ 6.16329213e-01 7.87486717e-01 -1.72382246e-03 4.45933739e+01] [ 2.69284533e-03 8.14451296e-05 9.99996371e-01 2.92050450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.124012739 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:136.47, Y:44.62, Z:0.29 [[ 7.89410033e-01 -6.13862782e-01 -2.07006002e-03 1.36470310e+02] [ 6.13860367e-01 7.89412742e-01 -1.72421012e-03 4.46156012e+01] [ 2.69256018e-03 9.03809605e-05 9.99996371e-01 2.88638231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.154012739 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:136.49, Y:44.64, Z:0.29 [[ 7.89838723e-01 -6.13311102e-01 -2.06974043e-03 1.36489656e+02] [ 6.13308685e-01 7.89841429e-01 -1.72459367e-03 4.46369684e+01] [ 2.69247919e-03 9.27610747e-05 9.99996371e-01 2.88326738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.184012739 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:136.51, Y:44.66, Z:0.28 [[ 7.90193240e-01 -6.12854274e-01 -2.06944330e-03 1.36505399e+02] [ 6.12851854e-01 7.90195944e-01 -1.72495014e-03 4.46600519e+01] [ 2.69240877e-03 9.47817722e-05 9.99996371e-01 2.84080925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.214012739 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:136.52, Y:44.68, Z:0.29 [[ 7.89693659e-01 -6.13497876e-01 -2.06917761e-03 1.36524947e+02] [ 6.13495457e-01 7.89696364e-01 -1.72526879e-03 4.46803805e+01] [ 2.69247078e-03 9.30027539e-05 9.99996371e-01 2.86926489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24401273899997 meters Centerline goodness : 0.994749 Centerline is valid? [True, True] Translation: X:136.54, Y:44.70, Z:0.29 [[ 7.88153757e-01 -6.15474919e-01 -2.06886434e-03 1.36542473e+02] [ 6.15472506e-01 7.88156467e-01 -1.72564437e-03 4.47025850e+01] [ 2.69267964e-03 8.67439759e-05 9.99996371e-01 2.91939821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27401273899997 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:136.56, Y:44.72, Z:0.29 [[ 7.87316106e-01 -6.16546080e-01 -2.06871861e-03 1.36562604e+02] [ 6.16543671e-01 7.87318820e-01 -1.72581906e-03 4.47220945e+01] [ 2.69278807e-03 8.33097788e-05 9.99996371e-01 2.94024222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30401273899997 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:136.58, Y:44.74, Z:0.29 [[ 7.85329395e-01 -6.19074683e-01 -2.06840828e-03 1.36582250e+02] [ 6.19072281e-01 7.85332115e-01 -1.72619091e-03 4.47418259e+01] [ 2.69302854e-03 7.51342267e-05 9.99996371e-01 2.90490680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33401273899997 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:136.60, Y:44.76, Z:0.29 [[ 7.84187592e-01 -6.20520382e-01 -2.06809362e-03 1.36602172e+02] [ 6.20517984e-01 7.84190315e-01 -1.72656781e-03 4.47606207e+01] [ 2.69314951e-03 7.06637653e-05 9.99996371e-01 2.87186403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36401273899997 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:136.62, Y:44.78, Z:0.29 [[ 7.82061799e-01 -6.23197454e-01 -2.06781413e-03 1.36621382e+02] [ 6.23195064e-01 7.82064530e-01 -1.72690248e-03 4.47808450e+01] [ 2.69336531e-03 6.18929047e-05 9.99996371e-01 2.85991511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39401273899998 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:136.64, Y:44.80, Z:0.28 [[ 7.80914598e-01 -6.24634386e-01 -2.06750467e-03 1.36640099e+02] [ 6.24632001e-01 7.80917332e-01 -1.72727289e-03 4.47978829e+01] [ 2.69346427e-03 5.74230375e-05 9.99996371e-01 2.82886596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42401273899998 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:136.66, Y:44.82, Z:0.28 [[ 7.79652713e-01 -6.26208749e-01 -2.06158362e-03 1.36662135e+02] [ 6.26206350e-01 7.79655436e-01 -1.73435719e-03 4.48182195e+01] [ 2.69339452e-03 6.12195360e-05 9.99996371e-01 2.84958397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45401273899998 meters Centerline goodness : 0.995636 Centerline is valid? [True, True] Translation: X:136.68, Y:44.84, Z:0.28 [[ 7.79025135e-01 -6.26989288e-01 -2.06700774e-03 1.36681498e+02] [ 6.26986909e-01 7.79027875e-01 -1.72786845e-03 4.48369425e+01] [ 2.69361165e-03 5.00661599e-05 9.99996371e-01 2.83935535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48401273899998 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:136.70, Y:44.86, Z:0.29 [[ 7.79317757e-01 -6.26625536e-01 -2.06673090e-03 1.36702406e+02] [ 6.26623155e-01 7.79320495e-01 -1.72819951e-03 4.48561357e+01] [ 2.69357970e-03 5.17551315e-05 9.99996371e-01 2.86037227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51401273899998 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:136.72, Y:44.88, Z:0.29 [[ 7.79950215e-01 -6.25838152e-01 -2.06640579e-03 1.36720568e+02] [ 6.25835767e-01 7.79952950e-01 -1.72858817e-03 4.48772752e+01] [ 2.69351571e-03 5.49820608e-05 9.99996371e-01 2.87723934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54401273899998 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:136.74, Y:44.90, Z:0.29 [[ 7.79730444e-01 -6.26111944e-01 -2.06619898e-03 1.36740646e+02] [ 6.26109559e-01 7.79733179e-01 -1.72883532e-03 4.48975683e+01] [ 2.69352835e-03 5.43585965e-05 9.99996371e-01 2.88799072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57401273899998 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:136.76, Y:44.92, Z:0.29 [[ 7.78721267e-01 -6.27366656e-01 -2.06587324e-03 1.36758169e+02] [ 6.27364274e-01 7.78724006e-01 -1.72922448e-03 4.49190093e+01] [ 2.69360287e-03 5.05288073e-05 9.99996371e-01 2.87097250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60401273899998 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:136.78, Y:44.94, Z:0.29 [[ 7.77689625e-01 -6.28645036e-01 -2.06558216e-03 1.36777421e+02] [ 6.28642658e-01 7.77692366e-01 -1.72957211e-03 4.49390865e+01] [ 2.69367440e-03 4.65572301e-05 9.99996371e-01 2.90036375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63401273899999 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:136.80, Y:44.96, Z:0.29 [[ 7.75394449e-01 -6.31473819e-01 -2.06525871e-03 1.36795687e+02] [ 6.31471450e-01 7.75397198e-01 -1.72995825e-03 4.49618892e+01] [ 2.69381916e-03 3.72481082e-05 9.99996371e-01 2.92866323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.664012739 meters Centerline goodness : 0.994627 Centerline is valid? [True, True] Translation: X:136.82, Y:44.98, Z:0.29 [[ 7.75275822e-01 -6.31619455e-01 -2.06494527e-03 1.36817396e+02] [ 6.31617086e-01 7.75278571e-01 -1.73033231e-03 4.49803320e+01] [ 2.69381937e-03 3.72300876e-05 9.99996371e-01 2.92943058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.694012739 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:136.84, Y:45.00, Z:0.30 [[ 7.71838554e-01 -6.35815212e-01 -2.06462018e-03 1.36835583e+02] [ 6.35812857e-01 7.71841315e-01 -1.73072012e-03 4.50021974e+01] [ 2.69397733e-03 2.31244572e-05 9.99996371e-01 2.98158239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.724012739 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:136.85, Y:45.02, Z:0.30 [[ 7.70023911e-01 -6.38011688e-01 -2.06430584e-03 1.36854015e+02] [ 6.38009340e-01 7.70026678e-01 -1.73109497e-03 4.50223963e+01] [ 2.69402939e-03 1.59381122e-05 9.99996371e-01 2.99625515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.754012739 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:136.87, Y:45.04, Z:0.30 [[ 7.66761056e-01 -6.41929298e-01 -2.06401369e-03 1.36870945e+02] [ 6.41926963e-01 7.66763834e-01 -1.73144322e-03 4.50448555e+01] [ 2.69407518e-03 2.65718944e-06 9.99996371e-01 2.98730100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.784012739 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:136.89, Y:45.06, Z:0.30 [[ 7.65157410e-01 -6.43839948e-01 -2.06372619e-03 1.36890505e+02] [ 6.43837619e-01 7.65160193e-01 -1.73178583e-03 4.50646481e+01] [ 2.69407403e-03 -3.61579313e-06 9.99996371e-01 2.98478107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.814012739 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:136.91, Y:45.08, Z:0.30 [[ 7.62313183e-01 -6.47205032e-01 -2.06340048e-03 1.36910138e+02] [ 6.47202714e-01 7.62315976e-01 -1.73217383e-03 4.50841018e+01] [ 2.69403477e-03 -1.49794468e-05 9.99996371e-01 2.95032474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.844012739 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:136.93, Y:45.10, Z:0.29 [[ 7.60468649e-01 -6.49371371e-01 -2.06307644e-03 1.36930088e+02] [ 6.49369060e-01 7.60471447e-01 -1.73255968e-03 4.51020543e+01] [ 2.69398538e-03 -2.21406929e-05 9.99996371e-01 2.92340748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.874012739 meters Centerline goodness : 0.995854 Centerline is valid? [True, True] Translation: X:136.95, Y:45.12, Z:0.29 [[ 7.60028479e-01 -6.49886494e-01 -2.06279259e-03 1.36950885e+02] [ 6.49884184e-01 7.60031278e-01 -1.73289757e-03 4.51203423e+01] [ 2.69397362e-03 -2.35247692e-05 9.99996371e-01 2.91889579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.904012739 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:136.97, Y:45.14, Z:0.29 [[ 7.59681997e-01 -6.50291481e-01 -2.06247438e-03 1.36971634e+02] [ 6.50289171e-01 7.59684796e-01 -1.73327621e-03 4.51387835e+01] [ 2.69396519e-03 -2.44660228e-05 9.99996371e-01 2.91177102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.934012739 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:136.99, Y:45.16, Z:0.29 [[ 7.59544156e-01 -6.50452475e-01 -2.06215448e-03 1.36991634e+02] [ 6.50450165e-01 7.59546955e-01 -1.73365673e-03 4.51567146e+01] [ 2.69396447e-03 -2.45398791e-05 9.99996371e-01 2.90363686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.964012739 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:137.01, Y:45.17, Z:0.29 [[ 7.60328785e-01 -6.49535131e-01 -2.06193586e-03 1.37013138e+02] [ 6.49532817e-01 7.60331581e-01 -1.73391670e-03 4.51742337e+01] [ 2.69399477e-03 -2.09482302e-05 9.99996371e-01 2.90420509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99401273899997 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:137.04, Y:45.19, Z:0.29 [[ 7.60981622e-01 -6.48770160e-01 -2.06162836e-03 1.37035301e+02] [ 6.48767842e-01 7.60984415e-01 -1.73428225e-03 4.51917655e+01] [ 2.69401762e-03 -1.77612597e-05 9.99996371e-01 2.89761252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02401273899997 meters Centerline goodness : 0.995845 Centerline is valid? [True, True] Translation: X:137.06, Y:45.21, Z:0.29 [[ 7.62808735e-01 -6.46620897e-01 -2.06131282e-03 1.37057851e+02] [ 6.46618570e-01 7.62811520e-01 -1.73465721e-03 4.52091422e+01] [ 2.69405877e-03 -9.67147621e-06 9.99996371e-01 2.87560616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05401273899997 meters Centerline goodness : 0.996045 Centerline is valid? [True, True] Translation: X:137.08, Y:45.23, Z:0.29 [[ 7.63451806e-01 -6.45861512e-01 -2.06100899e-03 1.37079196e+02] [ 6.45859181e-01 7.63454588e-01 -1.73501813e-03 4.52267610e+01] [ 2.69406820e-03 -6.51885451e-06 9.99996371e-01 2.88303759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08401273899997 meters Centerline goodness : 0.996363 Centerline is valid? [True, True] Translation: X:137.10, Y:45.24, Z:0.29 [[ 7.64698192e-01 -6.44385311e-01 -2.06067941e-03 1.37100790e+02] [ 6.44382974e-01 7.64700969e-01 -1.73540947e-03 4.52448344e+01] [ 2.69407592e-03 -8.02241465e-07 9.99996371e-01 2.93112396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11401273899997 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:137.12, Y:45.26, Z:0.30 [[ 7.64949604e-01 -6.44086841e-01 -2.06036564e-03 1.37120841e+02] [ 6.44084502e-01 7.64952378e-01 -1.73578193e-03 4.52628012e+01] [ 2.69407589e-03 7.36119011e-07 9.99996371e-01 2.96214611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14401273899998 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:137.14, Y:45.28, Z:0.30 [[ 7.65053716e-01 -6.43963172e-01 -2.06006723e-03 1.37141858e+02] [ 6.43960832e-01 7.65056490e-01 -1.73613601e-03 4.52800495e+01] [ 2.69407546e-03 1.63469686e-06 9.99996371e-01 2.96064263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17401273899998 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:137.16, Y:45.30, Z:0.30 [[ 7.65594508e-01 -6.43320144e-01 -2.05977474e-03 1.37163938e+02] [ 6.43317800e-01 7.65597278e-01 -1.73648295e-03 4.52959830e+01] [ 2.69407240e-03 4.35205484e-06 9.99996371e-01 2.98285844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20401273899998 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:137.19, Y:45.31, Z:0.30 [[ 7.64565594e-01 -6.44542637e-01 -2.05949663e-03 1.37185418e+02] [ 6.44540297e-01 7.64568367e-01 -1.73681273e-03 4.53144412e+01] [ 2.69407584e-03 4.78685877e-07 9.99996371e-01 3.01600681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23401273899998 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:137.21, Y:45.33, Z:0.30 [[ 7.63714567e-01 -6.45550789e-01 -2.05917664e-03 1.37206708e+02] [ 6.45548451e-01 7.63717343e-01 -1.73719204e-03 4.53321451e+01] [ 2.69407460e-03 -2.57942792e-06 9.99996371e-01 3.01392207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26401273899998 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:137.23, Y:45.35, Z:0.30 [[ 7.61749175e-01 -6.47868779e-01 -2.05884109e-03 1.37229557e+02] [ 6.47866449e-01 7.61751958e-01 -1.73758962e-03 4.53471774e+01] [ 2.69405630e-03 -1.02466099e-05 9.99996371e-01 3.00554703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29401273899998 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:137.25, Y:45.36, Z:0.30 [[ 7.60451705e-01 -6.49391228e-01 -2.05854090e-03 1.37251885e+02] [ 6.49388902e-01 7.60454491e-01 -1.73794519e-03 4.53643204e+01] [ 2.69403303e-03 -1.51702335e-05 9.99996371e-01 3.01536959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32401273899998 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:137.27, Y:45.38, Z:0.30 [[ 7.58310975e-01 -6.51889736e-01 -2.05822542e-03 1.37271435e+02] [ 6.51887419e-01 7.58313768e-01 -1.73831873e-03 4.53829598e+01] [ 2.69397281e-03 -2.35450822e-05 9.99996371e-01 3.02707751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35401273899998 meters Centerline goodness : 0.996448 Centerline is valid? [True, True] Translation: X:137.29, Y:45.40, Z:0.30 [[ 7.57523611e-01 -6.52804521e-01 -2.05800965e-03 1.37292599e+02] [ 6.52802207e-01 7.57526406e-01 -1.73857414e-03 4.54017443e+01] [ 2.69394571e-03 -2.64622816e-05 9.99996371e-01 3.01565419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38401273899999 meters Centerline goodness : 0.996475 Centerline is valid? [True, True] Translation: X:137.32, Y:45.42, Z:0.30 [[ 7.55983352e-01 -6.54587608e-01 -2.05769864e-03 1.37315946e+02] [ 6.54585299e-01 7.55986152e-01 -1.73894216e-03 4.54166604e+01] [ 2.69388167e-03 -3.23279522e-05 9.99996371e-01 2.98128777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.414012739 meters Centerline goodness : 0.996396 Centerline is valid? [True, True] Translation: X:137.34, Y:45.43, Z:0.29 [[ 7.53266831e-01 -6.57711828e-01 -2.05742005e-03 1.37338857e+02] [ 6.57709530e-01 7.53269639e-01 -1.73927171e-03 4.54329433e+01] [ 2.69373164e-03 -4.30490912e-05 9.99996371e-01 2.94876449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.444012739 meters Centerline goodness : 0.996489 Centerline is valid? [True, True] Translation: X:137.36, Y:45.45, Z:0.29 [[ 7.52127881e-01 -6.59013974e-01 -2.05709687e-03 1.37360054e+02] [ 6.59011680e-01 7.52130693e-01 -1.73965386e-03 4.54497767e+01] [ 2.69366190e-03 -4.72086890e-05 9.99996371e-01 2.94777309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.474012739 meters Centerline goodness : 0.996891 Centerline is valid? [True, True] Translation: X:137.38, Y:45.46, Z:0.30 [[ 7.49839092e-01 -6.61617038e-01 -2.05680770e-03 1.37384698e+02] [ 6.61614753e-01 7.49841911e-01 -1.73999568e-03 4.54638345e+01] [ 2.69349141e-03 -5.60975382e-05 9.99996371e-01 2.95761098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.504012739 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:137.41, Y:45.48, Z:0.30 [[ 7.49092234e-01 -6.62462525e-01 -2.05648341e-03 1.37406888e+02] [ 6.62460241e-01 7.49095054e-01 -1.74037887e-03 4.54795709e+01] [ 2.69343733e-03 -5.86342042e-05 9.99996371e-01 2.95932919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.534012739 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:137.43, Y:45.50, Z:0.30 [[ 7.48809403e-01 -6.62782205e-01 -2.05619333e-03 1.37428484e+02] [ 6.62779921e-01 7.48812223e-01 -1.74072153e-03 4.54967839e+01] [ 2.69342195e-03 -5.93350020e-05 9.99996371e-01 2.95885147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.564012739 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:137.45, Y:45.51, Z:0.30 [[ 7.49468928e-01 -6.62036327e-01 -2.05586901e-03 1.37451429e+02] [ 6.62034040e-01 7.49471746e-01 -1.74110448e-03 4.55134910e+01] [ 2.69349015e-03 -5.61515585e-05 9.99996371e-01 2.95747897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.594012739 meters Centerline goodness : 0.997607 Centerline is valid? [True, True] Translation: X:137.48, Y:45.53, Z:0.30 [[ 7.51627194e-01 -6.59584972e-01 -2.05553850e-03 1.37475437e+02] [ 6.59582675e-01 7.51630004e-01 -1.74149459e-03 4.55273221e+01] [ 2.69366807e-03 -4.68428896e-05 9.99996371e-01 3.00098082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.624012739 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:137.50, Y:45.54, Z:0.30 [[ 7.53021757e-01 -6.57992409e-01 -2.05523999e-03 1.37497909e+02] [ 6.57990104e-01 7.53024560e-01 -1.74184681e-03 4.55444249e+01] [ 2.69376817e-03 -4.06790272e-05 9.99996371e-01 3.02878022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.654012739 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:137.52, Y:45.56, Z:0.30 [[ 7.56904591e-01 -6.53522163e-01 -2.05491775e-03 1.37518380e+02] [ 6.53519842e-01 7.56907380e-01 -1.74222688e-03 4.55598129e+01] [ 2.69396629e-03 -2.42300023e-05 9.99996371e-01 3.01465786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.684012739 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:137.54, Y:45.58, Z:0.30 [[ 7.60652484e-01 -6.49156068e-01 -2.04907093e-03 1.37541547e+02] [ 6.49153711e-01 7.60655244e-01 -1.74911989e-03 4.55780270e+01] [ 2.69408834e-03 3.10392291e-07 9.99996371e-01 2.98060010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.714012739 meters Centerline goodness : 0.997759 Centerline is valid? [True, True] Translation: X:137.56, Y:45.60, Z:0.30 [[ 7.62306101e-01 -6.47213402e-01 -2.05440069e-03 1.37561791e+02] [ 6.47211056e-01 7.62308869e-01 -1.74283734e-03 4.55953472e+01] [ 2.69407555e-03 -1.05530466e-06 9.99996371e-01 2.97001033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74401273899997 meters Centerline goodness : 0.997510 Centerline is valid? [True, True] Translation: X:137.58, Y:45.62, Z:0.30 [[ 7.64036603e-01 -6.45169629e-01 -2.05410744e-03 1.37581634e+02] [ 6.45167274e-01 7.64039364e-01 -1.74318289e-03 4.56152238e+01] [ 2.69406761e-03 6.61263847e-06 9.99996371e-01 2.98884288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77401273899997 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:137.60, Y:45.63, Z:0.30 [[ 7.64379265e-01 -6.44763617e-01 -2.05377432e-03 1.37602709e+02] [ 6.44761259e-01 7.64382024e-01 -1.74357529e-03 4.56328528e+01] [ 2.69406208e-03 8.55868427e-06 9.99996371e-01 2.98473321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80401273899997 meters Centerline goodness : 0.997191 Centerline is valid? [True, True] Translation: X:137.63, Y:45.65, Z:0.30 [[ 7.64114212e-01 -6.45077711e-01 -2.05354741e-03 1.37627583e+02] [ 6.45075354e-01 7.64116972e-01 -1.74384250e-03 4.56464129e+01] [ 2.69406435e-03 7.80201633e-06 9.99996371e-01 2.98332726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83401273899997 meters Centerline goodness : 0.997129 Centerline is valid? [True, True] Translation: X:137.65, Y:45.66, Z:0.30 [[ 7.63497774e-01 -6.45807195e-01 -2.05321517e-03 1.37649143e+02] [ 6.45804839e-01 7.63500535e-01 -1.74423358e-03 4.56633767e+01] [ 2.69406948e-03 5.74216555e-06 9.99996371e-01 2.99815459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86401273899997 meters Centerline goodness : 0.997138 Centerline is valid? [True, True] Translation: X:137.67, Y:45.68, Z:0.30 [[ 7.62476791e-01 -6.47012309e-01 -2.05291664e-03 1.37668337e+02] [ 6.47009957e-01 7.62479555e-01 -1.74458488e-03 4.56842374e+01] [ 2.69407486e-03 1.94796857e-06 9.99996371e-01 2.99447198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89401273899998 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:137.69, Y:45.70, Z:0.30 [[ 7.61058769e-01 -6.48679688e-01 -2.05258839e-03 1.37691785e+02] [ 6.48677341e-01 7.61061537e-01 -1.74497099e-03 4.57002392e+01] [ 2.69407331e-03 -3.44210605e-06 9.99996371e-01 3.00344615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92401273899998 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:137.72, Y:45.72, Z:0.30 [[ 7.60044700e-01 -6.49867557e-01 -2.05225918e-03 1.37715710e+02] [ 6.49865214e-01 7.60047471e-01 -1.74535809e-03 4.57159335e+01] [ 2.69406600e-03 -7.14168988e-06 9.99996371e-01 3.00956445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95401273899998 meters Centerline goodness : 0.997251 Centerline is valid? [True, True] Translation: X:137.74, Y:45.73, Z:0.30 [[ 7.58740183e-01 -6.51390148e-01 -2.05192090e-03 1.37737278e+02] [ 6.51387809e-01 7.58742957e-01 -1.74575570e-03 4.57318690e+01] [ 2.69404859e-03 -1.20212562e-05 9.99996371e-01 2.98561818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98401273899998 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:137.76, Y:45.75, Z:0.30 [[ 7.58236261e-01 -6.51976659e-01 -2.05161588e-03 1.37758741e+02] [ 6.51974320e-01 7.58239037e-01 -1.74611408e-03 4.57498695e+01] [ 2.69404087e-03 -1.36338595e-05 9.99996371e-01 2.96520115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01401273899998 meters Centerline goodness : 0.997469 Centerline is valid? [True, True] Translation: X:137.78, Y:45.76, Z:0.30 [[ 7.58725783e-01 -6.51406922e-01 -2.05129213e-03 1.37783414e+02] [ 6.51404581e-01 7.58728556e-01 -1.74649433e-03 4.57625787e+01] [ 2.69405242e-03 -1.11108101e-05 9.99996371e-01 2.96434231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04401273899998 meters Centerline goodness : 0.997826 Centerline is valid? [True, True] Translation: X:137.81, Y:45.78, Z:0.30 [[ 7.59368521e-01 -6.50657547e-01 -2.05107208e-03 1.37806095e+02] [ 6.50655202e-01 7.59371291e-01 -1.74675273e-03 4.57792282e+01] [ 2.69406309e-03 -8.11168051e-06 9.99996371e-01 2.98664875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07401273899998 meters Centerline goodness : 0.997722 Centerline is valid? [True, True] Translation: X:137.82, Y:45.80, Z:0.30 [[ 7.60824518e-01 -6.48954426e-01 -2.05074531e-03 1.37823746e+02] [ 6.48952074e-01 7.60827282e-01 -1.74713628e-03 4.57999140e+01] [ 2.69407480e-03 -1.57130924e-06 9.99996371e-01 3.01322459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10401273899998 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:137.84, Y:45.82, Z:0.30 [[ 7.61575628e-01 -6.48072803e-01 -2.05045122e-03 1.37844292e+02] [ 6.48070448e-01 7.61578388e-01 -1.74748135e-03 4.58188653e+01] [ 2.69407448e-03 2.00236716e-06 9.99996371e-01 2.99163857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13401273899999 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:137.87, Y:45.83, Z:0.30 [[ 7.62630555e-01 -6.46831071e-01 -2.05012173e-03 1.37867608e+02] [ 6.46828709e-01 7.62633310e-01 -1.74786783e-03 4.58324105e+01] [ 2.69406634e-03 6.89981790e-06 9.99996371e-01 2.96378471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.164012739 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:137.89, Y:45.85, Z:0.30 [[ 7.62591786e-01 -6.46876778e-01 -2.04982684e-03 1.37887555e+02] [ 6.46874415e-01 7.62594541e-01 -1.74821358e-03 4.58483447e+01] [ 2.69406553e-03 7.19277869e-06 9.99996371e-01 2.98151344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.194012739 meters Centerline goodness : 0.997679 Centerline is valid? [True, True] Translation: X:137.91, Y:45.87, Z:0.30 [[ 7.62305778e-01 -6.47213808e-01 -2.04639469e-03 1.37908809e+02] [ 6.47211436e-01 7.62308524e-01 -1.75223590e-03 4.58677542e+01] [ 2.69405538e-03 1.12894993e-05 9.99996371e-01 2.99008136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.224012739 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:137.93, Y:45.88, Z:0.30 [[ 7.62767460e-01 -6.46669624e-01 -2.04925435e-03 1.37930680e+02] [ 6.46667259e-01 7.62770213e-01 -1.74888509e-03 4.58843520e+01] [ 2.69406104e-03 8.80694623e-06 9.99996371e-01 3.01441503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.254012739 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:137.95, Y:45.90, Z:0.30 [[ 7.63255121e-01 -6.46093974e-01 -2.04891460e-03 1.37952208e+02] [ 6.46091606e-01 7.63257871e-01 -1.74928304e-03 4.59017615e+01] [ 2.69405142e-03 1.13627137e-05 9.99996371e-01 3.01142162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.284012739 meters Centerline goodness : 0.997359 Centerline is valid? [True, True] Translation: X:137.97, Y:45.92, Z:0.30 [[ 7.64928025e-01 -6.44112506e-01 -2.04857409e-03 1.37971784e+02] [ 6.44110130e-01 7.64930768e-01 -1.74968171e-03 4.59202421e+01] [ 2.69400923e-03 1.88732542e-05 9.99996371e-01 3.02382830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.314012739 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:137.99, Y:45.94, Z:0.30 [[ 7.65542473e-01 -6.43382100e-01 -2.04826697e-03 1.37992517e+02] [ 6.43379720e-01 7.65545213e-01 -1.75004117e-03 4.59392372e+01] [ 2.69398614e-03 2.19174194e-05 9.99996371e-01 3.02770166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.344012739 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:138.01, Y:45.96, Z:0.30 [[ 7.66090624e-01 -6.42729307e-01 -2.04793211e-03 1.38012933e+02] [ 6.42726924e-01 7.66093361e-01 -1.75043294e-03 4.59574050e+01] [ 2.69396175e-03 2.47291564e-05 9.99996371e-01 3.00808075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.374012739 meters Centerline goodness : 0.997432 Centerline is valid? [True, True] Translation: X:138.03, Y:45.98, Z:0.30 [[ 7.65530997e-01 -6.43395757e-01 -2.04763121e-03 1.38032481e+02] [ 6.43393375e-01 7.65533735e-01 -1.75078486e-03 4.59766216e+01] [ 2.69397832e-03 2.28477209e-05 9.99996371e-01 3.02197977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.404012739 meters Centerline goodness : 0.997368 Centerline is valid? [True, True] Translation: X:138.05, Y:45.99, Z:0.30 [[ 7.65100278e-01 -6.43907891e-01 -2.04733517e-03 1.38052318e+02] [ 6.43905510e-01 7.65103017e-01 -1.75113098e-03 4.59948437e+01] [ 2.69398937e-03 2.15003978e-05 9.99996371e-01 3.03025983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.434012739 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:138.07, Y:46.01, Z:0.30 [[ 7.64555607e-01 -6.44554524e-01 -2.04704482e-03 1.38073375e+02] [ 6.44552144e-01 7.64558347e-01 -1.75147033e-03 4.60135294e+01] [ 2.69400333e-03 1.96693319e-05 9.99996371e-01 3.03437237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.464012739 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:138.09, Y:46.03, Z:0.30 [[ 7.64506679e-01 -6.44612557e-01 -2.04671826e-03 1.38094403e+02] [ 6.44610177e-01 7.64509418e-01 -1.75185185e-03 4.60325235e+01] [ 2.69400109e-03 1.99670167e-05 9.99996371e-01 3.01748611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49401273899997 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:138.11, Y:46.05, Z:0.30 [[ 7.64966971e-01 -6.44066258e-01 -2.04639007e-03 1.38114956e+02] [ 6.44063875e-01 7.64969708e-01 -1.75223514e-03 4.60518516e+01] [ 2.69398194e-03 2.23960917e-05 9.99996371e-01 2.99778999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52401273899997 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:138.13, Y:46.07, Z:0.30 [[ 7.65746726e-01 -6.43138993e-01 -2.04606057e-03 1.38133841e+02] [ 6.43136606e-01 7.65749459e-01 -1.75261981e-03 4.60732703e+01] [ 2.69394791e-03 2.61664326e-05 9.99996371e-01 2.98688846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55401273899997 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:138.16, Y:46.09, Z:0.30 [[ 7.65626017e-01 -6.43282688e-01 -2.04573164e-03 1.38155350e+02] [ 6.43280300e-01 7.65628750e-01 -1.75300366e-03 4.60919547e+01] [ 2.69394787e-03 2.61663491e-05 9.99996371e-01 2.98765582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58401273899997 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:138.17, Y:46.11, Z:0.30 [[ 7.65587356e-01 -6.43328700e-01 -2.04540259e-03 1.38174456e+02] [ 6.43326311e-01 7.65590088e-01 -1.75338752e-03 4.61108370e+01] [ 2.69394446e-03 2.65100158e-05 9.99996371e-01 3.00110466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61401273899997 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:138.19, Y:46.13, Z:0.30 [[ 7.65302035e-01 -6.43668093e-01 -2.04510690e-03 1.38194212e+02] [ 6.43665704e-01 7.65304767e-01 -1.75373233e-03 4.61314010e+01] [ 2.69395160e-03 2.57697454e-05 9.99996371e-01 3.02996895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64401273899998 meters Centerline goodness : 0.997722 Centerline is valid? [True, True] Translation: X:138.21, Y:46.15, Z:0.31 [[ 7.65149887e-01 -6.43848949e-01 -2.04477859e-03 1.38213244e+02] [ 6.43846560e-01 7.65152619e-01 -1.75411504e-03 4.61510418e+01] [ 2.69395282e-03 2.56372588e-05 9.99996371e-01 3.05092520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67401273899998 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:138.23, Y:46.17, Z:0.31 [[ 7.65023069e-01 -6.43999631e-01 -2.04448529e-03 1.38231875e+02] [ 6.43997241e-01 7.65025800e-01 -1.75445683e-03 4.61705550e+01] [ 2.69395354e-03 2.55570561e-05 9.99996371e-01 3.05128390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70401273899998 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:138.25, Y:46.19, Z:0.30 [[ 7.64441333e-01 -6.44690057e-01 -2.04426441e-03 1.38249849e+02] [ 6.44687670e-01 7.64444066e-01 -1.75471416e-03 4.61925866e+01] [ 2.69397257e-03 2.34639714e-05 9.99996371e-01 3.03883670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73401273899998 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:138.27, Y:46.21, Z:0.30 [[ 7.64134007e-01 -6.45054293e-01 -2.04393854e-03 1.38269163e+02] [ 6.45051906e-01 7.64136741e-01 -1.75509366e-03 4.62108026e+01] [ 2.69397923e-03 2.26803005e-05 9.99996371e-01 3.04140058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76401273899998 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:138.29, Y:46.23, Z:0.30 [[ 7.62853788e-01 -6.46567802e-01 -2.04364668e-03 1.38288557e+02] [ 6.46565419e-01 7.62856525e-01 -1.75543343e-03 4.62311737e+01] [ 2.69401594e-03 1.77877697e-05 9.99996371e-01 3.02627892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79401273899998 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:138.31, Y:46.25, Z:0.30 [[ 7.60621678e-01 -6.49192181e-01 -2.04331962e-03 1.38307861e+02] [ 6.49189807e-01 7.60624423e-01 -1.75581404e-03 4.62497603e+01] [ 2.69405956e-03 9.00795274e-06 9.99996371e-01 2.99567913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82401273899998 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:138.33, Y:46.27, Z:0.30 [[ 7.59432533e-01 -6.50582857e-01 -2.04302528e-03 1.38328860e+02] [ 6.50580486e-01 7.59435281e-01 -1.75615647e-03 4.62675416e+01] [ 2.69407077e-03 4.52997009e-06 9.99996371e-01 3.00019819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85401273899998 meters Centerline goodness : 0.997824 Centerline is valid? [True, True] Translation: X:138.35, Y:46.29, Z:0.30 [[ 7.58381605e-01 -6.51807616e-01 -2.04270309e-03 1.38350000e+02] [ 6.51805249e-01 7.58384356e-01 -1.75653115e-03 4.62851435e+01] [ 2.69407445e-03 6.76311480e-07 9.99996371e-01 3.02288806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88401273899999 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:138.37, Y:46.30, Z:0.30 [[ 7.56927635e-01 -6.53495512e-01 -2.04238117e-03 1.38370422e+02] [ 6.53493150e-01 7.56930390e-01 -1.75690538e-03 4.63032872e+01] [ 2.69407016e-03 -4.83186994e-06 9.99996371e-01 3.03639593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.914012739 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:138.39, Y:46.32, Z:0.30 [[ 7.56066452e-01 -6.54491673e-01 -2.04204088e-03 1.38391440e+02] [ 6.54489314e-01 7.56069210e-01 -1.75730081e-03 4.63200402e+01] [ 2.69406298e-03 -7.85774378e-06 9.99996371e-01 2.99835111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.944012739 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:138.41, Y:46.34, Z:0.30 [[ 7.55516254e-01 -6.55126721e-01 -2.04170501e-03 1.38413824e+02] [ 6.55124363e-01 7.55519013e-01 -1.75769095e-03 4.63373077e+01] [ 2.69405726e-03 -9.60660873e-06 9.99996371e-01 2.97136215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.974012739 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:138.44, Y:46.35, Z:0.30 [[ 7.54642692e-01 -6.56132791e-01 -2.04139045e-03 1.38436761e+02] [ 6.56130436e-01 7.54645453e-01 -1.75805620e-03 4.63539422e+01] [ 2.69404435e-03 -1.27141392e-05 9.99996371e-01 2.95848438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.004012739 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:138.46, Y:46.37, Z:0.30 [[ 7.54777684e-01 -6.55977502e-01 -2.04106517e-03 1.38458085e+02] [ 6.55975145e-01 7.54780443e-01 -1.75843377e-03 4.63712471e+01] [ 2.69404906e-03 -1.16614502e-05 9.99996371e-01 2.96906069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.034012739 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:138.48, Y:46.39, Z:0.30 [[ 7.57369776e-01 -6.52983045e-01 -2.04077203e-03 1.38479369e+02] [ 6.52980677e-01 7.57372526e-01 -1.75877391e-03 4.63886896e+01] [ 2.69407421e-03 -5.42495539e-07 9.99996371e-01 2.98927329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.064012739 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:138.50, Y:46.41, Z:0.30 [[ 7.61361669e-01 -6.48324183e-01 -2.04045461e-03 1.38499711e+02] [ 6.48321797e-01 7.61364403e-01 -1.75914208e-03 4.64073866e+01] [ 2.69402386e-03 1.64721512e-05 9.99996371e-01 2.97992659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.094012739 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:138.52, Y:46.43, Z:0.30 [[ 7.62741892e-01 -6.46699810e-01 -2.04012960e-03 1.38519339e+02] [ 6.46697417e-01 7.62744620e-01 -1.75951893e-03 4.64258276e+01] [ 2.69397843e-03 2.27122580e-05 9.99996371e-01 2.99707075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.124012739 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:138.54, Y:46.45, Z:0.30 [[ 7.64336029e-01 -6.44814914e-01 -2.03990825e-03 1.38539004e+02] [ 6.44812514e-01 7.64338751e-01 -1.75977551e-03 4.64453817e+01] [ 2.69391042e-03 2.97014599e-05 9.99996371e-01 3.03523023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.154012739 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:138.56, Y:46.46, Z:0.30 [[ 7.64964591e-01 -6.44069108e-01 -2.03956911e-03 1.38558619e+02] [ 6.44066703e-01 7.64967309e-01 -1.76016849e-03 4.64642404e+01] [ 2.69387384e-03 3.28480112e-05 9.99996371e-01 3.04546265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.184012739 meters Centerline goodness : 0.997685 Centerline is valid? [True, True] Translation: X:138.58, Y:46.49, Z:0.31 [[ 7.65253448e-01 -6.43725875e-01 -2.03926592e-03 1.38576526e+02] [ 6.43723468e-01 7.65256164e-01 -1.76051969e-03 4.64863101e+01] [ 2.69385289e-03 3.45204340e-05 9.99996371e-01 3.05315084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.214012739 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:138.60, Y:46.51, Z:0.31 [[ 7.64816412e-01 -6.44245061e-01 -2.03895326e-03 1.38595134e+02] [ 6.44242656e-01 7.64819129e-01 -1.76088172e-03 4.65067454e+01] [ 2.69386981e-03 3.31705791e-05 9.99996371e-01 3.05703501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24401273899997 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:138.61, Y:46.53, Z:0.31 [[ 7.63406710e-01 -6.45914885e-01 -2.03872453e-03 1.38612805e+02] [ 6.45912484e-01 7.63409432e-01 -1.76114649e-03 4.65287413e+01] [ 2.69393227e-03 2.76334223e-05 9.99996371e-01 3.08306279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27401273899997 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:138.63, Y:46.55, Z:0.31 [[ 7.62137445e-01 -6.47412048e-01 -2.03839977e-03 1.38631720e+02] [ 6.47409652e-01 7.62140171e-01 -1.76152230e-03 4.65478816e+01] [ 2.69397711e-03 2.28424179e-05 9.99996371e-01 3.09182024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30401273899997 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:138.65, Y:46.57, Z:0.31 [[ 7.59275176e-01 -6.50766513e-01 -2.03810875e-03 1.38649949e+02] [ 6.50764128e-01 7.59277911e-01 -1.76185895e-03 4.65696597e+01] [ 2.69404976e-03 1.14076978e-05 9.99996371e-01 3.07125051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33401273899997 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:138.67, Y:46.59, Z:0.30 [[ 7.57243665e-01 -6.53129297e-01 -2.03778438e-03 1.38668212e+02] [ 6.53126920e-01 7.57246407e-01 -1.76223404e-03 4.65913486e+01] [ 2.69407158e-03 3.50872996e-06 9.99996371e-01 3.03646039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36401273899997 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:138.69, Y:46.61, Z:0.30 [[ 7.56134720e-01 -6.54412816e-01 -2.03746023e-03 1.38688309e+02] [ 6.54410442e-01 7.56137465e-01 -1.76260875e-03 4.66107823e+01] [ 2.69407376e-03 -5.65575572e-07 9.99996371e-01 3.02513985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39401273899998 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:138.71, Y:46.63, Z:0.30 [[ 7.54329098e-01 -6.56493306e-01 -2.03713207e-03 1.38706741e+02] [ 6.56490939e-01 7.54331849e-01 -1.76298793e-03 4.66309564e+01] [ 2.69406338e-03 -7.48565034e-06 9.99996371e-01 2.99986113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42401273899998 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:138.73, Y:46.65, Z:0.30 [[ 7.54033548e-01 -6.56832749e-01 -2.03683881e-03 1.38725607e+02] [ 6.56830382e-01 7.54036299e-01 -1.76332668e-03 4.66509598e+01] [ 2.69406111e-03 -8.25013796e-06 9.99996371e-01 2.98189466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45401273899998 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:138.74, Y:46.67, Z:0.30 [[ 7.54162025e-01 -6.56685231e-01 -2.03654927e-03 1.38744721e+02] [ 6.56682862e-01 7.54164775e-01 -1.76366102e-03 4.66715139e+01] [ 2.69406386e-03 -7.28083135e-06 9.99996371e-01 2.96140496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48401273899998 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:138.77, Y:46.69, Z:0.30 [[ 7.53759452e-01 -6.57147276e-01 -2.03622749e-03 1.38765414e+02] [ 6.57144908e-01 7.53762202e-01 -1.76403245e-03 4.66910228e+01] [ 2.69406044e-03 -8.44040042e-06 9.99996371e-01 2.96407641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51401273899998 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:138.78, Y:46.71, Z:0.30 [[ 7.53754818e-01 -6.57152592e-01 -2.03590639e-03 1.38783094e+02] [ 6.57150223e-01 7.53757568e-01 -1.76440296e-03 4.67124974e+01] [ 2.69406183e-03 -7.96910725e-06 9.99996371e-01 3.00369262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54401273899998 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:138.80, Y:46.73, Z:0.30 [[ 7.53986504e-01 -6.56886754e-01 -2.03561415e-03 1.38801825e+02] [ 6.56884384e-01 7.53989252e-01 -1.76474006e-03 4.67319473e+01] [ 2.69406556e-03 -6.57296111e-06 9.99996371e-01 3.02313170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57401273899998 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:138.82, Y:46.75, Z:0.30 [[ 7.53279254e-01 -6.57697669e-01 -2.03539698e-03 1.38821975e+02] [ 6.57695300e-01 7.53282003e-01 -1.76499050e-03 4.67515165e+01] [ 2.69405805e-03 -9.14030122e-06 9.99996371e-01 3.03973462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60401273899998 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:138.84, Y:46.77, Z:0.30 [[ 7.52818434e-01 -6.58225086e-01 -2.03507575e-03 1.38842488e+02] [ 6.58222719e-01 7.52821185e-01 -1.76536080e-03 4.67695621e+01] [ 2.69405291e-03 -1.05369397e-05 9.99996371e-01 3.02696144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63401273899999 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:138.86, Y:46.79, Z:0.30 [[ 7.51426581e-01 -6.59813575e-01 -2.03478844e-03 1.38862548e+02] [ 6.59811212e-01 7.51429336e-01 -1.76569190e-03 4.67883774e+01] [ 2.69402721e-03 -1.57883961e-05 9.99996371e-01 2.98371596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.664012739 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:138.88, Y:46.81, Z:0.30 [[ 7.50120027e-01 -6.61298576e-01 -2.03445554e-03 1.38883584e+02] [ 6.61296218e-01 7.50122786e-01 -1.76607539e-03 4.68067410e+01] [ 2.69399460e-03 -2.06092332e-05 9.99996371e-01 2.98167129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.694012739 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:138.91, Y:46.82, Z:0.30 [[ 7.47103964e-01 -6.64704092e-01 -2.03414422e-03 1.38907007e+02] [ 6.64701746e-01 7.47106732e-01 -1.76643389e-03 4.68224257e+01] [ 2.69387868e-03 -3.23894542e-05 9.99996371e-01 3.03151832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.724012739 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:138.93, Y:46.84, Z:0.30 [[ 7.45306513e-01 -6.66718881e-01 -2.03381797e-03 1.38928960e+02] [ 6.66716541e-01 7.45309287e-01 -1.76680945e-03 4.68382793e+01] [ 2.69378864e-03 -3.91654869e-05 9.99996371e-01 3.04825642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.754012739 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:138.95, Y:46.85, Z:0.30 [[ 7.42966891e-01 -6.69325081e-01 -2.03352737e-03 1.38952006e+02] [ 6.69322750e-01 7.42969672e-01 -1.76714386e-03 4.68523881e+01] [ 2.69364287e-03 -4.81567513e-05 9.99996371e-01 3.04279416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.784012739 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:138.98, Y:46.87, Z:0.30 [[ 7.41823297e-01 -6.70592322e-01 -2.03319368e-03 1.38976651e+02] [ 6.70589994e-01 7.41826082e-01 -1.76752770e-03 4.68660670e+01] [ 2.69356660e-03 -5.22461156e-05 9.99996371e-01 3.02121728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.814012739 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:139.00, Y:46.88, Z:0.30 [[ 7.41762982e-01 -6.70659039e-01 -2.03287389e-03 1.39000136e+02] [ 6.70656710e-01 7.41765766e-01 -1.76789542e-03 4.68814037e+01] [ 2.69357130e-03 -5.20011352e-05 9.99996371e-01 3.04593082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.844012739 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:139.02, Y:46.89, Z:0.31 [[ 7.42030294e-01 -6.70363269e-01 -2.03255455e-03 1.39023877e+02] [ 6.70360938e-01 7.42033076e-01 -1.76826249e-03 4.68945063e+01] [ 2.69360093e-03 -5.04408468e-05 9.99996371e-01 3.08976024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.874012739 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:139.05, Y:46.91, Z:0.31 [[ 7.42257971e-01 -6.70111166e-01 -2.03221851e-03 1.39045884e+02] [ 6.70108833e-01 7.42260751e-01 -1.76864860e-03 4.69111658e+01] [ 2.69362722e-03 -4.90140548e-05 9.99996371e-01 3.08091941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.904012739 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:139.07, Y:46.93, Z:0.30 [[ 7.43126105e-01 -6.69148312e-01 -2.03192166e-03 1.39070462e+02] [ 6.69145975e-01 7.43128882e-01 -1.76898958e-03 4.69255102e+01] [ 2.69369606e-03 -4.50698647e-05 9.99996371e-01 3.02964452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.934012739 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:139.09, Y:46.94, Z:0.30 [[ 7.43463107e-01 -6.68773864e-01 -2.03159114e-03 1.39092857e+02] [ 6.68771525e-01 7.43465882e-01 -1.76936908e-03 4.69408011e+01] [ 2.69372650e-03 -4.32096735e-05 9.99996371e-01 3.02027872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.964012739 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:139.12, Y:46.95, Z:0.30 [[ 7.44317342e-01 -6.67823007e-01 -2.03129424e-03 1.39117925e+02] [ 6.67820663e-01 7.44320113e-01 -1.76970987e-03 4.69540871e+01] [ 2.69378612e-03 -3.93145218e-05 9.99996371e-01 3.03039137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99401273899997 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:139.14, Y:46.97, Z:0.30 [[ 7.45589218e-01 -6.66402726e-01 -2.03096622e-03 1.39141617e+02] [ 6.66400376e-01 7.45591984e-01 -1.77008623e-03 4.69681462e+01] [ 2.69386242e-03 -3.36794450e-05 9.99996371e-01 3.00819483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02401273899997 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:139.16, Y:46.98, Z:0.30 [[ 7.46576981e-01 -6.65295941e-01 -2.03067238e-03 1.39164397e+02] [ 6.65293586e-01 7.46579742e-01 -1.77042326e-03 4.69845752e+01] [ 2.69391427e-03 -2.92360581e-05 9.99996371e-01 3.00003039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05401273899997 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:139.19, Y:47.00, Z:0.30 [[ 7.48796928e-01 -6.62796378e-01 -2.03034458e-03 1.39188338e+02] [ 6.62794012e-01 7.48799680e-01 -1.77079912e-03 4.69983458e+01] [ 2.69400061e-03 -1.97312899e-05 9.99996371e-01 2.98728439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08401273899997 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:139.21, Y:47.02, Z:0.30 [[ 7.49664378e-01 -6.61815079e-01 -2.03001843e-03 1.39210641e+02] [ 6.61812709e-01 7.49667127e-01 -1.77117293e-03 4.70159128e+01] [ 2.69402703e-03 -1.57067454e-05 9.99996371e-01 2.98957307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11401273899997 meters Centerline goodness : 0.998048 Centerline is valid? [True, True] Translation: X:139.23, Y:47.03, Z:0.30 [[ 7.51504138e-01 -6.59725255e-01 -2.02968897e-03 1.39232506e+02] [ 6.59722876e-01 7.51506878e-01 -1.77155039e-03 4.70324732e+01] [ 2.69406176e-03 -7.70479953e-06 9.99996371e-01 2.99866553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14401273899998 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:139.25, Y:47.05, Z:0.30 [[ 7.52414415e-01 -6.58686898e-01 -2.02933994e-03 1.39253998e+02] [ 6.58684515e-01 7.52417151e-01 -1.77195012e-03 4.70503406e+01] [ 2.69407051e-03 -3.45398649e-06 9.99996371e-01 3.01290367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17401273899998 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:139.28, Y:47.07, Z:0.30 [[ 7.55059493e-01 -6.55653144e-01 -2.02901671e-03 1.39275354e+02] [ 6.55650748e-01 7.55062220e-01 -1.77232017e-03 4.70690064e+01] [ 2.69406115e-03 7.88084605e-06 9.99996371e-01 3.03577244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20401273899998 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:139.29, Y:47.09, Z:0.30 [[ 7.56522111e-01 -6.53964969e-01 -2.02868855e-03 1.39294643e+02] [ 6.53962566e-01 7.56524831e-01 -1.77269572e-03 4.70886223e+01] [ 2.69403416e-03 1.43971415e-05 9.99996371e-01 3.02207675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23401273899998 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:139.31, Y:47.11, Z:0.30 [[ 7.60540354e-01 -6.49287498e-01 -2.02834108e-03 1.39312028e+02] [ 6.49285078e-01 7.60543058e-01 -1.77309321e-03 4.71103738e+01] [ 2.69388798e-03 3.15373402e-05 9.99996371e-01 2.99606871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26401273899998 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:139.33, Y:47.13, Z:0.30 [[ 7.64165758e-01 -6.45016730e-01 -2.02810653e-03 1.39329900e+02] [ 6.45014294e-01 7.64168447e-01 -1.77336145e-03 4.71313606e+01] [ 2.69366282e-03 4.69843928e-05 9.99996371e-01 3.04504713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29401273899998 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:139.35, Y:47.15, Z:0.31 [[ 7.64836885e-01 -6.44220791e-01 -2.02777082e-03 1.39349142e+02] [ 6.44218351e-01 7.64839572e-01 -1.77374524e-03 4.71517645e+01] [ 2.69360293e-03 5.02986113e-05 9.99996371e-01 3.06333955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32401273899998 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:139.37, Y:47.18, Z:0.30 [[ 7.65682236e-01 -6.43215829e-01 -2.02745830e-03 1.39365328e+02] [ 6.43213385e-01 7.65684918e-01 -1.77410240e-03 4.71752370e+01] [ 2.69352498e-03 5.43103764e-05 9.99996371e-01 3.04248026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35401273899998 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:139.38, Y:47.20, Z:0.30 [[ 7.65695764e-01 -6.43199726e-01 -2.02713480e-03 1.39384124e+02] [ 6.43197281e-01 7.65698445e-01 -1.77447196e-03 4.71968817e+01] [ 2.69351384e-03 5.48580695e-05 9.99996371e-01 3.04379811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38401273899999 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:139.40, Y:47.22, Z:0.31 [[ 7.65696534e-01 -6.43198811e-01 -2.02680057e-03 1.39400183e+02] [ 6.43196365e-01 7.65699214e-01 -1.77485363e-03 4.72195555e+01] [ 2.69350335e-03 5.53685082e-05 9.99996371e-01 3.09483724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.414012739 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:139.42, Y:47.24, Z:0.31 [[ 7.65763624e-01 -6.43118936e-01 -2.02650285e-03 1.39418991e+02] [ 6.43116488e-01 7.65766304e-01 -1.77519349e-03 4.72397622e+01] [ 2.69348815e-03 5.61012062e-05 9.99996371e-01 3.10505515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.444012739 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:139.44, Y:47.26, Z:0.31 [[ 7.65013717e-01 -6.44010807e-01 -2.02318583e-03 1.39435095e+02] [ 6.44008352e-01 7.65016390e-01 -1.77897889e-03 4.72595478e+01] [ 2.69345195e-03 5.79946795e-05 9.99996371e-01 3.11448567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.474012739 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:139.46, Y:47.28, Z:0.31 [[ 7.64980322e-01 -6.44050500e-01 -2.01505617e-03 1.39456462e+02] [ 6.44048021e-01 7.64982973e-01 -1.78824745e-03 4.72783913e+01] [ 2.69320532e-03 7.01811772e-05 9.99996371e-01 3.11525208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.504012739 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:139.48, Y:47.30, Z:0.31 [[ 7.61425787e-01 -6.48248957e-01 -2.01518585e-03 1.39476697e+02] [ 6.48246493e-01 7.61428452e-01 -1.78809959e-03 4.73034801e+01] [ 2.69355354e-03 5.51679777e-05 9.99996371e-01 3.12418294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.534012739 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:139.50, Y:47.32, Z:0.31 [[ 7.60092131e-01 -6.49812165e-01 -2.02553316e-03 1.39495799e+02] [ 6.49809738e-01 7.60094829e-01 -1.77630045e-03 4.73226752e+01] [ 2.69385893e-03 3.39408262e-05 9.99996371e-01 3.09630862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.564012739 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:139.52, Y:47.34, Z:0.31 [[ 7.58389585e-01 -6.51798392e-01 -2.02336073e-03 1.39516103e+02] [ 6.51795966e-01 7.58392283e-01 -1.77877708e-03 4.73433445e+01] [ 2.69390521e-03 3.01876489e-05 9.99996371e-01 3.06439171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.594012739 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:139.54, Y:47.36, Z:0.30 [[ 7.55344125e-01 -6.55325226e-01 -2.02505523e-03 1.39535028e+02] [ 6.55322817e-01 7.55346839e-01 -1.77684588e-03 4.73629004e+01] [ 2.69403099e-03 1.50651950e-05 9.99996371e-01 3.02224524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.624012739 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:139.55, Y:47.38, Z:0.30 [[ 7.54027637e-01 -6.56839572e-01 -2.02482810e-03 1.39554551e+02] [ 6.56837168e-01 7.54030356e-01 -1.77710467e-03 4.73810342e+01] [ 2.69405452e-03 1.00036824e-05 9.99996371e-01 3.02843056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.654012739 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:139.57, Y:47.40, Z:0.31 [[ 7.52681584e-01 -6.58381603e-01 -2.02453201e-03 1.39574271e+02] [ 6.58379204e-01 7.52684306e-01 -1.77744192e-03 4.73999605e+01] [ 2.69406853e-03 4.93802822e-06 9.99996371e-01 3.06610034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.684012739 meters Centerline goodness : 0.998311 Centerline is valid? [True, True] Translation: X:139.59, Y:47.42, Z:0.31 [[ 7.52088613e-01 -6.59058891e-01 -2.02420705e-03 1.39594049e+02] [ 6.59056493e-01 7.52091337e-01 -1.77781191e-03 4.74202320e+01] [ 2.69407134e-03 3.00529362e-06 9.99996371e-01 3.08312594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.714012739 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:139.61, Y:47.44, Z:0.31 [[ 7.51507548e-01 -6.59721388e-01 -2.02387470e-03 1.39613375e+02] [ 6.59718992e-01 7.51510273e-01 -1.77819019e-03 4.74392896e+01] [ 2.69407273e-03 1.13476977e-06 9.99996371e-01 3.07269597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74401273899997 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:139.63, Y:47.46, Z:0.30 [[ 7.51113251e-01 -6.60170273e-01 -2.02357735e-03 1.39633307e+02] [ 6.60167877e-01 7.51115977e-01 -1.77852851e-03 4.74578784e+01] [ 2.69407293e-03 -2.44366522e-08 9.99996371e-01 3.03976124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77401273899997 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:139.66, Y:47.48, Z:0.30 [[ 7.50498967e-01 -6.60868540e-01 -2.01849249e-03 1.39655661e+02] [ 6.60866131e-01 7.50501681e-01 -1.78431257e-03 4.74777690e+01] [ 2.69407805e-03 5.17141776e-06 9.99996371e-01 3.01532302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80401273899997 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:139.68, Y:47.50, Z:0.30 [[ 7.50764765e-01 -6.60566555e-01 -2.02331626e-03 1.39676183e+02] [ 6.60564160e-01 7.50767491e-01 -1.77882580e-03 4.74971703e+01] [ 2.69407290e-03 -1.05046881e-06 9.99996371e-01 3.00655455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83401273899997 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:139.70, Y:47.52, Z:0.30 [[ 7.50304968e-01 -6.61088770e-01 -2.02298102e-03 1.39695695e+02] [ 6.61086376e-01 7.50307696e-01 -1.77920697e-03 4.75151970e+01] [ 2.69407197e-03 -2.41736282e-06 9.99996371e-01 3.00071995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86401273899997 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:139.72, Y:47.53, Z:0.30 [[ 7.48005596e-01 -6.63689337e-01 -2.02275229e-03 1.39717791e+02] [ 6.63686952e-01 7.48008331e-01 -1.77946697e-03 4.75310322e+01] [ 2.69404882e-03 -1.14230551e-05 9.99996371e-01 2.97705047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89401273899998 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:139.74, Y:47.55, Z:0.30 [[ 7.46186878e-01 -6.65733470e-01 -2.02245640e-03 1.39740589e+02] [ 6.65731091e-01 7.46189618e-01 -1.77980320e-03 4.75482320e+01] [ 2.69401053e-03 -1.83463186e-05 9.99996371e-01 2.97533422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92401273899998 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:139.76, Y:47.57, Z:0.30 [[ 7.46329979e-01 -6.65573042e-01 -2.02212545e-03 1.39761490e+02] [ 6.65570661e-01 7.46332718e-01 -1.78017913e-03 4.75666528e+01] [ 2.69401762e-03 -1.72663215e-05 9.99996371e-01 2.98301337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95401273899998 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:139.78, Y:47.58, Z:0.30 [[ 7.48985021e-01 -6.62583844e-01 -2.02179531e-03 1.39782367e+02] [ 6.62581452e-01 7.48987750e-01 -1.78055400e-03 4.75833334e+01] [ 2.69406623e-03 -5.99579222e-06 9.99996371e-01 2.99966513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98401273899998 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:139.80, Y:47.60, Z:0.30 [[ 7.50486764e-01 -6.60882395e-01 -2.01940143e-03 1.39803778e+02] [ 6.60879989e-01 7.50489481e-01 -1.78327100e-03 4.76017227e+01] [ 2.69407193e-03 3.73928890e-06 9.99996371e-01 3.00822920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01401273899998 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:139.82, Y:47.62, Z:0.30 [[ 7.53403745e-01 -6.57555102e-01 -2.02122598e-03 1.39824097e+02] [ 6.57552689e-01 7.53406456e-01 -1.78120058e-03 4.76204425e+01] [ 2.69404223e-03 1.29006086e-05 9.99996371e-01 3.02239048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04401273899998 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:139.85, Y:47.64, Z:0.31 [[ 7.54437102e-01 -6.56369237e-01 -2.02090163e-03 1.39845110e+02] [ 6.56366819e-01 7.54439809e-01 -1.78156850e-03 4.76382550e+01] [ 2.69401540e-03 1.76286090e-05 9.99996371e-01 3.05146700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07401273899998 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:139.87, Y:47.66, Z:0.31 [[ 7.54290589e-01 -6.56537604e-01 -2.02057743e-03 1.39865569e+02] [ 6.56535186e-01 7.54293295e-01 -1.78193611e-03 4.76557844e+01] [ 2.69401608e-03 1.75174573e-05 9.99996371e-01 3.05538724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10401273899998 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:139.89, Y:47.67, Z:0.30 [[ 7.53988031e-01 -6.56885048e-01 -2.02028537e-03 1.39886548e+02] [ 6.56882631e-01 7.53990738e-01 -1.78226718e-03 4.76749219e+01] [ 2.69402112e-03 1.67177561e-05 9.99996371e-01 3.04503417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13401273899999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:139.91, Y:47.69, Z:0.30 [[ 7.52667063e-01 -6.58398217e-01 -2.01995595e-03 1.39906251e+02] [ 6.58395804e-01 7.52669773e-01 -1.78264045e-03 4.76931456e+01] [ 2.69404708e-03 1.18042315e-05 9.99996371e-01 2.98634759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.164012739 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:139.93, Y:47.71, Z:0.30 [[ 7.51455072e-01 -6.59781172e-01 -2.01966400e-03 1.39927188e+02] [ 6.59778763e-01 7.51457786e-01 -1.78297116e-03 4.77122024e+01] [ 2.69406304e-03 7.29130884e-06 9.99996371e-01 2.97488991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.194012739 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:139.95, Y:47.73, Z:0.30 [[ 7.51121389e-01 -6.60161027e-01 -2.01934393e-03 1.39947480e+02] [ 6.60158618e-01 7.51124103e-01 -1.78333360e-03 4.77308708e+01] [ 2.69406523e-03 6.41271267e-06 9.99996371e-01 3.02048395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.224012739 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:139.97, Y:47.75, Z:0.31 [[ 7.51401979e-01 -6.59841640e-01 -2.01901680e-03 1.39966892e+02] [ 6.59839229e-01 7.51404692e-01 -1.78370387e-03 4.77491450e+01] [ 2.69406079e-03 8.05213009e-06 9.99996371e-01 3.06268993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.254012739 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:139.99, Y:47.77, Z:0.30 [[ 7.51718129e-01 -6.59481447e-01 -2.01872396e-03 1.39987428e+02] [ 6.59479034e-01 7.51720840e-01 -1.78403524e-03 4.77684763e+01] [ 2.69405501e-03 9.78550134e-06 9.99996371e-01 3.04208943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.284012739 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:140.01, Y:47.79, Z:0.30 [[ 7.52301239e-01 -6.58816190e-01 -2.01840713e-03 1.40007369e+02] [ 6.58813773e-01 7.52303947e-01 -1.78439362e-03 4.77885535e+01] [ 2.69404306e-03 1.26471164e-05 9.99996371e-01 2.99829159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.314012739 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:140.03, Y:47.81, Z:0.30 [[ 7.52496275e-01 -6.58593413e-01 -2.01807438e-03 1.40027273e+02] [ 6.58590995e-01 7.52498981e-01 -1.78476987e-03 4.78082100e+01] [ 2.69403659e-03 1.39470606e-05 9.99996371e-01 2.99810578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.344012739 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:140.05, Y:47.83, Z:0.30 [[ 7.52795940e-01 -6.58250865e-01 -2.01773263e-03 1.40045726e+02] [ 6.58248445e-01 7.52798644e-01 -1.78515614e-03 4.78278363e+01] [ 2.69402696e-03 1.56889322e-05 9.99996371e-01 2.99269230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.374012739 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:140.07, Y:47.85, Z:0.30 [[ 7.53235068e-01 -6.57748327e-01 -2.01749974e-03 1.40065297e+02] [ 6.57745904e-01 7.53237770e-01 -1.78541931e-03 4.78474792e+01] [ 2.69401357e-03 1.78382484e-05 9.99996371e-01 2.99605428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.404012739 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:140.08, Y:47.87, Z:0.30 [[ 7.54602304e-01 -6.56179315e-01 -2.01717137e-03 1.40083127e+02] [ 6.56176885e-01 7.54605000e-01 -1.78579022e-03 4.78686127e+01] [ 2.69396621e-03 2.39401916e-05 9.99996371e-01 2.97568027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.434012739 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:140.10, Y:47.89, Z:0.30 [[ 7.55728915e-01 -6.54881470e-01 -2.01687745e-03 1.40100703e+02] [ 6.54879035e-01 7.55731605e-01 -1.78612212e-03 4.78903026e+01] [ 2.69391631e-03 2.90133739e-05 9.99996371e-01 2.95003032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.464012739 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:140.12, Y:47.91, Z:0.30 [[ 7.55311407e-01 -6.55362962e-01 -2.01653132e-03 1.40118823e+02] [ 6.55360528e-01 7.55314098e-01 -1.78651281e-03 4.79101095e+01] [ 2.69392886e-03 2.78184739e-05 9.99996371e-01 2.95302110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49401273899997 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:140.14, Y:47.93, Z:0.30 [[ 7.52667755e-01 -6.58397437e-01 -2.01629435e-03 1.40136920e+02] [ 6.58395013e-01 7.52670456e-01 -1.78678022e-03 4.79323204e+01] [ 2.69401670e-03 1.73337187e-05 9.99996371e-01 3.01208533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52401273899997 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:140.16, Y:47.95, Z:0.30 [[ 7.51163699e-01 -6.60112894e-01 -2.01594863e-03 1.40156041e+02] [ 6.60110475e-01 7.51166405e-01 -1.78717020e-03 4.79509157e+01] [ 2.69404697e-03 1.17085702e-05 9.99996371e-01 3.03047015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55401273899997 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:140.18, Y:47.97, Z:0.30 [[ 7.49921903e-01 -6.61523300e-01 -2.01571137e-03 1.40176186e+02] [ 6.61520885e-01 7.49924612e-01 -1.78743776e-03 4.79708463e+01] [ 2.69406329e-03 7.00355676e-06 9.99996371e-01 3.02939959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58401273899997 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:140.19, Y:47.99, Z:0.30 [[ 7.48314329e-01 -6.63341241e-01 -2.01537476e-03 1.40193231e+02] [ 6.63338832e-01 7.48317043e-01 -1.78781721e-03 4.79924430e+01] [ 2.69407217e-03 9.72901267e-07 9.99996371e-01 2.98274189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61401273899997 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:140.21, Y:48.01, Z:0.30 [[ 7.45897356e-01 -6.66057861e-01 -2.01507819e-03 1.40211521e+02] [ 6.66055461e-01 7.45900078e-01 -1.78815141e-03 4.80137942e+01] [ 2.69405929e-03 -8.37642244e-06 9.99996371e-01 2.97580790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64401273899998 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:140.23, Y:48.03, Z:0.30 [[ 7.44220576e-01 -6.67930891e-01 -2.01474018e-03 1.40231200e+02] [ 6.67928497e-01 7.44223303e-01 -1.78853218e-03 4.80323061e+01] [ 2.69403248e-03 -1.46399270e-05 9.99996371e-01 2.98350473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67401273899998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:140.25, Y:48.05, Z:0.30 [[ 7.41113095e-01 -6.71377183e-01 -2.01451025e-03 1.40250034e+02] [ 6.71374801e-01 7.41115832e-01 -1.78879112e-03 4.80510558e+01] [ 2.69393898e-03 -2.67948965e-05 9.99996371e-01 2.98078774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70401273899998 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:140.27, Y:48.07, Z:0.30 [[ 7.40039070e-01 -6.72560865e-01 -2.01428522e-03 1.40270435e+02] [ 6.72558487e-01 7.40041811e-01 -1.78904448e-03 4.80701656e+01] [ 2.69389659e-03 -3.07618116e-05 9.99996371e-01 2.96991874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73401273899998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:140.29, Y:48.09, Z:0.30 [[ 7.39467985e-01 -6.73188713e-01 -2.01395577e-03 1.40291346e+02] [ 6.73186335e-01 7.39470727e-01 -1.78941527e-03 4.80889512e+01] [ 2.69387550e-03 -3.25522013e-05 9.99996371e-01 2.96753821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76401273899998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:140.31, Y:48.11, Z:0.30 [[ 7.39869627e-01 -6.72747263e-01 -2.01362458e-03 1.40312330e+02] [ 6.72744883e-01 7.39872367e-01 -1.78978788e-03 4.81072367e+01] [ 2.69390008e-03 -3.04459413e-05 9.99996371e-01 2.98142601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79401273899998 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:140.33, Y:48.13, Z:0.30 [[ 7.41612949e-01 -6.70825000e-01 -2.01329023e-03 1.40332013e+02] [ 6.70822612e-01 7.41615681e-01 -1.79016390e-03 4.81262837e+01] [ 2.69397431e-03 -2.29518825e-05 9.99996371e-01 3.02892232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82401273899998 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:140.35, Y:48.15, Z:0.30 [[ 7.44512661e-01 -6.67605307e-01 -2.01298743e-03 1.40350385e+02] [ 6.67602906e-01 7.44515382e-01 -1.79050433e-03 4.81467233e+01] [ 2.69405030e-03 -1.08231162e-05 9.99996371e-01 3.04874873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85401273899998 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:140.37, Y:48.17, Z:0.30 [[ 7.46060244e-01 -6.65875410e-01 -2.01276111e-03 1.40369635e+02] [ 6.65873002e-01 7.46062959e-01 -1.79075871e-03 4.81665340e+01] [ 2.69406870e-03 -4.22940594e-06 9.99996371e-01 3.04622257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88401273899999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:140.39, Y:48.19, Z:0.30 [[ 7.50024514e-01 -6.61406969e-01 -2.01242423e-03 1.40386558e+02] [ 6.61404544e-01 7.50027213e-01 -1.79113720e-03 4.81879475e+01] [ 2.69404357e-03 1.23702772e-05 9.99996371e-01 3.03987332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.914012739 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:140.41, Y:48.21, Z:0.30 [[ 7.51609465e-01 -6.59605309e-01 -2.01208797e-03 1.40405109e+02] [ 6.59602876e-01 7.51612158e-01 -1.79151487e-03 4.82086290e+01] [ 2.69400250e-03 1.93405221e-05 9.99996371e-01 3.02871264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.944012739 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:140.42, Y:48.23, Z:0.30 [[ 7.51958987e-01 -6.59206822e-01 -2.01174876e-03 1.40423013e+02] [ 6.59204387e-01 7.51961678e-01 -1.79189570e-03 4.82309071e+01] [ 2.69398784e-03 2.12784659e-05 9.99996371e-01 3.01561926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.974012739 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:140.44, Y:48.25, Z:0.30 [[ 7.50732159e-01 -6.60603648e-01 -2.01140984e-03 1.40442542e+02] [ 6.60601217e-01 7.50734853e-01 -1.79227605e-03 4.82494619e+01] [ 2.69401957e-03 1.67794813e-05 9.99996371e-01 3.01984225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.004012739 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:140.46, Y:48.27, Z:0.31 [[ 7.47008453e-01 -6.64811497e-01 -2.01110561e-03 1.40462613e+02] [ 6.64809080e-01 7.47011160e-01 -1.79261737e-03 4.82687487e+01] [ 2.69407097e-03 2.09905617e-06 9.99996371e-01 3.06332183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.034012739 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:140.48, Y:48.29, Z:0.31 [[ 7.45208929e-01 -6.66828021e-01 -2.01077092e-03 1.40482773e+02] [ 6.66825610e-01 7.45211641e-01 -1.79299271e-03 4.82879708e+01] [ 2.69406768e-03 -4.67937356e-06 9.99996371e-01 3.10063504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.064012739 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:140.50, Y:48.31, Z:0.32 [[ 7.42542847e-01 -6.69795550e-01 -2.01043513e-03 1.40502201e+02] [ 6.69793150e-01 7.42545568e-01 -1.79336914e-03 4.83066622e+01] [ 2.69403037e-03 -1.49222532e-05 9.99996371e-01 3.16375642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.094012739 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:140.52, Y:48.33, Z:0.32 [[ 7.40796849e-01 -6.71726126e-01 -2.01017030e-03 1.40523341e+02] [ 6.71723731e-01 7.40799576e-01 -1.79366594e-03 4.83254752e+01] [ 2.69398558e-03 -2.15370218e-05 9.99996371e-01 3.16299685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.124012739 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:140.54, Y:48.34, Z:0.31 [[ 7.39922029e-01 -6.72689640e-01 -2.00983941e-03 1.40544068e+02] [ 6.72687248e-01 7.39924758e-01 -1.79403662e-03 4.83434214e+01] [ 2.69395979e-03 -2.45461273e-05 9.99996371e-01 3.14099664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.154012739 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:140.57, Y:48.36, Z:0.31 [[ 7.38690354e-01 -6.74041929e-01 -2.00953817e-03 1.40567753e+02] [ 6.74039541e-01 7.38693087e-01 -1.79437399e-03 4.83608165e+01] [ 2.69391526e-03 -2.90214281e-05 9.99996371e-01 3.07967390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.184012739 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:140.59, Y:48.38, Z:0.31 [[ 7.38518902e-01 -6.74229778e-01 -2.00923811e-03 1.40589711e+02] [ 6.74227390e-01 7.38521635e-01 -1.79470992e-03 4.83763597e+01] [ 2.69391268e-03 -2.92561706e-05 9.99996371e-01 3.05237954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.214012739 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:140.61, Y:48.39, Z:0.30 [[ 7.38699296e-01 -6.74032131e-01 -2.00893066e-03 1.40613659e+02] [ 6.74029742e-01 7.38702027e-01 -1.79505400e-03 4.83912215e+01] [ 2.69392522e-03 -2.80738856e-05 9.99996371e-01 3.03664361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24401273899997 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:140.63, Y:48.41, Z:0.30 [[ 7.38755627e-01 -6.73970391e-01 -2.00859770e-03 1.40634526e+02] [ 6.73968000e-01 7.38758358e-01 -1.79542649e-03 4.84093161e+01] [ 2.69393263e-03 -2.73491561e-05 9.99996371e-01 3.03882408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27401273899997 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:140.66, Y:48.43, Z:0.30 [[ 7.39117718e-01 -6.73573281e-01 -2.00826003e-03 1.40655082e+02] [ 6.73570888e-01 7.39120446e-01 -1.79580411e-03 4.84270936e+01] [ 2.69395172e-03 -2.53948520e-05 9.99996371e-01 3.04084845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30401273899997 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:140.68, Y:48.44, Z:0.30 [[ 7.40823577e-01 -6.71696654e-01 -2.00795792e-03 1.40677951e+02] [ 6.71694253e-01 7.40826298e-01 -1.79614185e-03 4.84441945e+01] [ 2.69401050e-03 -1.81095642e-05 9.99996371e-01 3.03880617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33401273899997 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:140.70, Y:48.46, Z:0.30 [[ 7.42226417e-01 -6.70146189e-01 -2.00762341e-03 1.40698491e+02] [ 6.70143782e-01 7.42229132e-01 -1.79651566e-03 4.84624166e+01] [ 2.69404471e-03 -1.19749640e-05 9.99996371e-01 3.02997300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36401273899997 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:140.72, Y:48.48, Z:0.30 [[ 7.42104973e-01 -6.70280672e-01 -2.00732377e-03 1.40719581e+02] [ 6.70278264e-01 7.42107688e-01 -1.79685041e-03 4.84815495e+01] [ 2.69404450e-03 -1.20138678e-05 9.99996371e-01 3.03074034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39401273899998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:140.74, Y:48.50, Z:0.30 [[ 7.42801380e-01 -6.69508836e-01 -2.00699811e-03 1.40740691e+02] [ 6.69506424e-01 7.42804091e-01 -1.79721408e-03 4.85005758e+01] [ 2.69405711e-03 -8.72503028e-06 9.99996371e-01 3.03851221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42401273899998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:140.76, Y:48.52, Z:0.30 [[ 7.44607400e-01 -6.67499658e-01 -2.00668500e-03 1.40762962e+02] [ 6.67497238e-01 7.44610103e-01 -1.79756361e-03 4.85168580e+01] [ 2.69407102e-03 -9.77527496e-07 9.99996371e-01 3.03842472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45401273899998 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:140.78, Y:48.53, Z:0.30 [[ 7.44982967e-01 -6.67080470e-01 -2.00638372e-03 1.40784351e+02] [ 6.67078047e-01 7.44985668e-01 -1.79789983e-03 4.85343584e+01] [ 2.69407098e-03 9.90217344e-07 9.99996371e-01 3.02756319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48401273899998 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:140.81, Y:48.55, Z:0.30 [[ 7.45265695e-01 -6.66764591e-01 -2.00605229e-03 1.40805349e+02] [ 6.66762166e-01 7.45268395e-01 -1.79826955e-03 4.85529407e+01] [ 2.69406983e-03 2.62884010e-06 9.99996371e-01 3.00704946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51401273899998 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:140.83, Y:48.57, Z:0.30 [[ 7.44403490e-01 -6.67727056e-01 -2.00572243e-03 1.40827807e+02] [ 6.67724634e-01 7.44406192e-01 -1.79863739e-03 4.85702717e+01] [ 2.69407105e-03 -3.58322018e-07 9.99996371e-01 3.02869575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54401273899998 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:140.85, Y:48.59, Z:0.30 [[ 7.44260187e-01 -6.67886781e-01 -2.00539290e-03 1.40849740e+02] [ 6.67884359e-01 7.44262888e-01 -1.79900473e-03 4.85874828e+01] [ 2.69407099e-03 -4.42950272e-07 9.99996371e-01 3.04558582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57401273899998 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:140.87, Y:48.61, Z:0.31 [[ 7.44796572e-01 -6.67288577e-01 -2.00505672e-03 1.40869207e+02] [ 6.67286151e-01 7.44799271e-01 -1.79937934e-03 4.86060469e+01] [ 2.69407006e-03 2.22498347e-06 9.99996371e-01 3.06744465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60401273899998 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:140.89, Y:48.63, Z:0.31 [[ 7.45348842e-01 -6.66671647e-01 -2.00475417e-03 1.40889522e+02] [ 6.66669218e-01 7.45351538e-01 -1.79971635e-03 4.86251334e+01] [ 2.69406647e-03 4.90860003e-06 9.99996371e-01 3.06195771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63401273899999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:140.91, Y:48.64, Z:0.31 [[ 7.45980302e-01 -6.65964993e-01 -2.00441341e-03 1.40910009e+02] [ 6.65962560e-01 7.45982994e-01 -1.80009579e-03 4.86423538e+01] [ 2.69405910e-03 7.97171214e-06 9.99996371e-01 3.05477700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.664012739 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:140.93, Y:48.66, Z:0.30 [[ 7.46374823e-01 -6.65522807e-01 -2.00418144e-03 1.40932055e+02] [ 6.65520372e-01 7.46377514e-01 -1.80035403e-03 4.86596777e+01] [ 2.69405262e-03 9.91534480e-06 9.99996371e-01 3.04996068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.694012739 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:140.95, Y:48.68, Z:0.31 [[ 7.46090513e-01 -6.65841521e-01 -2.00384511e-03 1.40951655e+02] [ 6.65839086e-01 7.46093204e-01 -1.80072829e-03 4.86794324e+01] [ 2.69405488e-03 9.26789033e-06 9.99996371e-01 3.05219268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.724012739 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:140.97, Y:48.70, Z:0.30 [[ 7.45562374e-01 -6.66432842e-01 -2.00350796e-03 1.40969931e+02] [ 6.66430408e-01 7.45565066e-01 -1.80110333e-03 4.86992439e+01] [ 2.69405995e-03 7.63625034e-06 9.99996371e-01 3.04504598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.754012739 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:140.99, Y:48.72, Z:0.31 [[ 7.45332945e-01 -6.66689424e-01 -2.00320584e-03 1.40992522e+02] [ 6.66686990e-01 7.45335637e-01 -1.80143929e-03 4.87159306e+01] [ 2.69406122e-03 7.16077382e-06 9.99996371e-01 3.06175231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.784012739 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:141.01, Y:48.73, Z:0.31 [[ 7.44836140e-01 -6.67244418e-01 -2.00287935e-03 1.41013916e+02] [ 6.67241985e-01 7.44838832e-01 -1.80180221e-03 4.87338017e+01] [ 2.69406479e-03 5.64220860e-06 9.99996371e-01 3.07407929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.814012739 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:141.03, Y:48.75, Z:0.31 [[ 7.44041630e-01 -6.68130259e-01 -2.00254763e-03 1.41034258e+02] [ 6.68127829e-01 7.44044324e-01 -1.80217082e-03 4.87526565e+01] [ 2.69406905e-03 2.93231437e-06 9.99996371e-01 3.09512483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.844012739 meters Centerline goodness : 0.998347 Centerline is valid? [True, True] Translation: X:141.06, Y:48.77, Z:0.31 [[ 7.42353569e-01 -6.70005350e-01 -2.00221836e-03 1.41055638e+02] [ 6.70002925e-01 7.42356270e-01 -1.80253656e-03 4.87716577e+01] [ 2.69406849e-03 -3.37271328e-06 9.99996371e-01 3.12138527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.874012739 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:141.08, Y:48.79, Z:0.31 [[ 7.41564359e-01 -6.70878748e-01 -2.00201673e-03 1.41077205e+02] [ 6.70876325e-01 7.41567061e-01 -1.80276048e-03 4.87885574e+01] [ 2.69406335e-03 -6.24270610e-06 9.99996371e-01 3.12471025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.904012739 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:141.10, Y:48.80, Z:0.31 [[ 7.40308893e-01 -6.72263889e-01 -2.00179012e-03 1.41100151e+02] [ 6.72261471e-01 7.40311599e-01 -1.80301207e-03 4.88046628e+01] [ 2.69404835e-03 -1.09405075e-05 9.99996371e-01 3.07549580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.934012739 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:141.12, Y:48.82, Z:0.30 [[ 7.40454832e-01 -6.72103144e-01 -2.00146547e-03 1.41120350e+02] [ 6.72100725e-01 7.40457537e-01 -1.80337238e-03 4.88218700e+01] [ 2.69405244e-03 -9.87060500e-06 9.99996371e-01 3.01309199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96401273899997 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:141.14, Y:48.84, Z:0.30 [[ 7.40287914e-01 -6.72286992e-01 -2.00116829e-03 1.41142340e+02] [ 6.72284572e-01 7.40290619e-01 -1.80370210e-03 4.88390629e+01] [ 2.69405157e-03 -1.00956991e-05 9.99996371e-01 3.04811867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99401273899997 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:141.17, Y:48.85, Z:0.30 [[ 7.39422164e-01 -6.73239081e-01 -2.00084025e-03 1.41165870e+02] [ 6.73236664e-01 7.39424871e-01 -1.80406592e-03 4.88528729e+01] [ 2.69403872e-03 -1.30726896e-05 9.99996371e-01 3.04635689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02401273899997 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:141.19, Y:48.87, Z:0.31 [[ 7.38835616e-01 -6.73882728e-01 -2.00049294e-03 1.41188006e+02] [ 6.73880312e-01 7.38838324e-01 -1.80445096e-03 4.88704601e+01] [ 2.69402919e-03 -1.49001776e-05 9.99996371e-01 3.05249834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05401273899997 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:141.21, Y:48.89, Z:0.31 [[ 7.38251497e-01 -6.74522592e-01 -2.00017135e-03 1.41210040e+02] [ 6.74520177e-01 7.38254206e-01 -1.80480737e-03 4.88885103e+01] [ 2.69401825e-03 -1.67541909e-05 9.99996371e-01 3.05914896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08401273899997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:141.23, Y:48.90, Z:0.30 [[ 7.37152386e-01 -6.75723583e-01 -1.99984846e-03 1.41233934e+02] [ 6.75721172e-01 7.37155099e-01 -1.80516507e-03 4.89027841e+01] [ 2.69399110e-03 -2.06582035e-05 9.99996371e-01 3.04559111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11401273899997 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:141.26, Y:48.92, Z:0.30 [[ 7.36449019e-01 -6.76490092e-01 -1.99961203e-03 1.41258123e+02] [ 6.76487683e-01 7.36451733e-01 -1.80542693e-03 4.89180016e+01] [ 2.69397118e-03 -2.31080204e-05 9.99996371e-01 3.03759185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14401273899998 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:141.28, Y:48.94, Z:0.30 [[ 7.36090105e-01 -6.76880610e-01 -1.99929596e-03 1.41278480e+02] [ 6.76878202e-01 7.36092820e-01 -1.80577688e-03 4.89357049e+01] [ 2.69396275e-03 -2.40653624e-05 9.99996371e-01 3.03114893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17401273899998 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:141.30, Y:48.95, Z:0.30 [[ 7.36542939e-01 -6.76387835e-01 -1.99896163e-03 1.41300478e+02] [ 6.76385424e-01 7.36545651e-01 -1.80614690e-03 4.89528938e+01] [ 2.69398229e-03 -2.17637643e-05 9.99996371e-01 3.02876486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20401273899998 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:141.32, Y:48.97, Z:0.30 [[ 7.36954291e-01 -6.75939626e-01 -1.99862526e-03 1.41321981e+02] [ 6.75937213e-01 7.36957001e-01 -1.80651904e-03 4.89694529e+01] [ 2.69399868e-03 -1.96232332e-05 9.99996371e-01 3.03221213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23401273899998 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:141.34, Y:48.98, Z:0.31 [[ 7.36747342e-01 -6.76165187e-01 -1.99839582e-03 1.41344988e+02] [ 6.76162774e-01 7.36750052e-01 -1.80677281e-03 4.89835827e+01] [ 2.69399510e-03 -2.01057929e-05 9.99996371e-01 3.05013384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26401273899998 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:141.37, Y:49.00, Z:0.30 [[ 7.36258992e-01 -6.76696907e-01 -1.99808213e-03 1.41366182e+02] [ 6.76694495e-01 7.36261703e-01 -1.80711965e-03 4.90013978e+01] [ 2.69398363e-03 -2.15830862e-05 9.99996371e-01 3.04976997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29401273899998 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:141.39, Y:49.02, Z:0.30 [[ 7.37187436e-01 -6.75685351e-01 -1.99772719e-03 1.41387374e+02] [ 6.75682934e-01 7.37190142e-01 -1.80751194e-03 4.90186769e+01] [ 2.69401413e-03 -1.73550767e-05 9.99996371e-01 3.02965769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32401273899998 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:141.41, Y:49.04, Z:0.30 [[ 7.38245682e-01 -6.74528964e-01 -1.99740960e-03 1.41407847e+02] [ 6.74526541e-01 7.38248384e-01 -1.80786283e-03 4.90360882e+01] [ 2.69404025e-03 -1.26588608e-05 9.99996371e-01 3.02709770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35401273899998 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:141.43, Y:49.05, Z:0.30 [[ 7.40289211e-01 -6.72285576e-01 -1.99707726e-03 1.41427526e+02] [ 6.72283144e-01 7.40291905e-01 -1.80822988e-03 4.90542469e+01] [ 2.69406699e-03 -3.98830259e-06 9.99996371e-01 3.02943843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38401273899999 meters Centerline goodness : 0.997286 Centerline is valid? [True, True] Translation: X:141.45, Y:49.07, Z:0.31 [[ 7.40978175e-01 -6.71526140e-01 -1.99676606e-03 1.41447048e+02] [ 6.71523704e-01 7.40980866e-01 -1.80857346e-03 4.90738528e+01] [ 2.69406980e-03 -7.62274863e-07 9.99996371e-01 3.09631840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.414012739 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:141.47, Y:49.09, Z:0.30 [[ 7.41382234e-01 -6.71080023e-01 -1.99641422e-03 1.41465484e+02] [ 6.71077585e-01 7.41384922e-01 -1.80896176e-03 4.90930678e+01] [ 2.69406950e-03 1.38327654e-06 9.99996371e-01 3.03645903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.444012739 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:141.49, Y:49.11, Z:0.31 [[ 7.40741555e-01 -6.71787142e-01 -1.99609925e-03 1.41485413e+02] [ 6.71784706e-01 7.40744244e-01 -1.80930925e-03 4.91105387e+01] [ 2.69406972e-03 -7.18397881e-07 9.99996371e-01 3.05201386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.474012739 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:141.51, Y:49.13, Z:0.31 [[ 7.39978786e-01 -6.72627246e-01 -1.99575093e-03 1.41505979e+02] [ 6.72624812e-01 7.39981478e-01 -1.80969338e-03 4.91290874e+01] [ 2.69406780e-03 -3.25688727e-06 9.99996371e-01 3.07055971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.504012739 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:141.53, Y:49.15, Z:0.31 [[ 7.39806531e-01 -6.72816703e-01 -1.99542338e-03 1.41525976e+02] [ 6.72814268e-01 7.39809222e-01 -1.81005447e-03 4.91483580e+01] [ 2.69406750e-03 -3.45920283e-06 9.99996371e-01 3.05372381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.534012739 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:141.55, Y:49.17, Z:0.30 [[ 7.39149451e-01 -6.73538498e-01 -1.99507837e-03 1.41545966e+02] [ 6.73536065e-01 7.39152144e-01 -1.81043467e-03 4.91681414e+01] [ 2.69406390e-03 -5.57543625e-06 9.99996371e-01 3.02076575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.564012739 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:141.57, Y:49.19, Z:0.30 [[ 7.37962133e-01 -6.74839174e-01 -1.99473112e-03 1.41565919e+02] [ 6.74836745e-01 7.37964829e-01 -1.81081718e-03 4.91870574e+01] [ 2.69405179e-03 -9.80334608e-06 9.99996371e-01 3.03584858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.594012739 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:141.59, Y:49.21, Z:0.31 [[ 7.37300382e-01 -6.75562114e-01 -1.99438539e-03 1.41585101e+02] [ 6.75559686e-01 7.37303079e-01 -1.81119789e-03 4.92054259e+01] [ 2.69404316e-03 -1.19294763e-05 9.99996371e-01 3.05085022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.624012739 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:141.60, Y:49.22, Z:0.31 [[ 7.36767487e-01 -6.76143249e-01 -1.99407399e-03 1.41604862e+02] [ 6.76140823e-01 7.36770185e-01 -1.81154066e-03 4.92244396e+01] [ 2.69403525e-03 -1.35905649e-05 9.99996371e-01 3.05497062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.654012739 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:141.63, Y:49.24, Z:0.31 [[ 7.36619075e-01 -6.76304934e-01 -1.99376590e-03 1.41626720e+02] [ 6.76302507e-01 7.36621773e-01 -1.81187968e-03 4.92420720e+01] [ 2.69403454e-03 -1.37237378e-05 9.99996371e-01 3.07030593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.684012739 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:141.65, Y:49.26, Z:0.30 [[ 7.36110541e-01 -6.76858403e-01 -1.99342241e-03 1.41649340e+02] [ 6.76855977e-01 7.36113240e-01 -1.81225751e-03 4.92574579e+01] [ 2.69402635e-03 -1.52380148e-05 9.99996371e-01 3.04864203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71401273899997 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:141.67, Y:49.27, Z:0.30 [[ 7.35136320e-01 -6.77916380e-01 -1.99311326e-03 1.41670973e+02] [ 6.77913957e-01 7.35139021e-01 -1.81259745e-03 4.92747756e+01] [ 2.69400483e-03 -1.86530792e-05 9.99996371e-01 3.03799701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74401273899997 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:141.69, Y:49.29, Z:0.31 [[ 7.33591155e-01 -6.79588144e-01 -1.99277118e-03 1.41692396e+02] [ 6.79585726e-01 7.33593862e-01 -1.81297345e-03 4.92906570e+01] [ 2.69395997e-03 -2.42775648e-05 9.99996371e-01 3.06255431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77401273899997 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:141.71, Y:49.31, Z:0.31 [[ 7.33361151e-01 -6.79836342e-01 -1.99246497e-03 1.41713675e+02] [ 6.79833924e-01 7.33363857e-01 -1.81330992e-03 4.93087469e+01] [ 2.69395578e-03 -2.47342307e-05 9.99996371e-01 3.07201984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80401273899997 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:141.74, Y:49.33, Z:0.31 [[ 7.33615940e-01 -6.79561391e-01 -1.99212968e-03 1.41735295e+02] [ 6.79558971e-01 7.33618644e-01 -1.81367820e-03 4.93270450e+01] [ 2.69396915e-03 -2.32263599e-05 9.99996371e-01 3.06737184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83401273899997 meters Centerline goodness : 0.997879 Centerline is valid? [True, True] Translation: X:141.76, Y:49.34, Z:0.30 [[ 7.35235939e-01 -6.77808341e-01 -1.99179486e-03 1.41756747e+02] [ 6.77805914e-01 7.35238636e-01 -1.81404582e-03 4.93436321e+01] [ 2.69401993e-03 -1.62986493e-05 9.99996371e-01 3.04008144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86401273899997 meters Centerline goodness : 0.998066 Centerline is valid? [True, True] Translation: X:141.78, Y:49.36, Z:0.30 [[ 7.35394075e-01 -6.77636767e-01 -1.99154952e-03 1.41779578e+02] [ 6.77634338e-01 7.35396772e-01 -1.81431512e-03 4.93607559e+01] [ 2.69402573e-03 -1.53057511e-05 9.99996371e-01 3.02856428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89401273899998 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:141.80, Y:49.38, Z:0.30 [[ 7.35335571e-01 -6.77700253e-01 -1.99121566e-03 1.41801051e+02] [ 6.77697823e-01 7.35338267e-01 -1.81468147e-03 4.93784969e+01] [ 2.69402716e-03 -1.50426789e-05 9.99996371e-01 3.02832416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92401273899998 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:141.82, Y:49.39, Z:0.30 [[ 7.35268187e-01 -6.77773362e-01 -1.99087525e-03 1.41823955e+02] [ 6.77770931e-01 7.35270882e-01 -1.81505485e-03 4.93942815e+01] [ 2.69402843e-03 -1.48052800e-05 9.99996371e-01 3.01757002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95401273899998 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:141.84, Y:49.41, Z:0.30 [[ 7.35570418e-01 -6.77445347e-01 -1.99053574e-03 1.41844439e+02] [ 6.77442914e-01 7.35573111e-01 -1.81542711e-03 4.94116398e+01] [ 2.69403722e-03 -1.30998537e-05 9.99996371e-01 3.01446133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98401273899998 meters Centerline goodness : 0.998310 Centerline is valid? [True, True] Translation: X:141.86, Y:49.43, Z:0.30 [[ 7.36205425e-01 -6.76755208e-01 -1.99017674e-03 1.41864913e+02] [ 6.76752772e-01 7.36208115e-01 -1.81582058e-03 4.94303289e+01] [ 2.69405030e-03 -1.00406588e-05 9.99996371e-01 3.02160449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01401273899998 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:141.89, Y:49.45, Z:0.30 [[ 7.37678464e-01 -6.75149261e-01 -1.98984047e-03 1.41886502e+02] [ 6.75146818e-01 7.37681148e-01 -1.81618900e-03 4.94473176e+01] [ 2.69406646e-03 -3.67094669e-06 9.99996371e-01 3.03541898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04401273899998 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:141.91, Y:49.47, Z:0.31 [[ 7.38219793e-01 -6.74557321e-01 -1.98948548e-03 1.41907439e+02] [ 6.74554875e-01 7.38222474e-01 -1.81657778e-03 4.94657328e+01] [ 2.69406873e-03 -9.83450616e-07 9.99996371e-01 3.05230807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07401273899998 meters Centerline goodness : 0.998271 Centerline is valid? [True, True] Translation: X:141.93, Y:49.49, Z:0.30 [[ 7.40808830e-01 -6.71712975e-01 -1.98915071e-03 1.41926999e+02] [ 6.71710518e-01 7.40811500e-01 -1.81694428e-03 4.94860036e+01] [ 2.69405077e-03 9.87491032e-06 9.99996371e-01 3.04852652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10401273899998 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:141.95, Y:49.51, Z:0.30 [[ 7.44755254e-01 -6.67334740e-01 -1.98893733e-03 1.41945453e+02] [ 6.67332267e-01 7.44757909e-01 -1.81717783e-03 4.95060170e+01] [ 2.69394270e-03 2.60706855e-05 9.99996371e-01 3.02566858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13401273899999 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:141.96, Y:49.53, Z:0.30 [[ 7.46411485e-01 -6.65481736e-01 -1.98868553e-03 1.41964633e+02] [ 6.65479255e-01 7.46414133e-01 -1.81745335e-03 4.95260139e+01] [ 2.69386500e-03 3.31390919e-05 9.99996371e-01 3.02628142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.164012739 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:141.98, Y:49.55, Z:0.30 [[ 7.47684558e-01 -6.64051088e-01 -1.98834856e-03 1.41983022e+02] [ 6.64048601e-01 7.47687201e-01 -1.81782194e-03 4.95462623e+01] [ 2.69378940e-03 3.87973157e-05 9.99996371e-01 3.03466737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.194012739 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:142.00, Y:49.57, Z:0.30 [[ 7.49213892e-01 -6.62325140e-01 -1.98804524e-03 1.42000307e+02] [ 6.62322647e-01 7.49216528e-01 -1.81815359e-03 4.95695030e+01] [ 2.69368519e-03 4.54585417e-05 9.99996371e-01 3.03421176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.224012739 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:142.02, Y:49.59, Z:0.30 [[ 7.49444957e-01 -6.62063672e-01 -1.98770963e-03 1.42019421e+02] [ 6.62061176e-01 7.49447591e-01 -1.81852044e-03 4.95896125e+01] [ 2.69366051e-03 4.68955953e-05 9.99996371e-01 3.02653587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.254012739 meters Centerline goodness : 0.997905 Centerline is valid? [True, True] Translation: X:142.04, Y:49.61, Z:0.30 [[ 7.48878735e-01 -6.62704075e-01 -1.98736808e-03 1.42037461e+02] [ 6.62701580e-01 7.48881371e-01 -1.81889361e-03 4.96110590e+01] [ 2.69369114e-03 4.50987776e-05 9.99996371e-01 3.03870630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.284012739 meters Centerline goodness : 0.997905 Centerline is valid? [True, True] Translation: X:142.06, Y:49.63, Z:0.30 [[ 7.48754778e-01 -6.62844125e-01 -1.98702722e-03 1.42058343e+02] [ 6.62841630e-01 7.48757414e-01 -1.81926591e-03 4.96304354e+01] [ 2.69369108e-03 4.50996782e-05 9.99996371e-01 3.03947367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.314012739 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:142.07, Y:49.65, Z:0.31 [[ 7.48250795e-01 -6.63412994e-01 -1.98668690e-03 1.42074766e+02] [ 6.63410500e-01 7.48253432e-01 -1.81963747e-03 4.96521978e+01] [ 2.69371643e-03 4.35562373e-05 9.99996371e-01 3.11460358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.344012739 meters Centerline goodness : 0.996566 Centerline is valid? [True, True] Translation: X:142.09, Y:49.67, Z:0.31 [[ 7.48259634e-01 -6.63403026e-01 -1.98638164e-03 1.42093764e+02] [ 6.63400531e-01 7.48262269e-01 -1.81997064e-03 4.96721770e+01] [ 2.69370846e-03 4.40439305e-05 9.99996371e-01 3.13511844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.374012739 meters Centerline goodness : 0.996625 Centerline is valid? [True, True] Translation: X:142.11, Y:49.69, Z:0.31 [[ 7.47940610e-01 -6.63762684e-01 -1.98604609e-03 1.42113495e+02] [ 6.63760189e-01 7.47943245e-01 -1.82033674e-03 4.96920418e+01] [ 2.69372136e-03 4.32454401e-05 9.99996371e-01 3.12319169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.404012739 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:142.13, Y:49.71, Z:0.30 [[ 7.46338217e-01 -6.65563914e-01 -1.98571072e-03 1.42131456e+02] [ 6.65561425e-01 7.46340857e-01 -1.82070251e-03 4.97119977e+01] [ 2.69381092e-03 3.72474102e-05 9.99996371e-01 3.03453919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.434012739 meters Centerline goodness : 0.996816 Centerline is valid? [True, True] Translation: X:142.15, Y:49.73, Z:0.30 [[ 7.45446138e-01 -6.66562911e-01 -1.98540957e-03 1.42151471e+02] [ 6.66560424e-01 7.45448781e-01 -1.82103083e-03 4.97320772e+01] [ 2.69385276e-03 3.40849552e-05 9.99996371e-01 3.01446882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46401273899997 meters Centerline goodness : 0.996244 Centerline is valid? [True, True] Translation: X:142.17, Y:49.75, Z:0.30 [[ 7.43798428e-01 -6.68401046e-01 -1.98506327e-03 1.42171079e+02] [ 6.68398565e-01 7.43801076e-01 -1.82140825e-03 4.97511801e+01] [ 2.69392338e-03 2.79471540e-05 9.99996371e-01 3.04548869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49401273899997 meters Centerline goodness : 0.996231 Centerline is valid? [True, True] Translation: X:142.19, Y:49.77, Z:0.31 [[ 7.43072640e-01 -6.69207825e-01 -1.98475047e-03 1.42189060e+02] [ 6.69205346e-01 7.43075290e-01 -1.82174904e-03 4.97725603e+01] [ 2.69394774e-03 2.54862456e-05 9.99996371e-01 3.06228774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52401273899997 meters Centerline goodness : 0.996339 Centerline is valid? [True, True] Translation: X:142.21, Y:49.79, Z:0.30 [[ 7.43241773e-01 -6.69019976e-01 -1.98442182e-03 1.42207909e+02] [ 6.69017495e-01 7.43244422e-01 -1.82210696e-03 4.97926934e+01] [ 2.69393641e-03 2.66530959e-05 9.99996371e-01 3.03630576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55401273899997 meters Centerline goodness : 0.996417 Centerline is valid? [True, True] Translation: X:142.23, Y:49.81, Z:0.30 [[ 7.43504271e-01 -6.68728242e-01 -1.98409388e-03 1.42227106e+02] [ 6.68725759e-01 7.43506918e-01 -1.82246399e-03 4.98132239e+01] [ 2.69392067e-03 2.81950733e-05 9.99996371e-01 3.00659564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58401273899997 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:142.25, Y:49.83, Z:0.30 [[ 7.42905605e-01 -6.69393252e-01 -1.98376807e-03 1.42247190e+02] [ 6.69390771e-01 7.42908253e-01 -1.82281857e-03 4.98327516e+01] [ 2.69394012e-03 2.62661004e-05 9.99996371e-01 3.02758166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61401273899997 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:142.27, Y:49.85, Z:0.31 [[ 7.41758970e-01 -6.70663624e-01 -1.98342799e-03 1.42266227e+02] [ 6.70661146e-01 7.41761622e-01 -1.82318854e-03 4.98514403e+01] [ 2.69397699e-03 2.21583647e-05 9.99996371e-01 3.05225214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64401273899998 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:142.29, Y:49.87, Z:0.31 [[ 7.38049824e-01 -6.74743303e-01 -1.98312054e-03 1.42286414e+02] [ 6.74740839e-01 7.38052488e-01 -1.82352290e-03 4.98701214e+01] [ 2.69405691e-03 7.75833338e-06 9.99996371e-01 3.05047295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67401273899998 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:142.31, Y:49.89, Z:0.30 [[ 7.34339963e-01 -6.78778968e-01 -1.98277207e-03 1.42307476e+02] [ 6.78776518e-01 7.34342639e-01 -1.82390172e-03 4.98868209e+01] [ 2.69406020e-03 -6.49519506e-06 9.99996371e-01 3.00032265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70401273899998 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:142.33, Y:49.90, Z:0.30 [[ 7.33106304e-01 -6.80111179e-01 -1.98253815e-03 1.42328039e+02] [ 6.80108733e-01 7.33108985e-01 -1.82415595e-03 4.99048566e+01] [ 2.69404538e-03 -1.10412801e-05 9.99996371e-01 2.99405232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73401273899998 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:142.35, Y:49.92, Z:0.30 [[ 7.31359489e-01 -6.81989283e-01 -1.97881749e-03 1.42349361e+02] [ 6.81986833e-01 7.31362166e-01 -1.82819793e-03 4.99240500e+01] [ 2.69404364e-03 -1.24575707e-05 9.99996371e-01 3.00410561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76401273899998 meters Centerline goodness : 0.995887 Centerline is valid? [True, True] Translation: X:142.37, Y:49.94, Z:0.30 [[ 7.31198717e-01 -6.82161644e-01 -1.98198666e-03 1.42369556e+02] [ 6.82159204e-01 7.31201403e-01 -1.82475569e-03 4.99419587e+01] [ 2.69400977e-03 -1.77714235e-05 9.99996371e-01 2.99985396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79401273899998 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:142.39, Y:49.96, Z:0.30 [[ 7.31063795e-01 -6.82306237e-01 -1.98175170e-03 1.42389662e+02] [ 6.82303796e-01 7.31066480e-01 -1.82501083e-03 4.99593929e+01] [ 2.69400851e-03 -1.79573638e-05 9.99996371e-01 2.98906180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82401273899998 meters Centerline goodness : 0.996062 Centerline is valid? [True, True] Translation: X:142.41, Y:49.98, Z:0.30 [[ 7.30687482e-01 -6.82709219e-01 -1.98144553e-03 1.42410603e+02] [ 6.82706779e-01 7.30690169e-01 -1.82534318e-03 4.99771426e+01] [ 2.69400139e-03 -1.89908845e-05 9.99996371e-01 2.98535571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85401273899998 meters Centerline goodness : 0.995243 Centerline is valid? [True, True] Translation: X:142.43, Y:49.99, Z:0.30 [[ 7.29443556e-01 -6.84038137e-01 -1.98119910e-03 1.42434288e+02] [ 6.84035701e-01 7.29446247e-01 -1.82561062e-03 4.99922304e+01] [ 2.69396553e-03 -2.35310097e-05 9.99996371e-01 3.00905904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88401273899999 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:142.46, Y:50.01, Z:0.30 [[ 7.28305568e-01 -6.85249645e-01 -1.98085278e-03 1.42456037e+02] [ 6.85247213e-01 7.28308261e-01 -1.82598632e-03 5.00084087e+01] [ 2.69392791e-03 -2.74978424e-05 9.99996371e-01 3.00307062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.914012739 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:142.48, Y:50.02, Z:0.30 [[ 7.26189217e-01 -6.87492036e-01 -1.98054051e-03 1.42478994e+02] [ 6.87489611e-01 7.26191917e-01 -1.82632495e-03 5.00226915e+01] [ 2.69383637e-03 -3.53435432e-05 9.99996371e-01 2.95403332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.944012739 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:142.50, Y:50.04, Z:0.29 [[ 7.25387900e-01 -6.88337471e-01 -1.98019124e-03 1.42501280e+02] [ 6.88335048e-01 7.25390601e-01 -1.82670357e-03 5.00403362e+01] [ 2.69380063e-03 -3.79663687e-05 9.99996371e-01 2.94716289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.974012739 meters Centerline goodness : 0.995778 Centerline is valid? [True, True] Translation: X:142.52, Y:50.06, Z:0.29 [[ 7.24570418e-01 -6.89197932e-01 -1.97984933e-03 1.42523178e+02] [ 6.89195512e-01 7.24573122e-01 -1.82707406e-03 5.00582472e+01] [ 2.69376128e-03 -4.06594561e-05 9.99996371e-01 2.94487591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.004012739 meters Centerline goodness : 0.991460 Centerline is valid? [True, True] Translation: X:142.55, Y:50.07, Z:0.30 [[ 7.24113876e-01 -6.89677589e-01 -1.97950868e-03 1.42546648e+02] [ 6.89675169e-01 7.24116580e-01 -1.82744306e-03 5.00744499e+01] [ 2.69374158e-03 -4.19411061e-05 9.99996371e-01 3.04216737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.034012739 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:142.57, Y:50.09, Z:0.30 [[ 7.24747517e-01 -6.89011698e-01 -1.97916838e-03 1.42569559e+02] [ 6.89009275e-01 7.24750218e-01 -1.82781155e-03 5.00915493e+01] [ 2.69378625e-03 -3.89634878e-05 9.99996371e-01 2.98888927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.064012739 meters Centerline goodness : 0.995008 Centerline is valid? [True, True] Translation: X:142.59, Y:50.11, Z:0.30 [[ 7.26646058e-01 -6.87009164e-01 -1.97882973e-03 1.42592920e+02] [ 6.87006732e-01 7.26648751e-01 -1.82817810e-03 5.01066140e+01] [ 2.69388926e-03 -3.10309342e-05 9.99996371e-01 3.01703809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.094012739 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:142.62, Y:50.12, Z:0.30 [[ 7.28906720e-01 -6.84610166e-01 -1.97846087e-03 1.42615424e+02] [ 6.84607724e-01 7.28909405e-01 -1.82857719e-03 5.01239409e+01] [ 2.69398127e-03 -2.16073876e-05 9.99996371e-01 3.00806153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.124012739 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:142.64, Y:50.14, Z:0.30 [[ 7.29716812e-01 -6.83746635e-01 -1.97812035e-03 1.42637215e+02] [ 6.83744190e-01 7.29719493e-01 -1.82894549e-03 5.01422390e+01] [ 2.69400830e-03 -1.79160276e-05 9.99996371e-01 2.99835058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.154012739 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:142.66, Y:50.16, Z:0.30 [[ 7.30018900e-01 -6.83424095e-01 -1.97779532e-03 1.42658073e+02] [ 6.83421647e-01 7.30021579e-01 -1.82929690e-03 5.01588575e+01] [ 2.69401884e-03 -1.62468245e-05 9.99996371e-01 2.99335493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.184012739 meters Centerline goodness : 0.994255 Centerline is valid? [True, True] Translation: X:142.68, Y:50.18, Z:0.30 [[ 7.28903147e-01 -6.84613973e-01 -1.97742657e-03 1.42681893e+02] [ 6.84611528e-01 7.28905829e-01 -1.82969542e-03 5.01757885e+01] [ 2.69399281e-03 -2.00982731e-05 9.99996371e-01 3.02675215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21401273899997 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:142.70, Y:50.19, Z:0.30 [[ 7.27719894e-01 -6.85871593e-01 -1.97840777e-03 1.42702832e+02] [ 6.85869155e-01 7.27722583e-01 -1.82863519e-03 5.01927750e+01] [ 2.69394095e-03 -2.61946606e-05 9.99996371e-01 3.02307160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24401273899997 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:142.73, Y:50.21, Z:0.30 [[ 7.26161895e-01 -6.87520904e-01 -1.97699439e-03 1.42726746e+02] [ 6.87518469e-01 7.26164586e-01 -1.83016197e-03 5.02078897e+01] [ 2.69389792e-03 -3.02262712e-05 9.99996371e-01 2.99651439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27401273899997 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:142.75, Y:50.22, Z:0.30 [[ 7.26796410e-01 -6.86850108e-01 -1.97665656e-03 1.42751096e+02] [ 6.86847669e-01 7.26799098e-01 -1.83052677e-03 5.02231902e+01] [ 2.69392971e-03 -2.72416613e-05 9.99996371e-01 2.95526977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30401273899997 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:142.77, Y:50.24, Z:0.30 [[ 7.28168677e-01 -6.85395121e-01 -1.97631971e-03 1.42771716e+02] [ 6.85392676e-01 7.28171359e-01 -1.83089038e-03 5.02412044e+01] [ 2.69398274e-03 -2.13580312e-05 9.99996371e-01 2.95762387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33401273899997 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:142.79, Y:50.26, Z:0.30 [[ 7.29751561e-01 -6.83709554e-01 -1.97596354e-03 1.42792572e+02] [ 6.83707102e-01 7.29754236e-01 -1.83127468e-03 5.02599664e+01] [ 2.69402776e-03 -1.46047505e-05 9.99996371e-01 2.97502685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36401273899997 meters Centerline goodness : 0.994462 Centerline is valid? [True, True] Translation: X:142.81, Y:50.28, Z:0.30 [[ 7.33113682e-01 -6.80103247e-01 -1.97564731e-03 1.42814736e+02] [ 6.80100780e-01 7.33116344e-01 -1.83161578e-03 5.02777240e+01] [ 2.69406717e-03 -8.56684646e-07 9.99996371e-01 3.01924186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39401273899998 meters Centerline goodness : 0.993741 Centerline is valid? [True, True] Translation: X:142.84, Y:50.30, Z:0.30 [[ 7.35479264e-01 -6.77544353e-01 -1.97530453e-03 1.42837280e+02] [ 6.77541876e-01 7.35481917e-01 -1.83198537e-03 5.02952147e+01] [ 2.69405211e-03 9.03571512e-06 9.99996371e-01 2.99662458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42401273899998 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:142.86, Y:50.31, Z:0.30 [[ 7.36245080e-01 -6.76712111e-01 -1.97496170e-03 1.42857160e+02] [ 6.76709630e-01 7.36247729e-01 -1.83235490e-03 5.03142185e+01] [ 2.69403781e-03 1.25866779e-05 9.99996371e-01 2.97171777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45401273899998 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:142.88, Y:50.33, Z:0.30 [[ 7.38403025e-01 -6.74356785e-01 -1.97462006e-03 1.42876724e+02] [ 6.74354294e-01 7.38405665e-01 -1.83272298e-03 5.03345439e+01] [ 2.69397982e-03 2.16946708e-05 9.99996371e-01 2.99431977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48401273899998 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:142.90, Y:50.35, Z:0.30 [[ 7.39539431e-01 -6.73110342e-01 -1.97427197e-03 1.42895705e+02] [ 6.73107846e-01 7.39542066e-01 -1.83309788e-03 5.03531021e+01] [ 2.69393431e-03 2.67502148e-05 9.99996371e-01 3.02871029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51401273899998 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:142.91, Y:50.37, Z:0.31 [[ 7.40747290e-01 -6.71780884e-01 -1.97401771e-03 1.42913598e+02] [ 6.71778383e-01 7.40749919e-01 -1.83337164e-03 5.03745631e+01] [ 2.69387748e-03 3.19626514e-05 9.99996371e-01 3.07938597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54401273899998 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:142.93, Y:50.40, Z:0.31 [[ 7.40789228e-01 -6.71734638e-01 -1.97367522e-03 1.42931678e+02] [ 6.71732136e-01 7.40791856e-01 -1.83374027e-03 5.03958843e+01] [ 2.69386939e-03 3.26339681e-05 9.99996371e-01 3.07438199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57401273899998 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:142.95, Y:50.42, Z:0.30 [[ 7.40617747e-01 -6.71923700e-01 -1.97332162e-03 1.42950237e+02] [ 6.71921198e-01 7.40620375e-01 -1.83412070e-03 5.04162037e+01] [ 2.69387137e-03 3.24657108e-05 9.99996371e-01 3.04930131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60401273899998 meters Centerline goodness : 0.994898 Centerline is valid? [True, True] Translation: X:142.97, Y:50.44, Z:0.30 [[ 7.40037543e-01 -6.72562668e-01 -1.97300596e-03 1.42968597e+02] [ 6.72560167e-01 7.40040172e-01 -1.83446021e-03 5.04361531e+01] [ 2.69389312e-03 3.06042068e-05 9.99996371e-01 3.00281940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63401273899999 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:142.99, Y:50.46, Z:0.30 [[ 7.39527639e-01 -6.73123302e-01 -1.97276144e-03 1.42985884e+02] [ 6.73120802e-01 7.39530269e-01 -1.83472312e-03 5.04587658e+01] [ 2.69391169e-03 2.89216919e-05 9.99996371e-01 3.04796101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.664012739 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:143.00, Y:50.48, Z:0.30 [[ 7.39475748e-01 -6.73180308e-01 -1.97241239e-03 1.43003521e+02] [ 6.73177808e-01 7.39478378e-01 -1.83509829e-03 5.04795192e+01] [ 2.69390835e-03 2.92264279e-05 9.99996371e-01 3.04075504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.694012739 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:143.02, Y:50.50, Z:0.30 [[ 7.39708032e-01 -6.72925061e-01 -1.97209427e-03 1.43020566e+02] [ 6.72922559e-01 7.39710660e-01 -1.83544010e-03 5.05016835e+01] [ 2.69389279e-03 3.06230643e-05 9.99996371e-01 2.99494358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.724012739 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:143.04, Y:50.52, Z:0.30 [[ 7.39426882e-01 -6.73233985e-01 -1.97176086e-03 1.43039368e+02] [ 6.73231483e-01 7.39429510e-01 -1.83579820e-03 5.05231550e+01] [ 2.69389990e-03 2.99870572e-05 9.99996371e-01 2.99073209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.754012739 meters Centerline goodness : 0.995219 Centerline is valid? [True, True] Translation: X:143.05, Y:50.55, Z:0.30 [[ 7.37555347e-01 -6.75283810e-01 -1.97141309e-03 1.43054055e+02] [ 6.75281314e-01 7.37557981e-01 -1.83617158e-03 5.05470297e+01] [ 2.69396840e-03 2.30197440e-05 9.99996371e-01 3.00681872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.784012739 meters Centerline goodness : 0.995372 Centerline is valid? [True, True] Translation: X:143.07, Y:50.57, Z:0.30 [[ 7.35957248e-01 -6.77025143e-01 -1.97109777e-03 1.43072291e+02] [ 6.77022652e-01 7.35959887e-01 -1.83651001e-03 5.05677719e+01] [ 2.69401235e-03 1.71150172e-05 9.99996371e-01 3.01573901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.814012739 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:143.09, Y:50.59, Z:0.30 [[ 7.33553248e-01 -6.79629126e-01 -1.97073095e-03 1.43091142e+02] [ 6.79626644e-01 7.33555895e-01 -1.83690356e-03 5.05869057e+01] [ 2.69405446e-03 8.10530783e-06 9.99996371e-01 3.02032278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.844012739 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:143.11, Y:50.61, Z:0.30 [[ 7.28162521e-01 -6.85401678e-01 -1.97036602e-03 1.43113363e+02] [ 6.85399216e-01 7.28165187e-01 -1.83729492e-03 5.06050848e+01] [ 2.69403696e-03 -1.26380251e-05 9.99996371e-01 3.02072442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.874012739 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:143.13, Y:50.62, Z:0.31 [[ 7.22319911e-01 -6.91556254e-01 -1.97311594e-03 1.43132413e+02] [ 6.91553823e-01 7.22322605e-01 -1.83434632e-03 5.06234036e+01] [ 2.69377991e-03 -3.95310020e-05 9.99996371e-01 3.06086576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.904012739 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:143.15, Y:50.64, Z:0.30 [[ 7.20122135e-01 -6.93844529e-01 -1.96985696e-03 1.43153506e+02] [ 6.93842097e-01 7.20124827e-01 -1.83783940e-03 5.06413390e+01] [ 2.69371771e-03 -4.33008489e-05 9.99996371e-01 3.04928978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.934012739 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:143.18, Y:50.66, Z:0.30 [[ 7.18123326e-01 -6.95913076e-01 -1.96953321e-03 1.43177166e+02] [ 6.95910650e-01 7.18126025e-01 -1.83818627e-03 5.06565620e+01] [ 2.69359092e-03 -5.05746994e-05 9.99996371e-01 3.02177112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96401273899997 meters Centerline goodness : 0.995092 Centerline is valid? [True, True] Translation: X:143.20, Y:50.67, Z:0.30 [[ 7.18232851e-01 -6.95800039e-01 -1.96919506e-03 1.43198028e+02] [ 6.95797611e-01 7.18235549e-01 -1.83854845e-03 5.06742773e+01] [ 2.69360798e-03 -4.96553240e-05 9.99996371e-01 3.01043022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99401273899997 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:143.22, Y:50.69, Z:0.30 [[ 7.20994580e-01 -6.92937904e-01 -1.96883913e-03 1.43218365e+02] [ 6.92935465e-01 7.20997267e-01 -1.83892953e-03 5.06907607e+01] [ 2.69379161e-03 -3.84202361e-05 9.99996371e-01 2.97195919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02401273899997 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:143.24, Y:50.71, Z:0.30 [[ 7.22703987e-01 -6.91154883e-01 -1.96847265e-03 1.43239928e+02] [ 6.91152436e-01 7.22706667e-01 -1.83932174e-03 5.07083374e+01] [ 2.69388451e-03 -3.12295113e-05 9.99996371e-01 2.98491859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05401273899997 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:143.26, Y:50.72, Z:0.30 [[ 7.26055429e-01 -6.87633362e-01 -1.96811824e-03 1.43262762e+02] [ 6.87630902e-01 7.26058096e-01 -1.83970089e-03 5.07230701e+01] [ 2.69400789e-03 -1.76141040e-05 9.99996371e-01 2.98090302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08401273899997 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:143.29, Y:50.74, Z:0.30 [[ 7.27463989e-01 -6.86143041e-01 -1.96777554e-03 1.43286570e+02] [ 6.86140574e-01 7.27466650e-01 -1.84006737e-03 5.07417914e+01] [ 2.69404051e-03 -1.15878900e-05 9.99996371e-01 2.98833159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11401273899997 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:143.31, Y:50.76, Z:0.30 [[ 7.29225774e-01 -6.84270324e-01 -1.97340515e-03 1.43305968e+02] [ 6.84267867e-01 7.29228444e-01 -1.83404811e-03 5.07591191e+01] [ 2.69404786e-03 -1.29025815e-05 9.99996371e-01 3.03970862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14401273899998 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:143.33, Y:50.78, Z:0.31 [[ 7.30114575e-01 -6.83321914e-01 -1.96723439e-03 1.43326782e+02] [ 6.83319435e-01 7.30117225e-01 -1.84064327e-03 5.07775074e+01] [ 2.69406359e-03 -3.69013949e-07 9.99996371e-01 3.06441286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17401273899998 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:143.35, Y:50.80, Z:0.31 [[ 7.29986178e-01 -6.83459078e-01 -1.96688962e-03 1.43347451e+02] [ 6.83456599e-01 7.29988827e-01 -1.84101161e-03 5.07971191e+01] [ 2.69406355e-03 -3.70658507e-07 9.99996371e-01 3.06518021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20401273899998 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:143.37, Y:50.81, Z:0.31 [[ 7.31646682e-01 -6.81681205e-01 -1.96654365e-03 1.43369481e+02] [ 6.81678718e-01 7.31649325e-01 -1.84138109e-03 5.08146703e+01] [ 2.69405522e-03 6.68940927e-06 9.99996371e-01 3.11421989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23401273899998 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:143.39, Y:50.83, Z:0.31 [[ 7.32316879e-01 -6.80961176e-01 -1.96619620e-03 1.43389117e+02] [ 6.80958685e-01 7.32319518e-01 -1.84175202e-03 5.08328151e+01] [ 2.69404548e-03 9.84771124e-06 9.99996371e-01 3.11355567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26401273899998 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:143.41, Y:50.85, Z:0.30 [[ 7.34021473e-01 -6.79123415e-01 -1.96582893e-03 1.43409748e+02] [ 6.79120917e-01 7.34024105e-01 -1.84214395e-03 5.08517590e+01] [ 2.69400891e-03 1.71376650e-05 9.99996371e-01 3.04072515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29401273899998 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:143.43, Y:50.87, Z:0.30 [[ 7.34994945e-01 -6.78069737e-01 -1.96548103e-03 1.43430300e+02] [ 6.78067234e-01 7.34997572e-01 -1.84251507e-03 5.08692484e+01] [ 2.69397750e-03 2.15109788e-05 9.99996371e-01 3.00737223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32401273899998 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:143.45, Y:50.89, Z:0.30 [[ 7.36913994e-01 -6.75983657e-01 -1.96511868e-03 1.43451340e+02] [ 6.75981145e-01 7.36916613e-01 -1.84290145e-03 5.08865055e+01] [ 2.69389987e-03 2.96766890e-05 9.99996371e-01 3.00762486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35401273899998 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:143.47, Y:50.91, Z:0.30 [[ 7.37971632e-01 -6.74828875e-01 -1.96486644e-03 1.43471224e+02] [ 6.74826358e-01 7.37974247e-01 -1.84317035e-03 5.09067376e+01] [ 2.69384540e-03 3.42637664e-05 9.99996371e-01 3.02647999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38401273899999 meters Centerline goodness : 0.996566 Centerline is valid? [True, True] Translation: X:143.49, Y:50.93, Z:0.30 [[ 7.41308227e-01 -6.71161868e-01 -1.96453225e-03 1.43489311e+02] [ 6.71159337e-01 7.41310829e-01 -1.84352647e-03 5.09278457e+01] [ 2.69363370e-03 4.81071731e-05 9.99996371e-01 3.02704975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.414012739 meters Centerline goodness : 0.996362 Centerline is valid? [True, True] Translation: X:143.51, Y:50.95, Z:0.30 [[ 7.43031521e-01 -6.69253540e-01 -1.96419102e-03 1.43509123e+02] [ 6.69251002e-01 7.43034115e-01 -1.84388996e-03 5.09470493e+01] [ 2.69349082e-03 5.55315544e-05 9.99996371e-01 3.02028301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.444012739 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:143.53, Y:50.97, Z:0.30 [[ 7.46528301e-01 -6.65350764e-01 -1.96385236e-03 1.43527358e+02] [ 6.65348211e-01 7.46530881e-01 -1.84425059e-03 5.09677899e+01] [ 2.69314997e-03 7.01395999e-05 9.99996371e-01 3.03913780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.474012739 meters Centerline goodness : 0.996601 Centerline is valid? [True, True] Translation: X:143.55, Y:50.99, Z:0.30 [[ 7.48017403e-01 -6.63676208e-01 -1.96361566e-03 1.43545019e+02] [ 6.63673649e-01 7.48019977e-01 -1.84450257e-03 5.09887297e+01] [ 2.69297621e-03 7.65200524e-05 9.99996371e-01 3.04354379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.504012739 meters Centerline goodness : 0.996486 Centerline is valid? [True, True] Translation: X:143.56, Y:51.01, Z:0.31 [[ 7.50396455e-01 -6.60985103e-01 -1.96330266e-03 1.43560706e+02] [ 6.60982534e-01 7.50399018e-01 -1.84483568e-03 5.10123724e+01] [ 2.69266929e-03 8.66493890e-05 9.99996371e-01 3.05776178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.534012739 meters Centerline goodness : 0.996402 Centerline is valid? [True, True] Translation: X:143.58, Y:51.03, Z:0.30 [[ 7.51290355e-01 -6.59968900e-01 -1.96296323e-03 1.43579411e+02] [ 6.59966327e-01 7.51292914e-01 -1.84519677e-03 5.10335063e+01] [ 2.69253285e-03 9.07888997e-05 9.99996371e-01 3.04120476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.564012739 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:143.60, Y:51.06, Z:0.30 [[ 7.52750056e-01 -6.58303503e-01 -1.96262213e-03 1.43595871e+02] [ 6.58300923e-01 7.52752608e-01 -1.84555950e-03 5.10562753e+01] [ 2.69230721e-03 9.72490570e-05 9.99996371e-01 3.02103497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.594012739 meters Centerline goodness : 0.996830 Centerline is valid? [True, True] Translation: X:143.61, Y:51.08, Z:0.30 [[ 7.52846250e-01 -6.58193493e-01 -1.96227047e-03 1.43613589e+02] [ 6.58190911e-01 7.52848801e-01 -1.84593333e-03 5.10777173e+01] [ 2.69227427e-03 9.81553953e-05 9.99996371e-01 3.03912273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.624012739 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:143.63, Y:51.10, Z:0.31 [[ 7.51995362e-01 -6.59165477e-01 -1.96203937e-03 1.43630576e+02] [ 6.59162898e-01 7.51997916e-01 -1.84617892e-03 5.11010817e+01] [ 2.69238693e-03 9.50144272e-05 9.99996371e-01 3.10464823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.654012739 meters Centerline goodness : 0.996788 Centerline is valid? [True, True] Translation: X:143.65, Y:51.12, Z:0.31 [[ 7.51113070e-01 -6.60170665e-01 -1.96169596e-03 1.43648529e+02] [ 6.60168089e-01 7.51115626e-01 -1.84654376e-03 5.11209674e+01] [ 2.69249451e-03 9.19140791e-05 9.99996371e-01 3.11559005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.684012739 meters Centerline goodness : 0.996981 Centerline is valid? [True, True] Translation: X:143.66, Y:51.14, Z:0.31 [[ 7.49356621e-01 -6.62163731e-01 -1.96134978e-03 1.43664002e+02] [ 6.62161161e-01 7.49359183e-01 -1.84691139e-03 5.11441295e+01] [ 2.69271320e-03 8.52656328e-05 9.99996371e-01 3.08821997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71401273899997 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:143.68, Y:51.17, Z:0.31 [[ 7.48920150e-01 -6.62657350e-01 -1.96099914e-03 1.43681901e+02] [ 6.62654780e-01 7.48922713e-01 -1.84728361e-03 5.11665518e+01] [ 2.69275286e-03 8.40024677e-05 9.99996371e-01 3.07038117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74401273899997 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:143.70, Y:51.19, Z:0.30 [[ 7.49229475e-01 -6.62307595e-01 -1.96066299e-03 1.43698120e+02] [ 6.62305023e-01 7.49232035e-01 -1.84764032e-03 5.11907117e+01] [ 2.69269774e-03 8.57496367e-05 9.99996371e-01 3.04215317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77401273899997 meters Centerline goodness : 0.997264 Centerline is valid? [True, True] Translation: X:143.72, Y:51.21, Z:0.30 [[ 7.49186682e-01 -6.62356001e-01 -1.96032702e-03 1.43716417e+02] [ 6.62353429e-01 7.49189242e-01 -1.84799671e-03 5.12120959e+01] [ 2.69268763e-03 8.60652014e-05 9.99996371e-01 3.04839900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80401273899997 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:143.73, Y:51.24, Z:0.32 [[ 7.49599891e-01 -6.61888331e-01 -1.95998364e-03 1.43729811e+02] [ 6.61885756e-01 7.49602448e-01 -1.84836083e-03 5.12374353e+01] [ 2.69261700e-03 8.82458203e-05 9.99996371e-01 3.15820534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83401273899997 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:143.75, Y:51.26, Z:0.30 [[ 7.49787640e-01 -6.61675641e-01 -1.95969853e-03 1.43746643e+02] [ 6.61673065e-01 7.49790196e-01 -1.84866307e-03 5.12596691e+01] [ 2.69257806e-03 8.94249881e-05 9.99996371e-01 3.02294117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86401273899997 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:143.76, Y:51.28, Z:0.30 [[ 7.48688550e-01 -6.62919012e-01 -1.95939045e-03 1.43762927e+02] [ 6.62916439e-01 7.48691109e-01 -1.84898954e-03 5.12829448e+01] [ 2.69270853e-03 8.54051607e-05 9.99996371e-01 3.00316082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89401273899998 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:143.78, Y:51.30, Z:0.30 [[ 7.47063838e-01 -6.64749415e-01 -1.95905330e-03 1.43781222e+02] [ 6.64746847e-01 7.47066402e-01 -1.84934669e-03 5.13030793e+01] [ 2.69289503e-03 7.93055313e-05 9.99996371e-01 3.02131311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92401273899998 meters Centerline goodness : 0.997635 Centerline is valid? [True, True] Translation: X:143.80, Y:51.33, Z:0.31 [[ 7.42220129e-01 -6.70153299e-01 -1.95874567e-03 1.43798179e+02] [ 6.70150749e-01 7.42222711e-01 -1.84967246e-03 5.13260225e+01] [ 2.69338962e-03 6.02092524e-05 9.99996371e-01 3.06597761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95401273899998 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:143.82, Y:51.35, Z:0.31 [[ 7.39640298e-01 -6.72999550e-01 -1.95839583e-03 1.43816487e+02] [ 6.72997009e-01 7.39642889e-01 -1.85004279e-03 5.13459865e+01] [ 2.69359151e-03 5.03716711e-05 9.99996371e-01 3.06371149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98401273899998 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:143.83, Y:51.37, Z:0.31 [[ 7.35200104e-01 -6.77847308e-01 -1.95815327e-03 1.43834667e+02] [ 6.77844783e-01 7.35202711e-01 -1.85029949e-03 5.13654620e+01] [ 2.69386012e-03 3.30163972e-05 9.99996371e-01 3.06965607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01401273899998 meters Centerline goodness : 0.997482 Centerline is valid? [True, True] Translation: X:143.85, Y:51.39, Z:0.31 [[ 7.30261003e-01 -6.83165451e-01 -1.95791902e-03 1.43853733e+02] [ 6.83162945e-01 7.30263628e-01 -1.85054733e-03 5.13866136e+01] [ 2.69402705e-03 1.38048266e-05 9.99996371e-01 3.05350363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04401273899998 meters Centerline goodness : 0.997481 Centerline is valid? [True, True] Translation: X:143.87, Y:51.41, Z:0.30 [[ 7.27398825e-01 -6.86212152e-01 -1.95758539e-03 1.43873477e+02] [ 6.86209655e-01 7.27401459e-01 -1.85090019e-03 5.14066245e+01] [ 2.69406067e-03 3.02862856e-06 9.99996371e-01 3.03239394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07401273899998 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:143.89, Y:51.42, Z:0.30 [[ 7.22720761e-01 -6.91137375e-01 -1.95723777e-03 1.43893945e+02] [ 6.91134896e-01 7.22723411e-01 -1.85126771e-03 5.14246090e+01] [ 2.69402186e-03 -1.47657150e-05 9.99996371e-01 2.98835041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10401273899998 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:143.91, Y:51.44, Z:0.30 [[ 7.21249516e-01 -6.92672583e-01 -1.95695161e-03 1.43913831e+02] [ 6.92670108e-01 7.21252170e-01 -1.85157015e-03 5.14426493e+01] [ 2.69398748e-03 -2.00778086e-05 9.99996371e-01 2.96701017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13401273899999 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:143.93, Y:51.46, Z:0.30 [[ 7.20192555e-01 -6.93771472e-01 -1.95659585e-03 1.43933299e+02] [ 6.93769000e-01 7.20195213e-01 -1.85194602e-03 5.14626599e+01] [ 2.69395828e-03 -2.36678056e-05 9.99996371e-01 3.00242128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.164012739 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:143.95, Y:51.48, Z:0.30 [[ 7.20096729e-01 -6.93870934e-01 -1.95625025e-03 1.43954426e+02] [ 6.93868462e-01 7.20099386e-01 -1.85231101e-03 5.14826510e+01] [ 2.69395938e-03 -2.35372561e-05 9.99996371e-01 2.99765851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.194012739 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:143.97, Y:51.50, Z:0.31 [[ 7.19642202e-01 -6.94342329e-01 -1.95737570e-03 1.43974390e+02] [ 6.94339862e-01 7.19644863e-01 -1.85112268e-03 5.15012371e+01] [ 2.69392820e-03 -2.69379761e-05 9.99996371e-01 3.05422920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.224012739 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:144.00, Y:51.52, Z:0.31 [[ 7.18664046e-01 -6.95354703e-01 -1.95578854e-03 1.43996097e+02] [ 6.95352235e-01 7.18666707e-01 -1.85279807e-03 5.15186212e+01] [ 2.69391196e-03 -2.84225746e-05 9.99996371e-01 3.05646130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.254012739 meters Centerline goodness : 0.998055 Centerline is valid? [True, True] Translation: X:144.02, Y:51.54, Z:0.30 [[ 7.18637531e-01 -6.95382108e-01 -1.95544849e-03 1.44016615e+02] [ 6.95379639e-01 7.18640191e-01 -1.85315689e-03 5.15375814e+01] [ 2.69391602e-03 -2.80309709e-05 9.99996371e-01 3.00523327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.284012739 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:144.04, Y:51.56, Z:0.30 [[ 7.18744115e-01 -6.95271943e-01 -1.95511058e-03 1.44036971e+02] [ 6.95269473e-01 7.18746773e-01 -1.85351332e-03 5.15557657e+01] [ 2.69392523e-03 -2.71269123e-05 9.99996371e-01 2.98711556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.314012739 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:144.06, Y:51.57, Z:0.30 [[ 7.18976491e-01 -6.95031642e-01 -1.95475652e-03 1.44060345e+02] [ 6.95029170e-01 7.18979148e-01 -1.85388665e-03 5.15722333e+01] [ 2.69393906e-03 -2.57118832e-05 9.99996371e-01 2.96364697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.344012739 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:144.08, Y:51.59, Z:0.30 [[ 7.18564285e-01 -6.95457798e-01 -1.95441976e-03 1.44082549e+02] [ 6.95455327e-01 7.18566942e-01 -1.85424160e-03 5.15900620e+01] [ 2.69392821e-03 -2.68198415e-05 9.99996371e-01 2.95507761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.374012739 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:144.10, Y:51.61, Z:0.30 [[ 7.16676227e-01 -6.97403303e-01 -1.95408502e-03 1.44104367e+02] [ 6.97400838e-01 7.16678890e-01 -1.85459430e-03 5.16059626e+01] [ 2.69385167e-03 -3.36368807e-05 9.99996371e-01 2.97844705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.404012739 meters Centerline goodness : 0.998223 Centerline is valid? [True, True] Translation: X:144.13, Y:51.62, Z:0.30 [[ 7.15723139e-01 -6.98381394e-01 -1.95373074e-03 1.44125567e+02] [ 6.98378931e-01 7.15725805e-01 -1.85496743e-03 5.16242380e+01] [ 2.69381025e-03 -3.68012736e-05 9.99996371e-01 3.02764195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.434012739 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:144.15, Y:51.64, Z:0.32 [[ 7.15652530e-01 -6.98453750e-01 -1.95339816e-03 1.44147000e+02] [ 6.98451287e-01 7.15655195e-01 -1.85531760e-03 5.16414256e+01] [ 2.69381308e-03 -3.65907303e-05 9.99996371e-01 3.21491920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46401273899997 meters Centerline goodness : 0.997863 Centerline is valid? [True, True] Translation: X:144.17, Y:51.66, Z:0.31 [[ 7.16545905e-01 -6.97537204e-01 -1.95304724e-03 1.44167582e+02] [ 6.97534737e-01 7.16548566e-01 -1.85568693e-03 5.16586561e+01] [ 2.69386387e-03 -3.26334226e-05 9.99996371e-01 3.10990039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49401273899997 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:144.19, Y:51.68, Z:0.30 [[ 7.19712104e-01 -6.94269886e-01 -1.95280641e-03 1.44190654e+02] [ 6.94267405e-01 7.19714753e-01 -1.85594033e-03 5.16753232e+01] [ 2.69398706e-03 -2.00271147e-05 9.99996371e-01 3.04476948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52401273899997 meters Centerline goodness : 0.998247 Centerline is valid? [True, True] Translation: X:144.21, Y:51.69, Z:0.30 [[ 7.21419980e-01 -6.92495054e-01 -1.95250028e-03 1.44211615e+02] [ 6.92492567e-01 7.21422622e-01 -1.85626233e-03 5.16943564e+01] [ 2.69403036e-03 -1.29471942e-05 9.99996371e-01 3.01521583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55401273899997 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:144.23, Y:51.71, Z:0.30 [[ 7.22954669e-01 -6.90892709e-01 -1.95217302e-03 1.44232507e+02] [ 6.90890214e-01 7.22957305e-01 -1.85660644e-03 5.17119495e+01] [ 2.69405360e-03 -6.49494699e-06 9.99996371e-01 2.99000160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58401273899997 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:144.25, Y:51.73, Z:0.30 [[ 7.23104083e-01 -6.90736328e-01 -1.95182844e-03 1.44253667e+02] [ 6.90733832e-01 7.23106718e-01 -1.85696862e-03 5.17292741e+01] [ 2.69405594e-03 -5.41234375e-06 9.99996371e-01 2.99406460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61401273899997 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:144.28, Y:51.74, Z:0.30 [[ 7.22876603e-01 -6.90974391e-01 -1.95148417e-03 1.44277013e+02] [ 6.90971895e-01 7.22879237e-01 -1.85733034e-03 5.17431431e+01] [ 2.69405509e-03 -5.80006814e-06 9.99996371e-01 3.02522108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64401273899998 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:144.30, Y:51.76, Z:0.30 [[ 7.23445375e-01 -6.90378868e-01 -1.95127061e-03 1.44297164e+02] [ 6.90376369e-01 7.23448006e-01 -1.85755468e-03 5.17591968e+01] [ 2.69405933e-03 -3.27177671e-06 9.99996371e-01 3.04394286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67401273899998 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:144.32, Y:51.78, Z:0.30 [[ 7.22788786e-01 -6.91066274e-01 -1.94298123e-03 1.44319158e+02] [ 6.91063754e-01 7.22791398e-01 -1.86625671e-03 5.17788060e+01] [ 2.69407719e-03 6.18551385e-06 9.99996371e-01 2.99453638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70401273899998 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:144.34, Y:51.80, Z:0.30 [[ 7.22738418e-01 -6.91118929e-01 -1.95065668e-03 1.44341073e+02] [ 6.91116431e-01 7.22741051e-01 -1.85819936e-03 5.17978756e+01] [ 2.69405641e-03 -5.13881419e-06 9.99996371e-01 2.96560224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73401273899998 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:144.36, Y:51.82, Z:0.30 [[ 7.22712200e-01 -6.91146344e-01 -1.95134184e-03 1.44362028e+02] [ 6.91143848e-01 7.22714834e-01 -1.85748022e-03 5.18157434e+01] [ 2.69405436e-03 -6.23428538e-06 9.99996371e-01 2.97911438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76401273899998 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:144.38, Y:51.84, Z:0.30 [[ 7.23011349e-01 -6.90833400e-01 -1.95021193e-03 1.44382299e+02] [ 6.90830899e-01 7.23013979e-01 -1.85866579e-03 5.18353343e+01] [ 2.69405889e-03 -3.43020219e-06 9.99996371e-01 2.97661667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79401273899998 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:144.40, Y:51.85, Z:0.29 [[ 7.24415279e-01 -6.89361082e-01 -1.94986615e-03 1.44401917e+02] [ 6.89358576e-01 7.24417903e-01 -1.85902846e-03 5.18538608e+01] [ 2.69405982e-03 2.55167291e-06 9.99996371e-01 2.93537992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82401273899998 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:144.42, Y:51.87, Z:0.29 [[ 7.24919653e-01 -6.88830673e-01 -1.94950782e-03 1.44420663e+02] [ 6.88828163e-01 7.24922275e-01 -1.85940415e-03 5.18718247e+01] [ 2.69405626e-03 5.04272696e-06 9.99996371e-01 2.92862224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85401273899998 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:144.44, Y:51.89, Z:0.30 [[ 7.25608608e-01 -6.88104896e-01 -1.94922438e-03 1.44439044e+02] [ 6.88102383e-01 7.25611226e-01 -1.85970124e-03 5.18927060e+01] [ 2.69404862e-03 8.14928688e-06 9.99996371e-01 2.97608824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88401273899999 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:144.46, Y:51.91, Z:0.30 [[ 7.25984311e-01 -6.87708501e-01 -1.94888021e-03 1.44456792e+02] [ 6.87705986e-01 7.25986926e-01 -1.86006184e-03 5.19131803e+01] [ 2.69404189e-03 1.01191260e-05 9.99996371e-01 2.96625629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.914012739 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:144.48, Y:51.93, Z:0.30 [[ 7.26208518e-01 -6.87471738e-01 -1.94851550e-03 1.44475220e+02] [ 6.87469221e-01 7.26211132e-01 -1.86044381e-03 5.19327640e+01] [ 2.69403619e-03 1.15257092e-05 9.99996371e-01 2.98335495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.944012739 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:144.49, Y:51.95, Z:0.31 [[ 7.25292350e-01 -6.88438241e-01 -1.94816591e-03 1.44494995e+02] [ 6.88435726e-01 7.25294966e-01 -1.86080982e-03 5.19520876e+01] [ 2.69404757e-03 8.44411649e-06 9.99996371e-01 3.05194641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.974012739 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:144.51, Y:51.97, Z:0.31 [[ 7.23416990e-01 -6.90408621e-01 -1.94781459e-03 1.44512033e+02] [ 6.90406112e-01 7.23419613e-01 -1.86117749e-03 5.19738079e+01] [ 2.69406026e-03 1.62432119e-06 9.99996371e-01 3.05713299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.004012739 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:144.53, Y:51.99, Z:0.30 [[ 7.22474653e-01 -6.91394666e-01 -1.94744457e-03 1.44531276e+02] [ 6.91392160e-01 7.22477277e-01 -1.86156458e-03 5.19947728e+01] [ 2.69406027e-03 -1.51468436e-06 9.99996371e-01 3.04550789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.034012739 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:144.55, Y:52.02, Z:0.30 [[ 7.22059577e-01 -6.91828140e-01 -1.94710141e-03 1.44550732e+02] [ 6.91825635e-01 7.22062203e-01 -1.86192344e-03 5.20155363e+01] [ 2.69405936e-03 -2.63501308e-06 9.99996371e-01 3.02620972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.064012739 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:144.57, Y:52.03, Z:0.30 [[ 7.22249086e-01 -6.91630297e-01 -1.94675499e-03 1.44569187e+02] [ 6.91627790e-01 7.22251710e-01 -1.86228557e-03 5.20346169e+01] [ 2.69406024e-03 -1.39579885e-06 9.99996371e-01 3.02040253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.094012739 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:144.59, Y:52.05, Z:0.30 [[ 7.22127014e-01 -6.91757751e-01 -1.94638959e-03 1.44589624e+02] [ 6.91755244e-01 7.22129638e-01 -1.86266740e-03 5.20544577e+01] [ 2.69406022e-03 -1.34275547e-06 9.99996371e-01 3.02116986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.124012739 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:144.61, Y:52.07, Z:0.30 [[ 7.22545963e-01 -6.91320146e-01 -1.94606080e-03 1.44608296e+02] [ 6.91317636e-01 7.22548583e-01 -1.86301085e-03 5.20749735e+01] [ 2.69406040e-03 7.64815894e-07 9.99996371e-01 3.03703769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.154012739 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:144.62, Y:52.10, Z:0.30 [[ 7.24419718e-01 -6.89356429e-01 -1.94570288e-03 1.44624665e+02] [ 6.89353911e-01 7.24422331e-01 -1.86338458e-03 5.20962296e+01] [ 2.69404675e-03 8.59464024e-06 9.99996371e-01 3.02392832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.184012739 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:144.64, Y:52.12, Z:0.30 [[ 7.26813806e-01 -6.86831790e-01 -1.94539255e-03 1.44643858e+02] [ 6.86829261e-01 7.26816409e-01 -1.86370850e-03 5.21170162e+01] [ 2.69399748e-03 1.84165375e-05 9.99996371e-01 3.00549675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21401273899997 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:144.66, Y:52.14, Z:0.30 [[ 7.27729162e-01 -6.85861854e-01 -1.94503892e-03 1.44663769e+02] [ 6.85859321e-01 7.27731761e-01 -1.86407749e-03 5.21361231e+01] [ 2.69396625e-03 2.25204736e-05 9.99996371e-01 3.00366963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24401273899997 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:144.68, Y:52.16, Z:0.30 [[ 7.28405871e-01 -6.85143128e-01 -1.94468517e-03 1.44683013e+02] [ 6.85140591e-01 7.28408467e-01 -1.86444647e-03 5.21552429e+01] [ 2.69393783e-03 2.56910124e-05 9.99996371e-01 3.00259382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27401273899997 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:144.70, Y:52.17, Z:0.31 [[ 7.29818477e-01 -6.83638216e-01 -1.94444352e-03 1.44703659e+02] [ 6.83635673e-01 7.29821067e-01 -1.86469845e-03 5.21747393e+01] [ 2.69387497e-03 3.16004249e-05 9.99996371e-01 3.06769084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30401273899997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:144.72, Y:52.19, Z:0.31 [[ 7.30430091e-01 -6.82984702e-01 -1.94411632e-03 1.44722523e+02] [ 6.82982156e-01 7.30432677e-01 -1.86503952e-03 5.21949017e+01] [ 2.69383955e-03 3.44842319e-05 9.99996371e-01 3.08966076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33401273899997 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:144.74, Y:52.22, Z:0.31 [[ 7.32811731e-01 -6.80428680e-01 -1.94377227e-03 1.44738728e+02] [ 6.80426124e-01 7.32814308e-01 -1.86539803e-03 5.22177604e+01] [ 2.69369445e-03 4.43921291e-05 9.99996371e-01 3.06878867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36401273899997 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:144.76, Y:52.24, Z:0.30 [[ 7.35448612e-01 -6.77577717e-01 -1.94342349e-03 1.44755495e+02] [ 6.77575150e-01 7.35451178e-01 -1.86576133e-03 5.22389821e+01] [ 2.69349140e-03 5.53561142e-05 9.99996371e-01 3.01384367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39401273899998 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:144.78, Y:52.26, Z:0.30 [[ 7.35983804e-01 -6.76996355e-01 -1.94305998e-03 1.44775449e+02] [ 6.76993785e-01 7.35986367e-01 -1.86613982e-03 5.22592824e+01] [ 2.69343551e-03 5.80091508e-05 9.99996371e-01 3.01961278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42401273899998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:144.79, Y:52.28, Z:0.30 [[ 7.35704366e-01 -6.77300016e-01 -1.94271537e-03 1.44792747e+02] [ 6.77297447e-01 7.35706929e-01 -1.86649851e-03 5.22807728e+01] [ 2.69344863e-03 5.73949403e-05 9.99996371e-01 3.03130614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45401273899998 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:144.81, Y:52.30, Z:0.30 [[ 7.35023363e-01 -6.78038999e-01 -1.94235202e-03 1.44811079e+02] [ 6.78036431e-01 7.35025927e-01 -1.86687654e-03 5.23021663e+01] [ 2.69349420e-03 5.52124400e-05 9.99996371e-01 3.04457259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48401273899998 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:144.83, Y:52.32, Z:0.31 [[ 7.34350102e-01 -6.78768116e-01 -1.94201172e-03 1.44829837e+02] [ 6.78765550e-01 7.34352668e-01 -1.86723047e-03 5.23233508e+01] [ 2.69353800e-03 5.30302359e-05 9.99996371e-01 3.05667381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51401273899998 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:144.85, Y:52.34, Z:0.31 [[ 7.33843965e-01 -6.79315291e-01 -1.94166872e-03 1.44848044e+02] [ 6.79312726e-01 7.33846532e-01 -1.86758708e-03 5.23435000e+01] [ 2.69356732e-03 5.15172383e-05 9.99996371e-01 3.06514772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54401273899998 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:144.87, Y:52.37, Z:0.31 [[ 7.34335768e-01 -6.78783626e-01 -1.94141830e-03 1.44866059e+02] [ 6.78781058e-01 7.34338333e-01 -1.86784736e-03 5.23653415e+01] [ 2.69352208e-03 5.38291570e-05 9.99996371e-01 3.06603124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57401273899998 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:144.88, Y:52.39, Z:0.30 [[ 7.34379530e-01 -6.78736280e-01 -1.94107302e-03 1.44883715e+02] [ 6.78733712e-01 7.34382093e-01 -1.86820611e-03 5.23860690e+01] [ 2.69350853e-03 5.45006327e-05 9.99996371e-01 3.04421242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60401273899998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:144.90, Y:52.41, Z:0.30 [[ 7.34601071e-01 -6.78496500e-01 -1.94081996e-03 1.44901621e+02] [ 6.78493929e-01 7.34603632e-01 -1.86846897e-03 5.24076914e+01] [ 2.69348305e-03 5.57447498e-05 9.99996371e-01 3.02424022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63401273899999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:144.92, Y:52.43, Z:0.30 [[ 7.34666665e-01 -6.78425476e-01 -1.94047552e-03 1.44921111e+02] [ 6.78422904e-01 7.34669225e-01 -1.86882661e-03 5.24282906e+01] [ 2.69346723e-03 5.65015713e-05 9.99996371e-01 3.02989091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.664012739 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:144.94, Y:52.45, Z:0.30 [[ 7.35551107e-01 -6.77466460e-01 -1.94012562e-03 1.44938219e+02] [ 6.77463884e-01 7.35553663e-01 -1.86918979e-03 5.24508517e+01] [ 2.69337990e-03 6.05195819e-05 9.99996371e-01 3.02439223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.694012739 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:144.96, Y:52.47, Z:0.30 [[ 7.36185849e-01 -6.76776649e-01 -1.93977322e-03 1.44955374e+02] [ 6.76774070e-01 7.36188402e-01 -1.86955543e-03 5.24719651e+01] [ 2.69331001e-03 6.35520389e-05 9.99996371e-01 3.02889466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.724012739 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:144.97, Y:52.49, Z:0.30 [[ 7.36513240e-01 -6.76420347e-01 -1.93945429e-03 1.44972785e+02] [ 6.76417765e-01 7.36515791e-01 -1.86988622e-03 5.24940137e+01] [ 2.69326780e-03 6.53146185e-05 9.99996371e-01 3.04914507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.754012739 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:144.99, Y:52.52, Z:0.31 [[ 7.37120437e-01 -6.75758611e-01 -1.93910308e-03 1.44988322e+02] [ 6.75756027e-01 7.37122985e-01 -1.87025036e-03 5.25188257e+01] [ 2.69319524e-03 6.82391726e-05 9.99996371e-01 3.05889881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.784012739 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:145.00, Y:52.54, Z:0.31 [[ 7.35454862e-01 -6.77570946e-01 -1.93874879e-03 1.45002195e+02] [ 6.77568367e-01 7.35457415e-01 -1.87061755e-03 5.25436447e+01] [ 2.69334328e-03 6.21199209e-05 9.99996371e-01 3.06609295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.814012739 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:145.02, Y:52.57, Z:0.31 [[ 7.33736248e-01 -6.79431646e-01 -1.93851893e-03 1.45019910e+02] [ 6.79429072e-01 7.33738806e-01 -1.87085573e-03 5.25661463e+01] [ 2.69348515e-03 5.56285478e-05 9.99996371e-01 3.08880432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.844012739 meters Centerline goodness : 0.998443 Centerline is valid? [True, True] Translation: X:145.03, Y:52.59, Z:0.31 [[ 7.28690820e-01 -6.84840078e-01 -1.93817460e-03 1.45034560e+02] [ 6.84837522e-01 7.28693397e-01 -1.87121238e-03 5.25898920e+01] [ 2.69381627e-03 3.62005929e-05 9.99996371e-01 3.10257104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.874012739 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:145.05, Y:52.61, Z:0.31 [[ 7.25540659e-01 -6.88176574e-01 -1.93785480e-03 1.45052527e+02] [ 6.88174029e-01 7.25543247e-01 -1.87154351e-03 5.26111187e+01] [ 2.69394987e-03 2.42995667e-05 9.99996371e-01 3.09392743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.904012739 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:145.07, Y:52.63, Z:0.31 [[ 7.18266224e-01 -6.95765678e-01 -1.93751306e-03 1.45071177e+02] [ 6.95763159e-01 7.18268837e-01 -1.87189724e-03 5.26323225e+01] [ 2.69405710e-03 -3.52964680e-06 9.99996371e-01 3.05540377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.934012739 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:145.09, Y:52.65, Z:0.31 [[ 7.14082601e-01 -7.00058773e-01 -1.93717539e-03 1.45090932e+02] [ 7.00056270e-01 7.14085229e-01 -1.87224661e-03 5.26516512e+01] [ 2.69399100e-03 -1.91930518e-05 9.99996371e-01 3.05523321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96401273899997 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:145.11, Y:52.67, Z:0.30 [[ 7.08301344e-01 -7.05907540e-01 -1.93681398e-03 1.45109584e+02] [ 7.05905057e-01 7.08303991e-01 -1.87262041e-03 5.26713285e+01] [ 2.69374994e-03 -4.08272339e-05 9.99996371e-01 3.04997175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99401273899997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:145.13, Y:52.69, Z:0.31 [[ 7.06639742e-01 -7.07570863e-01 -1.93649151e-03 1.45129156e+02] [ 7.07568385e-01 7.06642393e-01 -1.87295383e-03 5.26913223e+01] [ 2.69365455e-03 -4.66965603e-05 9.99996371e-01 3.06306164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02401273899997 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:145.15, Y:52.71, Z:0.31 [[ 7.05102815e-01 -7.09102440e-01 -1.93615402e-03 1.45149277e+02] [ 7.09099968e-01 7.05105472e-01 -1.87330263e-03 5.27114164e+01] [ 2.69355626e-03 -5.20557936e-05 9.99996371e-01 3.10257132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05401273899997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:145.17, Y:52.73, Z:0.31 [[ 7.04345030e-01 -7.09855148e-01 -1.93581093e-03 1.45169031e+02] [ 7.09852677e-01 7.04347688e-01 -1.87365711e-03 5.27299468e+01] [ 2.69350910e-03 -5.44394958e-05 9.99996371e-01 3.08945973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08401273899997 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:145.19, Y:52.75, Z:0.31 [[ 7.02410631e-01 -7.11769317e-01 -1.93550170e-03 1.45189839e+02] [ 7.11766852e-01 7.02413294e-01 -1.87397649e-03 5.27471461e+01] [ 2.69336109e-03 -6.13249399e-05 9.99996371e-01 3.05171651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11401273899997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:145.21, Y:52.77, Z:0.31 [[ 7.01015285e-01 -7.13143622e-01 -1.93527786e-03 1.45210843e+02] [ 7.13141162e-01 7.01017953e-01 -1.87420762e-03 5.27654842e+01] [ 2.69324374e-03 -6.62781188e-05 9.99996371e-01 3.05545860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14401273899998 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:145.23, Y:52.78, Z:0.31 [[ 6.97609214e-01 -7.16475848e-01 -1.93493364e-03 1.45231966e+02] [ 7.16473400e-01 6.97611893e-01 -1.87456293e-03 5.27822517e+01] [ 2.69291178e-03 -7.86161157e-05 9.99996371e-01 3.07951131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17401273899998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:145.25, Y:52.80, Z:0.31 [[ 6.94895020e-01 -7.19108593e-01 -1.93462831e-03 1.45252886e+02] [ 7.19106155e-01 6.94897707e-01 -1.87487799e-03 5.28004578e+01] [ 2.69260965e-03 -8.83597505e-05 9.99996371e-01 3.09644302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20401273899998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:145.28, Y:52.81, Z:0.31 [[ 6.89610493e-01 -7.24177897e-01 -1.93428061e-03 1.45276148e+02] [ 7.24175477e-01 6.89613197e-01 -1.87523663e-03 5.28147616e+01] [ 2.69191036e-03 -1.07575727e-04 9.99996371e-01 3.11245085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23401273899998 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:145.30, Y:52.83, Z:0.31 [[ 6.87667111e-01 -7.26023556e-01 -1.93404396e-03 1.45299271e+02] [ 7.26021142e-01 6.87669822e-01 -1.87548067e-03 5.28308831e+01] [ 2.69162681e-03 -1.14450430e-04 9.99996371e-01 3.13057751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26401273899998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:145.32, Y:52.85, Z:0.31 [[ 6.86386592e-01 -7.27234287e-01 -1.93370794e-03 1.45321983e+02] [ 7.27231877e-01 6.86389305e-01 -1.87582706e-03 5.28472032e+01] [ 2.69144221e-03 -1.18711511e-04 9.99996371e-01 3.14588479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29401273899998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:145.35, Y:52.86, Z:0.31 [[ 6.85754062e-01 -7.27830769e-01 -1.93337243e-03 1.45346284e+02] [ 7.27828361e-01 6.85756777e-01 -1.87617280e-03 5.28621440e+01] [ 2.69135954e-03 -1.20570167e-04 9.99996371e-01 3.13641904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32401273899998 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:145.37, Y:52.88, Z:0.31 [[ 6.86844912e-01 -7.26801438e-01 -1.93303484e-03 1.45373000e+02] [ 7.26799024e-01 6.86847623e-01 -1.87652056e-03 5.28750937e+01] [ 2.69155823e-03 -1.16049239e-04 9.99996371e-01 3.07913529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35401273899998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:145.40, Y:52.89, Z:0.31 [[ 6.87347123e-01 -7.26326509e-01 -1.93269830e-03 1.45395507e+02] [ 7.26324093e-01 6.87349830e-01 -1.87686711e-03 5.28903303e+01] [ 2.69165819e-03 -1.13706126e-04 9.99996371e-01 3.06973790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38401273899999 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:145.42, Y:52.90, Z:0.31 [[ 6.89287604e-01 -7.24485242e-01 -1.93234160e-03 1.45419689e+02] [ 7.24482817e-01 6.89290304e-01 -1.87723429e-03 5.29047886e+01] [ 2.69197286e-03 -1.05993959e-04 9.99996371e-01 3.12572377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.414012739 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:145.44, Y:52.92, Z:0.32 [[ 6.90549158e-01 -7.23282882e-01 -1.93213244e-03 1.45441858e+02] [ 7.23280452e-01 6.90551853e-01 -1.87744954e-03 5.29219100e+01] [ 2.69216475e-03 -1.01002429e-04 9.99996371e-01 3.15136070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.444012739 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:145.47, Y:52.94, Z:0.31 [[ 6.93275347e-01 -7.20670217e-01 -1.93180104e-03 1.45468032e+02] [ 7.20667776e-01 6.93278032e-01 -1.87779047e-03 5.29352722e+01] [ 2.69254289e-03 -9.03609241e-05 9.99996371e-01 3.13736995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.474012739 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:145.49, Y:52.95, Z:0.31 [[ 6.94032236e-01 -7.19941334e-01 -1.93146935e-03 1.45490938e+02] [ 7.19938889e-01 6.94034918e-01 -1.87813157e-03 5.29514636e+01] [ 2.69265173e-03 -8.70560458e-05 9.99996371e-01 3.10636498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.504012739 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:145.52, Y:52.97, Z:0.31 [[ 6.96410382e-01 -7.17641171e-01 -1.93113824e-03 1.45515644e+02] [ 7.17638717e-01 6.96413055e-01 -1.87847197e-03 5.29665691e+01] [ 2.69293871e-03 -7.76721909e-05 9.99996371e-01 3.09510627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.534012739 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:145.54, Y:52.98, Z:0.31 [[ 6.98307127e-01 -7.15795661e-01 -1.93080606e-03 1.45536907e+02] [ 7.15793199e-01 6.98309793e-01 -1.87881335e-03 5.29830025e+01] [ 2.69314722e-03 -7.00690928e-05 9.99996371e-01 3.12415284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.564012739 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:145.56, Y:53.00, Z:0.32 [[ 7.03337789e-01 -7.10853169e-01 -1.93045446e-03 1.45561324e+02] [ 7.10850687e-01 7.03340437e-01 -1.87917453e-03 5.29982383e+01] [ 2.69358386e-03 -5.05704177e-05 9.99996371e-01 3.15878721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.594012739 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:145.58, Y:53.02, Z:0.32 [[ 7.06414222e-01 -7.07796031e-01 -1.93014363e-03 1.45582826e+02] [ 7.07793536e-01 7.06416858e-01 -1.87949374e-03 5.30162238e+01] [ 2.69378421e-03 -3.84420724e-05 9.99996371e-01 3.17043651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.624012739 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:145.61, Y:53.03, Z:0.32 [[ 7.11786727e-01 -7.02393004e-01 -1.92981121e-03 1.45606232e+02] [ 7.02390488e-01 7.11789342e-01 -1.87983501e-03 5.30329084e+01] [ 2.69400200e-03 -1.74394309e-05 9.99996371e-01 3.16289572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.654012739 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:145.63, Y:53.05, Z:0.31 [[ 7.13561019e-01 -7.00590429e-01 -1.92946351e-03 1.45626720e+02] [ 7.00587906e-01 7.13563628e-01 -1.88019181e-03 5.30502230e+01] [ 2.69403937e-03 -1.01272172e-05 9.99996371e-01 3.14549987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.684012739 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:145.65, Y:53.07, Z:0.31 [[ 7.15842535e-01 -6.98259081e-01 -1.92909401e-03 1.45649209e+02] [ 6.98256548e-01 7.15845134e-01 -1.88057085e-03 5.30672495e+01] [ 2.69405823e-03 -8.09916845e-07 9.99996371e-01 3.14148190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71401273899997 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:145.67, Y:53.09, Z:0.31 [[ 7.16362100e-01 -6.97726037e-01 -1.92876003e-03 1.45669335e+02] [ 6.97723501e-01 7.16364696e-01 -1.88091332e-03 5.30854976e+01] [ 2.69405779e-03 1.67380860e-06 9.99996371e-01 3.12953892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74401273899997 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:145.69, Y:53.10, Z:0.31 [[ 7.17470009e-01 -6.96586726e-01 -1.92851512e-03 1.45690483e+02] [ 6.96584186e-01 7.17472601e-01 -1.88116440e-03 5.31035049e+01] [ 2.69405091e-03 6.30590298e-06 9.99996371e-01 3.09865225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77401273899997 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:145.71, Y:53.12, Z:0.31 [[ 7.18226216e-01 -6.95807003e-01 -1.92818286e-03 1.45711691e+02] [ 6.95804459e-01 7.18228804e-01 -1.88150490e-03 5.31217246e+01] [ 2.69404075e-03 9.70790961e-06 9.99996371e-01 3.10316910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80401273899997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:145.74, Y:53.14, Z:0.31 [[ 7.19506256e-01 -6.94483284e-01 -1.92784138e-03 1.45735652e+02] [ 6.94480734e-01 7.19508838e-01 -1.88185473e-03 5.31378610e+01] [ 2.69401556e-03 1.51575502e-05 9.99996371e-01 3.12574785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83401273899997 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:145.76, Y:53.16, Z:0.31 [[ 7.19774815e-01 -6.94204941e-01 -1.92749965e-03 1.45756940e+02] [ 6.94202389e-01 7.19777396e-01 -1.88220468e-03 5.31567128e+01] [ 2.69400647e-03 1.66886685e-05 9.99996371e-01 3.13818345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86401273899997 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:145.78, Y:53.18, Z:0.31 [[ 7.21716085e-01 -6.92186521e-01 -1.92715809e-03 1.45777296e+02] [ 6.92183961e-01 7.21718657e-01 -1.88255433e-03 5.31765681e+01] [ 2.69394468e-03 2.47218196e-05 9.99996371e-01 3.12989791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89401273899998 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:145.80, Y:53.20, Z:0.31 [[ 7.23153042e-01 -6.90685142e-01 -1.92681653e-03 1.45796996e+02] [ 6.90682576e-01 7.23155609e-01 -1.88290386e-03 5.31957485e+01] [ 2.69388190e-03 3.08090542e-05 9.99996371e-01 3.10616304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92401273899998 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:145.82, Y:53.21, Z:0.31 [[ 7.26382483e-01 -6.87287987e-01 -1.92647754e-03 1.45817199e+02] [ 6.87285409e-01 7.26385036e-01 -1.88325063e-03 5.32144279e+01] [ 2.69369999e-03 4.39203617e-05 9.99996371e-01 3.12527802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95401273899998 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:145.84, Y:53.23, Z:0.31 [[ 7.27558626e-01 -6.86042809e-01 -1.92614286e-03 1.45836327e+02] [ 6.86040224e-01 7.27561174e-01 -1.88359287e-03 5.32344674e+01] [ 2.69361210e-03 4.90127569e-05 9.99996371e-01 3.12965533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98401273899998 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:145.86, Y:53.25, Z:0.31 [[ 7.27437252e-01 -6.86171506e-01 -1.92580948e-03 1.45856547e+02] [ 6.86168921e-01 7.27439800e-01 -1.88393365e-03 5.32545348e+01] [ 2.69361206e-03 4.90129037e-05 9.99996371e-01 3.13042265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01401273899998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:145.87, Y:53.28, Z:0.31 [[ 7.28072197e-01 -6.85497753e-01 -1.92547615e-03 1.45872868e+02] [ 6.85495165e-01 7.28074741e-01 -1.88427428e-03 5.32761619e+01] [ 2.69355633e-03 5.19831197e-05 9.99996371e-01 3.12449324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04401273899998 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:145.89, Y:53.30, Z:0.31 [[ 7.27788144e-01 -6.85799323e-01 -1.92523239e-03 1.45891156e+02] [ 6.85796736e-01 7.27790688e-01 -1.88452331e-03 5.32958081e+01] [ 2.69357101e-03 5.12156339e-05 9.99996371e-01 3.13096806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07401273899998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:145.91, Y:53.32, Z:0.31 [[ 7.26286544e-01 -6.87389373e-01 -1.92488001e-03 1.45909340e+02] [ 6.87386790e-01 7.26289094e-01 -1.88488316e-03 5.33161609e+01] [ 2.69366801e-03 4.58281830e-05 9.99996371e-01 3.14434214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10401273899998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:145.93, Y:53.34, Z:0.32 [[ 7.24842294e-01 -6.88912146e-01 -1.92452785e-03 1.45928182e+02] [ 6.88909567e-01 7.24844848e-01 -1.88524266e-03 5.33367253e+01] [ 2.69375066e-03 4.06779661e-05 9.99996371e-01 3.18294052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13401273899999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:145.95, Y:53.36, Z:0.32 [[ 7.21643757e-01 -6.92261934e-01 -1.92418057e-03 1.45945549e+02] [ 6.92259367e-01 7.21646322e-01 -1.88559704e-03 5.33577909e+01] [ 2.69390489e-03 2.86973080e-05 9.99996371e-01 3.19273738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.164012739 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:145.97, Y:53.38, Z:0.32 [[ 7.20163272e-01 -6.93801961e-01 -1.92381299e-03 1.45965168e+02] [ 6.93799398e-01 7.20165841e-01 -1.88597200e-03 5.33775768e+01] [ 2.69395547e-03 2.34674739e-05 9.99996371e-01 3.18266500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.194012739 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:145.99, Y:53.40, Z:0.32 [[ 7.18569823e-01 -6.95452162e-01 -1.92346016e-03 1.45985336e+02] [ 6.95449604e-01 7.18572397e-01 -1.88633177e-03 5.33970736e+01] [ 2.69399889e-03 1.77914782e-05 9.99996371e-01 3.15850725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.224012739 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:146.00, Y:53.42, Z:0.31 [[ 7.17853243e-01 -6.96191800e-01 -1.92309758e-03 1.46003893e+02] [ 6.96189244e-01 7.17855819e-01 -1.88670135e-03 5.34163982e+01] [ 2.69401280e-03 1.55348291e-05 9.99996371e-01 3.14703228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.254012739 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:146.03, Y:53.43, Z:0.31 [[ 7.16939297e-01 -6.97132948e-01 -1.92271427e-03 1.46025438e+02] [ 6.97130394e-01 7.16941875e-01 -1.88709189e-03 5.34347844e+01] [ 2.69402831e-03 1.25477754e-05 9.99996371e-01 3.14285333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.284012739 meters Centerline goodness : 0.998358 Centerline is valid? [True, True] Translation: X:146.05, Y:53.45, Z:0.31 [[ 7.16577162e-01 -6.97505179e-01 -1.92236300e-03 1.46047191e+02] [ 6.97502625e-01 7.16579741e-01 -1.88744966e-03 5.34530011e+01] [ 2.69403230e-03 1.16500790e-05 9.99996371e-01 3.14563014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.314012739 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:146.07, Y:53.47, Z:0.32 [[ 7.17609229e-01 -6.96443322e-01 -1.92201130e-03 1.46067881e+02] [ 6.96440764e-01 7.17611802e-01 -1.88780774e-03 5.34700728e+01] [ 2.69400908e-03 1.61412369e-05 9.99996371e-01 3.15845296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.344012739 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:146.09, Y:53.49, Z:0.32 [[ 7.19157361e-01 -6.94844585e-01 -1.92163865e-03 1.46086851e+02] [ 6.94842020e-01 7.19159928e-01 -1.88818699e-03 5.34895479e+01] [ 2.69396202e-03 2.26682860e-05 9.99996371e-01 3.15335750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.374012739 meters Centerline goodness : 0.997749 Centerline is valid? [True, True] Translation: X:146.11, Y:53.51, Z:0.31 [[ 7.23437078e-01 -6.90387647e-01 -1.92126712e-03 1.46106857e+02] [ 6.90385065e-01 7.23439628e-01 -1.88856495e-03 5.35095021e+01] [ 2.69376268e-03 3.98437812e-05 9.99996371e-01 3.11584164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.404012739 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:146.13, Y:53.53, Z:0.31 [[ 7.25406578e-01 -6.88317955e-01 -1.92091289e-03 1.46125978e+02] [ 6.88315365e-01 7.25409119e-01 -1.88892518e-03 5.35280525e+01] [ 2.69362884e-03 4.80448910e-05 9.99996371e-01 3.10796474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.434012739 meters Centerline goodness : 0.997635 Centerline is valid? [True, True] Translation: X:146.14, Y:53.55, Z:0.31 [[ 7.28306109e-01 -6.85249241e-01 -1.92053863e-03 1.46144910e+02] [ 6.85246639e-01 7.28308639e-01 -1.88930562e-03 5.35484727e+01] [ 2.69339012e-03 5.99501847e-05 9.99996371e-01 3.14953280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46401273899997 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:146.16, Y:53.57, Z:0.32 [[ 7.29121618e-01 -6.84381457e-01 -1.92022723e-03 1.46163841e+02] [ 6.84378851e-01 7.29124144e-01 -1.88962207e-03 5.35676230e+01] [ 2.69330634e-03 6.36013953e-05 9.99996371e-01 3.16940118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49401273899997 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:146.18, Y:53.59, Z:0.32 [[ 7.30162941e-01 -6.83270366e-01 -1.91985996e-03 1.46183407e+02] [ 6.83267756e-01 7.30165462e-01 -1.88999514e-03 5.35873534e+01] [ 2.69319311e-03 6.82259994e-05 9.99996371e-01 3.19676827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52401273899997 meters Centerline goodness : 0.997055 Centerline is valid? [True, True] Translation: X:146.20, Y:53.61, Z:0.32 [[ 7.30262129e-01 -6.83164357e-01 -1.91951711e-03 1.46201042e+02] [ 6.83161745e-01 7.30264648e-01 -1.89034329e-03 5.36082510e+01] [ 2.69317064e-03 6.91054581e-05 9.99996371e-01 3.21169130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55401273899997 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:146.22, Y:53.63, Z:0.32 [[ 7.29796039e-01 -6.83662240e-01 -1.91915463e-03 1.46219760e+02] [ 6.83659629e-01 7.29798559e-01 -1.89071122e-03 5.36294403e+01] [ 2.69320415e-03 6.77850137e-05 9.99996371e-01 3.21158230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58401273899997 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:146.24, Y:53.65, Z:0.32 [[ 7.29207489e-01 -6.84289965e-01 -1.91881105e-03 1.46237912e+02] [ 6.84287355e-01 7.29210011e-01 -1.89105984e-03 5.36497368e+01] [ 2.69324950e-03 6.59568659e-05 9.99996371e-01 3.20009534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61401273899997 meters Centerline goodness : 0.997033 Centerline is valid? [True, True] Translation: X:146.26, Y:53.67, Z:0.32 [[ 7.27405294e-01 -6.86205405e-01 -1.91844794e-03 1.46255242e+02] [ 6.86202801e-01 7.27407821e-01 -1.89142813e-03 5.36715681e+01] [ 2.69340225e-03 5.93904872e-05 9.99996371e-01 3.19122999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64401273899998 meters Centerline goodness : 0.996830 Centerline is valid? [True, True] Translation: X:146.27, Y:53.69, Z:0.32 [[ 7.26551293e-01 -6.87109554e-01 -1.91810970e-03 1.46273575e+02] [ 6.87106952e-01 7.26553823e-01 -1.89177109e-03 5.36925452e+01] [ 2.69346392e-03 5.65222247e-05 9.99996371e-01 3.20546930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67401273899998 meters Centerline goodness : 0.996748 Centerline is valid? [True, True] Translation: X:146.29, Y:53.71, Z:0.32 [[ 7.24988714e-01 -6.88758076e-01 -1.91777110e-03 1.46291532e+02] [ 6.88755479e-01 7.24991249e-01 -1.89211428e-03 5.37147971e+01] [ 2.69357625e-03 5.08861460e-05 9.99996371e-01 3.23006564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70401273899998 meters Centerline goodness : 0.996386 Centerline is valid? [True, True] Translation: X:146.31, Y:53.74, Z:0.32 [[ 7.23964511e-01 -6.89834553e-01 -1.91740579e-03 1.46309114e+02] [ 6.89831958e-01 7.23967049e-01 -1.89248439e-03 5.37357847e+01] [ 2.69363974e-03 4.74037463e-05 9.99996371e-01 3.24809361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73401273899998 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:146.33, Y:53.76, Z:0.32 [[ 7.23809691e-01 -6.89996997e-01 -1.91707622e-03 1.46326494e+02] [ 6.89994402e-01 7.23812229e-01 -1.89281819e-03 5.37561996e+01] [ 2.69364208e-03 4.72682892e-05 9.99996371e-01 3.24360276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76401273899998 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:146.34, Y:53.78, Z:0.32 [[ 7.23560564e-01 -6.90258239e-01 -1.91675098e-03 1.46342892e+02] [ 6.90255644e-01 7.23563101e-01 -1.89314748e-03 5.37801047e+01] [ 2.69365093e-03 4.67586789e-05 9.99996371e-01 3.23958688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79401273899998 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:146.36, Y:53.80, Z:0.32 [[ 7.23031462e-01 -6.90812444e-01 -1.91639403e-03 1.46359713e+02] [ 6.90809851e-01 7.23034000e-01 -1.89350875e-03 5.38008102e+01] [ 2.69367745e-03 4.52025234e-05 9.99996371e-01 3.24589940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82401273899998 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:146.38, Y:53.82, Z:0.33 [[ 7.22061328e-01 -6.91826400e-01 -1.91601475e-03 1.46376536e+02] [ 6.91823809e-01 7.22063869e-01 -1.89389246e-03 5.38230515e+01] [ 2.69372983e-03 4.19618847e-05 9.99996371e-01 3.25802720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85401273899998 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:146.39, Y:53.84, Z:0.32 [[ 7.21520056e-01 -6.92390886e-01 -1.91566309e-03 1.46393875e+02] [ 6.92388296e-01 7.21522598e-01 -1.89424809e-03 5.38434479e+01] [ 2.69375433e-03 4.03552856e-05 9.99996371e-01 3.24174484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88401273899999 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:146.41, Y:53.86, Z:0.32 [[ 7.21129604e-01 -6.92797536e-01 -1.91529146e-03 1.46411709e+02] [ 6.92794946e-01 7.21132147e-01 -1.89462378e-03 5.38647670e+01] [ 2.69376893e-03 3.93650484e-05 9.99996371e-01 3.22877823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.914012739 meters Centerline goodness : 0.996346 Centerline is valid? [True, True] Translation: X:146.43, Y:53.89, Z:0.32 [[ 7.20274184e-01 -6.93686840e-01 -1.91494123e-03 1.46427408e+02] [ 6.93684253e-01 7.20276729e-01 -1.89497770e-03 5.38882588e+01] [ 2.69380870e-03 3.65389461e-05 9.99996371e-01 3.22190690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.944012739 meters Centerline goodness : 0.996319 Centerline is valid? [True, True] Translation: X:146.44, Y:53.91, Z:0.32 [[ 7.19917661e-01 -6.94056839e-01 -1.91458334e-03 1.46444517e+02] [ 6.94054252e-01 7.19920206e-01 -1.89533922e-03 5.39109161e+01] [ 2.69382038e-03 3.56634692e-05 9.99996371e-01 3.23574698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.974012739 meters Centerline goodness : 0.996021 Centerline is valid? [True, True] Translation: X:146.46, Y:53.93, Z:0.32 [[ 7.19673043e-01 -6.94310483e-01 -1.91421760e-03 1.46461133e+02] [ 6.94307896e-01 7.19675588e-01 -1.89570854e-03 5.39320561e+01] [ 2.69382599e-03 3.52339351e-05 9.99996371e-01 3.24678548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.004012739 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:146.48, Y:53.96, Z:0.32 [[ 7.18763560e-01 -6.95251955e-01 -1.91388793e-03 1.46475273e+02] [ 6.95249371e-01 7.18766108e-01 -1.89604131e-03 5.39555586e+01] [ 2.69386420e-03 3.21760267e-05 9.99996371e-01 3.24487890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.034012739 meters Centerline goodness : 0.995795 Centerline is valid? [True, True] Translation: X:146.49, Y:53.98, Z:0.32 [[ 7.18075616e-01 -6.95962462e-01 -1.91350758e-03 1.46493331e+02] [ 6.95959879e-01 7.18078165e-01 -1.89642508e-03 5.39772892e+01] [ 2.69388868e-03 3.00521046e-05 9.99996371e-01 3.24763544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.064012739 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:146.51, Y:54.00, Z:0.32 [[ 7.17631131e-01 -6.96420778e-01 -1.91314584e-03 1.46510866e+02] [ 6.96418195e-01 7.17633680e-01 -1.89678994e-03 5.39973723e+01] [ 2.69390182e-03 2.88459384e-05 9.99996371e-01 3.24614883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.094012739 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:146.53, Y:54.02, Z:0.32 [[ 7.16319613e-01 -6.97769700e-01 -1.91282235e-03 1.46528547e+02] [ 6.97767121e-01 7.16322166e-01 -1.89711611e-03 5.40185617e+01] [ 2.69394719e-03 2.42369269e-05 9.99996371e-01 3.24244695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.124012739 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:146.55, Y:54.04, Z:0.32 [[ 7.12999152e-01 -7.01162286e-01 -1.91244186e-03 1.46547703e+02] [ 7.01159719e-01 7.13001717e-01 -1.89749960e-03 5.40373113e+01] [ 2.69402949e-03 1.19884086e-05 9.99996371e-01 3.22401488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.154012739 meters Centerline goodness : 0.996059 Centerline is valid? [True, True] Translation: X:146.57, Y:54.06, Z:0.32 [[ 7.11032480e-01 -7.03156567e-01 -1.91206388e-03 1.46567015e+02] [ 7.03154005e-01 7.11035050e-01 -1.89788040e-03 5.40568848e+01] [ 2.69405150e-03 4.97922863e-06 9.99996371e-01 3.21848486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.184012739 meters Centerline goodness : 0.995995 Centerline is valid? [True, True] Translation: X:146.59, Y:54.08, Z:0.32 [[ 7.08855947e-01 -7.05350687e-01 -1.91171242e-03 1.46585555e+02] [ 7.05348133e-01 7.08858525e-01 -1.89823435e-03 5.40783496e+01] [ 2.69405455e-03 -2.84807833e-06 9.99996371e-01 3.20928296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21401273899997 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:146.61, Y:54.10, Z:0.32 [[ 7.08460944e-01 -7.05747432e-01 -1.91136183e-03 1.46605110e+02] [ 7.05744878e-01 7.08463523e-01 -1.89858731e-03 5.40986686e+01] [ 2.69405325e-03 -3.85886410e-06 9.99996371e-01 3.20915812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24401273899997 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:146.63, Y:54.12, Z:0.32 [[ 7.08280009e-01 -7.05929017e-01 -1.91101246e-03 1.46625540e+02] [ 7.05926463e-01 7.08282587e-01 -1.89893890e-03 5.41167963e+01] [ 2.69405292e-03 -4.05380366e-06 9.99996371e-01 3.19814825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27401273899997 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:146.65, Y:54.14, Z:0.32 [[ 7.07913519e-01 -7.06296537e-01 -1.91064564e-03 1.46645889e+02] [ 7.06293984e-01 7.07916098e-01 -1.89930790e-03 5.41358905e+01] [ 2.69405140e-03 -4.93177899e-06 9.99996371e-01 3.20455350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30401273899997 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:146.66, Y:54.15, Z:0.32 [[ 7.06532845e-01 -7.07677673e-01 -1.91029984e-03 1.46664864e+02] [ 7.07675124e-01 7.06535428e-01 -1.89965564e-03 5.41548767e+01] [ 2.69403840e-03 -9.70256872e-06 9.99996371e-01 3.23423066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33401273899997 meters Centerline goodness : 0.995466 Centerline is valid? [True, True] Translation: X:146.68, Y:54.17, Z:0.33 [[ 7.05737191e-01 -7.08471149e-01 -1.90993287e-03 1.46683855e+02] [ 7.08468601e-01 7.05739775e-01 -1.90002453e-03 5.41734832e+01] [ 2.69402816e-03 -1.22094961e-05 9.99996371e-01 3.25389569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36401273899997 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:146.71, Y:54.19, Z:0.33 [[ 7.03844126e-01 -7.10351884e-01 -1.90957123e-03 1.46705254e+02] [ 7.10349342e-01 7.03846716e-01 -1.90038792e-03 5.41923589e+01] [ 2.69398958e-03 -1.88857892e-05 9.99996371e-01 3.25469864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39401273899998 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:146.73, Y:54.21, Z:0.32 [[ 7.03024018e-01 -7.11163543e-01 -1.90922733e-03 1.46725169e+02] [ 7.11161003e-01 7.03026610e-01 -1.90073335e-03 5.42112904e+01] [ 2.69396988e-03 -2.15068269e-05 9.99996371e-01 3.24374332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42401273899998 meters Centerline goodness : 0.996403 Centerline is valid? [True, True] Translation: X:146.74, Y:54.23, Z:0.32 [[ 7.03306522e-01 -7.10884162e-01 -1.90897896e-03 1.46743055e+02] [ 7.10881621e-01 7.03309113e-01 -1.90098277e-03 5.42308847e+01] [ 2.69398084e-03 -2.00844716e-05 9.99996371e-01 3.22515958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45401273899998 meters Centerline goodness : 0.996519 Centerline is valid? [True, True] Translation: X:146.76, Y:54.25, Z:0.32 [[ 7.04025495e-01 -7.10172134e-01 -1.90860601e-03 1.46762541e+02] [ 7.10169589e-01 7.04028082e-01 -1.90135714e-03 5.42508414e+01] [ 2.69400309e-03 -1.68300417e-05 9.99996371e-01 3.22088306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48401273899998 meters Centerline goodness : 0.996544 Centerline is valid? [True, True] Translation: X:146.78, Y:54.27, Z:0.32 [[ 7.05106304e-01 -7.09099047e-01 -1.90826931e-03 1.46783847e+02] [ 7.09096497e-01 7.05108886e-01 -1.90169501e-03 5.42698450e+01] [ 2.69402776e-03 -1.22499440e-05 9.99996371e-01 3.21005685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51401273899998 meters Centerline goodness : 0.996455 Centerline is valid? [True, True] Translation: X:146.80, Y:54.29, Z:0.32 [[ 7.05338248e-01 -7.08868334e-01 -1.90793160e-03 1.46803315e+02] [ 7.08865783e-01 7.05340829e-01 -1.90203376e-03 5.42885232e+01] [ 2.69403356e-03 -1.08902622e-05 9.99996371e-01 3.18827702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54401273899998 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:146.82, Y:54.31, Z:0.32 [[ 7.05859811e-01 -7.08348988e-01 -1.90761613e-03 1.46822307e+02] [ 7.08346434e-01 7.05862388e-01 -1.90235011e-03 5.43075542e+01] [ 2.69404225e-03 -8.46059699e-06 9.99996371e-01 3.18452741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57401273899998 meters Centerline goodness : 0.996845 Centerline is valid? [True, True] Translation: X:146.84, Y:54.33, Z:0.32 [[ 7.06526654e-01 -7.07683863e-01 -1.90725211e-03 1.46841777e+02] [ 7.07681305e-01 7.06529228e-01 -1.90271499e-03 5.43268316e+01] [ 2.69405006e-03 -5.40781200e-06 9.99996371e-01 3.20538622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60401273899998 meters Centerline goodness : 0.996421 Centerline is valid? [True, True] Translation: X:146.86, Y:54.35, Z:0.33 [[ 7.07597795e-01 -7.06612853e-01 -1.90690118e-03 1.46861554e+02] [ 7.06610290e-01 7.07600365e-01 -1.90306663e-03 5.43452736e+01] [ 2.69405531e-03 -8.30244138e-07 9.99996371e-01 3.26075700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63401273899999 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:146.88, Y:54.36, Z:0.33 [[ 7.07942420e-01 -7.06267580e-01 -1.90665992e-03 1.46880243e+02] [ 7.06265016e-01 7.07944987e-01 -1.90330831e-03 5.43643657e+01] [ 2.69405529e-03 8.25492008e-07 9.99996371e-01 3.27893130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.664012739 meters Centerline goodness : 0.996720 Centerline is valid? [True, True] Translation: X:146.90, Y:54.38, Z:0.33 [[ 7.08481611e-01 -7.05726698e-01 -1.90629116e-03 1.46900522e+02] [ 7.05724131e-01 7.08484176e-01 -1.90367758e-03 5.43836743e+01] [ 2.69405321e-03 3.40488632e-06 9.99996371e-01 3.29043971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.694012739 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:146.92, Y:54.40, Z:0.33 [[ 7.08490904e-01 -7.05717371e-01 -1.90593560e-03 1.46920958e+02] [ 7.05714802e-01 7.08493467e-01 -1.90403350e-03 5.44034974e+01] [ 2.69405243e-03 3.94344780e-06 9.99996371e-01 3.29985019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.724012739 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:146.94, Y:54.42, Z:0.33 [[ 7.09730487e-01 -7.04470727e-01 -1.90558161e-03 1.46940130e+02] [ 7.04468153e-01 7.09733045e-01 -1.90438771e-03 5.44222996e+01] [ 2.69403963e-03 9.18046011e-06 9.99996371e-01 3.29360813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.754012739 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:146.96, Y:54.44, Z:0.33 [[ 7.10804034e-01 -7.03387514e-01 -1.90520642e-03 1.46959444e+02] [ 7.03384935e-01 7.10806587e-01 -1.90476299e-03 5.44425130e+01] [ 2.69401977e-03 1.38197210e-05 9.99996371e-01 3.27016519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.784012739 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:146.98, Y:54.46, Z:0.32 [[ 7.13389043e-01 -7.00765614e-01 -1.90485493e-03 1.46976855e+02] [ 7.00763024e-01 7.13391585e-01 -1.90511442e-03 5.44644561e+01] [ 2.69394616e-03 2.42358512e-05 9.99996371e-01 3.23026926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.814012739 meters Centerline goodness : 0.996562 Centerline is valid? [True, True] Translation: X:146.99, Y:54.49, Z:0.32 [[ 7.14330509e-01 -6.99805899e-01 -1.90452036e-03 1.46994791e+02] [ 6.99803306e-01 7.14333047e-01 -1.90544883e-03 5.44851790e+01] [ 2.69390617e-03 2.83305911e-05 9.99996371e-01 3.23954026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.844012739 meters Centerline goodness : 0.996863 Centerline is valid? [True, True] Translation: X:147.01, Y:54.51, Z:0.33 [[ 7.15175920e-01 -6.98941899e-01 -1.90414080e-03 1.47011392e+02] [ 6.98939301e-01 7.15178454e-01 -1.90582806e-03 5.45064532e+01] [ 2.69386356e-03 3.21234922e-05 9.99996371e-01 3.28901011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.874012739 meters Centerline goodness : 0.996408 Centerline is valid? [True, True] Translation: X:147.03, Y:54.53, Z:0.33 [[ 7.15422678e-01 -6.98689321e-01 -1.90388435e-03 1.47029485e+02] [ 6.98686722e-01 7.15425210e-01 -1.90608421e-03 5.45275050e+01] [ 2.69384755e-03 3.34371523e-05 9.99996371e-01 3.30736902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.904012739 meters Centerline goodness : 0.996408 Centerline is valid? [True, True] Translation: X:147.05, Y:54.55, Z:0.33 [[ 7.15294947e-01 -6.98820088e-01 -1.90353600e-03 1.47049465e+02] [ 6.98817489e-01 7.15297479e-01 -1.90643204e-03 5.45477964e+01] [ 2.69384750e-03 3.34369585e-05 9.99996371e-01 3.30813636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.934012739 meters Centerline goodness : 0.996555 Centerline is valid? [True, True] Translation: X:147.07, Y:54.57, Z:0.33 [[ 7.14687673e-01 -6.99441140e-01 -1.90318744e-03 1.47065579e+02] [ 6.99438542e-01 7.14690206e-01 -1.90677994e-03 5.45709748e+01] [ 2.69386976e-03 3.15894705e-05 9.99996371e-01 3.30343485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96401273899997 meters Centerline goodness : 0.996146 Centerline is valid? [True, True] Translation: X:147.08, Y:54.59, Z:0.33 [[ 7.13585676e-01 -7.00565387e-01 -1.90283331e-03 1.47083184e+02] [ 7.00562792e-01 7.13588213e-01 -1.90713327e-03 5.45922304e+01] [ 2.69391098e-03 2.78487691e-05 9.99996371e-01 3.30660282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99401273899997 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:147.10, Y:54.61, Z:0.33 [[ 7.11161729e-01 -7.03025872e-01 -1.90247626e-03 1.47100622e+02] [ 7.03023284e-01 7.11164273e-01 -1.90748938e-03 5.46141670e+01] [ 2.69398753e-03 1.90483311e-05 9.99996371e-01 3.30959343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02401273899997 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:147.12, Y:54.63, Z:0.33 [[ 7.09670438e-01 -7.04531228e-01 -1.90211845e-03 1.47118575e+02] [ 7.04528645e-01 7.09672987e-01 -1.90784611e-03 5.46340541e+01] [ 2.69401925e-03 1.38450489e-05 9.99996371e-01 3.29635287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05401273899997 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:147.14, Y:54.66, Z:0.33 [[ 7.06935600e-01 -7.07275364e-01 -1.90185709e-03 1.47136195e+02] [ 7.07272790e-01 7.06938158e-01 -1.90810661e-03 5.46554990e+01] [ 2.69405215e-03 3.77672086e-06 9.99996371e-01 3.28094311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08401273899997 meters Centerline goodness : 0.996469 Centerline is valid? [True, True] Translation: X:147.15, Y:54.68, Z:0.33 [[ 7.05668531e-01 -7.08539561e-01 -1.90150530e-03 1.47154242e+02] [ 7.08536990e-01 7.05671093e-01 -1.90845713e-03 5.46753143e+01] [ 2.69405470e-03 -5.48701756e-07 9.99996371e-01 3.27531781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11401273899997 meters Centerline goodness : 0.996715 Centerline is valid? [True, True] Translation: X:147.17, Y:54.70, Z:0.33 [[ 7.04270598e-01 -7.09929088e-01 -1.90113437e-03 1.47173980e+02] [ 7.09926522e-01 7.04273164e-01 -1.90882656e-03 5.46958479e+01] [ 2.69404942e-03 -5.33529074e-06 9.99996371e-01 3.25120716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14401273899998 meters Centerline goodness : 0.996306 Centerline is valid? [True, True] Translation: X:147.19, Y:54.72, Z:0.32 [[ 7.03544289e-01 -7.10648873e-01 -1.90081917e-03 1.47193449e+02] [ 7.10646309e-01 7.03546857e-01 -1.90914039e-03 5.47153371e+01] [ 2.69404382e-03 -7.64530546e-06 9.99996371e-01 3.24339296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17401273899998 meters Centerline goodness : 0.996195 Centerline is valid? [True, True] Translation: X:147.21, Y:54.74, Z:0.32 [[ 7.02413045e-01 -7.11767028e-01 -1.90046207e-03 1.47211541e+02] [ 7.11764467e-01 7.02415616e-01 -1.90949580e-03 5.47353637e+01] [ 2.69403039e-03 -1.14266076e-05 9.99996371e-01 3.22351736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20401273899998 meters Centerline goodness : 0.996160 Centerline is valid? [True, True] Translation: X:147.23, Y:54.76, Z:0.32 [[ 7.01531599e-01 -7.12635815e-01 -1.90008716e-03 1.47231051e+02] [ 7.12633256e-01 7.01534172e-01 -1.90986879e-03 5.47559577e+01] [ 2.69401697e-03 -1.42319888e-05 9.99996371e-01 3.23249468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23401273899998 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:147.25, Y:54.77, Z:0.32 [[ 6.99846628e-01 -7.14290619e-01 -1.89971944e-03 1.47250657e+02] [ 7.14288065e-01 6.99849206e-01 -1.91023448e-03 5.47741267e+01] [ 2.69397971e-03 -2.00757603e-05 9.99996371e-01 3.22317166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26401273899998 meters Centerline goodness : 0.996541 Centerline is valid? [True, True] Translation: X:147.27, Y:54.79, Z:0.32 [[ 6.98964818e-01 -7.15153532e-01 -1.89946879e-03 1.47270948e+02] [ 7.15150981e-01 6.98967399e-01 -1.91048369e-03 5.47922943e+01] [ 2.69395592e-03 -2.30460811e-05 9.99996371e-01 3.23938077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29401273899998 meters Centerline goodness : 0.996200 Centerline is valid? [True, True] Translation: X:147.29, Y:54.81, Z:0.33 [[ 6.97116861e-01 -7.16955002e-01 -1.89921920e-03 1.47292366e+02] [ 7.16952456e-01 6.97119448e-01 -1.91073178e-03 5.48107716e+01] [ 2.69389134e-03 -2.96465250e-05 9.99996371e-01 3.27801280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32401273899998 meters Centerline goodness : 0.996446 Centerline is valid? [True, True] Translation: X:147.31, Y:54.83, Z:0.33 [[ 6.96230522e-01 -7.17815753e-01 -1.89885764e-03 1.47312636e+02] [ 7.17813209e-01 6.96233111e-01 -1.91109102e-03 5.48291873e+01] [ 2.69385880e-03 -3.24651955e-05 9.99996371e-01 3.28031721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35401273899998 meters Centerline goodness : 0.996636 Centerline is valid? [True, True] Translation: X:147.34, Y:54.85, Z:0.33 [[ 6.95742269e-01 -7.18289002e-01 -1.89852125e-03 1.47335059e+02] [ 7.18286460e-01 6.95744858e-01 -1.91142514e-03 5.48454747e+01] [ 2.69384206e-03 -3.38228441e-05 9.99996371e-01 3.30342636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38401273899999 meters Centerline goodness : 0.996489 Centerline is valid? [True, True] Translation: X:147.36, Y:54.86, Z:0.33 [[ 6.96318123e-01 -7.17730777e-01 -1.89825637e-03 1.47355560e+02] [ 7.17728231e-01 6.96320710e-01 -1.91168816e-03 5.48643031e+01] [ 2.69387265e-03 -3.12890715e-05 9.99996371e-01 3.32014762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.414012739 meters Centerline goodness : 0.996601 Centerline is valid? [True, True] Translation: X:147.37, Y:54.88, Z:0.33 [[ 6.98972999e-01 -7.15145541e-01 -1.89791677e-03 1.47374155e+02] [ 7.15142985e-01 6.98975575e-01 -1.91202526e-03 5.48848469e+01] [ 2.69397380e-03 -2.08278329e-05 9.99996371e-01 3.29318330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.444012739 meters Centerline goodness : 0.996456 Centerline is valid? [True, True] Translation: X:147.39, Y:54.91, Z:0.33 [[ 7.00746635e-01 -7.13407704e-01 -1.89758455e-03 1.47393068e+02] [ 7.13405141e-01 7.00749204e-01 -1.91235491e-03 5.49055387e+01] [ 2.69401959e-03 -1.36703016e-05 9.99996371e-01 3.26134307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.474012739 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:147.41, Y:54.92, Z:0.33 [[ 7.04687423e-01 -7.09515353e-01 -1.89722404e-03 1.47412351e+02] [ 7.09512775e-01 7.04689977e-01 -1.91271250e-03 5.49243621e+01] [ 2.69405365e-03 1.75975407e-06 9.99996371e-01 3.26007948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.504012739 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:147.43, Y:54.94, Z:0.33 [[ 7.05749582e-01 -7.08458841e-01 -1.89684477e-03 1.47432583e+02] [ 7.08456258e-01 7.05752131e-01 -1.91308855e-03 5.49445929e+01] [ 2.69404673e-03 6.32989286e-06 9.99996371e-01 3.30313582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.534012739 meters Centerline goodness : 0.996649 Centerline is valid? [True, True] Translation: X:147.45, Y:54.96, Z:0.34 [[ 7.05587120e-01 -7.08620645e-01 -1.89648916e-03 1.47450528e+02] [ 7.08618062e-01 7.05589669e-01 -1.91344101e-03 5.49645665e+01] [ 2.69404696e-03 6.21286046e-06 9.99996371e-01 3.36404082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.564012739 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:147.47, Y:54.98, Z:0.34 [[ 7.04565703e-01 -7.09636226e-01 -1.89632525e-03 1.47469645e+02] [ 7.09633646e-01 7.04568255e-01 -1.91360343e-03 5.49834545e+01] [ 2.69405290e-03 2.56314390e-06 9.99996371e-01 3.36538967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.594012739 meters Centerline goodness : 0.996656 Centerline is valid? [True, True] Translation: X:147.49, Y:55.00, Z:0.33 [[ 7.01357557e-01 -7.12807114e-01 -1.89595927e-03 1.47490410e+02] [ 7.12804545e-01 7.01360120e-01 -1.91396598e-03 5.50016951e+01] [ 2.69403878e-03 -9.07388028e-06 9.99996371e-01 3.34142903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.624012739 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:147.51, Y:55.02, Z:0.33 [[ 6.99361546e-01 -7.14765581e-01 -1.89560520e-03 1.47509450e+02] [ 7.14763017e-01 6.99364114e-01 -1.91431658e-03 5.50205584e+01] [ 2.69400586e-03 -1.61090890e-05 9.99996371e-01 3.33823325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.654012739 meters Centerline goodness : 0.996784 Centerline is valid? [True, True] Translation: X:147.53, Y:55.04, Z:0.33 [[ 6.95104057e-01 -7.18906641e-01 -1.89523216e-03 1.47530702e+02] [ 7.18904091e-01 6.95106640e-01 -1.91468583e-03 5.50383597e+01] [ 2.69386882e-03 -3.15842644e-05 9.99996371e-01 3.32508945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.684012739 meters Centerline goodness : 0.996759 Centerline is valid? [True, True] Translation: X:147.55, Y:55.06, Z:0.33 [[ 6.92978503e-01 -7.20955758e-01 -1.89488542e-03 1.47551276e+02] [ 7.20953215e-01 6.92981092e-01 -1.91502892e-03 5.50553128e+01] [ 2.69377090e-03 -3.90498644e-05 9.99996371e-01 3.31060284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71401273899997 meters Centerline goodness : 0.997434 Centerline is valid? [True, True] Translation: X:147.57, Y:55.07, Z:0.33 [[ 6.89579925e-01 -7.24207109e-01 -1.89452130e-03 1.47574111e+02] [ 7.24204578e-01 6.89582526e-01 -1.91538908e-03 5.50716013e+01] [ 2.69356717e-03 -5.12071353e-05 9.99996371e-01 3.25290086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74401273899997 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:147.60, Y:55.09, Z:0.32 [[ 6.88112895e-01 -7.25601169e-01 -1.89416805e-03 1.47595500e+02] [ 7.25598642e-01 6.88115499e-01 -1.91573836e-03 5.50901742e+01] [ 2.69346838e-03 -5.61614984e-05 9.99996371e-01 3.23566426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77401273899997 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:147.62, Y:55.11, Z:0.32 [[ 6.86144358e-01 -7.27462943e-01 -1.89381465e-03 1.47619046e+02] [ 7.27460422e-01 6.86146969e-01 -1.91608764e-03 5.51051514e+01] [ 2.69331794e-03 -6.29624796e-05 9.99996371e-01 3.24183867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80401273899997 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:147.64, Y:55.12, Z:0.33 [[ 6.85226609e-01 -7.28327474e-01 -1.89344145e-03 1.47640062e+02] [ 7.28324956e-01 6.85229222e-01 -1.91645636e-03 5.51225875e+01] [ 2.69324923e-03 -6.58337701e-05 9.99996371e-01 3.25989248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83401273899997 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:147.66, Y:55.14, Z:0.33 [[ 6.84717738e-01 -7.28805896e-01 -1.89318620e-03 1.47662246e+02] [ 7.28803379e-01 6.84720352e-01 -1.91670848e-03 5.51401805e+01] [ 2.69321156e-03 -6.73562014e-05 9.99996371e-01 3.28196744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86401273899997 meters Centerline goodness : 0.997175 Centerline is valid? [True, True] Translation: X:147.68, Y:55.16, Z:0.33 [[ 6.85232662e-01 -7.28321780e-01 -1.89283565e-03 1.47683351e+02] [ 7.28319260e-01 6.85235274e-01 -1.91705460e-03 5.51579849e+01] [ 2.69327037e-03 -6.49602319e-05 9.99996371e-01 3.27215194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89401273899998 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:147.71, Y:55.18, Z:0.33 [[ 6.85765314e-01 -7.27820275e-01 -1.89248534e-03 1.47705269e+02] [ 7.27817752e-01 6.85767923e-01 -1.91740036e-03 5.51752998e+01] [ 2.69332860e-03 -6.24977723e-05 9.99996371e-01 3.26713711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92401273899998 meters Centerline goodness : 0.997182 Centerline is valid? [True, True] Translation: X:147.73, Y:55.19, Z:0.33 [[ 6.86304589e-01 -7.27311784e-01 -1.89213313e-03 1.47728443e+02] [ 7.27309258e-01 6.86307195e-01 -1.91774786e-03 5.51901364e+01] [ 2.69338520e-03 -6.00067852e-05 9.99996371e-01 3.27924058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95401273899998 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:147.75, Y:55.21, Z:0.33 [[ 6.86947172e-01 -7.26704895e-01 -1.89175910e-03 1.47751555e+02] [ 7.26702366e-01 6.86949774e-01 -1.91811676e-03 5.52064243e+01] [ 2.69344832e-03 -5.71009279e-05 9.99996371e-01 3.30731733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98401273899998 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:147.77, Y:55.22, Z:0.33 [[ 6.87335137e-01 -7.26337960e-01 -1.89140932e-03 1.47772892e+02] [ 7.26335429e-01 6.87337737e-01 -1.91846160e-03 5.52238807e+01] [ 2.69348849e-03 -5.51715284e-05 9.99996371e-01 3.30967676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01401273899998 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:147.79, Y:55.24, Z:0.33 [[ 6.87558954e-01 -7.26126097e-01 -1.89104000e-03 1.47793890e+02] [ 7.26123563e-01 6.87561553e-01 -1.91882558e-03 5.52420466e+01] [ 2.69351572e-03 -5.38229954e-05 9.99996371e-01 3.30565559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04401273899998 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:147.82, Y:55.26, Z:0.33 [[ 6.87928108e-01 -7.25776373e-01 -1.89068906e-03 1.47815248e+02] [ 7.25773838e-01 6.87930704e-01 -1.91917130e-03 5.52608281e+01] [ 2.69355225e-03 -5.19607754e-05 9.99996371e-01 3.28189845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07401273899998 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:147.84, Y:55.28, Z:0.33 [[ 6.88077299e-01 -7.25634934e-01 -1.89033261e-03 1.47835393e+02] [ 7.25632397e-01 6.88079893e-01 -1.91952234e-03 5.52800605e+01] [ 2.69357233e-03 -5.09068338e-05 9.99996371e-01 3.26475554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10401273899998 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:147.86, Y:55.30, Z:0.32 [[ 6.87386601e-01 -7.26289260e-01 -1.88997397e-03 1.47856873e+02] [ 7.26286724e-01 6.87389197e-01 -1.91987539e-03 5.52970712e+01] [ 2.69353257e-03 -5.29663907e-05 9.99996371e-01 3.21782744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13401273899999 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:147.88, Y:55.32, Z:0.32 [[ 6.86262464e-01 -7.27351538e-01 -1.88971034e-03 1.47876520e+02] [ 7.27349006e-01 6.86265063e-01 -1.92013484e-03 5.53157861e+01] [ 2.69345522e-03 -5.67624711e-05 9.99996371e-01 3.21012338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.164012739 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:147.90, Y:55.34, Z:0.32 [[ 6.84593260e-01 -7.28922834e-01 -1.88933564e-03 1.47897186e+02] [ 7.28920307e-01 6.84595865e-01 -1.92050347e-03 5.53351320e+01] [ 2.69333019e-03 -6.24113828e-05 9.99996371e-01 3.24824146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.194012739 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:147.92, Y:55.35, Z:0.33 [[ 6.84242146e-01 -7.29252438e-01 -1.88899177e-03 1.47917375e+02] [ 7.29249911e-01 6.84244750e-01 -1.92084163e-03 5.53548660e+01] [ 2.69331114e-03 -6.32262770e-05 9.99996371e-01 3.27344980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.224012739 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:147.94, Y:55.37, Z:0.33 [[ 6.83858320e-01 -7.29612384e-01 -1.88864541e-03 1.47937621e+02] [ 7.29609857e-01 6.83860925e-01 -1.92118212e-03 5.53739898e+01] [ 2.69328907e-03 -6.41579330e-05 9.99996371e-01 3.31372896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.254012739 meters Centerline goodness : 0.997026 Centerline is valid? [True, True] Translation: X:147.96, Y:55.39, Z:0.34 [[ 6.83296011e-01 -7.30139025e-01 -1.88829307e-03 1.47957921e+02] [ 7.30136499e-01 6.83298617e-01 -1.92152837e-03 5.53920513e+01] [ 2.69325089e-03 -6.57390187e-05 9.99996371e-01 3.35151766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.284012739 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:147.98, Y:55.41, Z:0.33 [[ 6.83292095e-01 -7.30142691e-01 -1.88792334e-03 1.47979420e+02] [ 7.30140164e-01 6.83294700e-01 -1.92189156e-03 5.54090694e+01] [ 2.69326309e-03 -6.52353455e-05 9.99996371e-01 3.33234758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.314012739 meters Centerline goodness : 0.997353 Centerline is valid? [True, True] Translation: X:148.00, Y:55.43, Z:0.33 [[ 6.83092936e-01 -7.30329020e-01 -1.88753494e-03 1.48000238e+02] [ 7.30326493e-01 6.83095541e-01 -1.92227294e-03 5.54273041e+01] [ 2.69325842e-03 -6.54257069e-05 9.99996371e-01 3.32183071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.344012739 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:148.02, Y:55.45, Z:0.33 [[ 6.82778160e-01 -7.30623311e-01 -1.88714607e-03 1.48019777e+02] [ 7.30620784e-01 6.82780765e-01 -1.92265464e-03 5.54452808e+01] [ 2.69324333e-03 -6.60415455e-05 9.99996371e-01 3.31987041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.374012739 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:148.04, Y:55.46, Z:0.33 [[ 6.81408290e-01 -7.31901075e-01 -1.88673823e-03 1.48040060e+02] [ 7.31898552e-01 6.81410898e-01 -1.92305477e-03 5.54613355e+01] [ 2.69312985e-03 -7.05155126e-05 9.99996371e-01 3.32664163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.404012739 meters Centerline goodness : 0.997258 Centerline is valid? [True, True] Translation: X:148.06, Y:55.48, Z:0.33 [[ 6.80429729e-01 -7.32810907e-01 -1.88633197e-03 1.48061223e+02] [ 7.32808386e-01 6.80432340e-01 -1.92345320e-03 5.54783878e+01] [ 2.69304876e-03 -7.35451476e-05 9.99996371e-01 3.33042364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.434012739 meters Centerline goodness : 0.997275 Centerline is valid? [True, True] Translation: X:148.08, Y:55.49, Z:0.33 [[ 6.79181035e-01 -7.33968368e-01 -1.88595020e-03 1.48084817e+02] [ 7.33965851e-01 6.79183649e-01 -1.92382745e-03 5.54936088e+01] [ 2.69293503e-03 -7.75959272e-05 9.99996371e-01 3.34504619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46401273899997 meters Centerline goodness : 0.997132 Centerline is valid? [True, True] Translation: X:148.11, Y:55.51, Z:0.34 [[ 6.79383882e-01 -7.33780611e-01 -1.88555798e-03 1.48105741e+02] [ 7.33778092e-01 6.79386495e-01 -1.92421179e-03 5.55126963e+01] [ 2.69297193e-03 -7.63026619e-05 9.99996371e-01 3.35220396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49401273899997 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:148.13, Y:55.53, Z:0.33 [[ 6.81408470e-01 -7.31900911e-01 -1.88522517e-03 1.48127766e+02] [ 7.31898384e-01 6.81411074e-01 -1.92453780e-03 5.55291290e+01] [ 2.69318428e-03 -6.83968938e-05 9.99996371e-01 3.33490897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52401273899997 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:148.15, Y:55.55, Z:0.33 [[ 6.82556280e-01 -7.30830604e-01 -1.88482427e-03 1.48149082e+02] [ 7.30828072e-01 6.82558880e-01 -1.92493034e-03 5.55455253e+01] [ 2.69330155e-03 -6.36091913e-05 9.99996371e-01 3.32890345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55401273899997 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:148.17, Y:55.56, Z:0.33 [[ 6.83423266e-01 -7.30019924e-01 -1.88419040e-03 1.48169891e+02] [ 7.30017387e-01 6.83425861e-01 -1.92555076e-03 5.55612644e+01] [ 2.69339486e-03 -5.95255641e-05 9.99996371e-01 3.31786173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58401273899997 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:148.19, Y:55.58, Z:0.33 [[ 6.85266639e-01 -7.28289835e-01 -1.88398241e-03 1.48191816e+02] [ 7.28287291e-01 6.85269227e-01 -1.92575424e-03 5.55777518e+01] [ 2.69354241e-03 -5.24253059e-05 9.99996371e-01 3.34456009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61401273899997 meters Centerline goodness : 0.997600 Centerline is valid? [True, True] Translation: X:148.21, Y:55.60, Z:0.33 [[ 6.88203620e-01 -7.25515148e-01 -1.88358539e-03 1.48212560e+02] [ 7.25512592e-01 6.88206196e-01 -1.92614248e-03 5.55966037e+01] [ 2.69374069e-03 -4.09866958e-05 9.99996371e-01 3.33670708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64401273899998 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:148.23, Y:55.62, Z:0.33 [[ 6.90016475e-01 -7.23791212e-01 -1.88335547e-03 1.48232482e+02] [ 7.23788649e-01 6.90019044e-01 -1.92636727e-03 5.56154833e+01] [ 2.69383884e-03 -3.39261621e-05 9.99996371e-01 3.31637314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67401273899998 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:148.25, Y:55.63, Z:0.33 [[ 6.92027607e-01 -7.21868579e-01 -1.88308425e-03 1.48250838e+02] [ 7.21866008e-01 6.92030168e-01 -1.92663236e-03 5.56334815e+01] [ 2.69392648e-03 -2.60517235e-05 9.99996371e-01 3.31807562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70401273899998 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:148.27, Y:55.65, Z:0.33 [[ 6.96572658e-01 -7.17483789e-01 -1.88269438e-03 1.48270889e+02] [ 7.17481201e-01 6.96575202e-01 -1.92701326e-03 5.56535824e+01] [ 2.69403900e-03 -8.49307792e-06 9.99996371e-01 3.34738767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73401273899998 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:148.29, Y:55.67, Z:0.33 [[ 6.98304468e-01 -7.15798385e-01 -1.88233537e-03 1.48288813e+02] [ 7.15795790e-01 6.98307005e-01 -1.92736389e-03 5.56721025e+01] [ 2.69405193e-03 -1.48091497e-06 9.99996371e-01 3.33573070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76401273899998 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:148.31, Y:55.69, Z:0.33 [[ 7.00663865e-01 -7.13489037e-01 -1.88202175e-03 1.48307971e+02] [ 7.13486433e-01 7.00666393e-01 -1.92767009e-03 5.56926363e+01] [ 2.69404086e-03 7.85179095e-06 9.99996371e-01 3.30955161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79401273899998 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:148.33, Y:55.71, Z:0.33 [[ 7.00529274e-01 -7.13621185e-01 -1.88165710e-03 1.48327738e+02] [ 7.13618581e-01 7.00531801e-01 -1.92802596e-03 5.57131612e+01] [ 2.69404081e-03 7.85316153e-06 9.99996371e-01 3.31031894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82401273899998 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:148.35, Y:55.73, Z:0.33 [[ 7.01544396e-01 -7.12623267e-01 -1.88129336e-03 1.48345402e+02] [ 7.12620658e-01 7.01546918e-01 -1.92838082e-03 5.57331952e+01] [ 2.69402460e-03 1.21962420e-05 9.99996371e-01 3.29338302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85401273899998 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:148.36, Y:55.76, Z:0.33 [[ 7.04187093e-01 -7.10011972e-01 -1.88093152e-03 1.48362762e+02] [ 7.10009352e-01 7.04189605e-01 -1.92873370e-03 5.57556050e+01] [ 2.69395643e-03 2.27104076e-05 9.99996371e-01 3.34713967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88401273899999 meters Centerline goodness : 0.997679 Centerline is valid? [True, True] Translation: X:148.38, Y:55.78, Z:0.34 [[ 7.05630795e-01 -7.08577198e-01 -1.88056306e-03 1.48379894e+02] [ 7.08574572e-01 7.05633300e-01 -1.92909288e-03 5.57768729e+01] [ 2.69389915e-03 2.87081759e-05 9.99996371e-01 3.36783104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.914012739 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:148.40, Y:55.80, Z:0.34 [[ 7.07643872e-01 -7.06566780e-01 -1.88017539e-03 1.48395999e+02] [ 7.06564147e-01 7.07646369e-01 -1.92947065e-03 5.58002081e+01] [ 2.69379915e-03 3.69135610e-05 9.99996371e-01 3.41149184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.944012739 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:148.41, Y:55.82, Z:0.34 [[ 7.08336976e-01 -7.05871940e-01 -1.87981560e-03 1.48413196e+02] [ 7.05869303e-01 7.08339469e-01 -1.92982112e-03 5.58204857e+01] [ 2.69375416e-03 4.00595310e-05 9.99996371e-01 3.41136876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.974012739 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:148.43, Y:55.84, Z:0.34 [[ 7.08564528e-01 -7.05643520e-01 -1.87955234e-03 1.48431448e+02] [ 7.05640881e-01 7.08567020e-01 -1.93007748e-03 5.58421286e+01] [ 2.69373547e-03 4.12954664e-05 9.99996371e-01 3.42910385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.004012739 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:148.45, Y:55.87, Z:0.35 [[ 7.08636261e-01 -7.05571483e-01 -1.87919681e-03 1.48448412e+02] [ 7.05568844e-01 7.08638752e-01 -1.93042358e-03 5.58652074e+01] [ 2.69372351e-03 4.20654262e-05 9.99996371e-01 3.45343343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.034012739 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:148.47, Y:55.89, Z:0.34 [[ 7.08225770e-01 -7.05983519e-01 -1.87883077e-03 1.48465974e+02] [ 7.05980880e-01 7.08228261e-01 -1.93077977e-03 5.58870953e+01] [ 2.69373974e-03 4.10093958e-05 9.99996371e-01 3.44541122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.064012739 meters Centerline goodness : 0.997975 Centerline is valid? [True, True] Translation: X:148.48, Y:55.91, Z:0.34 [[ 7.07489955e-01 -7.06720903e-01 -1.87846347e-03 1.48480252e+02] [ 7.06718265e-01 7.07492448e-01 -1.93113705e-03 5.59106375e+01] [ 2.69377364e-03 3.87156172e-05 9.99996371e-01 3.41655350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.094012739 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:148.50, Y:55.93, Z:0.34 [[ 7.07278591e-01 -7.06932434e-01 -1.87819423e-03 1.48498525e+02] [ 7.06929797e-01 7.07281084e-01 -1.93139888e-03 5.59326084e+01] [ 2.69377976e-03 3.82856113e-05 9.99996371e-01 3.41204400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.124012739 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:148.51, Y:55.96, Z:0.34 [[ 7.07519817e-01 -7.06691009e-01 -1.87785666e-03 1.48513386e+02] [ 7.06688370e-01 7.07522308e-01 -1.93172703e-03 5.59562914e+01] [ 2.69375960e-03 3.96756978e-05 9.99996371e-01 3.38683307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.154012739 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:148.53, Y:55.98, Z:0.34 [[ 7.07789640e-01 -7.06420767e-01 -1.87747858e-03 1.48529322e+02] [ 7.06418126e-01 7.07792129e-01 -1.93209443e-03 5.59794045e+01] [ 2.69373619e-03 4.12315185e-05 9.99996371e-01 3.37268627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.184012739 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:148.54, Y:56.00, Z:0.34 [[ 7.08126935e-01 -7.06082658e-01 -1.87711876e-03 1.48542700e+02] [ 7.06080015e-01 7.08129422e-01 -1.93244394e-03 5.60044672e+01] [ 2.69370818e-03 4.30195584e-05 9.99996371e-01 3.38611435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21401273899997 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:148.56, Y:56.03, Z:0.34 [[ 7.07431724e-01 -7.06779198e-01 -1.87673670e-03 1.48560611e+02] [ 7.06776556e-01 7.07434212e-01 -1.93281492e-03 5.60260103e+01] [ 2.69374112e-03 4.09010932e-05 9.99996371e-01 3.42018607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24401273899997 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:148.58, Y:56.05, Z:0.34 [[ 7.06389726e-01 -7.07820623e-01 -1.87637634e-03 1.48577956e+02] [ 7.07817984e-01 7.06392217e-01 -1.93316469e-03 5.60461066e+01] [ 2.69379148e-03 3.74347606e-05 9.99996371e-01 3.44418528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27401273899997 meters Centerline goodness : 0.997648 Centerline is valid? [True, True] Translation: X:148.59, Y:56.07, Z:0.35 [[ 7.04604903e-01 -7.09597358e-01 -1.87599440e-03 1.48593674e+02] [ 7.09594725e-01 7.04607400e-01 -1.93353526e-03 5.60684236e+01] [ 2.69387105e-03 3.11826963e-05 9.99996371e-01 3.46155764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30401273899997 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:148.61, Y:56.09, Z:0.35 [[ 7.04032581e-01 -7.10165196e-01 -1.87573087e-03 1.48610919e+02] [ 7.10162564e-01 7.04035079e-01 -1.93379088e-03 5.60903526e+01] [ 2.69389131e-03 2.93779411e-05 9.99996371e-01 3.45309030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33401273899997 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:148.63, Y:56.11, Z:0.34 [[ 7.03981200e-01 -7.10216131e-01 -1.87537167e-03 1.48626802e+02] [ 7.10213498e-01 7.03983697e-01 -1.93413917e-03 5.61146164e+01] [ 2.69388792e-03 2.96833395e-05 9.99996371e-01 3.40750308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36401273899997 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:148.64, Y:56.14, Z:0.34 [[ 7.04641586e-01 -7.09560935e-01 -1.87503526e-03 1.48643778e+02] [ 7.09558298e-01 7.04644080e-01 -1.93446525e-03 5.61367947e+01] [ 2.69385346e-03 3.26578308e-05 9.99996371e-01 3.40262544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39401273899998 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:148.66, Y:56.16, Z:0.34 [[ 7.06451536e-01 -7.07758937e-01 -1.87466218e-03 1.48656889e+02] [ 7.07756293e-01 7.06454022e-01 -1.93482672e-03 5.61612255e+01] [ 2.69375354e-03 4.00573520e-05 9.99996371e-01 3.40785563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42401273899998 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:148.67, Y:56.18, Z:0.34 [[ 7.06397432e-01 -7.07812938e-01 -1.87426773e-03 1.48673769e+02] [ 7.07810293e-01 7.06399918e-01 -1.93520875e-03 5.61835315e+01] [ 2.69374836e-03 4.04005061e-05 9.99996371e-01 3.42375419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45401273899998 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:148.69, Y:56.21, Z:0.34 [[ 7.04652237e-01 -7.09550360e-01 -1.87390315e-03 1.48690175e+02] [ 7.09547721e-01 7.04654727e-01 -1.93556172e-03 5.62063986e+01] [ 2.69383323e-03 3.42741887e-05 9.99996371e-01 3.41652090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48401273899998 meters Centerline goodness : 0.997622 Centerline is valid? [True, True] Translation: X:148.71, Y:56.23, Z:0.34 [[ 7.02962093e-01 -7.11224849e-01 -1.87353197e-03 1.48707692e+02] [ 7.11222215e-01 7.02964589e-01 -1.93592093e-03 5.62265696e+01] [ 2.69390171e-03 2.83814738e-05 9.99996371e-01 3.40293801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51401273899998 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:148.73, Y:56.25, Z:0.34 [[ 7.01070536e-01 -7.13089472e-01 -1.87325989e-03 1.48725833e+02] [ 7.13086844e-01 7.01073038e-01 -1.93618418e-03 5.62473954e+01] [ 2.69396455e-03 2.16046966e-05 9.99996371e-01 3.39934139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54401273899998 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:148.74, Y:56.27, Z:0.34 [[ 6.97249429e-01 -7.16826147e-01 -1.87289992e-03 1.48743310e+02] [ 7.16823531e-01 6.97251945e-01 -1.93653231e-03 5.62688567e+01] [ 2.69404011e-03 7.70731480e-06 9.99996371e-01 3.36746072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57401273899998 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:148.76, Y:56.29, Z:0.34 [[ 6.91959847e-01 -7.21933559e-01 -1.87253785e-03 1.48761266e+02] [ 7.21930961e-01 6.91962381e-01 -1.93688236e-03 5.62901108e+01] [ 2.69402612e-03 -1.15982279e-05 9.99996371e-01 3.35759361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60401273899998 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:148.78, Y:56.31, Z:0.34 [[ 6.89049931e-01 -7.24711452e-01 -1.87217588e-03 1.48779799e+02] [ 7.24708863e-01 6.89052474e-01 -1.93723217e-03 5.63105318e+01] [ 2.69396176e-03 -2.19327648e-05 9.99996371e-01 3.37369970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63401273899999 meters Centerline goodness : 0.997674 Centerline is valid? [True, True] Translation: X:148.80, Y:56.33, Z:0.34 [[ 6.86850738e-01 -7.26796093e-01 -1.87181610e-03 1.48798993e+02] [ 7.26793511e-01 6.86853288e-01 -1.93757974e-03 5.63305993e+01] [ 2.69388843e-03 -2.95957216e-05 9.99996371e-01 3.38622555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.664012739 meters Centerline goodness : 0.997504 Centerline is valid? [True, True] Translation: X:148.82, Y:56.35, Z:0.34 [[ 6.82771528e-01 -7.30629556e-01 -1.86890502e-03 1.48820115e+02] [ 7.30626980e-01 6.82774085e-01 -1.94039153e-03 5.63505885e+01] [ 2.69374732e-03 -4.06283357e-05 9.99996371e-01 3.37075570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.694012739 meters Centerline goodness : 0.997505 Centerline is valid? [True, True] Translation: X:148.84, Y:56.37, Z:0.34 [[ 6.81080180e-01 -7.32206450e-01 -1.87154599e-03 1.48840495e+02] [ 7.32203888e-01 6.81082750e-01 -1.93784092e-03 5.63698014e+01] [ 2.69357730e-03 -5.05282072e-05 9.99996371e-01 3.36971185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.724012739 meters Centerline goodness : 0.997444 Centerline is valid? [True, True] Translation: X:148.86, Y:56.39, Z:0.34 [[ 6.77615225e-01 -7.35414241e-01 -1.87117232e-03 1.48861529e+02] [ 7.35411690e-01 6.77617805e-01 -1.93820166e-03 5.63872406e+01] [ 2.69332078e-03 -6.27270474e-05 9.99996371e-01 3.39997125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.754012739 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:148.88, Y:56.41, Z:0.34 [[ 6.75952530e-01 -7.36942791e-01 -1.87077862e-03 1.48882001e+02] [ 7.36940244e-01 6.75955116e-01 -1.93858159e-03 5.64055166e+01] [ 2.69318610e-03 -6.82629249e-05 9.99996371e-01 3.40712717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.784012739 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:148.90, Y:56.42, Z:0.34 [[ 6.73392951e-01 -7.39282378e-01 -1.87038763e-03 1.48904414e+02] [ 7.39279840e-01 6.73395544e-01 -1.93895875e-03 5.64221027e+01] [ 2.69294873e-03 -7.70587126e-05 9.99996371e-01 3.40776430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.814012739 meters Centerline goodness : 0.997283 Centerline is valid? [True, True] Translation: X:148.93, Y:56.44, Z:0.34 [[ 6.72406733e-01 -7.40179497e-01 -1.87002381e-03 1.48925259e+02] [ 7.40176961e-01 6.72409329e-01 -1.93930958e-03 5.64391912e+01] [ 2.69285864e-03 -8.01437199e-05 9.99996371e-01 3.41220883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.844012739 meters Centerline goodness : 0.997608 Centerline is valid? [True, True] Translation: X:148.95, Y:56.46, Z:0.34 [[ 6.71532651e-01 -7.40972606e-01 -1.86964161e-03 1.48947306e+02] [ 7.40970072e-01 6.71535248e-01 -1.93967797e-03 5.64568335e+01] [ 2.69277849e-03 -8.27913864e-05 9.99996371e-01 3.44455698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.874012739 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:148.97, Y:56.47, Z:0.35 [[ 6.70213983e-01 -7.42165563e-01 -1.86927770e-03 1.48971861e+02] [ 7.42163033e-01 6.70216584e-01 -1.94002861e-03 5.64707009e+01] [ 2.69264334e-03 -8.70745101e-05 9.99996371e-01 3.51006989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.904012739 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:148.99, Y:56.49, Z:0.35 [[ 6.69479683e-01 -7.42828016e-01 -1.86889229e-03 1.48992825e+02] [ 7.42825487e-01 6.69482286e-01 -1.94039981e-03 5.64883868e+01] [ 2.69257363e-03 -8.92025756e-05 9.99996371e-01 3.51811676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.934012739 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:149.02, Y:56.50, Z:0.35 [[ 6.69196741e-01 -7.43082923e-01 -1.86851436e-03 1.49015732e+02] [ 7.43080394e-01 6.69199344e-01 -1.94076368e-03 5.65042952e+01] [ 2.69255693e-03 -8.97036610e-05 9.99996371e-01 3.46638853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96401273899997 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:149.04, Y:56.52, Z:0.34 [[ 6.68961680e-01 -7.43294545e-01 -1.86812681e-03 1.49037276e+02] [ 7.43292016e-01 6.68964283e-01 -1.94113666e-03 5.65221232e+01] [ 2.69254640e-03 -9.00177002e-05 9.99996371e-01 3.43409944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99401273899997 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:149.06, Y:56.54, Z:0.34 [[ 6.68409902e-01 -7.43790773e-01 -1.86777012e-03 1.49058588e+02] [ 7.43788245e-01 6.68412506e-01 -1.94147980e-03 5.65391666e+01] [ 2.69249567e-03 -9.15211413e-05 9.99996371e-01 3.40197695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02401273899997 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:149.08, Y:56.56, Z:0.34 [[ 6.67172450e-01 -7.44900956e-01 -1.86739780e-03 1.49082429e+02] [ 7.44898431e-01 6.67175057e-01 -1.94183785e-03 5.65554131e+01] [ 2.69235810e-03 -9.54809729e-05 9.99996371e-01 3.42340434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05401273899997 meters Centerline goodness : 0.996941 Centerline is valid? [True, True] Translation: X:149.11, Y:56.57, Z:0.35 [[ 6.67314269e-01 -7.44773912e-01 -1.86703032e-03 1.49105897e+02] [ 7.44771386e-01 6.67316874e-01 -1.94219111e-03 5.65715686e+01] [ 2.69239411e-03 -9.44589142e-05 9.99996371e-01 3.47061542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08401273899997 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:149.13, Y:56.59, Z:0.35 [[ 6.67533999e-01 -7.44576978e-01 -1.86667963e-03 1.49127233e+02] [ 7.44574450e-01 6.67536602e-01 -1.94252810e-03 5.65886043e+01] [ 2.69243868e-03 -9.31784068e-05 9.99996371e-01 3.47692028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11401273899997 meters Centerline goodness : 0.996860 Centerline is valid? [True, True] Translation: X:149.15, Y:56.61, Z:0.35 [[ 6.68152094e-01 -7.44022376e-01 -1.86631480e-03 1.49149631e+02] [ 7.44019844e-01 6.68154695e-01 -1.94287855e-03 5.66063819e+01] [ 2.69253211e-03 -9.04368764e-05 9.99996371e-01 3.47509937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14401273899998 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:149.17, Y:56.62, Z:0.34 [[ 6.69537221e-01 -7.42776162e-01 -1.86594755e-03 1.49173505e+02] [ 7.42773625e-01 6.69539816e-01 -1.94323120e-03 5.66210671e+01] [ 2.69271199e-03 -8.49110029e-05 9.99996371e-01 3.44371848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17401273899998 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:149.19, Y:56.64, Z:0.34 [[ 6.69864475e-01 -7.42481047e-01 -1.86556487e-03 1.49194936e+02] [ 7.42478508e-01 6.69867068e-01 -1.94359852e-03 5.66393711e+01] [ 2.69276553e-03 -8.31942143e-05 9.99996371e-01 3.42776697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20401273899998 meters Centerline goodness : 0.997000 Centerline is valid? [True, True] Translation: X:149.22, Y:56.66, Z:0.34 [[ 6.71554698e-01 -7.40952636e-01 -1.86520558e-03 1.49218164e+02] [ 7.40950090e-01 6.71557284e-01 -1.94394325e-03 5.66561605e+01] [ 2.69296227e-03 -7.65600202e-05 9.99996371e-01 3.42220385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23401273899998 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:149.24, Y:56.67, Z:0.34 [[ 6.72669756e-01 -7.39940486e-01 -1.86484162e-03 1.49238946e+02] [ 7.39937935e-01 6.72672337e-01 -1.94429234e-03 5.66739084e+01] [ 2.69308799e-03 -7.20004040e-05 9.99996371e-01 3.43642776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26401273899998 meters Centerline goodness : 0.997183 Centerline is valid? [True, True] Translation: X:149.26, Y:56.69, Z:0.35 [[ 6.73696584e-01 -7.39005708e-01 -1.86445770e-03 1.49258887e+02] [ 7.39003152e-01 6.73699161e-01 -1.94466043e-03 5.66906547e+01] [ 2.69319874e-03 -6.77290269e-05 9.99996371e-01 3.45870133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29401273899998 meters Centerline goodness : 0.997529 Centerline is valid? [True, True] Translation: X:149.28, Y:56.71, Z:0.35 [[ 6.75485327e-01 -7.37371072e-01 -1.86403130e-03 1.49281784e+02] [ 7.37368509e-01 6.75487896e-01 -1.94506906e-03 5.67060022e+01] [ 2.69336824e-03 -6.06123675e-05 9.99996371e-01 3.45572269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32401273899998 meters Centerline goodness : 0.997043 Centerline is valid? [True, True] Translation: X:149.30, Y:56.72, Z:0.34 [[ 6.76326368e-01 -7.36599736e-01 -1.86363122e-03 1.49303616e+02] [ 7.36597169e-01 6.76328933e-01 -1.94545232e-03 5.67245635e+01] [ 2.69344738e-03 -5.69847805e-05 9.99996371e-01 3.44821331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35401273899998 meters Centerline goodness : 0.996701 Centerline is valid? [True, True] Translation: X:149.33, Y:56.74, Z:0.34 [[ 6.79459138e-01 -7.33710984e-01 -1.86328845e-03 1.49326301e+02] [ 7.33708405e-01 6.79461692e-01 -1.94578056e-03 5.67386627e+01] [ 2.69367369e-03 -4.50320134e-05 9.99996371e-01 3.43925620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38401273899999 meters Centerline goodness : 0.997159 Centerline is valid? [True, True] Translation: X:149.35, Y:56.76, Z:0.35 [[ 6.81294817e-01 -7.32006764e-01 -1.86287863e-03 1.49345822e+02] [ 7.32004178e-01 6.81297362e-01 -1.94617283e-03 5.67556649e+01] [ 2.69378598e-03 -3.77174779e-05 9.99996371e-01 3.45206248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.414012739 meters Centerline goodness : 0.996659 Centerline is valid? [True, True] Translation: X:149.37, Y:56.77, Z:0.35 [[ 6.83356801e-01 -7.30082197e-01 -1.86245459e-03 1.49365520e+02] [ 7.30079602e-01 6.83359338e-01 -1.94657855e-03 5.67737807e+01] [ 2.69388808e-03 -2.95324217e-05 9.99996371e-01 3.46440738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.444012739 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:149.39, Y:56.79, Z:0.35 [[ 6.85497663e-01 -7.28072451e-01 -1.86028889e-03 1.49385384e+02] [ 7.28069843e-01 6.85500187e-01 -1.94864966e-03 5.67924332e+01] [ 2.69398651e-03 -1.86254488e-05 9.99996371e-01 3.48606176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.474012739 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:149.41, Y:56.81, Z:0.35 [[ 6.89889104e-01 -7.23912678e-01 -1.85965671e-03 1.49405585e+02] [ 7.23910054e-01 6.89891611e-01 -1.94925398e-03 5.68105855e+01] [ 2.69405124e-03 -1.45510629e-06 9.99996371e-01 3.49843098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.504012739 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:149.42, Y:56.83, Z:0.35 [[ 6.91761345e-01 -7.22123797e-01 -1.86127107e-03 1.49424324e+02] [ 7.22121170e-01 6.91763849e-01 -1.94771128e-03 5.68301857e+01] [ 2.69404870e-03 3.28813228e-06 9.99996371e-01 3.51044280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.534012739 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:149.44, Y:56.85, Z:0.35 [[ 6.94517713e-01 -7.19473198e-01 -1.86086606e-03 1.49442030e+02] [ 7.19470561e-01 6.94520206e-01 -1.94809815e-03 5.68488541e+01] [ 2.69401348e-03 1.41503202e-05 9.99996371e-01 3.50392217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.564012739 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:149.46, Y:56.87, Z:0.35 [[ 6.95337167e-01 -7.18681267e-01 -1.86044093e-03 1.49461200e+02] [ 7.18678625e-01 6.95339656e-01 -1.94850406e-03 5.68680998e+01] [ 2.69399172e-03 1.78081593e-05 9.99996371e-01 3.47909144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.594012739 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:149.48, Y:56.89, Z:0.35 [[ 6.95564100e-01 -7.18461636e-01 -1.86007039e-03 1.49480086e+02] [ 7.18458993e-01 6.95566587e-01 -1.94885775e-03 5.68869502e+01] [ 2.69398234e-03 1.91711891e-05 9.99996371e-01 3.45800154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.624012739 meters Centerline goodness : 0.995553 Centerline is valid? [True, True] Translation: X:149.50, Y:56.91, Z:0.35 [[ 6.95669998e-01 -7.18359099e-01 -1.85973328e-03 1.49498947e+02] [ 7.18356455e-01 6.95672483e-01 -1.94917939e-03 5.69063543e+01] [ 2.69397602e-03 2.00342173e-05 9.99996371e-01 3.47936501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.654012739 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:149.52, Y:56.93, Z:0.35 [[ 6.95863362e-01 -7.18171793e-01 -1.85935225e-03 1.49517674e+02] [ 7.18169148e-01 6.95865845e-01 -1.94954280e-03 5.69256803e+01] [ 2.69396637e-03 2.12859844e-05 9.99996371e-01 3.50484071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.684012739 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:149.54, Y:56.95, Z:0.35 [[ 6.96245466e-01 -7.17801362e-01 -1.85896109e-03 1.49537061e+02] [ 7.17798714e-01 6.96247948e-01 -1.94991571e-03 5.69451619e+01] [ 2.69394999e-03 2.32600997e-05 9.99996371e-01 3.50441524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71401273899997 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:149.56, Y:56.97, Z:0.35 [[ 6.96102093e-01 -7.17940403e-01 -1.85857038e-03 1.49555971e+02] [ 7.17937754e-01 6.96104574e-01 -1.95028805e-03 5.69653592e+01] [ 2.69394993e-03 2.32617488e-05 9.99996371e-01 3.50516009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74401273899997 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:149.57, Y:56.99, Z:0.35 [[ 6.96001352e-01 -7.18038067e-01 -1.85818079e-03 1.49573877e+02] [ 7.18035418e-01 6.96003832e-01 -1.95065917e-03 5.69850074e+01] [ 2.69394849e-03 2.34217973e-05 9.99996371e-01 3.48929609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77401273899997 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:149.59, Y:57.00, Z:0.35 [[ 6.96382981e-01 -7.17667954e-01 -1.85777155e-03 1.49592003e+02] [ 7.17665302e-01 6.96385459e-01 -1.95104884e-03 5.70040814e+01] [ 2.69393032e-03 2.54190266e-05 9.99996371e-01 3.45545888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80401273899997 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:149.61, Y:57.02, Z:0.35 [[ 6.96727957e-01 -7.17333050e-01 -1.85736299e-03 1.49610483e+02] [ 7.17330396e-01 6.96730432e-01 -1.95143771e-03 5.70233753e+01] [ 2.69391208e-03 2.72782782e-05 9.99996371e-01 3.46710975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83401273899997 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:149.63, Y:57.04, Z:0.35 [[ 6.96803254e-01 -7.17259908e-01 -1.85697961e-03 1.49628880e+02] [ 7.17257253e-01 6.96805728e-01 -1.95180246e-03 5.70435201e+01] [ 2.69390368e-03 2.80902143e-05 9.99996371e-01 3.49093582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86401273899997 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:149.65, Y:57.06, Z:0.35 [[ 6.96309583e-01 -7.17739171e-01 -1.85659609e-03 1.49647416e+02] [ 7.17736517e-01 6.96312057e-01 -1.95216720e-03 5.70639055e+01] [ 2.69391711e-03 2.67659173e-05 9.99996371e-01 3.52874009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89401273899998 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:149.67, Y:57.08, Z:0.35 [[ 6.95607388e-01 -7.18419736e-01 -1.85619286e-03 1.49666650e+02] [ 7.18417083e-01 6.95609864e-01 -1.95255053e-03 5.70829192e+01] [ 2.69393690e-03 2.46879123e-05 9.99996371e-01 3.51309259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92401273899998 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:149.69, Y:57.10, Z:0.35 [[ 6.93778028e-01 -7.20186506e-01 -1.85579082e-03 1.49687486e+02] [ 7.20183858e-01 6.93780510e-01 -1.95293257e-03 5.71012090e+01] [ 2.69398719e-03 1.83911120e-05 9.99996371e-01 3.47014056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95401273899998 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:149.71, Y:57.12, Z:0.35 [[ 6.92975725e-01 -7.20958530e-01 -1.85538616e-03 1.49705853e+02] [ 7.20955885e-01 6.92978208e-01 -1.95331694e-03 5.71196876e+01] [ 2.69400269e-03 1.59496524e-05 9.99996371e-01 3.45910586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98401273899998 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:149.72, Y:57.14, Z:0.35 [[ 6.92147833e-01 -7.21753377e-01 -1.85496012e-03 1.49724711e+02] [ 7.21750733e-01 6.92150318e-01 -1.95372145e-03 5.71389721e+01] [ 2.69401629e-03 1.34452425e-05 9.99996371e-01 3.48935419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01401273899998 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:149.74, Y:57.16, Z:0.35 [[ 6.91894842e-01 -7.21995906e-01 -1.85458419e-03 1.49744962e+02] [ 7.21993262e-01 6.91897327e-01 -1.95407824e-03 5.71586885e+01] [ 2.69401833e-03 1.30193663e-05 9.99996371e-01 3.54361388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04401273899998 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:149.76, Y:57.18, Z:0.35 [[ 6.92279004e-01 -7.21627565e-01 -1.85421213e-03 1.49763233e+02] [ 7.21624918e-01 6.92281487e-01 -1.95443122e-03 5.71778982e+01] [ 2.69400817e-03 1.49660244e-05 9.99996371e-01 3.53938068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07401273899998 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:149.78, Y:57.20, Z:0.35 [[ 6.93638463e-01 -7.20320933e-01 -1.85381680e-03 1.49781788e+02] [ 7.20318281e-01 6.93640940e-01 -1.95480613e-03 5.71986486e+01] [ 2.69397100e-03 2.05905878e-05 9.99996371e-01 3.50700026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10401273899998 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:149.80, Y:57.22, Z:0.35 [[ 6.93980253e-01 -7.19991648e-01 -1.85344823e-03 1.49800736e+02] [ 7.19988994e-01 6.93982727e-01 -1.95515553e-03 5.72177994e+01] [ 2.69395671e-03 2.23769994e-05 9.99996371e-01 3.49723028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13401273899999 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:149.82, Y:57.24, Z:0.35 [[ 6.94000992e-01 -7.19971659e-01 -1.85305744e-03 1.49820425e+02] [ 7.19969004e-01 6.94003465e-01 -1.95552584e-03 5.72375375e+01] [ 2.69395147e-03 2.29929526e-05 9.99996371e-01 3.52773926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.164012739 meters Centerline goodness : 0.993490 Centerline is valid? [True, True] Translation: X:149.84, Y:57.26, Z:0.36 [[ 6.94276363e-01 -7.19706120e-01 -1.85269388e-03 1.49839061e+02] [ 7.19703462e-01 6.94278835e-01 -1.95587022e-03 5.72566575e+01] [ 2.69393791e-03 2.45242646e-05 9.99996371e-01 3.56658036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.194012739 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:149.86, Y:57.28, Z:0.36 [[ 6.94403479e-01 -7.19583475e-01 -1.85228530e-03 1.49856829e+02] [ 7.19580816e-01 6.94405949e-01 -1.95625708e-03 5.72753490e+01] [ 2.69392820e-03 2.55627581e-05 9.99996371e-01 3.56870587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.224012739 meters Centerline goodness : 0.993267 Centerline is valid? [True, True] Translation: X:149.88, Y:57.29, Z:0.36 [[ 6.95210097e-01 -7.18804210e-01 -1.85185839e-03 1.49876456e+02] [ 7.18801547e-01 6.95212562e-01 -1.95666112e-03 5.72936137e+01] [ 2.69389147e-03 2.91718919e-05 9.99996371e-01 3.55917243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.254012739 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:149.90, Y:57.31, Z:0.36 [[ 6.96324932e-01 -7.17724293e-01 -1.85145210e-03 1.49895422e+02] [ 7.17721626e-01 6.96327393e-01 -1.95704550e-03 5.73137100e+01] [ 2.69383591e-03 3.39123644e-05 9.99996371e-01 3.55319101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.284012739 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:149.91, Y:57.33, Z:0.35 [[ 6.97899099e-01 -7.16193703e-01 -1.85109146e-03 1.49911832e+02] [ 7.16191029e-01 6.97901553e-01 -1.95738655e-03 5.73338021e+01] [ 2.69374753e-03 4.03232180e-05 9.99996371e-01 3.53781007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.314012739 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:149.93, Y:57.36, Z:0.35 [[ 7.02781335e-01 -7.11403522e-01 -1.85066385e-03 1.49927248e+02] [ 7.11400830e-01 7.02783769e-01 -1.95779076e-03 5.73582477e+01] [ 2.69339576e-03 5.93350036e-05 9.99996371e-01 3.51661689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.344012739 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:149.94, Y:57.38, Z:0.35 [[ 7.05476416e-01 -7.08730980e-01 -1.85029905e-03 1.49944666e+02] [ 7.08728279e-01 7.05478839e-01 -1.95813547e-03 5.73808644e+01] [ 2.69313810e-03 7.00591371e-05 9.99996371e-01 3.52438043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.374012739 meters Centerline goodness : 0.992895 Centerline is valid? [True, True] Translation: X:149.96, Y:57.40, Z:0.36 [[ 7.10045736e-01 -7.04153130e-01 -1.84993174e-03 1.49959647e+02] [ 7.04150412e-01 7.10048140e-01 -1.95848242e-03 5.74044199e+01] [ 2.69261212e-03 8.79818939e-05 9.99996371e-01 3.55627748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.404012739 meters Centerline goodness : 0.993051 Centerline is valid? [True, True] Translation: X:149.98, Y:57.43, Z:0.36 [[ 7.11329377e-01 -7.02856384e-01 -1.84954508e-03 1.49976532e+02] [ 7.02853661e-01 7.11331775e-01 -1.95884751e-03 5.74266409e+01] [ 2.69242866e-03 9.34262424e-05 9.99996371e-01 3.56464828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.434012739 meters Centerline goodness : 0.992465 Centerline is valid? [True, True] Translation: X:149.99, Y:57.45, Z:0.36 [[ 7.12169348e-01 -7.02005271e-01 -1.84918746e-03 1.49993492e+02] [ 7.02002544e-01 7.12171742e-01 -1.95918505e-03 5.74494620e+01] [ 2.69229729e-03 9.71372420e-05 9.99996371e-01 3.57199806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46401273899997 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:150.01, Y:57.47, Z:0.35 [[ 7.12407003e-01 -7.01764094e-01 -1.84882535e-03 1.50007241e+02] [ 7.01761365e-01 7.12409395e-01 -1.95952671e-03 5.74740702e+01] [ 2.69224603e-03 9.85463466e-05 9.99996371e-01 3.53695372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49401273899997 meters Centerline goodness : 0.992845 Centerline is valid? [True, True] Translation: X:150.02, Y:57.50, Z:0.35 [[ 7.12157686e-01 -7.02017103e-01 -1.84844460e-03 1.50023903e+02] [ 7.02014374e-01 7.12160079e-01 -1.95988580e-03 5.74964097e+01] [ 2.69226181e-03 9.81130618e-05 9.99996371e-01 3.51878676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52401273899997 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:150.04, Y:57.52, Z:0.35 [[ 7.12276681e-01 -7.01896370e-01 -1.84808553e-03 1.50036907e+02] [ 7.01893640e-01 7.12279072e-01 -1.96022433e-03 5.75208305e+01] [ 2.69222699e-03 9.90625958e-05 9.99996371e-01 3.52889791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55401273899997 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:150.05, Y:57.54, Z:0.36 [[ 7.12393823e-01 -7.01777477e-01 -1.84770594e-03 1.50051824e+02] [ 7.01774745e-01 7.12396212e-01 -1.96058207e-03 5.75435148e+01] [ 2.69219105e-03 1.00033186e-04 9.99996371e-01 3.55609906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58401273899997 meters Centerline goodness : 0.992659 Centerline is valid? [True, True] Translation: X:150.07, Y:57.57, Z:0.36 [[ 7.12548453e-01 -7.01620474e-01 -1.84732884e-03 1.50068095e+02] [ 7.01617741e-01 7.12550840e-01 -1.96093732e-03 5.75666633e+01] [ 2.69214949e-03 1.01144160e-04 9.99996371e-01 3.58641788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61401273899997 meters Centerline goodness : 0.992680 Centerline is valid? [True, True] Translation: X:150.08, Y:57.59, Z:0.36 [[ 7.12402542e-01 -7.01768628e-01 -1.84696101e-03 1.50083557e+02] [ 7.01765895e-01 7.12404929e-01 -1.96128371e-03 5.75890584e+01] [ 2.69215151e-03 1.01089252e-04 9.99996371e-01 3.57500185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64401273899998 meters Centerline goodness : 0.993718 Centerline is valid? [True, True] Translation: X:150.10, Y:57.61, Z:0.35 [[ 7.12266241e-01 -7.01906969e-01 -1.84657138e-03 1.50101090e+02] [ 7.01904235e-01 7.12268627e-01 -1.96165048e-03 5.76102895e+01] [ 2.69215101e-03 1.01101141e-04 9.99996371e-01 3.54317881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67401273899998 meters Centerline goodness : 0.993665 Centerline is valid? [True, True] Translation: X:150.12, Y:57.64, Z:0.35 [[ 7.12429447e-01 -7.01741316e-01 -1.84618835e-03 1.50115377e+02] [ 7.01738580e-01 7.12431832e-01 -1.96201090e-03 5.76351670e+01] [ 2.69210746e-03 1.02252744e-04 9.99996371e-01 3.52881919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70401273899998 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:150.13, Y:57.66, Z:0.36 [[ 7.12397444e-01 -7.01773806e-01 -1.84583077e-03 1.50131897e+02] [ 7.01771070e-01 7.12399828e-01 -1.96234725e-03 5.76567054e+01] [ 2.69209342e-03 1.02620528e-04 9.99996371e-01 3.55091482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73401273899998 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:150.15, Y:57.68, Z:0.36 [[ 7.12103689e-01 -7.02071884e-01 -1.84545268e-03 1.50150211e+02] [ 7.02069148e-01 7.12106073e-01 -1.96270275e-03 5.76777484e+01] [ 2.69211648e-03 1.02012478e-04 9.99996371e-01 3.59645545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76401273899998 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:150.17, Y:57.70, Z:0.36 [[ 7.10853054e-01 -7.03338134e-01 -1.84508046e-03 1.50166745e+02] [ 7.03335402e-01 7.10855442e-01 -1.96305260e-03 5.76994630e+01] [ 2.69227524e-03 9.77315310e-05 9.99996371e-01 3.62889820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79401273899998 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:150.18, Y:57.72, Z:0.36 [[ 7.10260711e-01 -7.03936303e-01 -1.84468626e-03 1.50183840e+02] [ 7.03933572e-01 7.10263100e-01 -1.96342297e-03 5.77221241e+01] [ 2.69233729e-03 9.60056093e-05 9.99996371e-01 3.59930972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82401273899998 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:150.20, Y:57.74, Z:0.36 [[ 7.10526528e-01 -7.03667998e-01 -1.84431663e-03 1.50199661e+02] [ 7.03665265e-01 7.10528915e-01 -1.96377011e-03 5.77443595e+01] [ 2.69228248e-03 9.75292039e-05 9.99996371e-01 3.55862091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85401273899998 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:150.22, Y:57.76, Z:0.36 [[ 7.10903347e-01 -7.03287304e-01 -1.84392718e-03 1.50218234e+02] [ 7.03284568e-01 7.10905731e-01 -1.96413572e-03 5.77643464e+01] [ 2.69221012e-03 9.95051276e-05 9.99996371e-01 3.57799483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88401273899999 meters Centerline goodness : 0.992493 Centerline is valid? [True, True] Translation: X:150.23, Y:57.79, Z:0.36 [[ 7.11046219e-01 -7.03142856e-01 -1.84354423e-03 1.50234728e+02] [ 7.03140119e-01 7.11048602e-01 -1.96449510e-03 5.77874913e+01] [ 2.69217024e-03 1.00576903e-04 9.99996371e-01 3.60835209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.914012739 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:150.25, Y:57.81, Z:0.36 [[ 7.10930984e-01 -7.03259368e-01 -1.84318792e-03 1.50251715e+02] [ 7.03256631e-01 7.10933366e-01 -1.96482935e-03 5.78101462e+01] [ 2.69216844e-03 1.00623940e-04 9.99996371e-01 3.59114771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.944012739 meters Centerline goodness : 0.993071 Centerline is valid? [True, True] Translation: X:150.27, Y:57.83, Z:0.36 [[ 7.10955026e-01 -7.03235064e-01 -1.84282679e-03 1.50268420e+02] [ 7.03232325e-01 7.10957407e-01 -1.96516799e-03 5.78311386e+01] [ 2.69214640e-03 1.01210689e-04 9.99996371e-01 3.55674431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.974012739 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:150.29, Y:57.85, Z:0.35 [[ 7.11948295e-01 -7.02229471e-01 -1.84244525e-03 1.50286108e+02] [ 7.02226729e-01 7.11950671e-01 -1.96552565e-03 5.78523681e+01] [ 2.69198017e-03 1.05538332e-04 9.99996371e-01 3.53192159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.004012739 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:150.30, Y:57.87, Z:0.35 [[ 7.12691322e-01 -7.01475364e-01 -1.84208740e-03 1.50302113e+02] [ 7.01472617e-01 7.12693695e-01 -1.96586096e-03 5.78737517e+01] [ 2.69184711e-03 1.08878180e-04 9.99996371e-01 3.52452284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.034012739 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:150.32, Y:57.90, Z:0.35 [[ 7.14403594e-01 -6.99731457e-01 -1.84170869e-03 1.50315507e+02] [ 6.99728705e-01 7.14405959e-01 -1.96621569e-03 5.78997495e+01] [ 2.69155064e-03 1.15975116e-04 9.99996371e-01 3.52082568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.064012739 meters Centerline goodness : 0.993315 Centerline is valid? [True, True] Translation: X:150.33, Y:57.92, Z:0.35 [[ 7.14634171e-01 -6.99495970e-01 -1.84135246e-03 1.50332855e+02] [ 6.99493215e-01 7.14636533e-01 -1.96654924e-03 5.79222916e+01] [ 2.69149101e-03 1.17349735e-04 9.99996371e-01 3.52790669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.094012739 meters Centerline goodness : 0.993847 Centerline is valid? [True, True] Translation: X:150.35, Y:57.94, Z:0.35 [[ 7.14404041e-01 -6.99731004e-01 -1.84098140e-03 1.50349406e+02] [ 6.99728249e-01 7.14406403e-01 -1.96689655e-03 5.79432613e+01] [ 2.69150740e-03 1.16972146e-04 9.99996371e-01 3.52224222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.124012739 meters Centerline goodness : 0.993993 Centerline is valid? [True, True] Translation: X:150.36, Y:57.97, Z:0.35 [[ 7.13827034e-01 -7.00319625e-01 -1.84064849e-03 1.50362360e+02] [ 7.00316872e-01 7.13829398e-01 -1.96720804e-03 5.79675042e+01] [ 2.69158340e-03 1.15209093e-04 9.99996371e-01 3.51768751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.154012739 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:150.38, Y:57.99, Z:0.35 [[ 7.14136246e-01 -7.00004311e-01 -1.84027131e-03 1.50378041e+02] [ 7.00001555e-01 7.14138608e-01 -1.96756082e-03 5.79911194e+01] [ 2.69150985e-03 1.16913719e-04 9.99996371e-01 3.53544164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.184012739 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:150.39, Y:58.02, Z:0.36 [[ 7.15677116e-01 -6.98428866e-01 -1.83992414e-03 1.50390811e+02] [ 6.98426104e-01 7.15679471e-01 -1.96788541e-03 5.80176711e+01] [ 2.69122391e-03 1.23319506e-04 9.99996371e-01 3.59258488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21401273899997 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:150.41, Y:58.04, Z:0.36 [[ 7.16479801e-01 -6.97605412e-01 -1.83956548e-03 1.50406191e+02] [ 6.97602647e-01 7.16482151e-01 -1.96822064e-03 5.80412156e+01] [ 2.69105720e-03 1.26904585e-04 9.99996371e-01 3.60766274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24401273899997 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:150.42, Y:58.06, Z:0.36 [[ 7.17144347e-01 -6.96922236e-01 -1.83919742e-03 1.50420152e+02] [ 6.96919468e-01 7.17146693e-01 -1.96856451e-03 5.80648910e+01] [ 2.69091073e-03 1.29972419e-04 9.99996371e-01 3.61619156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27401273899997 meters Centerline goodness : 0.993347 Centerline is valid? [True, True] Translation: X:150.43, Y:58.09, Z:0.36 [[ 7.18118018e-01 -6.95918911e-01 -1.83886734e-03 1.50430303e+02] [ 6.95916138e-01 7.18120360e-01 -1.96887279e-03 5.80936930e+01] [ 2.69070388e-03 1.34185562e-04 9.99996371e-01 3.61033558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30401273899997 meters Centerline goodness : 0.993421 Centerline is valid? [True, True] Translation: X:150.45, Y:58.12, Z:0.36 [[ 7.17996127e-01 -6.96044669e-01 -1.83850415e-03 1.50445702e+02] [ 6.96041897e-01 7.17998468e-01 -1.96921187e-03 5.81176461e+01] [ 2.69070259e-03 1.34210582e-04 9.99996371e-01 3.60085444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33401273899997 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:150.46, Y:58.14, Z:0.36 [[ 7.16858651e-01 -6.97216104e-01 -1.83814179e-03 1.50458206e+02] [ 6.97213335e-01 7.16860995e-01 -1.96955005e-03 5.81428013e+01] [ 2.69089417e-03 1.30312025e-04 9.99996371e-01 3.59425332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36401273899997 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:150.47, Y:58.17, Z:0.36 [[ 7.16015468e-01 -6.98081995e-01 -1.83781671e-03 1.50474322e+02] [ 6.98079227e-01 7.16017815e-01 -1.96985335e-03 5.81666259e+01] [ 2.69102866e-03 1.27503798e-04 9.99996371e-01 3.60176655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39401273899998 meters Centerline goodness : 0.992587 Centerline is valid? [True, True] Translation: X:150.49, Y:58.19, Z:0.36 [[ 7.15042391e-01 -6.99078682e-01 -1.83745501e-03 1.50489654e+02] [ 6.99075916e-01 7.15044741e-01 -1.97019068e-03 5.81890377e+01] [ 2.69118084e-03 1.24249306e-04 9.99996371e-01 3.60901125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42401273899998 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:150.50, Y:58.21, Z:0.36 [[ 7.12166443e-01 -7.02008250e-01 -1.83712923e-03 1.50503970e+02] [ 7.02005494e-01 7.12168803e-01 -1.97049441e-03 5.82142813e+01] [ 2.69164946e-03 1.13645184e-04 9.99996371e-01 3.60652337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45401273899998 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:150.52, Y:58.24, Z:0.36 [[ 7.11187784e-01 -7.02999689e-01 -1.83677387e-03 1.50520842e+02] [ 7.02996935e-01 7.11190147e-01 -1.97082560e-03 5.82364265e+01] [ 2.69178526e-03 1.10380690e-04 9.99996371e-01 3.60378708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48401273899998 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:150.54, Y:58.26, Z:0.36 [[ 7.10653229e-01 -7.03540059e-01 -1.83641205e-03 1.50536562e+02] [ 7.03537306e-01 7.10655594e-01 -1.97116268e-03 5.82606250e+01] [ 2.69184841e-03 1.08828737e-04 9.99996371e-01 3.58792973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51401273899998 meters Centerline goodness : 0.992288 Centerline is valid? [True, True] Translation: X:150.55, Y:58.28, Z:0.36 [[ 7.10268322e-01 -7.03928647e-01 -1.83604971e-03 1.50553582e+02] [ 7.03925895e-01 7.10270687e-01 -1.97150013e-03 5.82831330e+01] [ 2.69188771e-03 1.07851157e-04 9.99996371e-01 3.57993766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54401273899998 meters Centerline goodness : 0.992669 Centerline is valid? [True, True] Translation: X:150.57, Y:58.31, Z:0.36 [[ 7.09377461e-01 -7.04826396e-01 -1.83568489e-03 1.50570608e+02] [ 7.04823645e-01 7.09379828e-01 -1.97183976e-03 5.83055190e+01] [ 2.69200254e-03 1.04944569e-04 9.99996371e-01 3.58255098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57401273899998 meters Centerline goodness : 0.992231 Centerline is valid? [True, True] Translation: X:150.59, Y:58.33, Z:0.36 [[ 7.07096636e-01 -7.07114545e-01 -1.83531930e-03 1.50585965e+02] [ 7.07111801e-01 7.07099011e-01 -1.97217998e-03 5.83274490e+01] [ 2.69230961e-03 9.67458926e-05 9.99996371e-01 3.59603822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60401273899998 meters Centerline goodness : 0.992231 Centerline is valid? [True, True] Translation: X:150.61, Y:58.35, Z:0.36 [[ 7.06970037e-01 -7.07241118e-01 -1.83498964e-03 1.50605210e+02] [ 7.07238374e-01 7.06972412e-01 -1.97248666e-03 5.83484283e+01] [ 2.69231072e-03 9.67138746e-05 9.99996371e-01 3.59680553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63401273899999 meters Centerline goodness : 0.991931 Centerline is valid? [True, True] Translation: X:150.62, Y:58.37, Z:0.36 [[ 7.05150203e-01 -7.09055587e-01 -1.83463647e-03 1.50622580e+02] [ 7.09052848e-01 7.05152584e-01 -1.97281509e-03 5.83699090e+01] [ 2.69253421e-03 9.02767507e-05 9.99996371e-01 3.60511649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.664012739 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:150.64, Y:58.39, Z:0.36 [[ 7.00189989e-01 -7.13954211e-01 -1.83427093e-03 1.50638618e+02] [ 7.13951488e-01 7.00192388e-01 -1.97315490e-03 5.83934536e+01] [ 2.69308479e-03 7.20028461e-05 9.99996371e-01 3.58850660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.694012739 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:150.66, Y:58.41, Z:0.36 [[ 6.97424622e-01 -7.16655798e-01 -1.83390114e-03 1.50656778e+02] [ 7.16653083e-01 6.97427031e-01 -1.97349853e-03 5.84141791e+01] [ 2.69333139e-03 6.20955627e-05 9.99996371e-01 3.56712477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.724012739 meters Centerline goodness : 0.993029 Centerline is valid? [True, True] Translation: X:150.67, Y:58.43, Z:0.36 [[ 6.94775962e-01 -7.19223888e-01 -1.83352856e-03 1.50674861e+02] [ 7.19221181e-01 6.94778379e-01 -1.97384463e-03 5.84337359e+01] [ 2.69353221e-03 5.26672292e-05 9.99996371e-01 3.55019473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.754012739 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:150.69, Y:58.45, Z:0.36 [[ 6.90086149e-01 -7.23724911e-01 -1.83313474e-03 1.50693051e+02] [ 7.23722219e-01 6.90088582e-01 -1.97421031e-03 5.84543025e+01] [ 2.69381053e-03 3.56948440e-05 9.99996371e-01 3.55282673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.784012739 meters Centerline goodness : 0.992727 Centerline is valid? [True, True] Translation: X:150.71, Y:58.48, Z:0.36 [[ 6.86430009e-01 -7.27193567e-01 -1.83275356e-03 1.50712140e+02] [ 7.27190886e-01 6.86432456e-01 -1.97456411e-03 5.84752038e+01] [ 2.69395185e-03 2.26383718e-05 9.99996371e-01 3.58011442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.814012739 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:150.73, Y:58.50, Z:0.36 [[ 6.84496013e-01 -7.29014300e-01 -1.83238847e-03 1.50732067e+02] [ 7.29011625e-01 6.84498466e-01 -1.97490286e-03 5.84961339e+01] [ 2.69399952e-03 1.59806374e-05 9.99996371e-01 3.58387981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.844012739 meters Centerline goodness : 0.992859 Centerline is valid? [True, True] Translation: X:150.75, Y:58.51, Z:0.36 [[ 6.83428323e-01 -7.30015306e-01 -1.83835628e-03 1.50751870e+02] [ 7.30012650e-01 6.83430796e-01 -1.96936650e-03 5.85144156e+01] [ 2.69405699e-03 3.89750648e-06 9.99996371e-01 3.56177845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.874012739 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:150.77, Y:58.53, Z:0.36 [[ 6.81723348e-01 -7.31607765e-01 -1.83168966e-03 1.50771808e+02] [ 7.31605098e-01 6.81725808e-01 -1.97554767e-03 5.85336676e+01] [ 2.69403613e-03 6.70348063e-06 9.99996371e-01 3.56372873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.904012739 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:150.79, Y:58.55, Z:0.36 [[ 6.78812800e-01 -7.34309083e-01 -1.83131715e-03 1.50792315e+02] [ 7.34306424e-01 6.78815270e-01 -1.97589293e-03 5.85508046e+01] [ 2.69404217e-03 -3.48653521e-06 9.99996371e-01 3.58359855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.934012739 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:150.81, Y:58.57, Z:0.36 [[ 6.77101491e-01 -7.35887368e-01 -1.83092314e-03 1.50814686e+02] [ 7.35884715e-01 6.77103966e-01 -1.97625796e-03 5.85665953e+01] [ 2.69402859e-03 -9.22114368e-06 9.99996371e-01 3.61113852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96401273899997 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:150.84, Y:58.58, Z:0.36 [[ 6.76569676e-01 -7.36376346e-01 -1.83053476e-03 1.50835414e+02] [ 7.36373693e-01 6.76572152e-01 -1.97661763e-03 5.85847272e+01] [ 2.69402331e-03 -1.06380941e-05 9.99996371e-01 3.59130105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99401273899997 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:150.86, Y:58.60, Z:0.36 [[ 6.75954567e-01 -7.36941025e-01 -1.83014891e-03 1.50855904e+02] [ 7.36938373e-01 6.75957044e-01 -1.97697483e-03 5.86037014e+01] [ 2.69401590e-03 -1.23617998e-05 9.99996371e-01 3.56761029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02401273899997 meters Centerline goodness : 0.992591 Centerline is valid? [True, True] Translation: X:150.88, Y:58.62, Z:0.35 [[ 6.75498139e-01 -7.37359421e-01 -1.82978481e-03 1.50876616e+02] [ 7.37356770e-01 6.75500617e-01 -1.97731177e-03 5.86226934e+01] [ 2.69401022e-03 -1.35337961e-05 9.99996371e-01 3.54273265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05401273899997 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:150.90, Y:58.64, Z:0.35 [[ 6.75492827e-01 -7.37364288e-01 -1.82941294e-03 1.50898326e+02] [ 7.37361636e-01 6.75495304e-01 -1.97765576e-03 5.86402467e+01] [ 2.69401258e-03 -1.30466354e-05 9.99996371e-01 3.54528784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08401273899997 meters Centerline goodness : 0.993124 Centerline is valid? [True, True] Translation: X:150.92, Y:58.66, Z:0.36 [[ 6.77579808e-01 -7.35446979e-01 -1.82903877e-03 1.50918677e+02] [ 7.35444319e-01 6.77582277e-01 -1.97800175e-03 5.86574882e+01] [ 2.69403966e-03 -4.90212584e-06 9.99996371e-01 3.60872408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11401273899997 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:150.94, Y:58.68, Z:0.36 [[ 6.79271655e-01 -7.33884646e-01 -1.82878594e-03 1.50937833e+02] [ 7.33881980e-01 6.79274117e-01 -1.97823548e-03 5.86783322e+01] [ 2.69404360e-03 1.64624546e-06 9.99996371e-01 3.61578792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14401273899998 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:150.96, Y:58.70, Z:0.36 [[ 6.80895650e-01 -7.32378161e-01 -1.82842907e-03 1.50956010e+02] [ 7.32375489e-01 6.80898104e-01 -1.97856527e-03 5.86994758e+01] [ 2.69403188e-03 8.09985126e-06 9.99996371e-01 3.60000864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17401273899998 meters Centerline goodness : 0.994009 Centerline is valid? [True, True] Translation: X:150.97, Y:58.72, Z:0.36 [[ 6.83160564e-01 -7.30265912e-01 -1.82807195e-03 1.50972696e+02] [ 7.30263231e-01 6.83163010e-01 -1.97889517e-03 5.87208326e+01] [ 2.69399082e-03 1.69294167e-05 9.99996371e-01 3.57454547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20401273899998 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:150.99, Y:58.74, Z:0.36 [[ 6.83414121e-01 -7.30028628e-01 -1.82781128e-03 1.50991580e+02] [ 7.30025946e-01 6.83416565e-01 -1.97913591e-03 5.87420238e+01] [ 2.69398238e-03 1.82197689e-05 9.99996371e-01 3.58189424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23401273899998 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:151.01, Y:58.76, Z:0.36 [[ 6.82018797e-01 -7.31332360e-01 -1.82745564e-03 1.51009345e+02] [ 7.31329681e-01 6.82021245e-01 -1.97946423e-03 5.87635928e+01] [ 2.69400982e-03 1.35592611e-05 9.99996371e-01 3.60704589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26401273899998 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:151.03, Y:58.78, Z:0.36 [[ 6.80264518e-01 -7.32964425e-01 -1.82707853e-03 1.51026723e+02] [ 7.32961751e-01 6.80266971e-01 -1.97981225e-03 5.87840984e+01] [ 2.69403313e-03 7.61734464e-06 9.99996371e-01 3.60564065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29401273899998 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:151.04, Y:58.81, Z:0.36 [[ 6.77934212e-01 -7.35120308e-01 -1.82668146e-03 1.51044898e+02] [ 7.35117641e-01 6.77936673e-01 -1.98017855e-03 5.88050250e+01] [ 2.69404381e-03 -3.94985693e-07 9.99996371e-01 3.59525106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32401273899998 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:151.07, Y:58.82, Z:0.36 [[ 6.73714530e-01 -7.38989443e-01 -1.82631638e-03 1.51065169e+02] [ 7.38986789e-01 6.73717005e-01 -1.98051520e-03 5.88243338e+01] [ 2.69400023e-03 -1.53218110e-05 9.99996371e-01 3.58625276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35401273899998 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:151.08, Y:58.84, Z:0.36 [[ 6.71897598e-01 -7.40641805e-01 -1.82594785e-03 1.51084111e+02] [ 7.40639157e-01 6.71900079e-01 -1.98085491e-03 5.88434171e+01] [ 2.69395846e-03 -2.14368164e-05 9.99996371e-01 3.59181658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38401273899999 meters Centerline goodness : 0.984848 Centerline is valid? [True, True] Translation: X:151.10, Y:58.86, Z:0.37 [[ 6.69877178e-01 -7.42469685e-01 -1.82555885e-03 1.51104455e+02] [ 7.42467043e-01 6.69879665e-01 -1.98121335e-03 5.88629352e+01] [ 2.69389560e-03 -2.82476677e-05 9.99996371e-01 3.70121239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.414012739 meters Centerline goodness : 0.993622 Centerline is valid? [True, True] Translation: X:151.12, Y:58.88, Z:0.36 [[ 6.69098718e-01 -7.43171295e-01 -1.82519040e-03 1.51123039e+02] [ 7.43168654e-01 6.69101207e-01 -1.98155273e-03 5.88825957e+01] [ 2.69387021e-03 -3.05698986e-05 9.99996371e-01 3.56745415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.444012739 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:151.14, Y:58.90, Z:0.36 [[ 6.68645538e-01 -7.43579058e-01 -1.82480276e-03 1.51142776e+02] [ 7.43576417e-01 6.68648027e-01 -1.98190964e-03 5.89026225e+01] [ 2.69385727e-03 -3.16852570e-05 9.99996371e-01 3.55620162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.474012739 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:151.16, Y:58.92, Z:0.36 [[ 6.69391227e-01 -7.42907839e-01 -1.82443759e-03 1.51163171e+02] [ 7.42905195e-01 6.69393712e-01 -1.98224573e-03 5.89218308e+01] [ 2.69389295e-03 -2.84862621e-05 9.99996371e-01 3.60214412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.504012739 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:151.18, Y:58.94, Z:0.36 [[ 6.70240077e-01 -7.42142110e-01 -1.82406709e-03 1.51181449e+02] [ 7.42139463e-01 6.70242559e-01 -1.98258661e-03 5.89421961e+01] [ 2.69392841e-03 -2.49031700e-05 9.99996371e-01 3.61515437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.534012739 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:151.20, Y:58.96, Z:0.36 [[ 6.73061493e-01 -7.39584276e-01 -1.82367603e-03 1.51199628e+02] [ 7.39581618e-01 6.73063963e-01 -1.98294627e-03 5.89628319e+01] [ 2.69400649e-03 -1.41124911e-05 9.99996371e-01 3.57649691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.564012739 meters Centerline goodness : 0.993740 Centerline is valid? [True, True] Translation: X:151.22, Y:58.98, Z:0.36 [[ 6.74581209e-01 -7.38198393e-01 -1.82331577e-03 1.51218706e+02] [ 7.38195729e-01 6.74583673e-01 -1.98327746e-03 5.89839770e+01] [ 2.69403129e-03 -8.08220771e-06 9.99996371e-01 3.56089371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.594012739 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:151.24, Y:59.01, Z:0.35 [[ 6.75618409e-01 -7.37249240e-01 -1.82311100e-03 1.51236558e+02] [ 7.37246572e-01 6.75620869e-01 -1.98346568e-03 5.90053694e+01] [ 2.69404040e-03 -4.01640990e-06 9.99996371e-01 3.54647262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.624012739 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:151.25, Y:59.03, Z:0.36 [[ 6.76775590e-01 -7.36187122e-01 -1.82274414e-03 1.51251166e+02] [ 7.36184449e-01 6.76778045e-01 -1.98380275e-03 5.90282686e+01] [ 2.69404326e-03 7.13386412e-07 9.99996371e-01 3.55408320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.654012739 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:151.27, Y:59.05, Z:0.36 [[ 6.77045397e-01 -7.35938998e-01 -1.82247632e-03 1.51268495e+02] [ 7.35936323e-01 6.77047850e-01 -1.98404877e-03 5.90506977e+01] [ 2.69404254e-03 2.06456346e-06 9.99996371e-01 3.55513322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.684012739 meters Centerline goodness : 0.992481 Centerline is valid? [True, True] Translation: X:151.29, Y:59.07, Z:0.36 [[ 6.76869129e-01 -7.36101122e-01 -1.82211352e-03 1.51286508e+02] [ 7.36098448e-01 6.76871581e-01 -1.98438190e-03 5.90723240e+01] [ 2.69404260e-03 1.91191664e-06 9.99996371e-01 3.56943083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71401273899997 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:151.30, Y:59.09, Z:0.36 [[ 6.76555538e-01 -7.36389357e-01 -1.82174388e-03 1.51304066e+02] [ 7.36386683e-01 6.76557991e-01 -1.98472119e-03 5.90933764e+01] [ 2.69404294e-03 1.26617964e-06 9.99996371e-01 3.58731684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74401273899997 meters Centerline goodness : 0.991320 Centerline is valid? [True, True] Translation: X:151.32, Y:59.12, Z:0.36 [[ 6.76549409e-01 -7.36394989e-01 -1.82135308e-03 1.51320003e+02] [ 7.36392313e-01 6.76551861e-01 -1.98507975e-03 5.91150931e+01] [ 2.69404260e-03 1.77412402e-06 9.99996371e-01 3.61482740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77401273899997 meters Centerline goodness : 0.990667 Centerline is valid? [True, True] Translation: X:151.34, Y:59.14, Z:0.36 [[ 6.76529237e-01 -7.36413522e-01 -1.82097363e-03 1.51336124e+02] [ 7.36410846e-01 6.76531688e-01 -1.98542777e-03 5.91379979e+01] [ 2.69404222e-03 2.21520239e-06 9.99996371e-01 3.63838346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80401273899997 meters Centerline goodness : 0.989863 Centerline is valid? [True, True] Translation: X:151.35, Y:59.16, Z:0.37 [[ 6.75546993e-01 -7.37314685e-01 -1.82061631e-03 1.51352149e+02] [ 7.37312011e-01 6.75549447e-01 -1.98575538e-03 5.91609993e+01] [ 2.69404294e-03 -8.91197449e-07 9.99996371e-01 3.67142570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83401273899997 meters Centerline goodness : 0.990417 Centerline is valid? [True, True] Translation: X:151.37, Y:59.18, Z:0.36 [[ 6.73015594e-01 -7.39626052e-01 -1.82025020e-03 1.51368619e+02] [ 7.39623385e-01 6.73018056e-01 -1.98609092e-03 5.91819501e+01] [ 2.69402583e-03 -9.62945845e-06 9.99996371e-01 3.63906331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86401273899997 meters Centerline goodness : 0.991814 Centerline is valid? [True, True] Translation: X:151.39, Y:59.20, Z:0.36 [[ 6.71381512e-01 -7.41109677e-01 -1.81986405e-03 1.51385722e+02] [ 7.41107015e-01 6.71383978e-01 -1.98644469e-03 5.92031058e+01] [ 2.69400095e-03 -1.50517795e-05 9.99996371e-01 3.60384125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89401273899998 meters Centerline goodness : 0.992492 Centerline is valid? [True, True] Translation: X:151.40, Y:59.22, Z:0.36 [[ 6.69645014e-01 -7.42679099e-01 -1.81947051e-03 1.51403418e+02] [ 7.42676442e-01 6.69647485e-01 -1.98680508e-03 5.92243698e+01] [ 2.69396246e-03 -2.08237739e-05 9.99996371e-01 3.58923985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92401273899998 meters Centerline goodness : 0.991539 Centerline is valid? [True, True] Translation: X:151.42, Y:59.24, Z:0.36 [[ 6.68384404e-01 -7.43813807e-01 -1.81911236e-03 1.51422472e+02] [ 7.43811153e-01 6.68386879e-01 -1.98713295e-03 5.92448991e+01] [ 2.69392776e-03 -2.49073875e-05 9.99996371e-01 3.59495790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95401273899998 meters Centerline goodness : 0.991088 Centerline is valid? [True, True] Translation: X:151.44, Y:59.26, Z:0.36 [[ 6.67055301e-01 -7.45005985e-01 -1.81875194e-03 1.51443292e+02] [ 7.45003334e-01 6.67057780e-01 -1.98746277e-03 5.92627658e+01] [ 2.69388429e-03 -2.92286798e-05 9.99996371e-01 3.62625543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98401273899998 meters Centerline goodness : 0.991402 Centerline is valid? [True, True] Translation: X:151.46, Y:59.28, Z:0.37 [[ 6.65120789e-01 -7.46733574e-01 -1.81837033e-03 1.51462588e+02] [ 7.46730929e-01 6.65123273e-01 -1.98781185e-03 5.92832929e+01] [ 2.69380628e-03 -3.56983802e-05 9.99996371e-01 3.65336895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01401273899998 meters Centerline goodness : 0.991061 Centerline is valid? [True, True] Translation: X:151.48, Y:59.30, Z:0.37 [[ 6.64191098e-01 -7.47560620e-01 -1.81800461e-03 1.51482280e+02] [ 7.47557977e-01 6.64193585e-01 -1.98814628e-03 5.93037071e+01] [ 2.69376686e-03 -3.85547860e-05 9.99996371e-01 3.66446930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04401273899998 meters Centerline goodness : 0.991130 Centerline is valid? [True, True] Translation: X:151.50, Y:59.32, Z:0.37 [[ 6.63443909e-01 -7.48223814e-01 -1.81763492e-03 1.51502607e+02] [ 7.48221173e-01 6.63446398e-01 -1.98848420e-03 5.93220927e+01] [ 2.69373457e-03 -4.07452040e-05 9.99996371e-01 3.66583008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07401273899998 meters Centerline goodness : 0.990803 Centerline is valid? [True, True] Translation: X:151.53, Y:59.34, Z:0.37 [[ 6.62538469e-01 -7.49025683e-01 -1.81736391e-03 1.51526544e+02] [ 7.49023044e-01 6.62540960e-01 -1.98873186e-03 5.93384522e+01] [ 2.69368927e-03 -4.36360826e-05 9.99996371e-01 3.67583147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10401273899998 meters Centerline goodness : 0.991093 Centerline is valid? [True, True] Translation: X:151.55, Y:59.36, Z:0.37 [[ 6.62706608e-01 -7.48876926e-01 -1.81700214e-03 1.51545674e+02] [ 7.48874285e-01 6.62709098e-01 -1.98906233e-03 5.93575761e+01] [ 2.69370674e-03 -4.25414306e-05 9.99996371e-01 3.67436876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13401273899999 meters Centerline goodness : 0.991657 Centerline is valid? [True, True] Translation: X:151.57, Y:59.38, Z:0.37 [[ 6.63298077e-01 -7.48353099e-01 -1.81661903e-03 1.51565208e+02] [ 7.48350456e-01 6.63300563e-01 -1.98941217e-03 5.93782374e+01] [ 2.69374719e-03 -3.98944185e-05 9.99996371e-01 3.67911623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.164012739 meters Centerline goodness : 0.990939 Centerline is valid? [True, True] Translation: X:151.59, Y:59.40, Z:0.37 [[ 6.66026070e-01 -7.45926253e-01 -1.81624885e-03 1.51585317e+02] [ 7.45923600e-01 6.66028546e-01 -1.98975007e-03 5.93961950e+01] [ 2.69388040e-03 -2.95574570e-05 9.99996371e-01 3.65471669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.194012739 meters Centerline goodness : 0.991843 Centerline is valid? [True, True] Translation: X:151.61, Y:59.42, Z:0.36 [[ 6.67583749e-01 -7.44532498e-01 -1.81585809e-03 1.51605391e+02] [ 7.44529839e-01 6.67586218e-01 -1.99010662e-03 5.94151993e+01] [ 2.69394089e-03 -2.33976927e-05 9.99996371e-01 3.64854158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.224012739 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:151.62, Y:59.43, Z:0.37 [[ 6.70630242e-01 -7.41789581e-01 -1.81548759e-03 1.51624072e+02] [ 7.41786911e-01 6.70632699e-01 -1.99044455e-03 5.94344598e+01] [ 2.69401637e-03 -1.18526201e-05 9.99996371e-01 3.66102213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.254012739 meters Centerline goodness : 0.992091 Centerline is valid? [True, True] Translation: X:151.64, Y:59.46, Z:0.37 [[ 6.72171369e-01 -7.40393379e-01 -1.81509595e-03 1.51641954e+02] [ 7.40390703e-01 6.72173820e-01 -1.99080163e-03 5.94553946e+01] [ 2.69403632e-03 -5.72030927e-06 9.99996371e-01 3.65961531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.284012739 meters Centerline goodness : 0.990502 Centerline is valid? [True, True] Translation: X:151.66, Y:59.48, Z:0.37 [[ 6.75164214e-01 -7.37665230e-01 -1.81472670e-03 1.51659287e+02] [ 7.37662543e-01 6.75166652e-01 -1.99113816e-03 5.94773228e+01] [ 2.69403634e-03 5.68932481e-06 9.99996371e-01 3.66416376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.314012739 meters Centerline goodness : 0.991569 Centerline is valid? [True, True] Translation: X:151.68, Y:59.50, Z:0.37 [[ 6.75941902e-01 -7.36952681e-01 -1.81435723e-03 1.51676384e+02] [ 7.36949990e-01 6.75944337e-01 -1.99147477e-03 5.94986468e+01] [ 2.69402716e-03 9.03069783e-06 9.99996371e-01 3.66669309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.344012739 meters Centerline goodness : 0.991480 Centerline is valid? [True, True] Translation: X:151.69, Y:59.52, Z:0.37 [[ 6.76002556e-01 -7.36897045e-01 -1.81396573e-03 1.51693916e+02] [ 7.36894353e-01 6.76004989e-01 -1.99183131e-03 5.95210659e+01] [ 2.69402449e-03 9.78194859e-06 9.99996371e-01 3.67580955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.374012739 meters Centerline goodness : 0.991909 Centerline is valid? [True, True] Translation: X:151.71, Y:59.54, Z:0.37 [[ 6.74910284e-01 -7.37897567e-01 -1.81359765e-03 1.51709413e+02] [ 7.37894878e-01 6.74912721e-01 -1.99216639e-03 5.95439415e+01] [ 2.69403486e-03 6.28916816e-06 9.99996371e-01 3.72222833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.404012739 meters Centerline goodness : 0.991523 Centerline is valid? [True, True] Translation: X:151.73, Y:59.57, Z:0.37 [[ 6.73961836e-01 -7.38763938e-01 -1.81332777e-03 1.51727331e+02] [ 7.38761251e-01 6.73964275e-01 -1.99241202e-03 5.95656778e+01] [ 2.69404029e-03 3.19336700e-06 9.99996371e-01 3.74276134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.434012739 meters Centerline goodness : 0.990457 Centerline is valid? [True, True] Translation: X:151.74, Y:59.59, Z:0.37 [[ 6.71113979e-01 -7.41351968e-01 -1.81296237e-03 1.51744206e+02] [ 7.41349290e-01 6.71116427e-01 -1.99274446e-03 5.95867471e+01] [ 2.69403385e-03 -6.67970469e-06 9.99996371e-01 3.73416833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46401273899997 meters Centerline goodness : 0.990855 Centerline is valid? [True, True] Translation: X:151.76, Y:59.61, Z:0.37 [[ 6.69388784e-01 -7.42910069e-01 -1.81269426e-03 1.51762575e+02] [ 7.42907396e-01 6.69391238e-01 -1.99298831e-03 5.96075491e+01] [ 2.69401274e-03 -1.25799503e-05 9.99996371e-01 3.71321715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49401273899997 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:151.78, Y:59.63, Z:0.37 [[ 6.66413370e-01 -7.45580267e-01 -1.81233267e-03 1.51779680e+02] [ 7.45577603e-01 6.66415834e-01 -1.99331707e-03 5.96288797e+01] [ 2.69394506e-03 -2.28614958e-05 9.99996371e-01 3.68441740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52401273899997 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:151.80, Y:59.65, Z:0.37 [[ 6.66265602e-01 -7.45712320e-01 -1.81206899e-03 1.51798089e+02] [ 7.45709656e-01 6.66268065e-01 -1.99355674e-03 5.96494910e+01] [ 2.69394353e-03 -2.30390656e-05 9.99996371e-01 3.68516213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55401273899997 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:151.82, Y:59.67, Z:0.37 [[ 6.64840673e-01 -7.46982997e-01 -1.81167385e-03 1.51816650e+02] [ 7.46980336e-01 6.64843141e-01 -1.99391577e-03 5.96705422e+01] [ 2.69390011e-03 -2.76484360e-05 9.99996371e-01 3.67820478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58401273899997 meters Centerline goodness : 0.992029 Centerline is valid? [True, True] Translation: X:151.84, Y:59.69, Z:0.37 [[ 6.63226832e-01 -7.48416254e-01 -1.81129599e-03 1.51835314e+02] [ 7.48413597e-01 6.63229305e-01 -1.99425897e-03 5.96915304e+01] [ 2.69384040e-03 -3.29524879e-05 9.99996371e-01 3.66144931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61401273899997 meters Centerline goodness : 0.991984 Centerline is valid? [True, True] Translation: X:151.85, Y:59.71, Z:0.36 [[ 6.61413220e-01 -7.50019515e-01 -1.81091549e-03 1.51853177e+02] [ 7.50016864e-01 6.61415698e-01 -1.99460442e-03 5.97115337e+01] [ 2.69376017e-03 -3.89594294e-05 9.99996371e-01 3.64575097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64401273899998 meters Centerline goodness : 0.992940 Centerline is valid? [True, True] Translation: X:151.87, Y:59.73, Z:0.37 [[ 6.59394312e-01 -7.51795094e-01 -1.81051241e-03 1.51870152e+02] [ 7.51792449e-01 6.59396796e-01 -1.99497023e-03 5.97323604e+01] [ 2.69365491e-03 -4.56575325e-05 9.99996371e-01 3.65526246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67401273899998 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:151.89, Y:59.75, Z:0.37 [[ 6.60702138e-01 -7.50645994e-01 -1.81012345e-03 1.51889162e+02] [ 7.50643343e-01 6.60704616e-01 -1.99532309e-03 5.97512356e+01] [ 2.69373820e-03 -4.04428828e-05 9.99996371e-01 3.69872166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70401273899998 meters Centerline goodness : 0.991373 Centerline is valid? [True, True] Translation: X:151.91, Y:59.77, Z:0.37 [[ 6.61649190e-01 -7.49811359e-01 -1.80973040e-03 1.51908024e+02] [ 7.49808704e-01 6.61651664e-01 -1.99567952e-03 5.97711307e+01] [ 2.69379430e-03 -3.65118697e-05 9.99996371e-01 3.70847497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73401273899998 meters Centerline goodness : 0.991966 Centerline is valid? [True, True] Translation: X:151.93, Y:59.79, Z:0.37 [[ 6.61884616e-01 -7.49603555e-01 -1.80711873e-03 1.51926731e+02] [ 7.49600893e-01 6.61887082e-01 -1.99804702e-03 5.97935336e+01] [ 2.69385169e-03 -3.21412318e-05 9.99996371e-01 3.70508976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76401273899998 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:151.94, Y:59.82, Z:0.37 [[ 6.62018726e-01 -7.49485113e-01 -1.80909079e-03 1.51944311e+02] [ 7.49482455e-01 6.62021197e-01 -1.99625986e-03 5.98156189e+01] [ 2.69382350e-03 -3.43203991e-05 9.99996371e-01 3.70698991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79401273899998 meters Centerline goodness : 0.992561 Centerline is valid? [True, True] Translation: X:151.96, Y:59.84, Z:0.37 [[ 6.61777652e-01 -7.49697985e-01 -1.80837928e-03 1.51961178e+02] [ 7.49695327e-01 6.61780122e-01 -1.99690445e-03 5.98364717e+01] [ 2.69382470e-03 -3.42267602e-05 9.99996371e-01 3.68755412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82401273899998 meters Centerline goodness : 0.992020 Centerline is valid? [True, True] Translation: X:151.98, Y:59.86, Z:0.37 [[ 6.62299474e-01 -7.49237036e-01 -1.80850963e-03 1.51978597e+02] [ 7.49234376e-01 6.62301942e-01 -1.99678638e-03 5.98554877e+01] [ 2.69384575e-03 -3.25270132e-05 9.99996371e-01 3.68355754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85401273899998 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:152.00, Y:59.88, Z:0.37 [[ 6.62429309e-01 -7.49122257e-01 -1.80416371e-03 1.51997718e+02] [ 7.49119586e-01 6.62431765e-01 -2.00072073e-03 5.98773014e+01] [ 2.69391978e-03 -2.61983185e-05 9.99996371e-01 3.69057024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88401273899999 meters Centerline goodness : 0.992864 Centerline is valid? [True, True] Translation: X:152.02, Y:59.90, Z:0.37 [[ 6.62493449e-01 -7.49065526e-01 -1.80785132e-03 1.52016016e+02] [ 7.49062863e-01 6.62495915e-01 -1.99738304e-03 5.98974122e+01] [ 2.69386489e-03 -3.09411002e-05 9.99996371e-01 3.67470449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.914012739 meters Centerline goodness : 0.992722 Centerline is valid? [True, True] Translation: X:152.04, Y:59.92, Z:0.37 [[ 6.62299198e-01 -7.49237282e-01 -1.80746017e-03 1.52035319e+02] [ 7.49234620e-01 6.62301664e-01 -1.99773693e-03 5.99176250e+01] [ 2.69386287e-03 -3.11121635e-05 9.99996371e-01 3.65799900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.944012739 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:152.06, Y:59.94, Z:0.37 [[ 6.60364016e-01 -7.50943474e-01 -1.80710298e-03 1.52055751e+02] [ 7.50940817e-01 6.60366487e-01 -1.99805999e-03 5.99373604e+01] [ 2.69378036e-03 -3.75804652e-05 9.99996371e-01 3.68235132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.974012739 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:152.08, Y:59.96, Z:0.37 [[ 6.57795510e-01 -7.53194399e-01 -1.80673883e-03 1.52075812e+02] [ 7.53191750e-01 6.57797989e-01 -1.99838922e-03 5.99574495e+01] [ 2.69364473e-03 -4.62893238e-05 9.99996371e-01 3.74082407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.004012739 meters Centerline goodness : 0.992598 Centerline is valid? [True, True] Translation: X:152.09, Y:59.98, Z:0.37 [[ 6.56509777e-01 -7.54315352e-01 -1.80636631e-03 1.52094776e+02] [ 7.54312705e-01 6.56512260e-01 -1.99872588e-03 5.99762291e+01] [ 2.69357125e-03 -5.03819710e-05 9.99996371e-01 3.74244124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.034012739 meters Centerline goodness : 0.992750 Centerline is valid? [True, True] Translation: X:152.12, Y:60.00, Z:0.37 [[ 6.55119598e-01 -7.55523032e-01 -1.80597289e-03 1.52115370e+02] [ 7.55520389e-01 6.55122085e-01 -1.99908130e-03 5.99954232e+01] [ 2.69348469e-03 -5.48120014e-05 9.99996371e-01 3.72398531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.064012739 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:152.14, Y:60.01, Z:0.37 [[ 6.51998647e-01 -7.58217979e-01 -1.80559622e-03 1.52137822e+02] [ 7.58215346e-01 6.52001144e-01 -1.99942146e-03 6.00116264e+01] [ 2.69324810e-03 -6.54106756e-05 9.99996371e-01 3.68429263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.094012739 meters Centerline goodness : 0.993664 Centerline is valid? [True, True] Translation: X:152.16, Y:60.03, Z:0.37 [[ 6.50606346e-01 -7.59413013e-01 -1.80519795e-03 1.52158917e+02] [ 7.59410383e-01 6.50608847e-01 -1.99978097e-03 6.00304988e+01] [ 2.69313745e-03 -6.98158704e-05 9.99996371e-01 3.68770958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.124012739 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:152.18, Y:60.05, Z:0.37 [[ 6.49437187e-01 -7.60413100e-01 -1.80482589e-03 1.52182955e+02] [ 7.60410473e-01 6.49439691e-01 -2.00011670e-03 6.00461738e+01] [ 2.69304051e-03 -7.34583447e-05 9.99996371e-01 3.72324549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.154012739 meters Centerline goodness : 0.993759 Centerline is valid? [True, True] Translation: X:152.20, Y:60.06, Z:0.37 [[ 6.49440556e-01 -7.60410224e-01 -1.80445272e-03 1.52203809e+02] [ 7.60407596e-01 6.49443059e-01 -2.00045331e-03 6.00642573e+01] [ 2.69305444e-03 -7.29440420e-05 9.99996371e-01 3.73757548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.184012739 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:152.22, Y:60.08, Z:0.37 [[ 6.49666264e-01 -7.60217397e-01 -1.80418007e-03 1.52224302e+02] [ 7.60214768e-01 6.49668765e-01 -2.00069918e-03 6.00832901e+01] [ 2.69308576e-03 -7.17775714e-05 9.99996371e-01 3.74005884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21401273899997 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:152.25, Y:60.10, Z:0.37 [[ 6.51166208e-01 -7.58933012e-01 -1.80381186e-03 1.52245787e+02] [ 7.58930376e-01 6.51168703e-01 -2.00103110e-03 6.01011276e+01] [ 2.69323439e-03 -6.59637767e-05 9.99996371e-01 3.70823731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24401273899997 meters Centerline goodness : 0.993935 Centerline is valid? [True, True] Translation: X:152.27, Y:60.12, Z:0.37 [[ 6.51699646e-01 -7.58474996e-01 -1.80344142e-03 1.52266787e+02] [ 7.58472358e-01 6.51702138e-01 -2.00136490e-03 6.01201098e+01] [ 2.69329187e-03 -6.35716697e-05 9.99996371e-01 3.70614735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27401273899997 meters Centerline goodness : 0.993394 Centerline is valid? [True, True] Translation: X:152.29, Y:60.14, Z:0.37 [[ 6.52477613e-01 -7.57805855e-01 -1.80307152e-03 1.52289457e+02] [ 7.57803214e-01 6.52480101e-01 -2.00169810e-03 6.01363192e+01] [ 2.69336683e-03 -6.03101972e-05 9.99996371e-01 3.73685111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30401273899997 meters Centerline goodness : 0.993904 Centerline is valid? [True, True] Translation: X:152.31, Y:60.16, Z:0.37 [[ 6.53562158e-01 -7.56870700e-01 -1.80280035e-03 1.52309128e+02] [ 7.56868054e-01 6.53564642e-01 -2.00194230e-03 6.01556292e+01] [ 2.69345803e-03 -5.60882671e-05 9.99996371e-01 3.74319673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33401273899997 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:152.33, Y:60.18, Z:0.37 [[ 6.54905797e-01 -7.55708375e-01 -1.80243229e-03 1.52328849e+02] [ 7.55705724e-01 6.54908275e-01 -2.00227362e-03 6.01759843e+01] [ 2.69356277e-03 -5.08077995e-05 9.99996371e-01 3.73316528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36401273899997 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:152.35, Y:60.19, Z:0.37 [[ 6.57584145e-01 -7.53378951e-01 -1.80206370e-03 1.52350728e+02] [ 7.53376291e-01 6.57586613e-01 -2.00260530e-03 6.01934645e+01] [ 2.69373365e-03 -4.07505737e-05 9.99996371e-01 3.67826813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39401273899998 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:152.37, Y:60.21, Z:0.37 [[ 6.59299230e-01 -7.51878501e-01 -1.80169434e-03 1.52371272e+02] [ 7.51875834e-01 6.59301691e-01 -2.00293755e-03 6.02103785e+01] [ 2.69382581e-03 -3.41152536e-05 9.99996371e-01 3.70689110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42401273899998 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:152.39, Y:60.23, Z:0.37 [[ 6.59888324e-01 -7.51361534e-01 -1.80127091e-03 1.52390171e+02] [ 7.51358864e-01 6.59890782e-01 -2.00331828e-03 6.02301081e+01] [ 2.69385836e-03 -3.14345221e-05 9.99996371e-01 3.74067860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45401273899998 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:152.41, Y:60.25, Z:0.38 [[ 6.60455629e-01 -7.50862916e-01 -1.80085588e-03 1.52408689e+02] [ 7.50860244e-01 6.60458083e-01 -2.00369129e-03 6.02497074e+01] [ 2.69388731e-03 -2.88418944e-05 9.99996371e-01 3.76443248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48401273899998 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:152.43, Y:60.27, Z:0.37 [[ 6.62730682e-01 -7.48855661e-01 -1.80045103e-03 1.52430347e+02] [ 7.48852980e-01 6.62733128e-01 -2.00405501e-03 6.02684981e+01] [ 2.69396648e-03 -2.01243766e-05 9.99996371e-01 3.70000843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51401273899998 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:152.45, Y:60.29, Z:0.37 [[ 6.64065941e-01 -7.47671843e-01 -1.80008349e-03 1.52449532e+02] [ 7.47669157e-01 6.64068381e-01 -2.00438508e-03 6.02867680e+01] [ 2.69400082e-03 -1.48230392e-05 9.99996371e-01 3.66128505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54401273899998 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:152.47, Y:60.30, Z:0.37 [[ 6.66902310e-01 -7.45142986e-01 -1.79964739e-03 1.52470659e+02] [ 7.45140289e-01 6.66904739e-01 -2.00477657e-03 6.03042196e+01] [ 2.69403857e-03 -3.99964771e-06 9.99996371e-01 3.67133878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57401273899998 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:152.49, Y:60.32, Z:0.37 [[ 6.68244081e-01 -7.43939924e-01 -1.79923753e-03 1.52490029e+02] [ 7.43937222e-01 6.68246504e-01 -2.00514433e-03 6.03237623e+01] [ 2.69404111e-03 1.40605967e-06 9.99996371e-01 3.69453785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60401273899998 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:152.51, Y:60.34, Z:0.37 [[ 6.69370861e-01 -7.42926251e-01 -1.79883633e-03 1.52508758e+02] [ 7.42923544e-01 6.69373278e-01 -2.00550419e-03 6.03439000e+01] [ 2.69403468e-03 6.02820755e-06 9.99996371e-01 3.69942448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63401273899999 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:152.53, Y:60.36, Z:0.37 [[ 6.71748130e-01 -7.40777440e-01 -1.79845565e-03 1.52526277e+02] [ 7.40774724e-01 6.71750537e-01 -2.00584552e-03 6.03640728e+01] [ 2.69399865e-03 1.51724902e-05 9.99996371e-01 3.67192807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.664012739 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:152.54, Y:60.38, Z:0.36 [[ 6.74673623e-01 -7.38113995e-01 -1.79805371e-03 1.52543969e+02] [ 7.38111269e-01 6.74676018e-01 -2.00620575e-03 6.03839807e+01] [ 2.69391226e-03 2.63703914e-05 9.99996371e-01 3.64826020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.694012739 meters Centerline goodness : 0.994886 Centerline is valid? [True, True] Translation: X:152.56, Y:60.40, Z:0.37 [[ 6.76019055e-01 -7.36881948e-01 -1.79760944e-03 1.52562608e+02] [ 7.36879217e-01 6.76021444e-01 -2.00660375e-03 6.04036421e+01] [ 2.69385261e-03 3.18813371e-05 9.99996371e-01 3.65418070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.724012739 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:152.58, Y:60.42, Z:0.37 [[ 6.76743027e-01 -7.36217118e-01 -1.79718982e-03 1.52581718e+02] [ 7.36214383e-01 6.76745413e-01 -2.00697951e-03 6.04246249e+01] [ 2.69381263e-03 3.50923936e-05 9.99996371e-01 3.65682252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.754012739 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:152.60, Y:60.45, Z:0.37 [[ 6.77798306e-01 -7.35245692e-01 -1.79681543e-03 1.52597062e+02] [ 7.35242953e-01 6.77800687e-01 -2.00731464e-03 6.04470261e+01] [ 2.69375217e-03 3.94585812e-05 9.99996371e-01 3.65419458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.784012739 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:152.61, Y:60.47, Z:0.37 [[ 6.77857483e-01 -7.35191135e-01 -1.79654137e-03 1.52614539e+02] [ 7.35188395e-01 6.77859862e-01 -2.00755989e-03 6.04692085e+01] [ 2.69374352e-03 4.00431275e-05 9.99996371e-01 3.68374434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.814012739 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:152.63, Y:60.49, Z:0.37 [[ 6.77799524e-01 -7.35244571e-01 -1.79616553e-03 1.52632640e+02] [ 7.35241830e-01 6.77801903e-01 -2.00789610e-03 6.04888307e+01] [ 2.69373912e-03 4.03349868e-05 9.99996371e-01 3.73338911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.844012739 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:152.65, Y:60.51, Z:0.37 [[ 6.77389102e-01 -7.35622716e-01 -1.79576870e-03 1.52650990e+02] [ 7.35619976e-01 6.77391481e-01 -2.00825094e-03 6.05099634e+01] [ 2.69375343e-03 3.93639724e-05 9.99996371e-01 3.73036603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.874012739 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:152.67, Y:60.53, Z:0.37 [[ 6.77013495e-01 -7.35968413e-01 -1.79538784e-03 1.52668218e+02] [ 7.35965673e-01 6.77015874e-01 -2.00859137e-03 6.05312035e+01] [ 2.69376587e-03 3.84996433e-05 9.99996371e-01 3.71693769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.904012739 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:152.69, Y:60.55, Z:0.37 [[ 6.75377240e-01 -7.37470245e-01 -1.79498558e-03 1.52685214e+02] [ 7.37467509e-01 6.75379624e-01 -2.00895079e-03 6.05517288e+01] [ 2.69383812e-03 3.30560903e-05 9.99996371e-01 3.65438547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.934012739 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:152.70, Y:60.57, Z:0.36 [[ 6.74548589e-01 -7.38228271e-01 -1.79458568e-03 1.52704098e+02] [ 7.38225537e-01 6.74550976e-01 -2.00930796e-03 6.05711660e+01] [ 2.69386746e-03 3.05668740e-05 9.99996371e-01 3.64034873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96401273899997 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:152.72, Y:60.59, Z:0.37 [[ 6.72798870e-01 -7.39823263e-01 -1.79418997e-03 1.52723272e+02] [ 7.39820534e-01 6.72801262e-01 -2.00966123e-03 6.05920320e+01] [ 2.69392741e-03 2.47192230e-05 9.99996371e-01 3.69285500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99401273899997 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:152.74, Y:60.61, Z:0.37 [[ 6.71640236e-01 -7.40875277e-01 -1.79380872e-03 1.52739903e+02] [ 7.40872551e-01 6.71642631e-01 -2.01000148e-03 6.06136840e+01] [ 2.69395881e-03 2.10142256e-05 9.99996371e-01 3.71655388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02401273899997 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:152.76, Y:60.63, Z:0.37 [[ 6.71105770e-01 -7.41359447e-01 -1.79340516e-03 1.52756358e+02] [ 7.41356721e-01 6.71108166e-01 -2.01036149e-03 6.06339105e+01] [ 2.69396933e-03 1.96122254e-05 9.99996371e-01 3.72688888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05401273899997 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:152.77, Y:60.65, Z:0.37 [[ 6.71357832e-01 -7.41131194e-01 -1.79296092e-03 1.52774810e+02] [ 7.41128466e-01 6.71360226e-01 -2.01075761e-03 6.06525851e+01] [ 2.69395784e-03 2.11234994e-05 9.99996371e-01 3.68336759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08401273899997 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:152.79, Y:60.67, Z:0.36 [[ 6.71432321e-01 -7.41063712e-01 -1.79263718e-03 1.52793611e+02] [ 7.41060983e-01 6.71434714e-01 -2.01104619e-03 6.06732634e+01] [ 2.69395219e-03 2.18279425e-05 9.99996371e-01 3.64516539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11401273899997 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:152.81, Y:60.69, Z:0.36 [[ 6.70395280e-01 -7.42001992e-01 -1.79225931e-03 1.52810460e+02] [ 7.41999266e-01 6.70397676e-01 -2.01138290e-03 6.06943931e+01] [ 2.69397659e-03 1.85665116e-05 9.99996371e-01 3.64021712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14401273899998 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:152.83, Y:60.71, Z:0.37 [[ 6.69447908e-01 -7.42856842e-01 -1.79186002e-03 1.52827519e+02] [ 7.42854118e-01 6.69450306e-01 -2.01173855e-03 6.07148933e+01] [ 2.69399498e-03 1.56635704e-05 9.99996371e-01 3.67809396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17401273899998 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:152.85, Y:60.74, Z:0.37 [[ 6.68616019e-01 -7.43605682e-01 -1.79145312e-03 1.52845638e+02] [ 7.43602960e-01 6.68618418e-01 -2.01210082e-03 6.07352907e+01] [ 2.69400816e-03 1.31930007e-05 9.99996371e-01 3.71963394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20401273899998 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:152.86, Y:60.76, Z:0.37 [[ 6.69619528e-01 -7.42702147e-01 -1.79104650e-03 1.52863410e+02] [ 7.42699421e-01 6.69621923e-01 -2.01246271e-03 6.07554926e+01] [ 2.69398437e-03 1.73751335e-05 9.99996371e-01 3.73422675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23401273899998 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:152.88, Y:60.78, Z:0.37 [[ 6.70695831e-01 -7.41730339e-01 -1.79063671e-03 1.52878721e+02] [ 7.41727608e-01 6.70698221e-01 -2.01282726e-03 6.07768020e+01] [ 2.69395190e-03 2.18301643e-05 9.99996371e-01 3.71561932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26401273899998 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:152.89, Y:60.80, Z:0.37 [[ 6.73051409e-01 -7.39593534e-01 -1.79020682e-03 1.52893683e+02] [ 7.39590795e-01 6.73053789e-01 -2.01320953e-03 6.07996684e+01] [ 2.69386224e-03 3.09730245e-05 9.99996371e-01 3.65528625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29401273899998 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:152.91, Y:60.82, Z:0.36 [[ 6.73468575e-01 -7.39213687e-01 -1.78979724e-03 1.52911889e+02] [ 7.39210945e-01 6.73470952e-01 -2.01357359e-03 6.08191664e+01] [ 2.69383761e-03 3.30408288e-05 9.99996371e-01 3.64546421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32401273899998 meters Centerline goodness : 0.994937 Centerline is valid? [True, True] Translation: X:152.93, Y:60.84, Z:0.37 [[ 6.72930065e-01 -7.39703945e-01 -1.78938473e-03 1.52931058e+02] [ 7.39701204e-01 6.72932443e-01 -2.01394010e-03 6.08399892e+01] [ 2.69385448e-03 3.16308013e-05 9.99996371e-01 3.68376568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35401273899998 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:152.95, Y:60.86, Z:0.37 [[ 6.72051832e-01 -7.40501947e-01 -1.78900588e-03 1.52947789e+02] [ 7.40499208e-01 6.72054213e-01 -2.01427658e-03 6.08607212e+01] [ 2.69388467e-03 2.89408292e-05 9.99996371e-01 3.68029575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38401273899999 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:152.97, Y:60.88, Z:0.37 [[ 6.70943315e-01 -7.41506486e-01 -1.78860501e-03 1.52966405e+02] [ 7.41503750e-01 6.70945698e-01 -2.01463248e-03 6.08816639e+01] [ 2.69391989e-03 2.54468693e-05 9.99996371e-01 3.67802993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.414012739 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:152.99, Y:60.90, Z:0.37 [[ 6.70805281e-01 -7.41631362e-01 -1.78823029e-03 1.52985163e+02] [ 7.41628625e-01 6.70807664e-01 -2.01496504e-03 6.09030955e+01] [ 2.69391985e-03 2.54464235e-05 9.99996371e-01 3.67879728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.444012739 meters Centerline goodness : 0.994605 Centerline is valid? [True, True] Translation: X:153.01, Y:60.92, Z:0.37 [[ 6.67236004e-01 -7.44844224e-01 -1.78785516e-03 1.53006224e+02] [ 7.44841498e-01 6.67238399e-01 -2.01529783e-03 6.09195316e+01] [ 2.69400856e-03 1.30105531e-05 9.99996371e-01 3.67613059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.474012739 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:153.03, Y:60.94, Z:0.37 [[ 6.64829234e-01 -7.46993236e-01 -1.78741203e-03 1.53025168e+02] [ 7.46990516e-01 6.64831637e-01 -2.01569078e-03 6.09384751e+01] [ 2.69403544e-03 4.91032008e-06 9.99996371e-01 3.69244263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.504012739 meters Centerline goodness : 0.994004 Centerline is valid? [True, True] Translation: X:153.04, Y:60.96, Z:0.37 [[ 6.61284753e-01 -7.50132843e-01 -1.78698908e-03 1.53043673e+02] [ 7.50130134e-01 6.61287168e-01 -2.01606567e-03 6.09571970e+01] [ 2.69403002e-03 -7.28087457e-06 9.99996371e-01 3.73577658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.534012739 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:153.06, Y:60.98, Z:0.37 [[ 6.60155594e-01 -7.51126754e-01 -1.78654468e-03 1.53062035e+02] [ 7.51124047e-01 6.60158011e-01 -2.01645940e-03 6.09752827e+01] [ 2.69401838e-03 -1.07397223e-05 9.99996371e-01 3.73432525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.564012739 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:153.08, Y:60.99, Z:0.37 [[ 6.58450794e-01 -7.52621659e-01 -1.78610557e-03 1.53083896e+02] [ 7.52618957e-01 6.58453216e-01 -2.01684827e-03 6.09933488e+01] [ 2.69399065e-03 -1.62615601e-05 9.99996371e-01 3.69996929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.594012739 meters Centerline goodness : 0.994637 Centerline is valid? [True, True] Translation: X:153.10, Y:61.01, Z:0.37 [[ 6.57979920e-01 -7.53033357e-01 -1.78571342e-03 1.53102261e+02] [ 7.53030655e-01 6.57982343e-01 -2.01719542e-03 6.10134062e+01] [ 2.69398334e-03 -1.74228706e-05 9.99996371e-01 3.69782383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.624012739 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:153.12, Y:61.03, Z:0.37 [[ 6.57505228e-01 -7.53447867e-01 -1.78529854e-03 1.53119962e+02] [ 7.53445166e-01 6.57507652e-01 -2.01756253e-03 6.10338492e+01] [ 2.69397564e-03 -1.85666426e-05 9.99996371e-01 3.69393399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.654012739 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:153.14, Y:61.05, Z:0.37 [[ 6.56690035e-01 -7.54158479e-01 -1.78488678e-03 1.53140607e+02] [ 7.54155780e-01 6.56692460e-01 -2.01792675e-03 6.10526185e+01] [ 2.69395826e-03 -2.09302950e-05 9.99996371e-01 3.69997189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.684012739 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:153.16, Y:61.07, Z:0.37 [[ 6.56631667e-01 -7.54209301e-01 -1.78448776e-03 1.53160737e+02] [ 7.54206601e-01 6.56634091e-01 -2.01827955e-03 6.10714176e+01] [ 2.69396070e-03 -2.06061860e-05 9.99996371e-01 3.70030641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71401273899997 meters Centerline goodness : 0.990241 Centerline is valid? [True, True] Translation: X:153.18, Y:61.09, Z:0.38 [[ 6.57465745e-01 -7.53482323e-01 -1.78419685e-03 1.53180532e+02] [ 7.53479619e-01 6.57468166e-01 -2.01853668e-03 6.10907660e+01] [ 2.69398434e-03 -1.72372433e-05 9.99996371e-01 3.81210341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74401273899997 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:153.20, Y:61.11, Z:0.37 [[ 6.58034061e-01 -7.52986051e-01 -1.78377301e-03 1.53197461e+02] [ 7.52983345e-01 6.58036478e-01 -2.01891116e-03 6.11108464e+01] [ 2.69399965e-03 -1.46390628e-05 9.99996371e-01 3.74281058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77401273899997 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:153.21, Y:61.13, Z:0.37 [[ 6.58468916e-01 -7.52605811e-01 -1.78332854e-03 1.53214919e+02] [ 7.52603102e-01 6.58471331e-01 -2.01930369e-03 6.11302608e+01] [ 2.69401041e-03 -1.24898795e-05 9.99996371e-01 3.74339763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80401273899997 meters Centerline goodness : 0.994941 Centerline is valid? [True, True] Translation: X:153.23, Y:61.15, Z:0.37 [[ 6.58748000e-01 -7.52361545e-01 -1.78301123e-03 1.53234194e+02] [ 7.52358834e-01 6.58750412e-01 -2.01958383e-03 6.11510907e+01] [ 2.69401659e-03 -1.10674462e-05 9.99996371e-01 3.74502940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83401273899997 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:153.25, Y:61.17, Z:0.38 [[ 6.59229677e-01 -7.51939529e-01 -1.78262898e-03 1.53251777e+02] [ 7.51936816e-01 6.59232087e-01 -2.01992117e-03 6.11719557e+01] [ 2.69402480e-03 -8.83237657e-06 9.99996371e-01 3.75946484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86401273899997 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:153.27, Y:61.19, Z:0.38 [[ 6.59154822e-01 -7.52005150e-01 -1.78219933e-03 1.53269234e+02] [ 7.52002436e-01 6.59157231e-01 -2.02030019e-03 6.11940687e+01] [ 2.69402572e-03 -8.52762965e-06 9.99996371e-01 3.75062063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89401273899998 meters Centerline goodness : 0.995456 Centerline is valid? [True, True] Translation: X:153.29, Y:61.22, Z:0.37 [[ 6.58674896e-01 -7.52425549e-01 -1.78181838e-03 1.53286675e+02] [ 7.52422836e-01 6.58677306e-01 -2.02063611e-03 6.12158452e+01] [ 2.69402157e-03 -9.73856204e-06 9.99996371e-01 3.73818842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92401273899998 meters Centerline goodness : 0.995380 Centerline is valid? [True, True] Translation: X:153.31, Y:61.23, Z:0.37 [[ 6.57473950e-01 -7.53475170e-01 -1.78143759e-03 1.53307209e+02] [ 7.53472460e-01 6.57476363e-01 -2.02097177e-03 6.12348613e+01] [ 2.69400516e-03 -1.35278717e-05 9.99996371e-01 3.71781440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95401273899998 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:153.33, Y:61.25, Z:0.37 [[ 6.56391627e-01 -7.54418226e-01 -1.78105152e-03 1.53326003e+02] [ 7.54415519e-01 6.56394043e-01 -2.02131195e-03 6.12543423e+01] [ 2.69398618e-03 -1.68806705e-05 9.99996371e-01 3.71828186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98401273899998 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:153.34, Y:61.28, Z:0.37 [[ 6.54278567e-01 -7.56251536e-01 -1.78064200e-03 1.53343541e+02] [ 7.56248834e-01 6.54280990e-01 -2.02167265e-03 6.12761719e+01] [ 2.69393325e-03 -2.38713510e-05 9.99996371e-01 3.71977688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01401273899998 meters Centerline goodness : 0.995258 Centerline is valid? [True, True] Translation: X:153.36, Y:61.30, Z:0.37 [[ 6.53385808e-01 -7.57022996e-01 -1.78025935e-03 1.53360852e+02] [ 7.57020296e-01 6.53388233e-01 -2.02200955e-03 6.12964815e+01] [ 2.69390824e-03 -2.65401182e-05 9.99996371e-01 3.71833735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04401273899998 meters Centerline goodness : 0.995653 Centerline is valid? [True, True] Translation: X:153.38, Y:61.32, Z:0.37 [[ 6.53138605e-01 -7.57236287e-01 -1.77982949e-03 1.53380004e+02] [ 7.57233587e-01 6.53141029e-01 -2.02238785e-03 6.13157588e+01] [ 2.69390513e-03 -2.68470939e-05 9.99996371e-01 3.71439180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07401273899998 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:153.40, Y:61.33, Z:0.37 [[ 6.53246458e-01 -7.57143249e-01 -1.77940110e-03 1.53400021e+02] [ 7.57140547e-01 6.53248881e-01 -2.02276470e-03 6.13348280e+01] [ 2.69391441e-03 -2.58928484e-05 9.99996371e-01 3.70557397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10401273899998 meters Centerline goodness : 0.996386 Centerline is valid? [True, True] Translation: X:153.42, Y:61.35, Z:0.37 [[ 6.54476652e-01 -7.56080120e-01 -1.77901341e-03 1.53419402e+02] [ 7.56077413e-01 6.54479069e-01 -2.02310562e-03 6.13523437e+01] [ 2.69395698e-03 -2.09964634e-05 9.99996371e-01 3.67792509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13401273899999 meters Centerline goodness : 0.995469 Centerline is valid? [True, True] Translation: X:153.44, Y:61.37, Z:0.37 [[ 6.55244347e-01 -7.55414913e-01 -1.77599729e-03 1.53437560e+02] [ 7.55412197e-01 6.55246754e-01 -2.02575640e-03 6.13722606e+01] [ 2.69400306e-03 -1.42445847e-05 9.99996371e-01 3.66910041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.164012739 meters Centerline goodness : 0.995857 Centerline is valid? [True, True] Translation: X:153.46, Y:61.39, Z:0.37 [[ 6.57492145e-01 -7.53459301e-01 -1.77817472e-03 1.53456770e+02] [ 7.53456583e-01 6.57494549e-01 -2.02384328e-03 6.13908873e+01] [ 2.69402373e-03 -9.11639351e-06 9.99996371e-01 3.66577053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.194012739 meters Centerline goodness : 0.995850 Centerline is valid? [True, True] Translation: X:153.48, Y:61.41, Z:0.37 [[ 6.58288219e-01 -7.52763881e-01 -1.77777672e-03 1.53475317e+02] [ 7.52761160e-01 6.58290619e-01 -2.02419283e-03 6.14101978e+01] [ 2.69403299e-03 -5.73897525e-06 9.99996371e-01 3.67874287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.224012739 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:153.49, Y:61.43, Z:0.37 [[ 6.60274685e-01 -7.51022091e-01 -1.77735320e-03 1.53494463e+02] [ 7.51019362e-01 6.60277077e-01 -2.02456463e-03 6.14301472e+01] [ 2.69403834e-03 1.94210489e-06 9.99996371e-01 3.71418152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.254012739 meters Centerline goodness : 0.995865 Centerline is valid? [True, True] Translation: X:153.51, Y:61.45, Z:0.37 [[ 6.62024277e-01 -7.49480286e-01 -1.77695482e-03 1.53512053e+02] [ 7.49477551e-01 6.62026661e-01 -2.02491423e-03 6.14511475e+01] [ 2.69402477e-03 8.75463188e-06 9.99996371e-01 3.72261597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.284012739 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:153.53, Y:61.47, Z:0.37 [[ 6.64122514e-01 -7.47621649e-01 -1.77666269e-03 1.53528336e+02] [ 7.47618906e-01 6.64124891e-01 -2.02517052e-03 6.14714407e+01] [ 2.69398724e-03 1.66947171e-05 9.99996371e-01 3.72788335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.314012739 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:153.54, Y:61.49, Z:0.37 [[ 6.68260084e-01 -7.43925605e-01 -1.77621478e-03 1.53543693e+02] [ 7.43922848e-01 6.68262444e-01 -2.02556329e-03 6.14933059e+01] [ 2.69384602e-03 3.22363383e-05 9.99996371e-01 3.69962509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.344012739 meters Centerline goodness : 0.995844 Centerline is valid? [True, True] Translation: X:153.56, Y:61.52, Z:0.37 [[ 6.69109086e-01 -7.43162080e-01 -1.77577143e-03 1.53559653e+02] [ 7.43159319e-01 6.69111442e-01 -2.02595189e-03 6.15153933e+01] [ 2.69379960e-03 3.59017330e-05 9.99996371e-01 3.69967460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.374012739 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:153.57, Y:61.54, Z:0.37 [[ 6.69567700e-01 -7.42748910e-01 -1.77534904e-03 1.53574547e+02] [ 7.42746147e-01 6.69570053e-01 -2.02632196e-03 6.15366401e+01] [ 2.69376898e-03 3.81260756e-05 9.99996371e-01 3.70351170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.404012739 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:153.59, Y:61.56, Z:0.37 [[ 6.69562432e-01 -7.42753660e-01 -1.77490677e-03 1.53589566e+02] [ 7.42750896e-01 6.69564784e-01 -2.02670928e-03 6.15586677e+01] [ 2.69376081e-03 3.86947996e-05 9.99996371e-01 3.70952280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.434012739 meters Centerline goodness : 0.996431 Centerline is valid? [True, True] Translation: X:153.60, Y:61.58, Z:0.37 [[ 6.68977959e-01 -7.43280123e-01 -1.77447062e-03 1.53604293e+02] [ 7.43277360e-01 6.68980312e-01 -2.02709108e-03 6.15818173e+01] [ 2.69378242e-03 3.71554131e-05 9.99996371e-01 3.71648590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46401273899997 meters Centerline goodness : 0.996083 Centerline is valid? [True, True] Translation: X:153.62, Y:61.61, Z:0.37 [[ 6.68320266e-01 -7.43871544e-01 -1.77406027e-03 1.53620876e+02] [ 7.43868782e-01 6.68322620e-01 -2.02745015e-03 6.16051283e+01] [ 2.69380708e-03 3.53179687e-05 9.99996371e-01 3.71992188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49401273899997 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:153.64, Y:61.63, Z:0.37 [[ 6.67830827e-01 -7.44310984e-01 -1.77367956e-03 1.53636579e+02] [ 7.44308223e-01 6.67833181e-01 -2.02778315e-03 6.16282372e+01] [ 2.69382333e-03 3.40518115e-05 9.99996371e-01 3.71095153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52401273899997 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:153.65, Y:61.65, Z:0.37 [[ 6.66236240e-01 -7.45738646e-01 -1.77328550e-03 1.53648250e+02] [ 7.45735888e-01 6.66238599e-01 -2.02812770e-03 6.16537668e+01] [ 2.69388445e-03 2.88095356e-05 9.99996371e-01 3.70235666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55401273899997 meters Centerline goodness : 0.996304 Centerline is valid? [True, True] Translation: X:153.66, Y:61.68, Z:0.37 [[ 6.64986843e-01 -7.46852968e-01 -1.77286921e-03 1.53663353e+02] [ 7.46850214e-01 6.64989206e-01 -2.02849152e-03 6.16767432e+01] [ 2.69392380e-03 2.48524229e-05 9.99996371e-01 3.70988384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58401273899997 meters Centerline goodness : 0.996342 Centerline is valid? [True, True] Translation: X:153.68, Y:61.70, Z:0.37 [[ 6.63639567e-01 -7.48050389e-01 -1.77246304e-03 1.53678932e+02] [ 7.48047638e-01 6.63641933e-01 -2.02884637e-03 6.17000001e+01] [ 2.69396011e-03 2.05359316e-05 9.99996371e-01 3.72053626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61401273899997 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:153.69, Y:61.72, Z:0.37 [[ 6.60174720e-01 -7.51109978e-01 -1.77207891e-03 1.53692501e+02] [ 7.51107237e-01 6.60177098e-01 -2.02918183e-03 6.17237455e+01] [ 2.69402463e-03 8.59325143e-06 9.99996371e-01 3.73368767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64401273899998 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:153.71, Y:61.75, Z:0.37 [[ 6.57705635e-01 -7.53272965e-01 -1.77167340e-03 1.53709813e+02] [ 7.53270231e-01 6.57708021e-01 -2.02953582e-03 6.17462962e+01] [ 2.69403827e-03 2.88310776e-07 9.99996371e-01 3.73335651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67401273899998 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:153.73, Y:61.77, Z:0.37 [[ 6.52584432e-01 -7.57713944e-01 -1.77129037e-03 1.53725914e+02] [ 7.57711226e-01 6.52586836e-01 -2.02987006e-03 6.17679265e+01] [ 2.69398162e-03 -1.74649974e-05 9.99996371e-01 3.73307799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70401273899998 meters Centerline goodness : 0.996579 Centerline is valid? [True, True] Translation: X:153.74, Y:61.79, Z:0.37 [[ 6.50010842e-01 -7.59922871e-01 -1.77088501e-03 1.53741595e+02] [ 7.59920159e-01 6.50013254e-01 -2.03022363e-03 6.17883177e+01] [ 2.69391210e-03 -2.60638515e-05 9.99996371e-01 3.72814695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73401273899998 meters Centerline goodness : 0.996494 Centerline is valid? [True, True] Translation: X:153.76, Y:61.81, Z:0.37 [[ 6.47736988e-01 -7.61861969e-01 -1.77043963e-03 1.53759500e+02] [ 7.61859264e-01 6.47739406e-01 -2.03061195e-03 6.18101996e+01] [ 2.69382953e-03 -3.35233646e-05 9.99996371e-01 3.73481306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76401273899998 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:153.78, Y:61.83, Z:0.37 [[ 6.43907399e-01 -7.65101384e-01 -1.77005072e-03 1.53778087e+02] [ 7.65098690e-01 6.43909831e-01 -2.03095090e-03 6.18300013e+01] [ 2.69363640e-03 -4.65191768e-05 9.99996371e-01 3.71751379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79401273899998 meters Centerline goodness : 0.996758 Centerline is valid? [True, True] Translation: X:153.80, Y:61.85, Z:0.37 [[ 6.42309641e-01 -7.66443210e-01 -1.76963992e-03 1.53796124e+02] [ 7.66440520e-01 6.42312076e-01 -2.03130878e-03 6.18488858e+01] [ 2.69354391e-03 -5.15945284e-05 9.99996371e-01 3.70635048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82401273899998 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:153.81, Y:61.87, Z:0.37 [[ 6.40646468e-01 -7.67833949e-01 -1.76919664e-03 1.53814381e+02] [ 7.67831263e-01 6.40648908e-01 -2.03169478e-03 6.18688602e+01] [ 2.69343813e-03 -5.68464064e-05 9.99996371e-01 3.72041752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85401273899998 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:153.83, Y:61.89, Z:0.37 [[ 6.39837823e-01 -7.68507926e-01 -1.76877868e-03 1.53832899e+02] [ 7.68505242e-01 6.39840265e-01 -2.03205859e-03 6.18903975e+01] [ 2.69338895e-03 -5.91277413e-05 9.99996371e-01 3.74505728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88401273899999 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:153.85, Y:61.91, Z:0.38 [[ 6.39029376e-01 -7.69180297e-01 -1.76838937e-03 1.53851056e+02] [ 7.69177615e-01 6.39031820e-01 -2.03239734e-03 6.19106372e+01] [ 2.69333706e-03 -6.14439121e-05 9.99996371e-01 3.76864390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.914012739 meters Centerline goodness : 0.995992 Centerline is valid? [True, True] Translation: X:153.87, Y:61.93, Z:0.38 [[ 6.38215575e-01 -7.69855671e-01 -1.76810424e-03 1.53869821e+02] [ 7.69852990e-01 6.38218020e-01 -2.03264536e-03 6.19299736e+01] [ 2.69327954e-03 -6.39144086e-05 9.99996371e-01 3.78313470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.944012739 meters Centerline goodness : 0.995712 Centerline is valid? [True, True] Translation: X:153.89, Y:61.95, Z:0.38 [[ 6.37866920e-01 -7.70144576e-01 -1.76768030e-03 1.53890610e+02] [ 7.70141895e-01 6.37869366e-01 -2.03301396e-03 6.19494625e+01] [ 2.69326379e-03 -6.45723035e-05 9.99996371e-01 3.80607506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.974012739 meters Centerline goodness : 0.995897 Centerline is valid? [True, True] Translation: X:153.91, Y:61.97, Z:0.38 [[ 6.37733946e-01 -7.70254692e-01 -1.76729503e-03 1.53908541e+02] [ 7.70252011e-01 6.37736392e-01 -2.03334882e-03 6.19692678e+01] [ 2.69326483e-03 -6.45269854e-05 9.99996371e-01 3.79422964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.004012739 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:153.93, Y:61.99, Z:0.37 [[ 6.37476110e-01 -7.70468096e-01 -1.76701453e-03 1.53927654e+02] [ 7.70465415e-01 6.37478556e-01 -2.03359255e-03 6.19886903e+01] [ 2.69325205e-03 -6.50569106e-05 9.99996371e-01 3.73046596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.034012739 meters Centerline goodness : 0.996094 Centerline is valid? [True, True] Translation: X:153.95, Y:62.01, Z:0.37 [[ 6.37576718e-01 -7.70384844e-01 -1.76659115e-03 1.53946679e+02] [ 7.70382162e-01 6.37579162e-01 -2.03396028e-03 6.20086458e+01] [ 2.69327388e-03 -6.41445867e-05 9.99996371e-01 3.71170775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.064012739 meters Centerline goodness : 0.996354 Centerline is valid? [True, True] Translation: X:153.97, Y:62.03, Z:0.37 [[ 6.38250878e-01 -7.69826407e-01 -1.76620105e-03 1.53965528e+02] [ 7.69823722e-01 6.38253319e-01 -2.03429897e-03 6.20282619e+01] [ 2.69334075e-03 -6.12703639e-05 9.99996371e-01 3.70318772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.094012739 meters Centerline goodness : 0.996378 Centerline is valid? [True, True] Translation: X:153.99, Y:62.05, Z:0.37 [[ 6.41250312e-01 -7.67329733e-01 -1.76578822e-03 1.53985612e+02] [ 7.67327037e-01 6.41252741e-01 -2.03465725e-03 6.20484611e+01] [ 2.69356954e-03 -5.02124506e-05 9.99996371e-01 3.71720224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.124012739 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:154.00, Y:62.07, Z:0.37 [[ 6.43058294e-01 -7.65815196e-01 -1.76540513e-03 1.54002742e+02] [ 7.65812493e-01 6.43060716e-01 -2.03498959e-03 6.20680657e+01] [ 2.69368864e-03 -4.33523730e-05 9.99996371e-01 3.72999391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.154012739 meters Centerline goodness : 0.996445 Centerline is valid? [True, True] Translation: X:154.02, Y:62.09, Z:0.37 [[ 6.44743048e-01 -7.64397336e-01 -1.76507104e-03 1.54020304e+02] [ 7.64394627e-01 6.44745463e-01 -2.03527933e-03 6.20886632e+01] [ 2.69378364e-03 -3.69786189e-05 9.99996371e-01 3.74816802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.184012739 meters Centerline goodness : 0.996456 Centerline is valid? [True, True] Translation: X:154.04, Y:62.11, Z:0.38 [[ 6.47424318e-01 -7.62127705e-01 -1.76465043e-03 1.54037743e+02] [ 7.62124986e-01 6.47426723e-01 -2.03564394e-03 6.21100461e+01] [ 2.69390249e-03 -2.69587927e-05 9.99996371e-01 3.78889816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21401273899997 meters Centerline goodness : 0.996678 Centerline is valid? [True, True] Translation: X:154.06, Y:62.13, Z:0.38 [[ 6.48354700e-01 -7.61336372e-01 -1.76422376e-03 1.54055425e+02] [ 7.61333650e-01 6.48357100e-01 -2.03601365e-03 6.21312542e+01] [ 2.69393825e-03 -2.31038900e-05 9.99996371e-01 3.79460284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24401273899997 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:154.07, Y:62.15, Z:0.38 [[ 6.50035132e-01 -7.59902110e-01 -1.76381762e-03 1.54071571e+02] [ 7.59899381e-01 6.50037525e-01 -2.03636543e-03 6.21525219e+01] [ 2.69398603e-03 -1.66148454e-05 9.99996371e-01 3.75584967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27401273899997 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:154.09, Y:62.17, Z:0.37 [[ 6.50467779e-01 -7.59531802e-01 -1.76336351e-03 1.54088562e+02] [ 7.59529071e-01 6.50470169e-01 -2.03675858e-03 6.21732300e+01] [ 2.69399828e-03 -1.44800191e-05 9.99996371e-01 3.72888604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30401273899997 meters Centerline goodness : 0.996646 Centerline is valid? [True, True] Translation: X:154.11, Y:62.19, Z:0.37 [[ 6.50633592e-01 -7.59389769e-01 -1.76293623e-03 1.54106732e+02] [ 7.59387037e-01 6.50635980e-01 -2.03712836e-03 6.21933706e+01] [ 2.69400418e-03 -1.33267789e-05 9.99996371e-01 3.71499770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33401273899997 meters Centerline goodness : 0.996646 Centerline is valid? [True, True] Translation: X:154.12, Y:62.21, Z:0.37 [[ 6.50474692e-01 -7.59525884e-01 -1.76251023e-03 1.54124642e+02] [ 7.59523151e-01 6.50477080e-01 -2.03749686e-03 6.22144337e+01] [ 2.69400411e-03 -1.33271802e-05 9.99996371e-01 3.71574255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36401273899997 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:154.14, Y:62.23, Z:0.37 [[ 6.50302838e-01 -7.59673031e-01 -1.76208385e-03 1.54143004e+02] [ 7.59670298e-01 6.50305225e-01 -2.03786554e-03 6.22332666e+01] [ 2.69400383e-03 -1.33730195e-05 9.99996371e-01 3.74942035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39401273899998 meters Centerline goodness : 0.997276 Centerline is valid? [True, True] Translation: X:154.16, Y:62.25, Z:0.38 [[ 6.51035023e-01 -7.59045647e-01 -1.76175372e-03 1.54160371e+02] [ 7.59042911e-01 6.51037407e-01 -2.03815090e-03 6.22543267e+01] [ 2.69401714e-03 -1.03390515e-05 9.99996371e-01 3.78117031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42401273899998 meters Centerline goodness : 0.996912 Centerline is valid? [True, True] Translation: X:154.18, Y:62.28, Z:0.38 [[ 6.52576887e-01 -7.57720466e-01 -1.76132338e-03 1.54176755e+02] [ 7.57717723e-01 6.52579264e-01 -2.03852272e-03 6.22757857e+01] [ 2.69403350e-03 -4.29312748e-06 9.99996371e-01 3.79803476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45401273899998 meters Centerline goodness : 0.997139 Centerline is valid? [True, True] Translation: X:154.19, Y:62.30, Z:0.38 [[ 6.56353186e-01 -7.54451718e-01 -1.76089473e-03 1.54193210e+02] [ 7.54448963e-01 6.56355548e-01 -2.03889293e-03 6.22958053e+01] [ 2.69401930e-03 9.72866522e-06 9.99996371e-01 3.79014557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48401273899998 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:154.21, Y:62.32, Z:0.38 [[ 6.58179849e-01 -7.52858676e-01 -1.76044418e-03 1.54211655e+02] [ 7.52855915e-01 6.58182204e-01 -2.03928187e-03 6.23168980e+01] [ 2.69398408e-03 1.68534176e-05 9.99996371e-01 3.78532276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51401273899998 meters Centerline goodness : 0.997130 Centerline is valid? [True, True] Translation: X:154.23, Y:62.34, Z:0.38 [[ 6.61646677e-01 -7.49813695e-01 -1.76004170e-03 1.54228821e+02] [ 7.49810922e-01 6.61649017e-01 -2.03962918e-03 6.23379809e+01] [ 2.69387176e-03 2.98153775e-05 9.99996371e-01 3.77115405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54401273899998 meters Centerline goodness : 0.997196 Centerline is valid? [True, True] Translation: X:154.25, Y:62.36, Z:0.38 [[ 6.62575064e-01 -7.48993450e-01 -1.75974664e-03 1.54245919e+02] [ 7.48990673e-01 6.62577400e-01 -2.03988372e-03 6.23584723e+01] [ 2.69382790e-03 3.35422702e-05 9.99996371e-01 3.76923287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57401273899998 meters Centerline goodness : 0.996630 Centerline is valid? [True, True] Translation: X:154.26, Y:62.38, Z:0.38 [[ 6.63133550e-01 -7.48499031e-01 -1.75931747e-03 1.54262738e+02] [ 7.48496251e-01 6.63135883e-01 -2.04025380e-03 6.23784313e+01] [ 2.69379453e-03 3.61182108e-05 9.99996371e-01 3.76494281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60401273899998 meters Centerline goodness : 0.996777 Centerline is valid? [True, True] Translation: X:154.28, Y:62.40, Z:0.38 [[ 6.63157006e-01 -7.48478251e-01 -1.75886702e-03 1.54280045e+02] [ 7.48475470e-01 6.63159337e-01 -2.04064205e-03 6.23999674e+01] [ 2.69378528e-03 3.67972455e-05 9.99996371e-01 3.77012000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63401273899999 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:154.29, Y:62.42, Z:0.37 [[ 6.62628513e-01 -7.48946167e-01 -1.75847910e-03 1.54294357e+02] [ 7.48943387e-01 6.62630846e-01 -2.04097628e-03 6.24228559e+01] [ 2.69380385e-03 3.54077837e-05 9.99996371e-01 3.74541559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.664012739 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:154.31, Y:62.44, Z:0.37 [[ 6.62368245e-01 -7.49176359e-01 -1.75806962e-03 1.54309945e+02] [ 7.49173579e-01 6.62370577e-01 -2.04132893e-03 6.24448636e+01] [ 2.69380897e-03 3.50121536e-05 9.99996371e-01 3.73801189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.694012739 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:154.32, Y:62.47, Z:0.37 [[ 6.61659952e-01 -7.49801986e-01 -1.75765632e-03 1.54324154e+02] [ 7.49799207e-01 6.61662286e-01 -2.04168474e-03 6.24683197e+01] [ 2.69383417e-03 3.30117161e-05 9.99996371e-01 3.74987967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.724012739 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:154.34, Y:62.49, Z:0.38 [[ 6.61173173e-01 -7.50231262e-01 -1.75723660e-03 1.54340979e+02] [ 7.50228484e-01 6.61175508e-01 -2.04204592e-03 6.24911767e+01] [ 2.69384849e-03 3.18170365e-05 9.99996371e-01 3.77171960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.754012739 meters Centerline goodness : 0.996893 Centerline is valid? [True, True] Translation: X:154.36, Y:62.51, Z:0.38 [[ 6.60629519e-01 -7.50710032e-01 -1.75684898e-03 1.54357011e+02] [ 7.50707255e-01 6.60631854e-01 -2.04237935e-03 6.25126190e+01] [ 2.69386507e-03 3.03768140e-05 9.99996371e-01 3.79190992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.784012739 meters Centerline goodness : 0.997140 Centerline is valid? [True, True] Translation: X:154.38, Y:62.53, Z:0.38 [[ 6.59102881e-01 -7.52050735e-01 -1.75643915e-03 1.54375165e+02] [ 7.52047961e-01 6.59105221e-01 -2.04273174e-03 6.25330972e+01] [ 2.69391612e-03 2.54438946e-05 9.99996371e-01 3.78596301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.814012739 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:154.39, Y:62.55, Z:0.38 [[ 6.57692368e-01 -7.53284584e-01 -1.75600969e-03 1.54392544e+02] [ 7.53281814e-01 6.57694712e-01 -2.04310085e-03 6.25529809e+01] [ 2.69395467e-03 2.09616736e-05 9.99996371e-01 3.76854258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.844012739 meters Centerline goodness : 0.997065 Centerline is valid? [True, True] Translation: X:154.41, Y:62.57, Z:0.37 [[ 6.55061794e-01 -7.55573269e-01 -1.75555973e-03 1.54409952e+02] [ 7.55570506e-01 6.55064146e-01 -2.04348741e-03 6.25741910e+01] [ 2.69400870e-03 1.21613744e-05 9.99996371e-01 3.74301194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.874012739 meters Centerline goodness : 0.997033 Centerline is valid? [True, True] Translation: X:154.43, Y:62.59, Z:0.37 [[ 6.53733906e-01 -7.56722472e-01 -1.75513452e-03 1.54428308e+02] [ 7.56719712e-01 6.53736262e-01 -2.04385256e-03 6.25942798e+01] [ 2.69402424e-03 7.99082795e-06 9.99996371e-01 3.73934560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.904012739 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:154.45, Y:62.61, Z:0.37 [[ 6.52245635e-01 -7.58005642e-01 -1.75471125e-03 1.54446670e+02] [ 7.58002885e-01 6.52247995e-01 -2.04421589e-03 6.26126178e+01] [ 2.69403407e-03 3.25470024e-06 9.99996371e-01 3.74460383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.934012739 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:154.47, Y:62.63, Z:0.38 [[ 6.49323726e-01 -7.60510106e-01 -1.75426710e-03 1.54468276e+02] [ 7.60507358e-01 6.49326096e-01 -2.04459696e-03 6.26296868e+01] [ 2.69402806e-03 -6.52772122e-06 9.99996371e-01 3.78154403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96401273899997 meters Centerline goodness : 0.996976 Centerline is valid? [True, True] Translation: X:154.49, Y:62.65, Z:0.38 [[ 6.47939171e-01 -7.61690065e-01 -1.75384744e-03 1.54488369e+02] [ 7.61687320e-01 6.47941545e-01 -2.04495689e-03 6.26483827e+01] [ 2.69401396e-03 -1.08756839e-05 9.99996371e-01 3.79084579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99401273899997 meters Centerline goodness : 0.996964 Centerline is valid? [True, True] Translation: X:154.51, Y:62.66, Z:0.38 [[ 6.45060554e-01 -7.64129444e-01 -1.75342952e-03 1.54512398e+02] [ 7.64126707e-01 6.45062937e-01 -2.04531516e-03 6.26641846e+01] [ 2.69395794e-03 -2.04901920e-05 9.99996371e-01 3.81475879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02401273899997 meters Centerline goodness : 0.996445 Centerline is valid? [True, True] Translation: X:154.53, Y:62.68, Z:0.38 [[ 6.43733341e-01 -7.65247876e-01 -1.75301470e-03 1.54533072e+02] [ 7.65245142e-01 6.43735728e-01 -2.04567064e-03 6.26807183e+01] [ 2.69392331e-03 -2.46195820e-05 9.99996371e-01 3.83227397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05401273899997 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:154.55, Y:62.70, Z:0.38 [[ 6.42748982e-01 -7.66074849e-01 -1.75257787e-03 1.54553488e+02] [ 7.66072118e-01 6.42751371e-01 -2.04604482e-03 6.26986458e+01] [ 2.69389530e-03 -2.75078165e-05 9.99996371e-01 3.83374096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08401273899997 meters Centerline goodness : 0.996565 Centerline is valid? [True, True] Translation: X:154.57, Y:62.72, Z:0.38 [[ 6.42595284e-01 -7.66203779e-01 -1.75216686e-03 1.54573490e+02] [ 7.66201047e-01 6.42597672e-01 -2.04639673e-03 6.27173523e+01] [ 2.69389525e-03 -2.75071913e-05 9.99996371e-01 3.82103416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11401273899997 meters Centerline goodness : 0.996880 Centerline is valid? [True, True] Translation: X:154.59, Y:62.73, Z:0.38 [[ 6.45908588e-01 -7.63412750e-01 -1.75175648e-03 1.54594426e+02] [ 7.63410006e-01 6.45910964e-01 -2.04674797e-03 6.27341288e+01] [ 2.69399221e-03 -1.52963337e-05 9.99996371e-01 3.79638074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14401273899998 meters Centerline goodness : 0.996646 Centerline is valid? [True, True] Translation: X:154.61, Y:62.75, Z:0.38 [[ 6.48890148e-01 -7.60880089e-01 -1.75132417e-03 1.54613857e+02] [ 7.60877335e-01 6.48892511e-01 -2.04711781e-03 6.27531081e+01] [ 2.69403232e-03 -4.18828981e-06 9.99996371e-01 3.80872018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17401273899998 meters Centerline goodness : 0.996403 Centerline is valid? [True, True] Translation: X:154.63, Y:62.77, Z:0.38 [[ 6.54912646e-01 -7.55702560e-01 -1.75091807e-03 1.54634116e+02] [ 7.55699787e-01 6.54914987e-01 -2.04746509e-03 6.27709224e+01] [ 2.69397710e-03 1.77423692e-05 9.99996371e-01 3.84478386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20401273899998 meters Centerline goodness : 0.996440 Centerline is valid? [True, True] Translation: X:154.65, Y:62.79, Z:0.39 [[ 6.57655296e-01 -7.53316963e-01 -1.75051265e-03 1.54652615e+02] [ 7.53314180e-01 6.57657626e-01 -2.04781165e-03 6.27905444e+01] [ 2.69388925e-03 2.80681770e-05 9.99996371e-01 3.85970001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23401273899998 meters Centerline goodness : 0.996436 Centerline is valid? [True, True] Translation: X:154.67, Y:62.81, Z:0.39 [[ 6.60262417e-01 -7.51032941e-01 -1.75010723e-03 1.54671065e+02] [ 7.51030149e-01 6.60264735e-01 -2.04815807e-03 6.28108137e+01] [ 2.69376827e-03 3.79385013e-05 9.99996371e-01 3.86029492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26401273899998 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:154.69, Y:62.83, Z:0.38 [[ 6.66952793e-01 -7.45097920e-01 -1.74970337e-03 1.54687374e+02] [ 7.45095107e-01 6.66955085e-01 -2.04850302e-03 6.28318378e+01] [ 2.69330890e-03 6.25593895e-05 9.99996371e-01 3.82777934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29401273899998 meters Centerline goodness : 0.997162 Centerline is valid? [True, True] Translation: X:154.70, Y:62.85, Z:0.38 [[ 6.70556885e-01 -7.41856053e-01 -1.74928047e-03 1.54702540e+02] [ 7.41853228e-01 6.70559163e-01 -2.04886409e-03 6.28542299e+01] [ 2.69295827e-03 7.61705626e-05 9.99996371e-01 3.80271717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32401273899998 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:154.72, Y:62.88, Z:0.38 [[ 6.74179200e-01 -7.38565737e-01 -1.74888214e-03 1.54717931e+02] [ 7.38562899e-01 6.74181463e-01 -2.04920405e-03 6.28773627e+01] [ 2.69253581e-03 8.98712834e-05 9.99996371e-01 3.78218389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35401273899998 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:154.73, Y:62.90, Z:0.38 [[ 6.80416772e-01 -7.32823279e-01 -1.74848707e-03 1.54730333e+02] [ 7.32820422e-01 6.80419009e-01 -2.04954108e-03 6.29023835e+01] [ 2.69165526e-03 1.13215097e-04 9.99996371e-01 3.76750704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38401273899999 meters Centerline goodness : 0.997159 Centerline is valid? [True, True] Translation: X:154.74, Y:62.92, Z:0.38 [[ 6.82360858e-01 -7.31013408e-01 -1.74809373e-03 1.54744198e+02] [ 7.31010544e-01 6.82363087e-01 -2.04987651e-03 6.29243532e+01] [ 2.69132185e-03 1.20880542e-04 9.99996371e-01 3.77093636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.414012739 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:154.76, Y:62.95, Z:0.38 [[ 6.84327172e-01 -7.29173002e-01 -1.74768183e-03 1.54755534e+02] [ 7.29170131e-01 6.84329392e-01 -2.05022763e-03 6.29509746e+01] [ 2.69096068e-03 1.28669092e-04 9.99996371e-01 3.79728141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.444012739 meters Centerline goodness : 0.997405 Centerline is valid? [True, True] Translation: X:154.77, Y:62.97, Z:0.38 [[ 6.84273344e-01 -7.29223517e-01 -1.74729572e-03 1.54769393e+02] [ 7.29220645e-01 6.84275563e-01 -2.05055663e-03 6.29744414e+01] [ 2.69094589e-03 1.28977130e-04 9.99996371e-01 3.80570381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.474012739 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:154.78, Y:63.00, Z:0.38 [[ 6.83785037e-01 -7.29681417e-01 -1.74691024e-03 1.54783929e+02] [ 7.29678546e-01 6.83787257e-01 -2.05088499e-03 6.29981920e+01] [ 2.69100762e-03 1.27681545e-04 9.99996371e-01 3.81211807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.504012739 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:154.80, Y:63.02, Z:0.38 [[ 6.83316180e-01 -7.30120502e-01 -1.74650645e-03 1.54795132e+02] [ 7.30117632e-01 6.83318401e-01 -2.05122879e-03 6.30233468e+01] [ 2.69106419e-03 1.26482670e-04 9.99996371e-01 3.79650623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.534012739 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:154.81, Y:63.05, Z:0.38 [[ 6.83029602e-01 -7.30388605e-01 -1.74608361e-03 1.54808601e+02] [ 7.30385735e-01 6.83031822e-01 -2.05158866e-03 6.30469175e+01] [ 2.69108765e-03 1.25981227e-04 9.99996371e-01 3.79759294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.564012739 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:154.82, Y:63.07, Z:0.38 [[ 6.81119622e-01 -7.32170071e-01 -1.74570255e-03 1.54819299e+02] [ 7.32167206e-01 6.81121849e-01 -2.05191286e-03 6.30724961e+01] [ 2.69138533e-03 1.19451953e-04 9.99996371e-01 3.81205779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.594012739 meters Centerline goodness : 0.997489 Centerline is valid? [True, True] Translation: X:154.83, Y:63.10, Z:0.38 [[ 6.79433232e-01 -7.33735264e-01 -1.74540698e-03 1.54834737e+02] [ 7.33732403e-01 6.79435464e-01 -2.05216424e-03 6.30953967e+01] [ 2.69163667e-03 1.13646922e-04 9.99996371e-01 3.82193633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.624012739 meters Centerline goodness : 0.997477 Centerline is valid? [True, True] Translation: X:154.85, Y:63.12, Z:0.38 [[ 6.77653904e-01 -7.35378910e-01 -1.74502701e-03 1.54850419e+02] [ 7.35376054e-01 6.77656142e-01 -2.05248729e-03 6.31181187e+01] [ 2.69188414e-03 1.07624946e-04 9.99996371e-01 3.82915899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.654012739 meters Centerline goodness : 0.997239 Centerline is valid? [True, True] Translation: X:154.86, Y:63.14, Z:0.39 [[ 6.73539752e-01 -7.39148942e-01 -1.74464693e-03 1.54863212e+02] [ 7.39146097e-01 6.73542005e-01 -2.05281032e-03 6.31426879e+01] [ 2.69242557e-03 9.31003895e-05 9.99996371e-01 3.85525333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.684012739 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:154.88, Y:63.16, Z:0.39 [[ 6.71324426e-01 -7.41161570e-01 -1.74426540e-03 1.54878859e+02] [ 7.41158731e-01 6.71326687e-01 -2.05313446e-03 6.31649643e+01] [ 2.69267627e-03 8.55417823e-05 9.99996371e-01 3.87681493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71401273899997 meters Centerline goodness : 0.996837 Centerline is valid? [True, True] Translation: X:154.89, Y:63.19, Z:0.39 [[ 6.66674688e-01 -7.45346778e-01 -1.74388375e-03 1.54893558e+02] [ 7.45343952e-01 6.66676965e-01 -2.05345857e-03 6.31876349e+01] [ 2.69314585e-03 6.91956459e-05 9.99996371e-01 3.86864810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74401273899997 meters Centerline goodness : 0.996855 Centerline is valid? [True, True] Translation: X:154.91, Y:63.21, Z:0.38 [[ 6.64405447e-01 -7.47370298e-01 -1.74352251e-03 1.54909838e+02] [ 7.47367479e-01 6.64407732e-01 -2.05376524e-03 6.32079165e+01] [ 2.69333297e-03 6.14807919e-05 9.99996371e-01 3.84186405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77401273899997 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:154.93, Y:63.23, Z:0.38 [[ 6.62198405e-01 -7.49326520e-01 -1.74309522e-03 1.54926666e+02] [ 7.49323706e-01 6.62200697e-01 -2.05412782e-03 6.32286716e+01] [ 2.69349133e-03 5.40975949e-05 9.99996371e-01 3.80885370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80401273899997 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:154.94, Y:63.25, Z:0.38 [[ 6.58427294e-01 -7.52642320e-01 -1.74266773e-03 1.54943945e+02] [ 7.52639517e-01 6.58429599e-01 -2.05449044e-03 6.32490831e+01] [ 2.69372046e-03 4.11319837e-05 9.99996371e-01 3.77104894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83401273899997 meters Centerline goodness : 0.997232 Centerline is valid? [True, True] Translation: X:154.96, Y:63.27, Z:0.38 [[ 6.56649490e-01 -7.54193882e-01 -1.74224544e-03 1.54961430e+02] [ 7.54191083e-01 6.56651801e-01 -2.05484848e-03 6.32694643e+01] [ 2.69380276e-03 3.53292260e-05 9.99996371e-01 3.77027978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86401273899997 meters Centerline goodness : 0.997546 Centerline is valid? [True, True] Translation: X:154.98, Y:63.29, Z:0.38 [[ 6.55150152e-01 -7.55496687e-01 -1.74182456e-03 1.54978503e+02] [ 7.55493892e-01 6.55152467e-01 -2.05520519e-03 6.32889823e+01] [ 2.69386137e-03 3.05301734e-05 9.99996371e-01 3.75361085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89401273899998 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:155.00, Y:63.31, Z:0.38 [[ 6.53351528e-01 -7.57052672e-01 -1.74149910e-03 1.54995896e+02] [ 7.57049882e-01 6.53353848e-01 -2.05548093e-03 6.33093860e+01] [ 2.69392247e-03 2.45499162e-05 9.99996371e-01 3.76023789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92401273899998 meters Centerline goodness : 0.997566 Centerline is valid? [True, True] Translation: X:155.01, Y:63.33, Z:0.38 [[ 6.53325950e-01 -7.57074746e-01 -1.74108250e-03 1.55013615e+02] [ 7.57071955e-01 6.53328270e-01 -2.05583374e-03 6.33303358e+01] [ 2.69391823e-03 2.50047983e-05 9.99996371e-01 3.76580588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95401273899998 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:155.03, Y:63.35, Z:0.38 [[ 6.55342398e-01 -7.55329935e-01 -1.74066505e-03 1.55030354e+02] [ 7.55327137e-01 6.55344709e-01 -2.05618714e-03 6.33512169e+01] [ 2.69383533e-03 3.27350680e-05 9.99996371e-01 3.77923217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98401273899998 meters Centerline goodness : 0.996806 Centerline is valid? [True, True] Translation: X:155.05, Y:63.37, Z:0.38 [[ 6.56866763e-01 -7.54004660e-01 -1.74024116e-03 1.55047750e+02] [ 7.54001857e-01 6.56869067e-01 -2.05654584e-03 6.33735169e+01] [ 2.69375573e-03 3.87315423e-05 9.99996371e-01 3.78730223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01401273899998 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:155.06, Y:63.40, Z:0.38 [[ 6.58335382e-01 -7.52722723e-01 -1.73984686e-03 1.55064427e+02] [ 7.52719914e-01 6.58337679e-01 -2.05687936e-03 6.33951934e+01] [ 2.69366658e-03 4.44990828e-05 9.99996371e-01 3.78623272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04401273899998 meters Centerline goodness : 0.996991 Centerline is valid? [True, True] Translation: X:155.08, Y:63.42, Z:0.38 [[ 6.59733065e-01 -7.51498009e-01 -1.73942861e-03 1.55081372e+02] [ 7.51495195e-01 6.59735356e-01 -2.05723300e-03 6.34161222e+01] [ 2.69356906e-03 5.00523948e-05 9.99996371e-01 3.80317271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07401273899998 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:155.10, Y:63.44, Z:0.38 [[ 6.58952182e-01 -7.52182822e-01 -1.73900008e-03 1.55099582e+02] [ 7.52180009e-01 6.58954475e-01 -2.05759517e-03 6.34369473e+01] [ 2.69360963e-03 4.78157336e-05 9.99996371e-01 3.81375260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10401273899998 meters Centerline goodness : 0.997675 Centerline is valid? [True, True] Translation: X:155.12, Y:63.46, Z:0.38 [[ 6.57642781e-01 -7.53327916e-01 -1.73860816e-03 1.55116863e+02] [ 7.53325107e-01 6.57645078e-01 -2.05792628e-03 6.34574608e+01] [ 2.69368042e-03 4.36431897e-05 9.99996371e-01 3.81521737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13401273899999 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:155.13, Y:63.48, Z:0.38 [[ 6.53473569e-01 -7.56947339e-01 -1.73819266e-03 1.55134874e+02] [ 7.56944541e-01 6.53475880e-01 -2.05827717e-03 6.34782986e+01] [ 2.69387440e-03 2.93142828e-05 9.99996371e-01 3.82868418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.164012739 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:155.15, Y:63.50, Z:0.38 [[ 6.51238924e-01 -7.58870769e-01 -1.73780112e-03 1.55153226e+02] [ 7.58867977e-01 6.51241242e-01 -2.05860769e-03 6.34983682e+01] [ 2.69394496e-03 2.18838352e-05 9.99996371e-01 3.82841032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.194012739 meters Centerline goodness : 0.997235 Centerline is valid? [True, True] Translation: X:155.17, Y:63.52, Z:0.38 [[ 6.47828226e-01 -7.61784465e-01 -1.73751513e-03 1.55172956e+02] [ 7.61781682e-01 6.47830556e-01 -2.05884905e-03 6.35184664e+01] [ 2.69401461e-03 1.01733329e-05 9.99996371e-01 3.80923196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.224012739 meters Centerline goodness : 0.997235 Centerline is valid? [True, True] Translation: X:155.19, Y:63.54, Z:0.38 [[ 6.47682764e-01 -7.61908144e-01 -1.73712182e-03 1.55191176e+02] [ 7.61905361e-01 6.47685093e-01 -2.05918084e-03 6.35403499e+01] [ 2.69401456e-03 1.01735047e-05 9.99996371e-01 3.80999930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.254012739 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:155.21, Y:63.56, Z:0.38 [[ 6.46855379e-01 -7.62610715e-01 -1.73672859e-03 1.55209466e+02] [ 7.62607934e-01 6.46857711e-01 -2.05951244e-03 6.35610042e+01] [ 2.69402253e-03 7.76369802e-06 9.99996371e-01 3.78710823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.284012739 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:155.23, Y:63.58, Z:0.38 [[ 6.46427073e-01 -7.62973804e-01 -1.73633313e-03 1.55227830e+02] [ 7.62971023e-01 6.46429404e-01 -2.05984579e-03 6.35810284e+01] [ 2.69402517e-03 6.76821767e-06 9.99996371e-01 3.76556096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.314012739 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:155.25, Y:63.60, Z:0.38 [[ 6.46196698e-01 -7.63168929e-01 -1.73591737e-03 1.55245206e+02] [ 7.63166148e-01 6.46199029e-01 -2.06019611e-03 6.36001884e+01] [ 2.69402578e-03 6.49855551e-06 9.99996371e-01 3.76671490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.344012739 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:155.26, Y:63.62, Z:0.38 [[ 6.47012514e-01 -7.62477406e-01 -1.73546324e-03 1.55263683e+02] [ 7.62474622e-01 6.47014842e-01 -2.06057859e-03 6.36200989e+01] [ 2.69401509e-03 9.97345331e-06 9.99996371e-01 3.82535630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.374012739 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:155.28, Y:63.64, Z:0.39 [[ 6.47609973e-01 -7.61970021e-01 -1.73503280e-03 1.55281523e+02] [ 7.61967233e-01 6.47612297e-01 -2.06094096e-03 6.36394607e+01] [ 2.69400380e-03 1.26477803e-05 9.99996371e-01 3.85086649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.404012739 meters Centerline goodness : 0.997588 Centerline is valid? [True, True] Translation: X:155.30, Y:63.66, Z:0.39 [[ 6.47391276e-01 -7.62155842e-01 -1.73458163e-03 1.55300165e+02] [ 7.62153054e-01 6.47393600e-01 -2.06132062e-03 6.36597119e+01] [ 2.69400459e-03 1.24642985e-05 9.99996371e-01 3.85278952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.434012739 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:155.32, Y:63.68, Z:0.38 [[ 6.47008073e-01 -7.62481177e-01 -1.73433868e-03 1.55319640e+02] [ 7.62478390e-01 6.47010398e-01 -2.06152501e-03 6.36804801e+01] [ 2.69400917e-03 1.14275622e-05 9.99996371e-01 3.84318292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46401273899997 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:155.34, Y:63.70, Z:0.38 [[ 6.44444671e-01 -7.64648978e-01 -1.73394636e-03 1.55338381e+02] [ 7.64646198e-01 6.44447004e-01 -2.06185493e-03 6.36993798e+01] [ 2.69403180e-03 2.89593059e-06 9.99996371e-01 3.83373579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49401273899997 meters Centerline goodness : 0.997657 Centerline is valid? [True, True] Translation: X:155.36, Y:63.72, Z:0.38 [[ 6.42650236e-01 -7.66157731e-01 -1.73348400e-03 1.55356953e+02] [ 7.66154956e-01 6.42652574e-01 -2.06224358e-03 6.37196257e+01] [ 2.69403182e-03 -2.81603386e-06 9.99996371e-01 3.83473050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52401273899997 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:155.37, Y:63.74, Z:0.38 [[ 6.40982527e-01 -7.67553514e-01 -1.73305337e-03 1.55374634e+02] [ 7.67550742e-01 6.40984870e-01 -2.06260541e-03 6.37385685e+01] [ 2.69402102e-03 -8.11236854e-06 9.99996371e-01 3.83775650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55401273899997 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:155.39, Y:63.76, Z:0.38 [[ 6.38788047e-01 -7.69380809e-01 -1.73260128e-03 1.55394123e+02] [ 7.69378043e-01 6.38790397e-01 -2.06298510e-03 6.37575567e+01] [ 2.69399020e-03 -1.52151596e-05 9.99996371e-01 3.84313140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58401273899997 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:155.41, Y:63.78, Z:0.38 [[ 6.38557942e-01 -7.69571799e-01 -1.73217532e-03 1.55412654e+02] [ 7.69569033e-01 6.38560291e-01 -2.06334269e-03 6.37780302e+01] [ 2.69398873e-03 -1.54646263e-05 9.99996371e-01 3.84991934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61401273899997 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:155.43, Y:63.80, Z:0.38 [[ 6.40100527e-01 -7.68289214e-01 -1.73175093e-03 1.55430906e+02] [ 7.68286443e-01 6.40102869e-01 -2.06369882e-03 6.37972309e+01] [ 2.69401628e-03 -9.50605587e-06 9.99996371e-01 3.84549229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64401273899998 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:155.45, Y:63.82, Z:0.38 [[ 6.41243563e-01 -7.67335452e-01 -1.73142242e-03 1.55448151e+02] [ 7.67332676e-01 6.41245900e-01 -2.06397440e-03 6.38182686e+01] [ 2.69402826e-03 -5.06670219e-06 9.99996371e-01 3.83860947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67401273899998 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:155.46, Y:63.84, Z:0.38 [[ 6.42271540e-01 -7.66475226e-01 -1.73099618e-03 1.55464092e+02] [ 7.66472446e-01 6.42273873e-01 -2.06433181e-03 6.38385641e+01] [ 2.69403281e-03 -8.99303720e-07 9.99996371e-01 3.83569224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70401273899998 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:155.48, Y:63.86, Z:0.38 [[ 6.43545901e-01 -7.65405565e-01 -1.73054899e-03 1.55481096e+02] [ 7.65402780e-01 6.43548227e-01 -2.06470663e-03 6.38595429e+01] [ 2.69402968e-03 4.16647578e-06 9.99996371e-01 3.83786607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73401273899998 meters Centerline goodness : 0.997610 Centerline is valid? [True, True] Translation: X:155.50, Y:63.88, Z:0.39 [[ 6.45984054e-01 -7.63348943e-01 -1.73012520e-03 1.55497521e+02] [ 7.63346150e-01 6.45986371e-01 -2.06506168e-03 6.38792496e+01] [ 2.69399995e-03 1.33125071e-05 9.99996371e-01 3.86829312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76401273899998 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:155.51, Y:63.90, Z:0.39 [[ 6.46392941e-01 -7.63002735e-01 -1.72968018e-03 1.55514908e+02] [ 7.62999940e-01 6.46395255e-01 -2.06543436e-03 6.38996830e+01] [ 2.69398913e-03 1.53363172e-05 9.99996371e-01 3.88644255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79401273899998 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:155.53, Y:63.92, Z:0.39 [[ 6.46023353e-01 -7.63315686e-01 -1.72926795e-03 1.55532375e+02] [ 7.63312891e-01 6.46025668e-01 -2.06577944e-03 6.39197458e+01] [ 2.69399333e-03 1.45692424e-05 9.99996371e-01 3.92109834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82401273899998 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:155.55, Y:63.94, Z:0.39 [[ 6.46058802e-01 -7.63285684e-01 -1.72883464e-03 1.55550221e+02] [ 7.63282888e-01 6.46061115e-01 -2.06614201e-03 6.39402656e+01] [ 2.69398945e-03 1.52593299e-05 9.99996371e-01 3.93335270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85401273899998 meters Centerline goodness : 0.997081 Centerline is valid? [True, True] Translation: X:155.57, Y:63.96, Z:0.39 [[ 6.46637021e-01 -7.62795894e-01 -1.72841910e-03 1.55567260e+02] [ 7.62793095e-01 6.46639331e-01 -2.06648957e-03 6.39611934e+01] [ 2.69397353e-03 1.78424988e-05 9.99996371e-01 3.93638262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88401273899999 meters Centerline goodness : 0.997513 Centerline is valid? [True, True] Translation: X:155.58, Y:63.98, Z:0.39 [[ 6.48179315e-01 -7.61485778e-01 -1.72800554e-03 1.55582772e+02] [ 7.61482973e-01 6.48181618e-01 -2.06683533e-03 6.39831523e+01] [ 2.69392714e-03 2.38331091e-05 9.99996371e-01 3.90788351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.914012739 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:155.60, Y:64.01, Z:0.39 [[ 6.49242880e-01 -7.60579186e-01 -1.72759121e-03 1.55598708e+02] [ 7.60576377e-01 6.49245178e-01 -2.06718160e-03 6.40051482e+01] [ 2.69388556e-03 2.81378713e-05 9.99996371e-01 3.88753247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.944012739 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:155.61, Y:64.03, Z:0.38 [[ 6.52390910e-01 -7.57880675e-01 -1.72716401e-03 1.55613370e+02] [ 7.57877856e-01 6.52393195e-01 -2.06753847e-03 6.40270763e+01] [ 2.69373750e-03 3.98639452e-05 9.99996371e-01 3.84288103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.974012739 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:155.63, Y:64.05, Z:0.38 [[ 6.53788086e-01 -7.56675727e-01 -1.72683288e-03 1.55629411e+02] [ 7.56672903e-01 6.53790365e-01 -2.06781499e-03 6.40489365e+01] [ 2.69365211e-03 4.52651589e-05 9.99996371e-01 3.83163734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.004012739 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:155.64, Y:64.07, Z:0.38 [[ 6.56820885e-01 -7.54044657e-01 -1.72639249e-03 1.55642502e+02] [ 7.54041823e-01 6.56823151e-01 -2.06818260e-03 6.40723072e+01] [ 2.69343660e-03 5.66533825e-05 9.99996371e-01 3.80475327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.034012739 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:155.66, Y:64.09, Z:0.38 [[ 6.57743585e-01 -7.53239934e-01 -1.72605234e-03 1.55656717e+02] [ 7.53237096e-01 6.57745847e-01 -2.06846644e-03 6.40942042e+01] [ 2.69335529e-03 6.03938802e-05 9.99996371e-01 3.80678611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.064012739 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:155.67, Y:64.12, Z:0.38 [[ 6.58181797e-01 -7.52857055e-01 -1.72559575e-03 1.55672113e+02] [ 7.52854215e-01 6.58184056e-01 -2.06884728e-03 6.41166150e+01] [ 2.69330588e-03 6.25555855e-05 9.99996371e-01 3.82600012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.094012739 meters Centerline goodness : 0.997753 Centerline is valid? [True, True] Translation: X:155.69, Y:64.14, Z:0.38 [[ 6.57795503e-01 -7.53194596e-01 -1.72516888e-03 1.55687139e+02] [ 7.53191757e-01 6.57797762e-01 -2.06920318e-03 6.41396614e+01] [ 2.69332488e-03 6.17295669e-05 9.99996371e-01 3.84984676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.124012739 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:155.70, Y:64.17, Z:0.38 [[ 6.56181256e-01 -7.54601341e-01 -1.72474171e-03 1.55700572e+02] [ 7.54598505e-01 6.56183520e-01 -2.06955917e-03 6.41651994e+01] [ 2.69343922e-03 5.65184191e-05 9.99996371e-01 3.83277847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.154012739 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:155.72, Y:64.19, Z:0.38 [[ 6.55204898e-01 -7.55449250e-01 -1.72435546e-03 1.55715101e+02] [ 7.55446416e-01 6.55207165e-01 -2.06988095e-03 6.41868353e+01] [ 2.69350006e-03 5.35379805e-05 9.99996371e-01 3.78824589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.184012739 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:155.73, Y:64.21, Z:0.37 [[ 6.53132133e-01 -7.57241999e-01 -1.72401896e-03 1.55728151e+02] [ 7.57239170e-01 6.53134407e-01 -2.07016119e-03 6.42098938e+01] [ 2.69362909e-03 4.65941071e-05 9.99996371e-01 3.72140701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21401273899997 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:155.74, Y:64.23, Z:0.38 [[ 6.51746953e-01 -7.58434531e-01 -1.72357067e-03 1.55744626e+02] [ 7.58431706e-01 6.51749231e-01 -2.07053436e-03 6.42331802e+01] [ 2.69370061e-03 4.22538193e-05 9.99996371e-01 3.76274345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24401273899997 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:155.76, Y:64.26, Z:0.38 [[ 6.50500461e-01 -7.59503905e-01 -1.72317983e-03 1.55760707e+02] [ 7.59501083e-01 6.50502742e-01 -2.07085957e-03 6.42553496e+01] [ 2.69375914e-03 3.83381571e-05 9.99996371e-01 3.81448721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27401273899997 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:155.77, Y:64.28, Z:0.39 [[ 6.49454855e-01 -7.60398201e-01 -1.72276697e-03 1.55774779e+02] [ 7.60395381e-01 6.49457139e-01 -2.07120298e-03 6.42773187e+01] [ 2.69380233e-03 3.51687863e-05 9.99996371e-01 3.87324480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30401273899997 meters Centerline goodness : 0.996977 Centerline is valid? [True, True] Translation: X:155.79, Y:64.30, Z:0.39 [[ 6.49025996e-01 -7.60764280e-01 -1.72243084e-03 1.55790687e+02] [ 7.60761460e-01 6.49028281e-01 -2.07148247e-03 6.42996105e+01] [ 2.69381620e-03 3.40869667e-05 9.99996371e-01 3.90220350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33401273899997 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:155.80, Y:64.32, Z:0.39 [[ 6.49575065e-01 -7.60295515e-01 -1.72199836e-03 1.55803976e+02] [ 7.60292693e-01 6.49577346e-01 -2.07184193e-03 6.43219924e+01] [ 2.69378325e-03 3.65940873e-05 9.99996371e-01 3.85354564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36401273899997 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:155.82, Y:64.34, Z:0.39 [[ 6.50083311e-01 -7.59860990e-01 -1.72154424e-03 1.55819820e+02] [ 7.59858166e-01 6.50085590e-01 -2.07221919e-03 6.43436298e+01] [ 2.69374963e-03 3.89856613e-05 9.99996371e-01 3.85527555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39401273899998 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:155.84, Y:64.36, Z:0.39 [[ 6.50529658e-01 -7.59478901e-01 -1.72111884e-03 1.55835366e+02] [ 7.59476074e-01 6.50531934e-01 -2.07257246e-03 6.43644195e+01] [ 2.69371782e-03 4.11212729e-05 9.99996371e-01 3.85973080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42401273899998 meters Centerline goodness : 0.997993 Centerline is valid? [True, True] Translation: X:155.85, Y:64.39, Z:0.39 [[ 6.50402286e-01 -7.59587984e-01 -1.72067197e-03 1.55849533e+02] [ 7.59585157e-01 6.50404561e-01 -2.07294339e-03 6.43875768e+01] [ 2.69371579e-03 4.12502285e-05 9.99996371e-01 3.86881399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45401273899998 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:155.87, Y:64.41, Z:0.39 [[ 6.49723917e-01 -7.60168318e-01 -1.72025075e-03 1.55865009e+02] [ 7.60165492e-01 6.49726194e-01 -2.07329288e-03 6.44105409e+01] [ 2.69374353e-03 3.93927166e-05 9.99996371e-01 3.86090805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48401273899998 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:155.88, Y:64.43, Z:0.38 [[ 6.48523636e-01 -7.61192575e-01 -1.71982858e-03 1.55880604e+02] [ 7.61189751e-01 6.48525916e-01 -2.07364302e-03 6.44333935e+01] [ 2.69379507e-03 3.56906168e-05 9.99996371e-01 3.84180039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51401273899998 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:155.89, Y:64.46, Z:0.38 [[ 6.45826574e-01 -7.63482206e-01 -1.71940642e-03 1.55894101e+02] [ 7.63479390e-01 6.45828863e-01 -2.07399300e-03 6.44576572e+01] [ 2.69389905e-03 2.67084315e-05 9.99996371e-01 3.83376469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54401273899998 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:155.91, Y:64.48, Z:0.38 [[ 6.44730537e-01 -7.64407993e-01 -1.71897631e-03 1.55909413e+02] [ 7.64405179e-01 6.44732828e-01 -2.07434943e-03 6.44817273e+01] [ 2.69392974e-03 2.34020318e-05 9.99996371e-01 3.84877110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57401273899998 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:155.92, Y:64.51, Z:0.39 [[ 6.43663336e-01 -7.65306838e-01 -1.71859141e-03 1.55921231e+02] [ 7.65304026e-01 6.43665630e-01 -2.07466827e-03 6.45056814e+01] [ 2.69395603e-03 2.01429730e-05 9.99996371e-01 3.87017872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60401273899998 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:155.94, Y:64.53, Z:0.39 [[ 6.43400353e-01 -7.65527945e-01 -1.71813724e-03 1.55936385e+02] [ 7.65525133e-01 6.43402647e-01 -2.07504432e-03 6.45286663e+01] [ 2.69395846e-03 1.98070146e-05 9.99996371e-01 3.87739844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63401273899999 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:155.95, Y:64.55, Z:0.39 [[ 6.43310912e-01 -7.65603108e-01 -1.71772801e-03 1.55950815e+02] [ 7.65600296e-01 6.43313205e-01 -2.07538303e-03 6.45513406e+01] [ 2.69395681e-03 2.00234762e-05 9.99996371e-01 3.87319507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.664012739 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:155.96, Y:64.58, Z:0.38 [[ 6.42909536e-01 -7.65940193e-01 -1.71731610e-03 1.55962208e+02] [ 7.65937381e-01 6.42911829e-01 -2.07572381e-03 6.45754316e+01] [ 2.69396313e-03 1.91460390e-05 9.99996371e-01 3.79477402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.694012739 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:155.98, Y:64.60, Z:0.38 [[ 6.42127632e-01 -7.66595823e-01 -1.71699731e-03 1.55977265e+02] [ 7.66593012e-01 6.42129928e-01 -2.07598748e-03 6.45971003e+01] [ 2.69397869e-03 1.68107839e-05 9.99996371e-01 3.76536969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.724012739 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:155.99, Y:64.62, Z:0.38 [[ 6.39774563e-01 -7.68560708e-01 -1.71656993e-03 1.55992196e+02] [ 7.68557903e-01 6.39776866e-01 -2.07634080e-03 6.46206027e+01] [ 2.69401569e-03 9.10664008e-06 9.99996371e-01 3.79068597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.754012739 meters Centerline goodness : 0.998245 Centerline is valid? [True, True] Translation: X:156.01, Y:64.64, Z:0.38 [[ 6.38525926e-01 -7.69598399e-01 -1.71618166e-03 1.56008053e+02] [ 7.69595598e-01 6.38528233e-01 -2.07666167e-03 6.46427262e+01] [ 2.69402594e-03 5.23646559e-06 9.99996371e-01 3.82462838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.784012739 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:156.02, Y:64.67, Z:0.39 [[ 6.37226799e-01 -7.70674420e-01 -1.71589740e-03 1.56024386e+02] [ 7.70671622e-01 6.37229109e-01 -2.07689653e-03 6.46650447e+01] [ 2.69403080e-03 1.06069595e-06 9.99996371e-01 3.85102923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.814012739 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:156.04, Y:64.69, Z:0.38 [[ 6.34592980e-01 -7.72844620e-01 -1.71551237e-03 1.56041665e+02] [ 7.72841829e-01 6.34595298e-01 -2.07721451e-03 6.46869753e+01] [ 2.69402015e-03 -7.63397035e-06 9.99996371e-01 3.84523480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.844012739 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:156.06, Y:64.71, Z:0.38 [[ 6.33412012e-01 -7.73812821e-01 -1.71511556e-03 1.56059075e+02] [ 7.73810032e-01 6.33414334e-01 -2.07754210e-03 6.47086346e+01] [ 2.69400749e-03 -1.12335081e-05 9.99996371e-01 3.83442506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.874012739 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:156.08, Y:64.73, Z:0.38 [[ 6.32551169e-01 -7.74516674e-01 -1.71472286e-03 1.56075975e+02] [ 7.74513887e-01 6.32553493e-01 -2.07786617e-03 6.47308760e+01] [ 2.69399593e-03 -1.37199918e-05 9.99996371e-01 3.84476120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.904012739 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:156.09, Y:64.75, Z:0.39 [[ 6.31423064e-01 -7.75436636e-01 -1.71433087e-03 1.56091643e+02] [ 7.75433851e-01 6.31425391e-01 -2.07818953e-03 6.47529626e+01] [ 2.69397633e-03 -1.71333865e-05 9.99996371e-01 3.87701440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.934012739 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:156.11, Y:64.77, Z:0.39 [[ 6.30749459e-01 -7.75984653e-01 -1.71391684e-03 1.56108323e+02] [ 7.75981870e-01 6.30751787e-01 -2.07853093e-03 6.47738014e+01] [ 2.69396421e-03 -1.89361382e-05 9.99996371e-01 3.87818516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96401273899997 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:156.13, Y:64.79, Z:0.39 [[ 6.28624991e-01 -7.77706683e-01 -1.71350903e-03 1.56125600e+02] [ 7.77703905e-01 6.28627326e-01 -2.07886707e-03 6.47943309e+01] [ 2.69390741e-03 -2.57748671e-05 9.99996371e-01 3.89310886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99401273899997 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:156.14, Y:64.82, Z:0.39 [[ 6.26928056e-01 -7.79075271e-01 -1.71308601e-03 1.56143846e+02] [ 7.79072497e-01 6.26930396e-01 -2.07921559e-03 6.48158331e+01] [ 2.69385114e-03 -3.10996097e-05 9.99996371e-01 3.90324030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02401273899997 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:156.16, Y:64.84, Z:0.39 [[ 6.25194498e-01 -7.80467107e-01 -1.71270382e-03 1.56161887e+02] [ 7.80464338e-01 6.25196843e-01 -2.07953037e-03 6.48359407e+01] [ 2.69378207e-03 -3.65933016e-05 9.99996371e-01 3.90792458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05401273899997 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:156.18, Y:64.86, Z:0.39 [[ 6.23613683e-01 -7.81730799e-01 -1.71230014e-03 1.56181242e+02] [ 7.81728034e-01 6.23616032e-01 -2.07986271e-03 6.48564273e+01] [ 2.69371056e-03 -4.15221817e-05 9.99996371e-01 3.91940459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08401273899997 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:156.20, Y:64.87, Z:0.39 [[ 6.20736858e-01 -7.84017106e-01 -1.71192253e-03 1.56201949e+02] [ 7.84014348e-01 6.20739217e-01 -2.08017347e-03 6.48747601e+01] [ 2.69354903e-03 -5.09314756e-05 9.99996371e-01 3.91136402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11401273899997 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:156.22, Y:64.89, Z:0.39 [[ 6.19589068e-01 -7.84924492e-01 -1.71149712e-03 1.56219826e+02] [ 7.84921736e-01 6.19591430e-01 -2.08052342e-03 6.48933115e+01] [ 2.69348274e-03 -5.43217234e-05 9.99996371e-01 3.89755018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14401273899998 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:156.24, Y:64.91, Z:0.39 [[ 6.19430732e-01 -7.85049451e-01 -1.71116851e-03 1.56237200e+02] [ 7.85046695e-01 6.19433094e-01 -2.08079366e-03 6.49147935e+01] [ 2.69348032e-03 -5.44396379e-05 9.99996371e-01 3.89829491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17401273899998 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:156.26, Y:64.93, Z:0.39 [[ 6.19021371e-01 -7.85372278e-01 -1.71074873e-03 1.56257198e+02] [ 7.85369523e-01 6.19023733e-01 -2.08113873e-03 6.49332229e+01] [ 2.69346273e-03 -5.53005621e-05 9.99996371e-01 3.87632163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20401273899998 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:156.28, Y:64.95, Z:0.39 [[ 6.20384079e-01 -7.84296289e-01 -1.71033046e-03 1.56275899e+02] [ 7.84293529e-01 6.20386434e-01 -2.08148242e-03 6.49534403e+01] [ 2.69356475e-03 -5.00825612e-05 9.99996371e-01 3.86697385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23401273899998 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:156.29, Y:64.97, Z:0.38 [[ 6.24365529e-01 -7.81130439e-01 -1.70991191e-03 1.56294431e+02] [ 7.81127666e-01 6.24367869e-01 -2.08182620e-03 6.49720785e+01] [ 2.69379187e-03 -3.58389832e-05 9.99996371e-01 3.84889492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26401273899998 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:156.31, Y:64.99, Z:0.39 [[ 6.25857469e-01 -7.79935578e-01 -1.70947257e-03 1.56312775e+02] [ 7.79932799e-01 6.25859803e-01 -2.08218689e-03 6.49925555e+01] [ 2.69386180e-03 -3.01215049e-05 9.99996371e-01 3.85801028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29401273899998 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:156.33, Y:65.01, Z:0.39 [[ 6.28202800e-01 -7.78047763e-01 -1.70905622e-03 1.56332554e+02] [ 7.78044976e-01 6.28205124e-01 -2.08252858e-03 6.50128093e+01] [ 2.69394458e-03 -2.14723251e-05 9.99996371e-01 3.90728763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32401273899998 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:156.35, Y:65.03, Z:0.39 [[ 6.29183759e-01 -7.77254706e-01 -1.70866837e-03 1.56349907e+02] [ 7.77251916e-01 6.29186079e-01 -2.08284675e-03 6.50330010e+01] [ 2.69397279e-03 -1.75724146e-05 9.99996371e-01 3.92063585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35401273899998 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:156.37, Y:65.05, Z:0.39 [[ 6.30246149e-01 -7.76393505e-01 -1.70825680e-03 1.56367952e+02] [ 7.76390710e-01 6.30248464e-01 -2.08318424e-03 6.50540393e+01] [ 2.69399694e-03 -1.33558647e-05 9.99996371e-01 3.92580035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38401273899999 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:156.39, Y:65.07, Z:0.39 [[ 6.31232864e-01 -7.75591487e-01 -1.70787129e-03 1.56385456e+02] [ 7.75588689e-01 6.31235174e-01 -2.08350025e-03 6.50739326e+01] [ 2.69401349e-03 -9.43182456e-06 9.99996371e-01 3.91319469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.414012739 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:156.40, Y:65.10, Z:0.39 [[ 6.30982333e-01 -7.75795320e-01 -1.70758880e-03 1.56402736e+02] [ 7.75792522e-01 6.30984644e-01 -2.08373175e-03 6.50956536e+01] [ 2.69401165e-03 -9.93669646e-06 9.99996371e-01 3.90306899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.444012739 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:156.42, Y:65.12, Z:0.39 [[ 6.30922190e-01 -7.75844234e-01 -1.70720396e-03 1.56418878e+02] [ 7.75841435e-01 6.30924500e-01 -2.08404701e-03 6.51165456e+01] [ 2.69401265e-03 -9.64806665e-06 9.99996371e-01 3.90439874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.474012739 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:156.44, Y:65.14, Z:0.39 [[ 6.31176330e-01 -7.75637497e-01 -1.70686813e-03 1.56435486e+02] [ 7.75634696e-01 6.31178638e-01 -2.08432202e-03 6.51378502e+01] [ 2.69401701e-03 -8.33141867e-06 9.99996371e-01 3.92095058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.504012739 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:156.45, Y:65.16, Z:0.39 [[ 6.31200298e-01 -7.75617994e-01 -1.70644165e-03 1.56451582e+02] [ 7.75615192e-01 6.31202604e-01 -2.08467112e-03 6.51584129e+01] [ 2.69401884e-03 -7.69703939e-06 9.99996371e-01 3.92651634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.534012739 meters Centerline goodness : 0.997075 Centerline is valid? [True, True] Translation: X:156.47, Y:65.18, Z:0.39 [[ 6.30517015e-01 -7.76173552e-01 -1.70599381e-03 1.56469126e+02] [ 7.76170752e-01 6.30519323e-01 -2.08503755e-03 6.51802920e+01] [ 2.69401306e-03 -9.49084557e-06 9.99996371e-01 3.90773452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.564012739 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:156.49, Y:65.20, Z:0.39 [[ 6.29310726e-01 -7.77151917e-01 -1.70560445e-03 1.56485967e+02] [ 7.77149119e-01 6.29313037e-01 -2.08535600e-03 6.52016903e+01] [ 2.69399753e-03 -1.31720980e-05 9.99996371e-01 3.89140844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.594012739 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:156.50, Y:65.22, Z:0.39 [[ 6.27864367e-01 -7.78320904e-01 -1.70519471e-03 1.56503056e+02] [ 7.78318109e-01 6.27866682e-01 -2.08569099e-03 6.52235639e+01] [ 2.69397184e-03 -1.76528701e-05 9.99996371e-01 3.89012287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.624012739 meters Centerline goodness : 0.996296 Centerline is valid? [True, True] Translation: X:156.52, Y:65.25, Z:0.39 [[ 6.24249138e-01 -7.81223468e-01 -1.70480208e-03 1.56519998e+02] [ 7.81220683e-01 6.24251466e-01 -2.08601187e-03 6.52455856e+01] [ 2.69386662e-03 -2.96355337e-05 9.99996371e-01 3.87234581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.654012739 meters Centerline goodness : 0.995947 Centerline is valid? [True, True] Translation: X:156.54, Y:65.27, Z:0.39 [[ 6.22128413e-01 -7.82913363e-01 -1.70440939e-03 1.56537954e+02] [ 7.82910583e-01 6.22130746e-01 -2.08633267e-03 6.52669723e+01] [ 2.69378321e-03 -3.64333143e-05 9.99996371e-01 3.86606591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.684012739 meters Centerline goodness : 0.996006 Centerline is valid? [True, True] Translation: X:156.56, Y:65.29, Z:0.38 [[ 6.19186026e-01 -7.85242486e-01 -1.70401868e-03 1.56555722e+02] [ 7.85239715e-01 6.19188369e-01 -2.08665174e-03 6.52868475e+01] [ 2.69363615e-03 -4.60375464e-05 9.99996371e-01 3.84834953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71401273899997 meters Centerline goodness : 0.995854 Centerline is valid? [True, True] Translation: X:156.57, Y:65.31, Z:0.38 [[ 6.18503855e-01 -7.85779918e-01 -1.70360986e-03 1.56572800e+02] [ 7.85777148e-01 6.18506199e-01 -2.08698546e-03 6.53063924e+01] [ 2.69360452e-03 -4.78491491e-05 9.99996371e-01 3.84082565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74401273899997 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:156.59, Y:65.33, Z:0.39 [[ 6.18244881e-01 -7.85983693e-01 -1.70315516e-03 1.56590707e+02] [ 7.85980923e-01 6.18247225e-01 -2.08735647e-03 6.53271934e+01] [ 2.69359910e-03 -4.81500096e-05 9.99996371e-01 3.85914964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77401273899997 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:156.61, Y:65.35, Z:0.39 [[ 6.18878961e-01 -7.85484521e-01 -1.70272303e-03 1.56608975e+02] [ 7.85481747e-01 6.18881302e-01 -2.08770891e-03 6.53466322e+01] [ 2.69364648e-03 -4.54187451e-05 9.99996371e-01 3.88528974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80401273899997 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:156.63, Y:65.37, Z:0.39 [[ 6.19372950e-01 -7.85095058e-01 -1.70238926e-03 1.56625312e+02] [ 7.85092283e-01 6.19375288e-01 -2.08798104e-03 6.53663947e+01] [ 2.69368144e-03 -4.32936905e-05 9.99996371e-01 3.88195888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83401273899997 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:156.64, Y:65.39, Z:0.39 [[ 6.20057191e-01 -7.84554768e-01 -1.70194545e-03 1.56642611e+02] [ 7.84551989e-01 6.20059525e-01 -2.08834273e-03 6.53867129e+01] [ 2.69372674e-03 -4.03727632e-05 9.99996371e-01 3.86754326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86401273899997 meters Centerline goodness : 0.995961 Centerline is valid? [True, True] Translation: X:156.66, Y:65.41, Z:0.39 [[ 6.19962705e-01 -7.84629434e-01 -1.70152307e-03 1.56660039e+02] [ 7.84626655e-01 6.19965039e-01 -2.08868682e-03 6.54076427e+01] [ 2.69372998e-03 -4.01524201e-05 9.99996371e-01 3.86691797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89401273899998 meters Centerline goodness : 0.996448 Centerline is valid? [True, True] Translation: X:156.68, Y:65.43, Z:0.39 [[ 6.19628546e-01 -7.84893351e-01 -1.70056636e-03 1.56677714e+02] [ 7.84890571e-01 6.19630878e-01 -2.08946593e-03 6.54277455e+01] [ 2.69373134e-03 -4.00657605e-05 9.99996371e-01 3.87033056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92401273899998 meters Centerline goodness : 0.995427 Centerline is valid? [True, True] Translation: X:156.70, Y:65.45, Z:0.39 [[ 6.18399814e-01 -7.85861805e-01 -1.70095800e-03 1.56698031e+02] [ 7.85859030e-01 6.18402151e-01 -2.08914706e-03 6.54455522e+01] [ 2.69365697e-03 -4.47850462e-05 9.99996371e-01 3.88686380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95401273899998 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:156.72, Y:65.46, Z:0.39 [[ 6.17238482e-01 -7.86774278e-01 -1.70053747e-03 1.56716749e+02] [ 7.86771505e-01 6.17240823e-01 -2.08948931e-03 6.54648928e+01] [ 2.69359759e-03 -4.82212175e-05 9.99996371e-01 3.88969420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98401273899998 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:156.74, Y:65.48, Z:0.39 [[ 6.14365900e-01 -7.89019423e-01 -1.70009874e-03 1.56736732e+02] [ 7.89016658e-01 6.14368250e-01 -2.08984622e-03 6.54821292e+01] [ 2.69341595e-03 -5.74759730e-05 9.99996371e-01 3.88536804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01401273899998 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:156.76, Y:65.50, Z:0.39 [[ 6.12928989e-01 -7.90136169e-01 -1.69963898e-03 1.56756316e+02] [ 7.90133406e-01 6.12931343e-01 -2.09022007e-03 6.55027904e+01] [ 2.69332048e-03 -6.17850658e-05 9.99996371e-01 3.88679214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04401273899998 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:156.77, Y:65.52, Z:0.39 [[ 6.11783112e-01 -7.91023727e-01 -1.69924935e-03 1.56774209e+02] [ 7.91020967e-01 6.11785468e-01 -2.09053677e-03 6.55216150e+01] [ 2.69324025e-03 -6.51867756e-05 9.99996371e-01 3.88367284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07401273899998 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:156.79, Y:65.54, Z:0.39 [[ 6.11295375e-01 -7.91400707e-01 -1.69878895e-03 1.56793969e+02] [ 7.91397948e-01 6.11297731e-01 -2.09091083e-03 6.55387805e+01] [ 2.69321414e-03 -6.62539723e-05 9.99996371e-01 3.89997128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10401273899998 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:156.81, Y:65.56, Z:0.39 [[ 6.12347966e-01 -7.90586544e-01 -1.69835251e-03 1.56813244e+02] [ 7.90583781e-01 6.12350318e-01 -2.09126527e-03 6.55575620e+01] [ 2.69331288e-03 -6.21079145e-05 9.99996371e-01 3.91105143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13401273899999 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:156.83, Y:65.58, Z:0.39 [[ 6.13696943e-01 -7.89539853e-01 -1.69791912e-03 1.56832046e+02] [ 7.89537084e-01 6.13699289e-01 -2.09161709e-03 6.55760735e+01] [ 2.69342680e-03 -5.69510960e-05 9.99996371e-01 3.90610792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.164012739 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:156.85, Y:65.59, Z:0.39 [[ 6.16683647e-01 -7.87209247e-01 -1.69746610e-03 1.56853411e+02] [ 7.87206469e-01 6.16685981e-01 -2.09198467e-03 6.55938488e+01] [ 2.69363322e-03 -4.61635589e-05 9.99996371e-01 3.90444056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.194012739 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:156.87, Y:65.61, Z:0.39 [[ 6.18006996e-01 -7.86170766e-01 -1.69703537e-03 1.56871938e+02] [ 7.86167983e-01 6.18009324e-01 -2.09233403e-03 6.56120597e+01] [ 2.69371553e-03 -4.10778030e-05 9.99996371e-01 3.91657346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.224012739 meters Centerline goodness : 0.995307 Centerline is valid? [True, True] Translation: X:156.89, Y:65.63, Z:0.39 [[ 6.19530447e-01 -7.84970793e-01 -1.69658219e-03 1.56893826e+02] [ 7.84968005e-01 6.19532770e-01 -2.09270142e-03 6.56280421e+01] [ 2.69379776e-03 -3.52704921e-05 9.99996371e-01 3.92628474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.254012739 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:156.91, Y:65.65, Z:0.39 [[ 6.19838876e-01 -7.84727274e-01 -1.69488524e-03 1.56914106e+02] [ 7.84724481e-01 6.19841193e-01 -2.09407679e-03 6.56475932e+01] [ 2.69383886e-03 -3.20277372e-05 9.99996371e-01 3.91635012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.284012739 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:156.93, Y:65.67, Z:0.39 [[ 6.20327734e-01 -7.84340887e-01 -1.69603950e-03 1.56933733e+02] [ 7.84338094e-01 6.20330051e-01 -2.09314152e-03 6.56669275e+01] [ 2.69384074e-03 -3.18346519e-05 9.99996371e-01 3.91740364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.314012739 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:156.95, Y:65.68, Z:0.39 [[ 6.22549042e-01 -7.82578951e-01 -1.69561650e-03 1.56954504e+02] [ 7.82576152e-01 6.22551351e-01 -2.09348412e-03 6.56841886e+01] [ 2.69392495e-03 -2.36525042e-05 9.99996371e-01 3.91523948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.344012739 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:156.97, Y:65.70, Z:0.39 [[ 6.24579164e-01 -7.80959662e-01 -1.69517131e-03 1.56973136e+02] [ 7.80956855e-01 6.24581465e-01 -2.09384455e-03 6.57038048e+01] [ 2.69398071e-03 -1.60839703e-05 9.99996371e-01 3.90732299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.374012739 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:156.99, Y:65.72, Z:0.39 [[ 6.29140287e-01 -7.77289925e-01 -1.69473898e-03 1.56990923e+02] [ 7.77287104e-01 6.29142569e-01 -2.09419442e-03 6.57228052e+01] [ 2.69402866e-03 2.43321682e-07 9.99996371e-01 3.90104125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.404012739 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:157.01, Y:65.74, Z:0.39 [[ 6.31410758e-01 -7.75446700e-01 -1.69428422e-03 1.57007262e+02] [ 7.75443871e-01 6.31413031e-01 -2.09456227e-03 6.57435105e+01] [ 2.69401453e-03 8.70683892e-06 9.99996371e-01 3.90743706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.434012739 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:157.02, Y:65.76, Z:0.39 [[ 6.33223787e-01 -7.73966902e-01 -1.69384286e-03 1.57024335e+02] [ 7.73964067e-01 6.33226053e-01 -2.09491913e-03 6.57648577e+01] [ 2.69398350e-03 1.55791118e-05 9.99996371e-01 3.90730851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46401273899997 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:157.04, Y:65.79, Z:0.39 [[ 6.34761321e-01 -7.72706411e-01 -1.69342567e-03 1.57041512e+02] [ 7.72703571e-01 6.34763580e-01 -2.09525631e-03 6.57852690e+01] [ 2.69394292e-03 2.14716002e-05 9.99996371e-01 3.90218533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49401273899997 meters Centerline goodness : 0.994755 Centerline is valid? [True, True] Translation: X:157.06, Y:65.81, Z:0.39 [[ 6.34645084e-01 -7.72801884e-01 -1.69299366e-03 1.57057593e+02] [ 7.72799043e-01 6.34647342e-01 -2.09560533e-03 6.58055491e+01] [ 2.69394167e-03 2.16217400e-05 9.99996371e-01 3.89171820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52401273899997 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:157.07, Y:65.83, Z:0.39 [[ 6.33376958e-01 -7.73841563e-01 -1.69253867e-03 1.57073748e+02] [ 7.73838725e-01 6.33379219e-01 -2.09597274e-03 6.58278428e+01] [ 2.69396964e-03 1.77888698e-05 9.99996371e-01 3.89771719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55401273899997 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:157.09, Y:65.85, Z:0.39 [[ 6.32166416e-01 -7.74830794e-01 -1.69209091e-03 1.57089736e+02] [ 7.74827958e-01 6.32168680e-01 -2.09633415e-03 6.58486379e+01] [ 2.69399113e-03 1.41527028e-05 9.99996371e-01 3.90577182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58401273899997 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:157.11, Y:65.87, Z:0.39 [[ 6.31098405e-01 -7.75700935e-01 -1.69162193e-03 1.57106059e+02] [ 7.75698102e-01 6.31100672e-01 -2.09671253e-03 6.58692705e+01] [ 2.69400560e-03 1.10440157e-05 9.99996371e-01 3.93312769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61401273899997 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:157.12, Y:65.89, Z:0.40 [[ 6.30161526e-01 -7.76462228e-01 -1.69117165e-03 1.57121341e+02] [ 7.76459396e-01 6.30163795e-01 -2.09707565e-03 6.58899626e+01] [ 2.69401518e-03 8.37027514e-06 9.99996371e-01 3.96408510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64401273899998 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:157.14, Y:65.91, Z:0.40 [[ 6.30000947e-01 -7.76592524e-01 -1.69072530e-03 1.57137854e+02] [ 7.76589692e-01 6.30003216e-01 -2.09743545e-03 6.59110631e+01] [ 2.69401506e-03 8.38647410e-06 9.99996371e-01 3.95474360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67401273899998 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:157.16, Y:65.93, Z:0.39 [[ 6.29602604e-01 -7.76915507e-01 -1.69030376e-03 1.57155965e+02] [ 7.76912675e-01 6.29604873e-01 -2.09777511e-03 6.59302181e+01] [ 2.69401750e-03 7.54625255e-06 9.99996371e-01 3.93030843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70401273899998 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:157.17, Y:65.95, Z:0.39 [[ 6.29254251e-01 -7.77197679e-01 -1.68985925e-03 1.57173329e+02] [ 7.77194847e-01 6.29256520e-01 -2.09813312e-03 6.59497838e+01] [ 2.69401914e-03 6.90928589e-06 9.99996371e-01 3.93232273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73401273899998 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:157.19, Y:65.97, Z:0.39 [[ 6.29171100e-01 -7.77264995e-01 -1.68941744e-03 1.57190987e+02] [ 7.77262163e-01 6.29173368e-01 -2.09848881e-03 6.59691699e+01] [ 2.69401835e-03 7.18825622e-06 9.99996371e-01 3.92610386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76401273899998 meters Centerline goodness : 0.995095 Centerline is valid? [True, True] Translation: X:157.21, Y:65.99, Z:0.39 [[ 6.29246563e-01 -7.77203909e-01 -1.68713118e-03 1.57207088e+02] [ 7.77201071e-01 6.29248825e-01 -2.10032868e-03 6.59874508e+01] [ 2.69400897e-03 1.03844438e-05 9.99996371e-01 3.92101315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79401273899998 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:157.22, Y:66.01, Z:0.39 [[ 6.29005152e-01 -7.77399309e-01 -1.68331927e-03 1.57224282e+02] [ 7.77396464e-01 6.29007404e-01 -2.10339460e-03 6.60070684e+01] [ 2.69399779e-03 1.44395885e-05 9.99996371e-01 3.90354476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82401273899998 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:157.24, Y:66.03, Z:0.39 [[ 6.29874057e-01 -7.76695455e-01 -1.68589126e-03 1.57242252e+02] [ 7.76692613e-01 6.29876313e-01 -2.10132688e-03 6.60257874e+01] [ 2.69399401e-03 1.41520011e-05 9.99996371e-01 3.90195113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85401273899998 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:157.26, Y:66.05, Z:0.39 [[ 6.31468718e-01 -7.75399516e-01 -1.68770239e-03 1.57258474e+02] [ 7.75396673e-01 6.31470973e-01 -2.09987125e-03 6.60460123e+01] [ 2.69397422e-03 1.73641877e-05 9.99996371e-01 3.92473834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88401273899999 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:157.27, Y:66.07, Z:0.40 [[ 6.36161631e-01 -7.71553973e-01 -1.68724991e-03 1.57274694e+02] [ 7.71551115e-01 6.36163867e-01 -2.10023476e-03 6.60683315e+01] [ 2.69381190e-03 3.42892223e-05 9.99996371e-01 3.96016812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.914012739 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:157.29, Y:66.09, Z:0.40 [[ 6.38339416e-01 -7.69753171e-01 -1.68681103e-03 1.57290154e+02] [ 7.69750306e-01 6.38341643e-01 -2.10058718e-03 6.60899427e+01] [ 2.69369537e-03 4.24642909e-05 9.99996371e-01 3.96308131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.944012739 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:157.31, Y:66.11, Z:0.40 [[ 6.40065484e-01 -7.68318509e-01 -1.68647134e-03 1.57305196e+02] [ 7.68315639e-01 6.40067704e-01 -2.10085987e-03 6.61128224e+01] [ 2.69358536e-03 4.89455847e-05 9.99996371e-01 3.96489394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.974012739 meters Centerline goodness : 0.994010 Centerline is valid? [True, True] Translation: X:157.32, Y:66.14, Z:0.40 [[ 6.43883823e-01 -7.65121415e-01 -1.68602872e-03 1.57316917e+02] [ 7.65118532e-01 6.43886028e-01 -2.10121503e-03 6.61365673e+01] [ 2.69329495e-03 6.29265462e-05 9.99996371e-01 3.95887758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.004012739 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:157.33, Y:66.16, Z:0.40 [[ 6.44904321e-01 -7.64261458e-01 -1.68556556e-03 1.57331866e+02] [ 7.64258571e-01 6.44906520e-01 -2.10158651e-03 6.61597627e+01] [ 2.69319379e-03 6.71142919e-05 9.99996371e-01 3.95105298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.034012739 meters Centerline goodness : 0.993630 Centerline is valid? [True, True] Translation: X:157.35, Y:66.18, Z:0.40 [[ 6.44792604e-01 -7.64355714e-01 -1.68512499e-03 1.57349002e+02] [ 7.64352827e-01 6.44794803e-01 -2.10193971e-03 6.61814646e+01] [ 2.69318946e-03 6.72851278e-05 9.99996371e-01 3.95179804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.064012739 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:157.36, Y:66.20, Z:0.39 [[ 6.45544536e-01 -7.63720769e-01 -1.68481772e-03 1.57362084e+02] [ 7.63717879e-01 6.45546731e-01 -2.10218598e-03 6.62040720e+01] [ 2.69311166e-03 7.03292561e-05 9.99996371e-01 3.94523128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.094012739 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:157.38, Y:66.23, Z:0.39 [[ 6.45473269e-01 -7.63781004e-01 -1.68447627e-03 1.57377029e+02] [ 7.63778113e-01 6.45475463e-01 -2.10245955e-03 6.62261613e+01] [ 2.69310676e-03 7.05153307e-05 9.99996371e-01 3.94300716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.124012739 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:157.39, Y:66.25, Z:0.39 [[ 6.45568229e-01 -7.63700744e-01 -1.68401931e-03 1.57392477e+02] [ 7.63697852e-01 6.45570421e-01 -2.10282549e-03 6.62497691e+01] [ 2.69308245e-03 7.14353964e-05 9.99996371e-01 3.94584100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.154012739 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:157.40, Y:66.28, Z:0.39 [[ 6.46320608e-01 -7.63064111e-01 -1.68360838e-03 1.57403607e+02] [ 7.63061216e-01 6.46322796e-01 -2.10315445e-03 6.62752560e+01] [ 2.69299616e-03 7.46158040e-05 9.99996371e-01 3.92189806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.184012739 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:157.42, Y:66.30, Z:0.39 [[ 6.46612665e-01 -7.62816641e-01 -1.68317550e-03 1.57417920e+02] [ 7.62813745e-01 6.46614851e-01 -2.10350083e-03 6.62989962e+01] [ 2.69295171e-03 7.62008656e-05 9.99996371e-01 3.90945136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21401273899997 meters Centerline goodness : 0.994222 Centerline is valid? [True, True] Translation: X:157.43, Y:66.32, Z:0.39 [[ 6.46779693e-01 -7.62675027e-01 -1.68273097e-03 1.57429529e+02] [ 7.62672129e-01 6.46781877e-01 -2.10385638e-03 6.63235111e+01] [ 2.69291862e-03 7.73595647e-05 9.99996371e-01 3.89312584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24401273899997 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:157.44, Y:66.35, Z:0.39 [[ 6.46550932e-01 -7.62868968e-01 -1.68238773e-03 1.57443440e+02] [ 7.62866070e-01 6.46553116e-01 -2.10413082e-03 6.63472706e+01] [ 2.69292914e-03 7.69912276e-05 9.99996371e-01 3.90133860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27401273899997 meters Centerline goodness : 0.993812 Centerline is valid? [True, True] Translation: X:157.46, Y:66.37, Z:0.39 [[ 6.46124328e-01 -7.63230321e-01 -1.68196397e-03 1.57456882e+02] [ 7.63227424e-01 6.46126513e-01 -2.10446950e-03 6.63715109e+01] [ 2.69295645e-03 7.60279158e-05 9.99996371e-01 3.91660253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30401273899997 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:157.47, Y:66.40, Z:0.39 [[ 6.44889063e-01 -7.64274342e-01 -1.68152499e-03 1.57466301e+02] [ 7.64271447e-01 6.44891251e-01 -2.10482020e-03 6.63976148e+01] [ 2.69306083e-03 7.22339936e-05 9.99996371e-01 3.94311456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33401273899997 meters Centerline goodness : 0.992710 Centerline is valid? [True, True] Translation: X:157.48, Y:66.42, Z:0.39 [[ 6.43870049e-01 -7.65133017e-01 -1.68106340e-03 1.57480495e+02] [ 7.65130124e-01 6.43872240e-01 -2.10518879e-03 6.64205154e+01] [ 2.69313951e-03 6.92357614e-05 9.99996371e-01 3.94919737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36401273899997 meters Centerline goodness : 0.991968 Centerline is valid? [True, True] Translation: X:157.49, Y:66.45, Z:0.40 [[ 6.41394717e-01 -7.67209224e-01 -1.68062497e-03 1.57492805e+02] [ 7.67206337e-01 6.41396916e-01 -2.10553875e-03 6.64458666e+01] [ 2.69333642e-03 6.10953022e-05 9.99996371e-01 3.96131811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39401273899998 meters Centerline goodness : 0.992341 Centerline is valid? [True, True] Translation: X:157.51, Y:66.47, Z:0.40 [[ 6.39833270e-01 -7.68511915e-01 -1.68022847e-03 1.57505746e+02] [ 7.68509032e-01 6.39835473e-01 -2.10585511e-03 6.64689704e+01] [ 2.69344452e-03 5.61254002e-05 9.99996371e-01 3.96850235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42401273899998 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:157.52, Y:66.49, Z:0.40 [[ 6.37997944e-01 -7.70036234e-01 -1.67975854e-03 1.57519684e+02] [ 7.70033355e-01 6.38000153e-01 -2.10622989e-03 6.64931310e+01] [ 2.69355954e-03 5.03002285e-05 9.99996371e-01 3.96757410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45401273899998 meters Centerline goodness : 0.992260 Centerline is valid? [True, True] Translation: X:157.53, Y:66.52, Z:0.40 [[ 6.33933777e-01 -7.73385510e-01 -1.67931503e-03 1.57534374e+02] [ 7.73382642e-01 6.33936000e-01 -2.10658344e-03 6.65167573e+01] [ 2.69377936e-03 3.66813050e-05 9.99996371e-01 3.95499731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48401273899998 meters Centerline goodness : 0.992169 Centerline is valid? [True, True] Translation: X:157.55, Y:66.54, Z:0.40 [[ 6.30941937e-01 -7.75828237e-01 -1.67891305e-03 1.57550999e+02] [ 7.75825377e-01 6.30944170e-01 -2.10690377e-03 6.65375766e+01] [ 2.69389584e-03 2.67905977e-05 9.99996371e-01 3.97300082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51401273899998 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:157.57, Y:66.56, Z:0.40 [[ 6.27611219e-01 -7.78525106e-01 -1.67849028e-03 1.57567871e+02] [ 7.78522254e-01 6.27613464e-01 -2.10724052e-03 6.65593648e+01] [ 2.69398274e-03 1.57857599e-05 9.99996371e-01 4.00317321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54401273899998 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:157.58, Y:66.58, Z:0.40 [[ 6.21525576e-01 -7.83392074e-01 -1.67809222e-03 1.57583751e+02] [ 7.83389239e-01 6.21527842e-01 -2.10755746e-03 6.65806492e+01] [ 2.69402485e-03 -4.69852576e-06 9.99996371e-01 4.00834946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57401273899998 meters Centerline goodness : 0.992478 Centerline is valid? [True, True] Translation: X:157.60, Y:66.60, Z:0.40 [[ 6.18793708e-01 -7.85551738e-01 -1.67762435e-03 1.57601031e+02] [ 7.85548910e-01 6.18795982e-01 -2.10792983e-03 6.66004940e+01] [ 2.69399514e-03 -1.34822643e-05 9.99996371e-01 3.97962127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60401273899998 meters Centerline goodness : 0.992563 Centerline is valid? [True, True] Translation: X:157.62, Y:66.62, Z:0.40 [[ 6.13530882e-01 -7.89668946e-01 -1.67717025e-03 1.57621053e+02] [ 7.89666132e-01 6.13533173e-01 -2.10829106e-03 6.66197022e+01] [ 2.69385157e-03 -3.09028723e-05 9.99996371e-01 3.95561437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63401273899999 meters Centerline goodness : 0.992100 Centerline is valid? [True, True] Translation: X:157.64, Y:66.64, Z:0.40 [[ 6.11431862e-01 -7.91295310e-01 -1.67673426e-03 1.57638792e+02] [ 7.91292501e-01 6.11434160e-01 -2.10863776e-03 6.66410294e+01] [ 2.69376777e-03 -3.74989350e-05 9.99996371e-01 3.96352718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.664012739 meters Centerline goodness : 0.993036 Centerline is valid? [True, True] Translation: X:157.66, Y:66.66, Z:0.40 [[ 6.09498218e-01 -7.92785666e-01 -1.67633944e-03 1.57655049e+02] [ 7.92782862e-01 6.09500522e-01 -2.10895159e-03 6.66613207e+01] [ 2.69367635e-03 -4.35709437e-05 9.99996371e-01 3.96566325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.694012739 meters Centerline goodness : 0.993010 Centerline is valid? [True, True] Translation: X:157.68, Y:66.68, Z:0.40 [[ 6.05250440e-01 -7.96033352e-01 -1.67587309e-03 1.57677184e+02] [ 7.96030559e-01 6.05252757e-01 -2.10932211e-03 6.66785941e+01] [ 2.69341755e-03 -5.73780584e-05 9.99996371e-01 3.95547502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.724012739 meters Centerline goodness : 0.993027 Centerline is valid? [True, True] Translation: X:157.70, Y:66.70, Z:0.40 [[ 6.02925750e-01 -7.97795546e-01 -1.67543893e-03 1.57699108e+02] [ 7.97792759e-01 6.02928075e-01 -2.10966690e-03 6.66974936e+01] [ 2.69325202e-03 -6.46805514e-05 9.99996371e-01 3.95381476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.754012739 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:157.72, Y:66.71, Z:0.39 [[ 5.99767058e-01 -8.00172900e-01 -1.67504555e-03 1.57721526e+02] [ 8.00170122e-01 5.99769392e-01 -2.10997919e-03 6.67139420e+01] [ 2.69298922e-03 -7.48253906e-05 9.99996371e-01 3.94549340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.784012739 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:157.74, Y:66.73, Z:0.39 [[ 5.98738766e-01 -8.00942623e-01 -1.67460053e-03 1.57739966e+02] [ 8.00939847e-01 5.98741103e-01 -2.11033232e-03 6.67320579e+01] [ 2.69290728e-03 -7.77165257e-05 9.99996371e-01 3.93835508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.814012739 meters Centerline goodness : 0.993799 Centerline is valid? [True, True] Translation: X:157.76, Y:66.75, Z:0.39 [[ 5.98319281e-01 -8.01256036e-01 -1.67413329e-03 1.57760525e+02] [ 8.01253260e-01 5.98321618e-01 -2.11070292e-03 6.67514764e+01] [ 2.69288360e-03 -7.85305055e-05 9.99996371e-01 3.93675032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.844012739 meters Centerline goodness : 0.993531 Centerline is valid? [True, True] Translation: X:157.78, Y:66.77, Z:0.39 [[ 5.97852805e-01 -8.01604156e-01 -1.67372757e-03 1.57784929e+02] [ 8.01601380e-01 5.97855143e-01 -2.11102460e-03 6.67663889e+01] [ 2.69285273e-03 -7.95803497e-05 9.99996371e-01 3.94618372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.874012739 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:157.80, Y:66.78, Z:0.40 [[ 5.97849163e-01 -8.01606872e-01 -1.67343008e-03 1.57804590e+02] [ 8.01604096e-01 5.97851500e-01 -2.11126039e-03 6.67843506e+01] [ 2.69286353e-03 -7.92131501e-05 9.99996371e-01 3.95448985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.904012739 meters Centerline goodness : 0.993265 Centerline is valid? [True, True] Translation: X:157.83, Y:66.80, Z:0.40 [[ 5.99265979e-01 -8.00548242e-01 -1.67296397e-03 1.57825478e+02] [ 8.00545461e-01 5.99268309e-01 -2.11162968e-03 6.68011936e+01] [ 2.69301572e-03 -7.38558827e-05 9.99996371e-01 3.97959397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.934012739 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:157.84, Y:66.82, Z:0.40 [[ 6.00530724e-01 -7.99599933e-01 -1.67250211e-03 1.57843779e+02] [ 7.99597147e-01 6.00533049e-01 -2.11199543e-03 6.68200771e+01] [ 2.69314419e-03 -6.90097747e-05 9.99996371e-01 3.97293057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96401273899997 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:157.86, Y:66.84, Z:0.39 [[ 6.02004674e-01 -7.98490812e-01 -1.67216357e-03 1.57864718e+02] [ 7.98488020e-01 6.02006993e-01 -2.11226343e-03 6.68386790e+01] [ 2.69327710e-03 -6.36101170e-05 9.99996371e-01 3.92759755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99401273899997 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:157.88, Y:66.86, Z:0.39 [[ 6.02540199e-01 -7.98086783e-01 -1.67171184e-03 1.57882436e+02] [ 7.98083989e-01 6.02542515e-01 -2.11262088e-03 6.68584857e+01] [ 2.69333226e-03 -6.12274450e-05 9.99996371e-01 3.91388732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02401273899997 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:157.90, Y:66.88, Z:0.39 [[ 6.03888781e-01 -7.97066840e-01 -1.67123561e-03 1.57899995e+02] [ 7.97064041e-01 6.03891091e-01 -2.11299755e-03 6.68793343e+01] [ 2.69344458e-03 -5.60662975e-05 9.99996371e-01 3.92016577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05401273899997 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:157.92, Y:66.90, Z:0.39 [[ 6.04574998e-01 -7.96546471e-01 -1.67079548e-03 1.57917641e+02] [ 7.96543669e-01 6.04577304e-01 -2.11334552e-03 6.69003305e+01] [ 2.69350294e-03 -5.31856996e-05 9.99996371e-01 3.92413742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08401273899997 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:157.94, Y:66.92, Z:0.39 [[ 6.05267170e-01 -7.96020642e-01 -1.67038025e-03 1.57935545e+02] [ 7.96017838e-01 6.05269473e-01 -2.11367366e-03 6.69210263e+01] [ 2.69355804e-03 -5.03151996e-05 9.99996371e-01 3.92444752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11401273899997 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:157.95, Y:66.94, Z:0.39 [[ 6.06498995e-01 -7.95082499e-01 -1.66993213e-03 1.57953200e+02] [ 7.95079690e-01 6.06501292e-01 -2.11402764e-03 6.69406875e+01] [ 2.69364238e-03 -4.55734750e-05 9.99996371e-01 3.92863254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14401273899998 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:157.97, Y:66.96, Z:0.39 [[ 6.06596025e-01 -7.95008475e-01 -1.66946482e-03 1.57969960e+02] [ 7.95005665e-01 6.06598321e-01 -2.11439662e-03 6.69620111e+01] [ 2.69365779e-03 -4.46494008e-05 9.99996371e-01 3.92839533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17401273899998 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:157.99, Y:66.98, Z:0.39 [[ 6.06678807e-01 -7.94945306e-01 -1.66902817e-03 1.57986506e+02] [ 7.94942495e-01 6.06681101e-01 -2.11474124e-03 6.69826305e+01] [ 2.69367147e-03 -4.38127241e-05 9.99996371e-01 3.94445649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20401273899998 meters Centerline goodness : 0.993842 Centerline is valid? [True, True] Translation: X:158.00, Y:67.00, Z:0.39 [[ 6.06700780e-01 -7.94928538e-01 -1.66856774e-03 1.58003890e+02] [ 7.94925725e-01 6.06703072e-01 -2.11510446e-03 6.70038367e+01] [ 2.69368207e-03 -4.31518939e-05 9.99996371e-01 3.94715522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23401273899998 meters Centerline goodness : 0.994492 Centerline is valid? [True, True] Translation: X:158.02, Y:67.03, Z:0.39 [[ 6.07044090e-01 -7.94666402e-01 -1.66813459e-03 1.58020360e+02] [ 7.94663587e-01 6.07046380e-01 -2.11544602e-03 6.70250575e+01] [ 2.69370894e-03 -4.14368147e-05 9.99996371e-01 3.94410327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26401273899998 meters Centerline goodness : 0.994350 Centerline is valid? [True, True] Translation: X:158.04, Y:67.05, Z:0.40 [[ 6.08048174e-01 -7.93898379e-01 -1.66769433e-03 1.58036738e+02] [ 7.93895561e-01 6.08050460e-01 -2.11579304e-03 6.70467976e+01] [ 2.69376697e-03 -3.74710360e-05 9.99996371e-01 3.96445242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29401273899998 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:158.05, Y:67.07, Z:0.40 [[ 6.08264600e-01 -7.93732572e-01 -1.66725307e-03 1.58053401e+02] [ 7.93729752e-01 6.08266884e-01 -2.11614070e-03 6.70681899e+01] [ 2.69378463e-03 -3.61748876e-05 9.99996371e-01 3.99188341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32401273899998 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:158.07, Y:67.09, Z:0.40 [[ 6.09640930e-01 -7.92675948e-01 -1.66681321e-03 1.58070272e+02] [ 7.92673123e-01 6.09643208e-01 -2.11648710e-03 6.70890309e+01] [ 2.69384977e-03 -3.09408644e-05 9.99996371e-01 4.01738744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35401273899998 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:158.09, Y:67.11, Z:0.40 [[ 6.10153937e-01 -7.92281135e-01 -1.66637304e-03 1.58086158e+02] [ 7.92278307e-01 6.10156212e-01 -2.11683360e-03 6.71094074e+01] [ 2.69387519e-03 -2.86368542e-05 9.99996371e-01 3.99859802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38401273899999 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:158.10, Y:67.13, Z:0.40 [[ 6.10487669e-01 -7.92024009e-01 -1.66603163e-03 1.58102977e+02] [ 7.92021180e-01 6.10489942e-01 -2.11710227e-03 6.71308443e+01] [ 2.69389138e-03 -2.70675050e-05 9.99996371e-01 3.97863429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.414012739 meters Centerline goodness : 0.994692 Centerline is valid? [True, True] Translation: X:158.12, Y:67.15, Z:0.40 [[ 6.10657276e-01 -7.91893249e-01 -1.66558383e-03 1.58121687e+02] [ 7.91890418e-01 6.10659547e-01 -2.11745452e-03 6.71493923e+01] [ 2.69390260e-03 -2.59208658e-05 9.99996371e-01 3.95428007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.444012739 meters Centerline goodness : 0.994440 Centerline is valid? [True, True] Translation: X:158.14, Y:67.17, Z:0.40 [[ 6.10153383e-01 -7.92281564e-01 -1.66523588e-03 1.58140450e+02] [ 7.92278734e-01 6.10155655e-01 -2.11772811e-03 6.71696371e+01] [ 2.69389003e-03 -2.71920055e-05 9.99996371e-01 3.97222155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.474012739 meters Centerline goodness : 0.994151 Centerline is valid? [True, True] Translation: X:158.16, Y:67.19, Z:0.40 [[ 6.09609242e-01 -7.92700322e-01 -1.66481027e-03 1.58159175e+02] [ 7.92697493e-01 6.09611515e-01 -2.11806265e-03 6.71891709e+01] [ 2.69387645e-03 -2.85003563e-05 9.99996371e-01 4.01422157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.504012739 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:158.18, Y:67.21, Z:0.40 [[ 6.09554509e-01 -7.92742411e-01 -1.66436837e-03 1.58175566e+02] [ 7.92739581e-01 6.09556780e-01 -2.11840983e-03 6.72093670e+01] [ 2.69388035e-03 -2.81244198e-05 9.99996371e-01 4.01351919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.534012739 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:158.19, Y:67.23, Z:0.40 [[ 6.10286011e-01 -7.92179409e-01 -1.66390634e-03 1.58192985e+02] [ 7.92176576e-01 6.10288278e-01 -2.11877268e-03 6.72304468e+01] [ 2.69391062e-03 -2.50502982e-05 9.99996371e-01 3.99120567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.564012739 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:158.21, Y:67.25, Z:0.40 [[ 6.12051516e-01 -7.90816144e-01 -1.66345954e-03 1.58211022e+02] [ 7.90813305e-01 6.12053777e-01 -2.11912340e-03 6.72502628e+01] [ 2.69396369e-03 -1.84732516e-05 9.99996371e-01 3.95734110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.594012739 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:158.23, Y:67.27, Z:0.40 [[ 6.12793899e-01 -7.90241022e-01 -1.66300495e-03 1.58227107e+02] [ 7.90238179e-01 6.12796155e-01 -2.11948009e-03 6.72706973e+01] [ 2.69398315e-03 -1.53655380e-05 9.99996371e-01 3.95073700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.624012739 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:158.24, Y:67.29, Z:0.39 [[ 6.13813833e-01 -7.89449057e-01 -1.66252718e-03 1.58244435e+02] [ 7.89446211e-01 6.13816085e-01 -2.11985479e-03 6.72918752e+01] [ 2.69400329e-03 -1.12795881e-05 9.99996371e-01 3.92653046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.654012739 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:158.26, Y:67.31, Z:0.39 [[ 6.13788996e-01 -7.89468370e-01 -1.66208008e-03 1.58261774e+02] [ 7.89465523e-01 6.13791246e-01 -2.12020528e-03 6.73127002e+01] [ 2.69400521e-03 -1.07962506e-05 9.99996371e-01 3.92192765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.684012739 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:158.28, Y:67.33, Z:0.39 [[ 6.13567332e-01 -7.89640658e-01 -1.66162575e-03 1.58278879e+02] [ 7.89637810e-01 6.13569582e-01 -2.12056128e-03 6.73331333e+01] [ 2.69400442e-03 -1.09753888e-05 9.99996371e-01 3.91947376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71401273899997 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:158.30, Y:67.35, Z:0.40 [[ 6.13038372e-01 -7.90051388e-01 -1.66114903e-03 1.58296487e+02] [ 7.90048541e-01 6.13040622e-01 -2.12093466e-03 6.73543544e+01] [ 2.69399920e-03 -1.21740383e-05 9.99996371e-01 3.95474498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74401273899997 meters Centerline goodness : 0.994940 Centerline is valid? [True, True] Translation: X:158.31, Y:67.38, Z:0.40 [[ 6.12658415e-01 -7.90346069e-01 -1.66070606e-03 1.58313349e+02] [ 7.90343222e-01 6.12660666e-01 -2.12128144e-03 6.73756306e+01] [ 2.69399573e-03 -1.29068555e-05 9.99996371e-01 3.97556362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77401273899997 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:158.33, Y:67.39, Z:0.40 [[ 6.12254138e-01 -7.90659291e-01 -1.66024606e-03 1.58331580e+02] [ 7.90656445e-01 6.12256388e-01 -2.12164141e-03 6.73947081e+01] [ 2.69399175e-03 -1.37005190e-05 9.99996371e-01 3.97149467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80401273899997 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:158.35, Y:67.41, Z:0.40 [[ 6.12320415e-01 -7.90607965e-01 -1.65989009e-03 1.58348494e+02] [ 7.90605118e-01 6.12322665e-01 -2.12191987e-03 6.74148670e+01] [ 2.69399507e-03 -1.30227468e-05 9.99996371e-01 3.96160313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83401273899997 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:158.37, Y:67.44, Z:0.40 [[ 6.12894004e-01 -7.90163392e-01 -1.65942525e-03 1.58365146e+02] [ 7.90160542e-01 6.12896250e-01 -2.12228333e-03 6.74358104e+01] [ 2.69400611e-03 -1.04776301e-05 9.99996371e-01 3.95419565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86401273899997 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:158.38, Y:67.46, Z:0.40 [[ 6.16247817e-01 -7.87550555e-01 -1.65898380e-03 1.58379290e+02] [ 7.87547694e-01 6.16250050e-01 -2.12262835e-03 6.74589582e+01] [ 2.69402599e-03 1.53621806e-06 9.99996371e-01 3.96580020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89401273899998 meters Centerline goodness : 0.995400 Centerline is valid? [True, True] Translation: X:158.39, Y:67.48, Z:0.40 [[ 6.18255254e-01 -7.85975630e-01 -1.65852173e-03 1.58393849e+02] [ 7.85972763e-01 6.18257478e-01 -2.12298934e-03 6.74812751e+01] [ 2.69401134e-03 8.99640831e-06 9.99996371e-01 3.98205815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92401273899998 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:158.41, Y:67.51, Z:0.40 [[ 6.21355843e-01 -7.83526749e-01 -1.65803541e-03 1.58406286e+02] [ 7.83523872e-01 6.21358055e-01 -2.12336908e-03 6.75056172e+01] [ 2.69395013e-03 2.02574620e-05 9.99996371e-01 3.99840957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95401273899998 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:158.42, Y:67.53, Z:0.40 [[ 6.21185449e-01 -7.83661847e-01 -1.65757385e-03 1.58423116e+02] [ 7.83658970e-01 6.21187660e-01 -2.12372933e-03 6.75275537e+01] [ 2.69395007e-03 2.02571417e-05 9.99996371e-01 3.99915443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98401273899998 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:158.44, Y:67.55, Z:0.40 [[ 6.22366578e-01 -7.82724151e-01 -1.65711196e-03 1.58436890e+02] [ 7.82721269e-01 6.22368784e-01 -2.12408967e-03 6.75500618e+01] [ 2.69391104e-03 2.49056497e-05 9.99996371e-01 3.97508114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01401273899998 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:158.45, Y:67.57, Z:0.39 [[ 6.22774839e-01 -7.82399358e-01 -1.65662699e-03 1.58450600e+02] [ 7.82396474e-01 6.22777042e-01 -2.12446784e-03 6.75727149e+01] [ 2.69389153e-03 2.69260009e-05 9.99996371e-01 3.94144455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04401273899998 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:158.46, Y:67.60, Z:0.39 [[ 6.21405731e-01 -7.83487189e-01 -1.65614853e-03 1.58463703e+02] [ 7.83484308e-01 6.21407937e-01 -2.12484077e-03 6.75953015e+01] [ 2.69392936e-03 2.28218450e-05 9.99996371e-01 3.90160282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07401273899998 meters Centerline goodness : 0.995306 Centerline is valid? [True, True] Translation: X:158.48, Y:67.62, Z:0.39 [[ 6.19286850e-01 -7.85163076e-01 -1.65568182e-03 1.58477965e+02] [ 7.85160200e-01 6.19289063e-01 -2.12520437e-03 6.76170705e+01] [ 2.69397764e-03 1.61356521e-05 9.99996371e-01 3.90075550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10401273899998 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:158.49, Y:67.64, Z:0.39 [[ 6.13683196e-01 -7.89550629e-01 -1.65521887e-03 1.58489420e+02] [ 7.89547767e-01 6.13685428e-01 -2.12556487e-03 6.76421307e+01] [ 2.69402478e-03 -2.45091994e-06 9.99996371e-01 3.94884159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13401273899999 meters Centerline goodness : 0.995737 Centerline is valid? [True, True] Translation: X:158.50, Y:67.66, Z:0.40 [[ 6.10794819e-01 -7.91787188e-01 -1.65476855e-03 1.58503100e+02] [ 7.91784334e-01 6.10797061e-01 -2.12591539e-03 6.76649070e+01] [ 2.69400034e-03 -1.17217115e-05 9.99996371e-01 3.96512424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.164012739 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:158.52, Y:67.69, Z:0.40 [[ 6.08348165e-01 -7.93668554e-01 -1.65429627e-03 1.58518358e+02] [ 7.93665706e-01 6.08350414e-01 -2.12628284e-03 6.76876730e+01] [ 2.69395564e-03 -1.94379511e-05 9.99996371e-01 3.97980863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.194012739 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:158.53, Y:67.71, Z:0.40 [[ 6.04318060e-01 -7.96741456e-01 -1.65385013e-03 1.58533698e+02] [ 7.96738618e-01 6.04320322e-01 -2.12662980e-03 6.77083651e+01] [ 2.69382936e-03 -3.25254719e-05 9.99996371e-01 3.95873578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.224012739 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:158.55, Y:67.73, Z:0.39 [[ 6.01397978e-01 -7.98947895e-01 -1.65338045e-03 1.58551083e+02] [ 7.98945065e-01 6.01400249e-01 -2.12699489e-03 6.77273762e+01] [ 2.69370150e-03 -4.17897236e-05 9.99996371e-01 3.92905570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.254012739 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:158.57, Y:67.75, Z:0.39 [[ 5.99926710e-01 -8.00053255e-01 -1.65303890e-03 1.58568251e+02] [ 8.00050428e-01 5.99928985e-01 -2.12726030e-03 6.77478320e+01] [ 2.69362748e-03 -4.63142119e-05 9.99996371e-01 3.94121928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.284012739 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:158.58, Y:67.77, Z:0.39 [[ 5.99025980e-01 -8.00727884e-01 -1.65258879e-03 1.58584606e+02] [ 8.00725059e-01 5.99028257e-01 -2.12760991e-03 6.77682752e+01] [ 2.69358397e-03 -4.87756447e-05 9.99996371e-01 3.94455048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.314012739 meters Centerline goodness : 0.992333 Centerline is valid? [True, True] Translation: X:158.60, Y:67.79, Z:0.40 [[ 5.99758398e-01 -8.00179439e-01 -1.65211469e-03 1.58600711e+02] [ 8.00176611e-01 5.99760671e-01 -2.12797800e-03 6.77889728e+01] [ 2.69363766e-03 -4.57108567e-05 9.99996371e-01 4.00376699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.344012739 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:158.62, Y:67.81, Z:0.39 [[ 6.00636037e-01 -7.99520871e-01 -1.65164967e-03 1.58617398e+02] [ 7.99518039e-01 6.00638306e-01 -2.12833887e-03 6.78107342e+01] [ 2.69369540e-03 -4.21666810e-05 9.99996371e-01 3.92937866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.374012739 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:158.64, Y:67.83, Z:0.40 [[ 6.01925102e-01 -7.98550840e-01 -1.65121404e-03 1.58635710e+02] [ 7.98548004e-01 6.01927366e-01 -2.12867678e-03 6.78310991e+01] [ 2.69376755e-03 -3.72696853e-05 9.99996371e-01 3.98213150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.404012739 meters Centerline goodness : 0.994814 Centerline is valid? [True, True] Translation: X:158.65, Y:67.85, Z:0.40 [[ 6.02238534e-01 -7.98314489e-01 -1.65076875e-03 1.58652889e+02] [ 7.98311651e-01 6.02240795e-01 -2.12902205e-03 6.78515541e+01] [ 2.69378943e-03 -3.56488099e-05 9.99996371e-01 4.00341899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.434012739 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:158.67, Y:67.87, Z:0.40 [[ 6.02553239e-01 -7.98076983e-01 -1.65030893e-03 1.58669861e+02] [ 7.98074143e-01 6.02555498e-01 -2.12937842e-03 6.78710411e+01] [ 2.69381062e-03 -3.40050242e-05 9.99996371e-01 4.01143661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46401273899997 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:158.69, Y:67.89, Z:0.40 [[ 6.02795333e-01 -7.97894143e-01 -1.64995296e-03 1.58688790e+02] [ 7.97891302e-01 6.02797591e-01 -2.12965420e-03 6.78898348e+01] [ 2.69382628e-03 -3.27375048e-05 9.99996371e-01 3.99270932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49401273899997 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:158.71, Y:67.91, Z:0.40 [[ 6.01934481e-01 -7.98543774e-01 -1.64948511e-03 1.58707279e+02] [ 7.98540934e-01 6.01936740e-01 -2.13001650e-03 6.79102330e+01] [ 2.69379711e-03 -3.50510020e-05 9.99996371e-01 4.00637015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52401273899997 meters Centerline goodness : 0.989107 Centerline is valid? [True, True] Translation: X:158.72, Y:67.93, Z:0.41 [[ 6.01153724e-01 -7.99131704e-01 -1.64903000e-03 1.58724313e+02] [ 7.99128865e-01 6.01155985e-01 -2.13036879e-03 6.79299782e+01] [ 2.69376949e-03 -3.71083432e-05 9.99996371e-01 4.10566804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55401273899997 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:158.74, Y:67.95, Z:0.40 [[ 6.00876504e-01 -7.99340171e-01 -1.64855194e-03 1.58741864e+02] [ 7.99337332e-01 6.00878764e-01 -2.13073866e-03 6.79497830e+01] [ 2.69376486e-03 -3.74383147e-05 9.99996371e-01 4.01052134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58401273899997 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:158.76, Y:67.97, Z:0.40 [[ 6.01105579e-01 -7.99167922e-01 -1.64807816e-03 1.58760877e+02] [ 7.99165081e-01 6.01107837e-01 -2.13110506e-03 6.79695533e+01] [ 2.69378350e-03 -3.60673806e-05 9.99996371e-01 3.99182300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61401273899997 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:158.78, Y:67.99, Z:0.40 [[ 6.02803868e-01 -7.97887700e-01 -1.64763845e-03 1.58781439e+02] [ 7.97884854e-01 6.02806119e-01 -2.13144496e-03 6.79884165e+01] [ 2.69386026e-03 -2.97824970e-05 9.99996371e-01 3.97305388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64401273899998 meters Centerline goodness : 0.991442 Centerline is valid? [True, True] Translation: X:158.80, Y:68.01, Z:0.41 [[ 6.05818172e-01 -7.95601426e-01 -1.64719139e-03 1.58797682e+02] [ 7.95598570e-01 6.05820411e-01 -2.13179039e-03 6.80084744e+01] [ 2.69395764e-03 -1.90257544e-05 9.99996371e-01 4.05100663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67401273899998 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:158.81, Y:68.03, Z:0.40 [[ 6.08212497e-01 -7.93772541e-01 -1.64671949e-03 1.58813879e+02] [ 7.93769678e-01 6.08214726e-01 -2.13215486e-03 6.80305990e+01] [ 2.69400502e-03 -1.03127653e-05 9.99996371e-01 3.98682149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70401273899998 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:158.83, Y:68.05, Z:0.40 [[ 6.10875144e-01 -7.91725236e-01 -1.64627275e-03 1.58829592e+02] [ 7.91722364e-01 6.10877362e-01 -2.13249973e-03 6.80525348e+01] [ 2.69402461e-03 -6.99873524e-07 9.99996371e-01 3.98715035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73401273899998 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:158.84, Y:68.07, Z:0.40 [[ 6.13808413e-01 -7.89453307e-01 -1.64580689e-03 1.58844597e+02] [ 7.89450426e-01 6.13810619e-01 -2.13285921e-03 6.80736279e+01] [ 2.69400650e-03 9.88397983e-06 9.99996371e-01 3.97331688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76401273899998 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:158.86, Y:68.10, Z:0.40 [[ 6.18596457e-01 -7.85707144e-01 -1.64531777e-03 1.58860159e+02] [ 7.85704248e-01 6.18598645e-01 -2.13323646e-03 6.80959601e+01] [ 2.69389047e-03 2.68793574e-05 9.99996371e-01 3.97192747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79401273899998 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:158.88, Y:68.12, Z:0.40 [[ 6.19812048e-01 -7.84748571e-01 -1.64487033e-03 1.58876079e+02] [ 7.84745671e-01 6.19814230e-01 -2.13358141e-03 6.81184613e+01] [ 2.69383900e-03 3.16145919e-05 9.99996371e-01 3.98136231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82401273899998 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:158.89, Y:68.14, Z:0.40 [[ 6.20275914e-01 -7.84381977e-01 -1.64441937e-03 1.58890445e+02] [ 7.84379075e-01 6.20278093e-01 -2.13392893e-03 6.81414422e+01] [ 2.69381270e-03 3.37765720e-05 9.99996371e-01 3.97640621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85401273899998 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:158.91, Y:68.16, Z:0.40 [[ 6.19440920e-01 -7.85041556e-01 -1.64396597e-03 1.58905718e+02] [ 7.85038655e-01 6.19443100e-01 -2.13427816e-03 6.81631108e+01] [ 2.69384043e-03 3.14823933e-05 9.99996371e-01 3.97672503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88401273899999 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:158.92, Y:68.19, Z:0.40 [[ 6.18094580e-01 -7.86102022e-01 -1.64348910e-03 1.58921461e+02] [ 7.86099125e-01 6.18096764e-01 -2.13464531e-03 6.81854712e+01] [ 2.69388429e-03 2.74673552e-05 9.99996371e-01 3.98808163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.914012739 meters Centerline goodness : 0.995470 Centerline is valid? [True, True] Translation: X:158.94, Y:68.21, Z:0.40 [[ 6.15456071e-01 -7.88169477e-01 -1.64304532e-03 1.58936305e+02] [ 7.88166586e-01 6.15458264e-01 -2.13498684e-03 6.82082175e+01] [ 2.69395728e-03 1.89971940e-05 9.99996371e-01 4.01190988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.944012739 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:158.95, Y:68.23, Z:0.40 [[ 6.14736060e-01 -7.88731183e-01 -1.64259430e-03 1.58950153e+02] [ 7.88728293e-01 6.14738254e-01 -2.13533378e-03 6.82273456e+01] [ 2.69396989e-03 1.71060751e-05 9.99996371e-01 4.02971193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.974012739 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:158.97, Y:68.25, Z:0.40 [[ 6.11442177e-01 -7.91287430e-01 -1.63334278e-03 1.58966125e+02] [ 7.91284529e-01 6.11444359e-01 -2.14244531e-03 6.82524547e+01] [ 2.69398827e-03 1.75425519e-05 9.99996371e-01 4.01263620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.004012739 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:158.98, Y:68.27, Z:0.40 [[ 6.11139149e-01 -7.91521475e-01 -1.64179524e-03 1.58980915e+02] [ 7.91518593e-01 6.11141354e-01 -2.13594833e-03 6.82736992e+01] [ 2.69401794e-03 5.85018235e-06 9.99996371e-01 3.99555988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.034012739 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:159.00, Y:68.30, Z:0.40 [[ 6.11708894e-01 -7.91081244e-01 -1.64132460e-03 1.58995649e+02] [ 7.91078360e-01 6.11711096e-01 -2.13630992e-03 6.82956783e+01] [ 2.69401118e-03 8.38340997e-06 9.99996371e-01 3.97719084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.064012739 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:159.01, Y:68.32, Z:0.40 [[ 6.13430299e-01 -7.89747159e-01 -1.64098424e-03 1.59008420e+02] [ 7.89744269e-01 6.13432494e-01 -2.13657133e-03 6.83193697e+01] [ 2.69398420e-03 1.46796903e-05 9.99996371e-01 3.97398342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.094012739 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:159.02, Y:68.34, Z:0.40 [[ 6.13682235e-01 -7.89551406e-01 -1.64052864e-03 1.59023744e+02] [ 7.89548515e-01 6.13684427e-01 -2.13692110e-03 6.83422809e+01] [ 2.69397594e-03 1.61135717e-05 9.99996371e-01 3.98780055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.124012739 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:159.04, Y:68.36, Z:0.40 [[ 6.13678527e-01 -7.89554289e-01 -1.64008225e-03 1.59037294e+02] [ 7.89551397e-01 6.13680718e-01 -2.13726365e-03 6.83642274e+01] [ 2.69397253e-03 1.66635757e-05 9.99996371e-01 4.01820724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.154012739 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:159.05, Y:68.39, Z:0.40 [[ 6.13020619e-01 -7.90065208e-01 -1.63971001e-03 1.59051438e+02] [ 7.90062316e-01 6.13022811e-01 -2.13754920e-03 6.83870303e+01] [ 2.69398289e-03 1.48886450e-05 9.99996371e-01 4.03473289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.184012739 meters Centerline goodness : 0.994038 Centerline is valid? [True, True] Translation: X:159.07, Y:68.41, Z:0.40 [[ 6.12554901e-01 -7.90426345e-01 -1.63925998e-03 1.59066404e+02] [ 7.90423453e-01 6.12557094e-01 -2.13789426e-03 6.84102662e+01] [ 2.69398828e-03 1.38680672e-05 9.99996371e-01 4.04221264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21401273899997 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:159.08, Y:68.43, Z:0.41 [[ 6.11392231e-01 -7.91326010e-01 -1.63880989e-03 1.59081243e+02] [ 7.91323122e-01 6.11394427e-01 -2.13823922e-03 6.84330632e+01] [ 2.69400355e-03 1.04746914e-05 9.99996371e-01 4.05259655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24401273899997 meters Centerline goodness : 0.993644 Centerline is valid? [True, True] Translation: X:159.10, Y:68.45, Z:0.40 [[ 6.10194230e-01 -7.92250161e-01 -1.63835541e-03 1.59098024e+02] [ 7.92247275e-01 6.10196429e-01 -2.13858739e-03 6.84548434e+01] [ 2.69401483e-03 6.97107556e-06 9.99996371e-01 4.04933488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27401273899997 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:159.11, Y:68.48, Z:0.40 [[ 6.06922873e-01 -7.94759048e-01 -1.63790152e-03 1.59114220e+02] [ 7.94756169e-01 6.06925083e-01 -2.13893496e-03 6.84751459e+01] [ 2.69402143e-03 -3.56378757e-06 9.99996371e-01 3.99516229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30401273899997 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:159.13, Y:68.50, Z:0.40 [[ 6.05531663e-01 -7.95819530e-01 -1.63742541e-03 1.59130627e+02] [ 7.95816654e-01 6.05533877e-01 -2.13929938e-03 6.84964292e+01] [ 2.69401278e-03 -7.67689799e-06 9.99996371e-01 3.98712672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33401273899997 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:159.15, Y:68.52, Z:0.40 [[ 6.05156138e-01 -7.96105124e-01 -1.63696005e-03 1.59147399e+02] [ 7.96102249e-01 6.05158352e-01 -2.13965541e-03 6.85169300e+01] [ 2.69401068e-03 -8.36197267e-06 9.99996371e-01 3.98419325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36401273899997 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:159.16, Y:68.54, Z:0.41 [[ 6.05732417e-01 -7.95666740e-01 -1.63659841e-03 1.59163367e+02] [ 7.95663862e-01 6.05734628e-01 -2.13993199e-03 6.85378991e+01] [ 2.69401704e-03 -5.95603407e-06 9.99996371e-01 4.08414632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39401273899998 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:159.18, Y:68.56, Z:0.41 [[ 6.06673352e-01 -7.94949537e-01 -1.63625954e-03 1.59179250e+02] [ 7.94946657e-01 6.06675558e-01 -2.14019107e-03 6.85601156e+01] [ 2.69402257e-03 -2.34215905e-06 9.99996371e-01 4.12962236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42401273899998 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:159.20, Y:68.58, Z:0.41 [[ 6.08283369e-01 -7.93718254e-01 -1.63581040e-03 1.59195081e+02] [ 7.93715368e-01 6.08285569e-01 -2.14053430e-03 6.85812120e+01] [ 2.69402101e-03 3.68356440e-06 9.99996371e-01 4.14768899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45401273899998 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:159.21, Y:68.60, Z:0.41 [[ 6.08423102e-01 -7.93611148e-01 -1.63533875e-03 1.59211125e+02] [ 7.93608261e-01 6.08425300e-01 -2.14089458e-03 6.86017081e+01] [ 2.69401927e-03 4.75138327e-06 9.99996371e-01 4.13042944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48401273899998 meters Centerline goodness : 0.993999 Centerline is valid? [True, True] Translation: X:159.23, Y:68.62, Z:0.41 [[ 6.08215605e-01 -7.93770184e-01 -1.63487352e-03 1.59227239e+02] [ 7.93767296e-01 6.08217802e-01 -2.14124978e-03 6.86240786e+01] [ 2.69401942e-03 4.63239700e-06 9.99996371e-01 4.09841158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51401273899998 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:159.24, Y:68.65, Z:0.40 [[ 6.08371934e-01 -7.93650375e-01 -1.63442576e-03 1.59243217e+02] [ 7.93647486e-01 6.08374130e-01 -2.14159151e-03 6.86453652e+01] [ 2.69401725e-03 5.72627299e-06 9.99996371e-01 4.03460851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54401273899998 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:159.26, Y:68.67, Z:0.40 [[ 6.08490014e-01 -7.93559848e-01 -1.63407760e-03 1.59260150e+02] [ 7.93556958e-01 6.08492208e-01 -2.14185713e-03 6.86658284e+01] [ 2.69401530e-03 6.56502472e-06 9.99996371e-01 4.02703513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57401273899998 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:159.28, Y:68.69, Z:0.40 [[ 6.08769002e-01 -7.93345847e-01 -1.63361094e-03 1.59277476e+02] [ 7.93342955e-01 6.08771194e-01 -2.14221299e-03 6.86870485e+01] [ 2.69401107e-03 8.09913008e-06 9.99996371e-01 4.04629149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60401273899998 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:159.29, Y:68.71, Z:0.41 [[ 6.10721621e-01 -7.91843693e-01 -1.63315954e-03 1.59291646e+02] [ 7.91840795e-01 6.10723805e-01 -2.14255707e-03 6.87093281e+01] [ 2.69397971e-03 1.53035838e-05 9.99996371e-01 4.07791739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63401273899999 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:159.30, Y:68.73, Z:0.40 [[ 6.14254832e-01 -7.89106036e-01 -1.63268702e-03 1.59304000e+02] [ 7.89103127e-01 6.14257001e-01 -2.14291709e-03 6.87334856e+01] [ 2.69387824e-03 2.79387426e-05 9.99996371e-01 4.03816567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.664012739 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:159.32, Y:68.76, Z:0.40 [[ 6.16294784e-01 -7.87513857e-01 -1.63224065e-03 1.59320120e+02] [ 7.87510942e-01 6.16296944e-01 -2.14325702e-03 6.87559222e+01] [ 2.69378953e-03 3.54707499e-05 9.99996371e-01 4.02066579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.694012739 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:159.34, Y:68.78, Z:0.40 [[ 6.17846632e-01 -7.86296939e-01 -1.63179437e-03 1.59335919e+02] [ 7.86294018e-01 6.17848786e-01 -2.14359675e-03 6.87769398e+01] [ 2.69370574e-03 4.13438809e-05 9.99996371e-01 4.01688290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.724012739 meters Centerline goodness : 0.994263 Centerline is valid? [True, True] Translation: X:159.35, Y:68.80, Z:0.40 [[ 6.19253471e-01 -7.85189453e-01 -1.63132660e-03 1.59350921e+02] [ 7.85186527e-01 6.19255618e-01 -2.14395268e-03 6.87987354e+01] [ 2.69361719e-03 4.67544677e-05 9.99996371e-01 4.02322035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.754012739 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:159.37, Y:68.82, Z:0.40 [[ 6.19164892e-01 -7.85259305e-01 -1.63086193e-03 1.59365793e+02] [ 7.85256379e-01 6.19167038e-01 -2.14430608e-03 6.88209110e+01] [ 2.69361226e-03 4.70343068e-05 9.99996371e-01 4.02797001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.784012739 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:159.38, Y:68.84, Z:0.40 [[ 6.19024898e-01 -7.85369670e-01 -1.63042629e-03 1.59380548e+02] [ 7.85366743e-01 6.19027043e-01 -2.14463727e-03 6.88420802e+01] [ 2.69361103e-03 4.71012826e-05 9.99996371e-01 4.02237072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.814012739 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:159.40, Y:68.86, Z:0.40 [[ 6.19176254e-01 -7.85250349e-01 -1.62996865e-03 1.59397340e+02] [ 7.85247421e-01 6.19178397e-01 -2.14498503e-03 6.88639908e+01] [ 2.69359162e-03 4.81951151e-05 9.99996371e-01 4.02472014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.844012739 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:159.41, Y:68.89, Z:0.40 [[ 6.19017090e-01 -7.85375825e-01 -1.62953430e-03 1.59413862e+02] [ 7.85372896e-01 6.19019233e-01 -2.14531496e-03 6.88861533e+01] [ 2.69359158e-03 4.81945524e-05 9.99996371e-01 4.02546499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.874012739 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:159.43, Y:68.91, Z:0.40 [[ 6.20003914e-01 -7.84597026e-01 -1.62909943e-03 1.59429553e+02] [ 7.84594094e-01 6.20006052e-01 -2.14564514e-03 6.89068497e+01] [ 2.69351830e-03 5.21265952e-05 9.99996371e-01 4.03215400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.904012739 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:159.44, Y:68.93, Z:0.40 [[ 6.22339161e-01 -7.82746010e-01 -1.62864267e-03 1.59443434e+02] [ 7.82743071e-01 6.22341289e-01 -2.14599178e-03 6.89293148e+01] [ 2.69333808e-03 6.07259598e-05 9.99996371e-01 4.04391010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.934012739 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:159.46, Y:68.95, Z:0.40 [[ 6.24261721e-01 -7.81213577e-01 -1.62818856e-03 1.59458062e+02] [ 7.81210631e-01 6.24263841e-01 -2.14633626e-03 6.89514304e+01] [ 2.69316627e-03 6.79173576e-05 9.99996371e-01 4.03478959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96401273899997 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:159.47, Y:68.97, Z:0.40 [[ 6.27700501e-01 -7.78453230e-01 -1.62774002e-03 1.59473497e+02] [ 7.78450274e-01 6.27702607e-01 -2.14667637e-03 6.89741146e+01] [ 2.69282381e-03 8.03551650e-05 9.99996371e-01 4.04614665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99401273899997 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:159.49, Y:69.00, Z:0.41 [[ 6.28552057e-01 -7.77765816e-01 -1.62728816e-03 1.59487766e+02] [ 7.77762857e-01 6.28554157e-01 -2.14701885e-03 6.89956081e+01] [ 2.69271661e-03 8.38688250e-05 9.99996371e-01 4.05328809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02401273899997 meters Centerline goodness : 0.994076 Centerline is valid? [True, True] Translation: X:159.50, Y:69.02, Z:0.41 [[ 6.28910265e-01 -7.77476194e-01 -1.62681499e-03 1.59502345e+02] [ 7.77473233e-01 6.28912364e-01 -2.14737731e-03 6.90176205e+01] [ 2.69265880e-03 8.57025242e-05 9.99996371e-01 4.06691568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05401273899997 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:159.52, Y:69.04, Z:0.41 [[ 6.27154541e-01 -7.78893149e-01 -1.62634408e-03 1.59518203e+02] [ 7.78890192e-01 6.27156644e-01 -2.14773391e-03 6.90402436e+01] [ 2.69282772e-03 8.02176187e-05 9.99996371e-01 4.09965386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08401273899997 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:159.53, Y:69.06, Z:0.41 [[ 6.25145968e-01 -7.80506166e-01 -1.62590040e-03 1.59534374e+02] [ 7.80503214e-01 6.25148078e-01 -2.14806974e-03 6.90625790e+01] [ 2.69301018e-03 7.38366494e-05 9.99996371e-01 4.10126508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11401273899997 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:159.55, Y:69.09, Z:0.41 [[ 6.20996682e-01 -7.83811507e-01 -1.62545657e-03 1.59547669e+02] [ 7.83808565e-01 6.20998807e-01 -2.14840553e-03 6.90855569e+01] [ 2.69335157e-03 6.01059274e-05 9.99996371e-01 4.09171956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14401273899998 meters Centerline goodness : 0.994062 Centerline is valid? [True, True] Translation: X:159.56, Y:69.11, Z:0.41 [[ 6.18391231e-01 -7.85868719e-01 -1.62511219e-03 1.59562723e+02] [ 7.85865784e-01 6.18393365e-01 -2.14866600e-03 6.91076001e+01] [ 2.69352799e-03 5.15961480e-05 9.99996371e-01 4.09735629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17401273899998 meters Centerline goodness : 0.993615 Centerline is valid? [True, True] Translation: X:159.58, Y:69.13, Z:0.41 [[ 6.15542920e-01 -7.88101690e-01 -1.62467301e-03 1.59578886e+02] [ 7.88098761e-01 6.15545063e-01 -2.14899802e-03 6.91297099e+01] [ 2.69368842e-03 4.23977310e-05 9.99996371e-01 4.11538463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20401273899998 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:159.59, Y:69.15, Z:0.41 [[ 6.10709566e-01 -7.91853009e-01 -1.62421526e-03 1.59592573e+02] [ 7.91850093e-01 6.10711725e-01 -2.14934394e-03 6.91525791e+01] [ 2.69389177e-03 2.64898965e-05 9.99996371e-01 4.13864386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23401273899998 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:159.61, Y:69.18, Z:0.41 [[ 6.09404137e-01 -7.92858097e-01 -1.62373399e-03 1.59605668e+02] [ 7.92855183e-01 6.09406300e-01 -2.14970745e-03 6.91755579e+01] [ 2.69392668e-03 2.26547044e-05 9.99996371e-01 4.14288387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26401273899998 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:159.62, Y:69.20, Z:0.41 [[ 6.06429378e-01 -7.95135705e-01 -1.61872465e-03 1.59618888e+02] [ 7.95132789e-01 6.06431538e-01 -2.15349029e-03 6.92024711e+01] [ 2.69396270e-03 1.88387312e-05 9.99996371e-01 4.12981325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29401273899998 meters Centerline goodness : 0.993613 Centerline is valid? [True, True] Translation: X:159.63, Y:69.22, Z:0.41 [[ 6.05218509e-01 -7.96057738e-01 -1.62323036e-03 1.59634583e+02] [ 7.96054834e-01 6.05220686e-01 -2.15008866e-03 6.92236666e+01] [ 2.69400731e-03 9.09307663e-06 9.99996371e-01 4.11049646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32401273899998 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:159.65, Y:69.25, Z:0.41 [[ 6.03438305e-01 -7.97408038e-01 -1.62286595e-03 1.59650650e+02] [ 7.97405138e-01 6.03440487e-01 -2.15036368e-03 6.92455887e+01] [ 2.69402030e-03 3.53016778e-06 9.99996371e-01 4.10726134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35401273899998 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:159.67, Y:69.27, Z:0.41 [[ 6.00481933e-01 -7.99636677e-01 -1.62241572e-03 1.59665276e+02] [ 7.99633785e-01 6.00484125e-01 -2.15070332e-03 6.92677060e+01] [ 2.69401614e-03 -5.87994212e-06 9.99996371e-01 4.11235049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38401273899999 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:159.68, Y:69.29, Z:0.41 [[ 5.99449069e-01 -8.00411259e-01 -1.62194325e-03 1.59681660e+02] [ 8.00408369e-01 5.99451263e-01 -2.15105957e-03 6.92897095e+01] [ 2.69400823e-03 -8.76629363e-06 9.99996371e-01 4.12302852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.414012739 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:159.70, Y:69.31, Z:0.41 [[ 5.98279181e-01 -8.01286086e-01 -1.62148423e-03 1.59700644e+02] [ 8.01283198e-01 5.98281378e-01 -2.15140553e-03 6.93098416e+01] [ 2.69399514e-03 -1.21269340e-05 9.99996371e-01 4.12165662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.444012739 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:159.72, Y:69.33, Z:0.41 [[ 5.97749673e-01 -8.01681171e-01 -1.62102597e-03 1.59716716e+02] [ 8.01678284e-01 5.97751871e-01 -2.15175076e-03 6.93301631e+01] [ 2.69398938e-03 -1.33330049e-05 9.99996371e-01 4.10997966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.474012739 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:159.73, Y:69.35, Z:0.41 [[ 5.97473437e-01 -8.01887065e-01 -1.62054390e-03 1.59732714e+02] [ 8.01884178e-01 5.97475635e-01 -2.15211376e-03 6.93521791e+01] [ 2.69398768e-03 -1.36577043e-05 9.99996371e-01 4.10809525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.504012739 meters Centerline goodness : 0.994291 Centerline is valid? [True, True] Translation: X:159.75, Y:69.37, Z:0.41 [[ 5.98633963e-01 -8.01021069e-01 -1.62009089e-03 1.59749916e+02] [ 8.01018177e-01 5.98636155e-01 -2.15245473e-03 6.93722932e+01] [ 2.69400657e-03 -9.18974839e-06 9.99996371e-01 4.09761139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.534012739 meters Centerline goodness : 0.994373 Centerline is valid? [True, True] Translation: X:159.77, Y:69.39, Z:0.41 [[ 5.99197424e-01 -8.00599665e-01 -1.61961568e-03 1.59768035e+02] [ 8.00596771e-01 5.99199613e-01 -2.15281224e-03 6.93929589e+01] [ 2.69401385e-03 -6.69953797e-06 9.99996371e-01 4.11161312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.564012739 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:159.78, Y:69.41, Z:0.41 [[ 5.99616141e-01 -8.00286112e-01 -1.61914885e-03 1.59784191e+02] [ 8.00283216e-01 5.99618327e-01 -2.15316329e-03 6.94129615e+01] [ 2.69401800e-03 -4.70618188e-06 9.99996371e-01 4.13335808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.594012739 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:159.80, Y:69.43, Z:0.41 [[ 5.98994482e-01 -8.00751516e-01 -1.61878659e-03 1.59799024e+02] [ 8.00748620e-01 5.98996670e-01 -2.15343560e-03 6.94344456e+01] [ 2.69401460e-03 -6.34508547e-06 9.99996371e-01 4.13621386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.624012739 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:159.82, Y:69.46, Z:0.41 [[ 5.96553214e-01 -8.02571893e-01 -1.61832896e-03 1.59815397e+02] [ 8.02569003e-01 5.96555409e-01 -2.15377946e-03 6.94561956e+01] [ 2.69398576e-03 -1.39766002e-05 9.99996371e-01 4.14122788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.654012739 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:159.83, Y:69.48, Z:0.41 [[ 5.95044016e-01 -8.03691484e-01 -1.61787299e-03 1.59830968e+02] [ 8.03688598e-01 5.95046215e-01 -2.15412192e-03 6.94775547e+01] [ 2.69395865e-03 -1.84687175e-05 9.99996371e-01 4.14156604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.684012739 meters Centerline goodness : 0.993926 Centerline is valid? [True, True] Translation: X:159.85, Y:69.50, Z:0.41 [[ 5.93526527e-01 -8.04812801e-01 -1.61739606e-03 1.59846244e+02] [ 8.04809918e-01 5.93528731e-01 -2.15447996e-03 6.95004708e+01] [ 2.69392409e-03 -2.29553818e-05 9.99996371e-01 4.14853029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71401273899997 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:159.86, Y:69.52, Z:0.41 [[ 5.92190508e-01 -8.05796369e-01 -1.61694312e-03 1.59860602e+02] [ 8.05793488e-01 5.92192714e-01 -2.15481984e-03 6.95236176e+01] [ 2.69388794e-03 -2.68583820e-05 9.99996371e-01 4.14757138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74401273899997 meters Centerline goodness : 0.995167 Centerline is valid? [True, True] Translation: X:159.88, Y:69.55, Z:0.41 [[ 5.89607050e-01 -8.07688624e-01 -1.61649268e-03 1.59875903e+02] [ 8.07685750e-01 5.89609265e-01 -2.15515770e-03 6.95463356e+01] [ 2.69379542e-03 -3.49219347e-05 9.99996371e-01 4.14141985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77401273899997 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:159.89, Y:69.57, Z:0.41 [[ 5.86709082e-01 -8.09796173e-01 -1.61604361e-03 1.59892265e+02] [ 8.09793306e-01 5.86711306e-01 -2.15549438e-03 6.95663212e+01] [ 2.69366216e-03 -4.40131652e-05 9.99996371e-01 4.13585558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80401273899997 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:159.91, Y:69.59, Z:0.41 [[ 5.85362007e-01 -8.10770443e-01 -1.61557357e-03 1.59907976e+02] [ 8.10767578e-01 5.85364235e-01 -2.15584662e-03 6.95886481e+01] [ 2.69359571e-03 -4.79039642e-05 9.99996371e-01 4.14823213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83401273899997 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:159.92, Y:69.61, Z:0.42 [[ 5.84197168e-01 -8.11610165e-01 -1.61513108e-03 1.59923159e+02] [ 8.11607303e-01 5.84199399e-01 -2.15617808e-03 6.96112287e+01] [ 2.69353465e-03 -5.12190522e-05 9.99996371e-01 4.16090367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86401273899997 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:159.94, Y:69.63, Z:0.42 [[ 5.83180716e-01 -8.12340843e-01 -1.61469098e-03 1.59939241e+02] [ 8.12337982e-01 5.83182949e-01 -2.15650761e-03 6.96334257e+01] [ 2.69347946e-03 -5.40411635e-05 9.99996371e-01 4.16877952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89401273899998 meters Centerline goodness : 0.995284 Centerline is valid? [True, True] Translation: X:159.96, Y:69.65, Z:0.42 [[ 5.82032924e-01 -8.13163618e-01 -1.61424766e-03 1.59957270e+02] [ 8.13160760e-01 5.82035160e-01 -2.15683940e-03 6.96529588e+01] [ 2.69341223e-03 -5.72913148e-05 9.99996371e-01 4.16826999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92401273899998 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:159.97, Y:69.67, Z:0.42 [[ 5.81097933e-01 -8.13832039e-01 -1.61378304e-03 1.59973594e+02] [ 8.13829182e-01 5.81100171e-01 -2.15718698e-03 6.96735789e+01] [ 2.69335748e-03 -5.98068339e-05 9.99996371e-01 4.15792179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95401273899998 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:159.99, Y:69.70, Z:0.41 [[ 5.80810148e-01 -8.14037450e-01 -1.61332304e-03 1.59989857e+02] [ 8.14034593e-01 5.80812386e-01 -2.15753096e-03 6.96951316e+01] [ 2.69334900e-03 -6.01848889e-05 9.99996371e-01 4.13898939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98401273899998 meters Centerline goodness : 0.995862 Centerline is valid? [True, True] Translation: X:160.01, Y:69.72, Z:0.41 [[ 5.80781144e-01 -8.14058144e-01 -1.61289134e-03 1.60006733e+02] [ 8.14055286e-01 5.80783381e-01 -2.15785363e-03 6.97163190e+01] [ 2.69335880e-03 -5.97420173e-05 9.99996371e-01 4.13365643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01401273899998 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:160.03, Y:69.74, Z:0.42 [[ 5.79438649e-01 -8.15014265e-01 -1.61244681e-03 1.60025426e+02] [ 8.15011410e-01 5.79440889e-01 -2.15818575e-03 6.97355572e+01] [ 2.69326979e-03 -6.36263143e-05 9.99996371e-01 4.15915053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04401273899998 meters Centerline goodness : 0.995357 Centerline is valid? [True, True] Translation: X:160.04, Y:69.76, Z:0.42 [[ 5.77599801e-01 -8.16318487e-01 -1.61197979e-03 1.60041064e+02] [ 8.16315636e-01 5.77602046e-01 -2.15853452e-03 6.97550748e+01] [ 2.69313446e-03 -6.91151988e-05 9.99996371e-01 4.17237806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07401273899998 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:160.06, Y:69.77, Z:0.41 [[ 5.72845100e-01 -8.19662061e-01 -1.61148198e-03 1.60058600e+02] [ 8.19659223e-01 5.72847360e-01 -2.15890610e-03 6.97732303e+01] [ 2.69270662e-03 -8.41472898e-05 9.99996371e-01 4.14262608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10401273899998 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:160.08, Y:69.79, Z:0.41 [[ 5.70130454e-01 -8.21552598e-01 -1.61098905e-03 1.60076916e+02] [ 8.21549765e-01 5.70132722e-01 -2.15927386e-03 6.97919170e+01] [ 2.69243463e-03 -9.24398907e-05 9.99996371e-01 4.11181355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13401273899999 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:160.10, Y:69.81, Z:0.41 [[ 5.67904301e-01 -8.23093015e-01 -1.61051773e-03 1.60095262e+02] [ 8.23090188e-01 5.67906576e-01 -2.15962535e-03 6.98093359e+01] [ 2.69219615e-03 -9.91408164e-05 9.99996371e-01 4.09514515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.164012739 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:160.12, Y:69.83, Z:0.41 [[ 5.65121833e-01 -8.25005892e-01 -1.61002806e-03 1.60117406e+02] [ 8.25003071e-01 5.65124117e-01 -2.15999034e-03 6.98252315e+01] [ 2.69187044e-03 -1.07620395e-04 9.99996371e-01 4.10860791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.194012739 meters Centerline goodness : 0.995370 Centerline is valid? [True, True] Translation: X:160.14, Y:69.84, Z:0.41 [[ 5.64448451e-01 -8.25466750e-01 -1.60955555e-03 1.60135498e+02] [ 8.25463930e-01 5.64450735e-01 -2.16034238e-03 6.98432128e+01] [ 2.69180562e-03 -1.09228137e-04 9.99996371e-01 4.12614881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.224012739 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:160.16, Y:69.86, Z:0.42 [[ 5.64453118e-01 -8.25463560e-01 -1.60906065e-03 1.60156997e+02] [ 8.25460739e-01 5.64455401e-01 -2.16071093e-03 6.98603466e+01] [ 2.69183111e-03 -1.08596368e-04 9.99996371e-01 4.18338198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.254012739 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:160.17, Y:69.88, Z:0.42 [[ 5.65346321e-01 -8.24852077e-01 -1.60857240e-03 1.60174598e+02] [ 8.24849253e-01 5.65348600e-01 -2.16107435e-03 6.98784705e+01] [ 2.69197082e-03 -1.05074312e-04 9.99996371e-01 4.20440632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.284012739 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:160.19, Y:69.90, Z:0.42 [[ 5.67180247e-01 -8.23592121e-01 -1.60806411e-03 1.60192902e+02] [ 8.23589290e-01 5.67182518e-01 -2.16145251e-03 6.98977078e+01] [ 2.69222111e-03 -9.84512130e-05 9.99996371e-01 4.20784635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.314012739 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:160.21, Y:69.91, Z:0.42 [[ 5.71868633e-01 -8.20343637e-01 -1.60760800e-03 1.60212675e+02] [ 8.20340793e-01 5.71870886e-01 -2.16179169e-03 6.99142291e+01] [ 2.69275627e-03 -8.25255588e-05 9.99996371e-01 4.19040033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.344012739 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:160.23, Y:69.93, Z:0.43 [[ 5.74088116e-01 -8.18791947e-01 -1.60710370e-03 1.60231652e+02] [ 8.18789095e-01 5.74090361e-01 -2.16216653e-03 6.99338860e+01] [ 2.69298729e-03 -7.46048697e-05 9.99996371e-01 4.26745331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.374012739 meters Centerline goodness : 0.995795 Centerline is valid? [True, True] Translation: X:160.25, Y:69.95, Z:0.42 [[ 5.77356289e-01 -8.16490743e-01 -1.60665084e-03 1.60250906e+02] [ 8.16487882e-01 5.77358521e-01 -2.16250299e-03 6.99524533e+01] [ 2.69327722e-03 -6.32762368e-05 9.99996371e-01 4.15223907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.404012739 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:160.27, Y:69.97, Z:0.41 [[ 5.79152849e-01 -8.15217393e-01 -1.60617324e-03 1.60268254e+02] [ 8.15214526e-01 5.79155074e-01 -2.16285766e-03 6.99723704e+01] [ 2.69342256e-03 -5.67505785e-05 9.99996371e-01 4.13642774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43401273899997 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:160.29, Y:69.99, Z:0.41 [[ 5.81086740e-01 -8.13840047e-01 -1.60570060e-03 1.60285218e+02] [ 8.13837174e-01 5.81088957e-01 -2.16320849e-03 6.99926708e+01] [ 2.69356059e-03 -4.97670688e-05 9.99996371e-01 4.14001606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46401273899997 meters Centerline goodness : 0.996544 Centerline is valid? [True, True] Translation: X:160.30, Y:70.01, Z:0.42 [[ 5.84851060e-01 -8.11139113e-01 -1.60520563e-03 1.60303486e+02] [ 8.11136228e-01 5.84853262e-01 -2.16357572e-03 7.00131387e+01] [ 2.69377064e-03 -3.66708920e-05 9.99996371e-01 4.17480528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49401273899997 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:160.32, Y:70.03, Z:0.42 [[ 5.86050286e-01 -8.10273094e-01 -1.60475135e-03 1.60319532e+02] [ 8.10270205e-01 5.86052482e-01 -2.16391261e-03 7.00337716e+01] [ 2.69382868e-03 -3.21206043e-05 9.99996371e-01 4.18904263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52401273899997 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:160.34, Y:70.05, Z:0.42 [[ 5.86647619e-01 -8.09840723e-01 -1.60427217e-03 1.60337951e+02] [ 8.09837832e-01 5.86649812e-01 -2.16426781e-03 7.00527742e+01] [ 2.69385817e-03 -2.95377372e-05 9.99996371e-01 4.17151296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55401273899997 meters Centerline goodness : 0.995906 Centerline is valid? [True, True] Translation: X:160.36, Y:70.07, Z:0.42 [[ 5.86102624e-01 -8.10235239e-01 -1.60378328e-03 1.60357106e+02] [ 8.10232348e-01 5.86104817e-01 -2.16463003e-03 7.00729723e+01] [ 2.69384463e-03 -3.07417543e-05 9.99996371e-01 4.15419665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58401273899997 meters Centerline goodness : 0.996275 Centerline is valid? [True, True] Translation: X:160.38, Y:70.09, Z:0.42 [[ 5.84359097e-01 -8.11493608e-01 -1.60332772e-03 1.60377738e+02] [ 8.11490720e-01 5.84361295e-01 -2.16496741e-03 7.00893985e+01] [ 2.69377987e-03 -3.59671674e-05 9.99996371e-01 4.15273966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61401273899997 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:160.40, Y:70.11, Z:0.42 [[ 5.83935180e-01 -8.11798704e-01 -1.60279717e-03 1.60395358e+02] [ 8.11795817e-01 5.83937379e-01 -2.16536011e-03 7.01093080e+01] [ 2.69376972e-03 -3.67140942e-05 9.99996371e-01 4.16929333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64401273899998 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:160.41, Y:70.13, Z:0.42 [[ 5.83822485e-01 -8.11879756e-01 -1.60229264e-03 1.60412198e+02] [ 8.11876868e-01 5.83824683e-01 -2.16573339e-03 7.01279217e+01] [ 2.69377309e-03 -3.64604807e-05 9.99996371e-01 4.17552912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67401273899998 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:160.43, Y:70.15, Z:0.42 [[ 5.84304396e-01 -8.11532998e-01 -1.60189050e-03 1.60433676e+02] [ 8.11530108e-01 5.84306591e-01 -2.16603080e-03 7.01451659e+01] [ 2.69380064e-03 -3.43610518e-05 9.99996371e-01 4.17946324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70401273899998 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:160.45, Y:70.16, Z:0.42 [[ 5.85066839e-01 -8.10983495e-01 -1.60138741e-03 1.60451114e+02] [ 8.10980602e-01 5.85069030e-01 -2.16640267e-03 7.01637825e+01] [ 2.69383899e-03 -3.12037596e-05 9.99996371e-01 4.17707447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73401273899998 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:160.47, Y:70.18, Z:0.42 [[ 5.87797371e-01 -8.09006606e-01 -1.60086362e-03 1.60469065e+02] [ 8.09003704e-01 5.87799550e-01 -2.16678966e-03 7.01817841e+01] [ 2.69393406e-03 -2.14713308e-05 9.99996371e-01 4.17829112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76401273899998 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:160.48, Y:70.20, Z:0.42 [[ 5.87612082e-01 -8.09141199e-01 -1.60046551e-03 1.60484768e+02] [ 8.09138297e-01 5.87614261e-01 -2.16708367e-03 7.02035350e+01] [ 2.69393304e-03 -2.15933903e-05 9.99996371e-01 4.17901355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79401273899998 meters Centerline goodness : 0.996817 Centerline is valid? [True, True] Translation: X:160.50, Y:70.22, Z:0.42 [[ 5.88555439e-01 -8.08455277e-01 -1.59996913e-03 1.60501355e+02] [ 8.08452372e-01 5.88557614e-01 -2.16745009e-03 7.02229342e+01] [ 2.69396048e-03 -1.78343028e-05 9.99996371e-01 4.17630205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82401273899998 meters Centerline goodness : 0.996711 Centerline is valid? [True, True] Translation: X:160.52, Y:70.24, Z:0.42 [[ 5.88767534e-01 -8.08300830e-01 -1.59945056e-03 1.60519055e+02] [ 8.08297923e-01 5.88769707e-01 -2.16783270e-03 7.02424804e+01] [ 2.69396901e-03 -1.64830572e-05 9.99996371e-01 4.17802453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85401273899998 meters Centerline goodness : 0.996984 Centerline is valid? [True, True] Translation: X:160.54, Y:70.26, Z:0.42 [[ 5.88585624e-01 -8.08433304e-01 -1.59895558e-03 1.60539090e+02] [ 8.08430397e-01 5.88587795e-01 -2.16819772e-03 7.02602056e+01] [ 2.69396899e-03 -1.64742881e-05 9.99996371e-01 4.20128925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88401273899999 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:160.56, Y:70.28, Z:0.42 [[ 5.88342816e-01 -8.08610027e-01 -1.59846378e-03 1.60555717e+02] [ 8.08607119e-01 5.88344988e-01 -2.16856024e-03 7.02798126e+01] [ 2.69396770e-03 -1.66723497e-05 9.99996371e-01 4.20249422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.914012739 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:160.57, Y:70.30, Z:0.43 [[ 5.88507084e-01 -8.08490481e-01 -1.59794763e-03 1.60573756e+02] [ 8.08487572e-01 5.88509254e-01 -2.16894050e-03 7.02996592e+01] [ 2.69397472e-03 -1.54839524e-05 9.99996371e-01 4.28112052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.944012739 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:160.59, Y:70.32, Z:0.42 [[ 5.87730912e-01 -8.09054895e-01 -1.59747600e-03 1.60591103e+02] [ 8.09051987e-01 5.87733082e-01 -2.16928782e-03 7.03191285e+01] [ 2.69396242e-03 -1.74836268e-05 9.99996371e-01 4.19268021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.974012739 meters Centerline goodness : 0.996773 Centerline is valid? [True, True] Translation: X:160.61, Y:70.34, Z:0.42 [[ 5.87761372e-01 -8.09032767e-01 -1.59698036e-03 1.60607614e+02] [ 8.09029858e-01 5.87763542e-01 -2.16965264e-03 7.03384381e+01] [ 2.69396691e-03 -1.67667828e-05 9.99996371e-01 4.18783191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.004012739 meters Centerline goodness : 0.996464 Centerline is valid? [True, True] Translation: X:160.63, Y:70.36, Z:0.42 [[ 5.89236460e-01 -8.07959062e-01 -1.59645614e-03 1.60626570e+02] [ 8.07956148e-01 5.89238623e-01 -2.17003829e-03 7.03578476e+01] [ 2.69399572e-03 -1.12008769e-05 9.99996371e-01 4.18267340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.034012739 meters Centerline goodness : 0.996363 Centerline is valid? [True, True] Translation: X:160.64, Y:70.38, Z:0.42 [[ 5.90421848e-01 -8.07093238e-01 -1.59600843e-03 1.60642514e+02] [ 8.07090320e-01 5.90424005e-01 -2.17036752e-03 7.03774155e+01] [ 2.69401064e-03 -6.69055643e-06 9.99996371e-01 4.18405055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.064012739 meters Centerline goodness : 0.996418 Centerline is valid? [True, True] Translation: X:160.66, Y:70.40, Z:0.42 [[ 5.91772539e-01 -8.06103415e-01 -1.59545496e-03 1.60658423e+02] [ 8.06100493e-01 5.91774690e-01 -2.17077431e-03 7.03971436e+01] [ 2.69401845e-03 -1.49240728e-06 9.99996371e-01 4.18167564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.094012739 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:160.67, Y:70.42, Z:0.41 [[ 5.94506696e-01 -8.04089077e-01 -1.59493479e-03 1.60674719e+02] [ 8.04086146e-01 5.94508836e-01 -2.17115643e-03 7.04160887e+01] [ 2.69400599e-03 8.30206924e-06 9.99996371e-01 4.14397936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.124012739 meters Centerline goodness : 0.996686 Centerline is valid? [True, True] Translation: X:160.69, Y:70.44, Z:0.41 [[ 5.95871286e-01 -8.03078370e-01 -1.59443708e-03 1.60690979e+02] [ 8.03075434e-01 5.95873419e-01 -2.17152187e-03 7.04368701e+01] [ 2.69398492e-03 1.34942751e-05 9.99996371e-01 4.13800386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.154012739 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:160.71, Y:70.46, Z:0.42 [[ 5.99793975e-01 -8.00152889e-01 -1.59393021e-03 1.60707068e+02] [ 8.00149942e-01 5.99796093e-01 -2.17189386e-03 7.04560160e+01] [ 2.69388025e-03 2.73056852e-05 9.99996371e-01 4.15264556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18401273899997 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:160.72, Y:70.48, Z:0.42 [[ 6.02376208e-01 -7.98210727e-01 -1.59340043e-03 1.60722861e+02] [ 7.98207772e-01 6.02378315e-01 -2.17228246e-03 7.04776524e+01] [ 2.69376902e-03 3.66666623e-05 9.99996371e-01 4.19342030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21401273899997 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:160.74, Y:70.50, Z:0.42 [[ 6.05357497e-01 -7.95952111e-01 -1.59290102e-03 1.60738530e+02] [ 7.95949147e-01 6.05359591e-01 -2.17264860e-03 7.04998632e+01] [ 2.69360215e-03 4.73609085e-05 9.99996371e-01 4.21948993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24401273899997 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:160.75, Y:70.52, Z:0.42 [[ 6.12008183e-01 -7.90849827e-01 -1.59243740e-03 1.60752007e+02] [ 7.90846844e-01 6.12010251e-01 -2.17298836e-03 7.05224291e+01] [ 2.69309548e-03 7.05125636e-05 9.99996371e-01 4.23832306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27401273899997 meters Centerline goodness : 0.996974 Centerline is valid? [True, True] Translation: X:160.77, Y:70.55, Z:0.42 [[ 6.14714674e-01 -7.88747954e-01 -1.59195154e-03 1.60765678e+02] [ 7.88744964e-01 6.14716730e-01 -2.17334425e-03 7.05456279e+01] [ 2.69282007e-03 8.03428451e-05 9.99996371e-01 4.20519991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30401273899997 meters Centerline goodness : 0.997226 Centerline is valid? [True, True] Translation: X:160.78, Y:70.57, Z:0.42 [[ 6.18910083e-01 -7.85460232e-01 -1.59148137e-03 1.60776498e+02] [ 7.85457230e-01 6.18912122e-01 -2.17368848e-03 7.05709062e+01] [ 2.69233297e-03 9.52771684e-05 9.99996371e-01 4.15313658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33401273899997 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:160.79, Y:70.60, Z:0.42 [[ 6.20446417e-01 -7.84247226e-01 -1.59104159e-03 1.60789430e+02] [ 7.84244220e-01 6.20448449e-01 -2.17401034e-03 7.05951443e+01] [ 2.69212086e-03 1.01091759e-04 9.99996371e-01 4.15292948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36401273899997 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:160.80, Y:70.62, Z:0.42 [[ 6.23131535e-01 -7.82115439e-01 -1.59058487e-03 1.60799787e+02] [ 7.82112424e-01 6.23133556e-01 -2.17434444e-03 7.06205451e+01] [ 2.69173516e-03 1.10886403e-04 9.99996371e-01 4.16187569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39401273899998 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:160.81, Y:70.64, Z:0.42 [[ 6.24024954e-01 -7.81402795e-01 -1.59023232e-03 1.60812584e+02] [ 7.81399778e-01 6.24026969e-01 -2.17460225e-03 7.06443843e+01] [ 2.69158813e-03 1.14398882e-04 9.99996371e-01 4.17469175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42401273899998 meters Centerline goodness : 0.997371 Centerline is valid? [True, True] Translation: X:160.83, Y:70.67, Z:0.42 [[ 6.24399953e-01 -7.81103176e-01 -1.58980218e-03 1.60825012e+02] [ 7.81100156e-01 6.24401966e-01 -2.17491667e-03 7.06690358e+01] [ 2.69150992e-03 1.16223138e-04 9.99996371e-01 4.18216224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45401273899998 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:160.83, Y:70.70, Z:0.42 [[ 6.25343322e-01 -7.80348129e-01 -1.58936108e-03 1.60833329e+02] [ 7.80345107e-01 6.25345331e-01 -2.17523896e-03 7.06969384e+01] [ 2.69134319e-03 1.20021019e-04 9.99996371e-01 4.18223885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48401273899998 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:160.85, Y:70.72, Z:0.42 [[ 6.25803553e-01 -7.79979095e-01 -1.58890247e-03 1.60845055e+02] [ 7.79976070e-01 6.25805558e-01 -2.17557390e-03 7.07205241e+01] [ 2.69124616e-03 1.22175976e-04 9.99996371e-01 4.17976348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51401273899998 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:160.85, Y:70.75, Z:0.42 [[ 6.25715008e-01 -7.80050130e-01 -1.58842199e-03 1.60853110e+02] [ 7.80047105e-01 6.25717012e-01 -2.17592466e-03 7.07477014e+01] [ 2.69123297e-03 1.22464742e-04 9.99996371e-01 4.18820289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54401273899998 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:160.86, Y:70.77, Z:0.42 [[ 6.24971129e-01 -7.80646249e-01 -1.58798152e-03 1.60864676e+02] [ 7.80643225e-01 6.24973135e-01 -2.17624606e-03 7.07734801e+01] [ 2.69132411e-03 1.20443948e-04 9.99996371e-01 4.17460196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57401273899998 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:160.87, Y:70.80, Z:0.42 [[ 6.23035685e-01 -7.82191802e-01 -1.58754159e-03 1.60872369e+02] [ 7.82188782e-01 6.23037697e-01 -2.17656694e-03 7.08012057e+01] [ 2.69159107e-03 1.14321650e-04 9.99996371e-01 4.15502886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60401273899998 meters Centerline goodness : 0.997386 Centerline is valid? [True, True] Translation: X:160.89, Y:70.82, Z:0.42 [[ 6.21175320e-01 -7.83670022e-01 -1.58708425e-03 1.60885189e+02] [ 7.83667006e-01 6.21177338e-01 -2.17690036e-03 7.08247758e+01] [ 2.69183232e-03 1.08491213e-04 9.99996371e-01 4.16102804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63401273899999 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:160.90, Y:70.85, Z:0.42 [[ 6.18708744e-01 -7.85618846e-01 -1.58672878e-03 1.60898696e+02] [ 7.85615836e-01 6.18710771e-01 -2.17715943e-03 7.08486890e+01] [ 2.69214367e-03 1.00468323e-04 9.99996371e-01 4.18547486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.664012739 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:160.91, Y:70.88, Z:0.42 [[ 6.13084302e-01 -7.90015900e-01 -1.58627327e-03 1.60907621e+02] [ 7.90012903e-01 6.13086349e-01 -2.17749126e-03 7.08758910e+01] [ 2.69277521e-03 8.18093610e-05 9.99996371e-01 4.22745614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.694012739 meters Centerline goodness : 0.996946 Centerline is valid? [True, True] Translation: X:160.92, Y:70.90, Z:0.42 [[ 6.10218280e-01 -7.92231744e-01 -1.58584233e-03 1.60918924e+02] [ 7.92228754e-01 6.10220336e-01 -2.17780507e-03 7.08997939e+01] [ 2.69303955e-03 7.25865727e-05 9.99996371e-01 4.23928594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.724012739 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:160.93, Y:70.92, Z:0.42 [[ 6.04080951e-01 -7.96921384e-01 -1.58536050e-03 1.60929244e+02] [ 7.96918409e-01 6.04083029e-01 -2.17815577e-03 7.09248697e+01] [ 2.69350828e-03 5.23794442e-05 9.99996371e-01 4.22869886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.754012739 meters Centerline goodness : 0.996749 Centerline is valid? [True, True] Translation: X:160.94, Y:70.95, Z:0.42 [[ 6.00640859e-01 -7.99517384e-01 -1.58488132e-03 1.60943653e+02] [ 7.99514417e-01 6.00642948e-01 -2.17850437e-03 7.09473555e+01] [ 2.69369990e-03 4.13632748e-05 9.99996371e-01 4.21572414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.784012739 meters Centerline goodness : 0.997069 Centerline is valid? [True, True] Translation: X:160.96, Y:70.97, Z:0.42 [[ 5.94336173e-01 -8.04215147e-01 -1.58443033e-03 1.60956460e+02] [ 8.04212196e-01 5.94338285e-01 -2.17883233e-03 7.09702430e+01] [ 2.69393757e-03 2.07406687e-05 9.99996371e-01 4.20805823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.814012739 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:160.97, Y:70.99, Z:0.42 [[ 5.91804146e-01 -8.06080234e-01 -1.58395504e-03 1.60970798e+02] [ 8.06077289e-01 5.91806265e-01 -2.17917780e-03 7.09935977e+01] [ 2.69398667e-03 1.28562683e-05 9.99996371e-01 4.21046285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.844012739 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:160.99, Y:71.02, Z:0.42 [[ 5.89221537e-01 -8.07969970e-01 -1.58349254e-03 1.60985204e+02] [ 8.07967030e-01 5.89223665e-01 -2.17951382e-03 7.10164717e+01] [ 2.69401299e-03 4.80671929e-06 9.99996371e-01 4.21980292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.874012739 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:161.00, Y:71.04, Z:0.42 [[ 5.84990087e-01 -8.11038897e-01 -1.58302431e-03 1.60999498e+02] [ 8.11035968e-01 5.84992228e-01 -2.17985385e-03 7.10378353e+01] [ 2.69400318e-03 -8.69676005e-06 9.99996371e-01 4.24767878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.904012739 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:161.01, Y:71.06, Z:0.43 [[ 5.83023323e-01 -8.12453876e-01 -1.58253294e-03 1.61014669e+02] [ 8.12450951e-01 5.83025471e-01 -2.18021052e-03 7.10589904e+01] [ 2.69397750e-03 -1.46168048e-05 9.99996371e-01 4.25039471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93401273899997 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:161.03, Y:71.08, Z:0.42 [[ 5.81786812e-01 -8.13339783e-01 -1.58204825e-03 1.61029774e+02] [ 8.13336860e-01 5.81788963e-01 -2.18056217e-03 7.10793240e+01] [ 2.69395617e-03 -1.81158401e-05 9.99996371e-01 4.24187824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96401273899997 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:161.05, Y:71.10, Z:0.42 [[ 5.81911794e-01 -8.13250369e-01 -1.58153345e-03 1.61045770e+02] [ 8.13247445e-01 5.81913943e-01 -2.18093548e-03 7.11012842e+01] [ 2.69396295e-03 -1.70659593e-05 9.99996371e-01 4.24143911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99401273899997 meters Centerline goodness : 0.996340 Centerline is valid? [True, True] Translation: X:161.06, Y:71.12, Z:0.42 [[ 5.82224798e-01 -8.13026313e-01 -1.58107756e-03 1.61061640e+02] [ 8.13023387e-01 5.82226944e-01 -2.18126594e-03 7.11214633e+01] [ 2.69397256e-03 -1.54659154e-05 9.99996371e-01 4.24083101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02401273899997 meters Centerline goodness : 0.996903 Centerline is valid? [True, True] Translation: X:161.08, Y:71.14, Z:0.42 [[ 5.82442018e-01 -8.12870714e-01 -1.58059779e-03 1.61079458e+02] [ 8.12867786e-01 5.82444162e-01 -2.18161354e-03 7.11424947e+01] [ 2.69397971e-03 -1.41536325e-05 9.99996371e-01 4.20145651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05401273899997 meters Centerline goodness : 0.996608 Centerline is valid? [True, True] Translation: X:161.09, Y:71.16, Z:0.42 [[ 5.82127975e-01 -8.13095642e-01 -1.58013634e-03 1.61094627e+02] [ 8.13092715e-01 5.82130119e-01 -2.18194771e-03 7.11637395e+01] [ 2.69397713e-03 -1.46245468e-05 9.99996371e-01 4.18400655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08401273899997 meters Centerline goodness : 0.996645 Centerline is valid? [True, True] Translation: X:161.11, Y:71.19, Z:0.42 [[ 5.83033922e-01 -8.12446275e-01 -1.57965196e-03 1.61110697e+02] [ 8.12443344e-01 5.83036062e-01 -2.18229833e-03 7.11858070e+01] [ 2.69399420e-03 -1.10237661e-05 9.99996371e-01 4.16207622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11401273899997 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:161.13, Y:71.21, Z:0.41 [[ 5.83874685e-01 -8.11842262e-01 -1.57919747e-03 1.61126869e+02] [ 8.11839328e-01 5.83876821e-01 -2.18262716e-03 7.12066716e+01] [ 2.69400577e-03 -7.67386759e-06 9.99996371e-01 4.14673805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14401273899998 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:161.14, Y:71.23, Z:0.41 [[ 5.85656406e-01 -8.10557883e-01 -1.57871951e-03 1.61142634e+02] [ 8.10554943e-01 5.85658534e-01 -2.18297282e-03 7.12284574e+01] [ 2.69401638e-03 -1.16688634e-06 9.99996371e-01 4.12551115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17401273899998 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:161.16, Y:71.25, Z:0.41 [[ 5.85918755e-01 -8.10368263e-01 -1.57828693e-03 1.61156806e+02] [ 8.10365322e-01 5.85920880e-01 -2.18328553e-03 7.12503822e+01] [ 2.69401657e-03 2.38938177e-07 9.99996371e-01 4.11206444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20401273899998 meters Centerline goodness : 0.997188 Centerline is valid? [True, True] Translation: X:161.17, Y:71.27, Z:0.41 [[ 5.86207084e-01 -8.10159716e-01 -1.57780329e-03 1.61171152e+02] [ 8.10156773e-01 5.86209207e-01 -2.18363499e-03 7.12724539e+01] [ 2.69401592e-03 1.79427400e-06 9.99996371e-01 4.12622342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23401273899998 meters Centerline goodness : 0.996976 Centerline is valid? [True, True] Translation: X:161.19, Y:71.29, Z:0.42 [[ 5.87041273e-01 -8.09555468e-01 -1.57731898e-03 1.61187360e+02] [ 8.09552522e-01 5.87043392e-01 -2.18398477e-03 7.12943018e+01] [ 2.69401150e-03 5.16663809e-06 9.99996371e-01 4.15849361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26401273899998 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:161.20, Y:71.32, Z:0.42 [[ 5.87192977e-01 -8.09445441e-01 -1.57686009e-03 1.61202673e+02] [ 8.09442493e-01 5.87195094e-01 -2.18431604e-03 7.13155886e+01] [ 2.69400917e-03 6.23747748e-06 9.99996371e-01 4.17906352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29401273899998 meters Centerline goodness : 0.996724 Centerline is valid? [True, True] Translation: X:161.22, Y:71.34, Z:0.42 [[ 5.87378218e-01 -8.09311031e-01 -1.57650499e-03 1.61216963e+02] [ 8.09308082e-01 5.87380333e-01 -2.18457230e-03 7.13372175e+01] [ 2.69400649e-03 7.29195959e-06 9.99996371e-01 4.18789005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32401273899998 meters Centerline goodness : 0.996822 Centerline is valid? [True, True] Translation: X:161.23, Y:71.36, Z:0.42 [[ 5.86890847e-01 -8.09664529e-01 -1.57602651e-03 1.61233032e+02] [ 8.09661581e-01 5.86892963e-01 -2.18491744e-03 7.13591856e+01] [ 2.69400902e-03 6.25992656e-06 9.99996371e-01 4.17825661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35401273899998 meters Centerline goodness : 0.996733 Centerline is valid? [True, True] Translation: X:161.25, Y:71.38, Z:0.42 [[ 5.87081223e-01 -8.09526492e-01 -1.58023875e-03 1.61248350e+02] [ 8.09523551e-01 5.87083349e-01 -2.18188000e-03 7.13785536e+01] [ 2.69402151e-03 1.70029381e-06 9.99996371e-01 4.15389886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38401273899999 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:161.26, Y:71.40, Z:0.42 [[ 5.87701093e-01 -8.09076600e-01 -1.57498358e-03 1.61264067e+02] [ 8.09073648e-01 5.87703203e-01 -2.18566685e-03 7.14003769e+01] [ 2.69399480e-03 1.02410840e-05 9.99996371e-01 4.15777014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.414012739 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:161.28, Y:71.42, Z:0.42 [[ 5.88124121e-01 -8.08769151e-01 -1.57452003e-03 1.61279895e+02] [ 8.08766196e-01 5.88126229e-01 -2.18600073e-03 7.14221679e+01] [ 2.69398648e-03 1.22211815e-05 9.99996371e-01 4.18067507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.444012739 meters Centerline goodness : 0.997238 Centerline is valid? [True, True] Translation: X:161.30, Y:71.44, Z:0.42 [[ 5.87863960e-01 -8.08958273e-01 -1.57404679e-03 1.61297341e+02] [ 8.08955319e-01 5.87866067e-01 -2.18634144e-03 7.14418734e+01] [ 2.69398769e-03 1.19378157e-05 9.99996371e-01 4.19405681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.474012739 meters Centerline goodness : 0.996934 Centerline is valid? [True, True] Translation: X:161.31, Y:71.46, Z:0.42 [[ 5.86732111e-01 -8.09779571e-01 -1.57355071e-03 1.61314217e+02] [ 8.09776619e-01 5.86734221e-01 -2.18669842e-03 7.14626017e+01] [ 2.69399976e-03 8.78160261e-06 9.99996371e-01 4.19536044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.504012739 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:161.33, Y:71.48, Z:0.42 [[ 5.85671600e-01 -8.10546915e-01 -1.57306863e-03 1.61330727e+02] [ 8.10543965e-01 5.85673713e-01 -2.18704516e-03 7.14835428e+01] [ 2.69400766e-03 5.84895314e-06 9.99996371e-01 4.19581117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.534012739 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:161.35, Y:71.50, Z:0.42 [[ 5.85386182e-01 -8.10753073e-01 -1.57256430e-03 1.61347651e+02] [ 8.10750122e-01 5.85388294e-01 -2.18740773e-03 7.15047469e+01] [ 2.69400828e-03 5.52156122e-06 9.99996371e-01 4.21925691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.564012739 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:161.36, Y:71.53, Z:0.42 [[ 5.85874706e-01 -8.10400122e-01 -1.57209744e-03 1.61364107e+02] [ 8.10397169e-01 5.85876815e-01 -2.18774322e-03 7.15269341e+01] [ 2.69400281e-03 7.72009830e-06 9.99996371e-01 4.22256998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.594012739 meters Centerline goodness : 0.997282 Centerline is valid? [True, True] Translation: X:161.38, Y:71.55, Z:0.42 [[ 5.89064603e-01 -8.08084406e-01 -1.57719528e-03 1.61378738e+02] [ 8.08081454e-01 5.89066714e-01 -2.18408059e-03 7.15481822e+01] [ 2.69399471e-03 1.20623038e-05 9.99996371e-01 4.19110874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.624012739 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:161.39, Y:71.57, Z:0.42 [[ 5.90859796e-01 -8.06772726e-01 -1.57134760e-03 1.61392587e+02] [ 8.06769759e-01 5.90861885e-01 -2.18827966e-03 7.15702533e+01] [ 2.69389375e-03 2.52507502e-05 9.99996371e-01 4.16769100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.654012739 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:161.41, Y:71.59, Z:0.42 [[ 5.90690624e-01 -8.06896597e-01 -1.57085797e-03 1.61408513e+02] [ 8.06893630e-01 5.90692712e-01 -2.18863109e-03 7.15928548e+01] [ 2.69389333e-03 2.52885764e-05 9.99996371e-01 4.16843585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68401273899997 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:161.42, Y:71.62, Z:0.42 [[ 5.92863604e-01 -8.05301360e-01 -1.57039900e-03 1.61422837e+02] [ 8.05298386e-01 5.92865683e-01 -2.18896036e-03 7.16161499e+01] [ 2.69380843e-03 3.31151508e-05 9.99996371e-01 4.16313808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71401273899997 meters Centerline goodness : 0.997819 Centerline is valid? [True, True] Translation: X:161.44, Y:71.64, Z:0.42 [[ 5.96123337e-01 -8.02891339e-01 -1.56994199e-03 1.61435121e+02] [ 8.02888355e-01 5.96125403e-01 -2.18928808e-03 7.16392781e+01] [ 2.69364274e-03 4.45975713e-05 9.99996371e-01 4.17438189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74401273899997 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:161.45, Y:71.66, Z:0.42 [[ 5.96837009e-01 -8.02360967e-01 -1.56958890e-03 1.61448597e+02] [ 8.02357981e-01 5.96839071e-01 -2.18954120e-03 7.16627272e+01] [ 2.69359437e-03 4.74270370e-05 9.99996371e-01 4.17923663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77401273899997 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:161.46, Y:71.68, Z:0.42 [[ 5.96256396e-01 -8.02792531e-01 -1.56911783e-03 1.61462425e+02] [ 8.02789546e-01 5.96258459e-01 -2.18987873e-03 7.16843894e+01] [ 2.69361807e-03 4.60578060e-05 9.99996371e-01 4.16777511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80401273899997 meters Centerline goodness : 0.997250 Centerline is valid? [True, True] Translation: X:161.48, Y:71.71, Z:0.42 [[ 5.95104947e-01 -8.03646465e-01 -1.56875209e-03 1.61477038e+02] [ 8.03643482e-01 5.95107014e-01 -2.19014070e-03 7.17068869e+01] [ 2.69367421e-03 4.26461732e-05 9.99996371e-01 4.15676852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83401273899997 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:161.49, Y:71.73, Z:0.41 [[ 5.91679886e-01 -8.06171479e-01 -1.56829395e-03 1.61491094e+02] [ 8.06168504e-01 5.91681963e-01 -2.19046872e-03 7.17299052e+01] [ 2.69382465e-03 3.17470928e-05 9.99996371e-01 4.13365938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86401273899997 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:161.51, Y:71.75, Z:0.41 [[ 5.89573237e-01 -8.07713402e-01 -1.56782165e-03 1.61505024e+02] [ 8.07710432e-01 5.89575321e-01 -2.19080671e-03 7.17516176e+01] [ 2.69389289e-03 2.52951073e-05 9.99996371e-01 4.14048088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89401273899998 meters Centerline goodness : 0.997602 Centerline is valid? [True, True] Translation: X:161.52, Y:71.78, Z:0.42 [[ 5.87805559e-01 -8.09000722e-01 -1.56732565e-03 1.61519082e+02] [ 8.08997755e-01 5.87807648e-01 -2.19116150e-03 7.17754499e+01] [ 2.69393724e-03 2.00139792e-05 9.99996371e-01 4.16910081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92401273899998 meters Centerline goodness : 0.997732 Centerline is valid? [True, True] Translation: X:161.53, Y:71.80, Z:0.42 [[ 5.88429252e-01 -8.08547191e-01 -1.56685526e-03 1.61533529e+02] [ 8.08544222e-01 5.88431337e-01 -2.19149781e-03 7.17978146e+01] [ 2.69391614e-03 2.26696496e-05 9.99996371e-01 4.16797510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95401273899998 meters Centerline goodness : 0.997725 Centerline is valid? [True, True] Translation: X:161.55, Y:71.82, Z:0.42 [[ 5.89461585e-01 -8.07794891e-01 -1.56636100e-03 1.61547433e+02] [ 8.07791918e-01 5.89463666e-01 -2.19185103e-03 7.18198281e+01] [ 2.69387896e-03 2.67182285e-05 9.99996371e-01 4.17041271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98401273899998 meters Centerline goodness : 0.997400 Centerline is valid? [True, True] Translation: X:161.56, Y:71.84, Z:0.42 [[ 5.91424838e-01 -8.06358611e-01 -1.56587589e-03 1.61559234e+02] [ 8.06355632e-01 5.91426910e-01 -2.19219754e-03 7.18444850e+01] [ 2.69379850e-03 3.38672294e-05 9.99996371e-01 4.19306507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01401273899998 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:161.57, Y:71.87, Z:0.42 [[ 5.92099064e-01 -8.05863666e-01 -1.56541748e-03 1.61572945e+02] [ 8.05860684e-01 5.92101132e-01 -2.19252483e-03 7.18682147e+01] [ 2.69376156e-03 3.66835013e-05 9.99996371e-01 4.20517310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04401273899998 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:161.59, Y:71.89, Z:0.43 [[ 5.92134059e-01 -8.05837954e-01 -1.56496062e-03 1.61586497e+02] [ 8.05834971e-01 5.92136126e-01 -2.19285088e-03 7.18906974e+01] [ 2.69375218e-03 3.73616953e-05 9.99996371e-01 4.26589561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07401273899998 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:161.60, Y:71.91, Z:0.43 [[ 5.91606477e-01 -8.06225358e-01 -1.56448025e-03 1.61601237e+02] [ 8.06222376e-01 5.91608545e-01 -2.19319354e-03 7.19135333e+01] [ 2.69376813e-03 3.61885220e-05 9.99996371e-01 4.28852092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10401273899998 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:161.62, Y:71.94, Z:0.43 [[ 5.91074046e-01 -8.06615786e-01 -1.56402566e-03 1.61615151e+02] [ 8.06612804e-01 5.91076115e-01 -2.19351767e-03 7.19360020e+01] [ 2.69378419e-03 3.49682411e-05 9.99996371e-01 4.29114530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13401273899999 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:161.63, Y:71.96, Z:0.42 [[ 5.90672244e-01 -8.06910067e-01 -1.56354893e-03 1.61627552e+02] [ 8.06907085e-01 5.90674312e-01 -2.19385744e-03 7.19596720e+01] [ 2.69379384e-03 3.42119908e-05 9.99996371e-01 4.22712041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.164012739 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:161.64, Y:71.98, Z:0.42 [[ 5.89958035e-01 -8.07432396e-01 -1.56305130e-03 1.61641785e+02] [ 8.07429415e-01 5.89960104e-01 -2.19421192e-03 7.19825050e+01] [ 2.69381570e-03 3.24393585e-05 9.99996371e-01 4.19701159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.194012739 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:161.65, Y:72.01, Z:0.42 [[ 5.89461092e-01 -8.07795258e-01 -1.56258552e-03 1.61653402e+02] [ 8.07792278e-01 5.89463162e-01 -2.19454357e-03 7.20054476e+01] [ 2.69382849e-03 3.13535372e-05 9.99996371e-01 4.18720020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.224012739 meters Centerline goodness : 0.997289 Centerline is valid? [True, True] Translation: X:161.67, Y:72.03, Z:0.42 [[ 5.88795753e-01 -8.08280361e-01 -1.55535576e-03 1.61668295e+02] [ 8.08277369e-01 5.88797806e-01 -2.19968863e-03 7.20307800e+01] [ 2.69375518e-03 3.80084631e-05 9.99996371e-01 4.20015043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.254012739 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:161.68, Y:72.05, Z:0.42 [[ 5.89062176e-01 -8.08086204e-01 -1.56184921e-03 1.61681194e+02] [ 8.08083224e-01 5.89064246e-01 -2.19506836e-03 7.20535806e+01] [ 2.69383399e-03 3.09275995e-05 9.99996371e-01 4.21974265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.284012739 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:161.70, Y:72.08, Z:0.42 [[ 5.89469843e-01 -8.07788875e-01 -1.56135638e-03 1.61695462e+02] [ 8.07785892e-01 5.89471910e-01 -2.19541886e-03 7.20772055e+01] [ 2.69381066e-03 3.28915557e-05 9.99996371e-01 4.23446801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.314012739 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:161.71, Y:72.10, Z:0.42 [[ 5.89957452e-01 -8.07432826e-01 -1.56090585e-03 1.61709084e+02] [ 8.07429841e-01 5.89959516e-01 -2.19573913e-03 7.21002306e+01] [ 2.69378311e-03 3.50706974e-05 9.99996371e-01 4.24245521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.344012739 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:161.72, Y:72.12, Z:0.42 [[ 5.90084342e-01 -8.07340098e-01 -1.56044986e-03 1.61722539e+02] [ 8.07337112e-01 5.90086404e-01 -2.19606315e-03 7.21243658e+01] [ 2.69377008e-03 3.60533941e-05 9.99996371e-01 4.22253133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.374012739 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:161.74, Y:72.15, Z:0.42 [[ 5.89749845e-01 -8.07584477e-01 -1.55999178e-03 1.61738093e+02] [ 8.07581491e-01 5.89751907e-01 -2.19638850e-03 7.21466670e+01] [ 2.69377738e-03 3.54992919e-05 9.99996371e-01 4.20506289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.404012739 meters Centerline goodness : 0.997213 Centerline is valid? [True, True] Translation: X:161.75, Y:72.17, Z:0.42 [[ 5.87825925e-01 -8.08985939e-01 -1.55953411e-03 1.61754896e+02] [ 8.08982957e-01 5.87827993e-01 -2.19671341e-03 7.21696827e+01] [ 2.69384807e-03 2.96485757e-05 9.99996371e-01 4.19255514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43401273899997 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:161.77, Y:72.19, Z:0.42 [[ 5.86975409e-01 -8.09603252e-01 -1.56338227e-03 1.61770675e+02] [ 8.09600279e-01 5.86977490e-01 -2.19398252e-03 7.21909980e+01] [ 2.69392559e-03 2.20990606e-05 9.99996371e-01 4.18648082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46401273899997 meters Centerline goodness : 0.996910 Centerline is valid? [True, True] Translation: X:161.79, Y:72.21, Z:0.42 [[ 5.85769092e-01 -8.10476491e-01 -1.55844500e-03 1.61786086e+02] [ 8.10473512e-01 5.85771165e-01 -2.19748401e-03 7.22117096e+01] [ 2.69390127e-03 2.41398198e-05 9.99996371e-01 4.20085591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49401273899997 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:161.80, Y:72.23, Z:0.42 [[ 5.83634451e-01 -8.12015027e-01 -1.55677857e-03 1.61802728e+02] [ 8.12012051e-01 5.83636527e-01 -2.19866538e-03 7.22337394e+01] [ 2.69394216e-03 1.90939025e-05 9.99996371e-01 4.21381881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52401273899997 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:161.82, Y:72.25, Z:0.42 [[ 5.82994193e-01 -8.12474827e-01 -1.55772350e-03 1.61816829e+02] [ 8.12471854e-01 5.82996274e-01 -2.19799570e-03 7.22543227e+01] [ 2.69396317e-03 1.58122289e-05 9.99996371e-01 4.20890729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55401273899997 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:161.83, Y:72.28, Z:0.42 [[ 5.82648528e-01 -8.12722749e-01 -1.55720171e-03 1.61832611e+02] [ 8.12719776e-01 5.82650609e-01 -2.19836531e-03 7.22757202e+01] [ 2.69396602e-03 1.53056819e-05 9.99996371e-01 4.17552926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58401273899997 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:161.85, Y:72.30, Z:0.42 [[ 5.82697008e-01 -8.12687992e-01 -1.55670350e-03 1.61849502e+02] [ 8.12685018e-01 5.82699088e-01 -2.19871805e-03 7.22969673e+01] [ 2.69396146e-03 1.60768179e-05 9.99996371e-01 4.17076452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61401273899997 meters Centerline goodness : 0.997444 Centerline is valid? [True, True] Translation: X:161.87, Y:72.32, Z:0.42 [[ 5.82787654e-01 -8.12622993e-01 -1.55623567e-03 1.61866305e+02] [ 8.12620018e-01 5.82789731e-01 -2.19904912e-03 7.23184432e+01] [ 2.69395605e-03 1.69504218e-05 9.99996371e-01 4.17497346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64401273899998 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:161.88, Y:72.34, Z:0.42 [[ 5.83254174e-01 -8.12288217e-01 -1.55576794e-03 1.61882445e+02] [ 8.12285240e-01 5.83256249e-01 -2.19937998e-03 7.23387302e+01] [ 2.69394181e-03 1.90702226e-05 9.99996371e-01 4.17064991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67401273899998 meters Centerline goodness : 0.997324 Centerline is valid? [True, True] Translation: X:161.90, Y:72.36, Z:0.41 [[ 5.83508240e-01 -8.12105729e-01 -1.55527741e-03 1.61897533e+02] [ 8.12102750e-01 5.83510312e-01 -2.19972680e-03 7.23605406e+01] [ 2.69393114e-03 2.05136551e-05 9.99996371e-01 4.14822756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70401273899998 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:161.91, Y:72.38, Z:0.41 [[ 5.84120659e-01 -8.11665348e-01 -1.55479254e-03 1.61914161e+02] [ 8.11662367e-01 5.84122728e-01 -2.20006946e-03 7.23825429e+01] [ 2.69390980e-03 2.31394270e-05 9.99996371e-01 4.14678930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73401273899998 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:161.93, Y:72.40, Z:0.42 [[ 5.83766788e-01 -8.11919899e-01 -1.55433733e-03 1.61929757e+02] [ 8.11916917e-01 5.83768856e-01 -2.20039101e-03 7.24042554e+01] [ 2.69391497e-03 2.25224179e-05 9.99996371e-01 4.19327595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76401273899998 meters Centerline goodness : 0.996871 Centerline is valid? [True, True] Translation: X:161.94, Y:72.42, Z:0.43 [[ 5.83110668e-01 -8.12391245e-01 -1.55387540e-03 1.61944643e+02] [ 8.12388264e-01 5.83112738e-01 -2.20071717e-03 7.24249729e+01] [ 2.69392790e-03 2.09115155e-05 9.99996371e-01 4.25186060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79401273899998 meters Centerline goodness : 0.996697 Centerline is valid? [True, True] Translation: X:161.96, Y:72.45, Z:0.43 [[ 5.81961127e-01 -8.13215123e-01 -1.55236920e-03 1.61960673e+02] [ 8.13212143e-01 5.81963197e-01 -2.20178026e-03 7.24465603e+01] [ 2.69394275e-03 1.89450316e-05 9.99996371e-01 4.29250714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82401273899998 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:161.98, Y:72.47, Z:0.43 [[ 5.81410480e-01 -8.13608899e-01 -1.55317209e-03 1.61976243e+02] [ 8.13605922e-01 5.81412554e-01 -2.20121374e-03 7.24675504e+01] [ 2.69396084e-03 1.61387283e-05 9.99996371e-01 4.27129490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85401273899998 meters Centerline goodness : 0.997190 Centerline is valid? [True, True] Translation: X:161.99, Y:72.49, Z:0.42 [[ 5.79307624e-01 -8.15107522e-01 -1.55077150e-03 1.61992635e+02] [ 8.15104545e-01 5.79309699e-01 -2.20290661e-03 7.24886603e+01] [ 2.69398272e-03 1.21196967e-05 9.99996371e-01 4.21891024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88401273899999 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:162.01, Y:72.51, Z:0.42 [[ 5.78029703e-01 -8.16014248e-01 -1.55217682e-03 1.62007678e+02] [ 8.16011277e-01 5.78031787e-01 -2.20191598e-03 7.25099328e+01] [ 2.69400235e-03 6.17905382e-06 9.99996371e-01 4.20445690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.914012739 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:162.02, Y:72.53, Z:0.42 [[ 5.77375911e-01 -8.16476974e-01 -1.55169801e-03 1.62023356e+02] [ 8.16474004e-01 5.77377996e-01 -2.20225334e-03 7.25315857e+01] [ 2.69400543e-03 4.60694664e-06 9.99996371e-01 4.20962561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.944012739 meters Centerline goodness : 0.996903 Centerline is valid? [True, True] Translation: X:162.04, Y:72.55, Z:0.42 [[ 5.78189988e-01 -8.15900687e-01 -1.55119630e-03 1.62039847e+02] [ 8.15897714e-01 5.78192069e-01 -2.20260667e-03 7.25535010e+01] [ 2.69399770e-03 7.90760852e-06 9.99996371e-01 4.21610566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.974012739 meters Centerline goodness : 0.997341 Centerline is valid? [True, True] Translation: X:162.05, Y:72.58, Z:0.42 [[ 5.78876924e-01 -8.15413455e-01 -1.55074224e-03 1.62054899e+02] [ 8.15410479e-01 5.78879001e-01 -2.20292631e-03 7.25758441e+01] [ 2.69398787e-03 1.07317293e-05 9.99996371e-01 4.20769960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.004012739 meters Centerline goodness : 0.997250 Centerline is valid? [True, True] Translation: X:162.07, Y:72.60, Z:0.42 [[ 5.80621726e-01 -8.14171977e-01 -1.55028764e-03 1.62068013e+02] [ 8.14168996e-01 5.80623795e-01 -2.20324618e-03 7.25976470e+01] [ 2.69395519e-03 1.70564718e-05 9.99996371e-01 4.18301816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.034012739 meters Centerline goodness : 0.997771 Centerline is valid? [True, True] Translation: X:162.08, Y:72.62, Z:0.42 [[ 5.80821736e-01 -8.14029305e-01 -1.54975949e-03 1.62083626e+02] [ 8.14026323e-01 5.80823803e-01 -2.20361762e-03 7.26201905e+01] [ 2.69394652e-03 1.83639920e-05 9.99996371e-01 4.18920824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.064012739 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:162.10, Y:72.64, Z:0.42 [[ 5.80361227e-01 -8.14357689e-01 -1.54928977e-03 1.62098765e+02] [ 8.14354707e-01 5.80363294e-01 -2.20394781e-03 7.26415544e+01] [ 2.69395276e-03 1.74144386e-05 9.99996371e-01 4.21139409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.094012739 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:162.11, Y:72.66, Z:0.43 [[ 5.78715610e-01 -8.15527954e-01 -1.54882083e-03 1.62114488e+02] [ 8.15524975e-01 5.78717683e-01 -2.20427731e-03 7.26634174e+01] [ 2.69397977e-03 1.25476215e-05 9.99996371e-01 4.25976941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.124012739 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:162.13, Y:72.69, Z:0.43 [[ 5.76764567e-01 -8.16908952e-01 -1.54834222e-03 1.62129980e+02] [ 8.16905978e-01 5.76766646e-01 -2.20461344e-03 7.26856530e+01] [ 2.69400061e-03 6.69290174e-06 9.99996371e-01 4.25537253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.154012739 meters Centerline goodness : 0.997503 Centerline is valid? [True, True] Translation: X:162.15, Y:72.71, Z:0.42 [[ 5.71874682e-01 -8.20339535e-01 -1.54786626e-03 1.62146491e+02] [ 8.20336571e-01 5.71876777e-01 -2.20494757e-03 7.27058248e+01] [ 2.69399443e-03 -8.81761472e-06 9.99996371e-01 4.18444016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18401273899997 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:162.16, Y:72.73, Z:0.42 [[ 5.69159687e-01 -8.22225551e-01 -1.54736606e-03 1.62163005e+02] [ 8.22222594e-01 5.69161790e-01 -2.20529854e-03 7.27276916e+01] [ 2.69395444e-03 -1.71123108e-05 9.99996371e-01 4.15728478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21401273899997 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:162.18, Y:72.75, Z:0.42 [[ 5.66322411e-01 -8.24182343e-01 -1.54690244e-03 1.62179916e+02] [ 8.24179392e-01 5.66324523e-01 -2.20562370e-03 7.27495047e+01] [ 2.69388489e-03 -2.58309860e-05 9.99996371e-01 4.15773979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24401273899997 meters Centerline goodness : 0.997586 Centerline is valid? [True, True] Translation: X:162.20, Y:72.77, Z:0.42 [[ 5.61136564e-01 -8.27721792e-01 -1.54643900e-03 1.62198346e+02] [ 8.27718853e-01 5.61138694e-01 -2.20594858e-03 7.27693879e+01] [ 2.69367847e-03 -4.21783122e-05 9.99996371e-01 4.20658418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27401273899997 meters Centerline goodness : 0.997384 Centerline is valid? [True, True] Translation: X:162.21, Y:72.79, Z:0.42 [[ 5.59170627e-01 -8.29051157e-01 -1.54596946e-03 1.62214932e+02] [ 8.29048222e-01 5.59172762e-01 -2.20627759e-03 7.27893824e+01] [ 2.69358101e-03 -4.79976114e-05 9.99996371e-01 4.24251987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30401273899997 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:162.23, Y:72.81, Z:0.43 [[ 5.57112654e-01 -8.30435490e-01 -1.54547705e-03 1.62233738e+02] [ 8.30432560e-01 5.57114795e-01 -2.20662247e-03 7.28086668e+01] [ 2.69346574e-03 -5.40771571e-05 9.99996371e-01 4.25268443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33401273899997 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:162.25, Y:72.83, Z:0.42 [[ 5.56558921e-01 -8.30806704e-01 -1.54511990e-03 1.62249934e+02] [ 8.30803775e-01 5.56561063e-01 -2.20687252e-03 7.28285502e+01] [ 2.69343806e-03 -5.54368551e-05 9.99996371e-01 4.23179830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36401273899997 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:162.27, Y:72.85, Z:0.42 [[ 5.57489896e-01 -8.30182288e-01 -1.54459181e-03 1.62269270e+02] [ 8.30179355e-01 5.57492033e-01 -2.20724208e-03 7.28484485e+01] [ 2.69351090e-03 -5.17730731e-05 9.99996371e-01 4.18479214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39401273899998 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:162.29, Y:72.87, Z:0.42 [[ 5.58917724e-01 -8.29221679e-01 -1.54411943e-03 1.62285793e+02] [ 8.29218742e-01 5.58919855e-01 -2.20757249e-03 7.28693316e+01] [ 2.69360597e-03 -4.65613811e-05 9.99996371e-01 4.17845202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42401273899998 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:162.30, Y:72.89, Z:0.42 [[ 5.60507488e-01 -8.28147918e-01 -1.54362325e-03 1.62300610e+02] [ 8.28144975e-01 5.60509612e-01 -2.20791938e-03 7.28904180e+01] [ 2.69369951e-03 -4.07884931e-05 9.99996371e-01 4.18458209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45401273899998 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:162.32, Y:72.91, Z:0.42 [[ 5.64512597e-01 -8.25423011e-01 -1.54313924e-03 1.62315847e+02] [ 8.25420057e-01 5.64514706e-01 -2.20825761e-03 7.29126429e+01] [ 2.69387144e-03 -2.71488416e-05 9.99996371e-01 4.20237059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48401273899998 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:162.33, Y:72.93, Z:0.42 [[ 5.65896685e-01 -8.24474719e-01 -1.54267747e-03 1.62332072e+02] [ 8.24471761e-01 5.65898787e-01 -2.20858015e-03 7.29345483e+01] [ 2.69391781e-03 -2.20658248e-05 9.99996371e-01 4.22061740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51401273899998 meters Centerline goodness : 0.997868 Centerline is valid? [True, True] Translation: X:162.35, Y:72.95, Z:0.43 [[ 5.66405181e-01 -8.24125471e-01 -1.54221703e-03 1.62350609e+02] [ 8.24122511e-01 5.66407280e-01 -2.20890163e-03 7.29544567e+01] [ 2.69393505e-03 -1.98424439e-05 9.99996371e-01 4.26174660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54401273899998 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:162.37, Y:72.98, Z:0.43 [[ 5.66086222e-01 -8.24344596e-01 -1.54175257e-03 1.62367342e+02] [ 8.24341636e-01 5.66088321e-01 -2.20922576e-03 7.29754417e+01] [ 2.69393144e-03 -2.03185712e-05 9.99996371e-01 4.27588110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57401273899998 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:162.38, Y:73.00, Z:0.43 [[ 5.65913057e-01 -8.24463484e-01 -1.54128713e-03 1.62382974e+02] [ 8.24460523e-01 5.65915156e-01 -2.20955043e-03 7.29982475e+01] [ 2.69393139e-03 -2.03169532e-05 9.99996371e-01 4.27662595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60401273899998 meters Centerline goodness : 0.998016 Centerline is valid? [True, True] Translation: X:162.40, Y:73.02, Z:0.43 [[ 5.66211358e-01 -8.24258651e-01 -1.54082295e-03 1.62400155e+02] [ 8.24255689e-01 5.66213454e-01 -2.20987408e-03 7.30192647e+01] [ 2.69394251e-03 -1.87762777e-05 9.99996371e-01 4.28290447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63401273899999 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:162.42, Y:73.04, Z:0.43 [[ 5.66879346e-01 -8.23799390e-01 -1.54035803e-03 1.62417990e+02] [ 8.23796425e-01 5.66881438e-01 -2.21019809e-03 7.30403366e+01] [ 2.69396022e-03 -1.60257933e-05 9.99996371e-01 4.28617626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.664012739 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:162.44, Y:73.06, Z:0.43 [[ 5.68457525e-01 -8.22711171e-01 -1.53988861e-03 1.62437185e+02] [ 8.22708201e-01 5.68459611e-01 -2.21052510e-03 7.30584069e+01] [ 2.69398817e-03 -1.02893615e-05 9.99996371e-01 4.28688215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.694012739 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:162.45, Y:73.08, Z:0.43 [[ 5.69550168e-01 -8.21955131e-01 -1.53939436e-03 1.62453678e+02] [ 8.21952157e-01 5.69552248e-01 -2.21086924e-03 7.30787191e+01] [ 2.69400083e-03 -6.10756595e-06 9.99996371e-01 4.27740005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.724012739 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:162.47, Y:73.10, Z:0.42 [[ 5.72509013e-01 -8.19896983e-01 -1.53887968e-03 1.62471900e+02] [ 8.19894001e-01 5.72511081e-01 -2.21122742e-03 7.30969807e+01] [ 2.69400436e-03 4.22941153e-06 9.99996371e-01 4.24104103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.754012739 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:162.49, Y:73.12, Z:0.42 [[ 5.74075270e-01 -8.18801085e-01 -1.53836863e-03 1.62489205e+02] [ 8.18798099e-01 5.74077332e-01 -2.21158291e-03 7.31170523e+01] [ 2.69398904e-03 1.00017437e-05 9.99996371e-01 4.23349439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.784012739 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:162.51, Y:73.14, Z:0.42 [[ 5.75853468e-01 -8.17551478e-01 -1.53785341e-03 1.62505787e+02] [ 8.17548486e-01 5.75855521e-01 -2.21194112e-03 7.31365556e+01] [ 2.69395710e-03 1.64842367e-05 9.99996371e-01 4.23831874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.814012739 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:162.52, Y:73.16, Z:0.43 [[ 5.79626975e-01 -8.14880486e-01 -1.53731625e-03 1.62523431e+02] [ 8.14877484e-01 5.79629013e-01 -2.21231438e-03 7.31562928e+01] [ 2.69384492e-03 2.95926954e-05 9.99996371e-01 4.25879957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.844012739 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:162.54, Y:73.18, Z:0.43 [[ 5.81075743e-01 -8.13848032e-01 -1.53680533e-03 1.62538905e+02] [ 8.13845025e-01 5.81077774e-01 -2.21266924e-03 7.31781522e+01] [ 2.69377993e-03 3.50070557e-05 9.99996371e-01 4.25510129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.874012739 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:162.55, Y:73.20, Z:0.42 [[ 5.84451723e-01 -8.11427029e-01 -1.53628588e-03 1.62553501e+02] [ 8.11424013e-01 5.84453740e-01 -2.21302984e-03 7.32013711e+01] [ 2.69360026e-03 4.68298488e-05 9.99996371e-01 4.21779921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.904012739 meters Centerline goodness : 0.997279 Centerline is valid? [True, True] Translation: X:162.57, Y:73.22, Z:0.42 [[ 5.85218904e-01 -8.10873896e-01 -1.53581236e-03 1.62567291e+02] [ 8.10870877e-01 5.85220917e-01 -2.21335841e-03 7.32231008e+01] [ 2.69354408e-03 4.99536687e-05 9.99996371e-01 4.19773224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93401273899997 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:162.58, Y:73.24, Z:0.42 [[ 5.85178605e-01 -8.10902980e-01 -1.53531443e-03 1.62581002e+02] [ 8.10899960e-01 5.85180617e-01 -2.21370375e-03 7.32447323e+01] [ 2.69353521e-03 5.04256640e-05 9.99996371e-01 4.18844386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96401273899997 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:162.59, Y:73.27, Z:0.42 [[ 5.83262723e-01 -8.12282119e-01 -1.53479510e-03 1.62593520e+02] [ 8.12279102e-01 5.83264741e-01 -2.21406375e-03 7.32664031e+01] [ 2.69363626e-03 4.46988693e-05 9.99996371e-01 4.21577518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99401273899997 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:162.61, Y:73.29, Z:0.42 [[ 5.81674669e-01 -8.13420079e-01 -1.53440110e-03 1.62607533e+02] [ 8.13417066e-01 5.81676691e-01 -2.21433677e-03 7.32892157e+01] [ 2.69371134e-03 3.99155657e-05 9.99996371e-01 4.23373890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02401273899997 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:162.62, Y:73.31, Z:0.42 [[ 5.78185972e-01 -8.15903566e-01 -1.53389042e-03 1.62621628e+02] [ 8.15900560e-01 5.78188006e-01 -2.21469046e-03 7.33125087e+01] [ 2.69385089e-03 2.90009025e-05 9.99996371e-01 4.23717005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05401273899997 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:162.64, Y:73.33, Z:0.42 [[ 5.76354083e-01 -8.17198642e-01 -1.53341220e-03 1.62636229e+02] [ 8.17195640e-01 5.76356122e-01 -2.21502152e-03 7.33341913e+01] [ 2.69390409e-03 2.35389320e-05 9.99996371e-01 4.23883676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08401273899997 meters Centerline goodness : 0.997012 Centerline is valid? [True, True] Translation: X:162.65, Y:73.36, Z:0.43 [[ 5.74547145e-01 -8.18470053e-01 -1.53304091e-03 1.62650365e+02] [ 8.18467056e-01 5.74549190e-01 -2.21527847e-03 7.33561526e+01] [ 2.69394650e-03 1.80384394e-05 9.99996371e-01 4.25031253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11401273899997 meters Centerline goodness : 0.996857 Centerline is valid? [True, True] Translation: X:162.66, Y:73.38, Z:0.43 [[ 5.72090460e-01 -8.20189098e-01 -1.53252938e-03 1.62660957e+02] [ 8.20186106e-01 5.72092513e-01 -2.21563229e-03 7.33798837e+01] [ 2.69398603e-03 1.05827947e-05 9.99996371e-01 4.25589162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14401273899998 meters Centerline goodness : 0.996588 Centerline is valid? [True, True] Translation: X:162.67, Y:73.40, Z:0.43 [[ 5.71248046e-01 -8.20776049e-01 -1.53199483e-03 1.62672821e+02] [ 8.20773058e-01 5.71250101e-01 -2.21600184e-03 7.34019864e+01] [ 2.69399344e-03 8.46664190e-06 9.99996371e-01 4.25162607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17401273899998 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:162.69, Y:73.42, Z:0.43 [[ 5.70985314e-01 -8.20958845e-01 -1.53146501e-03 1.62686812e+02] [ 8.20955854e-01 5.70987368e-01 -2.21636794e-03 7.34244829e+01] [ 2.69399404e-03 8.24837514e-06 9.99996371e-01 4.25470898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20401273899998 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:162.70, Y:73.45, Z:0.43 [[ 5.70741042e-01 -8.21128686e-01 -1.53094683e-03 1.62701542e+02] [ 8.21125694e-01 5.70743095e-01 -2.21672581e-03 7.34469015e+01] [ 2.69399448e-03 8.07662069e-06 9.99996371e-01 4.26036126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23401273899998 meters Centerline goodness : 0.996534 Centerline is valid? [True, True] Translation: X:162.71, Y:73.47, Z:0.42 [[ 5.70413469e-01 -8.21356276e-01 -1.53047763e-03 1.62713818e+02] [ 8.21353284e-01 5.70415522e-01 -2.21704971e-03 7.34706106e+01] [ 2.69399589e-03 7.57218896e-06 9.99996371e-01 4.24859073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26401273899998 meters Centerline goodness : 0.996739 Centerline is valid? [True, True] Translation: X:162.73, Y:73.49, Z:0.42 [[ 5.70202975e-01 -8.21502420e-01 -1.52995548e-03 1.62726576e+02] [ 8.21499427e-01 5.70205028e-01 -2.21740998e-03 7.34923684e+01] [ 2.69399597e-03 7.51621817e-06 9.99996371e-01 4.23947023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29401273899998 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:162.74, Y:73.51, Z:0.42 [[ 5.69681342e-01 -8.21864240e-01 -1.52941035e-03 1.62740672e+02] [ 8.21861248e-01 5.69683395e-01 -2.21778590e-03 7.35147099e+01] [ 2.69399861e-03 6.46814961e-06 9.99996371e-01 4.23840501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32401273899998 meters Centerline goodness : 0.996935 Centerline is valid? [True, True] Translation: X:162.76, Y:73.54, Z:0.42 [[ 5.66821756e-01 -8.23839037e-01 -1.52889194e-03 1.62756171e+02] [ 8.23836051e-01 5.66823818e-01 -2.21814323e-03 7.35363554e+01] [ 2.69400535e-03 -2.26445125e-06 9.99996371e-01 4.23456968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35401273899998 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:162.77, Y:73.56, Z:0.42 [[ 5.64401517e-01 -8.25498996e-01 -1.52836792e-03 1.62770263e+02] [ 8.25496015e-01 5.64403586e-01 -2.21850424e-03 7.35570056e+01] [ 2.69398935e-03 -9.53446655e-06 9.99996371e-01 4.23946487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38401273899999 meters Centerline goodness : 0.996900 Centerline is valid? [True, True] Translation: X:162.78, Y:73.58, Z:0.42 [[ 5.59736414e-01 -8.28669302e-01 -1.52794967e-03 1.62784167e+02] [ 8.28666332e-01 5.59738499e-01 -2.21879226e-03 7.35775977e+01] [ 2.69389729e-03 -2.42216302e-05 9.99996371e-01 4.24082247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.414012739 meters Centerline goodness : 0.996738 Centerline is valid? [True, True] Translation: X:162.80, Y:73.60, Z:0.42 [[ 5.57265784e-01 -8.30332773e-01 -1.52740980e-03 1.62800880e+02] [ 8.30329808e-01 5.57267876e-01 -2.21916385e-03 7.35990145e+01] [ 2.69382088e-03 -3.15898032e-05 9.99996371e-01 4.24466148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.444012739 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:162.82, Y:73.62, Z:0.42 [[ 5.51857805e-01 -8.33936827e-01 -1.52693693e-03 1.62819778e+02] [ 8.33933875e-01 5.51859915e-01 -2.21948916e-03 7.36182438e+01] [ 2.69356903e-03 -4.85220198e-05 9.99996371e-01 4.24364405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.474012739 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:162.83, Y:73.64, Z:0.42 [[ 5.49637889e-01 -8.35401616e-01 -1.52644103e-03 1.62834843e+02] [ 8.35398669e-01 5.49640006e-01 -2.21983016e-03 7.36390089e+01] [ 2.69344276e-03 -5.50840424e-05 9.99996371e-01 4.24633564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.504012739 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:162.85, Y:73.66, Z:0.43 [[ 5.48476676e-01 -8.36164462e-01 -1.52602590e-03 1.62849010e+02] [ 8.36161517e-01 5.48478796e-01 -2.22011551e-03 7.36609650e+01] [ 2.69337454e-03 -5.83225619e-05 9.99996371e-01 4.25181298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.534012739 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:162.86, Y:73.68, Z:0.42 [[ 5.48875498e-01 -8.35902722e-01 -1.52551017e-03 1.62863763e+02] [ 8.35899775e-01 5.48877615e-01 -2.22046983e-03 7.36814703e+01] [ 2.69341515e-03 -5.64121210e-05 9.99996371e-01 4.24533610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.564012739 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:162.88, Y:73.70, Z:0.42 [[ 5.49618406e-01 -8.35414437e-01 -1.52509932e-03 1.62879522e+02] [ 8.35411487e-01 5.49620519e-01 -2.22075198e-03 7.37025723e+01] [ 2.69347414e-03 -5.35193280e-05 9.99996371e-01 4.22516377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.594012739 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:162.89, Y:73.72, Z:0.42 [[ 5.50254409e-01 -8.34995665e-01 -1.52457788e-03 1.62894017e+02] [ 8.34992713e-01 5.50256519e-01 -2.22110989e-03 7.37228368e+01] [ 2.69352605e-03 -5.08359081e-05 9.99996371e-01 4.20044461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.624012739 meters Centerline goodness : 0.997120 Centerline is valid? [True, True] Translation: X:162.91, Y:73.75, Z:0.42 [[ 5.51346747e-01 -8.34274800e-01 -1.52403310e-03 1.62907552e+02] [ 8.34271843e-01 5.51348852e-01 -2.22148364e-03 7.37460001e+01] [ 2.69360172e-03 -4.66501250e-05 9.99996371e-01 4.20448755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.654012739 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:162.92, Y:73.77, Z:0.42 [[ 5.51745085e-01 -8.34011415e-01 -1.52351632e-03 1.62921870e+02] [ 8.34008457e-01 5.51747186e-01 -2.22183800e-03 7.37691013e+01] [ 2.69363409e-03 -4.47372995e-05 9.99996371e-01 4.23434792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68401273899997 meters Centerline goodness : 0.996988 Centerline is valid? [True, True] Translation: X:162.94, Y:73.79, Z:0.43 [[ 5.52579035e-01 -8.33459112e-01 -1.52303637e-03 1.62936678e+02] [ 8.33456150e-01 5.52581132e-01 -2.22216694e-03 7.37908917e+01] [ 2.69368645e-03 -4.14611696e-05 9.99996371e-01 4.27739187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71401273899997 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:162.95, Y:73.81, Z:0.43 [[ 5.52206922e-01 -8.33705702e-01 -1.52253144e-03 1.62951087e+02] [ 8.33702740e-01 5.52209020e-01 -2.22251285e-03 7.38121680e+01] [ 2.69367722e-03 -4.20516551e-05 9.99996371e-01 4.26884856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74401273899997 meters Centerline goodness : 0.996347 Centerline is valid? [True, True] Translation: X:162.97, Y:73.83, Z:0.43 [[ 5.51099811e-01 -8.34437943e-01 -1.52198922e-03 1.62965567e+02] [ 8.34434984e-01 5.51101911e-01 -2.22288410e-03 7.38341311e+01] [ 2.69363000e-03 -4.49700397e-05 9.99996371e-01 4.26402333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77401273899997 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:162.98, Y:73.86, Z:0.42 [[ 5.48632981e-01 -8.36061922e-01 -1.52146738e-03 1.62979203e+02] [ 8.36058967e-01 5.48635088e-01 -2.22324122e-03 7.38551399e+01] [ 2.69349772e-03 -5.22929844e-05 9.99996371e-01 4.17468562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80401273899997 meters Centerline goodness : 0.996992 Centerline is valid? [True, True] Translation: X:162.99, Y:73.88, Z:0.42 [[ 5.47360092e-01 -8.36895822e-01 -1.52092141e-03 1.62994569e+02] [ 8.36892869e-01 5.47362202e-01 -2.22361465e-03 7.38770203e+01] [ 2.69342871e-03 -5.57303600e-05 9.99996371e-01 4.17789564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83401273899997 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:163.01, Y:73.90, Z:0.42 [[ 5.45622699e-01 -8.38029569e-01 -1.52040476e-03 1.63010268e+02] [ 8.38026620e-01 5.45624814e-01 -2.22396786e-03 7.38984478e+01] [ 2.69332139e-03 -6.06923195e-05 9.99996371e-01 4.22707963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86401273899997 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:163.03, Y:73.92, Z:0.42 [[ 5.44896990e-01 -8.38501616e-01 -1.51988612e-03 1.63025764e+02] [ 8.38498668e-01 5.44899106e-01 -2.22432225e-03 7.39202131e+01] [ 2.69328239e-03 -6.23959871e-05 9.99996371e-01 4.23441940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89401273899998 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:163.04, Y:73.94, Z:0.42 [[ 5.44151128e-01 -8.38985841e-01 -1.51936746e-03 1.63041212e+02] [ 8.38982894e-01 5.44153246e-01 -2.22467647e-03 7.39420971e+01] [ 2.69324079e-03 -6.41631012e-05 9.99996371e-01 4.23076000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92401273899998 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:163.06, Y:73.96, Z:0.42 [[ 5.43304270e-01 -8.39534492e-01 -1.51885067e-03 1.63056831e+02] [ 8.39531546e-01 5.43306389e-01 -2.22502925e-03 7.39618601e+01] [ 2.69319007e-03 -6.62551590e-05 9.99996371e-01 4.21632984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95401273899998 meters Centerline goodness : 0.997187 Centerline is valid? [True, True] Translation: X:163.07, Y:73.98, Z:0.42 [[ 5.43173383e-01 -8.39619182e-01 -1.51831139e-03 1.63073001e+02] [ 8.39616235e-01 5.43175501e-01 -2.22539718e-03 7.39830163e+01] [ 2.69319571e-03 -6.60223763e-05 9.99996371e-01 4.22970104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98401273899998 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:163.09, Y:74.00, Z:0.43 [[ 5.42880667e-01 -8.39808477e-01 -1.51779897e-03 1.63091739e+02] [ 8.39805530e-01 5.42882785e-01 -2.22574661e-03 7.40007122e+01] [ 2.69318780e-03 -6.63411626e-05 9.99996371e-01 4.28702316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01401273899998 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:163.11, Y:74.02, Z:0.43 [[ 5.41897977e-01 -8.40442907e-01 -1.51739147e-03 1.63108740e+02] [ 8.40439962e-01 5.41900097e-01 -2.22602439e-03 7.40212822e+01] [ 2.69312099e-03 -6.89983148e-05 9.99996371e-01 4.28945941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04401273899998 meters Centerline goodness : 0.996996 Centerline is valid? [True, True] Translation: X:163.13, Y:74.04, Z:0.43 [[ 5.40671049e-01 -8.41232736e-01 -1.51688664e-03 1.63126012e+02] [ 8.41229793e-01 5.40673172e-01 -2.22636834e-03 7.40419484e+01] [ 2.69303384e-03 -7.23173258e-05 9.99996371e-01 4.26200090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07401273899998 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:163.15, Y:74.06, Z:0.42 [[ 5.39050563e-01 -8.42272041e-01 -1.51636678e-03 1.63146895e+02] [ 8.42269101e-01 5.39052690e-01 -2.22672236e-03 7.40589240e+01] [ 2.69290758e-03 -7.68729401e-05 9.99996371e-01 4.16894100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10401273899998 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:163.17, Y:74.08, Z:0.42 [[ 5.39548378e-01 -8.41953235e-01 -1.51582507e-03 1.63170128e+02] [ 8.41950293e-01 5.39550502e-01 -2.22709106e-03 7.40751379e+01] [ 2.69297070e-03 -7.46259949e-05 9.99996371e-01 4.19970055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13401273899999 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:163.19, Y:74.09, Z:0.42 [[ 5.40607335e-01 -8.41273685e-01 -1.51530495e-03 1.63187298e+02] [ 8.41270739e-01 5.40609454e-01 -2.22744490e-03 7.40935601e+01] [ 2.69307896e-03 -7.06086637e-05 9.99996371e-01 4.22177378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.164012739 meters Centerline goodness : 0.997293 Centerline is valid? [True, True] Translation: X:163.20, Y:74.11, Z:0.42 [[ 5.42085293e-01 -8.40322105e-01 -1.51476076e-03 1.63204775e+02] [ 8.40319154e-01 5.42087406e-01 -2.22781490e-03 7.41137536e+01] [ 2.69321484e-03 -6.52167854e-05 9.99996371e-01 4.24003899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.194012739 meters Centerline goodness : 0.996593 Centerline is valid? [True, True] Translation: X:163.22, Y:74.13, Z:0.42 [[ 5.44163729e-01 -8.38977677e-01 -1.51426183e-03 1.63220986e+02] [ 8.38974720e-01 5.44165833e-01 -2.22815398e-03 7.41328036e+01] [ 2.69338100e-03 -5.79468160e-05 9.99996371e-01 4.24743298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.224012739 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:163.24, Y:74.15, Z:0.43 [[ 5.50678733e-01 -8.34715905e-01 -1.51376639e-03 1.63239916e+02] [ 8.34712931e-01 5.50680812e-01 -2.22849052e-03 7.41520943e+01] [ 2.69375859e-03 -3.63780439e-05 9.99996371e-01 4.26257332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.254012739 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:163.26, Y:74.17, Z:0.43 [[ 5.58505511e-01 -8.29499430e-01 -1.51323965e-03 1.63255063e+02] [ 8.29496435e-01 5.58507561e-01 -2.22884814e-03 7.41733332e+01] [ 2.69398405e-03 -1.04029257e-05 9.99996371e-01 4.28753802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.284012739 meters Centerline goodness : 0.996875 Centerline is valid? [True, True] Translation: X:163.27, Y:74.19, Z:0.43 [[ 5.61681390e-01 -8.27352239e-01 -1.51273998e-03 1.63269035e+02] [ 8.27349236e-01 5.61683427e-01 -2.22918722e-03 7.41945518e+01] [ 2.69400402e-03 5.28707789e-07 9.99996371e-01 4.28938308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.314012739 meters Centerline goodness : 0.996790 Centerline is valid? [True, True] Translation: X:163.28, Y:74.22, Z:0.43 [[ 5.63921921e-01 -8.25826725e-01 -1.51218751e-03 1.63283543e+02] [ 8.25823716e-01 5.63923949e-01 -2.22956193e-03 7.42170632e+01] [ 2.69399058e-03 8.49853338e-06 9.99996371e-01 4.28024389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.344012739 meters Centerline goodness : 0.996754 Centerline is valid? [True, True] Translation: X:163.30, Y:74.24, Z:0.43 [[ 5.65884870e-01 -8.24482886e-01 -1.51165426e-03 1.63297240e+02] [ 8.24479870e-01 5.65886889e-01 -2.22992342e-03 7.42378686e+01] [ 2.69395902e-03 1.55514113e-05 9.99996371e-01 4.26823438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.374012739 meters Centerline goodness : 0.997012 Centerline is valid? [True, True] Translation: X:163.31, Y:74.26, Z:0.43 [[ 5.68658376e-01 -8.22572409e-01 -1.51109699e-03 1.63310410e+02] [ 8.22569386e-01 5.68660383e-01 -2.23030099e-03 7.42611784e+01] [ 2.69388505e-03 2.52972204e-05 9.99996371e-01 4.27515461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.404012739 meters Centerline goodness : 0.996924 Centerline is valid? [True, True] Translation: X:163.32, Y:74.29, Z:0.43 [[ 5.70623600e-01 -8.21210341e-01 -1.51057677e-03 1.63321218e+02] [ 8.21207313e-01 5.70625599e-01 -2.23065328e-03 7.42850595e+01] [ 2.69380931e-03 3.23667177e-05 9.99996371e-01 4.30439359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43401273899997 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:163.33, Y:74.31, Z:0.43 [[ 5.71858227e-01 -8.20351076e-01 -1.51005756e-03 1.63333692e+02] [ 8.20348043e-01 5.71860219e-01 -2.23100470e-03 7.43074336e+01] [ 2.69374896e-03 3.70456233e-05 9.99996371e-01 4.31348810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46401273899997 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:163.35, Y:74.33, Z:0.43 [[ 5.71672037e-01 -8.20480837e-01 -1.50951540e-03 1.63348485e+02] [ 8.20477803e-01 5.71674029e-01 -2.23137147e-03 7.43298143e+01] [ 2.69374828e-03 3.70887937e-05 9.99996371e-01 4.31421042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49401273899997 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:163.36, Y:74.35, Z:0.43 [[ 5.73244747e-01 -8.19382806e-01 -1.50900892e-03 1.63361072e+02] [ 8.19379768e-01 5.73246732e-01 -2.23171393e-03 7.43536401e+01] [ 2.69366246e-03 4.28669111e-05 9.99996371e-01 4.31673422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52401273899997 meters Centerline goodness : 0.997273 Centerline is valid? [True, True] Translation: X:163.37, Y:74.38, Z:0.43 [[ 5.75440412e-01 -8.17842318e-01 -1.50847959e-03 1.63372252e+02] [ 8.17839274e-01 5.75442387e-01 -2.23207167e-03 7.43762481e+01] [ 2.69352576e-03 5.07303887e-05 9.99996371e-01 4.30614060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55401273899997 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:163.38, Y:74.40, Z:0.43 [[ 5.80306636e-01 -8.14396669e-01 -1.50792801e-03 1.63379595e+02] [ 8.14393612e-01 5.80308592e-01 -2.23244424e-03 7.44026965e+01] [ 2.69315873e-03 6.74552744e-05 9.99996371e-01 4.26065239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58401273899997 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:163.39, Y:74.43, Z:0.42 [[ 5.82091348e-01 -8.13122002e-01 -1.50741152e-03 1.63390444e+02] [ 8.13118940e-01 5.82093295e-01 -2.23279293e-03 7.44268886e+01] [ 2.69298720e-03 7.39845847e-05 9.99996371e-01 4.24884115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61401273899997 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:163.40, Y:74.45, Z:0.43 [[ 5.83649160e-01 -8.12004549e-01 -1.50689468e-03 1.63399016e+02] [ 8.12001482e-01 5.83651100e-01 -2.23314169e-03 7.44534170e+01] [ 2.69282195e-03 7.97705636e-05 9.99996371e-01 4.26825750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64401273899998 meters Centerline goodness : 0.996881 Centerline is valid? [True, True] Translation: X:163.41, Y:74.48, Z:0.43 [[ 5.83574679e-01 -8.12058080e-01 -1.50637976e-03 1.63409617e+02] [ 8.12055012e-01 5.83576618e-01 -2.23348898e-03 7.44767377e+01] [ 2.69281078e-03 8.01443797e-05 9.99996371e-01 4.29277796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67401273899998 meters Centerline goodness : 0.997227 Centerline is valid? [True, True] Translation: X:163.42, Y:74.50, Z:0.43 [[ 5.82934202e-01 -8.12517968e-01 -1.50597084e-03 1.63420947e+02] [ 8.12514901e-01 5.82936142e-01 -2.23376467e-03 7.45010896e+01] [ 2.69285876e-03 7.85140739e-05 9.99996371e-01 4.31392142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70401273899998 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:163.43, Y:74.53, Z:0.43 [[ 5.80876032e-01 -8.13990644e-01 -1.50545938e-03 1.63429037e+02] [ 8.13987581e-01 5.80877979e-01 -2.23410931e-03 7.45272297e+01] [ 2.69303228e-03 7.23153099e-05 9.99996371e-01 4.31505884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73401273899998 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:163.44, Y:74.55, Z:0.43 [[ 5.79096973e-01 -8.15257279e-01 -1.50494712e-03 1.63440642e+02] [ 8.15254220e-01 5.79098924e-01 -2.23445433e-03 7.45507232e+01] [ 2.69316842e-03 6.70512479e-05 9.99996371e-01 4.30838404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76401273899998 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:163.45, Y:74.58, Z:0.43 [[ 5.75380083e-01 -8.17884770e-01 -1.50443252e-03 1.63448538e+02] [ 8.17881718e-01 5.75382047e-01 -2.23480075e-03 7.45754361e+01] [ 2.69343296e-03 5.54119826e-05 9.99996371e-01 4.30782914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79401273899998 meters Centerline goodness : 0.997387 Centerline is valid? [True, True] Translation: X:163.46, Y:74.60, Z:0.43 [[ 5.74144205e-01 -8.18752814e-01 -1.50389230e-03 1.63460083e+02] [ 8.18749764e-01 5.74146173e-01 -2.23516423e-03 7.45998958e+01] [ 2.69350101e-03 5.19951186e-05 9.99996371e-01 4.30915244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82401273899998 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:163.47, Y:74.62, Z:0.43 [[ 5.73454127e-01 -8.19236293e-01 -1.50341937e-03 1.63472113e+02] [ 8.19233245e-01 5.73456095e-01 -2.23548229e-03 7.46248761e+01] [ 2.69353322e-03 5.02954122e-05 9.99996371e-01 4.30304306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85401273899998 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:163.48, Y:74.65, Z:0.43 [[ 5.72638446e-01 -8.19806655e-01 -1.50294182e-03 1.63480551e+02] [ 8.19803607e-01 5.72640417e-01 -2.23580330e-03 7.46503574e+01] [ 2.69357166e-03 4.81898013e-05 9.99996371e-01 4.28505601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88401273899999 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:163.49, Y:74.68, Z:0.43 [[ 5.71722994e-01 -8.20445343e-01 -1.50243921e-03 1.63489520e+02] [ 8.20442297e-01 5.71724967e-01 -2.23614100e-03 7.46752243e+01] [ 2.69361348e-03 4.57885544e-05 9.99996371e-01 4.31179665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.914012739 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:163.50, Y:74.70, Z:0.43 [[ 5.71600348e-01 -8.20530796e-01 -1.50203580e-03 1.63501383e+02] [ 8.20527749e-01 5.71602319e-01 -2.23641194e-03 7.46987689e+01] [ 2.69361202e-03 4.58717902e-05 9.99996371e-01 4.33298680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.944012739 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:163.51, Y:74.72, Z:0.43 [[ 5.71819857e-01 -8.20377838e-01 -1.50154063e-03 1.63512863e+02] [ 8.20374790e-01 5.71821826e-01 -2.23674436e-03 7.47220509e+01] [ 2.69358920e-03 4.71887600e-05 9.99996371e-01 4.34361693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.974012739 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:163.52, Y:74.75, Z:0.43 [[ 5.72252843e-01 -8.20075869e-01 -1.50114661e-03 1.63520842e+02] [ 8.20072819e-01 5.72254809e-01 -2.23700876e-03 7.47487016e+01] [ 2.69355527e-03 4.90850853e-05 9.99996371e-01 4.33360491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.004012739 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] Translation: X:163.53, Y:74.77, Z:0.43 [[ 5.72049115e-01 -8.20217994e-01 -1.50065596e-03 1.63531679e+02] [ 8.20214944e-01 5.72051081e-01 -2.23733786e-03 7.47726808e+01] [ 2.69355663e-03 4.90066940e-05 9.99996371e-01 4.32456876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.034012739 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:163.54, Y:74.80, Z:0.43 [[ 5.70996233e-01 -8.20951309e-01 -1.50016679e-03 1.63540676e+02] [ 8.20948260e-01 5.70998202e-01 -2.23766580e-03 7.47977883e+01] [ 2.69360721e-03 4.61394275e-05 9.99996371e-01 4.33120704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.064012739 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:163.55, Y:74.82, Z:0.43 [[ 5.69525310e-01 -8.21972428e-01 -1.49965390e-03 1.63553331e+02] [ 8.21969382e-01 5.69527283e-01 -2.23800948e-03 7.48220933e+01] [ 2.69367590e-03 4.19334558e-05 9.99996371e-01 4.34340994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.094012739 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:163.56, Y:74.84, Z:0.43 [[ 5.67599441e-01 -8.23303484e-01 -1.49918575e-03 1.63564301e+02] [ 8.23300442e-01 5.67601420e-01 -2.23832304e-03 7.48447210e+01] [ 2.69375912e-03 3.61906186e-05 9.99996371e-01 4.34634249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.124012739 meters Centerline goodness : 0.996934 Centerline is valid? [True, True] Translation: X:163.57, Y:74.87, Z:0.43 [[ 5.63334833e-01 -8.26227341e-01 -1.49864208e-03 1.63572409e+02] [ 8.26224309e-01 5.63336826e-01 -2.23868699e-03 7.48700650e+01] [ 2.69390467e-03 2.29158421e-05 9.99996371e-01 4.32240063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.154012739 meters Centerline goodness : 0.997505 Centerline is valid? [True, True] Translation: X:163.58, Y:74.89, Z:0.43 [[ 5.60739388e-01 -8.27990999e-01 -1.49810704e-03 1.63584117e+02] [ 8.27987972e-01 5.60741389e-01 -2.23904497e-03 7.48939604e+01] [ 2.69395971e-03 1.51060988e-05 9.99996371e-01 4.31170019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18401273899997 meters Centerline goodness : 0.997617 Centerline is valid? [True, True] Translation: X:163.59, Y:74.92, Z:0.43 [[ 5.54817204e-01 -8.31970929e-01 -1.49763401e-03 1.63593874e+02] [ 8.31967915e-01 5.54819226e-01 -2.23936133e-03 7.49181685e+01] [ 2.69399967e-03 -3.54725265e-06 9.99996371e-01 4.29784784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21401273899997 meters Centerline goodness : 0.997244 Centerline is valid? [True, True] Translation: X:163.61, Y:74.94, Z:0.43 [[ 5.51304928e-01 -8.34302484e-01 -1.49713973e-03 1.63607234e+02] [ 8.34299478e-01 5.51306961e-01 -2.23969174e-03 7.49408704e+01] [ 2.69396393e-03 -1.43098004e-05 9.99996371e-01 4.29260626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24401273899997 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:163.62, Y:74.96, Z:0.43 [[ 5.47764213e-01 -8.36631416e-01 -1.49667110e-03 1.63622069e+02] [ 8.36628418e-01 5.47766257e-01 -2.24000485e-03 7.49641978e+01] [ 2.69388436e-03 -2.51630753e-05 9.99996371e-01 4.29548705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27401273899997 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:163.64, Y:74.99, Z:0.43 [[ 5.41150439e-01 -8.40924469e-01 -1.49623331e-03 1.63636206e+02] [ 8.40921486e-01 5.41152506e-01 -2.24029724e-03 7.49857336e+01] [ 2.69361117e-03 -4.58769053e-05 9.99996371e-01 4.28191636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30401273899997 meters Centerline goodness : 0.997325 Centerline is valid? [True, True] Translation: X:163.65, Y:75.01, Z:0.43 [[ 5.34102923e-01 -8.45418139e-01 -1.49582350e-03 1.63650812e+02] [ 8.45415173e-01 5.34105014e-01 -2.24057083e-03 7.50062329e+01] [ 2.69314605e-03 -6.78964566e-05 9.99996371e-01 4.31321804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33401273899997 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:163.67, Y:75.03, Z:0.43 [[ 5.30794447e-01 -8.47499274e-01 -1.49530364e-03 1.63667128e+02] [ 8.47496314e-01 5.30796548e-01 -2.24091772e-03 7.50284178e+01] [ 2.69287815e-03 -7.77976427e-05 9.99996371e-01 4.33872244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36401273899997 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:163.68, Y:75.05, Z:0.44 [[ 5.28147731e-01 -8.49151188e-01 -1.49484056e-03 1.63683650e+02] [ 8.49148234e-01 5.28149839e-01 -2.24122658e-03 7.50489455e+01] [ 2.69264002e-03 -8.56424836e-05 9.99996371e-01 4.35838292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39401273899998 meters Centerline goodness : 0.997381 Centerline is valid? [True, True] Translation: X:163.70, Y:75.07, Z:0.44 [[ 5.25782236e-01 -8.50617897e-01 -1.49435591e-03 1.63700776e+02] [ 8.50614949e-01 5.25784352e-01 -2.24154968e-03 7.50703449e+01] [ 2.69241123e-03 -9.25544724e-05 9.99996371e-01 4.36937347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42401273899998 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:163.72, Y:75.09, Z:0.44 [[ 5.22174986e-01 -8.52837061e-01 -1.49389090e-03 1.63719585e+02] [ 8.52834120e-01 5.22177113e-01 -2.24185955e-03 7.50886087e+01] [ 2.69201654e-03 -1.03398150e-04 9.99996371e-01 4.35963394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45401273899998 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:163.74, Y:75.10, Z:0.43 [[ 5.20443236e-01 -8.53894963e-01 -1.49347973e-03 1.63740681e+02] [ 8.53892026e-01 5.20445368e-01 -2.24213343e-03 7.51045610e+01] [ 2.69182104e-03 -1.08367252e-04 9.99996371e-01 4.30706778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48401273899998 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:163.76, Y:75.12, Z:0.43 [[ 5.20703834e-01 -8.53736076e-01 -1.49294618e-03 1.63759420e+02] [ 8.53733138e-01 5.20705963e-01 -2.24248864e-03 7.51242134e+01] [ 2.69187943e-03 -1.06905198e-04 9.99996371e-01 4.31432929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51401273899998 meters Centerline goodness : 0.997432 Centerline is valid? [True, True] Translation: X:163.78, Y:75.14, Z:0.43 [[ 5.22103650e-01 -8.52880737e-01 -1.49243602e-03 1.63777317e+02] [ 8.52877794e-01 5.22105773e-01 -2.24282811e-03 7.51436317e+01] [ 2.69207435e-03 -1.01876797e-04 9.99996371e-01 4.34545568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54401273899998 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:163.80, Y:75.16, Z:0.44 [[ 5.27460089e-01 -8.49578500e-01 -1.49192799e-03 1.63796730e+02] [ 8.49575543e-01 5.27462192e-01 -2.24316600e-03 7.51628388e+01] [ 2.69268122e-03 -8.43249903e-05 9.99996371e-01 4.39138302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57401273899998 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:163.81, Y:75.18, Z:0.44 [[ 5.30995475e-01 -8.47373342e-01 -1.49141981e-03 1.63813533e+02] [ 8.47370376e-01 5.30997564e-01 -2.24350383e-03 7.51833362e+01] [ 2.69302562e-03 -7.24945797e-05 9.99996371e-01 4.38890039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60401273899998 meters Centerline goodness : 0.997916 Centerline is valid? [True, True] Translation: X:163.83, Y:75.20, Z:0.44 [[ 5.39706162e-01 -8.41852146e-01 -1.49090576e-03 1.63833049e+02] [ 8.41849157e-01 5.39708219e-01 -2.24384538e-03 7.52006739e+01] [ 2.69364014e-03 -4.41005840e-05 9.99996371e-01 4.35631819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63401273899999 meters Centerline goodness : 0.997811 Centerline is valid? [True, True] Translation: X:163.85, Y:75.22, Z:0.43 [[ 5.44072561e-01 -8.39036845e-01 -1.49036601e-03 1.63848917e+02] [ 8.39033844e-01 5.44074602e-01 -2.24420383e-03 7.52213238e+01] [ 2.69383999e-03 -2.94577921e-05 9.99996371e-01 4.33149915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.664012739 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:163.86, Y:75.24, Z:0.43 [[ 5.48425178e-01 -8.36198304e-01 -1.48986700e-03 1.63864489e+02] [ 8.36195292e-01 5.48427202e-01 -2.24453506e-03 7.52426736e+01] [ 2.69396000e-03 -1.48602307e-05 9.99996371e-01 4.32060030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.694012739 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:163.88, Y:75.27, Z:0.43 [[ 5.52648144e-01 -8.33413349e-01 -1.48934927e-03 1.63879714e+02] [ 8.33410326e-01 5.52650151e-01 -2.24487855e-03 7.52650469e+01] [ 2.69400084e-03 -6.11096689e-07 9.99996371e-01 4.32244869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.724012739 meters Centerline goodness : 0.997763 Centerline is valid? [True, True] Translation: X:163.90, Y:75.29, Z:0.43 [[ 5.59069779e-01 -8.29119271e-01 -1.48887110e-03 1.63895007e+02] [ 8.29116231e-01 5.59071761e-01 -2.24519563e-03 7.52858621e+01] [ 2.69392076e-03 2.07738289e-05 9.99996371e-01 4.33453775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.754012739 meters Centerline goodness : 0.997749 Centerline is valid? [True, True] Translation: X:163.91, Y:75.31, Z:0.44 [[ 5.63810904e-01 -8.25902566e-01 -1.48836856e-03 1.63909448e+02] [ 8.25899515e-01 5.63812867e-01 -2.24552873e-03 7.53093410e+01] [ 2.69374928e-03 3.68107122e-05 9.99996371e-01 4.35998833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.784012739 meters Centerline goodness : 0.997818 Centerline is valid? [True, True] Translation: X:163.92, Y:75.33, Z:0.44 [[ 5.65965723e-01 -8.24427430e-01 -1.48789069e-03 1.63922229e+02] [ 8.24424372e-01 5.65967677e-01 -2.24584532e-03 7.53316726e+01] [ 2.69363452e-03 4.44181235e-05 9.99996371e-01 4.37446304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.814012739 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:163.94, Y:75.36, Z:0.44 [[ 5.68070113e-01 -8.22978818e-01 -1.48733520e-03 1.63936137e+02] [ 8.22975754e-01 5.68072058e-01 -2.24621313e-03 7.53552574e+01] [ 2.69349940e-03 5.19657376e-05 9.99996371e-01 4.37288529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.844012739 meters Centerline goodness : 0.997230 Centerline is valid? [True, True] Translation: X:163.95, Y:75.38, Z:0.44 [[ 5.72392675e-01 -8.19978301e-01 -1.48685493e-03 1.63948447e+02] [ 8.19975226e-01 5.72394603e-01 -2.24653100e-03 7.53779768e+01] [ 2.69317441e-03 6.67136838e-05 9.99996371e-01 4.35531804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.874012739 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:163.96, Y:75.40, Z:0.43 [[ 5.74080517e-01 -8.18797503e-01 -1.48635163e-03 1.63961396e+02] [ 8.18794424e-01 5.74082436e-01 -2.24686394e-03 7.54012442e+01] [ 2.69301495e-03 7.28643866e-05 9.99996371e-01 4.34479221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.904012739 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:163.97, Y:75.43, Z:0.44 [[ 5.76261250e-01 -8.17264195e-01 -1.48585453e-03 1.63971298e+02] [ 8.17261109e-01 5.76263160e-01 -2.24719263e-03 7.54271821e+01] [ 2.69279330e-03 8.06389133e-05 9.99996371e-01 4.35968200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93401273899997 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:163.98, Y:75.45, Z:0.44 [[ 5.76723341e-01 -8.16938175e-01 -1.48537862e-03 1.63983153e+02] [ 8.16935088e-01 5.76725248e-01 -2.24750716e-03 7.54509584e+01] [ 2.69272975e-03 8.27319188e-05 9.99996371e-01 4.36595806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96401273899997 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:164.00, Y:75.47, Z:0.44 [[ 5.76745452e-01 -8.16922566e-01 -1.48487800e-03 1.63995764e+02] [ 8.16919478e-01 5.76747357e-01 -2.24783786e-03 7.54748442e+01] [ 2.69270893e-03 8.34045033e-05 9.99996371e-01 4.35136341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99401273899997 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:164.01, Y:75.50, Z:0.43 [[ 5.74638935e-01 -8.18405701e-01 -1.48441316e-03 1.64006280e+02] [ 8.18402617e-01 5.74640847e-01 -2.24814479e-03 7.54989182e+01] [ 2.69289894e-03 7.70239144e-05 9.99996371e-01 4.34277565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02401273899997 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:164.02, Y:75.52, Z:0.43 [[ 5.72882660e-01 -8.19636051e-01 -1.48392284e-03 1.64017978e+02] [ 8.19632970e-01 5.72884577e-01 -2.24846838e-03 7.55222493e+01] [ 2.69304225e-03 7.18364645e-05 9.99996371e-01 4.34844637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05401273899997 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:164.03, Y:75.55, Z:0.44 [[ 5.69591070e-01 -8.21926890e-01 -1.48341678e-03 1.64028292e+02] [ 8.21923816e-01 5.69592998e-01 -2.24880221e-03 7.55484143e+01] [ 2.69329481e-03 6.16420771e-05 9.99996371e-01 4.35138228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08401273899997 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:164.04, Y:75.57, Z:0.43 [[ 5.67638900e-01 -8.23276309e-01 -1.48293569e-03 1.64040176e+02] [ 8.23273239e-01 5.67640834e-01 -2.24911941e-03 7.55719314e+01] [ 2.69342157e-03 5.58263967e-05 9.99996371e-01 4.34539886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11401273899997 meters Centerline goodness : 0.997472 Centerline is valid? [True, True] Translation: X:164.05, Y:75.60, Z:0.43 [[ 5.65676436e-01 -8.24625959e-01 -1.48242862e-03 1.64052029e+02] [ 8.24622892e-01 5.65678377e-01 -2.24945358e-03 7.55967133e+01] [ 2.69353563e-03 5.00183105e-05 9.99996371e-01 4.34220177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14401273899998 meters Centerline goodness : 0.997204 Centerline is valid? [True, True] Translation: X:164.06, Y:75.62, Z:0.43 [[ 5.62116145e-01 -8.27056977e-01 -1.48194677e-03 1.64060389e+02] [ 8.27053918e-01 5.62118098e-01 -2.24977097e-03 7.56223906e+01] [ 2.69371788e-03 3.89827020e-05 9.99996371e-01 4.33821471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17401273899998 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:164.07, Y:75.65, Z:0.43 [[ 5.59496792e-01 -8.28831192e-01 -1.48143937e-03 1.64072738e+02] [ 8.28828138e-01 5.59498753e-01 -2.25010504e-03 7.56460708e+01] [ 2.69382072e-03 3.10679138e-05 9.99996371e-01 4.33546838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20401273899998 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:164.08, Y:75.67, Z:0.43 [[ 5.53314351e-01 -8.32971209e-01 -1.48093942e-03 1.64084604e+02] [ 8.32968170e-01 5.53316333e-01 -2.25043404e-03 7.56707941e+01] [ 2.69397473e-03 1.16220531e-05 9.99996371e-01 4.33983007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23401273899998 meters Centerline goodness : 0.997330 Centerline is valid? [True, True] Translation: X:164.10, Y:75.69, Z:0.43 [[ 5.49426334e-01 -8.35540850e-01 -1.48047025e-03 1.64098024e+02] [ 8.35537818e-01 5.49428329e-01 -2.25074264e-03 7.56938617e+01] [ 2.69399972e-03 -3.71605467e-07 9.99996371e-01 4.34083312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26401273899998 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:164.11, Y:75.72, Z:0.43 [[ 5.45527924e-01 -8.38091340e-01 -1.47999776e-03 1.64111695e+02] [ 8.38088317e-01 5.45529932e-01 -2.25105329e-03 7.57153474e+01] [ 2.69397135e-03 -1.23564018e-05 9.99996371e-01 4.33819937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29401273899998 meters Centerline goodness : 0.997812 Centerline is valid? [True, True] Translation: X:164.13, Y:75.74, Z:0.43 [[ 5.37785078e-01 -8.43080673e-01 -1.47945149e-03 1.64127413e+02] [ 8.43077668e-01 5.37787112e-01 -2.25141226e-03 7.57356877e+01] [ 2.69375211e-03 -3.65165934e-05 9.99996371e-01 4.32654706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32401273899998 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:164.14, Y:75.76, Z:0.43 [[ 5.34388590e-01 -8.45237628e-01 -1.47891294e-03 1.64143652e+02] [ 8.45234630e-01 5.34390634e-01 -2.25176597e-03 7.57576081e+01] [ 2.69359455e-03 -4.67103906e-05 9.99996371e-01 4.32260686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35401273899998 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:164.16, Y:75.78, Z:0.43 [[ 5.29876256e-01 -8.48073680e-01 -1.47844225e-03 1.64160325e+02] [ 8.48070692e-01 5.29878315e-01 -2.25207497e-03 7.57771302e+01] [ 2.69331999e-03 -6.05024870e-05 9.99996371e-01 4.32687808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38401273899999 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:164.17, Y:75.80, Z:0.43 [[ 5.29682530e-01 -8.48194690e-01 -1.47789765e-03 1.64174803e+02] [ 8.48191702e-01 5.29684589e-01 -2.25243230e-03 7.57996858e+01] [ 2.69332072e-03 -6.04664846e-05 9.99996371e-01 4.32760045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.414012739 meters Centerline goodness : 0.997821 Centerline is valid? [True, True] Translation: X:164.19, Y:75.82, Z:0.43 [[ 5.28966988e-01 -8.48641115e-01 -1.47738308e-03 1.64190403e+02] [ 8.48638128e-01 5.28969048e-01 -2.25276975e-03 7.58196590e+01] [ 2.69328296e-03 -6.21227829e-05 9.99996371e-01 4.32159805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.444012739 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:164.21, Y:75.84, Z:0.43 [[ 5.28688878e-01 -8.48814402e-01 -1.47684551e-03 1.64207277e+02] [ 8.48811414e-01 5.28690937e-01 -2.25312211e-03 7.58405576e+01] [ 2.69327734e-03 -6.23627274e-05 9.99996371e-01 4.33662467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.474012739 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:164.23, Y:75.86, Z:0.44 [[ 5.29720332e-01 -8.48171085e-01 -1.47637537e-03 1.64226960e+02] [ 8.48168094e-01 5.29722386e-01 -2.25343013e-03 7.58595953e+01] [ 2.69336337e-03 -5.85267261e-05 9.99996371e-01 4.37741917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.504012739 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:164.24, Y:75.88, Z:0.44 [[ 5.30387672e-01 -8.47753938e-01 -1.47585467e-03 1.64242533e+02] [ 8.47750944e-01 5.30389723e-01 -2.25377111e-03 7.58794055e+01] [ 2.69342148e-03 -5.57847783e-05 9.99996371e-01 4.38651058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.534012739 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:164.26, Y:75.90, Z:0.44 [[ 5.32181458e-01 -8.46629033e-01 -1.47530987e-03 1.64260486e+02] [ 8.46626034e-01 5.32183501e-01 -2.25412768e-03 7.59005497e+01] [ 2.69354551e-03 -4.94307885e-05 9.99996371e-01 4.36181484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.564012739 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:164.28, Y:75.92, Z:0.43 [[ 5.33026590e-01 -8.46097205e-01 -1.47483658e-03 1.64277051e+02] [ 8.46094202e-01 5.33028628e-01 -2.25443730e-03 7.59222191e+01] [ 2.69360322e-03 -4.61756577e-05 9.99996371e-01 4.34999730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.594012739 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:164.29, Y:75.94, Z:0.43 [[ 5.35520136e-01 -8.44521172e-01 -1.47433884e-03 1.64293838e+02] [ 8.44518163e-01 5.35522164e-01 -2.25476276e-03 7.59428180e+01] [ 2.69373602e-03 -3.76350624e-05 9.99996371e-01 4.33935645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.624012739 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:164.31, Y:75.96, Z:0.43 [[ 5.37224995e-01 -8.43437688e-01 -1.47384444e-03 1.64308215e+02] [ 8.43434674e-01 5.37227015e-01 -2.25508588e-03 7.59644503e+01] [ 2.69381347e-03 -3.16030047e-05 9.99996371e-01 4.33267450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.654012739 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:164.32, Y:75.99, Z:0.43 [[ 5.38527100e-01 -8.42606902e-01 -1.47346259e-03 1.64323212e+02] [ 8.42603884e-01 5.38529115e-01 -2.25533535e-03 7.59871276e+01] [ 2.69386364e-03 -2.69860968e-05 9.99996371e-01 4.34148646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68401273899997 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:164.34, Y:76.01, Z:0.44 [[ 5.39741010e-01 -8.41829836e-01 -1.47298159e-03 1.64339244e+02] [ 8.41826814e-01 5.39743019e-01 -2.25564946e-03 7.60074860e+01] [ 2.69390454e-03 -2.25288856e-05 9.99996371e-01 4.35053909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71401273899997 meters Centerline goodness : 0.997353 Centerline is valid? [True, True] Translation: X:164.36, Y:76.03, Z:0.44 [[ 5.39765942e-01 -8.41813851e-01 -1.47247553e-03 1.64355595e+02] [ 8.41810828e-01 5.39767950e-01 -2.25597976e-03 7.60291689e+01] [ 2.69391011e-03 -2.18448002e-05 9.99996371e-01 4.35608757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74401273899997 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:164.37, Y:76.05, Z:0.44 [[ 5.40738656e-01 -8.41189360e-01 -1.47199430e-03 1.64372242e+02] [ 8.41186334e-01 5.40740659e-01 -2.25629371e-03 7.60503460e+01] [ 2.69393743e-03 -1.81562611e-05 9.99996371e-01 4.36211200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77401273899997 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:164.39, Y:76.07, Z:0.43 [[ 5.41912692e-01 -8.40433500e-01 -1.47151135e-03 1.64387662e+02] [ 8.40430471e-01 5.41914690e-01 -2.25660864e-03 7.60728784e+01] [ 2.69396312e-03 -1.38181095e-05 9.99996371e-01 4.34664626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80401273899997 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:164.40, Y:76.10, Z:0.43 [[ 5.43379923e-01 -8.39485614e-01 -1.47102390e-03 1.64403316e+02] [ 8.39482580e-01 5.43381914e-01 -2.25692635e-03 7.60955974e+01] [ 2.69398499e-03 -8.53046808e-06 9.99996371e-01 4.32662861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83401273899997 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:164.42, Y:76.12, Z:0.43 [[ 5.46121961e-01 -8.37704388e-01 -1.47053205e-03 1.64418997e+02] [ 8.37701346e-01 5.46123941e-01 -2.25724678e-03 7.61170294e+01] [ 2.69399829e-03 8.65356359e-07 9.99996371e-01 4.31370403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86401273899997 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:164.43, Y:76.14, Z:0.43 [[ 5.46777367e-01 -8.37276746e-01 -1.47001385e-03 1.64432474e+02] [ 8.37273703e-01 5.46779343e-01 -2.25758420e-03 7.61379061e+01] [ 2.69399596e-03 3.59201107e-06 9.99996371e-01 4.33034036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89401273899998 meters Centerline goodness : 0.997210 Centerline is valid? [True, True] Translation: X:164.45, Y:76.16, Z:0.43 [[ 5.47208631e-01 -8.36994955e-01 -1.46946209e-03 1.64447784e+02] [ 8.36991910e-01 5.47210604e-01 -2.25794328e-03 7.61597827e+01] [ 2.69399238e-03 5.63816861e-06 9.99996371e-01 4.34134348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92401273899998 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:164.46, Y:76.18, Z:0.43 [[ 5.46729797e-01 -8.37307811e-01 -1.46893570e-03 1.64462860e+02] [ 8.37304766e-01 5.46731771e-01 -2.25828568e-03 7.61796366e+01] [ 2.69399406e-03 4.72520729e-06 9.99996371e-01 4.33038031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95401273899998 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:164.48, Y:76.20, Z:0.43 [[ 5.45766431e-01 -8.37936063e-01 -1.46838605e-03 1.64478806e+02] [ 8.37933019e-01 5.45768407e-01 -2.25864302e-03 7.62001299e+01] [ 2.69399716e-03 2.28238884e-06 9.99996371e-01 4.33285427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98401273899998 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:164.50, Y:76.22, Z:0.44 [[ 5.44205908e-01 -8.38950401e-01 -1.46785979e-03 1.64496846e+02] [ 8.38947359e-01 5.44207888e-01 -2.25898498e-03 7.62210115e+01] [ 2.69399723e-03 -2.10411874e-06 9.99996371e-01 4.36828137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01401273899998 meters Centerline goodness : 0.997233 Centerline is valid? [True, True] Translation: X:164.51, Y:76.24, Z:0.44 [[ 5.45445131e-01 -8.38145248e-01 -1.46736831e-03 1.64511734e+02] [ 8.38142202e-01 5.45447105e-01 -2.25930419e-03 7.62420245e+01] [ 2.69399686e-03 2.46316258e-06 9.99996371e-01 4.41678966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04401273899998 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:164.53, Y:76.26, Z:0.44 [[ 5.46893853e-01 -8.37200670e-01 -1.46685173e-03 1.64525955e+02] [ 8.37197621e-01 5.46895820e-01 -2.25963952e-03 7.62644562e+01] [ 2.69398680e-03 7.73818728e-06 9.99996371e-01 4.41683624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07401273899998 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:164.54, Y:76.29, Z:0.44 [[ 5.48979435e-01 -8.35834571e-01 -1.46631897e-03 1.64539885e+02] [ 8.35831516e-01 5.48981393e-01 -2.25998518e-03 7.62870158e+01] [ 2.69395558e-03 1.50897770e-05 9.99996371e-01 4.41334775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10401273899998 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:164.55, Y:76.31, Z:0.44 [[ 5.53874314e-01 -8.32599001e-01 -1.46578948e-03 1.64552844e+02] [ 8.32595933e-01 5.53876252e-01 -2.26032856e-03 7.63089612e+01] [ 2.69381328e-03 3.15275700e-05 9.99996371e-01 4.36562120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13401273899999 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:164.57, Y:76.33, Z:0.43 [[ 5.55902011e-01 -8.31246538e-01 -1.46536678e-03 1.64566352e+02] [ 8.31243465e-01 5.55903941e-01 -2.26060256e-03 7.63310354e+01] [ 2.69372122e-03 3.85969525e-05 9.99996371e-01 4.33649225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.164012739 meters Centerline goodness : 0.997869 Centerline is valid? [True, True] Translation: X:164.58, Y:76.35, Z:0.43 [[ 5.57600995e-01 -8.30107815e-01 -1.46483741e-03 1.64580062e+02] [ 8.30104737e-01 5.57602917e-01 -2.26094553e-03 7.63539560e+01] [ 2.69362617e-03 4.47370023e-05 9.99996371e-01 4.32534033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.194012739 meters Centerline goodness : 0.997818 Centerline is valid? [True, True] Translation: X:164.59, Y:76.38, Z:0.43 [[ 5.59906914e-01 -8.28554225e-01 -1.46434569e-03 1.64592423e+02] [ 8.28551141e-01 5.59908827e-01 -2.26126396e-03 7.63786116e+01] [ 2.69347988e-03 5.28120320e-05 9.99996371e-01 4.33706297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.224012739 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:164.61, Y:76.40, Z:0.43 [[ 5.60174351e-01 -8.28373439e-01 -1.46385189e-03 1.64605763e+02] [ 8.28370353e-01 5.60176261e-01 -2.26158358e-03 7.64022427e+01] [ 2.69345084e-03 5.42696043e-05 9.99996371e-01 4.34742241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.254012739 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:164.62, Y:76.43, Z:0.44 [[ 5.60686046e-01 -8.28027183e-01 -1.46335069e-03 1.64616862e+02] [ 8.28024096e-01 5.60687953e-01 -2.26190783e-03 7.64266501e+01] [ 2.69340427e-03 5.65305286e-05 9.99996371e-01 4.37854765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.284012739 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:164.63, Y:76.45, Z:0.44 [[ 5.61182280e-01 -8.27690950e-01 -1.46282559e-03 1.64628684e+02] [ 8.27687860e-01 5.61184184e-01 -2.26224737e-03 7.64505438e+01] [ 2.69335626e-03 5.87701508e-05 9.99996371e-01 4.38870572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.314012739 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:164.64, Y:76.48, Z:0.44 [[ 5.62850952e-01 -8.26557117e-01 -1.46231492e-03 1.64639152e+02] [ 8.26554023e-01 5.62852848e-01 -2.26257742e-03 7.64766707e+01] [ 2.69321759e-03 6.48115769e-05 9.99996371e-01 4.38470698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.344012739 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:164.65, Y:76.50, Z:0.44 [[ 5.63521839e-01 -8.26099873e-01 -1.46183359e-03 1.64651347e+02] [ 8.26096776e-01 5.63523731e-01 -2.26288836e-03 7.65000334e+01] [ 2.69314971e-03 6.75709905e-05 9.99996371e-01 4.38415396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.374012739 meters Centerline goodness : 0.997186 Centerline is valid? [True, True] Translation: X:164.66, Y:76.52, Z:0.44 [[ 5.64015730e-01 -8.25762751e-01 -1.46132737e-03 1.64663666e+02] [ 8.25759652e-01 5.64017619e-01 -2.26321522e-03 7.65244514e+01] [ 2.69309321e-03 6.97838063e-05 9.99996371e-01 4.37915904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.404012739 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:164.67, Y:76.55, Z:0.44 [[ 5.64402307e-01 -8.25498578e-01 -1.46085495e-03 1.64672928e+02] [ 8.25495478e-01 5.64404193e-01 -2.26352012e-03 7.65507208e+01] [ 2.69304530e-03 7.16068205e-05 9.99996371e-01 4.36375423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43401273899997 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:164.69, Y:76.58, Z:0.44 [[ 5.63863396e-01 -8.25866780e-01 -1.46038397e-03 1.64685321e+02] [ 8.25863680e-01 5.63865283e-01 -2.26382394e-03 7.65752623e+01] [ 2.69307681e-03 7.04093739e-05 9.99996371e-01 4.37214747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46401273899997 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:164.70, Y:76.60, Z:0.44 [[ 5.61354313e-01 -8.27574289e-01 -1.45990950e-03 1.64695268e+02] [ 8.27571194e-01 5.61356208e-01 -2.26412988e-03 7.66009360e+01] [ 2.69326494e-03 6.28000299e-05 9.99996371e-01 4.41597222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49401273899997 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:164.71, Y:76.62, Z:0.44 [[ 5.59940596e-01 -8.28531471e-01 -1.45941091e-03 1.64706290e+02] [ 8.28528379e-01 5.59942495e-01 -2.26445121e-03 7.66248757e+01] [ 2.69335528e-03 5.87948042e-05 9.99996371e-01 4.42689519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52401273899997 meters Centerline goodness : 0.996747 Centerline is valid? [True, True] Translation: X:164.72, Y:76.65, Z:0.44 [[ 5.58807265e-01 -8.29296275e-01 -1.45902534e-03 1.64717315e+02] [ 8.29293185e-01 5.58809167e-01 -2.26469962e-03 7.66490879e+01] [ 2.69342369e-03 5.55708250e-05 9.99996371e-01 4.43932222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55401273899997 meters Centerline goodness : 0.996632 Centerline is valid? [True, True] Translation: X:164.73, Y:76.67, Z:0.44 [[ 5.57459222e-01 -8.30203041e-01 -1.45850352e-03 1.64726933e+02] [ 8.30199952e-01 5.57461127e-01 -2.26503563e-03 7.66747142e+01] [ 2.69349848e-03 5.18154498e-05 9.99996371e-01 4.44221176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58401273899997 meters Centerline goodness : 0.995990 Centerline is valid? [True, True] Translation: X:164.74, Y:76.70, Z:0.44 [[ 5.56300147e-01 -8.30980156e-01 -1.45802332e-03 1.64738519e+02] [ 8.30977070e-01 5.56302056e-01 -2.26534470e-03 7.66988116e+01] [ 2.69355786e-03 4.86276429e-05 9.99996371e-01 4.43589710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61401273899997 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:164.75, Y:76.73, Z:0.44 [[ 5.53685238e-01 -8.32724764e-01 -1.45752061e-03 1.64745227e+02] [ 8.32721683e-01 5.53687155e-01 -2.26566809e-03 7.67270101e+01] [ 2.69368837e-03 4.07579571e-05 9.99996371e-01 4.42183683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64401273899998 meters Centerline goodness : 0.996733 Centerline is valid? [True, True] Translation: X:164.76, Y:76.75, Z:0.44 [[ 5.52405755e-01 -8.33574087e-01 -1.45704414e-03 1.64755640e+02] [ 8.33571008e-01 5.52407676e-01 -2.26597447e-03 7.67530282e+01] [ 2.69373997e-03 3.71875850e-05 9.99996371e-01 4.42646301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67401273899998 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:164.76, Y:76.78, Z:0.44 [[ 5.49089910e-01 -8.35762017e-01 -1.45656529e-03 1.64764286e+02] [ 8.35758945e-01 5.49091841e-01 -2.26628223e-03 7.67787442e+01] [ 2.69386073e-03 2.70552342e-05 9.99996371e-01 4.41463070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70401273899998 meters Centerline goodness : 0.996652 Centerline is valid? [True, True] Translation: X:164.78, Y:76.80, Z:0.44 [[ 5.46592683e-01 -8.37397348e-01 -1.45606255e-03 1.64777691e+02] [ 8.37394281e-01 5.46594622e-01 -2.26660519e-03 7.68029790e+01] [ 2.69392513e-03 1.96113574e-05 9.99996371e-01 4.40893643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73401273899998 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:164.79, Y:76.83, Z:0.44 [[ 5.43307452e-01 -8.39532545e-01 -1.45561651e-03 1.64790987e+02] [ 8.39529484e-01 5.43309402e-01 -2.26689160e-03 7.68272571e+01] [ 2.69397941e-03 9.58612055e-06 9.99996371e-01 4.40339215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76401273899998 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:164.80, Y:76.85, Z:0.44 [[ 5.36054463e-01 -8.44182146e-01 -1.45514308e-03 1.64803164e+02] [ 8.44179101e-01 5.36056438e-01 -2.26719546e-03 7.68513540e+01] [ 2.69396474e-03 -1.30611306e-05 9.99996371e-01 4.39559799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79401273899998 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:164.82, Y:76.87, Z:0.44 [[ 5.32550347e-01 -8.46397077e-01 -1.45466764e-03 1.64817288e+02] [ 8.46394040e-01 5.32552333e-01 -2.26750047e-03 7.68745894e+01] [ 2.69389241e-03 -2.36638623e-05 9.99996371e-01 4.39907057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82401273899998 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:164.83, Y:76.90, Z:0.44 [[ 5.26978939e-01 -8.49877099e-01 -1.45419450e-03 1.64832099e+02] [ 8.49874074e-01 5.26980944e-01 -2.26780386e-03 7.68969127e+01] [ 2.69368736e-03 -4.07973321e-05 9.99996371e-01 4.40933479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85401273899998 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:164.85, Y:76.92, Z:0.44 [[ 5.25238358e-01 -8.50953908e-01 -1.45371380e-03 1.64846972e+02] [ 8.50950887e-01 5.25240368e-01 -2.26811196e-03 7.69187165e+01] [ 2.69360791e-03 -4.57396466e-05 9.99996371e-01 4.41734994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88401273899999 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:164.86, Y:76.94, Z:0.44 [[ 5.24827956e-01 -8.51207087e-01 -1.45321075e-03 1.64863002e+02] [ 8.51204066e-01 5.24829965e-01 -2.26843423e-03 7.69401479e+01] [ 2.69359584e-03 -4.64412001e-05 9.99996371e-01 4.42164383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.914012739 meters Centerline goodness : 0.995430 Centerline is valid? [True, True] Translation: X:164.88, Y:76.96, Z:0.44 [[ 5.25035854e-01 -8.51078869e-01 -1.45273991e-03 1.64878475e+02] [ 8.51075847e-01 5.25037861e-01 -2.26873572e-03 7.69630071e+01] [ 2.69361649e-03 -4.52242599e-05 9.99996371e-01 4.41288074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.944012739 meters Centerline goodness : 0.996003 Centerline is valid? [True, True] Translation: X:164.89, Y:76.99, Z:0.44 [[ 5.25033249e-01 -8.51080477e-01 -1.45226885e-03 1.64892796e+02] [ 8.51077453e-01 5.25035256e-01 -2.26903722e-03 7.69854693e+01] [ 2.69362562e-03 -4.46732913e-05 9.99996371e-01 4.40112661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.974012739 meters Centerline goodness : 0.996218 Centerline is valid? [True, True] Translation: X:164.91, Y:77.01, Z:0.44 [[ 5.24638195e-01 -8.51324061e-01 -1.45180037e-03 1.64907230e+02] [ 8.51321038e-01 5.24640202e-01 -2.26933693e-03 7.70079274e+01] [ 2.69361396e-03 -4.53673667e-05 9.99996371e-01 4.38573082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.004012739 meters Centerline goodness : 0.996548 Centerline is valid? [True, True] Translation: X:164.92, Y:77.03, Z:0.44 [[ 5.24446938e-01 -8.51441897e-01 -1.45128012e-03 1.64921920e+02] [ 8.51438873e-01 5.24448944e-01 -2.26966958e-03 7.70292498e+01] [ 2.69361410e-03 -4.53550521e-05 9.99996371e-01 4.40310434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.034012739 meters Centerline goodness : 0.995504 Centerline is valid? [True, True] Translation: X:164.94, Y:77.05, Z:0.45 [[ 5.25304591e-01 -8.50913028e-01 -1.45076316e-03 1.64938150e+02] [ 8.50910002e-01 5.25306593e-01 -2.26999997e-03 7.70489603e+01] [ 2.69366800e-03 -4.20274793e-05 9.99996371e-01 4.46477140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.064012739 meters Centerline goodness : 0.995550 Centerline is valid? [True, True] Translation: X:164.95, Y:77.07, Z:0.45 [[ 5.26069407e-01 -8.50440401e-01 -1.45035045e-03 1.64951518e+02] [ 8.50437372e-01 5.26071405e-01 -2.27026363e-03 7.70701160e+01] [ 2.69371181e-03 -3.91159816e-05 9.99996371e-01 4.48279332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.094012739 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:164.97, Y:77.09, Z:0.45 [[ 5.27320769e-01 -8.49665055e-01 -1.44981521e-03 1.64965070e+02] [ 8.49662021e-01 5.27322761e-01 -2.27060539e-03 7.70922215e+01] [ 2.69377461e-03 -3.45155441e-05 9.99996371e-01 4.47702661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.124012739 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:164.98, Y:77.11, Z:0.44 [[ 5.29930138e-01 -8.48040063e-01 -1.44930610e-03 1.64978504e+02] [ 8.48037023e-01 5.29932119e-01 -2.27093030e-03 7.71135679e+01] [ 2.69387373e-03 -2.56308245e-05 9.99996371e-01 4.44948711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.154012739 meters Centerline goodness : 0.996031 Centerline is valid? [True, True] Translation: X:164.99, Y:77.14, Z:0.44 [[ 5.30874913e-01 -8.47448953e-01 -1.44877228e-03 1.64992963e+02] [ 8.47445910e-01 5.30876889e-01 -2.27127081e-03 7.71357733e+01] [ 2.69390579e-03 -2.19954468e-05 9.99996371e-01 4.43976377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18401273899997 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:165.01, Y:77.16, Z:0.45 [[ 5.32095294e-01 -8.46683235e-01 -1.44826527e-03 1.65007084e+02] [ 8.46680188e-01 5.32097264e-01 -2.27159406e-03 7.71563958e+01] [ 2.69393860e-03 -1.75129985e-05 9.99996371e-01 4.46291166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21401273899997 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:165.02, Y:77.18, Z:0.45 [[ 5.31906206e-01 -8.46802038e-01 -1.44773536e-03 1.65021166e+02] [ 8.46798991e-01 5.31908176e-01 -2.27193173e-03 7.71778735e+01] [ 2.69393870e-03 -1.74862564e-05 9.99996371e-01 4.46867683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24401273899997 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:165.04, Y:77.20, Z:0.45 [[ 5.31566772e-01 -8.47015155e-01 -1.44733749e-03 1.65035807e+02] [ 8.47012107e-01 5.31568742e-01 -2.27218516e-03 7.71993641e+01] [ 2.69393464e-03 -1.80942496e-05 9.99996371e-01 4.46583261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27401273899997 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:165.05, Y:77.22, Z:0.45 [[ 5.31380754e-01 -8.47131867e-01 -1.44683904e-03 1.65049957e+02] [ 8.47128819e-01 5.31382724e-01 -2.27250251e-03 7.72221222e+01] [ 2.69393457e-03 -1.80949513e-05 9.99996371e-01 4.46655496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30401273899997 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:165.07, Y:77.24, Z:0.44 [[ 5.29333653e-01 -8.48412513e-01 -1.44633993e-03 1.65066182e+02] [ 8.48409469e-01 5.29335628e-01 -2.27282013e-03 7.72423141e+01] [ 2.69388829e-03 -2.40083104e-05 9.99996371e-01 4.43388017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33401273899997 meters Centerline goodness : 0.996092 Centerline is valid? [True, True] Translation: X:165.08, Y:77.26, Z:0.44 [[ 5.25743894e-01 -8.50641680e-01 -1.44581841e-03 1.65082110e+02] [ 8.50638643e-01 5.25745881e-01 -2.27315184e-03 7.72632491e+01] [ 2.69377077e-03 -3.47733056e-05 9.99996371e-01 4.43160226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36401273899997 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:165.10, Y:77.28, Z:0.44 [[ 5.24739047e-01 -8.51261912e-01 -1.44532389e-03 1.65096211e+02] [ 8.51258877e-01 5.24741037e-01 -2.27346623e-03 7.72842144e+01] [ 2.69373596e-03 -3.73682864e-05 9.99996371e-01 4.43309951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39401273899998 meters Centerline goodness : 0.996020 Centerline is valid? [True, True] Translation: X:165.11, Y:77.31, Z:0.44 [[ 5.24671025e-01 -8.51303840e-01 -1.44480824e-03 1.65110653e+02] [ 8.51300804e-01 5.24673013e-01 -2.27379388e-03 7.73057658e+01] [ 2.69374135e-03 -3.69726508e-05 9.99996371e-01 4.43342485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42401273899998 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:165.12, Y:77.33, Z:0.44 [[ 5.25512103e-01 -8.50784899e-01 -1.44431942e-03 1.65124292e+02] [ 8.50781860e-01 5.25514086e-01 -2.27410433e-03 7.73268933e+01] [ 2.69378383e-03 -3.37314119e-05 9.99996371e-01 4.42017213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45401273899998 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:165.14, Y:77.35, Z:0.44 [[ 5.29216161e-01 -8.48485810e-01 -1.44380659e-03 1.65136180e+02] [ 8.48482762e-01 5.29218130e-01 -2.27442988e-03 7.73487882e+01] [ 2.69391010e-03 -2.13799547e-05 9.99996371e-01 4.40319641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48401273899998 meters Centerline goodness : 0.996858 Centerline is valid? [True, True] Translation: X:165.15, Y:77.37, Z:0.44 [[ 5.30955108e-01 -8.47398720e-01 -1.44332288e-03 1.65148283e+02] [ 8.47395667e-01 5.30957070e-01 -2.27473679e-03 7.73724106e+01] [ 2.69395153e-03 -1.52824351e-05 9.99996371e-01 4.38880592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51401273899998 meters Centerline goodness : 0.996840 Centerline is valid? [True, True] Translation: X:165.16, Y:77.40, Z:0.44 [[ 5.33705479e-01 -8.45669190e-01 -1.44283713e-03 1.65160166e+02] [ 8.45666130e-01 5.33707430e-01 -2.27504485e-03 7.73958401e+01] [ 2.69398824e-03 -5.95459046e-06 9.99996371e-01 4.38896742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54401273899998 meters Centerline goodness : 0.996283 Centerline is valid? [True, True] Translation: X:165.17, Y:77.42, Z:0.44 [[ 5.33891123e-01 -8.45552002e-01 -1.44235424e-03 1.65173700e+02] [ 8.45548941e-01 5.33893071e-01 -2.27535096e-03 7.74170905e+01] [ 2.69399050e-03 -4.79142207e-06 9.99996371e-01 4.39321465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57401273899998 meters Centerline goodness : 0.996028 Centerline is valid? [True, True] Translation: X:165.19, Y:77.44, Z:0.44 [[ 5.33152550e-01 -8.46017895e-01 -1.44184746e-03 1.65188070e+02] [ 8.46014835e-01 5.33154500e-01 -2.27567206e-03 7.74393585e+01] [ 2.69398674e-03 -6.54397765e-06 9.99996371e-01 4.38487686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60401273899998 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:165.20, Y:77.46, Z:0.44 [[ 5.31520966e-01 -8.47043910e-01 -1.44136746e-03 1.65199630e+02] [ 8.47040852e-01 5.31522920e-01 -2.27597603e-03 7.74631990e+01] [ 2.69397148e-03 -1.11681461e-05 9.99996371e-01 4.35257838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63401273899999 meters Centerline goodness : 0.997321 Centerline is valid? [True, True] Translation: X:165.21, Y:77.49, Z:0.43 [[ 5.30697853e-01 -8.47559858e-01 -1.44085802e-03 1.65212015e+02] [ 8.47556801e-01 5.30699809e-01 -2.27629850e-03 7.74853900e+01] [ 2.69396231e-03 -1.31822916e-05 9.99996371e-01 4.32786935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.664012739 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:165.22, Y:77.51, Z:0.44 [[ 5.28026613e-01 -8.49226602e-01 -1.44045227e-03 1.65224464e+02] [ 8.49223550e-01 5.28028578e-01 -2.27655524e-03 7.75071715e+01] [ 2.69391123e-03 -2.11842376e-05 9.99996371e-01 4.35523154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.694012739 meters Centerline goodness : 0.996901 Centerline is valid? [True, True] Translation: X:165.24, Y:77.53, Z:0.44 [[ 5.26400886e-01 -8.50235282e-01 -1.43993364e-03 1.65236641e+02] [ 8.50232233e-01 5.26402855e-01 -2.27688323e-03 7.75290300e+01] [ 2.69387163e-03 -2.57246431e-05 9.99996371e-01 4.38913881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.724012739 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:165.25, Y:77.55, Z:0.44 [[ 5.25113492e-01 -8.51030991e-01 -1.43941680e-03 1.65249546e+02] [ 8.51027945e-01 5.25115464e-01 -2.27720992e-03 7.75525266e+01] [ 2.69383623e-03 -2.91902648e-05 9.99996371e-01 4.42231735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.754012739 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:165.26, Y:77.57, Z:0.44 [[ 5.23465424e-01 -8.52045703e-01 -1.43890046e-03 1.65263598e+02] [ 8.52042659e-01 5.23467401e-01 -2.27753613e-03 7.75743121e+01] [ 2.69378236e-03 -3.37931559e-05 9.99996371e-01 4.42619657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.784012739 meters Centerline goodness : 0.996172 Centerline is valid? [True, True] Translation: X:165.28, Y:77.60, Z:0.44 [[ 5.22631714e-01 -8.52557343e-01 -1.43838457e-03 1.65278340e+02] [ 8.52554301e-01 5.22633692e-01 -2.27786190e-03 7.75960384e+01] [ 2.69375612e-03 -3.58180828e-05 9.99996371e-01 4.42976841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.814012739 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:165.29, Y:77.62, Z:0.45 [[ 5.21181223e-01 -8.53444823e-01 -1.43787199e-03 1.65292002e+02] [ 8.53441783e-01 5.21183205e-01 -2.27818541e-03 7.76192433e+01] [ 2.69370027e-03 -3.97925726e-05 9.99996371e-01 4.45513760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.844012739 meters Centerline goodness : 0.996250 Centerline is valid? [True, True] Translation: X:165.30, Y:77.64, Z:0.45 [[ 5.20889094e-01 -8.53623152e-01 -1.43738532e-03 1.65304262e+02] [ 8.53620112e-01 5.20891075e-01 -2.27849242e-03 7.76418588e+01] [ 2.69369507e-03 -4.01391644e-05 9.99996371e-01 4.47073584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.874012739 meters Centerline goodness : 0.995773 Centerline is valid? [True, True] Translation: X:165.32, Y:77.66, Z:0.45 [[ 5.21095687e-01 -8.53497053e-01 -1.43700890e-03 1.65316419e+02] [ 8.53494012e-01 5.21097667e-01 -2.27872980e-03 7.76635976e+01] [ 2.69371116e-03 -3.90422211e-05 9.99996371e-01 4.48291206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.904012739 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:165.33, Y:77.69, Z:0.45 [[ 5.22291714e-01 -8.52765678e-01 -1.43646889e-03 1.65330227e+02] [ 8.52762633e-01 5.22293689e-01 -2.27907016e-03 7.76851384e+01] [ 2.69377145e-03 -3.46275304e-05 9.99996371e-01 4.49435369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93401273899997 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:165.34, Y:77.71, Z:0.44 [[ 5.22218131e-01 -8.52810742e-01 -1.43606539e-03 1.65344958e+02] [ 8.52807697e-01 5.22220104e-01 -2.27932439e-03 7.77070576e+01] [ 2.69377454e-03 -3.43830945e-05 9.99996371e-01 4.43503962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96401273899997 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:165.36, Y:77.73, Z:0.44 [[ 5.21623835e-01 -8.53174375e-01 -1.43555008e-03 1.65358690e+02] [ 8.53171330e-01 5.21625809e-01 -2.27964889e-03 7.77293008e+01] [ 2.69375799e-03 -3.56509729e-05 9.99996371e-01 4.40132689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99401273899997 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:165.37, Y:77.75, Z:0.44 [[ 5.21241960e-01 -8.53407734e-01 -1.43503814e-03 1.65372081e+02] [ 8.53404689e-01 5.21243934e-01 -2.27997111e-03 7.77524162e+01] [ 2.69374990e-03 -3.62516666e-05 9.99996371e-01 4.39639708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02401273899997 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:165.39, Y:77.78, Z:0.44 [[ 5.21165983e-01 -8.53454135e-01 -1.43452806e-03 1.65385197e+02] [ 8.53451089e-01 5.21167956e-01 -2.28029200e-03 7.77760013e+01] [ 2.69375469e-03 -3.58889138e-05 9.99996371e-01 4.42112961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05401273899997 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:165.40, Y:77.80, Z:0.45 [[ 5.21694368e-01 -8.53131250e-01 -1.43404714e-03 1.65395750e+02] [ 8.53128202e-01 5.21696338e-01 -2.28059440e-03 7.77996932e+01] [ 2.69378349e-03 -3.36528019e-05 9.99996371e-01 4.49232927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08401273899997 meters Centerline goodness : 0.995945 Centerline is valid? [True, True] Translation: X:165.41, Y:77.82, Z:0.45 [[ 5.21901801e-01 -8.53004370e-01 -1.43354087e-03 1.65407331e+02] [ 8.53001321e-01 5.21903769e-01 -2.28091259e-03 7.78227153e+01] [ 2.69379879e-03 -3.23998649e-05 9.99996371e-01 4.47450394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11401273899997 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:165.42, Y:77.85, Z:0.44 [[ 5.21598557e-01 -8.53189833e-01 -1.43299106e-03 1.65420625e+02] [ 8.53186784e-01 5.21600525e-01 -2.28125796e-03 7.78452638e+01] [ 2.69379499e-03 -3.27081755e-05 9.99996371e-01 4.43335748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14401273899998 meters Centerline goodness : 0.996146 Centerline is valid? [True, True] Translation: X:165.43, Y:77.87, Z:0.44 [[ 5.20649465e-01 -8.53769338e-01 -1.43247425e-03 1.65433513e+02] [ 8.53766290e-01 5.20651434e-01 -2.28158243e-03 7.78673324e+01] [ 2.69376490e-03 -3.50935587e-05 9.99996371e-01 4.40141492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17401273899998 meters Centerline goodness : 0.996211 Centerline is valid? [True, True] Translation: X:165.45, Y:77.89, Z:0.44 [[ 5.18787176e-01 -8.54902225e-01 -1.43206371e-03 1.65446930e+02] [ 8.54899181e-01 5.18789151e-01 -2.28184008e-03 7.78902301e+01] [ 2.69368928e-03 -4.04807204e-05 9.99996371e-01 4.40476524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20401273899998 meters Centerline goodness : 0.996151 Centerline is valid? [True, True] Translation: X:165.46, Y:77.91, Z:0.45 [[ 5.14250841e-01 -8.57638632e-01 -1.43153951e-03 1.65461384e+02] [ 8.57635597e-01 5.14252831e-01 -2.28216890e-03 7.79113983e+01] [ 2.69344946e-03 -5.41319718e-05 9.99996371e-01 4.45355353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23401273899998 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:165.48, Y:77.93, Z:0.45 [[ 5.08275937e-01 -8.61193082e-01 -1.43099371e-03 1.65478337e+02] [ 8.61190060e-01 5.08277946e-01 -2.28251108e-03 7.79320177e+01] [ 2.69302530e-03 -7.22121029e-05 9.99996371e-01 4.47291295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26401273899998 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:165.49, Y:77.95, Z:0.45 [[ 5.05121136e-01 -8.63047271e-01 -1.43047892e-03 1.65493708e+02] [ 8.63044255e-01 5.05123155e-01 -2.28283366e-03 7.79519458e+01] [ 2.69276139e-03 -8.14590854e-05 9.99996371e-01 4.46673154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29401273899998 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:165.51, Y:77.97, Z:0.45 [[ 5.02199107e-01 -8.64750838e-01 -1.43007061e-03 1.65509737e+02] [ 8.64747829e-01 5.02201135e-01 -2.28308942e-03 7.79724565e+01] [ 2.69248657e-03 -9.00849915e-05 9.99996371e-01 4.45443464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32401273899998 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:165.53, Y:77.99, Z:0.44 [[ 5.00146941e-01 -8.65939371e-01 -1.42956330e-03 1.65525808e+02] [ 8.65936366e-01 5.00148974e-01 -2.28340703e-03 7.79933862e+01] [ 2.69228666e-03 -9.58718146e-05 9.99996371e-01 4.44822508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35401273899998 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:165.54, Y:78.01, Z:0.44 [[ 4.98489382e-01 -8.66894627e-01 -1.42905841e-03 1.65544861e+02] [ 8.66891624e-01 4.98491421e-01 -2.28372297e-03 7.80136402e+01] [ 2.69212053e-03 -1.00427113e-04 9.99996371e-01 4.44561800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38401273899999 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:165.56, Y:78.03, Z:0.44 [[ 4.99059012e-01 -8.66566825e-01 -1.42857267e-03 1.65561325e+02] [ 8.66563820e-01 4.99061047e-01 -2.28402678e-03 7.80339126e+01] [ 2.69220681e-03 -9.80852471e-05 9.99996371e-01 4.44549136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.414012739 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:165.58, Y:78.05, Z:0.45 [[ 5.01914433e-01 -8.64916101e-01 -1.42806209e-03 1.65580553e+02] [ 8.64913089e-01 5.01916457e-01 -2.28434597e-03 7.80533804e+01] [ 2.69253547e-03 -8.86033799e-05 9.99996371e-01 4.45891304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.444012739 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:165.60, Y:78.07, Z:0.45 [[ 5.03526953e-01 -8.63978339e-01 -1.42756464e-03 1.65596483e+02] [ 8.63975322e-01 5.03528970e-01 -2.28465680e-03 7.80741642e+01] [ 2.69271414e-03 -8.29943374e-05 9.99996371e-01 4.46735914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.474012739 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:165.61, Y:78.09, Z:0.45 [[ 5.05351230e-01 -8.62912567e-01 -1.42704033e-03 1.65612144e+02] [ 8.62909545e-01 5.05353239e-01 -2.28498425e-03 7.80939067e+01] [ 2.69290107e-03 -7.66871195e-05 9.99996371e-01 4.47302163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.504012739 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:165.63, Y:78.11, Z:0.45 [[ 5.09162330e-01 -8.60669325e-01 -1.42649136e-03 1.65631706e+02] [ 8.60666293e-01 5.09164324e-01 -2.28532691e-03 7.81124610e+01] [ 2.69322928e-03 -6.41306621e-05 9.99996371e-01 4.46845005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.534012739 meters Centerline goodness : 0.996081 Centerline is valid? [True, True] Translation: X:165.65, Y:78.13, Z:0.45 [[ 5.10929610e-01 -8.59621371e-01 -1.42595954e-03 1.65647867e+02] [ 8.59618334e-01 5.10931596e-01 -2.28565870e-03 7.81326932e+01] [ 2.69336885e-03 -5.79702583e-05 9.99996371e-01 4.45644857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.564012739 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:165.67, Y:78.15, Z:0.44 [[ 5.13529747e-01 -8.58070607e-01 -1.42540114e-03 1.65667517e+02] [ 8.58067564e-01 5.13531723e-01 -2.28600688e-03 7.81525176e+01] [ 2.69354402e-03 -4.91579505e-05 9.99996371e-01 4.42366236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.594012739 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:165.69, Y:78.17, Z:0.44 [[ 5.14221700e-01 -8.57656116e-01 -1.42491013e-03 1.65685259e+02] [ 8.57653070e-01 5.14223672e-01 -2.28631289e-03 7.81725547e+01] [ 2.69359276e-03 -4.64068485e-05 9.99996371e-01 4.39606433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.624012739 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:165.71, Y:78.19, Z:0.44 [[ 5.15110169e-01 -8.57122794e-01 -1.42439356e-03 1.65707847e+02] [ 8.57119745e-01 5.15112137e-01 -2.28663468e-03 7.81891357e+01] [ 2.69364911e-03 -4.30070687e-05 9.99996371e-01 4.37396001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.654012739 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:165.72, Y:78.21, Z:0.44 [[ 5.16246346e-01 -8.56438955e-01 -1.42385963e-03 1.65724457e+02] [ 8.56435902e-01 5.16248308e-01 -2.28696710e-03 7.82096514e+01] [ 2.69371284e-03 -3.88061008e-05 9.99996371e-01 4.38527829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68401273899997 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:165.74, Y:78.23, Z:0.44 [[ 5.18198339e-01 -8.55259291e-01 -1.42331572e-03 1.65740732e+02] [ 8.55256233e-01 5.18200293e-01 -2.28730556e-03 7.82312661e+01] [ 2.69380195e-03 -3.20217026e-05 9.99996371e-01 4.39110033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71401273899997 meters Centerline goodness : 0.996203 Centerline is valid? [True, True] Translation: X:165.76, Y:78.25, Z:0.44 [[ 5.24469190e-01 -8.51428238e-01 -1.42282336e-03 1.65758044e+02] [ 8.51425165e-01 5.24471120e-01 -2.28761179e-03 7.82506835e+01] [ 2.69396704e-03 -1.16457117e-05 9.99996371e-01 4.39987189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74401273899997 meters Centerline goodness : 0.996353 Centerline is valid? [True, True] Translation: X:165.77, Y:78.27, Z:0.44 [[ 5.28110677e-01 -8.49174358e-01 -1.42225000e-03 1.65772154e+02] [ 8.49171275e-01 5.28112593e-01 -2.28796820e-03 7.82713757e+01] [ 2.69399206e-03 5.66593118e-07 9.99996371e-01 4.40737838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77401273899997 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:165.79, Y:78.29, Z:0.44 [[ 5.35758951e-01 -8.44369780e-01 -1.42181514e-03 1.65785464e+02] [ 8.44366679e-01 5.35760837e-01 -2.28823841e-03 7.82940499e+01] [ 2.69387223e-03 2.54108772e-05 9.99996371e-01 4.42773784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80401273899997 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:165.80, Y:78.32, Z:0.44 [[ 5.38970647e-01 -8.42323348e-01 -1.42128547e-03 1.65798566e+02] [ 8.42320239e-01 5.38972520e-01 -2.28856735e-03 7.83170147e+01] [ 2.69374752e-03 3.62931116e-05 9.99996371e-01 4.42694912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83401273899997 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:165.81, Y:78.34, Z:0.44 [[ 5.42230617e-01 -8.40228505e-01 -1.42075271e-03 1.65812186e+02] [ 8.40225388e-01 5.42232476e-01 -2.28889804e-03 7.83394923e+01] [ 2.69357564e-03 4.73580969e-05 9.99996371e-01 4.43119390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86401273899997 meters Centerline goodness : 0.995679 Centerline is valid? [True, True] Translation: X:165.82, Y:78.36, Z:0.45 [[ 5.48005833e-01 -8.36473305e-01 -1.42020486e-03 1.65823683e+02] [ 8.36470175e-01 5.48007670e-01 -2.28923792e-03 7.83617031e+01] [ 2.69316957e-03 6.65567262e-05 9.99996371e-01 4.46018223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89401273899998 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:165.84, Y:78.39, Z:0.45 [[ 5.50257805e-01 -8.34993613e-01 -1.41963318e-03 1.65835082e+02] [ 8.34990477e-01 5.50259631e-01 -2.28959239e-03 7.83856585e+01] [ 2.69296185e-03 7.44858977e-05 9.99996371e-01 4.47378273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92401273899998 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:165.84, Y:78.41, Z:0.45 [[ 5.54004305e-01 -8.32512592e-01 -1.41909616e-03 1.65841423e+02] [ 8.32509447e-01 5.54006116e-01 -2.28992518e-03 7.84126204e+01] [ 2.69257950e-03 8.72174450e-05 9.99996371e-01 4.48455550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95401273899998 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:165.85, Y:78.44, Z:0.45 [[ 5.55208093e-01 -8.31710263e-01 -1.41856157e-03 1.65851621e+02] [ 8.31707115e-01 5.55209897e-01 -2.29025630e-03 7.84376992e+01] [ 2.69242909e-03 9.17410850e-05 9.99996371e-01 4.48584067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98401273899998 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:165.86, Y:78.46, Z:0.45 [[ 5.55971804e-01 -8.31199941e-01 -1.41803002e-03 1.65861603e+02] [ 8.31196790e-01 5.55973605e-01 -2.29058537e-03 7.84627670e+01] [ 2.69232168e-03 9.48388833e-05 9.99996371e-01 4.49038656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01401273899998 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:165.86, Y:78.49, Z:0.45 [[ 5.56685372e-01 -8.30722208e-01 -1.41750027e-03 1.65864219e+02] [ 8.30719055e-01 5.56687168e-01 -2.29091315e-03 7.84915025e+01] [ 2.69221664e-03 9.77733582e-05 9.99996371e-01 4.47193114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04401273899998 meters Centerline goodness : 0.996007 Centerline is valid? [True, True] Translation: X:165.87, Y:78.52, Z:0.45 [[ 5.56324619e-01 -8.30963845e-01 -1.41700097e-03 1.65871770e+02] [ 8.30960691e-01 5.56326415e-01 -2.29122194e-03 7.85182992e+01] [ 2.69223766e-03 9.71910621e-05 9.99996371e-01 4.45640080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07401273899998 meters Centerline goodness : 0.995804 Centerline is valid? [True, True] Translation: X:165.88, Y:78.55, Z:0.44 [[ 5.54157659e-01 -8.32410525e-01 -1.41647728e-03 1.65876430e+02] [ 8.32407376e-01 5.54159462e-01 -2.29154565e-03 7.85467801e+01] [ 2.69246101e-03 9.07914321e-05 9.99996371e-01 4.44759845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10401273899998 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:165.89, Y:78.57, Z:0.45 [[ 5.52299021e-01 -8.33644881e-01 -1.41598392e-03 1.65885827e+02] [ 8.33641735e-01 5.52300829e-01 -2.29185046e-03 7.85713946e+01] [ 2.69263850e-03 8.53634740e-05 9.99996371e-01 4.47222681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13401273899999 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:165.89, Y:78.60, Z:0.45 [[ 5.50378036e-01 -8.34914375e-01 -1.41546411e-03 1.65893827e+02] [ 8.34911233e-01 5.50379850e-01 -2.29217146e-03 7.85966061e+01] [ 2.69280983e-03 7.97739397e-05 9.99996371e-01 4.49368362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.164012739 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:165.90, Y:78.62, Z:0.45 [[ 5.46440943e-01 -8.37496444e-01 -1.41492018e-03 1.65895691e+02] [ 8.37493309e-01 5.46442771e-01 -2.29250717e-03 7.86248818e+01] [ 2.69313951e-03 6.77335974e-05 9.99996371e-01 4.49309992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.194012739 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:165.91, Y:78.65, Z:0.45 [[ 5.46252557e-01 -8.37619331e-01 -1.41440554e-03 1.65909504e+02] [ 8.37616195e-01 5.46254384e-01 -2.29282464e-03 7.86478428e+01] [ 2.69313947e-03 6.77323406e-05 9.99996371e-01 4.49382227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.224012739 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:165.92, Y:78.67, Z:0.45 [[ 5.44286634e-01 -8.38898123e-01 -1.41388976e-03 1.65918633e+02] [ 8.38894991e-01 5.44288467e-01 -2.29314266e-03 7.86733928e+01] [ 2.69327696e-03 6.20218648e-05 9.99996371e-01 4.48241314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.254012739 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:165.92, Y:78.70, Z:0.44 [[ 5.39982213e-01 -8.41675241e-01 -1.41337576e-03 1.65924808e+02] [ 8.41672118e-01 5.39984061e-01 -2.29345942e-03 7.87011014e+01] [ 2.69354839e-03 4.88283204e-05 9.99996371e-01 4.44562225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.284012739 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:165.93, Y:78.73, Z:0.45 [[ 5.37316568e-01 -8.43379458e-01 -1.41287862e-03 1.65934515e+02] [ 8.43376340e-01 5.37318424e-01 -2.29376564e-03 7.87260702e+01] [ 2.69368053e-03 4.08898781e-05 9.99996371e-01 4.45136479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.314012739 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:165.94, Y:78.75, Z:0.45 [[ 5.30387259e-01 -8.47754304e-01 -1.41235961e-03 1.65942261e+02] [ 8.47751200e-01 5.30389139e-01 -2.29408517e-03 7.87506438e+01] [ 2.69392077e-03 1.94239952e-05 9.99996371e-01 4.46163372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.344012739 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:165.95, Y:78.77, Z:0.45 [[ 5.26266079e-01 -8.50318776e-01 -1.41195515e-03 1.65954820e+02] [ 8.50315681e-01 5.26267973e-01 -2.29433407e-03 7.87736629e+01] [ 2.69398212e-03 6.82258806e-06 9.99996371e-01 4.46345699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.374012739 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:165.97, Y:78.80, Z:0.44 [[ 5.19963174e-01 -8.54187512e-01 -1.41145344e-03 1.65966960e+02] [ 8.54184430e-01 5.19965089e-01 -2.29464268e-03 7.87985008e+01] [ 2.69396164e-03 -1.25118613e-05 9.99996371e-01 4.44345732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.404012739 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:165.98, Y:78.82, Z:0.44 [[ 5.17801075e-01 -8.55499886e-01 -1.41095778e-03 1.65978575e+02] [ 8.55496808e-01 5.17802997e-01 -2.29494742e-03 7.88227844e+01] [ 2.69392542e-03 -1.87436341e-05 9.99996371e-01 4.44944485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43401273899997 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:165.99, Y:78.85, Z:0.46 [[ 5.16530575e-01 -8.56267584e-01 -1.41046593e-03 1.65989277e+02] [ 8.56264508e-01 5.16532500e-01 -2.29524967e-03 7.88465875e+01] [ 2.69389938e-03 -2.21652868e-05 9.99996371e-01 4.55735233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46401273899997 meters Centerline goodness : 0.995928 Centerline is valid? [True, True] Translation: X:166.00, Y:78.87, Z:0.45 [[ 5.15468218e-01 -8.56907538e-01 -1.40995172e-03 1.66000033e+02] [ 8.56904463e-01 5.15470146e-01 -2.29556550e-03 7.88722916e+01] [ 2.69387540e-03 -2.49028699e-05 9.99996371e-01 4.47959747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49401273899997 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:166.01, Y:78.90, Z:0.45 [[ 5.15698901e-01 -8.56768730e-01 -1.40947450e-03 1.66012487e+02] [ 8.56765654e-01 5.15700827e-01 -2.29585847e-03 7.88959477e+01] [ 2.69388692e-03 -2.36176537e-05 9.99996371e-01 4.48921623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52401273899997 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:166.02, Y:78.92, Z:0.45 [[ 5.17730948e-01 -8.55542331e-01 -1.40898344e-03 1.66023050e+02] [ 8.55539250e-01 5.17732865e-01 -2.29615980e-03 7.89202504e+01] [ 2.69393894e-03 -1.66476493e-05 9.99996371e-01 4.48150458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55401273899997 meters Centerline goodness : 0.995550 Centerline is valid? [True, True] Translation: X:166.04, Y:78.94, Z:0.45 [[ 5.18291786e-01 -8.55202690e-01 -1.40846792e-03 1.66035017e+02] [ 8.55199606e-01 5.18293700e-01 -2.29647598e-03 7.89446053e+01] [ 2.69395248e-03 -1.42765767e-05 9.99996371e-01 4.46490437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58401273899997 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:166.05, Y:78.97, Z:0.45 [[ 5.18293940e-01 -8.55201385e-01 -1.40798088e-03 1.66047123e+02] [ 8.55198301e-01 5.18295852e-01 -2.29677455e-03 7.89692985e+01] [ 2.69395542e-03 -1.36985312e-05 9.99996371e-01 4.45109806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61401273899997 meters Centerline goodness : 0.995456 Centerline is valid? [True, True] Translation: X:166.06, Y:78.99, Z:0.45 [[ 5.17629875e-01 -8.55603490e-01 -1.40747389e-03 1.66057442e+02] [ 8.55600406e-01 5.17631788e-01 -2.29708519e-03 7.89933058e+01] [ 2.69394733e-03 -1.51953085e-05 9.99996371e-01 4.45635578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64401273899998 meters Centerline goodness : 0.996217 Centerline is valid? [True, True] Translation: X:166.07, Y:79.02, Z:0.45 [[ 5.16592659e-01 -8.56230136e-01 -1.40708130e-03 1.66069899e+02] [ 8.56227054e-01 5.16594575e-01 -2.29732565e-03 7.90165244e+01] [ 2.69393002e-03 -1.79995150e-05 9.99996371e-01 4.47224791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67401273899998 meters Centerline goodness : 0.995974 Centerline is valid? [True, True] Translation: X:166.08, Y:79.04, Z:0.45 [[ 5.14111356e-01 -8.57722295e-01 -1.40657004e-03 1.66081908e+02] [ 8.57719218e-01 5.14113280e-01 -2.29763863e-03 7.90395321e+01] [ 2.69387222e-03 -2.52000439e-05 9.99996371e-01 4.47203260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70401273899998 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:166.10, Y:79.06, Z:0.45 [[ 5.12515350e-01 -8.58676912e-01 -1.40619718e-03 1.66095176e+02] [ 8.58673838e-01 5.12517278e-01 -2.29786680e-03 7.90617558e+01] [ 2.69382552e-03 -2.97727245e-05 9.99996371e-01 4.47195472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73401273899998 meters Centerline goodness : 0.996403 Centerline is valid? [True, True] Translation: X:166.11, Y:79.08, Z:0.45 [[ 5.10683664e-01 -8.59767538e-01 -1.40568010e-03 1.66109414e+02] [ 8.59764467e-01 5.10685597e-01 -2.29818307e-03 7.90847127e+01] [ 2.69376379e-03 -3.49092531e-05 9.99996371e-01 4.47133845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76401273899998 meters Centerline goodness : 0.995807 Centerline is valid? [True, True] Translation: X:166.12, Y:79.11, Z:0.45 [[ 5.06378753e-01 -8.62310028e-01 -1.40520452e-03 1.66124961e+02] [ 8.62306966e-01 5.06380701e-01 -2.29847383e-03 7.91064224e+01] [ 2.69356548e-03 -4.78193340e-05 9.99996371e-01 4.47454111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79401273899998 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:166.14, Y:79.13, Z:0.45 [[ 5.04013889e-01 -8.63694406e-01 -1.40472686e-03 1.66140110e+02] [ 8.63691348e-01 5.04015844e-01 -2.29876572e-03 7.91280276e+01] [ 2.69343568e-03 -5.46405881e-05 9.99996371e-01 4.46468413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82401273899998 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:166.16, Y:79.15, Z:0.45 [[ 5.01186023e-01 -8.65338430e-01 -1.40422525e-03 1.66155684e+02] [ 8.65335378e-01 5.01187986e-01 -2.29907209e-03 7.91496370e+01] [ 2.69325626e-03 -6.28629872e-05 9.99996371e-01 4.45505058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85401273899998 meters Centerline goodness : 0.995505 Centerline is valid? [True, True] Translation: X:166.17, Y:79.17, Z:0.45 [[ 4.95596601e-01 -8.68551690e-01 -1.40372896e-03 1.66174332e+02] [ 8.68548650e-01 4.95598583e-01 -2.29937507e-03 7.91697406e+01] [ 2.69281218e-03 -7.96444276e-05 9.99996371e-01 4.45957098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88401273899999 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:166.19, Y:79.19, Z:0.45 [[ 4.93327984e-01 -8.69842245e-01 -1.40324968e-03 1.66190995e+02] [ 8.69839209e-01 4.93329972e-01 -2.29966752e-03 7.91912611e+01] [ 2.69261309e-03 -8.61112516e-05 9.99996371e-01 4.46509196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.914012739 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:166.21, Y:79.21, Z:0.45 [[ 4.89865305e-01 -8.71797003e-01 -1.40276563e-03 1.66211506e+02] [ 8.71793975e-01 4.89867304e-01 -2.29996275e-03 7.92099123e+01] [ 2.69226965e-03 -9.62506708e-05 9.99996371e-01 4.46489259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.944012739 meters Centerline goodness : 0.995926 Centerline is valid? [True, True] Translation: X:166.23, Y:79.23, Z:0.44 [[ 4.88155914e-01 -8.72755314e-01 -1.40225778e-03 1.66229163e+02] [ 8.72752288e-01 4.88157918e-01 -2.30027234e-03 7.92305554e+01] [ 2.69209814e-03 -1.00932142e-04 9.99996371e-01 4.44683594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.974012739 meters Centerline goodness : 0.995470 Centerline is valid? [True, True] Translation: X:166.25, Y:79.25, Z:0.44 [[ 4.86682393e-01 -8.73577864e-01 -1.40178017e-03 1.66247686e+02] [ 8.73574841e-01 4.86684400e-01 -2.30056335e-03 7.92515091e+01] [ 2.69194576e-03 -1.04916211e-04 9.99996371e-01 4.42343175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.004012739 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:166.27, Y:79.27, Z:0.44 [[ 4.83813081e-01 -8.75170234e-01 -1.40130342e-03 1.66271509e+02] [ 8.75167217e-01 4.83815097e-01 -2.30085371e-03 7.92682842e+01] [ 2.69161043e-03 -1.13191693e-04 9.99996371e-01 4.41032757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.034012739 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:166.29, Y:79.29, Z:0.44 [[ 4.82606337e-01 -8.75836264e-01 -1.40082561e-03 1.66291103e+02] [ 8.75833248e-01 4.82608356e-01 -2.30114458e-03 7.92886128e+01] [ 2.69147602e-03 -1.16342685e-04 9.99996371e-01 4.42828040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.064012739 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:166.32, Y:79.30, Z:0.45 [[ 4.81923423e-01 -8.76212220e-01 -1.40034124e-03 1.66315307e+02] [ 8.76209205e-01 4.81925443e-01 -2.30143930e-03 7.93048766e+01] [ 2.69140931e-03 -1.17874386e-04 9.99996371e-01 4.46586215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.094012739 meters Centerline goodness : 0.990061 Centerline is valid? [True, True] Translation: X:166.33, Y:79.32, Z:0.46 [[ 4.81726900e-01 -8.76320281e-01 -1.39983162e-03 1.66332950e+02] [ 8.76317266e-01 4.81728920e-01 -2.30174923e-03 7.93247732e+01] [ 2.69140891e-03 -1.17882096e-04 9.99996371e-01 4.57245204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.124012739 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:166.35, Y:79.34, Z:0.45 [[ 4.81700822e-01 -8.76334616e-01 -1.39931053e-03 1.66352407e+02] [ 8.76331600e-01 4.81702841e-01 -2.30206597e-03 7.93449260e+01] [ 2.69143196e-03 -1.17352963e-04 9.99996371e-01 4.46001020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.154012739 meters Centerline goodness : 0.996417 Centerline is valid? [True, True] Translation: X:166.38, Y:79.36, Z:0.44 [[ 4.82300580e-01 -8.76004677e-01 -1.39883009e-03 1.66376109e+02] [ 8.76001659e-01 4.82302594e-01 -2.30235787e-03 7.93610105e+01] [ 2.69153565e-03 -1.14948943e-04 9.99996371e-01 4.43296720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18401273899997 meters Centerline goodness : 0.989951 Centerline is valid? [True, True] Translation: X:166.39, Y:79.38, Z:0.46 [[ 4.82864744e-01 -8.75693830e-01 -1.39829373e-03 1.66394127e+02] [ 8.75690810e-01 4.82866755e-01 -2.30268358e-03 7.93794529e+01] [ 2.69163536e-03 -1.12588253e-04 9.99996371e-01 4.55263984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21401273899997 meters Centerline goodness : 0.996245 Centerline is valid? [True, True] Translation: X:166.42, Y:79.39, Z:0.44 [[ 4.83125068e-01 -8.75550235e-01 -1.39786617e-03 1.66416821e+02] [ 8.75547214e-01 4.83127078e-01 -2.30294310e-03 7.93948827e+01] [ 2.69168937e-03 -1.11288284e-04 9.99996371e-01 4.44537536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24401273899997 meters Centerline goodness : 0.996131 Centerline is valid? [True, True] Translation: X:166.43, Y:79.41, Z:0.44 [[ 4.83362117e-01 -8.75419392e-01 -1.39731843e-03 1.66434402e+02] [ 8.75416369e-01 4.83364124e-01 -2.30327539e-03 7.94143619e+01] [ 2.69174554e-03 -1.09919357e-04 9.99996371e-01 4.44476487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27401273899997 meters Centerline goodness : 0.995971 Centerline is valid? [True, True] Translation: X:166.45, Y:79.43, Z:0.44 [[ 4.83983053e-01 -8.75076256e-01 -1.39677967e-03 1.66452787e+02] [ 8.75073230e-01 4.83985057e-01 -2.30360207e-03 7.94343134e+01] [ 2.69184796e-03 -1.07380138e-04 9.99996371e-01 4.44342063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30401273899997 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:166.47, Y:79.45, Z:0.44 [[ 4.85518222e-01 -8.74225432e-01 -1.39625807e-03 1.66474954e+02] [ 8.74222402e-01 4.85520219e-01 -2.30391818e-03 7.94504295e+01] [ 2.69205539e-03 -1.02045826e-04 9.99996371e-01 4.44969740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33401273899997 meters Centerline goodness : 0.995891 Centerline is valid? [True, True] Translation: X:166.49, Y:79.47, Z:0.45 [[ 4.86561736e-01 -8.73645082e-01 -1.39571256e-03 1.66492434e+02] [ 8.73642049e-01 4.86563728e-01 -2.30424860e-03 7.94700665e+01] [ 2.69219856e-03 -9.81939840e-05 9.99996371e-01 4.46783156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36401273899997 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:166.51, Y:79.49, Z:0.45 [[ 4.89337987e-01 -8.72093108e-01 -1.39519017e-03 1.66514941e+02] [ 8.72090067e-01 4.89339968e-01 -2.30456486e-03 7.94874400e+01] [ 2.69251744e-03 -8.90203658e-05 9.99996371e-01 4.49879468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39401273899998 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:166.53, Y:79.51, Z:0.45 [[ 4.91067763e-01 -8.71120260e-01 -1.39465130e-03 1.66531978e+02] [ 8.71117214e-01 4.91069737e-01 -2.30489092e-03 7.95065449e+01] [ 2.69270822e-03 -8.30471288e-05 9.99996371e-01 4.51626574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42401273899998 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:166.55, Y:79.53, Z:0.45 [[ 4.93677557e-01 -8.69643908e-01 -1.39408720e-03 1.66548892e+02] [ 8.69640856e-01 4.93679520e-01 -2.30523206e-03 7.95270654e+01] [ 2.69296331e-03 -7.43138587e-05 9.99996371e-01 4.50194834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45401273899998 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:166.57, Y:79.55, Z:0.45 [[ 5.00474609e-01 -8.65750093e-01 -1.39365115e-03 1.66566452e+02] [ 8.65747025e-01 5.00476547e-01 -2.30549565e-03 7.95461220e+01] [ 2.69347278e-03 -5.27073020e-05 9.99996371e-01 4.46602969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48401273899998 meters Centerline goodness : 0.995679 Centerline is valid? [True, True] Translation: X:166.58, Y:79.57, Z:0.44 [[ 5.03787754e-01 -8.63826347e-01 -1.39321729e-03 1.66581625e+02] [ 8.63823271e-01 5.03789679e-01 -2.30575780e-03 7.95668367e+01] [ 2.69366283e-03 -4.18809773e-05 9.99996371e-01 4.43873745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51401273899998 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:166.60, Y:79.59, Z:0.44 [[ 5.09296183e-01 -8.60590180e-01 -1.39278572e-03 1.66598705e+02] [ 8.60587091e-01 5.09298087e-01 -2.30601846e-03 7.95873471e+01] [ 2.69387994e-03 -2.41670072e-05 9.99996371e-01 4.42353695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54401273899998 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:166.61, Y:79.61, Z:0.44 [[ 5.11300248e-01 -8.59401023e-01 -1.39227692e-03 1.66612810e+02] [ 8.59397928e-01 5.11302143e-01 -2.30632561e-03 7.96090956e+01] [ 2.69393276e-03 -1.72950434e-05 9.99996371e-01 4.42180940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57401273899998 meters Centerline goodness : 0.996252 Centerline is valid? [True, True] Translation: X:166.63, Y:79.63, Z:0.44 [[ 5.14819071e-01 -8.57297724e-01 -1.39174106e-03 1.66626157e+02] [ 8.57294621e-01 5.14820952e-01 -2.30664892e-03 7.96300861e+01] [ 2.69398233e-03 -5.62527171e-06 9.99996371e-01 4.42193136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60401273899998 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:166.64, Y:79.65, Z:0.44 [[ 5.16414893e-01 -8.56337389e-01 -1.39131390e-03 1.66639827e+02] [ 8.56334281e-01 5.16416767e-01 -2.30690655e-03 7.96530521e+01] [ 2.69398816e-03 -1.08892545e-07 9.99996371e-01 4.43559666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63401273899999 meters Centerline goodness : 0.996202 Centerline is valid? [True, True] Translation: X:166.65, Y:79.67, Z:0.44 [[ 5.17819311e-01 -8.55488882e-01 -1.39078216e-03 1.66652460e+02] [ 8.55485771e-01 5.17821179e-01 -2.30722708e-03 7.96746311e+01] [ 2.69398357e-03 4.93238765e-06 9.99996371e-01 4.44904985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.664012739 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:166.66, Y:79.70, Z:0.45 [[ 5.19377185e-01 -8.54543976e-01 -1.39022455e-03 1.66664434e+02] [ 8.54540860e-01 5.19379046e-01 -2.30756302e-03 7.96983882e+01] [ 2.69396758e-03 1.04919058e-05 9.99996371e-01 4.45921117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.694012739 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:166.68, Y:79.72, Z:0.44 [[ 5.19485100e-01 -8.54478379e-01 -1.38969219e-03 1.66676536e+02] [ 8.54475262e-01 5.19486959e-01 -2.30788358e-03 7.97215695e+01] [ 2.69396359e-03 1.14535381e-05 9.99996371e-01 4.44807872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.724012739 meters Centerline goodness : 0.995686 Centerline is valid? [True, True] Translation: X:166.69, Y:79.74, Z:0.44 [[ 5.19415163e-01 -8.54520895e-01 -1.38916191e-03 1.66688529e+02] [ 8.54517777e-01 5.19417020e-01 -2.30820272e-03 7.97436990e+01] [ 2.69396179e-03 1.18519418e-05 9.99996371e-01 4.44118802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.754012739 meters Centerline goodness : 0.995952 Centerline is valid? [True, True] Translation: X:166.70, Y:79.77, Z:0.45 [[ 5.19283038e-01 -8.54601192e-01 -1.38860602e-03 1.66702061e+02] [ 8.54598074e-01 5.19284895e-01 -2.30853710e-03 7.97658351e+01] [ 2.69396069e-03 1.20841271e-05 9.99996371e-01 4.45259985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.784012739 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:166.72, Y:79.79, Z:0.45 [[ 5.19219771e-01 -8.54639633e-01 -1.38805619e-03 1.66715624e+02] [ 8.54636514e-01 5.19221626e-01 -2.30886764e-03 7.97882070e+01] [ 2.69395859e-03 1.25262242e-05 9.99996371e-01 4.47169840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.814012739 meters Centerline goodness : 0.995768 Centerline is valid? [True, True] Translation: X:166.73, Y:79.81, Z:0.45 [[ 5.20690001e-01 -8.53744691e-01 -1.38750265e-03 1.66728250e+02] [ 8.53741568e-01 5.20691850e-01 -2.30920024e-03 7.98097203e+01] [ 2.69392877e-03 1.78087843e-05 9.99996371e-01 4.48808519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.844012739 meters Centerline goodness : 0.995719 Centerline is valid? [True, True] Translation: X:166.74, Y:79.83, Z:0.45 [[ 5.21949433e-01 -8.52975302e-01 -1.38692527e-03 1.66740788e+02] [ 8.52972176e-01 5.21951275e-01 -2.30954697e-03 7.98330527e+01] [ 2.69389394e-03 2.24580620e-05 9.99996371e-01 4.48861206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.874012739 meters Centerline goodness : 0.995265 Centerline is valid? [True, True] Translation: X:166.75, Y:79.86, Z:0.45 [[ 5.23186725e-01 -8.52216950e-01 -1.38637889e-03 1.66752533e+02] [ 8.52213820e-01 5.23188561e-01 -2.30987490e-03 7.98564039e+01] [ 2.69385212e-03 2.70046342e-05 9.99996371e-01 4.49776664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.904012739 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:166.76, Y:79.88, Z:0.45 [[ 5.25491852e-01 -8.50797504e-01 -1.38583489e-03 1.66762720e+02] [ 8.50794369e-01 5.25493678e-01 -2.31020124e-03 7.98796399e+01] [ 2.69376092e-03 3.49314043e-05 9.99996371e-01 4.51060749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93401273899997 meters Centerline goodness : 0.995795 Centerline is valid? [True, True] Translation: X:166.77, Y:79.90, Z:0.45 [[ 5.25906777e-01 -8.50541089e-01 -1.38526595e-03 1.66774490e+02] [ 8.50537951e-01 5.25908600e-01 -2.31054234e-03 7.99031992e+01] [ 2.69373448e-03 3.69086140e-05 9.99996371e-01 4.50719099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96401273899997 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:166.79, Y:79.93, Z:0.45 [[ 5.26338721e-01 -8.50273858e-01 -1.38475662e-03 1.66785699e+02] [ 8.50270719e-01 5.26340541e-01 -2.31084756e-03 7.99254795e+01] [ 2.69370681e-03 3.88705446e-05 9.99996371e-01 4.51259990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99401273899997 meters Centerline goodness : 0.994729 Centerline is valid? [True, True] Translation: X:166.80, Y:79.95, Z:0.45 [[ 5.27109114e-01 -8.49796485e-01 -1.38417300e-03 1.66796657e+02] [ 8.49793343e-01 5.27110929e-01 -2.31119708e-03 7.99495441e+01] [ 2.69365987e-03 4.19920414e-05 9.99996371e-01 4.54219868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02401273899997 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:166.81, Y:79.97, Z:0.46 [[ 5.26895057e-01 -8.49929223e-01 -1.38363831e-03 1.66807938e+02] [ 8.49926081e-01 5.26896872e-01 -2.31151714e-03 7.99725432e+01] [ 2.69366067e-03 4.19366683e-05 9.99996371e-01 4.56150052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05401273899997 meters Centerline goodness : 0.995427 Centerline is valid? [True, True] Translation: X:166.82, Y:80.00, Z:0.45 [[ 5.26285456e-01 -8.50306831e-01 -1.38308005e-03 1.66816295e+02] [ 8.50303689e-01 5.26287272e-01 -2.31185112e-03 7.99981513e+01] [ 2.69368023e-03 4.06555560e-05 9.99996371e-01 4.52206569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08401273899997 meters Centerline goodness : 0.995427 Centerline is valid? [True, True] Translation: X:166.83, Y:80.02, Z:0.45 [[ 5.26083686e-01 -8.50431681e-01 -1.38253351e-03 1.66829817e+02] [ 8.50428539e-01 5.26085501e-01 -2.31217792e-03 8.00213079e+01] [ 2.69368019e-03 4.06531264e-05 9.99996371e-01 4.52278804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11401273899997 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:166.84, Y:80.05, Z:0.45 [[ 5.25504353e-01 -8.50789789e-01 -1.38198482e-03 1.66839453e+02] [ 8.50786647e-01 5.25506169e-01 -2.31250583e-03 8.00453856e+01] [ 2.69369789e-03 3.94576512e-05 9.99996371e-01 4.52097543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14401273899998 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:166.85, Y:80.07, Z:0.45 [[ 5.24897828e-01 -8.51164122e-01 -1.38141171e-03 1.66845645e+02] [ 8.51160980e-01 5.24899644e-01 -2.31284813e-03 8.00706781e+01] [ 2.69371586e-03 3.82052130e-05 9.99996371e-01 4.51009795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17401273899998 meters Centerline goodness : 0.995573 Centerline is valid? [True, True] Translation: X:166.86, Y:80.10, Z:0.45 [[ 5.24344357e-01 -8.51505190e-01 -1.38084556e-03 1.66855762e+02] [ 8.51502049e-01 5.24346174e-01 -2.31318609e-03 8.00953729e+01] [ 2.69373105e-03 3.71132496e-05 9.99996371e-01 4.49885026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20401273899998 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:166.86, Y:80.12, Z:0.45 [[ 5.23278698e-01 -8.52160489e-01 -1.38030475e-03 1.66864534e+02] [ 8.52157349e-01 5.23280517e-01 -2.31350875e-03 8.01191705e+01] [ 2.69376733e-03 3.43730080e-05 9.99996371e-01 4.49456909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23401273899998 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:166.87, Y:80.14, Z:0.45 [[ 5.21680202e-01 -8.53140002e-01 -1.37973966e-03 1.66874162e+02] [ 8.53136865e-01 5.21682026e-01 -2.31384571e-03 8.01441859e+01] [ 2.69381972e-03 2.99807321e-05 9.99996371e-01 4.49021625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26401273899998 meters Centerline goodness : 0.996396 Centerline is valid? [True, True] Translation: X:166.88, Y:80.17, Z:0.45 [[ 5.16185015e-01 -8.56475994e-01 -1.37922932e-03 1.66883631e+02] [ 8.56472868e-01 5.16186857e-01 -2.31414988e-03 8.01691143e+01] [ 2.69395386e-03 1.32569970e-05 9.99996371e-01 4.49443479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29401273899998 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:166.90, Y:80.19, Z:0.45 [[ 5.12039897e-01 -8.58960560e-01 -1.37869127e-03 1.66896020e+02] [ 8.58957442e-01 5.12041753e-01 -2.31447038e-03 8.01906836e+01] [ 2.69398627e-03 8.64048802e-07 9.99996371e-01 4.49736769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32401273899998 meters Centerline goodness : 0.996023 Centerline is valid? [True, True] Translation: X:166.91, Y:80.21, Z:0.45 [[ 5.03577800e-01 -8.63948783e-01 -1.37813209e-03 1.66909146e+02] [ 8.63945682e-01 5.03579685e-01 -2.31480330e-03 8.02124223e+01] [ 2.69387081e-03 -2.49477138e-05 9.99996371e-01 4.51892245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35401273899998 meters Centerline goodness : 0.991963 Centerline is valid? [True, True] Translation: X:166.92, Y:80.23, Z:0.46 [[ 4.99735659e-01 -8.66176872e-01 -1.37758702e-03 1.66922382e+02] [ 8.66173779e-01 4.99737556e-01 -2.31512763e-03 8.02347986e+01] [ 2.69374198e-03 -3.62779238e-05 9.99996371e-01 4.58763105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38401273899999 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:166.94, Y:80.26, Z:0.45 [[ 4.96527751e-01 -8.68019756e-01 -1.37703005e-03 1.66936186e+02] [ 8.68016669e-01 4.96529659e-01 -2.31545887e-03 8.02558582e+01] [ 2.69360030e-03 -4.55954518e-05 9.99996371e-01 4.52785266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.414012739 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:166.95, Y:80.28, Z:0.45 [[ 4.93415512e-01 -8.69792641e-01 -1.37645077e-03 1.66952881e+02] [ 8.69789560e-01 4.93417429e-01 -2.31580318e-03 8.02771030e+01] [ 2.69343336e-03 -5.45692983e-05 9.99996371e-01 4.50401695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.444012739 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:166.97, Y:80.30, Z:0.45 [[ 4.92674815e-01 -8.70212407e-01 -1.37589900e-03 1.66968009e+02] [ 8.70209327e-01 4.92676733e-01 -2.31613095e-03 8.02990805e+01] [ 2.69339932e-03 -5.62207544e-05 9.99996371e-01 4.49495986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.474012739 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:166.98, Y:80.32, Z:0.45 [[ 4.92318509e-01 -8.70414036e-01 -1.37534787e-03 1.66982704e+02] [ 8.70410956e-01 4.92320426e-01 -2.31645818e-03 8.03195603e+01] [ 2.69338956e-03 -5.66826168e-05 9.99996371e-01 4.50002323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.504012739 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:167.00, Y:80.34, Z:0.45 [[ 4.92546840e-01 -8.70284850e-01 -1.37477077e-03 1.67001797e+02] [ 8.70281768e-01 4.92548756e-01 -2.31680062e-03 8.03375489e+01] [ 2.69341812e-03 -5.53051144e-05 9.99996371e-01 4.53789595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.534012739 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:167.02, Y:80.36, Z:0.45 [[ 4.92398970e-01 -8.70368523e-01 -1.37420174e-03 1.67018711e+02] [ 8.70365440e-01 4.92400885e-01 -2.31713809e-03 8.03574700e+01] [ 2.69342221e-03 -5.51012878e-05 9.99996371e-01 4.54109476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.564012739 meters Centerline goodness : 0.995706 Centerline is valid? [True, True] Translation: X:167.04, Y:80.38, Z:0.45 [[ 4.92074179e-01 -8.70552190e-01 -1.37364113e-03 1.67035570e+02] [ 8.70549107e-01 4.92076093e-01 -2.31747038e-03 8.03784492e+01] [ 2.69341488e-03 -5.54547244e-05 9.99996371e-01 4.53690316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.594012739 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:167.05, Y:80.40, Z:0.45 [[ 4.90442267e-01 -8.71472603e-01 -1.37309267e-03 1.67053354e+02] [ 8.71469523e-01 4.90444185e-01 -2.31779530e-03 8.03976995e+01] [ 2.69332042e-03 -5.98636337e-05 9.99996371e-01 4.53793927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.624012739 meters Centerline goodness : 0.995521 Centerline is valid? [True, True] Translation: X:167.07, Y:80.42, Z:0.45 [[ 4.89224667e-01 -8.72156719e-01 -1.37251918e-03 1.67069222e+02] [ 8.72153640e-01 4.89226588e-01 -2.31813485e-03 8.04185534e+01] [ 2.69324976e-03 -6.29588487e-05 9.99996371e-01 4.52316866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.654012739 meters Centerline goodness : 0.996297 Centerline is valid? [True, True] Translation: X:167.09, Y:80.44, Z:0.45 [[ 4.87897319e-01 -8.72899951e-01 -1.37197204e-03 1.67085586e+02] [ 8.72896874e-01 4.87899243e-01 -2.31845862e-03 8.04394394e+01] [ 2.69316654e-03 -6.64203643e-05 9.99996371e-01 4.50174219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68401273899997 meters Centerline goodness : 0.995621 Centerline is valid? [True, True] Translation: X:167.10, Y:80.46, Z:0.45 [[ 4.87580703e-01 -8.73076845e-01 -1.37142424e-03 1.67104032e+02] [ 8.73073769e-01 4.87582627e-01 -2.31878262e-03 8.04587359e+01] [ 2.69315805e-03 -6.67608681e-05 9.99996371e-01 4.48772397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71401273899997 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:167.12, Y:80.48, Z:0.45 [[ 4.87993152e-01 -8.72846381e-01 -1.37087268e-03 1.67119397e+02] [ 8.72843302e-01 4.87995073e-01 -2.31910866e-03 8.04800580e+01] [ 2.69320471e-03 -6.48478951e-05 9.99996371e-01 4.50061855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74401273899997 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:167.14, Y:80.50, Z:0.45 [[ 4.89669639e-01 -8.71906971e-01 -1.37032263e-03 1.67138392e+02] [ 8.71903888e-01 4.89671553e-01 -2.31943363e-03 8.04979544e+01] [ 2.69333836e-03 -5.90334032e-05 9.99996371e-01 4.53017742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77401273899997 meters Centerline goodness : 0.985128 Centerline is valid? [True, True] Translation: X:167.15, Y:80.52, Z:0.47 [[ 4.90944520e-01 -8.71189763e-01 -1.36975050e-03 1.67154327e+02] [ 8.71186676e-01 4.90946428e-01 -2.31977145e-03 8.05180044e+01] [ 2.69343525e-03 -5.44293032e-05 9.99996371e-01 4.65560345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80401273899997 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:167.17, Y:80.54, Z:0.45 [[ 4.94024965e-01 -8.69446640e-01 -1.36918528e-03 1.67171807e+02] [ 8.69443545e-01 4.94026860e-01 -2.32010501e-03 8.05379463e+01] [ 2.69362181e-03 -4.42395061e-05 9.99996371e-01 4.48751502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83401273899997 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:167.19, Y:80.56, Z:0.45 [[ 4.95793289e-01 -8.68439486e-01 -1.36862328e-03 1.67186519e+02] [ 8.68436387e-01 4.95795177e-01 -2.32043648e-03 8.05585972e+01] [ 2.69371549e-03 -3.81054201e-05 9.99996371e-01 4.46516437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86401273899997 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:167.20, Y:80.58, Z:0.45 [[ 4.97511303e-01 -8.67456415e-01 -1.36817410e-03 1.67201373e+02] [ 8.67453311e-01 4.97513183e-01 -2.32070130e-03 8.05790181e+01] [ 2.69379188e-03 -3.22520295e-05 9.99996371e-01 4.45078053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89401273899998 meters Centerline goodness : 0.996597 Centerline is valid? [True, True] Translation: X:167.22, Y:80.60, Z:0.44 [[ 5.01199210e-01 -8.65330851e-01 -1.36760715e-03 1.67217690e+02] [ 8.65327738e-01 5.01201076e-01 -2.32103536e-03 8.05999624e+01] [ 2.69390968e-03 -2.01273106e-05 9.99996371e-01 4.44938270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92401273899998 meters Centerline goodness : 0.995641 Centerline is valid? [True, True] Translation: X:167.23, Y:80.62, Z:0.45 [[ 5.03427439e-01 -8.64036425e-01 -1.36707516e-03 1.67230617e+02] [ 8.64033307e-01 5.03429295e-01 -2.32134866e-03 8.06223658e+01] [ 2.69395548e-03 -1.25678584e-05 9.99996371e-01 4.46640010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95401273899998 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:167.24, Y:80.65, Z:0.45 [[ 5.07980481e-01 -8.61367499e-01 -1.36493773e-03 1.67244852e+02] [ 8.61364368e-01 5.07982314e-01 -2.32260662e-03 8.06459073e+01] [ 2.69398208e-03 4.13010782e-06 9.99996371e-01 4.48194005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98401273899998 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:167.26, Y:80.67, Z:0.45 [[ 5.09645472e-01 -8.60383418e-01 -1.36607750e-03 1.67258609e+02] [ 8.60380285e-01 5.09647303e-01 -2.32193606e-03 8.06678442e+01] [ 2.69397299e-03 8.01804935e-06 9.99996371e-01 4.48608894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01401273899998 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:167.27, Y:80.69, Z:0.45 [[ 5.11311452e-01 -8.59394400e-01 -1.36551962e-03 1.67272384e+02] [ 8.59391262e-01 5.11313275e-01 -2.32226410e-03 8.06907889e+01] [ 2.69394907e-03 1.38845995e-05 9.99996371e-01 4.49090808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04401273899998 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:167.28, Y:80.71, Z:0.45 [[ 5.12879389e-01 -8.58459591e-01 -1.36497523e-03 1.67284923e+02] [ 8.58456449e-01 5.12881205e-01 -2.32258403e-03 8.07136878e+01] [ 2.69391468e-03 1.94336875e-05 9.99996371e-01 4.49608393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07401273899998 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:167.30, Y:80.74, Z:0.45 [[ 5.16493099e-01 -8.56290264e-01 -1.36443097e-03 1.67295105e+02] [ 8.56287114e-01 5.16494901e-01 -2.32290372e-03 8.07382310e+01] [ 2.69380148e-03 3.14190811e-05 9.99996371e-01 4.50567754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10401273899998 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:167.31, Y:80.76, Z:0.45 [[ 5.18730905e-01 -8.54936478e-01 -1.36612564e-03 1.67306972e+02] [ 8.54933326e-01 5.18732702e-01 -2.32190888e-03 8.07621347e+01] [ 2.69373864e-03 3.64995534e-05 9.99996371e-01 4.49398541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13401273899999 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:167.32, Y:80.79, Z:0.45 [[ 5.23211041e-01 -8.52202059e-01 -1.36316767e-03 1.67316070e+02] [ 8.52198892e-01 5.23212814e-01 -2.32364417e-03 8.07856363e+01] [ 2.69344114e-03 5.40663119e-05 9.99996371e-01 4.49930568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.164012739 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:167.33, Y:80.81, Z:0.45 [[ 5.25092677e-01 -8.51043961e-01 -1.36257426e-03 1.67325582e+02] [ 8.51040790e-01 5.25094442e-01 -2.32399209e-03 8.08091176e+01] [ 2.69329961e-03 6.07049539e-05 9.99996371e-01 4.51514603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.194012739 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:167.34, Y:80.83, Z:0.45 [[ 5.26710370e-01 -8.50043723e-01 -1.36200477e-03 1.67335919e+02] [ 8.50040548e-01 5.26712127e-01 -2.32432580e-03 8.08340639e+01] [ 2.69316299e-03 6.64872247e-05 9.99996371e-01 4.53754838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.224012739 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:167.34, Y:80.86, Z:0.45 [[ 5.29705100e-01 -8.48180790e-01 -1.36145990e-03 1.67344121e+02] [ 8.48177608e-01 5.29706844e-01 -2.32464491e-03 8.08578480e+01] [ 2.69289379e-03 7.66164670e-05 9.99996371e-01 4.53105530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.254012739 meters Centerline goodness : 0.995285 Centerline is valid? [True, True] Translation: X:167.36, Y:80.88, Z:0.45 [[ 5.30139407e-01 -8.47909412e-01 -1.35590538e-03 1.67355600e+02] [ 8.47906221e-01 5.30141134e-01 -2.32789568e-03 8.08833490e+01] [ 2.69266588e-03 8.44286286e-05 9.99996371e-01 4.51398026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.284012739 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:167.36, Y:80.91, Z:0.45 [[ 5.31484198e-01 -8.47067115e-01 -1.36036358e-03 1.67362911e+02] [ 8.47063927e-01 5.31485932e-01 -2.32528750e-03 8.09088364e+01] [ 2.69268868e-03 8.35386427e-05 9.99996371e-01 4.46894965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.314012739 meters Centerline goodness : 0.995735 Centerline is valid? [True, True] Translation: X:167.37, Y:80.93, Z:0.45 [[ 5.31608155e-01 -8.46989327e-01 -1.35979902e-03 1.67372506e+02] [ 8.46986138e-01 5.31609888e-01 -2.32561760e-03 8.09339315e+01] [ 2.69265589e-03 8.45863631e-05 9.99996371e-01 4.46401658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.344012739 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:167.38, Y:80.96, Z:0.45 [[ 5.30780767e-01 -8.47508071e-01 -1.35926664e-03 1.67379969e+02] [ 8.47504883e-01 5.30782501e-01 -2.32592872e-03 8.09601775e+01] [ 2.69271831e-03 8.25731170e-05 9.99996371e-01 4.46405834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.374012739 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:167.39, Y:80.98, Z:0.45 [[ 5.30003849e-01 -8.47994147e-01 -1.35882905e-03 1.67391499e+02] [ 8.47990961e-01 5.30005585e-01 -2.32618434e-03 8.09849121e+01] [ 2.69277769e-03 8.06119023e-05 9.99996371e-01 4.47021104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.404012739 meters Centerline goodness : 0.995896 Centerline is valid? [True, True] Translation: X:167.40, Y:81.01, Z:0.45 [[ 5.28951137e-01 -8.48651194e-01 -1.35831853e-03 1.67402509e+02] [ 8.48648009e-01 5.28952876e-01 -2.32648241e-03 8.10089724e+01] [ 2.69285857e-03 7.78612018e-05 9.99996371e-01 4.47643199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43401273899997 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:167.41, Y:81.03, Z:0.45 [[ 5.27935640e-01 -8.49283296e-01 -1.35778355e-03 1.67413038e+02] [ 8.49280112e-01 5.27937381e-01 -2.32679459e-03 8.10322250e+01] [ 2.69293247e-03 7.52592291e-05 9.99996371e-01 4.47041031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46401273899997 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:167.42, Y:81.06, Z:0.45 [[ 5.26741142e-01 -8.50024663e-01 -1.35720753e-03 1.67421207e+02] [ 8.50021480e-01 5.26742886e-01 -2.32713053e-03 8.10577191e+01] [ 2.69301776e-03 7.21398358e-05 9.99996371e-01 4.46483953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49401273899997 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:167.43, Y:81.08, Z:0.45 [[ 5.26215242e-01 -8.50350327e-01 -1.35666715e-03 1.67431747e+02] [ 8.50347145e-01 5.26216986e-01 -2.32744552e-03 8.10812440e+01] [ 2.69304536e-03 7.10992706e-05 9.99996371e-01 4.47293032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52401273899997 meters Centerline goodness : 0.995733 Centerline is valid? [True, True] Translation: X:167.44, Y:81.11, Z:0.45 [[ 5.24320530e-01 -8.51519902e-01 -1.35610056e-03 1.67440608e+02] [ 8.51516722e-01 5.24322280e-01 -2.32777560e-03 8.11066869e+01] [ 2.69318099e-03 6.57582304e-05 9.99996371e-01 4.50194847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55401273899997 meters Centerline goodness : 0.996408 Centerline is valid? [True, True] Translation: X:167.45, Y:81.13, Z:0.45 [[ 5.22587630e-01 -8.52584501e-01 -1.35555450e-03 1.67451048e+02] [ 8.52581324e-01 5.22589385e-01 -2.32809355e-03 8.11295384e+01] [ 2.69329487e-03 6.09124437e-05 9.99996371e-01 4.50683147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58401273899997 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:167.46, Y:81.15, Z:0.45 [[ 5.20495186e-01 -8.53863529e-01 -1.35498501e-03 1.67463010e+02] [ 8.53860356e-01 5.20496946e-01 -2.32842495e-03 8.11533745e+01] [ 2.69342271e-03 5.49659904e-05 9.99996371e-01 4.50370684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61401273899997 meters Centerline goodness : 0.995797 Centerline is valid? [True, True] Translation: X:167.48, Y:81.18, Z:0.45 [[ 5.16172327e-01 -8.56483680e-01 -1.35444105e-03 1.67476132e+02] [ 8.56480516e-01 5.16174102e-01 -2.32874133e-03 8.11757031e+01] [ 2.69365634e-03 4.19794604e-05 9.99996371e-01 4.50979994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64401273899998 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:167.49, Y:81.20, Z:0.45 [[ 5.14318687e-01 -8.57598073e-01 -1.35388316e-03 1.67489788e+02] [ 8.57594912e-01 5.14320467e-01 -2.32906563e-03 8.11971657e+01] [ 2.69373202e-03 3.67986715e-05 9.99996371e-01 4.53751789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67401273899998 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:167.50, Y:81.22, Z:0.46 [[ 5.12577222e-01 -8.58640065e-01 -1.35329964e-03 1.67503391e+02] [ 8.58636905e-01 5.12579007e-01 -2.32940464e-03 8.12195016e+01] [ 2.69379313e-03 3.20067434e-05 9.99996371e-01 4.56028632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70401273899998 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:167.52, Y:81.24, Z:0.46 [[ 5.10428942e-01 -8.59918872e-01 -1.35275083e-03 1.67515534e+02] [ 8.59915716e-01 5.10430733e-01 -2.32972330e-03 8.12423755e+01] [ 2.69385863e-03 2.59064952e-05 9.99996371e-01 4.56617529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73401273899998 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:167.53, Y:81.26, Z:0.46 [[ 5.09883031e-01 -8.60242679e-01 -1.35219747e-03 1.67526895e+02] [ 8.60239523e-01 5.09884823e-01 -2.33004443e-03 8.12647080e+01] [ 2.69386863e-03 2.48364066e-05 9.99996371e-01 4.55363204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76401273899998 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:167.54, Y:81.29, Z:0.45 [[ 5.10866926e-01 -8.59658744e-01 -1.35161887e-03 1.67538727e+02] [ 8.59655586e-01 5.10868714e-01 -2.33038002e-03 8.12878815e+01] [ 2.69383136e-03 2.85873659e-05 9.99996371e-01 4.51460400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79401273899998 meters Centerline goodness : 0.996276 Centerline is valid? [True, True] Translation: X:167.55, Y:81.31, Z:0.45 [[ 5.11829399e-01 -8.59086050e-01 -1.35106845e-03 1.67550823e+02] [ 8.59082889e-01 5.11831181e-01 -2.33069909e-03 8.13114418e+01] [ 2.69379004e-03 3.22405232e-05 9.99996371e-01 4.49455829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82401273899998 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:167.56, Y:81.34, Z:0.45 [[ 5.12952128e-01 -8.58416152e-01 -1.35051846e-03 1.67561973e+02] [ 8.58412988e-01 5.12953905e-01 -2.33101774e-03 8.13353091e+01] [ 2.69373699e-03 3.63979243e-05 9.99996371e-01 4.48033228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85401273899998 meters Centerline goodness : 0.996839 Centerline is valid? [True, True] Translation: X:167.57, Y:81.36, Z:0.45 [[ 5.14834942e-01 -8.57288260e-01 -1.34996339e-03 1.67572925e+02] [ 8.57285091e-01 5.14836710e-01 -2.33133915e-03 8.13582715e+01] [ 2.69364039e-03 4.29513731e-05 9.99996371e-01 4.46703418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88401273899999 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:167.58, Y:81.38, Z:0.45 [[ 5.17497064e-01 -8.55683918e-01 -1.34938364e-03 1.67583255e+02] [ 8.55680743e-01 5.17498821e-01 -2.33167466e-03 8.13823493e+01] [ 2.69348095e-03 5.19932017e-05 9.99996371e-01 4.47031685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.914012739 meters Centerline goodness : 0.995953 Centerline is valid? [True, True] Translation: X:167.59, Y:81.41, Z:0.45 [[ 5.17711044e-01 -8.55554472e-01 -1.34883676e-03 1.67594296e+02] [ 8.55551296e-01 5.17712799e-01 -2.33199098e-03 8.14054694e+01] [ 2.69345537e-03 5.32984495e-05 9.99996371e-01 4.48159189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.944012739 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:167.60, Y:81.43, Z:0.45 [[ 5.17374608e-01 -8.55757967e-01 -1.34826531e-03 1.67603278e+02] [ 8.55754790e-01 5.17376362e-01 -2.33232133e-03 8.14306650e+01] [ 2.69346315e-03 5.28993361e-05 9.99996371e-01 4.50112058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.974012739 meters Centerline goodness : 0.995797 Centerline is valid? [True, True] Translation: X:167.61, Y:81.45, Z:0.45 [[ 5.16697546e-01 -8.56166941e-01 -1.34770971e-03 1.67614442e+02] [ 8.56163764e-01 5.16699301e-01 -2.33264233e-03 8.14534622e+01] [ 2.69349191e-03 5.14103441e-05 9.99996371e-01 4.49499655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.004012739 meters Centerline goodness : 0.995797 Centerline is valid? [True, True] Translation: X:167.63, Y:81.48, Z:0.45 [[ 5.16496429e-01 -8.56288283e-01 -1.34712930e-03 1.67627599e+02] [ 8.56285107e-01 5.16498183e-01 -2.33297747e-03 8.14768195e+01] [ 2.69349111e-03 5.14477721e-05 9.99996371e-01 4.49571890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.034012739 meters Centerline goodness : 0.996480 Centerline is valid? [True, True] Translation: X:167.64, Y:81.50, Z:0.45 [[ 5.15488557e-01 -8.56895405e-01 -1.34658124e-03 1.67640844e+02] [ 8.56892229e-01 5.15490313e-01 -2.33329377e-03 8.14997892e+01] [ 2.69353829e-03 4.89112335e-05 9.99996371e-01 4.47218460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.064012739 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:167.65, Y:81.52, Z:0.45 [[ 5.15167726e-01 -8.57088328e-01 -1.34602145e-03 1.67654239e+02] [ 8.57085153e-01 5.15169482e-01 -2.33361665e-03 8.15224625e+01] [ 2.69354477e-03 4.85489890e-05 9.99996371e-01 4.46339323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.094012739 meters Centerline goodness : 0.995745 Centerline is valid? [True, True] Translation: X:167.67, Y:81.54, Z:0.45 [[ 5.14887114e-01 -8.57256933e-01 -1.34546157e-03 1.67666552e+02] [ 8.57253758e-01 5.14888869e-01 -2.33393941e-03 8.15442988e+01] [ 2.69354893e-03 4.83133359e-05 9.99996371e-01 4.46426811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.124012739 meters Centerline goodness : 0.995893 Centerline is valid? [True, True] Translation: X:167.68, Y:81.57, Z:0.45 [[ 5.14524794e-01 -8.57474447e-01 -1.34487748e-03 1.67678811e+02] [ 8.57471271e-01 5.14526549e-01 -2.33427593e-03 8.15658717e+01] [ 2.69355713e-03 4.78490394e-05 9.99996371e-01 4.49990226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.154012739 meters Centerline goodness : 0.996087 Centerline is valid? [True, True] Translation: X:167.69, Y:81.59, Z:0.45 [[ 5.14300269e-01 -8.57609134e-01 -1.34430418e-03 1.67692407e+02] [ 8.57605958e-01 5.14302023e-01 -2.33460604e-03 8.15885095e+01] [ 2.69355783e-03 4.78052379e-05 9.99996371e-01 4.52645111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18401273899997 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:167.71, Y:81.61, Z:0.45 [[ 5.14385708e-01 -8.57557892e-01 -1.34376360e-03 1.67706176e+02] [ 8.57554715e-01 5.14387461e-01 -2.33491715e-03 8.16111416e+01] [ 2.69354178e-03 4.86971993e-05 9.99996371e-01 4.53527452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21401273899997 meters Centerline goodness : 0.996634 Centerline is valid? [True, True] Translation: X:167.72, Y:81.63, Z:0.45 [[ 5.16424908e-01 -8.56331426e-01 -1.34320688e-03 1.67719604e+02] [ 8.56328243e-01 5.16426651e-01 -2.33523737e-03 8.16338375e+01] [ 2.69340498e-03 5.57487536e-05 9.99996371e-01 4.53173318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24401273899997 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:167.73, Y:81.66, Z:0.45 [[ 5.18146386e-01 -8.55290898e-01 -1.34264529e-03 1.67732647e+02] [ 8.55287711e-01 5.18148122e-01 -2.33556021e-03 8.16579069e+01] [ 2.69327253e-03 6.18140667e-05 9.99996371e-01 4.52325596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27401273899997 meters Centerline goodness : 0.996788 Centerline is valid? [True, True] Translation: X:167.74, Y:81.68, Z:0.45 [[ 5.22809576e-01 -8.52448442e-01 -1.34213233e-03 1.67742805e+02] [ 8.52445245e-01 5.22811293e-01 -2.33585495e-03 8.16820937e+01] [ 2.69287785e-03 7.71130141e-05 9.99996371e-01 4.51055717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30401273899997 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:167.75, Y:81.71, Z:0.45 [[ 5.25479843e-01 -8.50804992e-01 -1.34159499e-03 1.67752237e+02] [ 8.50801789e-01 5.25481549e-01 -2.33616353e-03 8.17056337e+01] [ 2.69260301e-03 8.61754230e-05 9.99996371e-01 4.49083720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33401273899997 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:167.76, Y:81.73, Z:0.45 [[ 5.28352289e-01 -8.49024181e-01 -1.34100958e-03 1.67761036e+02] [ 8.49020972e-01 5.28353982e-01 -2.33649952e-03 8.17297809e+01] [ 2.69227234e-03 9.59496092e-05 9.99996371e-01 4.47370321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36401273899997 meters Centerline goodness : 0.996892 Centerline is valid? [True, True] Translation: X:167.77, Y:81.76, Z:0.45 [[ 5.33402842e-01 -8.45860279e-01 -1.34042960e-03 1.67766627e+02] [ 8.45857058e-01 5.33404514e-01 -2.33683220e-03 8.17574436e+01] [ 2.69162474e-03 1.12661098e-04 9.99996371e-01 4.51454547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39401273899998 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:167.78, Y:81.78, Z:0.45 [[ 5.34920361e-01 -8.44901422e-01 -1.33993060e-03 1.67775193e+02] [ 8.44898198e-01 5.34922026e-01 -2.33711829e-03 8.17826334e+01] [ 2.69139296e-03 1.18067213e-04 9.99996371e-01 4.54355867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42401273899998 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:167.78, Y:81.81, Z:0.46 [[ 5.35320298e-01 -8.44648083e-01 -1.33940702e-03 1.67777678e+02] [ 8.44644858e-01 5.35321960e-01 -2.33741832e-03 8.18099914e+01] [ 2.69130989e-03 1.19944222e-04 9.99996371e-01 4.56374552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45401273899998 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:167.78, Y:81.83, Z:0.46 [[ 5.33591137e-01 -8.45741512e-01 -1.33885464e-03 1.67784765e+02] [ 8.45738289e-01 5.33592805e-01 -2.33773468e-03 8.18348968e+01] [ 2.69152246e-03 1.15073876e-04 9.99996371e-01 4.55175084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48401273899998 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:167.79, Y:81.86, Z:0.45 [[ 5.30792217e-01 -8.47500933e-01 -1.33830716e-03 1.67792943e+02] [ 8.47497714e-01 5.30793894e-01 -2.33804806e-03 8.18602110e+01] [ 2.69186318e-03 1.06805455e-04 9.99996371e-01 4.53844677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51401273899998 meters Centerline goodness : 0.995825 Centerline is valid? [True, True] Translation: X:167.80, Y:81.89, Z:0.45 [[ 5.26875856e-01 -8.49941199e-01 -1.33776568e-03 1.67802027e+02] [ 8.49937988e-01 5.26877546e-01 -2.33835783e-03 8.18860756e+01] [ 2.69230536e-03 9.50064165e-05 9.99996371e-01 4.52780830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54401273899998 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:167.81, Y:81.91, Z:0.45 [[ 5.18665344e-01 -8.54976299e-01 -1.33729750e-03 1.67806365e+02] [ 8.54973104e-01 5.18667064e-01 -2.33862555e-03 8.19126518e+01] [ 2.69308159e-03 6.96106338e-05 9.99996371e-01 4.52545336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57401273899998 meters Centerline goodness : 0.995829 Centerline is valid? [True, True] Translation: X:167.81, Y:81.94, Z:0.45 [[ 5.12381523e-01 -8.58756886e-01 -1.33671875e-03 1.67812503e+02] [ 8.58753702e-01 5.12383264e-01 -2.33895631e-03 8.19406191e+01] [ 2.69350715e-03 5.05258237e-05 9.99996371e-01 4.52127055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60401273899998 meters Centerline goodness : 0.996347 Centerline is valid? [True, True] Translation: X:167.82, Y:81.96, Z:0.45 [[ 5.09717458e-01 -8.60340820e-01 -1.33621656e-03 1.67821452e+02] [ 8.60337641e-01 5.09719208e-01 -2.33924317e-03 8.19645094e+01] [ 2.69364163e-03 4.27556809e-05 9.99996371e-01 4.50950224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63401273899999 meters Centerline goodness : 0.996397 Centerline is valid? [True, True] Translation: X:167.83, Y:81.99, Z:0.45 [[ 5.07536778e-01 -8.61629059e-01 -1.33563345e-03 1.67831155e+02] [ 8.61625883e-01 5.07538534e-01 -2.33957606e-03 8.19886675e+01] [ 2.69373216e-03 3.66045405e-05 9.99996371e-01 4.48873119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.664012739 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:167.84, Y:82.01, Z:0.45 [[ 5.05670613e-01 -8.62725593e-01 -1.33509180e-03 1.67841907e+02] [ 8.62722420e-01 5.05672374e-01 -2.33988511e-03 8.20136016e+01] [ 2.69379781e-03 3.13975086e-05 9.99996371e-01 4.48449605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.694012739 meters Centerline goodness : 0.993962 Centerline is valid? [True, True] Translation: X:167.85, Y:82.04, Z:0.46 [[ 5.02305662e-01 -8.64689101e-01 -1.33459368e-03 1.67850379e+02] [ 8.64685934e-01 5.02307434e-01 -2.34016919e-03 8.20373554e+01] [ 2.69389512e-03 2.14758532e-05 9.99996371e-01 4.55028866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.724012739 meters Centerline goodness : 0.995846 Centerline is valid? [True, True] Translation: X:167.86, Y:82.06, Z:0.45 [[ 5.00408273e-01 -8.65788531e-01 -1.33401424e-03 1.67861768e+02] [ 8.65785368e-01 5.00410051e-01 -2.34049945e-03 8.20607816e+01] [ 2.69393172e-03 1.62352745e-05 9.99996371e-01 4.52192728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.754012739 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:167.87, Y:82.08, Z:0.45 [[ 4.96177068e-01 -8.68220329e-01 -1.33346892e-03 1.67872403e+02] [ 8.68217173e-01 4.96178860e-01 -2.34081010e-03 8.20848599e+01] [ 2.69397800e-03 3.71567367e-06 9.99996371e-01 4.53221631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.784012739 meters Centerline goodness : 0.996081 Centerline is valid? [True, True] Translation: X:167.88, Y:82.11, Z:0.45 [[ 4.93765419e-01 -8.69594120e-01 -1.33292312e-03 1.67884833e+02] [ 8.69590969e-01 4.93767218e-01 -2.34112085e-03 8.21086082e+01] [ 2.69397867e-03 -3.13339153e-06 9.99996371e-01 4.52012679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.814012739 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:167.90, Y:82.13, Z:0.45 [[ 4.91185923e-01 -8.71053738e-01 -1.33242420e-03 1.67897912e+02] [ 8.71050591e-01 4.91187730e-01 -2.34140478e-03 8.21324635e+01] [ 2.69395980e-03 -1.05438184e-05 9.99996371e-01 4.50067300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.844012739 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:167.91, Y:82.15, Z:0.45 [[ 4.86776846e-01 -8.73525345e-01 -1.33191301e-03 1.67912494e+02] [ 8.73522207e-01 4.86778667e-01 -2.34169553e-03 8.21542700e+01] [ 2.69387724e-03 -2.35724240e-05 9.99996371e-01 4.50969088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.874012739 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:167.93, Y:82.18, Z:0.45 [[ 4.84456805e-01 -8.74814170e-01 -1.33137641e-03 1.67927012e+02] [ 8.74811035e-01 4.84458634e-01 -2.34200057e-03 8.21770213e+01] [ 2.69381209e-03 -3.01046639e-05 9.99996371e-01 4.51924761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.904012739 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:167.94, Y:82.20, Z:0.45 [[ 4.80145788e-01 -8.77187694e-01 -1.33087703e-03 1.67943719e+02] [ 8.77184568e-01 4.80147631e-01 -2.34228432e-03 8.21987127e+01] [ 2.69364044e-03 -4.27868371e-05 9.99996371e-01 4.51551677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93401273899997 meters Centerline goodness : 0.988897 Centerline is valid? [True, True] Translation: X:167.96, Y:82.22, Z:0.46 [[ 4.77859877e-01 -8.78435068e-01 -1.33037559e-03 1.67958446e+02] [ 8.78431946e-01 4.77861726e-01 -2.34256910e-03 8.22197957e+01] [ 2.69353042e-03 -4.92246332e-05 9.99996371e-01 4.62667485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96401273899997 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:167.98, Y:82.24, Z:0.45 [[ 4.74986372e-01 -8.79992147e-01 -1.32985041e-03 1.67978418e+02] [ 8.79989030e-01 4.74988230e-01 -2.34286720e-03 8.22388365e+01] [ 2.69336803e-03 -5.74237788e-05 9.99996371e-01 4.48824996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99401273899997 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:167.99, Y:82.26, Z:0.45 [[ 4.74058203e-01 -8.80492506e-01 -1.32930819e-03 1.67993852e+02] [ 8.80489390e-01 4.74060063e-01 -2.34317480e-03 8.22587526e+01] [ 2.69331978e-03 -5.96405238e-05 9.99996371e-01 4.49007515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02401273899997 meters Centerline goodness : 0.991662 Centerline is valid? [True, True] Translation: X:168.01, Y:82.28, Z:0.46 [[ 4.73854441e-01 -8.80602182e-01 -1.32874318e-03 1.68009543e+02] [ 8.80599066e-01 4.73856300e-01 -2.34349516e-03 8.22798779e+01] [ 2.69332028e-03 -5.96144097e-05 9.99996371e-01 4.59935207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05401273899997 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:168.03, Y:82.30, Z:0.45 [[ 4.74554397e-01 -8.80225176e-01 -1.32820968e-03 1.68026749e+02] [ 8.80222057e-01 4.74556253e-01 -2.34379749e-03 8.23016533e+01] [ 2.69337977e-03 -5.68600506e-05 9.99996371e-01 4.52304707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08401273899997 meters Centerline goodness : 0.996649 Centerline is valid? [True, True] Translation: X:168.05, Y:82.32, Z:0.45 [[ 4.77255806e-01 -8.78763411e-01 -1.32771055e-03 1.68046012e+02] [ 8.78760286e-01 4.77257650e-01 -2.34408020e-03 8.23203413e+01] [ 2.69355193e-03 -4.80134133e-05 9.99996371e-01 4.51548643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11401273899997 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:168.06, Y:82.34, Z:0.45 [[ 4.79199390e-01 -8.77705066e-01 -1.32713130e-03 1.68061997e+02] [ 8.77701936e-01 4.79201226e-01 -2.34440811e-03 8.23421710e+01] [ 2.69366182e-03 -4.13867771e-05 9.99996371e-01 4.50217154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14401273899998 meters Centerline goodness : 0.996961 Centerline is valid? [True, True] Translation: X:168.08, Y:82.36, Z:0.45 [[ 4.84263435e-01 -8.74921234e-01 -1.32662312e-03 1.68078257e+02] [ 8.74918093e-01 4.84265251e-01 -2.34469563e-03 8.23644689e+01] [ 2.69386148e-03 -2.52362105e-05 9.99996371e-01 4.50569066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17401273899998 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:168.09, Y:82.39, Z:0.45 [[ 4.87147936e-01 -8.73318458e-01 -1.32614215e-03 1.68091735e+02] [ 8.73315310e-01 4.87149741e-01 -2.34496763e-03 8.23867592e+01] [ 2.69393332e-03 -1.57941049e-05 9.99996371e-01 4.51422452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20401273899998 meters Centerline goodness : 0.996794 Centerline is valid? [True, True] Translation: X:168.10, Y:82.41, Z:0.45 [[ 4.89508473e-01 -8.71997533e-01 -1.32560442e-03 1.68104831e+02] [ 8.71994379e-01 4.89510268e-01 -2.34527157e-03 8.24087184e+01] [ 2.69396800e-03 -7.88929467e-06 9.99996371e-01 4.52205526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23401273899998 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:168.12, Y:82.43, Z:0.45 [[ 4.93238646e-01 -8.69893029e-01 -1.32503125e-03 1.68118829e+02] [ 8.69889867e-01 4.93240426e-01 -2.34559536e-03 8.24304613e+01] [ 2.69397603e-03 4.30702541e-06 9.99996371e-01 4.53687942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26401273899998 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:168.13, Y:82.45, Z:0.45 [[ 4.94085193e-01 -8.69412485e-01 -1.32448297e-03 1.68131265e+02] [ 8.69409320e-01 4.94086968e-01 -2.34590491e-03 8.24534364e+01] [ 2.69396879e-03 7.55904505e-06 9.99996371e-01 4.52512547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29401273899998 meters Centerline goodness : 0.996581 Centerline is valid? [True, True] Translation: X:168.14, Y:82.48, Z:0.45 [[ 4.94633825e-01 -8.69100470e-01 -1.32392486e-03 1.68143556e+02] [ 8.69097303e-01 4.94635597e-01 -2.34621984e-03 8.24771331e+01] [ 2.69396113e-03 9.90017301e-06 9.99996371e-01 4.50597537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32401273899998 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:168.16, Y:82.50, Z:0.45 [[ 4.95511928e-01 -8.68600125e-01 -1.32336729e-03 1.68156258e+02] [ 8.68596956e-01 4.95513695e-01 -2.34653430e-03 8.24997078e+01] [ 2.69394660e-03 1.32629379e-05 9.99996371e-01 4.49924081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35401273899998 meters Centerline goodness : 0.996398 Centerline is valid? [True, True] Translation: X:168.17, Y:82.52, Z:0.45 [[ 4.95677863e-01 -8.68505444e-01 -1.32281134e-03 1.68167792e+02] [ 8.68502273e-01 4.95679628e-01 -2.34684766e-03 8.25220786e+01] [ 2.69394060e-03 1.44157727e-05 9.99996371e-01 4.52445216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38401273899999 meters Centerline goodness : 0.996463 Centerline is valid? [True, True] Translation: X:168.18, Y:82.55, Z:0.46 [[ 4.96397892e-01 -8.68094111e-01 -1.32223056e-03 1.68177509e+02] [ 8.68090938e-01 4.96399652e-01 -2.34717483e-03 8.25469994e+01] [ 2.69392344e-03 1.73162722e-05 9.99996371e-01 4.56201526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.414012739 meters Centerline goodness : 0.996784 Centerline is valid? [True, True] Translation: X:168.19, Y:82.57, Z:0.46 [[ 4.96980070e-01 -8.67760948e-01 -1.32168260e-03 1.68188365e+02] [ 8.67757773e-01 4.96981827e-01 -2.34748334e-03 8.25694776e+01] [ 2.69390660e-03 1.97520797e-05 9.99996371e-01 4.55908320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.444012739 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:168.20, Y:82.59, Z:0.46 [[ 4.98356789e-01 -8.66971029e-01 -1.32110962e-03 1.68198944e+02] [ 8.66967851e-01 4.98358540e-01 -2.34780576e-03 8.25925557e+01] [ 2.69386583e-03 2.46853728e-05 9.99996371e-01 4.55637284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.474012739 meters Centerline goodness : 0.997240 Centerline is valid? [True, True] Translation: X:168.21, Y:82.62, Z:0.46 [[ 4.98860817e-01 -8.66681107e-01 -1.32054099e-03 1.68210743e+02] [ 8.66677927e-01 4.98862564e-01 -2.34812554e-03 8.26165793e+01] [ 2.69384451e-03 2.69040985e-05 9.99996371e-01 4.55493753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.504012739 meters Centerline goodness : 0.996435 Centerline is valid? [True, True] Translation: X:168.22, Y:82.64, Z:0.46 [[ 4.98975428e-01 -8.66615128e-01 -1.31999957e-03 1.68222187e+02] [ 8.66611946e-01 4.98977173e-01 -2.34842986e-03 8.26408580e+01] [ 2.69383450e-03 2.78813943e-05 9.99996371e-01 4.55798749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.534012739 meters Centerline goodness : 0.996381 Centerline is valid? [True, True] Translation: X:168.23, Y:82.66, Z:0.46 [[ 4.98110716e-01 -8.67112434e-01 -1.31945866e-03 1.68232465e+02] [ 8.67109253e-01 4.98112463e-01 -2.34873373e-03 8.26642470e+01] [ 2.69385503e-03 2.58146239e-05 9.99996371e-01 4.56816571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.564012739 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:168.25, Y:82.69, Z:0.46 [[ 4.96790630e-01 -8.67869420e-01 -1.31889319e-03 1.68245101e+02] [ 8.67866241e-01 4.96792380e-01 -2.34905122e-03 8.26877395e+01] [ 2.69388581e-03 2.23637550e-05 9.99996371e-01 4.57042822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.594012739 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:168.26, Y:82.71, Z:0.46 [[ 4.94191018e-01 -8.69352345e-01 -1.31833270e-03 1.68257649e+02] [ 8.69349171e-01 4.94192776e-01 -2.34936574e-03 8.27120215e+01] [ 2.69393711e-03 1.49440030e-05 9.99996371e-01 4.55413709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.624012739 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:168.27, Y:82.74, Z:0.46 [[ 4.93182431e-01 -8.69924913e-01 -1.31781967e-03 1.68269209e+02] [ 8.69921739e-01 4.93184191e-01 -2.34965347e-03 8.27355502e+01] [ 2.69394992e-03 1.24078264e-05 9.99996371e-01 4.55115735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.654012739 meters Centerline goodness : 0.996185 Centerline is valid? [True, True] Translation: X:168.28, Y:82.76, Z:0.46 [[ 4.92184698e-01 -8.70489798e-01 -1.31725451e-03 1.68280477e+02] [ 8.70486626e-01 4.92186461e-01 -2.34997027e-03 8.27587228e+01] [ 2.69395998e-03 9.96697297e-06 9.99996371e-01 4.55319186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68401273899997 meters Centerline goodness : 0.996354 Centerline is valid? [True, True] Translation: X:168.29, Y:82.78, Z:0.46 [[ 4.90014657e-01 -8.71713199e-01 -1.31666426e-03 1.68291608e+02] [ 8.71710031e-01 4.90016426e-01 -2.35030093e-03 8.27831040e+01] [ 2.69397546e-03 3.93246660e-06 9.99996371e-01 4.56870034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71401273899997 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:168.30, Y:82.81, Z:0.46 [[ 4.88423015e-01 -8.72605997e-01 -1.31611064e-03 1.68303519e+02] [ 8.72602831e-01 4.88424788e-01 -2.35061091e-03 8.28055621e+01] [ 2.69397823e-03 -3.49402508e-07 9.99996371e-01 4.56076531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74401273899997 meters Centerline goodness : 0.996191 Centerline is valid? [True, True] Translation: X:168.32, Y:82.83, Z:0.46 [[ 4.86331923e-01 -8.73773157e-01 -1.31553484e-03 1.68315492e+02] [ 8.73769995e-01 4.86333702e-01 -2.35093311e-03 8.28291877e+01] [ 2.69397118e-03 -6.14105363e-06 9.99996371e-01 4.55170110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77401273899997 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:168.33, Y:82.85, Z:0.46 [[ 4.80670958e-01 -8.76900052e-01 -1.31501886e-03 1.68326967e+02] [ 8.76896900e-01 4.80672756e-01 -2.35122170e-03 8.28534585e+01] [ 2.69388017e-03 -2.29719731e-05 9.99996371e-01 4.59565417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80401273899997 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:168.34, Y:82.88, Z:0.46 [[ 4.77306184e-01 -8.78736069e-01 -1.31449507e-03 1.68340725e+02] [ 8.78732923e-01 4.77307993e-01 -2.35151449e-03 8.28756841e+01] [ 2.69377961e-03 -3.26976876e-05 9.99996371e-01 4.55338353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83401273899997 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:168.36, Y:82.90, Z:0.46 [[ 4.71906693e-01 -8.81647519e-01 -1.31394670e-03 1.68357469e+02] [ 8.81644383e-01 4.71908519e-01 -2.35182087e-03 8.28953031e+01] [ 2.69353967e-03 -4.85937179e-05 9.99996371e-01 4.56099679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86401273899997 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:168.37, Y:82.92, Z:0.46 [[ 4.69594897e-01 -8.82881027e-01 -1.31337429e-03 1.68371767e+02] [ 8.82877896e-01 4.69596730e-01 -2.35214049e-03 8.29174691e+01] [ 2.69341648e-03 -5.49959575e-05 9.99996371e-01 4.57178590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89401273899998 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:168.38, Y:82.94, Z:0.46 [[ 4.69390079e-01 -8.82989938e-01 -1.31282973e-03 1.68384594e+02] [ 8.82986806e-01 4.69391912e-01 -2.35244439e-03 8.29409959e+01] [ 2.69341638e-03 -5.49972683e-05 9.99996371e-01 4.57250824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92401273899998 meters Centerline goodness : 0.995961 Centerline is valid? [True, True] Translation: X:168.40, Y:82.96, Z:0.46 [[ 4.67425435e-01 -8.84031527e-01 -1.31228395e-03 1.68397905e+02] [ 8.84028398e-01 4.67427273e-01 -2.35274880e-03 8.29627784e+01] [ 2.69330143e-03 -6.03616463e-05 9.99996371e-01 4.57466177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95401273899998 meters Centerline goodness : 0.996402 Centerline is valid? [True, True] Translation: X:168.42, Y:82.98, Z:0.46 [[ 4.63885199e-01 -8.85894351e-01 -1.31171384e-03 1.68415465e+02] [ 8.85891229e-01 4.63887048e-01 -2.35306661e-03 8.29828411e+01] [ 2.69305548e-03 -7.04830107e-05 9.99996371e-01 4.56195951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98401273899998 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:168.43, Y:83.00, Z:0.46 [[ 4.62222343e-01 -8.86763095e-01 -1.31117251e-03 1.68431690e+02] [ 8.86759975e-01 4.62224197e-01 -2.35336821e-03 8.30026501e+01] [ 2.69293574e-03 -7.49159393e-05 9.99996371e-01 4.61667103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01401273899998 meters Centerline goodness : 0.996890 Centerline is valid? [True, True] Translation: X:168.45, Y:83.02, Z:0.45 [[ 4.59954338e-01 -8.87941602e-01 -1.31074241e-03 1.68453112e+02] [ 8.87938486e-01 4.59956199e-01 -2.35360774e-03 8.30204006e+01] [ 2.69275032e-03 -8.13065409e-05 9.99996371e-01 4.53494820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04401273899998 meters Centerline goodness : 0.996648 Centerline is valid? [True, True] Translation: X:168.47, Y:83.04, Z:0.45 [[ 4.60104582e-01 -8.87863761e-01 -1.31020362e-03 1.68469447e+02] [ 8.87860644e-01 4.60106440e-01 -2.35390763e-03 8.30402308e+01] [ 2.69278241e-03 -8.02345489e-05 9.99996371e-01 4.53578954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07401273899998 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:168.49, Y:83.06, Z:0.46 [[ 4.61298126e-01 -8.87244230e-01 -1.30977492e-03 1.68486907e+02] [ 8.87241110e-01 4.61299979e-01 -2.35414615e-03 8.30610998e+01] [ 2.69290173e-03 -7.61229433e-05 9.99996371e-01 4.55754588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10401273899998 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:168.51, Y:83.08, Z:0.46 [[ 4.67079427e-01 -8.84214394e-01 -1.30923191e-03 1.68508741e+02] [ 8.84211262e-01 4.67081258e-01 -2.35444810e-03 8.30788427e+01] [ 2.69335459e-03 -5.79233363e-05 9.99996371e-01 4.61217763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13401273899999 meters Centerline goodness : 0.997220 Centerline is valid? [True, True] Translation: X:168.52, Y:83.10, Z:0.46 [[ 4.70512847e-01 -8.82392174e-01 -1.30867420e-03 1.68523829e+02] [ 8.82389033e-01 4.70514664e-01 -2.35475805e-03 8.30990923e+01] [ 2.69357048e-03 -4.68158512e-05 9.99996371e-01 4.61603537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.164012739 meters Centerline goodness : 0.997475 Centerline is valid? [True, True] Translation: X:168.54, Y:83.12, Z:0.46 [[ 4.74007567e-01 -8.80519798e-01 -1.30808894e-03 1.68538202e+02] [ 8.80516650e-01 4.74009371e-01 -2.35508312e-03 8.31208241e+01] [ 2.69374373e-03 -3.54668667e-05 9.99996371e-01 4.60068551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.194012739 meters Centerline goodness : 0.997235 Centerline is valid? [True, True] Translation: X:168.55, Y:83.14, Z:0.46 [[ 4.79996671e-01 -8.77269335e-01 -1.30753086e-03 1.68553157e+02] [ 8.77266173e-01 4.79998452e-01 -2.35539292e-03 8.31409732e+01] [ 2.69392677e-03 -1.64718364e-05 9.99996371e-01 4.55019321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.224012739 meters Centerline goodness : 0.997096 Centerline is valid? [True, True] Translation: X:168.57, Y:83.16, Z:0.46 [[ 4.84656280e-01 -8.74703711e-01 -1.30694703e-03 1.68568316e+02] [ 8.74700539e-01 4.84658042e-01 -2.35571683e-03 8.31623308e+01] [ 2.69397664e-03 -1.47430975e-06 9.99996371e-01 4.56721619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.254012739 meters Centerline goodness : 0.996835 Centerline is valid? [True, True] Translation: X:168.58, Y:83.19, Z:0.46 [[ 4.86633528e-01 -8.73605233e-01 -1.30642082e-03 1.68581568e+02] [ 8.73602056e-01 4.86635281e-01 -2.35600862e-03 8.31856206e+01] [ 2.69397192e-03 5.22087543e-06 9.99996371e-01 4.59146124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.284012739 meters Centerline goodness : 0.997213 Centerline is valid? [True, True] Translation: X:168.59, Y:83.21, Z:0.46 [[ 4.88490515e-01 -8.72568227e-01 -1.30586202e-03 1.68593771e+02] [ 8.72565046e-01 4.88492260e-01 -2.35631830e-03 8.32090187e+01] [ 2.69395197e-03 1.15895903e-05 9.99996371e-01 4.61115646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.314012739 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:168.60, Y:83.23, Z:0.46 [[ 4.92448120e-01 -8.70340821e-01 -1.30530426e-03 1.68603470e+02] [ 8.70337631e-01 4.92449849e-01 -2.35662724e-03 8.32332607e+01] [ 2.69386577e-03 2.44612330e-05 9.99996371e-01 4.61385155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.344012739 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:168.61, Y:83.26, Z:0.46 [[ 4.93887768e-01 -8.69524681e-01 -1.30474473e-03 1.68614551e+02] [ 8.69521487e-01 4.93889490e-01 -2.35693698e-03 8.32576077e+01] [ 2.69381459e-03 2.95587701e-05 9.99996371e-01 4.60133432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.374012739 meters Centerline goodness : 0.997093 Centerline is valid? [True, True] Translation: X:168.63, Y:83.28, Z:0.46 [[ 4.95696108e-01 -8.68495059e-01 -1.30417677e-03 1.68625241e+02] [ 8.68491861e-01 4.95697823e-01 -2.35725121e-03 8.32803978e+01] [ 2.69373861e-03 3.58133449e-05 9.99996371e-01 4.59659042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.404012739 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:168.63, Y:83.31, Z:0.46 [[ 4.99719222e-01 -8.66186469e-01 -1.30358294e-03 1.68634050e+02] [ 8.66183262e-01 4.99720920e-01 -2.35757956e-03 8.33051821e+01] [ 2.69353118e-03 4.89860953e-05 9.99996371e-01 4.58657624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43401273899997 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:168.64, Y:83.33, Z:0.46 [[ 5.00995084e-01 -8.65449148e-01 -1.30301877e-03 1.68644260e+02] [ 8.65445938e-01 5.00996776e-01 -2.35789133e-03 8.33290539e+01] [ 2.69344325e-03 5.35996663e-05 9.99996371e-01 4.57098037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46401273899997 meters Centerline goodness : 0.997378 Centerline is valid? [True, True] Translation: X:168.65, Y:83.35, Z:0.45 [[ 5.02086829e-01 -8.64816234e-01 -1.30245770e-03 1.68652645e+02] [ 8.64813021e-01 5.02088515e-01 -2.35820121e-03 8.33542673e+01] [ 2.69335975e-03 5.76393896e-05 9.99996371e-01 4.53744164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49401273899997 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:168.66, Y:83.38, Z:0.45 [[ 5.01953331e-01 -8.64893727e-01 -1.30188202e-03 1.68662670e+02] [ 8.64890513e-01 5.01955016e-01 -2.35851899e-03 8.33779345e+01] [ 2.69335449e-03 5.78810526e-05 9.99996371e-01 4.52881029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52401273899997 meters Centerline goodness : 0.997378 Centerline is valid? [True, True] Translation: X:168.67, Y:83.40, Z:0.45 [[ 5.01506800e-01 -8.65152724e-01 -1.30128294e-03 1.68672944e+02] [ 8.65149511e-01 5.01508485e-01 -2.35884948e-03 8.34020936e+01] [ 2.69336948e-03 5.71747567e-05 9.99996371e-01 4.54037575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55401273899997 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:168.68, Y:83.43, Z:0.46 [[ 5.00050566e-01 -8.65995231e-01 -1.30071794e-03 1.68680522e+02] [ 8.65992019e-01 5.00052255e-01 -2.35916099e-03 8.34266323e+01] [ 2.69344910e-03 5.32884297e-05 9.99996371e-01 4.56780337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58401273899997 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:168.69, Y:83.45, Z:0.46 [[ 4.98902524e-01 -8.66657130e-01 -1.30012796e-03 1.68690204e+02] [ 8.66653920e-01 4.98904216e-01 -2.35948608e-03 8.34515555e+01] [ 2.69350475e-03 5.03925655e-05 9.99996371e-01 4.58727628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61401273899997 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:168.70, Y:83.48, Z:0.46 [[ 4.96409208e-01 -8.68087673e-01 -1.29957948e-03 1.68697123e+02] [ 8.68084467e-01 4.96410908e-01 -2.35978814e-03 8.34781821e+01] [ 2.69362842e-03 4.32758017e-05 9.99996371e-01 4.57338992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64401273899998 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:168.71, Y:83.50, Z:0.46 [[ 4.94705638e-01 -8.69059632e-01 -1.29902373e-03 1.68706741e+02] [ 8.69056428e-01 4.94707342e-01 -2.36009403e-03 8.35015365e+01] [ 2.69369902e-03 3.86268993e-05 9.99996371e-01 4.56192900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67401273899998 meters Centerline goodness : 0.997000 Centerline is valid? [True, True] Translation: X:168.72, Y:83.53, Z:0.46 [[ 4.93451145e-01 -8.69772546e-01 -1.29844176e-03 1.68716894e+02] [ 8.69769344e-01 4.93452852e-01 -2.36041416e-03 8.35257789e+01] [ 2.69374323e-03 3.54042320e-05 9.99996371e-01 4.56537653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70401273899998 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:168.72, Y:83.55, Z:0.46 [[ 4.92275332e-01 -8.70438575e-01 -1.29788815e-03 1.68723003e+02] [ 8.70435374e-01 4.92277042e-01 -2.36071853e-03 8.35510804e+01] [ 2.69378101e-03 3.23957430e-05 9.99996371e-01 4.59273786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73401273899998 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:168.73, Y:83.58, Z:0.46 [[ 4.91963585e-01 -8.70614810e-01 -1.29731040e-03 1.68732782e+02] [ 8.70611609e-01 4.91965295e-01 -2.36103599e-03 8.35760164e+01] [ 2.69378459e-03 3.20902381e-05 9.99996371e-01 4.61252463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76401273899998 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:168.74, Y:83.60, Z:0.46 [[ 4.91103110e-01 -8.71100484e-01 -1.29676047e-03 1.68739009e+02] [ 8.71097284e-01 4.91104821e-01 -2.36133798e-03 8.36031494e+01] [ 2.69380798e-03 3.00559009e-05 9.99996371e-01 4.62947999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79401273899998 meters Centerline goodness : 0.996988 Centerline is valid? [True, True] Translation: X:168.75, Y:83.63, Z:0.46 [[ 4.90237825e-01 -8.71587743e-01 -1.29620193e-03 1.68747334e+02] [ 8.71584544e-01 4.90239538e-01 -2.36164454e-03 8.36276803e+01] [ 2.69382987e-03 2.80179151e-05 9.99996371e-01 4.60869085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82401273899998 meters Centerline goodness : 0.997226 Centerline is valid? [True, True] Translation: X:168.76, Y:83.65, Z:0.46 [[ 4.89061522e-01 -8.72248330e-01 -1.29562010e-03 1.68756124e+02] [ 8.72245133e-01 4.89063237e-01 -2.36196370e-03 8.36529479e+01] [ 2.69385905e-03 2.50472287e-05 9.99996371e-01 4.57802424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85401273899998 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] Translation: X:168.76, Y:83.68, Z:0.46 [[ 4.84614467e-01 -8.74726895e-01 -1.29506633e-03 1.68763656e+02] [ 8.74723706e-01 4.84616197e-01 -2.36226729e-03 8.36783197e+01] [ 2.69394885e-03 1.19636797e-05 9.99996371e-01 4.58192988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88401273899999 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:168.78, Y:83.70, Z:0.46 [[ 4.80962539e-01 -8.76740190e-01 -1.29450423e-03 1.68775202e+02] [ 8.76737006e-01 4.80964281e-01 -2.36257528e-03 8.37012537e+01] [ 2.69397499e-03 1.37044337e-06 9.99996371e-01 4.61266143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.914012739 meters Centerline goodness : 0.996308 Centerline is valid? [True, True] Translation: X:168.79, Y:83.72, Z:0.47 [[ 4.72513029e-01 -8.81322735e-01 -1.29391702e-03 1.68787501e+02] [ 8.81319568e-01 4.72514800e-01 -2.36289683e-03 8.37227844e+01] [ 2.69386964e-03 -2.38548505e-05 9.99996371e-01 4.65762125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.944012739 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:168.80, Y:83.75, Z:0.47 [[ 4.68014754e-01 -8.83719705e-01 -1.29345852e-03 1.68800483e+02] [ 8.83716546e-01 4.68016540e-01 -2.36314779e-03 8.37457114e+01] [ 2.69372025e-03 -3.70626673e-05 9.99996371e-01 4.65524754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.974012739 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:168.81, Y:83.77, Z:0.46 [[ 4.63897712e-01 -8.85887826e-01 -1.29292418e-03 1.68812984e+02] [ 8.85884675e-01 4.63899512e-01 -2.36344011e-03 8.37685272e+01] [ 2.69352971e-03 -4.89872544e-05 9.99996371e-01 4.64625269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.004012739 meters Centerline goodness : 0.996398 Centerline is valid? [True, True] Translation: X:168.83, Y:83.79, Z:0.46 [[ 4.57389301e-01 -8.89265628e-01 -1.29239179e-03 1.68827051e+02] [ 8.89262489e-01 4.57391121e-01 -2.36373119e-03 8.37903297e+01] [ 2.69311343e-03 -6.81301873e-05 9.99996371e-01 4.63991014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.034012739 meters Centerline goodness : 0.996634 Centerline is valid? [True, True] Translation: X:168.84, Y:83.81, Z:0.46 [[ 4.54941457e-01 -8.90520411e-01 -1.29185816e-03 1.68842174e+02] [ 8.90517276e-01 4.54943285e-01 -2.36402280e-03 8.38122202e+01] [ 2.69293275e-03 -7.49300292e-05 9.99996371e-01 4.63606815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.064012739 meters Centerline goodness : 0.996895 Centerline is valid? [True, True] Translation: X:168.86, Y:83.83, Z:0.46 [[ 4.51440425e-01 -8.92300328e-01 -1.29131212e-03 1.68860145e+02] [ 8.92297200e-01 4.51442264e-01 -2.36432103e-03 8.38312094e+01] [ 2.69263730e-03 -8.48840956e-05 9.99996371e-01 4.62899244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.094012739 meters Centerline goodness : 0.997300 Centerline is valid? [True, True] Translation: X:168.87, Y:83.85, Z:0.46 [[ 4.50378004e-01 -8.92837044e-01 -1.29074190e-03 1.68874816e+02] [ 8.92833917e-01 4.50379845e-01 -2.36463229e-03 8.38534611e+01] [ 2.69255544e-03 -8.74397750e-05 9.99996371e-01 4.63111707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.124012739 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:168.89, Y:83.88, Z:0.47 [[ 4.49793278e-01 -8.93131761e-01 -1.29021533e-03 1.68889808e+02] [ 8.93128634e-01 4.49795119e-01 -2.36491957e-03 8.38750281e+01] [ 2.69251733e-03 -8.86033288e-05 9.99996371e-01 4.71712665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.154012739 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:168.91, Y:83.90, Z:0.47 [[ 4.49531078e-01 -8.93263761e-01 -1.28968169e-03 1.68905589e+02] [ 8.93260634e-01 4.49532919e-01 -2.36521054e-03 8.38968926e+01] [ 2.69251124e-03 -8.87862413e-05 9.99996371e-01 4.65602476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18401273899997 meters Centerline goodness : 0.996994 Centerline is valid? [True, True] Translation: X:168.92, Y:83.92, Z:0.46 [[ 4.51024377e-01 -8.92510700e-01 -1.28912122e-03 1.68923624e+02] [ 8.92507569e-01 4.51026211e-01 -2.36551598e-03 8.39153585e+01] [ 2.69267578e-03 -8.36450774e-05 9.99996371e-01 4.64268377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21401273899997 meters Centerline goodness : 0.997047 Centerline is valid? [True, True] Translation: X:168.94, Y:83.94, Z:0.46 [[ 4.54100253e-01 -8.90949662e-01 -1.28853687e-03 1.68940173e+02] [ 8.90946524e-01 4.54102075e-01 -2.36583424e-03 8.39359004e+01] [ 2.69296648e-03 -7.36915178e-05 9.99996371e-01 4.62669569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24401273899997 meters Centerline goodness : 0.997351 Centerline is valid? [True, True] Translation: X:168.95, Y:83.96, Z:0.46 [[ 4.55538785e-01 -8.90215006e-01 -1.28798593e-03 1.68954628e+02] [ 8.90211864e-01 4.55540601e-01 -2.36613414e-03 8.39572312e+01] [ 2.69309800e-03 -6.87144872e-05 9.99996371e-01 4.60996347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27401273899997 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:168.97, Y:83.98, Z:0.46 [[ 4.57305406e-01 -8.89308781e-01 -1.28743611e-03 1.68969382e+02] [ 8.89305635e-01 4.57307214e-01 -2.36643327e-03 8.39777523e+01] [ 2.69324370e-03 -6.27414614e-05 9.99996371e-01 4.58626040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30401273899997 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:168.99, Y:84.00, Z:0.46 [[ 4.61100779e-01 -8.87346841e-01 -1.28686968e-03 1.68986882e+02] [ 8.87343686e-01 4.61102572e-01 -2.36674125e-03 8.39981846e+01] [ 2.69349929e-03 -5.05894440e-05 9.99996371e-01 4.59034974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33401273899997 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:169.00, Y:84.02, Z:0.46 [[ 4.63052339e-01 -8.86330005e-01 -1.28630134e-03 1.69000659e+02] [ 8.86326845e-01 4.63054123e-01 -2.36705010e-03 8.40192777e+01] [ 2.69361466e-03 -4.40153234e-05 9.99996371e-01 4.59595081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36401273899997 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:169.02, Y:84.04, Z:0.47 [[ 4.68010259e-01 -8.83722097e-01 -1.28573645e-03 1.69017054e+02] [ 8.83718927e-01 4.68012024e-01 -2.36735690e-03 8.40416581e+01] [ 2.69382572e-03 -2.82823197e-05 9.99996371e-01 4.65076937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39401273899998 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:169.03, Y:84.06, Z:0.47 [[ 4.70556262e-01 -8.82369057e-01 -1.28523913e-03 1.69031146e+02] [ 8.82365881e-01 4.70558017e-01 -2.36762686e-03 8.40639525e+01] [ 2.69390026e-03 -1.99495129e-05 9.99996371e-01 4.66705236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42401273899998 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:169.05, Y:84.09, Z:0.47 [[ 4.72788816e-01 -8.81174832e-01 -1.28471638e-03 1.69045412e+02] [ 8.81171651e-01 4.72790562e-01 -2.36791048e-03 8.40863612e+01] [ 2.69394490e-03 -1.25340561e-05 9.99996371e-01 4.67560663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45401273899998 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:169.06, Y:84.11, Z:0.47 [[ 4.76632628e-01 -8.79101637e-01 -1.28415425e-03 1.69061730e+02] [ 8.79098447e-01 4.76634358e-01 -2.36821529e-03 8.41066142e+01] [ 2.69397398e-03 -1.29326026e-07 9.99996371e-01 4.67802307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48401273899998 meters Centerline goodness : 0.997632 Centerline is valid? [True, True] Translation: X:169.08, Y:84.13, Z:0.47 [[ 4.78306708e-01 -8.78191919e-01 -1.28356723e-03 1.69076429e+02] [ 8.78188724e-01 4.78308430e-01 -2.36853341e-03 8.41289076e+01] [ 2.69396793e-03 5.67114712e-06 9.99996371e-01 4.67134235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51401273899998 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:169.09, Y:84.15, Z:0.46 [[ 4.81263462e-01 -8.76575059e-01 -1.28299805e-03 1.69091716e+02] [ 8.76571859e-01 4.81265172e-01 -2.36884169e-03 8.41494179e+01] [ 2.69392982e-03 1.53969626e-05 9.99996371e-01 4.64759515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54401273899998 meters Centerline goodness : 0.997622 Centerline is valid? [True, True] Translation: X:169.11, Y:84.17, Z:0.47 [[ 4.82932253e-01 -8.75656779e-01 -1.28243067e-03 1.69105275e+02] [ 8.75653574e-01 4.82933955e-01 -2.36914882e-03 8.41722264e+01] [ 2.69389054e-03 2.11733780e-05 9.99996371e-01 4.65024853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57401273899998 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:169.12, Y:84.20, Z:0.47 [[ 4.84728980e-01 -8.74663463e-01 -1.28188004e-03 1.69117990e+02] [ 8.74660254e-01 4.84730674e-01 -2.36944671e-03 8.41954004e+01] [ 2.69383504e-03 2.73299627e-05 9.99996371e-01 4.66732583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60401273899998 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:169.13, Y:84.22, Z:0.47 [[ 4.89685001e-01 -8.71898479e-01 -1.28132391e-03 1.69128694e+02] [ 8.71895260e-01 4.89686676e-01 -2.36974741e-03 8.42197334e+01] [ 2.69362641e-03 4.32495134e-05 9.99996371e-01 4.69062480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63401273899999 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:169.14, Y:84.24, Z:0.47 [[ 4.92441915e-01 -8.70344369e-01 -1.28076186e-03 1.69138578e+02] [ 8.70341143e-01 4.92443577e-01 -2.37005114e-03 8.42433188e+01] [ 2.69346361e-03 5.24127773e-05 9.99996371e-01 4.68893431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.664012739 meters Centerline goodness : 0.997244 Centerline is valid? [True, True] Translation: X:169.15, Y:84.27, Z:0.47 [[ 4.95820000e-01 -8.68424371e-01 -1.28031466e-03 1.69145966e+02] [ 8.68421139e-01 4.95821649e-01 -2.37029269e-03 8.42689248e+01] [ 2.69322767e-03 6.33862103e-05 9.99996371e-01 4.66063396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.694012739 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:169.16, Y:84.29, Z:0.46 [[ 4.96266512e-01 -8.68169287e-01 -1.27974962e-03 1.69155590e+02] [ 8.68166053e-01 4.96268158e-01 -2.37059773e-03 8.42926546e+01] [ 2.69317912e-03 6.54130928e-05 9.99996371e-01 4.64502668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.724012739 meters Centerline goodness : 0.997752 Centerline is valid? [True, True] Translation: X:169.17, Y:84.32, Z:0.46 [[ 4.95698722e-01 -8.68493604e-01 -1.27916095e-03 1.69166224e+02] [ 8.68490371e-01 4.95700368e-01 -2.37091533e-03 8.43169002e+01] [ 2.69320535e-03 6.43207311e-05 9.99996371e-01 4.64776591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.754012739 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:169.17, Y:84.34, Z:0.47 [[ 4.91603240e-01 -8.70818362e-01 -1.27860136e-03 1.69174805e+02] [ 8.70815135e-01 4.91604900e-01 -2.37121706e-03 8.43406479e+01] [ 2.69346605e-03 5.22725713e-05 9.99996371e-01 4.69051726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.784012739 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:169.19, Y:84.37, Z:0.47 [[ 4.88715308e-01 -8.72442385e-01 -1.27801949e-03 1.69185855e+02] [ 8.72439163e-01 4.88716977e-01 -2.37153064e-03 8.43651143e+01] [ 2.69361366e-03 4.40090731e-05 9.99996371e-01 4.70168110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.814012739 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:169.20, Y:84.39, Z:0.47 [[ 4.88508248e-01 -8.72558342e-01 -1.27745693e-03 1.69198316e+02] [ 8.72555119e-01 4.88509916e-01 -2.37183363e-03 8.43888466e+01] [ 2.69361359e-03 4.40087100e-05 9.99996371e-01 4.70240345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.844012739 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:169.21, Y:84.41, Z:0.47 [[ 4.82870753e-01 -8.75690702e-01 -1.27689397e-03 1.69208320e+02] [ 8.75687490e-01 4.82872440e-01 -2.37213666e-03 8.44119904e+01] [ 2.69383493e-03 2.72753379e-05 9.99996371e-01 4.65311977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.874012739 meters Centerline goodness : 0.997759 Centerline is valid? [True, True] Translation: X:169.22, Y:84.44, Z:0.46 [[ 4.80430567e-01 -8.77031836e-01 -1.27630599e-03 1.69220714e+02] [ 8.77028627e-01 4.80432262e-01 -2.37245298e-03 8.44356773e+01] [ 2.69389536e-03 2.04420445e-05 9.99996371e-01 4.64295633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.904012739 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:169.23, Y:84.46, Z:0.46 [[ 4.78618322e-01 -8.78022138e-01 -1.27574299e-03 1.69232759e+02] [ 8.78018932e-01 4.78620022e-01 -2.37275568e-03 8.44591563e+01] [ 2.69392815e-03 1.55178424e-05 9.99996371e-01 4.64541214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93401273899997 meters Centerline goodness : 0.997223 Centerline is valid? [True, True] Translation: X:169.24, Y:84.48, Z:0.47 [[ 4.75866336e-01 -8.79516688e-01 -1.27518156e-03 1.69244026e+02] [ 8.79513487e-01 4.75868044e-01 -2.37305737e-03 8.44825629e+01] [ 2.69396171e-03 7.71873541e-06 9.99996371e-01 4.66339782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96401273899997 meters Centerline goodness : 0.997425 Centerline is valid? [True, True] Translation: X:169.26, Y:84.50, Z:0.47 [[ 4.74435209e-01 -8.80289503e-01 -1.27461770e-03 1.69256446e+02] [ 8.80286303e-01 4.74436921e-01 -2.37336019e-03 8.45043684e+01] [ 2.69396976e-03 3.97713591e-06 9.99996371e-01 4.65393102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99401273899997 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:169.27, Y:84.53, Z:0.46 [[ 4.70573829e-01 -8.82359705e-01 -1.27403058e-03 1.69272820e+02] [ 8.82356512e-01 4.70575553e-01 -2.37367532e-03 8.45259366e+01] [ 2.69396310e-03 -7.15969640e-06 9.99996371e-01 4.61080432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02401273899997 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:169.29, Y:84.55, Z:0.46 [[ 4.68237438e-01 -8.83601765e-01 -1.27349845e-03 1.69287800e+02] [ 8.83598576e-01 4.68239170e-01 -2.37396078e-03 8.45475090e+01] [ 2.69393779e-03 -1.36841055e-05 9.99996371e-01 4.61150328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05401273899997 meters Centerline goodness : 0.997421 Centerline is valid? [True, True] Translation: X:169.30, Y:84.57, Z:0.46 [[ 4.65788720e-01 -8.84895049e-01 -1.27292470e-03 1.69302419e+02] [ 8.84891864e-01 4.65790459e-01 -2.37426839e-03 8.45685078e+01] [ 2.69389452e-03 -2.04932767e-05 9.99996371e-01 4.61253802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08401273899997 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:169.32, Y:84.59, Z:0.46 [[ 4.62039751e-01 -8.86858303e-01 -1.27232482e-03 1.69321454e+02] [ 8.86855124e-01 4.62041502e-01 -2.37458980e-03 8.45881981e+01] [ 2.69379156e-03 -3.12129067e-05 9.99996371e-01 4.63654388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11401273899997 meters Centerline goodness : 0.997461 Centerline is valid? [True, True] Translation: X:169.34, Y:84.61, Z:0.46 [[ 4.60870058e-01 -8.87466716e-01 -1.27176437e-03 1.69336430e+02] [ 8.87463539e-01 4.60871812e-01 -2.37488993e-03 8.46084443e+01] [ 2.69375611e-03 -3.41288502e-05 9.99996371e-01 4.63345318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14401273899998 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:169.35, Y:84.63, Z:0.46 [[ 4.60535844e-01 -8.87640198e-01 -1.27117898e-03 1.69354591e+02] [ 8.87637020e-01 4.60537597e-01 -2.37520322e-03 8.46286505e+01] [ 2.69375157e-03 -3.44793039e-05 9.99996371e-01 4.63217140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17401273899998 meters Centerline goodness : 0.997433 Centerline is valid? [True, True] Translation: X:169.37, Y:84.65, Z:0.47 [[ 4.61611096e-01 -8.87081497e-01 -1.27062030e-03 1.69368116e+02] [ 8.87078316e-01 4.61612844e-01 -2.37550205e-03 8.46497010e+01] [ 2.69379856e-03 -3.05816052e-05 9.99996371e-01 4.65010107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20401273899998 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:169.38, Y:84.67, Z:0.47 [[ 4.63607220e-01 -8.86039916e-01 -1.27017686e-03 1.69381496e+02] [ 8.86036731e-01 4.63608959e-01 -2.37573913e-03 8.46713651e+01] [ 2.69386507e-03 -2.40135364e-05 9.99996371e-01 4.67582495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23401273899998 meters Centerline goodness : 0.996872 Centerline is valid? [True, True] Translation: X:169.40, Y:84.69, Z:0.47 [[ 4.68653324e-01 -8.83381260e-01 -1.26960439e-03 1.69397609e+02] [ 8.83378064e-01 4.68655043e-01 -2.37604503e-03 8.46929559e+01] [ 2.69396015e-03 -7.99926907e-06 9.99996371e-01 4.71254101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26401273899998 meters Centerline goodness : 0.997038 Centerline is valid? [True, True] Translation: X:169.41, Y:84.71, Z:0.47 [[ 4.70862374e-01 -8.82205767e-01 -1.26905440e-03 1.69410768e+02] [ 8.82202566e-01 4.70864084e-01 -2.37633874e-03 8.47144111e+01] [ 2.69397188e-03 -6.34547122e-07 9.99996371e-01 4.70084981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29401273899998 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:169.42, Y:84.74, Z:0.47 [[ 4.74984888e-01 -8.79993038e-01 -1.26850648e-03 1.69424760e+02] [ 8.79989829e-01 4.74986582e-01 -2.37663119e-03 8.47372136e+01] [ 2.69394246e-03 1.25910962e-05 9.99996371e-01 4.65059292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32401273899998 meters Centerline goodness : 0.997043 Centerline is valid? [True, True] Translation: X:169.44, Y:84.76, Z:0.47 [[ 4.77081692e-01 -8.78858038e-01 -1.26793177e-03 1.69436785e+02] [ 8.78854824e-01 4.77083377e-01 -2.37693775e-03 8.47594841e+01] [ 2.69390002e-03 1.96655302e-05 9.99996371e-01 4.65421971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35401273899998 meters Centerline goodness : 0.997043 Centerline is valid? [True, True] Translation: X:169.45, Y:84.78, Z:0.47 [[ 4.79624760e-01 -8.77472782e-01 -1.26732968e-03 1.69448160e+02] [ 8.77469563e-01 4.79626433e-01 -2.37725873e-03 8.47815834e+01] [ 2.69382465e-03 2.81489258e-05 9.99996371e-01 4.66718688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38401273899999 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:169.46, Y:84.81, Z:0.47 [[ 4.85267935e-01 -8.74364584e-01 -1.26673149e-03 1.69458690e+02] [ 8.74361353e-01 4.85269586e-01 -2.37757744e-03 8.48060498e+01] [ 2.69357577e-03 4.61810391e-05 9.99996371e-01 4.71350444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.414012739 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:169.47, Y:84.83, Z:0.47 [[ 4.87854576e-01 -8.72924000e-01 -1.26616636e-03 1.69468882e+02] [ 8.72920763e-01 4.87856216e-01 -2.37787836e-03 8.48302065e+01] [ 2.69341422e-03 5.47959337e-05 9.99996371e-01 4.71436877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.444012739 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:169.48, Y:84.85, Z:0.47 [[ 4.91334312e-01 -8.70970144e-01 -1.26559785e-03 1.69476889e+02] [ 8.70966900e-01 4.91335938e-01 -2.37818090e-03 8.48548786e+01] [ 2.69315827e-03 6.61880425e-05 9.99996371e-01 4.67721862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.474012739 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:169.49, Y:84.88, Z:0.47 [[ 4.91710246e-01 -8.70757965e-01 -1.26500431e-03 1.69488044e+02] [ 8.70754719e-01 4.91711868e-01 -2.37849658e-03 8.48786314e+01] [ 2.69311247e-03 6.80226613e-05 9.99996371e-01 4.67494270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.504012739 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:169.50, Y:84.90, Z:0.47 [[ 4.89551898e-01 -8.71973245e-01 -1.26444895e-03 1.69498756e+02] [ 8.71970002e-01 4.89553527e-01 -2.37879178e-03 8.49013708e+01] [ 2.69325823e-03 6.19804810e-05 9.99996371e-01 4.67091728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.534012739 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:169.51, Y:84.92, Z:0.46 [[ 4.87073235e-01 -8.73360216e-01 -1.26386843e-03 1.69509806e+02] [ 8.73356977e-01 4.87074872e-01 -2.37910017e-03 8.49239961e+01] [ 2.69340999e-03 5.49877028e-05 9.99996371e-01 4.64994608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.564012739 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:169.52, Y:84.95, Z:0.46 [[ 4.81845002e-01 -8.76255555e-01 -1.26329598e-03 1.69521574e+02] [ 8.76252325e-01 4.81846657e-01 -2.37940411e-03 8.49476347e+01] [ 2.69368101e-03 3.95379390e-05 9.99996371e-01 4.63720336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.594012739 meters Centerline goodness : 0.997188 Centerline is valid? [True, True] Translation: X:169.53, Y:84.97, Z:0.46 [[ 4.79375974e-01 -8.77608729e-01 -1.26274375e-03 1.69534017e+02] [ 8.77605503e-01 4.79377636e-01 -2.37969714e-03 8.49712733e+01] [ 2.69377409e-03 3.25787722e-05 9.99996371e-01 4.63982002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.624012739 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:169.55, Y:84.99, Z:0.47 [[ 4.76502574e-01 -8.79172170e-01 -1.26219388e-03 1.69546248e+02] [ 8.79168949e-01 4.76504245e-01 -2.37998875e-03 8.49941784e+01] [ 2.69386062e-03 2.43890940e-05 9.99996371e-01 4.65469798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.654012739 meters Centerline goodness : 0.997178 Centerline is valid? [True, True] Translation: X:169.56, Y:85.02, Z:0.47 [[ 4.70296760e-01 -8.82507431e-01 -1.26163697e-03 1.69559420e+02] [ 8.82504221e-01 4.70298452e-01 -2.38028393e-03 8.50168381e+01] [ 2.69396417e-03 6.03986865e-06 9.99996371e-01 4.70046861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68401273899997 meters Centerline goodness : 0.997033 Centerline is valid? [True, True] Translation: X:169.57, Y:85.04, Z:0.47 [[ 4.67324520e-01 -8.84084952e-01 -1.26107223e-03 1.69572535e+02] [ 8.84081747e-01 4.67326221e-01 -2.38058310e-03 8.50386053e+01] [ 2.69396981e-03 -2.38608512e-06 9.99996371e-01 4.71934562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71401273899997 meters Centerline goodness : 0.996965 Centerline is valid? [True, True] Translation: X:169.59, Y:85.06, Z:0.47 [[ 4.63343356e-01 -8.86177942e-01 -1.26048396e-03 1.69586912e+02] [ 8.86174744e-01 4.63345070e-01 -2.38089453e-03 8.50591048e+01] [ 2.69393525e-03 -1.38373920e-05 9.99996371e-01 4.73071183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74401273899997 meters Centerline goodness : 0.996881 Centerline is valid? [True, True] Translation: X:169.60, Y:85.08, Z:0.47 [[ 4.62197944e-01 -8.86775887e-01 -1.26003793e-03 1.69599671e+02] [ 8.86772690e-01 4.62199661e-01 -2.38113056e-03 8.50816604e+01] [ 2.69391827e-03 -1.68135757e-05 9.99996371e-01 4.72319757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77401273899997 meters Centerline goodness : 0.996741 Centerline is valid? [True, True] Translation: X:169.61, Y:85.10, Z:0.47 [[ 4.61322990e-01 -8.87231375e-01 -1.25948364e-03 1.69611892e+02] [ 8.87228179e-01 4.61324709e-01 -2.38142371e-03 8.51044493e+01] [ 2.69390476e-03 -1.88438689e-05 9.99996371e-01 4.71556320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80401273899997 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:169.63, Y:85.13, Z:0.47 [[ 4.60821948e-01 -8.87491717e-01 -1.25895858e-03 1.69625953e+02] [ 8.87488521e-01 4.60823668e-01 -2.38170126e-03 8.51267747e+01] [ 2.69389805e-03 -1.97710792e-05 9.99996371e-01 4.70852061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83401273899997 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:169.64, Y:85.15, Z:0.47 [[ 4.60406457e-01 -8.87707334e-01 -1.25838159e-03 1.69638921e+02] [ 8.87704138e-01 4.60408176e-01 -2.38200608e-03 8.51502136e+01] [ 2.69389344e-03 -2.03795624e-05 9.99996371e-01 4.70336370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86401273899997 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:169.65, Y:85.17, Z:0.48 [[ 4.61274362e-01 -8.87256660e-01 -1.25780895e-03 1.69649413e+02] [ 8.87253462e-01 4.61276077e-01 -2.38230842e-03 8.51736813e+01] [ 2.69391619e-03 -1.70975507e-05 9.99996371e-01 4.78011378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89401273899998 meters Centerline goodness : 0.996773 Centerline is valid? [True, True] Translation: X:169.66, Y:85.20, Z:0.47 [[ 4.62656561e-01 -8.86536703e-01 -1.25721023e-03 1.69661155e+02] [ 8.86533501e-01 4.62658269e-01 -2.38262434e-03 8.51970679e+01] [ 2.69394263e-03 -1.22222063e-05 9.99996371e-01 4.73476758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92401273899998 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:169.67, Y:85.22, Z:0.48 [[ 4.65521774e-01 -8.85035535e-01 -1.25665091e-03 1.69673246e+02] [ 8.85032327e-01 4.65523470e-01 -2.38291930e-03 8.52195846e+01] [ 2.69396875e-03 -2.87586072e-06 9.99996371e-01 4.75513312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95401273899998 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:169.68, Y:85.24, Z:0.47 [[ 4.66709031e-01 -8.84410031e-01 -1.25606564e-03 1.69683886e+02] [ 8.84406820e-01 4.66710721e-01 -2.38322776e-03 8.52424069e+01] [ 2.69396984e-03 1.40089847e-06 9.99996371e-01 4.74291013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98401273899998 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:169.69, Y:85.27, Z:0.47 [[ 4.68266190e-01 -8.83586554e-01 -1.25548753e-03 1.69694388e+02] [ 8.83583339e-01 4.68267873e-01 -2.38353227e-03 8.52664196e+01] [ 2.69396154e-03 6.79971089e-06 9.99996371e-01 4.72360701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01401273899998 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:169.70, Y:85.29, Z:0.47 [[ 4.70848106e-01 -8.82213402e-01 -1.25492497e-03 1.69703864e+02] [ 8.82210181e-01 4.70849778e-01 -2.38382842e-03 8.52914863e+01] [ 2.69392652e-03 1.53135130e-05 9.99996371e-01 4.69619066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04401273899998 meters Centerline goodness : 0.996835 Centerline is valid? [True, True] Translation: X:169.71, Y:85.31, Z:0.47 [[ 4.71142116e-01 -8.82056423e-01 -1.25433965e-03 1.69714657e+02] [ 8.82053201e-01 4.71143786e-01 -2.38413637e-03 8.53141453e+01] [ 2.69391713e-03 1.68727564e-05 9.99996371e-01 4.69493473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07401273899998 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:169.73, Y:85.34, Z:0.47 [[ 4.71142954e-01 -8.82055976e-01 -1.25372669e-03 1.69725285e+02] [ 8.82052753e-01 4.71144622e-01 -2.38445866e-03 8.53386813e+01] [ 2.69391260e-03 1.75678116e-05 9.99996371e-01 4.70073243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10401273899998 meters Centerline goodness : 0.996777 Centerline is valid? [True, True] Translation: X:169.74, Y:85.36, Z:0.47 [[ 4.71175713e-01 -8.82038478e-01 -1.25313523e-03 1.69736144e+02] [ 8.82035254e-01 4.71177379e-01 -2.38476945e-03 8.53617822e+01] [ 2.69390739e-03 1.83359976e-05 9.99996371e-01 4.68985968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13401273899999 meters Centerline goodness : 0.997159 Centerline is valid? [True, True] Translation: X:169.75, Y:85.38, Z:0.47 [[ 4.71456996e-01 -8.81888163e-01 -1.25266535e-03 1.69747239e+02] [ 8.81884938e-01 4.71458660e-01 -2.38501624e-03 8.53842279e+01] [ 2.69389752e-03 1.97258862e-05 9.99996371e-01 4.68920349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.164012739 meters Centerline goodness : 0.996291 Centerline is valid? [True, True] Translation: X:169.76, Y:85.41, Z:0.47 [[ 4.72088547e-01 -8.81550246e-01 -1.25208299e-03 1.69758745e+02] [ 8.81547019e-01 4.72090207e-01 -2.38532193e-03 8.54079250e+01] [ 2.69387726e-03 2.23131363e-05 9.99996371e-01 4.70630456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.194012739 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:169.77, Y:85.43, Z:0.47 [[ 4.73637912e-01 -8.80718776e-01 -1.25151155e-03 1.69767288e+02] [ 8.80715545e-01 4.73639565e-01 -2.38562171e-03 8.54322260e+01] [ 2.69382722e-03 2.76952099e-05 9.99996371e-01 4.74042120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.224012739 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:169.77, Y:85.46, Z:0.48 [[ 4.75341645e-01 -8.79800407e-01 -1.25091441e-03 1.69774672e+02] [ 8.79797172e-01 4.75343289e-01 -2.38593479e-03 8.54574021e+01] [ 2.69376017e-03 3.35831997e-05 9.99996371e-01 4.77921382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.254012739 meters Centerline goodness : 0.996087 Centerline is valid? [True, True] Translation: X:169.79, Y:85.48, Z:0.48 [[ 4.75689846e-01 -8.79612191e-01 -1.25047683e-03 1.69785390e+02] [ 8.79608955e-01 4.75691488e-01 -2.38616410e-03 8.54813299e+01] [ 2.69374022e-03 3.51434134e-05 9.99996371e-01 4.78432506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.284012739 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:169.80, Y:85.51, Z:0.48 [[ 4.75317664e-01 -8.79813364e-01 -1.24991131e-03 1.69796928e+02] [ 8.79810128e-01 4.75319306e-01 -2.38646029e-03 8.55051097e+01] [ 2.69374664e-03 3.46420995e-05 9.99996371e-01 4.78197930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.314012739 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:169.81, Y:85.53, Z:0.48 [[ 4.74349244e-01 -8.80335864e-01 -1.24932885e-03 1.69808041e+02] [ 8.80332629e-01 4.74350888e-01 -2.38676518e-03 8.55278111e+01] [ 2.69377523e-03 3.23353065e-05 9.99996371e-01 4.77560897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.344012739 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:169.82, Y:85.55, Z:0.48 [[ 4.72501774e-01 -8.81328834e-01 -1.24872103e-03 1.69818354e+02] [ 8.81325602e-01 4.72503423e-01 -2.38708314e-03 8.55519538e+01] [ 2.69383016e-03 2.73712046e-05 9.99996371e-01 4.76280901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.374012739 meters Centerline goodness : 0.995754 Centerline is valid? [True, True] Translation: X:169.83, Y:85.57, Z:0.48 [[ 4.70189743e-01 -8.82564472e-01 -1.24813578e-03 1.69829701e+02] [ 8.82561243e-01 4.70191399e-01 -2.38738911e-03 8.55744787e+01] [ 2.69388752e-03 2.09696099e-05 9.99996371e-01 4.77813427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.404012739 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:169.84, Y:85.60, Z:0.48 [[ 4.68509390e-01 -8.83457636e-01 -1.24752326e-03 1.69841997e+02] [ 8.83454410e-01 4.68511051e-01 -2.38770914e-03 8.55960588e+01] [ 2.69391830e-03 1.65342302e-05 9.99996371e-01 4.77996025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43401273899997 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:169.85, Y:85.62, Z:0.48 [[ 4.66754273e-01 -8.84386168e-01 -1.24706738e-03 1.69854676e+02] [ 8.84382944e-01 4.66755939e-01 -2.38794721e-03 8.56188732e+01] [ 2.69394359e-03 1.16994404e-05 9.99996371e-01 4.77173052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46401273899997 meters Centerline goodness : 0.994930 Centerline is valid? [True, True] Translation: X:169.87, Y:85.64, Z:0.48 [[ 4.64576228e-01 -8.85532255e-01 -1.24650581e-03 1.69866060e+02] [ 8.85529034e-01 4.64577900e-01 -2.38824032e-03 8.56422449e+01] [ 2.69396288e-03 5.70259524e-06 9.99996371e-01 4.75783205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49401273899997 meters Centerline goodness : 0.994883 Centerline is valid? [True, True] Translation: X:169.88, Y:85.67, Z:0.48 [[ 4.64387079e-01 -8.85631463e-01 -1.24593347e-03 1.69877842e+02] [ 8.85628242e-01 4.64388750e-01 -2.38853886e-03 8.56661250e+01] [ 2.69396266e-03 5.77271756e-06 9.99996371e-01 4.76694456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52401273899997 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:169.89, Y:85.69, Z:0.48 [[ 4.65196118e-01 -8.85206767e-01 -1.24536095e-03 1.69890171e+02] [ 8.85203544e-01 4.65197785e-01 -2.38883733e-03 8.56879583e+01] [ 2.69395413e-03 8.87992542e-06 9.99996371e-01 4.79809702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55401273899997 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:169.90, Y:85.71, Z:0.48 [[ 4.65719411e-01 -8.84931569e-01 -1.24476356e-03 1.69901704e+02] [ 8.84928344e-01 4.65721074e-01 -2.38914858e-03 8.57119039e+01] [ 2.69394562e-03 1.11463169e-05 9.99996371e-01 4.79615962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58401273899997 meters Centerline goodness : 0.994621 Centerline is valid? [True, True] Translation: X:169.91, Y:85.74, Z:0.48 [[ 4.66483406e-01 -8.84529075e-01 -1.24419722e-03 1.69912318e+02] [ 8.84525847e-01 4.66485065e-01 -2.38944347e-03 8.57365861e+01] [ 2.69393165e-03 1.41111260e-05 9.99996371e-01 4.77281542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61401273899997 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:169.92, Y:85.76, Z:0.47 [[ 4.68543112e-01 -8.83439758e-01 -1.24363306e-03 1.69921572e+02] [ 8.83436526e-01 4.68544762e-01 -2.38973707e-03 8.57600695e+01] [ 2.69388649e-03 2.10239765e-05 9.99996371e-01 4.69694410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64401273899998 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:169.93, Y:85.78, Z:0.47 [[ 4.69562450e-01 -8.82898386e-01 -1.24304390e-03 1.69932663e+02] [ 8.82895152e-01 4.69564095e-01 -2.39004349e-03 8.57823542e+01] [ 2.69385432e-03 2.47972454e-05 9.99996371e-01 4.68859247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67401273899998 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:169.94, Y:85.81, Z:0.47 [[ 4.72088062e-01 -8.81550519e-01 -1.24245804e-03 1.69942762e+02] [ 8.81547279e-01 4.72089696e-01 -2.39034800e-03 8.58066424e+01] [ 2.69376416e-03 3.31692535e-05 9.99996371e-01 4.72654802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70401273899998 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:169.95, Y:85.83, Z:0.47 [[ 4.71876927e-01 -8.81663555e-01 -1.24188677e-03 1.69954873e+02] [ 8.81660314e-01 4.71878560e-01 -2.39064477e-03 8.58305583e+01] [ 2.69376410e-03 3.31678296e-05 9.99996371e-01 4.72727037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73401273899998 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:169.96, Y:85.85, Z:0.47 [[ 4.72772893e-01 -8.81183438e-01 -1.24131416e-03 1.69964993e+02] [ 8.81180195e-01 4.72774521e-01 -2.39094205e-03 8.58543896e+01] [ 2.69372024e-03 3.65511375e-05 9.99996371e-01 4.74118154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76401273899998 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:169.98, Y:85.88, Z:0.47 [[ 4.73091212e-01 -8.81012580e-01 -1.24074201e-03 1.69975216e+02] [ 8.81009335e-01 4.73092838e-01 -2.39123892e-03 8.58771578e+01] [ 2.69369773e-03 3.81688323e-05 9.99996371e-01 4.74978112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79401273899998 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:169.99, Y:85.90, Z:0.48 [[ 4.72011232e-01 -8.81591662e-01 -1.24014346e-03 1.69985603e+02] [ 8.81588419e-01 4.72012860e-01 -2.39154930e-03 8.59008244e+01] [ 2.69373358e-03 3.55420150e-05 9.99996371e-01 4.75145263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82401273899998 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:170.00, Y:85.92, Z:0.48 [[ 4.70679313e-01 -8.82303490e-01 -1.23955109e-03 1.69996617e+02] [ 8.82300248e-01 4.70680944e-01 -2.39185629e-03 8.59239276e+01] [ 2.69377623e-03 3.21410417e-05 9.99996371e-01 4.75042441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85401273899998 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:170.01, Y:85.95, Z:0.48 [[ 4.67554776e-01 -8.83963232e-01 -1.23896194e-03 1.70006958e+02] [ 8.83959996e-01 4.67556417e-01 -2.39216143e-03 8.59467832e+01] [ 2.69386735e-03 2.32737139e-05 9.99996371e-01 4.76483621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88401273899999 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:170.02, Y:85.97, Z:0.48 [[ 4.65859753e-01 -8.84857704e-01 -1.23836567e-03 1.70018164e+02] [ 8.84854470e-01 4.65861398e-01 -2.39247006e-03 8.59689365e+01] [ 2.69390233e-03 1.87821151e-05 9.99996371e-01 4.78538858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.914012739 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:170.03, Y:85.99, Z:0.48 [[ 4.64438522e-01 -8.85604498e-01 -1.23774668e-03 1.70030789e+02] [ 8.85601266e-01 4.64440171e-01 -2.39279025e-03 8.59915387e+01] [ 2.69392509e-03 1.51539388e-05 9.99996371e-01 4.80594437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.944012739 meters Centerline goodness : 0.995051 Centerline is valid? [True, True] Translation: X:170.04, Y:86.02, Z:0.48 [[ 4.64994255e-01 -8.85312833e-01 -1.23719067e-03 1.70042846e+02] [ 8.85309599e-01 4.64995900e-01 -2.39307770e-03 8.60153490e+01] [ 2.69391099e-03 1.74706073e-05 9.99996371e-01 4.80806884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.974012739 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:170.05, Y:86.04, Z:0.48 [[ 4.66221779e-01 -8.84667013e-01 -1.23662666e-03 1.70054593e+02] [ 8.84663775e-01 4.66223419e-01 -2.39336912e-03 8.60386511e+01] [ 2.69387902e-03 2.18419981e-05 9.99996371e-01 4.81040635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.004012739 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:170.07, Y:86.06, Z:0.48 [[ 4.69062970e-01 -8.83163859e-01 -1.23606157e-03 1.70066142e+02] [ 8.83160616e-01 4.69064598e-01 -2.39366093e-03 8.60626254e+01] [ 2.69378755e-03 3.11368096e-05 9.99996371e-01 4.82154968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.034012739 meters Centerline goodness : 0.990281 Centerline is valid? [True, True] Translation: X:170.08, Y:86.09, Z:0.49 [[ 4.70255039e-01 -8.82529700e-01 -1.23549734e-03 1.70077006e+02] [ 8.82526454e-01 4.70256661e-01 -2.39395212e-03 8.60851271e+01] [ 2.69373470e-03 3.54089647e-05 9.99996371e-01 4.91736985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.064012739 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:170.09, Y:86.11, Z:0.48 [[ 4.71419667e-01 -8.81908143e-01 -1.23493657e-03 1.70088749e+02] [ 8.81904894e-01 4.71421283e-01 -2.39424136e-03 8.61090569e+01] [ 2.69367634e-03 3.95958574e-05 9.99996371e-01 4.81382824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.094012739 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:170.10, Y:86.13, Z:0.48 [[ 4.70831795e-01 -8.82222136e-01 -1.23437664e-03 1.70100653e+02] [ 8.82218887e-01 4.70833412e-01 -2.39453001e-03 8.61311527e+01] [ 2.69369314e-03 3.84304761e-05 9.99996371e-01 4.79682843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.124012739 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:170.11, Y:86.15, Z:0.48 [[ 4.69592527e-01 -8.82882402e-01 -1.23393164e-03 1.70113806e+02] [ 8.82879155e-01 4.69594147e-01 -2.39475930e-03 8.61540770e+01] [ 2.69373792e-03 3.51485508e-05 9.99996371e-01 4.77387436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.154012739 meters Centerline goodness : 0.995400 Centerline is valid? [True, True] Translation: X:170.13, Y:86.18, Z:0.47 [[ 4.66257777e-01 -8.84648045e-01 -1.23337248e-03 1.70127041e+02] [ 8.84644804e-01 4.66259407e-01 -2.39504725e-03 8.61759170e+01] [ 2.69384539e-03 2.56128541e-05 9.99996371e-01 4.74286874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18401273899997 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:170.14, Y:86.20, Z:0.48 [[ 4.64605434e-01 -8.85516951e-01 -1.23278944e-03 1.70139598e+02] [ 8.85513712e-01 4.64607069e-01 -2.39534731e-03 8.61986273e+01] [ 2.69388334e-03 2.12394253e-05 9.99996371e-01 4.75024751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21401273899997 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:170.15, Y:86.22, Z:0.48 [[ 4.62873013e-01 -8.86423745e-01 -1.23222954e-03 1.70153272e+02] [ 8.86420508e-01 4.62874653e-01 -2.39563531e-03 8.62195523e+01] [ 2.69391584e-03 1.66013993e-05 9.99996371e-01 4.76585356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24401273899997 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:170.17, Y:86.24, Z:0.48 [[ 4.62898830e-01 -8.86410264e-01 -1.23164791e-03 1.70166375e+02] [ 8.86407026e-01 4.62900469e-01 -2.39593430e-03 8.62415394e+01] [ 2.69391115e-03 1.73338266e-05 9.99996371e-01 4.76291260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27401273899997 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:170.18, Y:86.26, Z:0.48 [[ 4.63326511e-01 -8.86186791e-01 -1.23105202e-03 1.70178659e+02] [ 8.86183551e-01 4.63328147e-01 -2.39624043e-03 8.62631046e+01] [ 2.69389767e-03 1.93036670e-05 9.99996371e-01 4.75295404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30401273899997 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:170.19, Y:86.28, Z:0.47 [[ 4.66571264e-01 -8.84482754e-01 -1.23043111e-03 1.70190295e+02] [ 8.84479508e-01 4.66572885e-01 -2.39655922e-03 8.62843566e+01] [ 2.69380109e-03 2.98745552e-05 9.99996371e-01 4.72959630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33401273899997 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:170.20, Y:86.31, Z:0.47 [[ 4.68819793e-01 -8.83292981e-01 -1.22981501e-03 1.70201057e+02] [ 8.83289729e-01 4.68821404e-01 -2.39687533e-03 8.63071471e+01] [ 2.69370676e-03 3.74196241e-05 9.99996371e-01 4.74195110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36401273899997 meters Centerline goodness : 0.995678 Centerline is valid? [True, True] Translation: X:170.21, Y:86.33, Z:0.48 [[ 4.70599067e-01 -8.82346308e-01 -1.22922066e-03 1.70211887e+02] [ 8.82343052e-01 4.70600671e-01 -2.39718010e-03 8.63289506e+01] [ 2.69361508e-03 4.35164132e-05 9.99996371e-01 4.76631102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39401273899998 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:170.22, Y:86.35, Z:0.48 [[ 4.70957012e-01 -8.82155305e-01 -1.22860152e-03 1.70222835e+02] [ 8.82152049e-01 4.70958613e-01 -2.39749738e-03 8.63503749e+01] [ 2.69358550e-03 4.53048553e-05 9.99996371e-01 4.78741475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42401273899998 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:170.23, Y:86.37, Z:0.48 [[ 4.69615002e-01 -8.82870456e-01 -1.22799172e-03 1.70234716e+02] [ 8.82867201e-01 4.69616606e-01 -2.39780968e-03 8.63733353e+01] [ 2.69364063e-03 4.18937862e-05 9.99996371e-01 4.76631436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45401273899998 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:170.25, Y:86.40, Z:0.48 [[ 4.66688134e-01 -8.84421098e-01 -1.22740521e-03 1.70247743e+02] [ 8.84417848e-01 4.66689747e-01 -2.39810987e-03 8.63963091e+01] [ 2.69375639e-03 3.36303423e-05 9.99996371e-01 4.78035262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48401273899998 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:170.26, Y:86.42, Z:0.48 [[ 4.65951847e-01 -8.84809229e-01 -1.22685002e-03 1.70259804e+02] [ 8.84805979e-01 4.65953461e-01 -2.39839387e-03 8.64184799e+01] [ 2.69377604e-03 3.20118215e-05 9.99996371e-01 4.79754881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51401273899998 meters Centerline goodness : 0.994351 Centerline is valid? [True, True] Translation: X:170.27, Y:86.44, Z:0.48 [[ 4.65381984e-01 -8.85109092e-01 -1.22640626e-03 1.70271188e+02] [ 8.85105843e-01 4.65383598e-01 -2.39862076e-03 8.64396248e+01] [ 2.69379040e-03 3.07755356e-05 9.99996371e-01 4.80886455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54401273899998 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:170.28, Y:86.46, Z:0.48 [[ 4.65638286e-01 -8.84974284e-01 -1.22580392e-03 1.70284047e+02] [ 8.84971033e-01 4.65639898e-01 -2.39892854e-03 8.64609458e+01] [ 2.69377328e-03 3.22320102e-05 9.99996371e-01 4.81461245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57401273899998 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:170.30, Y:86.48, Z:0.48 [[ 4.66118711e-01 -8.84721338e-01 -1.22521128e-03 1.70295228e+02] [ 8.84718086e-01 4.66120320e-01 -2.39923118e-03 8.64832824e+01] [ 2.69374690e-03 3.43599677e-05 9.99996371e-01 4.81539835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60401273899998 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:170.31, Y:86.51, Z:0.48 [[ 4.67903117e-01 -8.83778916e-01 -1.22464278e-03 1.70307057e+02] [ 8.83775660e-01 4.67904718e-01 -2.39952133e-03 8.65051773e+01] [ 2.69366249e-03 4.04340320e-05 9.99996371e-01 4.79517975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63401273899999 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:170.32, Y:86.53, Z:0.48 [[ 4.68572380e-01 -8.83424262e-01 -1.22415866e-03 1.70319287e+02] [ 8.83421003e-01 4.68573977e-01 -2.39976829e-03 8.65267228e+01] [ 2.69362242e-03 4.30176674e-05 9.99996371e-01 4.77806007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.664012739 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:170.33, Y:86.55, Z:0.48 [[ 4.67619067e-01 -8.83929246e-01 -1.22357312e-03 1.70334869e+02] [ 8.83925988e-01 4.67620666e-01 -2.40006680e-03 8.65502545e+01] [ 2.69365731e-03 4.07689144e-05 9.99996371e-01 4.77621344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.694012739 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:170.35, Y:86.57, Z:0.48 [[ 4.67561903e-01 -8.83959472e-01 -1.23205525e-03 1.70347216e+02] [ 8.83956226e-01 4.67563526e-01 -2.39574522e-03 8.65702426e+01] [ 2.69380578e-03 3.10762898e-05 9.99996371e-01 4.77257347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.724012739 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:170.36, Y:86.59, Z:0.48 [[ 4.67613591e-01 -8.83932144e-01 -1.22199756e-03 1.70358804e+02] [ 8.83928885e-01 4.67615186e-01 -2.40086441e-03 8.65926830e+01] [ 2.69362584e-03 4.25178846e-05 9.99996371e-01 4.76725635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.754012739 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:170.37, Y:86.62, Z:0.48 [[ 4.68376543e-01 -8.83528110e-01 -1.22139705e-03 1.70368996e+02] [ 8.83524849e-01 4.68378134e-01 -2.40116987e-03 8.66157489e+01] [ 2.69357675e-03 4.55170025e-05 9.99996371e-01 4.75893622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.784012739 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:170.38, Y:86.64, Z:0.48 [[ 4.69267429e-01 -8.83055265e-01 -1.21614911e-03 1.70378822e+02] [ 8.83051995e-01 4.69269002e-01 -2.40383707e-03 8.66402179e+01] [ 2.69342206e-03 5.41195449e-05 9.99996371e-01 4.75345554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.814012739 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:170.39, Y:86.66, Z:0.47 [[ 4.73464987e-01 -8.80811795e-01 -1.22021290e-03 1.70386437e+02] [ 8.80808522e-01 4.73466555e-01 -2.40177248e-03 8.66643622e+01] [ 2.69323953e-03 6.23812502e-05 9.99996371e-01 4.73561765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.844012739 meters Centerline goodness : 0.994188 Centerline is valid? [True, True] Translation: X:170.40, Y:86.69, Z:0.47 [[ 4.75403755e-01 -8.79766891e-01 -1.21958979e-03 1.70396692e+02] [ 8.79763615e-01 4.75405314e-01 -2.40208885e-03 8.66884751e+01] [ 2.69307770e-03 6.90113348e-05 9.99996371e-01 4.72967403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.874012739 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:170.40, Y:86.71, Z:0.47 [[ 4.77609878e-01 -8.78571180e-01 -1.21901955e-03 1.70404368e+02] [ 8.78567899e-01 4.77611428e-01 -2.40237820e-03 8.67134842e+01] [ 2.69287792e-03 7.64081108e-05 9.99996371e-01 4.72783416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.904012739 meters Centerline goodness : 0.994546 Centerline is valid? [True, True] Translation: X:170.41, Y:86.74, Z:0.47 [[ 4.77908486e-01 -8.78408783e-01 -1.22017119e-03 1.70413805e+02] [ 8.78405503e-01 4.77910037e-01 -2.40179405e-03 8.67374779e+01] [ 2.69288904e-03 7.60326661e-05 9.99996371e-01 4.74034853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93401273899997 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:170.42, Y:86.76, Z:0.47 [[ 4.77268702e-01 -8.78756566e-01 -1.21819624e-03 1.70423359e+02] [ 8.78753284e-01 4.77270250e-01 -2.40279533e-03 8.67608161e+01] [ 2.69288100e-03 7.62850647e-05 9.99996371e-01 4.74603182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96401273899997 meters Centerline goodness : 0.994478 Centerline is valid? [True, True] Translation: X:170.43, Y:86.79, Z:0.48 [[ 4.72960267e-01 -8.81082915e-01 -1.21775009e-03 1.70433032e+02] [ 8.81079640e-01 4.72961830e-01 -2.40302142e-03 8.67856491e+01] [ 2.69321043e-03 6.35988371e-05 9.99996371e-01 4.75412862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99401273899997 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:170.44, Y:86.81, Z:0.48 [[ 4.69755081e-01 -8.82795946e-01 -1.21719337e-03 1.70443735e+02] [ 8.82792677e-01 4.69756654e-01 -2.40330338e-03 8.68096625e+01] [ 2.69341117e-03 5.44345791e-05 9.99996371e-01 4.76075630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02401273899997 meters Centerline goodness : 0.994155 Centerline is valid? [True, True] Translation: X:170.45, Y:86.83, Z:0.48 [[ 4.63915667e-01 -8.85878532e-01 -1.21663031e-03 1.70453315e+02] [ 8.85875272e-01 4.63917260e-01 -2.40358838e-03 8.68331667e+01] [ 2.69370315e-03 3.72795979e-05 9.99996371e-01 4.77332016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05401273899997 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:170.47, Y:86.86, Z:0.48 [[ 4.61664233e-01 -8.87053920e-01 -1.21603975e-03 1.70465057e+02] [ 8.87050663e-01 4.61665834e-01 -2.40388713e-03 8.68565548e+01] [ 2.69378150e-03 3.10998446e-05 9.99996371e-01 4.78087788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08401273899997 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:170.48, Y:86.88, Z:0.48 [[ 4.59968686e-01 -8.87934305e-01 -1.21548509e-03 1.70477449e+02] [ 8.87931051e-01 4.59970291e-01 -2.40416755e-03 8.68802586e+01] [ 2.69382987e-03 2.65748318e-05 9.99996371e-01 4.81869773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11401273899997 meters Centerline goodness : 0.994325 Centerline is valid? [True, True] Translation: X:170.49, Y:86.90, Z:0.48 [[ 4.60274069e-01 -8.87776044e-01 -1.21489399e-03 1.70487584e+02] [ 8.87772789e-01 4.60275672e-01 -2.40446621e-03 8.69032105e+01] [ 2.69381365e-03 2.81636184e-05 9.99996371e-01 4.82659223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14401273899998 meters Centerline goodness : 0.993716 Centerline is valid? [True, True] Translation: X:170.50, Y:86.93, Z:0.48 [[ 4.61117434e-01 -8.87338288e-01 -1.21427524e-03 1.70497634e+02] [ 8.87335030e-01 4.61119032e-01 -2.40477864e-03 8.69271146e+01] [ 2.69377759e-03 3.14164005e-05 9.99996371e-01 4.80968830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17401273899998 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:170.51, Y:86.95, Z:0.48 [[ 4.63561081e-01 -8.86064135e-01 -1.21370376e-03 1.70506825e+02] [ 8.86060872e-01 4.63562668e-01 -2.40506704e-03 8.69510501e+01] [ 2.69367140e-03 3.94800646e-05 9.99996371e-01 4.76615953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20401273899998 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:170.52, Y:86.97, Z:0.48 [[ 4.64382309e-01 -8.85634010e-01 -1.21310623e-03 1.70517362e+02] [ 8.85630745e-01 4.64383891e-01 -2.40536839e-03 8.69739559e+01] [ 2.69362305e-03 4.26463560e-05 9.99996371e-01 4.77658685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23401273899998 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:170.53, Y:87.00, Z:0.48 [[ 4.65260891e-01 -8.85172770e-01 -1.21251439e-03 1.70526446e+02] [ 8.85169503e-01 4.65262468e-01 -2.40566669e-03 8.69971674e+01] [ 2.69356809e-03 4.59818669e-05 9.99996371e-01 4.81757110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26401273899998 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:170.54, Y:87.02, Z:0.48 [[ 4.64945270e-01 -8.85338595e-01 -1.21192628e-03 1.70536758e+02] [ 8.85335327e-01 4.64946847e-01 -2.40596294e-03 8.70204116e+01] [ 2.69357315e-03 4.56799359e-05 9.99996371e-01 4.80411998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29401273899998 meters Centerline goodness : 0.994107 Centerline is valid? [True, True] Translation: X:170.55, Y:87.04, Z:0.48 [[ 4.64110115e-01 -8.85776684e-01 -1.21134460e-03 1.70548673e+02] [ 8.85773417e-01 4.64111693e-01 -2.40625576e-03 8.70443749e+01] [ 2.69360444e-03 4.37907907e-05 9.99996371e-01 4.77475709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32401273899998 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:170.56, Y:87.07, Z:0.47 [[ 4.61674772e-01 -8.87048442e-01 -1.21076795e-03 1.70560497e+02] [ 8.87045179e-01 4.61676358e-01 -2.40654588e-03 8.70669324e+01] [ 2.69370571e-03 3.70356494e-05 9.99996371e-01 4.74159254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35401273899998 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:170.57, Y:87.09, Z:0.48 [[ 4.60547945e-01 -8.87634004e-01 -1.21030848e-03 1.70571308e+02] [ 8.87630742e-01 4.60549534e-01 -2.40677694e-03 8.70912271e+01] [ 2.69374406e-03 3.41291563e-05 9.99996371e-01 4.75746721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38401273899999 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:170.58, Y:87.12, Z:0.48 [[ 4.59006569e-01 -8.88432049e-01 -1.20973464e-03 1.70581063e+02] [ 8.88428789e-01 4.59008162e-01 -2.40706534e-03 8.71157625e+01] [ 2.69379206e-03 3.00957213e-05 9.99996371e-01 4.79082100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.414012739 meters Centerline goodness : 0.993484 Centerline is valid? [True, True] Translation: X:170.59, Y:87.14, Z:0.48 [[ 4.58339707e-01 -8.88776266e-01 -1.20916084e-03 1.70592287e+02] [ 8.88773006e-01 4.58341301e-01 -2.40735355e-03 8.71393802e+01] [ 2.69380705e-03 2.87162072e-05 9.99996371e-01 4.79519472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.444012739 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:170.60, Y:87.16, Z:0.48 [[ 4.57879336e-01 -8.89013528e-01 -1.20859174e-03 1.70603308e+02] [ 8.89010268e-01 4.57880930e-01 -2.40763922e-03 8.71623106e+01] [ 2.69381495e-03 2.79577846e-05 9.99996371e-01 4.78423353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.474012739 meters Centerline goodness : 0.993743 Centerline is valid? [True, True] Translation: X:170.61, Y:87.19, Z:0.47 [[ 4.57354569e-01 -8.89283610e-01 -1.20799614e-03 1.70612263e+02] [ 8.89280350e-01 4.57356164e-01 -2.40793802e-03 8.71868588e+01] [ 2.69382429e-03 2.70342209e-05 9.99996371e-01 4.74279299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.504012739 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:170.62, Y:87.21, Z:0.47 [[ 4.57236665e-01 -8.89344238e-01 -1.20743799e-03 1.70622529e+02] [ 8.89340978e-01 4.57238259e-01 -2.40821786e-03 8.72108980e+01] [ 2.69382153e-03 2.73014180e-05 9.99996371e-01 4.73013952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.534012739 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:170.63, Y:87.23, Z:0.48 [[ 4.55747401e-01 -8.90108336e-01 -1.20685981e-03 1.70634157e+02] [ 8.90105078e-01 4.55748998e-01 -2.40850758e-03 8.72333235e+01] [ 2.69385782e-03 2.34390196e-05 9.99996371e-01 4.75417480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.564012739 meters Centerline goodness : 0.992732 Centerline is valid? [True, True] Translation: X:170.65, Y:87.26, Z:0.48 [[ 4.53767929e-01 -8.91119078e-01 -1.20639997e-03 1.70645547e+02] [ 8.91115823e-01 4.53769532e-01 -2.40873789e-03 8.72560103e+01] [ 2.69389984e-03 1.79658982e-05 9.99996371e-01 4.78239036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.594012739 meters Centerline goodness : 0.993733 Centerline is valid? [True, True] Translation: X:170.66, Y:87.28, Z:0.48 [[ 4.51810684e-01 -8.92113026e-01 -1.20580890e-03 1.70657045e+02] [ 8.92109774e-01 4.51812293e-01 -2.40903374e-03 8.72795140e+01] [ 2.69392967e-03 1.27132826e-05 9.99996371e-01 4.80556478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.624012739 meters Centerline goodness : 0.993733 Centerline is valid? [True, True] Translation: X:170.67, Y:87.30, Z:0.48 [[ 4.51596514e-01 -8.92221461e-01 -1.20523125e-03 1.70668795e+02] [ 8.92218208e-01 4.51598122e-01 -2.40932270e-03 8.73036057e+01] [ 2.69392959e-03 1.27124677e-05 9.99996371e-01 4.80628712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.654012739 meters Centerline goodness : 0.993568 Centerline is valid? [True, True] Translation: X:170.68, Y:87.33, Z:0.48 [[ 4.48957627e-01 -8.93552236e-01 -1.20465280e-03 1.70680413e+02] [ 8.93548987e-01 4.48959244e-01 -2.40961189e-03 8.73257844e+01] [ 2.69395410e-03 5.39734477e-06 9.99996371e-01 4.81111017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68401273899997 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:170.69, Y:87.35, Z:0.48 [[ 4.47840625e-01 -8.94112591e-01 -1.20404868e-03 1.70692324e+02] [ 8.94109343e-01 4.47842244e-01 -2.40991372e-03 8.73488060e+01] [ 2.69395806e-03 2.70609089e-06 9.99996371e-01 4.79735046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71401273899997 meters Centerline goodness : 0.994192 Centerline is valid? [True, True] Translation: X:170.70, Y:87.37, Z:0.47 [[ 4.47036504e-01 -8.94514905e-01 -1.20348838e-03 1.70703949e+02] [ 8.94511658e-01 4.47038124e-01 -2.41019350e-03 8.73713861e+01] [ 2.69395920e-03 9.10086598e-07 9.99996371e-01 4.74662714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74401273899997 meters Centerline goodness : 0.993533 Centerline is valid? [True, True] Translation: X:170.72, Y:87.40, Z:0.47 [[ 4.47054712e-01 -8.94505806e-01 -1.20290218e-03 1.70716096e+02] [ 8.94502558e-01 4.47056331e-01 -2.41048603e-03 8.73952228e+01] [ 2.69395878e-03 1.62006086e-06 9.99996371e-01 4.73920682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77401273899997 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:170.73, Y:87.42, Z:0.47 [[ 4.48727930e-01 -8.93667611e-01 -1.20234472e-03 1.70729443e+02] [ 8.93664360e-01 4.48729541e-01 -2.41076406e-03 8.74182722e+01] [ 2.69394935e-03 7.28454497e-06 9.99996371e-01 4.73819846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80401273899997 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:170.74, Y:87.44, Z:0.47 [[ 4.49974584e-01 -8.93040553e-01 -1.20178964e-03 1.70740730e+02] [ 8.93037299e-01 4.49976188e-01 -2.41104074e-03 8.74413716e+01] [ 2.69393388e-03 1.16640786e-05 9.99996371e-01 4.74575621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83401273899997 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:170.75, Y:87.47, Z:0.48 [[ 4.51545223e-01 -8.92247426e-01 -1.20120929e-03 1.70751034e+02] [ 8.92244167e-01 4.51546821e-01 -2.41132984e-03 8.74652206e+01] [ 2.69390508e-03 1.70524929e-05 9.99996371e-01 4.75159195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86401273899997 meters Centerline goodness : 0.993515 Centerline is valid? [True, True] Translation: X:170.76, Y:87.49, Z:0.47 [[ 4.54782452e-01 -8.90601752e-01 -1.20064855e-03 1.70759191e+02] [ 8.90598487e-01 4.54784036e-01 -2.41160901e-03 8.74898234e+01] [ 2.69381900e-03 2.74616753e-05 9.99996371e-01 4.73135846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89401273899998 meters Centerline goodness : 0.993550 Centerline is valid? [True, True] Translation: X:170.77, Y:87.52, Z:0.47 [[ 4.55799617e-01 -8.90081608e-01 -1.20006282e-03 1.70769209e+02] [ 8.90078341e-01 4.55801196e-01 -2.41190045e-03 8.75160227e+01] [ 2.69377830e-03 3.11933743e-05 9.99996371e-01 4.72283577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92401273899998 meters Centerline goodness : 0.993207 Centerline is valid? [True, True] Translation: X:170.78, Y:87.54, Z:0.48 [[ 4.60575278e-01 -8.87619830e-01 -1.20471428e-03 1.70775281e+02] [ 8.87616560e-01 4.60576852e-01 -2.40958678e-03 8.75393668e+01] [ 2.69366052e-03 4.04717554e-05 9.99996371e-01 4.75151965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95401273899998 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:170.78, Y:87.56, Z:0.48 [[ 4.61217307e-01 -8.87286410e-01 -1.19277958e-03 1.70783168e+02] [ 8.87283124e-01 4.61218846e-01 -2.41551737e-03 8.75647012e+01] [ 2.69338816e-03 5.57452268e-05 9.99996371e-01 4.76309253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98401273899998 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:170.79, Y:87.59, Z:0.48 [[ 4.61567354e-01 -8.87104358e-01 -1.19858692e-03 1.70791322e+02] [ 8.87101078e-01 4.61568907e-01 -2.41263231e-03 8.75899986e+01] [ 2.69348709e-03 5.03245646e-05 9.99996371e-01 4.76295709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01401273899998 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:170.80, Y:87.61, Z:0.47 [[ 4.60026086e-01 -8.87904592e-01 -1.19801913e-03 1.70797412e+02] [ 8.87901315e-01 4.60027644e-01 -2.41291422e-03 8.76147308e+01] [ 2.69355953e-03 4.62807196e-05 9.99996371e-01 4.74497198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04401273899998 meters Centerline goodness : 0.992982 Centerline is valid? [True, True] Translation: X:170.81, Y:87.64, Z:0.48 [[ 4.58140658e-01 -8.88878903e-01 -1.19742628e-03 1.70806964e+02] [ 8.88875628e-01 4.58142221e-01 -2.41320839e-03 8.76390878e+01] [ 2.69364156e-03 4.12258456e-05 9.99996371e-01 4.75648590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07401273899998 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:170.82, Y:87.66, Z:0.48 [[ 4.52953892e-01 -8.91533140e-01 -1.19684174e-03 1.70816645e+02] [ 8.91529873e-01 4.52955473e-01 -2.41349826e-03 8.76633740e+01] [ 2.69382970e-03 2.61832643e-05 9.99996371e-01 4.79382167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10401273899998 meters Centerline goodness : 0.993002 Centerline is valid? [True, True] Translation: X:170.83, Y:87.69, Z:0.48 [[ 4.50342993e-01 -8.92854836e-01 -1.19623896e-03 1.70827957e+02] [ 8.92851573e-01 4.50344581e-01 -2.41379699e-03 8.76865103e+01] [ 2.69389005e-03 1.89727219e-05 9.99996371e-01 4.80109985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13401273899999 meters Centerline goodness : 0.992782 Centerline is valid? [True, True] Translation: X:170.84, Y:87.71, Z:0.48 [[ 4.48147144e-01 -8.93959008e-01 -1.19561228e-03 1.70839299e+02] [ 8.93955748e-01 4.48148739e-01 -2.41410736e-03 8.77091399e+01] [ 2.69392515e-03 1.30508496e-05 9.99996371e-01 4.80457575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.164012739 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:170.85, Y:87.73, Z:0.48 [[ 4.44690621e-01 -8.95683440e-01 -1.19502071e-03 1.70850563e+02] [ 8.95680185e-01 4.44692226e-01 -2.41440016e-03 8.77316629e+01] [ 2.69395466e-03 3.30472884e-06 9.99996371e-01 4.78388882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.194012739 meters Centerline goodness : 0.993304 Centerline is valid? [True, True] Translation: X:170.86, Y:87.75, Z:0.48 [[ 4.43120486e-01 -8.96461270e-01 -1.19442024e-03 1.70861560e+02] [ 8.96458018e-01 4.43122095e-01 -2.41469718e-03 8.77540770e+01] [ 2.69395650e-03 -7.45814108e-07 9.99996371e-01 4.77283860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.224012739 meters Centerline goodness : 0.992933 Centerline is valid? [True, True] Translation: X:170.87, Y:87.78, Z:0.48 [[ 4.41742107e-01 -8.97141285e-01 -1.19382330e-03 1.70874306e+02] [ 8.97138035e-01 4.41743720e-01 -2.41499227e-03 8.77775018e+01] [ 2.69395321e-03 -4.22051665e-06 9.99996371e-01 4.76918128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.254012739 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:170.89, Y:87.80, Z:0.48 [[ 4.41650204e-01 -8.97186532e-01 -1.19323995e-03 1.70886107e+02] [ 8.97183281e-01 4.41651816e-01 -2.41528047e-03 8.78012393e+01] [ 2.69395370e-03 -3.84582368e-06 9.99996371e-01 4.77190496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.284012739 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:170.89, Y:87.82, Z:0.48 [[ 4.42369475e-01 -8.96832105e-01 -1.19265579e-03 1.70894606e+02] [ 8.96828852e-01 4.42371083e-01 -2.41556889e-03 8.78249904e+01] [ 2.69395616e-03 -1.03418331e-06 9.99996371e-01 4.79361611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.314012739 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:170.90, Y:87.85, Z:0.48 [[ 4.42253807e-01 -8.96889151e-01 -1.19204629e-03 1.70904425e+02] [ 8.96885898e-01 4.42255413e-01 -2.41586963e-03 8.78495399e+01] [ 2.69395618e-03 -7.01962411e-07 9.99996371e-01 4.79330351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.344012739 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:170.91, Y:87.87, Z:0.48 [[ 4.41719785e-01 -8.97152279e-01 -1.19148341e-03 1.70914906e+02] [ 8.97149026e-01 4.41721392e-01 -2.41614720e-03 8.78736616e+01] [ 2.69395568e-03 -1.67816016e-06 9.99996371e-01 4.78955778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.374012739 meters Centerline goodness : 0.992389 Centerline is valid? [True, True] Translation: X:170.93, Y:87.90, Z:0.48 [[ 4.40084763e-01 -8.97955446e-01 -1.19090932e-03 1.70926680e+02] [ 8.97952195e-01 4.40086374e-01 -2.41643014e-03 8.78969231e+01] [ 2.69394957e-03 -5.94555321e-06 9.99996371e-01 4.78708125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.404012739 meters Centerline goodness : 0.991933 Centerline is valid? [True, True] Translation: X:170.94, Y:87.92, Z:0.48 [[ 4.38938344e-01 -8.98516396e-01 -1.19033930e-03 1.70937661e+02] [ 8.98513146e-01 4.38939958e-01 -2.41671090e-03 8.79193332e+01] [ 2.69394185e-03 -8.74842744e-06 9.99996371e-01 4.79556620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43401273899997 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:170.95, Y:87.94, Z:0.48 [[ 4.35682093e-01 -9.00099827e-01 -1.18988493e-03 1.70948781e+02] [ 9.00096582e-01 4.35683718e-01 -2.41693459e-03 8.79416242e+01] [ 2.69389589e-03 -1.79962397e-05 9.99996371e-01 4.77117274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46401273899997 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:170.96, Y:87.96, Z:0.47 [[ 4.33745670e-01 -9.01034561e-01 -1.18929459e-03 1.70961299e+02] [ 9.01031319e-01 4.33747299e-01 -2.41722504e-03 8.79645147e+01] [ 2.69385662e-03 -2.31307817e-05 9.99996371e-01 4.73942890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49401273899997 meters Centerline goodness : 0.992825 Centerline is valid? [True, True] Translation: X:170.97, Y:87.99, Z:0.47 [[ 4.31638884e-01 -9.02045709e-01 -1.18873419e-03 1.70974001e+02] [ 9.02042470e-01 4.31640520e-01 -2.41750060e-03 8.79864529e+01] [ 2.69380189e-03 -2.88014625e-05 9.99996371e-01 4.71545930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52401273899997 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:170.99, Y:88.01, Z:0.47 [[ 4.28680796e-01 -9.03455236e-01 -1.18814807e-03 1.70988055e+02] [ 9.03452001e-01 4.28682441e-01 -2.41778863e-03 8.80085172e+01] [ 2.69370201e-03 -3.69751902e-05 9.99996371e-01 4.73257105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55401273899997 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:171.00, Y:88.03, Z:0.48 [[ 4.27964619e-01 -9.03794708e-01 -1.18758664e-03 1.70999833e+02] [ 9.03791475e-01 4.27966265e-01 -2.41806437e-03 8.80304682e+01] [ 2.69368080e-03 -3.84846857e-05 9.99996371e-01 4.76694921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58401273899997 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:171.01, Y:88.05, Z:0.48 [[ 4.28243895e-01 -9.03662413e-01 -1.18714122e-03 1.71012875e+02] [ 9.03659178e-01 4.28245539e-01 -2.41828303e-03 8.80529032e+01] [ 2.69369941e-03 -3.71561126e-05 9.99996371e-01 4.82850475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61401273899997 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:171.03, Y:88.08, Z:0.48 [[ 4.28816626e-01 -9.03390775e-01 -1.18656994e-03 1.71025090e+02] [ 9.03387539e-01 4.28818267e-01 -2.41856330e-03 8.80764663e+01] [ 2.69373064e-03 -3.48123461e-05 9.99996371e-01 4.82808538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64401273899998 meters Centerline goodness : 0.992976 Centerline is valid? [True, True] Translation: X:171.04, Y:88.10, Z:0.48 [[ 4.30616088e-01 -9.02534419e-01 -1.18600004e-03 1.71037077e+02] [ 9.02531178e-01 4.30617721e-01 -2.41884273e-03 8.80985056e+01] [ 2.69380145e-03 -2.88094177e-05 9.99996371e-01 4.83129882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67401273899998 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:171.05, Y:88.12, Z:0.48 [[ 4.31042519e-01 -9.02330838e-01 -1.18554690e-03 1.71048887e+02] [ 9.02327596e-01 4.31044149e-01 -2.41906481e-03 8.81208929e+01] [ 2.69381983e-03 -2.70318946e-05 9.99996371e-01 4.82376584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70401273899998 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:171.06, Y:88.14, Z:0.48 [[ 4.32314214e-01 -9.01722250e-01 -1.18495529e-03 1.71062127e+02] [ 9.01719005e-01 4.32315838e-01 -2.41935457e-03 8.81430125e+01] [ 2.69386078e-03 -2.25753359e-05 9.99996371e-01 4.78894293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73401273899998 meters Centerline goodness : 0.992832 Centerline is valid? [True, True] Translation: X:171.07, Y:88.17, Z:0.48 [[ 4.33007557e-01 -9.01389512e-01 -1.18437356e-03 1.71074273e+02] [ 9.01386265e-01 4.33009176e-01 -2.41963932e-03 8.81662838e+01] [ 2.69388212e-03 -1.98559457e-05 9.99996371e-01 4.78769857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76401273899998 meters Centerline goodness : 0.993425 Centerline is valid? [True, True] Translation: X:171.09, Y:88.19, Z:0.48 [[ 4.33960704e-01 -9.00931022e-01 -1.18381772e-03 1.71085824e+02] [ 9.00927772e-01 4.33962319e-01 -2.41991123e-03 8.81887312e+01] [ 2.69390538e-03 -1.63878770e-05 9.99996371e-01 4.79357723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79401273899998 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:171.10, Y:88.21, Z:0.48 [[ 4.36454883e-01 -8.99725366e-01 -1.18323817e-03 1.71098232e+02] [ 8.99722111e-01 4.36456487e-01 -2.42019458e-03 8.82115386e+01] [ 2.69394243e-03 -8.27980157e-06 9.99996371e-01 4.84715202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82401273899998 meters Centerline goodness : 0.992506 Centerline is valid? [True, True] Translation: X:171.11, Y:88.23, Z:0.49 [[ 4.37597442e-01 -8.99170218e-01 -1.18268598e-03 1.71110161e+02] [ 8.99166960e-01 4.37599040e-01 -2.42046439e-03 8.82345177e+01] [ 2.69395174e-03 -4.24313491e-06 9.99996371e-01 4.87229678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85401273899998 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:171.12, Y:88.26, Z:0.49 [[ 4.40795998e-01 -8.97606534e-01 -1.18213449e-03 1.71121959e+02] [ 8.97603270e-01 4.40797583e-01 -2.42073370e-03 8.82565832e+01] [ 2.69394841e-03 5.96194065e-06 9.99996371e-01 4.86780104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88401273899999 meters Centerline goodness : 0.993091 Centerline is valid? [True, True] Translation: X:171.13, Y:88.28, Z:0.48 [[ 4.42842831e-01 -8.96598478e-01 -1.18153047e-03 1.71132198e+02] [ 8.96595210e-01 4.42844407e-01 -2.42102848e-03 8.82785243e+01] [ 2.69392461e-03 1.27805448e-05 9.99996371e-01 4.84226546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.914012739 meters Centerline goodness : 0.992586 Centerline is valid? [True, True] Translation: X:171.14, Y:88.30, Z:0.48 [[ 4.45009640e-01 -8.95525000e-01 -1.18090086e-03 1.71142342e+02] [ 8.95521727e-01 4.45011207e-01 -2.42133555e-03 8.83012689e+01] [ 2.69388063e-03 1.99952856e-05 9.99996371e-01 4.82584514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.944012739 meters Centerline goodness : 0.992643 Centerline is valid? [True, True] Translation: X:171.15, Y:88.33, Z:0.48 [[ 4.49573299e-01 -8.93242663e-01 -1.18027357e-03 1.71151026e+02] [ 8.93239382e-01 4.49574847e-01 -2.42164128e-03 8.83257074e+01] [ 2.69373461e-03 3.44384234e-05 9.99996371e-01 4.83400906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.974012739 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:171.16, Y:88.35, Z:0.48 [[ 4.51282972e-01 -8.92380125e-01 -1.17967366e-03 1.71159335e+02] [ 8.92376839e-01 4.51284512e-01 -2.42193348e-03 8.83499622e+01] [ 2.69365375e-03 4.02638859e-05 9.99996371e-01 4.84491760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.004012739 meters Centerline goodness : 0.992857 Centerline is valid? [True, True] Translation: X:171.17, Y:88.38, Z:0.48 [[ 4.54355455e-01 -8.90819696e-01 -1.17907567e-03 1.71165453e+02] [ 8.90816404e-01 4.54356983e-01 -2.42222457e-03 8.83761579e+01] [ 2.69348661e-03 5.02109974e-05 9.99996371e-01 4.84081032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.034012739 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:171.17, Y:88.40, Z:0.48 [[ 4.55452062e-01 -8.90259530e-01 -1.17849519e-03 1.71174285e+02] [ 8.90256235e-01 4.55453584e-01 -2.42250695e-03 8.84003306e+01] [ 2.69340976e-03 5.41730931e-05 9.99996371e-01 4.83717259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.064012739 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:171.18, Y:88.43, Z:0.48 [[ 4.56182553e-01 -8.89885437e-01 -1.17788927e-03 1.71183121e+02] [ 8.89882141e-01 4.56184070e-01 -2.42280154e-03 8.84257737e+01] [ 2.69335012e-03 5.70571701e-05 9.99996371e-01 4.84918710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.094012739 meters Centerline goodness : 0.993065 Centerline is valid? [True, True] Translation: X:171.19, Y:88.45, Z:0.49 [[ 4.56871853e-01 -8.89531742e-01 -1.17887117e-03 1.71191456e+02] [ 8.89528446e-01 4.56873371e-01 -2.42232434e-03 8.84511442e+01] [ 2.69332923e-03 5.80523724e-05 9.99996371e-01 4.85450636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.124012739 meters Centerline goodness : 0.993097 Centerline is valid? [True, True] Translation: X:171.20, Y:88.48, Z:0.48 [[ 4.57057800e-01 -8.89436216e-01 -1.17707739e-03 1.71196831e+02] [ 8.89432917e-01 4.57059312e-01 -2.42319567e-03 8.84766726e+01] [ 2.69327217e-03 6.06091011e-05 9.99996371e-01 4.84934811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.154012739 meters Centerline goodness : 0.992611 Centerline is valid? [True, True] Translation: X:171.21, Y:88.50, Z:0.48 [[ 4.55418823e-01 -8.90276537e-01 -1.17646697e-03 1.71206206e+02] [ 8.90273240e-01 4.55420339e-01 -2.42349200e-03 8.85006565e+01] [ 2.69336505e-03 5.63268132e-05 9.99996371e-01 4.83126193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18401273899997 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:171.22, Y:88.52, Z:0.48 [[ 4.54009864e-01 -8.90995881e-01 -1.17588241e-03 1.71215802e+02] [ 8.90992586e-01 4.54011384e-01 -2.42377559e-03 8.85245056e+01] [ 2.69343807e-03 5.27155190e-05 9.99996371e-01 4.83976293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21401273899997 meters Centerline goodness : 0.992766 Centerline is valid? [True, True] Translation: X:171.22, Y:88.55, Z:0.49 [[ 4.52699242e-01 -8.91662500e-01 -1.17530108e-03 1.71224104e+02] [ 8.91659207e-01 4.52700765e-01 -2.42405745e-03 8.85493411e+01] [ 2.69350082e-03 4.94009375e-05 9.99996371e-01 4.85477204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24401273899997 meters Centerline goodness : 0.993056 Centerline is valid? [True, True] Translation: X:171.23, Y:88.57, Z:0.49 [[ 4.51653713e-01 -8.92192548e-01 -1.17474098e-03 1.71230111e+02] [ 8.92189256e-01 4.51655239e-01 -2.42432885e-03 8.85746715e+01] [ 2.69354605e-03 4.68658510e-05 9.99996371e-01 4.89423397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27401273899997 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:171.24, Y:88.60, Z:0.49 [[ 4.51390861e-01 -8.92325564e-01 -1.17415423e-03 1.71240411e+02] [ 8.92322271e-01 4.51392386e-01 -2.42461299e-03 8.85994222e+01] [ 2.69354844e-03 4.67241737e-05 9.99996371e-01 4.91902733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30401273899997 meters Centerline goodness : 0.993146 Centerline is valid? [True, True] Translation: X:171.25, Y:88.62, Z:0.49 [[ 4.50251356e-01 -8.92901080e-01 -1.17359842e-03 1.71248767e+02] [ 8.92897789e-01 4.50252883e-01 -2.42488200e-03 8.86241184e+01] [ 2.69359583e-03 4.39029773e-05 9.99996371e-01 4.91650257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33401273899997 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:171.26, Y:88.65, Z:0.49 [[ 4.49204925e-01 -8.93427982e-01 -1.17303453e-03 1.71257584e+02] [ 8.93424692e-01 4.49206455e-01 -2.42515475e-03 8.86488661e+01] [ 2.69363579e-03 4.13734419e-05 9.99996371e-01 4.88418464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36401273899997 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:171.27, Y:88.67, Z:0.49 [[ 4.47743805e-01 -8.94161121e-01 -1.17245484e-03 1.71265927e+02] [ 8.94157832e-01 4.47745339e-01 -2.42543497e-03 8.86733179e+01] [ 2.69369084e-03 3.76138093e-05 9.99996371e-01 4.85284545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39401273899998 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:171.27, Y:88.70, Z:0.48 [[ 4.45276008e-01 -8.95392597e-01 -1.17184971e-03 1.71274391e+02] [ 8.95389312e-01 4.45277549e-01 -2.42572730e-03 8.86983642e+01] [ 2.69377664e-03 3.08564660e-05 9.99996371e-01 4.84142285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42401273899998 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:171.28, Y:88.72, Z:0.48 [[ 4.44267552e-01 -8.95893392e-01 -1.17125866e-03 1.71283906e+02] [ 8.95890108e-01 4.44269095e-01 -2.42601266e-03 8.87213185e+01] [ 2.69380273e-03 2.84796620e-05 9.99996371e-01 4.84599946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45401273899998 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:171.29, Y:88.75, Z:0.49 [[ 4.42953305e-01 -8.96543920e-01 -1.17064105e-03 1.71291047e+02] [ 8.96540637e-01 4.42954851e-01 -2.42631064e-03 8.87468492e+01] [ 2.69383518e-03 2.52150404e-05 9.99996371e-01 4.86437211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48401273899998 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:171.30, Y:88.77, Z:0.49 [[ 4.42787713e-01 -8.96625714e-01 -1.17005585e-03 1.71299491e+02] [ 8.96622431e-01 4.42789259e-01 -2.42659281e-03 8.87710062e+01] [ 2.69383368e-03 2.53671636e-05 9.99996371e-01 4.86273715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51401273899998 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:171.31, Y:88.80, Z:0.49 [[ 4.42573320e-01 -8.96731559e-01 -1.16944501e-03 1.71310878e+02] [ 8.96728275e-01 4.42574864e-01 -2.42688716e-03 8.87952554e+01] [ 2.69383327e-03 2.54011030e-05 9.99996371e-01 4.86345953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54401273899998 meters Centerline goodness : 0.993309 Centerline is valid? [True, True] Translation: X:171.32, Y:88.82, Z:0.49 [[ 4.42845999e-01 -8.96596930e-01 -1.16886468e-03 1.71320091e+02] [ 8.96593645e-01 4.42847541e-01 -2.42716663e-03 8.88188390e+01] [ 2.69381900e-03 2.68643922e-05 9.99996371e-01 4.85561419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57401273899998 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:171.33, Y:88.84, Z:0.48 [[ 4.44210704e-01 -8.95921585e-01 -1.16825857e-03 1.71327315e+02] [ 8.95918297e-01 4.44212239e-01 -2.42745833e-03 8.88441321e+01] [ 2.69376707e-03 3.16387481e-05 9.99996371e-01 4.84194203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60401273899998 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:171.33, Y:88.87, Z:0.49 [[ 4.44426046e-01 -8.95814783e-01 -1.16767737e-03 1.71334154e+02] [ 8.95811494e-01 4.44427579e-01 -2.42773787e-03 8.88683713e+01] [ 2.69375150e-03 3.29311337e-05 9.99996371e-01 4.85117829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63401273899999 meters Centerline goodness : 0.994447 Centerline is valid? [True, True] Translation: X:171.34, Y:88.89, Z:0.49 [[ 4.44496708e-01 -8.95779724e-01 -1.16706804e-03 1.71338595e+02] [ 8.95776434e-01 4.44498239e-01 -2.42803076e-03 8.88947176e+01] [ 2.69374041e-03 3.38196364e-05 9.99996371e-01 4.85070991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.664012739 meters Centerline goodness : 0.993341 Centerline is valid? [True, True] Translation: X:171.35, Y:88.92, Z:0.48 [[ 4.43976075e-01 -8.96037881e-01 -1.16646674e-03 1.71348283e+02] [ 8.96034591e-01 4.43977606e-01 -2.42831960e-03 8.89187339e+01] [ 2.69375146e-03 3.29212505e-05 9.99996371e-01 4.84510716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.694012739 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:171.36, Y:88.94, Z:0.48 [[ 4.41090374e-01 -8.97461934e-01 -1.16588882e-03 1.71356016e+02] [ 8.97458648e-01 4.41091915e-01 -2.42859704e-03 8.89430296e+01] [ 2.69383753e-03 2.48937712e-05 9.99996371e-01 4.83972997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.724012739 meters Centerline goodness : 0.993522 Centerline is valid? [True, True] Translation: X:171.36, Y:88.97, Z:0.48 [[ 4.39038058e-01 -8.98467710e-01 -1.16542809e-03 1.71364736e+02] [ 8.98464427e-01 4.39039604e-01 -2.42881811e-03 8.89671781e+01] [ 2.69388373e-03 1.92479097e-05 9.99996371e-01 4.84575507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.754012739 meters Centerline goodness : 0.990875 Centerline is valid? [True, True] Translation: X:171.37, Y:88.99, Z:0.49 [[ 4.37049858e-01 -8.99436526e-01 -1.16483060e-03 1.71373768e+02] [ 8.99433246e-01 4.37051410e-01 -2.42910463e-03 8.89923892e+01] [ 2.69391628e-03 1.39524660e-05 9.99996371e-01 4.94723177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.784012739 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:171.38, Y:89.02, Z:0.49 [[ 4.33174974e-01 -9.01309096e-01 -1.16427112e-03 1.71384702e+02] [ 9.01305822e-01 4.33176539e-01 -2.42937276e-03 8.90159140e+01] [ 2.69395070e-03 2.97914534e-06 9.99996371e-01 4.87505469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.814012739 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:171.40, Y:89.04, Z:0.49 [[ 4.31047093e-01 -9.02328681e-01 -1.16371098e-03 1.71395416e+02] [ 9.02325410e-01 4.31048664e-01 -2.42964104e-03 8.90386913e+01] [ 2.69395086e-03 -2.75627528e-06 9.99996371e-01 4.88501915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.844012739 meters Centerline goodness : 0.994175 Centerline is valid? [True, True] Translation: X:171.41, Y:89.06, Z:0.49 [[ 4.27469388e-01 -9.04029076e-01 -1.16312688e-03 1.71405706e+02] [ 9.04025810e-01 4.27470970e-01 -2.42992063e-03 8.90626070e+01] [ 2.69392188e-03 -1.27800326e-05 9.99996371e-01 4.90555705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.874012739 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:171.42, Y:89.09, Z:0.49 [[ 4.26031685e-01 -9.04707495e-01 -1.16256711e-03 1.71417365e+02] [ 9.04704232e-01 4.26033270e-01 -2.43018842e-03 8.90864050e+01] [ 2.69390195e-03 -1.64421141e-05 9.99996371e-01 4.90087629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.904012739 meters Centerline goodness : 0.990112 Centerline is valid? [True, True] Translation: X:171.43, Y:89.11, Z:0.50 [[ 4.24072276e-01 -9.05627603e-01 -1.16199837e-03 1.71430279e+02] [ 9.05624342e-01 4.24073867e-01 -2.43046033e-03 8.91080013e+01] [ 2.69386511e-03 -2.16431631e-05 9.99996371e-01 4.96999263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93401273899997 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:171.44, Y:89.13, Z:0.49 [[ 4.22997279e-01 -9.06130207e-01 -1.16154629e-03 1.71443045e+02] [ 9.06126947e-01 4.22998874e-01 -2.43067637e-03 8.91315381e+01] [ 2.69384205e-03 -2.43389025e-05 9.99996371e-01 4.88800853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96401273899997 meters Centerline goodness : 0.993090 Centerline is valid? [True, True] Translation: X:171.45, Y:89.15, Z:0.49 [[ 4.22050187e-01 -9.06571725e-01 -1.16097803e-03 1.71453929e+02] [ 9.06568466e-01 4.22051783e-01 -2.43094776e-03 8.91544527e+01] [ 2.69382135e-03 -2.65241164e-05 9.99996371e-01 4.88803993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99401273899997 meters Centerline goodness : 0.993490 Centerline is valid? [True, True] Translation: X:171.47, Y:89.18, Z:0.49 [[ 4.20436152e-01 -9.07321385e-01 -1.16052586e-03 1.71466436e+02] [ 9.07318128e-01 4.20437753e-01 -2.43116360e-03 8.91771681e+01] [ 2.69377561e-03 -3.08170790e-05 9.99996371e-01 4.88124837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02401273899997 meters Centerline goodness : 0.992928 Centerline is valid? [True, True] Translation: X:171.48, Y:89.20, Z:0.49 [[ 4.19518346e-01 -9.07746117e-01 -1.15996302e-03 1.71478860e+02] [ 9.07742861e-01 4.19519948e-01 -2.43143212e-03 8.91994867e+01] [ 2.69375069e-03 -3.29177662e-05 9.99996371e-01 4.87186394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05401273899997 meters Centerline goodness : 0.992953 Centerline is valid? [True, True] Translation: X:171.49, Y:89.22, Z:0.49 [[ 4.18768129e-01 -9.08092457e-01 -1.15937363e-03 1.71491543e+02] [ 9.08089201e-01 4.18769733e-01 -2.43171312e-03 8.92209417e+01] [ 2.69373093e-03 -3.44907158e-05 9.99996371e-01 4.86172348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08401273899997 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:171.51, Y:89.24, Z:0.49 [[ 4.17903653e-01 -9.08490613e-01 -1.15887517e-03 1.71505192e+02] [ 9.08487359e-01 4.17905258e-01 -2.43195065e-03 8.92431816e+01] [ 2.69370436e-03 -3.65023812e-05 9.99996371e-01 4.86823083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11401273899997 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:171.52, Y:89.27, Z:0.49 [[ 4.17942640e-01 -9.08472679e-01 -1.15833157e-03 1.71517068e+02] [ 9.08469424e-01 4.17944244e-01 -2.43220954e-03 8.92671184e+01] [ 2.69371393e-03 -3.57847424e-05 9.99996371e-01 4.87898477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14401273899998 meters Centerline goodness : 0.993106 Centerline is valid? [True, True] Translation: X:171.53, Y:89.29, Z:0.49 [[ 4.20709021e-01 -9.07194896e-01 -1.15776204e-03 1.71529281e+02] [ 9.07191635e-01 4.20710613e-01 -2.43248061e-03 8.92894481e+01] [ 2.69381677e-03 -2.69455062e-05 9.99996371e-01 4.88417249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17401273899998 meters Centerline goodness : 0.992917 Centerline is valid? [True, True] Translation: X:171.54, Y:89.31, Z:0.49 [[ 4.22504530e-01 -9.06360074e-01 -1.15730757e-03 1.71540451e+02] [ 9.06356809e-01 4.22506114e-01 -2.43269681e-03 8.93134859e+01] [ 2.69386879e-03 -2.11081727e-05 9.99996371e-01 4.88294860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20401273899998 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:171.55, Y:89.34, Z:0.49 [[ 4.24590833e-01 -9.05384607e-01 -1.15674258e-03 1.71550763e+02] [ 9.05381338e-01 4.24592408e-01 -2.43296544e-03 8.93376816e+01] [ 2.69391357e-03 -1.42783252e-05 9.99996371e-01 4.88191159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23401273899998 meters Centerline goodness : 0.992569 Centerline is valid? [True, True] Translation: X:171.56, Y:89.36, Z:0.49 [[ 4.27467517e-01 -9.04029969e-01 -1.15617562e-03 1.71559846e+02] [ 9.04026695e-01 4.27469080e-01 -2.43323483e-03 8.93612365e+01] [ 2.69394654e-03 -5.08477440e-06 9.99996371e-01 4.87155021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26401273899998 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:171.57, Y:89.38, Z:0.49 [[ 4.27681829e-01 -9.03928602e-01 -1.15558097e-03 1.71571690e+02] [ 9.03925327e-01 4.27683390e-01 -2.43351721e-03 8.93844840e+01] [ 2.69394860e-03 -3.78781060e-06 9.99996371e-01 4.86827994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29401273899998 meters Centerline goodness : 0.992748 Centerline is valid? [True, True] Translation: X:171.58, Y:89.41, Z:0.49 [[ 4.27547422e-01 -9.03992184e-01 -1.15502282e-03 1.71584532e+02] [ 9.03988907e-01 4.27548982e-01 -2.43378210e-03 8.94080499e+01] [ 2.69394882e-03 -3.57055877e-06 9.99996371e-01 4.86141413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32401273899998 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:171.60, Y:89.43, Z:0.49 [[ 4.25948570e-01 -9.04746640e-01 -1.15457339e-03 1.71598316e+02] [ 9.04743366e-01 4.25950134e-01 -2.43399528e-03 8.94299580e+01] [ 2.69393975e-03 -7.83580944e-06 9.99996371e-01 4.87039749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35401273899998 meters Centerline goodness : 0.992702 Centerline is valid? [True, True] Translation: X:171.61, Y:89.45, Z:0.49 [[ 4.24624753e-01 -9.05368702e-01 -1.15399018e-03 1.71611314e+02] [ 9.05365430e-01 4.24626321e-01 -2.43427176e-03 8.94531010e+01] [ 2.69392807e-03 -1.11307704e-05 9.99996371e-01 4.88846984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38401273899999 meters Centerline goodness : 0.993124 Centerline is valid? [True, True] Translation: X:171.63, Y:89.47, Z:0.49 [[ 4.22521532e-01 -9.06352153e-01 -1.15342159e-03 1.71627212e+02] [ 9.06348883e-01 4.22523106e-01 -2.43454114e-03 8.94730781e+01] [ 2.69389888e-03 -1.67563157e-05 9.99996371e-01 4.89160859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.414012739 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:171.64, Y:89.50, Z:0.49 [[ 4.22002825e-01 -9.06593783e-01 -1.15282820e-03 1.71640183e+02] [ 9.06590513e-01 4.22004399e-01 -2.43482210e-03 8.94953347e+01] [ 2.69389315e-03 -1.76413004e-05 9.99996371e-01 4.89142345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.444012739 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:171.65, Y:89.52, Z:0.49 [[ 4.24554940e-01 -9.05401444e-01 -1.15222680e-03 1.71654207e+02] [ 9.05398170e-01 4.24556503e-01 -2.43510667e-03 8.95177375e+01] [ 2.69393447e-03 -9.38747268e-06 9.99996371e-01 4.89518288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.474012739 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:171.67, Y:89.54, Z:0.49 [[ 4.27353199e-01 -9.04084021e-01 -1.15166711e-03 1.71665958e+02] [ 9.04080741e-01 4.27354750e-01 -2.43537134e-03 8.95403851e+01] [ 2.69395072e-03 -4.36320126e-07 9.99996371e-01 4.89261094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.504012739 meters Centerline goodness : 0.993122 Centerline is valid? [True, True] Translation: X:171.68, Y:89.56, Z:0.49 [[ 4.30869909e-01 -9.02413318e-01 -1.15107947e-03 1.71677431e+02] [ 9.02410031e-01 4.30871446e-01 -2.43564906e-03 8.95625095e+01] [ 2.69392942e-03 1.07022306e-05 9.99996371e-01 4.88306658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.534012739 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:171.69, Y:89.59, Z:0.49 [[ 4.38179392e-01 -8.98886810e-01 -1.15045616e-03 1.71688757e+02] [ 8.98883510e-01 4.38180901e-01 -2.43594343e-03 8.95851656e+01] [ 2.69374534e-03 3.32541373e-05 9.99996371e-01 4.89855191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.564012739 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:171.70, Y:89.61, Z:0.49 [[ 4.41355219e-01 -8.97331738e-01 -1.14986314e-03 1.71698666e+02] [ 8.97328432e-01 4.41356715e-01 -2.43622333e-03 8.96086897e+01] [ 2.69360033e-03 4.34349958e-05 9.99996371e-01 4.93143661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.594012739 meters Centerline goodness : 0.992882 Centerline is valid? [True, True] Translation: X:171.71, Y:89.63, Z:0.50 [[ 4.43888014e-01 -8.96081531e-01 -1.14926731e-03 1.71708262e+02] [ 8.96078220e-01 4.43889499e-01 -2.43650438e-03 8.96330169e+01] [ 2.69345426e-03 5.17016852e-05 9.99996371e-01 4.96024416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.624012739 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:171.72, Y:89.66, Z:0.49 [[ 4.47197135e-01 -8.94434683e-01 -1.14871553e-03 1.71716635e+02] [ 8.94431366e-01 4.47198606e-01 -2.43676449e-03 8.96578369e+01] [ 2.69323066e-03 6.22668988e-05 9.99996371e-01 4.94687710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.654012739 meters Centerline goodness : 0.993103 Centerline is valid? [True, True] Translation: X:171.73, Y:89.68, Z:0.49 [[ 4.47756225e-01 -8.94154933e-01 -1.14816063e-03 1.71726566e+02] [ 8.94151615e-01 4.47757692e-01 -2.43702592e-03 8.96821444e+01] [ 2.69317651e-03 6.45638436e-05 9.99996371e-01 4.92752299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68401273899997 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:171.73, Y:89.71, Z:0.49 [[ 4.47741304e-01 -8.94162406e-01 -1.14759624e-03 1.71733113e+02] [ 8.94159086e-01 4.47742770e-01 -2.43729166e-03 8.97075390e+01] [ 2.69316250e-03 6.51425384e-05 9.99996371e-01 4.87916286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71401273899997 meters Centerline goodness : 0.992480 Centerline is valid? [True, True] Translation: X:171.74, Y:89.73, Z:0.49 [[ 4.47598396e-01 -8.94233952e-01 -1.14700637e-03 1.71741049e+02] [ 8.94230632e-01 4.47599861e-01 -2.43756923e-03 8.97331756e+01] [ 2.69315706e-03 6.53638517e-05 9.99996371e-01 4.90195658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74401273899997 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:171.75, Y:89.76, Z:0.49 [[ 4.47228724e-01 -8.94418892e-01 -1.14641374e-03 1.71749574e+02] [ 8.94415572e-01 4.47230188e-01 -2.43784792e-03 8.97570692e+01] [ 2.69316807e-03 6.49053141e-05 9.99996371e-01 4.85503559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77401273899997 meters Centerline goodness : 0.993422 Centerline is valid? [True, True] Translation: X:171.76, Y:89.78, Z:0.48 [[ 4.45102699e-01 -8.95478796e-01 -1.14579452e-03 1.71757036e+02] [ 8.95475479e-01 4.45104170e-01 -2.43813892e-03 8.97819890e+01] [ 2.69329962e-03 5.91913216e-05 9.99996371e-01 4.84805767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80401273899997 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:171.77, Y:89.81, Z:0.49 [[ 4.43221247e-01 -8.96411521e-01 -1.14521953e-03 1.71766178e+02] [ 8.96408206e-01 4.43222723e-01 -2.43840897e-03 8.98070194e+01] [ 2.69340521e-03 5.41704727e-05 9.99996371e-01 4.86094456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83401273899997 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:171.77, Y:89.83, Z:0.49 [[ 4.40475256e-01 -8.97764022e-01 -1.14464938e-03 1.71774197e+02] [ 8.97760711e-01 4.40476741e-01 -2.43867658e-03 8.98306661e+01] [ 2.69354752e-03 4.65554464e-05 9.99996371e-01 4.86763837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86401273899997 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:171.78, Y:89.85, Z:0.49 [[ 4.39307162e-01 -8.98336189e-01 -1.14405127e-03 1.71783637e+02] [ 8.98332879e-01 4.39308649e-01 -2.43895714e-03 8.98541338e+01] [ 2.69359508e-03 4.37124660e-05 9.99996371e-01 4.86585266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89401273899998 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:171.79, Y:89.88, Z:0.49 [[ 4.38558930e-01 -8.98701707e-01 -1.14346778e-03 1.71793851e+02] [ 8.98698398e-01 4.38560418e-01 -2.43923067e-03 8.98782513e+01] [ 2.69362047e-03 4.21137316e-05 9.99996371e-01 4.86648878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92401273899998 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:171.80, Y:89.90, Z:0.49 [[ 4.37563415e-01 -8.99186828e-01 -1.14290298e-03 1.71801000e+02] [ 8.99183520e-01 4.37564906e-01 -2.43949528e-03 8.99032518e+01] [ 2.69365625e-03 3.97543561e-05 9.99996371e-01 4.90351307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95401273899998 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:171.81, Y:89.93, Z:0.49 [[ 4.36742578e-01 -8.99585802e-01 -1.14231279e-03 1.71810384e+02] [ 8.99582495e-01 4.36744070e-01 -2.43977160e-03 8.99276806e+01] [ 2.69368224e-03 3.79475475e-05 9.99996371e-01 4.92163142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98401273899998 meters Centerline goodness : 0.993820 Centerline is valid? [True, True] Translation: X:171.82, Y:89.95, Z:0.49 [[ 4.34015919e-01 -9.00904478e-01 -1.14176266e-03 1.71820565e+02] [ 9.00901174e-01 4.34017420e-01 -2.44002903e-03 8.99514657e+01] [ 2.69377796e-03 3.03961249e-05 9.99996371e-01 4.94803202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01401273899998 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:171.83, Y:89.97, Z:0.50 [[ 4.31908896e-01 -9.01916517e-01 -1.14120428e-03 1.71831335e+02] [ 9.01913216e-01 4.31910403e-01 -2.44029015e-03 8.99749917e+01] [ 2.69383600e-03 2.47158034e-05 9.99996371e-01 4.96211895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04401273899998 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:171.84, Y:90.00, Z:0.50 [[ 4.29587389e-01 -9.03024570e-01 -1.14063824e-03 1.71841820e+02] [ 9.03021272e-01 4.29588903e-01 -2.44055470e-03 8.99977029e+01] [ 2.69388639e-03 1.84109276e-05 9.99996371e-01 4.97254462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07401273899998 meters Centerline goodness : 0.993817 Centerline is valid? [True, True] Translation: X:171.85, Y:90.02, Z:0.50 [[ 4.24152872e-01 -9.05589886e-01 -1.14004582e-03 1.71854371e+02] [ 9.05586597e-01 4.24154404e-01 -2.44083141e-03 9.00202867e+01] [ 2.69394769e-03 2.87543556e-06 9.99996371e-01 4.95929382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10401273899998 meters Centerline goodness : 0.993278 Centerline is valid? [True, True] Translation: X:171.87, Y:90.04, Z:0.50 [[ 4.21762082e-01 -9.06705822e-01 -1.13946311e-03 1.71865817e+02] [ 9.06702536e-01 4.21763621e-01 -2.44110341e-03 9.00428148e+01] [ 2.69394676e-03 -3.58923732e-06 9.99996371e-01 4.95474767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13401273899999 meters Centerline goodness : 0.993739 Centerline is valid? [True, True] Translation: X:171.88, Y:90.07, Z:0.49 [[ 4.18047426e-01 -9.08424489e-01 -1.13888454e-03 1.71876116e+02] [ 9.08421209e-01 4.18048977e-01 -2.44137331e-03 9.00666622e+01] [ 2.69391282e-03 -1.39770413e-05 9.99996371e-01 4.93444521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.164012739 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:171.89, Y:90.09, Z:0.49 [[ 4.16403263e-01 -9.09179315e-01 -1.13833309e-03 1.71886307e+02] [ 9.09176036e-01 4.16404819e-01 -2.44163040e-03 9.00902201e+01] [ 2.69388724e-03 -1.82422965e-05 9.99996371e-01 4.92269630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.194012739 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:171.90, Y:90.11, Z:0.49 [[ 4.14908284e-01 -9.09862529e-01 -1.13789451e-03 1.71896930e+02] [ 9.09859252e-01 4.14909844e-01 -2.44183478e-03 9.01122115e+01] [ 2.69385760e-03 -2.21863716e-05 9.99996371e-01 4.90759852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.224012739 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:171.91, Y:90.13, Z:0.49 [[ 4.13660275e-01 -9.10430603e-01 -1.13727501e-03 1.71911164e+02] [ 9.10427328e-01 4.13661838e-01 -2.44212328e-03 9.01341730e+01] [ 2.69383104e-03 -2.51968625e-05 9.99996371e-01 4.89355361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.254012739 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:171.92, Y:90.16, Z:0.49 [[ 4.13632615e-01 -9.10443171e-01 -1.13670059e-03 1.71923439e+02] [ 9.10439895e-01 4.13634176e-01 -2.44239061e-03 9.01573855e+01] [ 2.69383607e-03 -2.46451518e-05 9.99996371e-01 4.89005260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.284012739 meters Centerline goodness : 0.993504 Centerline is valid? [True, True] Translation: X:171.94, Y:90.18, Z:0.49 [[ 4.13838441e-01 -9.10349633e-01 -1.13612798e-03 1.71935654e+02] [ 9.10346356e-01 4.13839999e-01 -2.44265695e-03 9.01802987e+01] [ 2.69384706e-03 -2.34046219e-05 9.99996371e-01 4.89151694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.314012739 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:171.95, Y:90.20, Z:0.49 [[ 4.13457805e-01 -9.10522572e-01 -1.13554717e-03 1.71947700e+02] [ 9.10519295e-01 4.13459364e-01 -2.44292692e-03 9.02041489e+01] [ 2.69384272e-03 -2.38904049e-05 9.99996371e-01 4.89003104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.344012739 meters Centerline goodness : 0.989847 Centerline is valid? [True, True] Translation: X:171.96, Y:90.23, Z:0.50 [[ 4.13001754e-01 -9.10729522e-01 -1.13496735e-03 1.71959820e+02] [ 9.10726245e-01 4.13003313e-01 -2.44319627e-03 9.02267547e+01] [ 2.69383625e-03 -2.46002107e-05 9.99996371e-01 4.98718039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.374012739 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:171.97, Y:90.25, Z:0.49 [[ 4.11610406e-01 -9.11359198e-01 -1.13436340e-03 1.71974553e+02] [ 9.11355922e-01 4.11611968e-01 -2.44347665e-03 9.02476286e+01] [ 2.69380247e-03 -2.80483852e-05 9.99996371e-01 4.88555659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.404012739 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:171.99, Y:90.27, Z:0.49 [[ 4.11102723e-01 -9.11588320e-01 -1.13376487e-03 1.71987145e+02] [ 9.11585045e-01 4.11104286e-01 -2.44375434e-03 9.02707638e+01] [ 2.69379351e-03 -2.88890382e-05 9.99996371e-01 4.88465636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43401273899997 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:172.00, Y:90.30, Z:0.49 [[ 4.10892220e-01 -9.11683223e-01 -1.13319982e-03 1.71998174e+02] [ 9.11679948e-01 4.10893781e-01 -2.44401633e-03 9.02951775e+01] [ 2.69379345e-03 -2.88882593e-05 9.99996371e-01 4.88537869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46401273899997 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:172.01, Y:90.32, Z:0.49 [[ 4.11076229e-01 -9.11600270e-01 -1.13263542e-03 1.72013695e+02] [ 9.11596993e-01 4.11077788e-01 -2.44427786e-03 9.03166117e+01] [ 2.69380562e-03 -2.77225152e-05 9.99996371e-01 4.87544516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49401273899997 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:172.03, Y:90.34, Z:0.49 [[ 4.10950272e-01 -9.11657059e-01 -1.13207333e-03 1.72027429e+02] [ 9.11653782e-01 4.10951830e-01 -2.44453817e-03 9.03395421e+01] [ 2.69380808e-03 -2.74753078e-05 9.99996371e-01 4.87830601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52401273899997 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:172.04, Y:90.36, Z:0.49 [[ 4.10752116e-01 -9.11746357e-01 -1.13150750e-03 1.72040645e+02] [ 9.11743079e-01 4.10753673e-01 -2.44480005e-03 9.03618574e+01] [ 2.69380840e-03 -2.74373355e-05 9.99996371e-01 4.88642222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55401273899997 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:172.06, Y:90.38, Z:0.49 [[ 4.10765737e-01 -9.11740221e-01 -1.13092892e-03 1.72056047e+02] [ 9.11736943e-01 4.10767293e-01 -2.44506766e-03 9.03838696e+01] [ 2.69381514e-03 -2.67596527e-05 9.99996371e-01 4.90809194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58401273899997 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:172.07, Y:90.41, Z:0.49 [[ 4.10605531e-01 -9.11812382e-01 -1.13034125e-03 1.72069653e+02] [ 9.11809103e-01 4.10607086e-01 -2.44533931e-03 9.04054455e+01] [ 2.69381679e-03 -2.65855909e-05 9.99996371e-01 4.92747041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61401273899997 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:172.08, Y:90.43, Z:0.49 [[ 4.10302603e-01 -9.11948737e-01 -1.12972613e-03 1.72083704e+02] [ 9.11945458e-01 4.10304157e-01 -2.44562345e-03 9.04270869e+01] [ 2.69381455e-03 -2.68029456e-05 9.99996371e-01 4.94686863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64401273899998 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:172.10, Y:90.45, Z:0.50 [[ 4.10326504e-01 -9.11937983e-01 -1.12911812e-03 1.72100762e+02] [ 9.11934703e-01 4.10328057e-01 -2.44590413e-03 9.04468853e+01] [ 2.69382173e-03 -2.60627094e-05 9.99996371e-01 4.96521806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67401273899998 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:172.12, Y:90.47, Z:0.50 [[ 4.11538128e-01 -9.11391845e-01 -1.12851318e-03 1.72115168e+02] [ 9.11388563e-01 4.11539675e-01 -2.44618321e-03 9.04673545e+01] [ 2.69385938e-03 -2.18163445e-05 9.99996371e-01 4.95271430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70401273899998 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:172.13, Y:90.49, Z:0.49 [[ 4.12706930e-01 -9.10863172e-01 -1.12788379e-03 1.72127805e+02] [ 9.10859887e-01 4.12708471e-01 -2.44647338e-03 9.04903301e+01] [ 2.69388970e-03 -1.76675886e-05 9.99996371e-01 4.94808146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73401273899998 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:172.14, Y:90.51, Z:0.49 [[ 4.14579969e-01 -9.10012186e-01 -1.12731337e-03 1.72140408e+02] [ 9.10008897e-01 4.14581501e-01 -2.44673619e-03 9.05128050e+01] [ 2.69392302e-03 -1.14973834e-05 9.99996371e-01 4.93568888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76401273899998 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:172.15, Y:90.53, Z:0.49 [[ 4.16564624e-01 -9.09105409e-01 -1.12671818e-03 1.72152824e+02] [ 9.09102116e-01 4.16566148e-01 -2.44701025e-03 9.05349717e+01] [ 2.69394291e-03 -4.96397368e-06 9.99996371e-01 4.92701522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79401273899998 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:172.17, Y:90.56, Z:0.50 [[ 4.20910628e-01 -9.07101414e-01 -1.12612095e-03 1.72166992e+02] [ 9.07098113e-01 4.20912134e-01 -2.44728507e-03 9.05554835e+01] [ 2.69393372e-03 8.58610922e-06 9.99996371e-01 4.95460160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82401273899998 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:172.18, Y:90.58, Z:0.50 [[ 4.22249774e-01 -9.06478826e-01 -1.12549913e-03 1.72180040e+02] [ 9.06475521e-01 4.22251274e-01 -2.44757101e-03 9.05789303e+01] [ 2.69391473e-03 1.32488944e-05 9.99996371e-01 4.97791839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85401273899998 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:172.20, Y:90.60, Z:0.50 [[ 4.22750116e-01 -9.06245592e-01 -1.12493149e-03 1.72195925e+02] [ 9.06242287e-01 4.22751613e-01 -2.44783187e-03 9.06006830e+01] [ 2.69390345e-03 1.53607279e-05 9.99996371e-01 5.01090579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88401273899999 meters Centerline goodness : 0.993633 Centerline is valid? [True, True] Translation: X:172.21, Y:90.62, Z:0.50 [[ 4.21962587e-01 -9.06612548e-01 -1.12435789e-03 1.72208741e+02] [ 9.06609242e-01 4.21964084e-01 -2.44809531e-03 9.06226514e+01] [ 2.69391258e-03 1.36513710e-05 9.99996371e-01 5.01057223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.914012739 meters Centerline goodness : 0.994710 Centerline is valid? [True, True] Translation: X:172.22, Y:90.64, Z:0.50 [[ 4.20742339e-01 -9.07179487e-01 -1.12375812e-03 1.72221193e+02] [ 9.07176183e-01 4.20743840e-01 -2.44837060e-03 9.06434437e+01] [ 2.69392589e-03 1.06865676e-05 9.99996371e-01 4.99572392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.944012739 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:172.24, Y:90.66, Z:0.50 [[ 4.17127299e-01 -9.08847377e-01 -1.12314392e-03 1.72239468e+02] [ 9.08844078e-01 4.17128811e-01 -2.44865232e-03 9.06635695e+01] [ 2.69394692e-03 6.37025290e-07 9.99996371e-01 4.95141689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.974012739 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:172.25, Y:90.69, Z:0.49 [[ 4.15151919e-01 -9.09751408e-01 -1.12254437e-03 1.72254538e+02] [ 9.09748112e-01 4.15153437e-01 -2.44892714e-03 9.06857445e+01] [ 2.69394307e-03 -4.55581554e-06 9.99996371e-01 4.93492914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.004012739 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:172.27, Y:90.71, Z:0.49 [[ 4.14184373e-01 -9.10192313e-01 -1.12196376e-03 1.72272466e+02] [ 9.10189018e-01 4.14185893e-01 -2.44919311e-03 9.07061093e+01] [ 2.69393831e-03 -6.78157999e-06 9.99996371e-01 4.93541172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.034012739 meters Centerline goodness : 0.994951 Centerline is valid? [True, True] Translation: X:172.29, Y:90.73, Z:0.49 [[ 4.14675392e-01 -9.09968715e-01 -1.12141413e-03 1.72285615e+02] [ 9.09965418e-01 4.14676908e-01 -2.44944475e-03 9.07284679e+01] [ 2.69394263e-03 -4.72361302e-06 9.99996371e-01 4.94204718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.064012739 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:172.30, Y:90.75, Z:0.49 [[ 4.15531749e-01 -9.09577984e-01 -1.12080644e-03 1.72298687e+02] [ 9.09574685e-01 4.15533260e-01 -2.44972278e-03 9.07516126e+01] [ 2.69394626e-03 -1.51957584e-06 9.99996371e-01 4.94057017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.094012739 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:172.31, Y:90.77, Z:0.49 [[ 4.17737440e-01 -9.08567101e-01 -1.12023262e-03 1.72313732e+02] [ 9.08563797e-01 4.17738942e-01 -2.44998515e-03 9.07737469e+01] [ 2.69394070e-03 5.64772193e-06 9.99996371e-01 4.92238295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.124012739 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:172.33, Y:90.80, Z:0.49 [[ 4.18464935e-01 -9.08232264e-01 -1.11965790e-03 1.72326815e+02] [ 9.08228959e-01 4.18466433e-01 -2.45024778e-03 9.07963847e+01] [ 2.69393333e-03 8.43704269e-06 9.99996371e-01 4.91011264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.154012739 meters Centerline goodness : 0.995212 Centerline is valid? [True, True] Translation: X:172.34, Y:90.82, Z:0.49 [[ 4.19927091e-01 -9.07557153e-01 -1.11906518e-03 1.72341461e+02] [ 9.07553845e-01 4.19928582e-01 -2.45051845e-03 9.08173270e+01] [ 2.69391300e-03 1.34271787e-05 9.99996371e-01 4.92033246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18401273899997 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:172.35, Y:90.84, Z:0.49 [[ 4.20348014e-01 -9.07362274e-01 -1.11844479e-03 1.72353338e+02] [ 9.07358964e-01 4.20349502e-01 -2.45080157e-03 9.08396248e+01] [ 2.69390260e-03 1.53586697e-05 9.99996371e-01 4.91969277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21401273899997 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:172.37, Y:90.86, Z:0.49 [[ 4.20651935e-01 -9.07221418e-01 -1.11782786e-03 1.72365344e+02] [ 9.07218107e-01 4.20653420e-01 -2.45108293e-03 9.08626879e+01] [ 2.69389304e-03 1.69391020e-05 9.99996371e-01 4.91720976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24401273899997 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:172.38, Y:90.88, Z:0.49 [[ 4.21627149e-01 -9.06768603e-01 -1.11718870e-03 1.72380239e+02] [ 9.06765290e-01 4.21628628e-01 -2.45137422e-03 9.08844867e+01] [ 2.69386791e-03 2.05379900e-05 9.99996371e-01 4.92147801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27401273899997 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:172.39, Y:90.91, Z:0.49 [[ 4.22019604e-01 -9.06586018e-01 -1.11660423e-03 1.72392121e+02] [ 9.06582703e-01 4.22021080e-01 -2.45164042e-03 9.09066728e+01] [ 2.69385344e-03 2.23462385e-05 9.99996371e-01 4.94529452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30401273899997 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:172.40, Y:90.93, Z:0.50 [[ 4.23825572e-01 -9.05743142e-01 -1.11596222e-03 1.72403327e+02] [ 9.05739823e-01 4.23827041e-01 -2.45193262e-03 9.09283538e+01] [ 2.69379612e-03 2.84203251e-05 9.99996371e-01 4.98347378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33401273899997 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:172.41, Y:90.95, Z:0.50 [[ 4.24640200e-01 -9.05361506e-01 -1.11529639e-03 1.72413425e+02] [ 9.05358186e-01 4.24641663e-01 -2.45223544e-03 9.09523559e+01] [ 2.69376089e-03 3.15750351e-05 9.99996371e-01 4.98956045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36401273899997 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:172.42, Y:90.98, Z:0.50 [[ 4.25459870e-01 -9.04976606e-01 -1.11470699e-03 1.72423515e+02] [ 9.04973283e-01 4.25461328e-01 -2.45250333e-03 9.09757003e+01] [ 2.69372286e-03 3.46617009e-05 9.99996371e-01 4.98715160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39401273899998 meters Centerline goodness : 0.991231 Centerline is valid? [True, True] Translation: X:172.43, Y:91.00, Z:0.50 [[ 4.25606696e-01 -9.04907564e-01 -1.11409189e-03 1.72432280e+02] [ 9.04904240e-01 4.25608153e-01 -2.45278272e-03 9.09988270e+01] [ 2.69370823e-03 3.57742794e-05 9.99996371e-01 5.04984489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42401273899998 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:172.44, Y:91.02, Z:0.50 [[ 4.24921758e-01 -9.05229396e-01 -1.11343086e-03 1.72441308e+02] [ 9.05226073e-01 4.24923215e-01 -2.45308276e-03 9.10211416e+01] [ 2.69372524e-03 3.44615905e-05 9.99996371e-01 4.97568302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45401273899998 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:172.45, Y:91.04, Z:0.50 [[ 4.23645201e-01 -9.05827525e-01 -1.11278385e-03 1.72448792e+02] [ 9.05824203e-01 4.23646661e-01 -2.45337622e-03 9.10440886e+01] [ 2.69376288e-03 3.13745171e-05 9.99996371e-01 4.97753675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48401273899998 meters Centerline goodness : 0.995173 Centerline is valid? [True, True] Translation: X:172.46, Y:91.07, Z:0.50 [[ 4.23096750e-01 -9.06083828e-01 -1.11214275e-03 1.72457542e+02] [ 9.06080506e-01 4.23098211e-01 -2.45366681e-03 9.10684659e+01] [ 2.69377342e-03 3.04475827e-05 9.99996371e-01 4.98453833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51401273899998 meters Centerline goodness : 0.995108 Centerline is valid? [True, True] Translation: X:172.46, Y:91.09, Z:0.50 [[ 4.23580931e-01 -9.05857582e-01 -1.11150987e-03 1.72464338e+02] [ 9.05854259e-01 4.23582388e-01 -2.45395347e-03 9.10918538e+01] [ 2.69374836e-03 3.25819453e-05 9.99996371e-01 4.99172205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54401273899998 meters Centerline goodness : 0.994667 Centerline is valid? [True, True] Translation: X:172.47, Y:91.12, Z:0.50 [[ 4.24253526e-01 -9.05542772e-01 -1.11085076e-03 1.72472589e+02] [ 9.05539447e-01 4.24254979e-01 -2.45425180e-03 9.11163315e+01] [ 2.69371394e-03 3.53057973e-05 9.99996371e-01 4.98520795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57401273899998 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:172.48, Y:91.14, Z:0.50 [[ 4.25528184e-01 -9.04944491e-01 -1.11022148e-03 1.72480253e+02] [ 9.04941163e-01 4.25529631e-01 -2.45453643e-03 9.11401028e+01] [ 2.69365135e-03 3.97893168e-05 9.99996371e-01 4.97623608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60401273899998 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:172.48, Y:91.17, Z:0.50 [[ 4.28949372e-01 -9.03327850e-01 -1.10956643e-03 1.72484832e+02] [ 9.03324516e-01 4.28950804e-01 -2.45483251e-03 9.11658012e+01] [ 2.69346798e-03 5.07003061e-05 9.99996371e-01 4.95775022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63401273899999 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:172.49, Y:91.19, Z:0.49 [[ 4.30197002e-01 -9.02734352e-01 -1.10893978e-03 1.72492383e+02] [ 9.02731015e-01 4.30198427e-01 -2.45511555e-03 9.11889115e+01] [ 2.69338130e-03 5.51090115e-05 9.99996371e-01 4.94318687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.664012739 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:172.50, Y:91.21, Z:0.49 [[ 4.30730925e-01 -9.02479718e-01 -1.10828882e-03 1.72499192e+02] [ 9.02476380e-01 4.30732347e-01 -2.45540938e-03 9.12144900e+01] [ 2.69333301e-03 5.74162736e-05 9.99996371e-01 4.94575468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.694012739 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:172.51, Y:91.24, Z:0.49 [[ 4.29688325e-01 -9.02976587e-01 -1.10770093e-03 1.72507230e+02] [ 9.02973250e-01 4.29689749e-01 -2.45567456e-03 9.12386650e+01] [ 2.69338437e-03 5.49503776e-05 9.99996371e-01 4.94474169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.724012739 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:172.52, Y:91.26, Z:0.49 [[ 4.27709289e-01 -9.03915670e-01 -1.10708683e-03 1.72515852e+02] [ 9.03912335e-01 4.27710719e-01 -2.45595138e-03 9.12639367e+01] [ 2.69348584e-03 4.97237775e-05 9.99996371e-01 4.94532818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.754012739 meters Centerline goodness : 0.995370 Centerline is valid? [True, True] Translation: X:172.52, Y:91.29, Z:0.50 [[ 4.24805444e-01 -9.05283994e-01 -1.10649534e-03 1.72524157e+02] [ 9.05280663e-01 4.24806883e-01 -2.45621784e-03 9.12887474e+01] [ 2.69362153e-03 4.17258708e-05 9.99996371e-01 4.96133362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.784012739 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:172.53, Y:91.31, Z:0.50 [[ 4.23903186e-01 -9.05706832e-01 -1.10589169e-03 1.72532724e+02] [ 9.05703502e-01 4.23904627e-01 -2.45648960e-03 9.13127034e+01] [ 2.69365202e-03 3.97037882e-05 9.99996371e-01 4.98024651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.814012739 meters Centerline goodness : 0.995247 Centerline is valid? [True, True] Translation: X:172.54, Y:91.34, Z:0.50 [[ 4.22552209e-01 -9.06337911e-01 -1.10526003e-03 1.72538084e+02] [ 9.06334582e-01 4.22553653e-01 -2.45677377e-03 9.13387808e+01] [ 2.69369887e-03 3.63798012e-05 9.99996371e-01 4.97669010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.844012739 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:172.55, Y:91.36, Z:0.50 [[ 4.21990432e-01 -9.06599611e-01 -1.10467246e-03 1.72546628e+02] [ 9.06596282e-01 4.21991876e-01 -2.45703794e-03 9.13636327e+01] [ 2.69371245e-03 3.53545527e-05 9.99996371e-01 4.96789568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.874012739 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:172.55, Y:91.39, Z:0.50 [[ 4.21020380e-01 -9.07050506e-01 -1.10408408e-03 1.72554137e+02] [ 9.07047178e-01 4.21021827e-01 -2.45730231e-03 9.13877566e+01] [ 2.69374079e-03 3.31180060e-05 9.99996371e-01 4.96540591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.904012739 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:172.56, Y:91.41, Z:0.50 [[ 4.20142902e-01 -9.07457285e-01 -1.10361321e-03 1.72563173e+02] [ 9.07453958e-01 4.20144351e-01 -2.45751376e-03 9.14118747e+01] [ 2.69376562e-03 3.10287937e-05 9.99996371e-01 4.97440825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93401273899997 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:172.57, Y:91.44, Z:0.50 [[ 4.19157732e-01 -9.07912759e-01 -1.10301124e-03 1.72571463e+02] [ 9.07909433e-01 4.19159183e-01 -2.45778391e-03 9.14359028e+01] [ 2.69379067e-03 2.87648206e-05 9.99996371e-01 4.98616344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96401273899997 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:172.58, Y:91.46, Z:0.50 [[ 4.16726540e-01 -9.09031229e-01 -1.10238440e-03 1.72580408e+02] [ 9.09027906e-01 4.16727998e-01 -2.45806504e-03 9.14604307e+01] [ 2.69385233e-03 2.22427548e-05 9.99996371e-01 4.99579728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99401273899997 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:172.59, Y:91.48, Z:0.50 [[ 4.14788435e-01 -9.09917216e-01 -1.10183248e-03 1.72591114e+02] [ 9.09913895e-01 4.14789898e-01 -2.45831241e-03 9.14843714e+01] [ 2.69388977e-03 1.71068747e-05 9.99996371e-01 4.98487443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02401273899997 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:172.60, Y:91.51, Z:0.50 [[ 4.13084321e-01 -9.10692117e-01 -1.10122073e-03 1.72601274e+02] [ 9.10688798e-01 4.13085788e-01 -2.45858642e-03 9.15080013e+01] [ 2.69391390e-03 1.27341208e-05 9.99996371e-01 4.97447059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05401273899997 meters Centerline goodness : 0.995341 Centerline is valid? [True, True] Translation: X:172.61, Y:91.53, Z:0.49 [[ 4.11317469e-01 -9.11491486e-01 -1.10058818e-03 1.72609651e+02] [ 9.11488169e-01 4.11318941e-01 -2.45886955e-03 9.15322652e+01] [ 2.69393142e-03 8.20289062e-06 9.99996371e-01 4.94301073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08401273899997 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:172.62, Y:91.56, Z:0.49 [[ 4.11137373e-01 -9.11572734e-01 -1.10012589e-03 1.72619186e+02] [ 9.11569418e-01 4.11138845e-01 -2.45907636e-03 9.15558820e+01] [ 2.69393145e-03 8.17707471e-06 9.99996371e-01 4.94264462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11401273899997 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:172.63, Y:91.58, Z:0.50 [[ 4.11437482e-01 -9.11437321e-01 -1.09952770e-03 1.72630201e+02] [ 9.11434003e-01 4.11438951e-01 -2.45934381e-03 9.15794992e+01] [ 2.69392625e-03 9.71929078e-06 9.99996371e-01 4.97365656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14401273899998 meters Centerline goodness : 0.994733 Centerline is valid? [True, True] Translation: X:172.64, Y:91.60, Z:0.50 [[ 4.11596638e-01 -9.11365459e-01 -1.09895223e-03 1.72640066e+02] [ 9.11362140e-01 4.11598105e-01 -2.45960093e-03 9.16015253e+01] [ 2.69392198e-03 1.08200166e-05 9.99996371e-01 4.99545685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17401273899998 meters Centerline goodness : 0.994864 Centerline is valid? [True, True] Translation: X:172.65, Y:91.63, Z:0.50 [[ 4.11619714e-01 -9.11355038e-01 -1.09829570e-03 1.72649999e+02] [ 9.11351718e-01 4.11621179e-01 -2.45989405e-03 9.16252603e+01] [ 2.69391861e-03 1.16072106e-05 9.99996371e-01 4.99979770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20401273899998 meters Centerline goodness : 0.994983 Centerline is valid? [True, True] Translation: X:172.66, Y:91.65, Z:0.50 [[ 4.11180225e-01 -9.11553409e-01 -1.09767250e-03 1.72660305e+02] [ 9.11550089e-01 4.11181690e-01 -2.46017211e-03 9.16491800e+01] [ 2.69392111e-03 1.09906564e-05 9.99996371e-01 4.98528774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23401273899998 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:172.67, Y:91.67, Z:0.50 [[ 4.10789776e-01 -9.11729432e-01 -1.09711283e-03 1.72670121e+02] [ 9.11726112e-01 4.10791241e-01 -2.46042167e-03 9.16723488e+01] [ 2.69392319e-03 1.04496557e-05 9.99996371e-01 4.99764614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26401273899998 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:172.68, Y:91.70, Z:0.50 [[ 4.10580356e-01 -9.11823760e-01 -1.09649404e-03 1.72680169e+02] [ 9.11820439e-01 4.10581820e-01 -2.46069740e-03 9.16971567e+01] [ 2.69392288e-03 1.05083380e-05 9.99996371e-01 5.01042989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29401273899998 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:172.69, Y:91.72, Z:0.50 [[ 4.10398420e-01 -9.11905662e-01 -1.09590218e-03 1.72689795e+02] [ 9.11902341e-01 4.10399883e-01 -2.46096097e-03 9.17205063e+01] [ 2.69392237e-03 1.06187248e-05 9.99996371e-01 5.00386984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32401273899998 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:172.70, Y:91.75, Z:0.50 [[ 4.10182625e-01 -9.12002749e-01 -1.09528144e-03 1.72700441e+02] [ 9.11999428e-01 4.10184087e-01 -2.46123721e-03 9.17451042e+01] [ 2.69392212e-03 1.06606894e-05 9.99996371e-01 5.00459219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35401273899998 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:172.71, Y:91.77, Z:0.50 [[ 4.10328238e-01 -9.11937245e-01 -1.09469898e-03 1.72710779e+02] [ 9.11933923e-01 4.10329698e-01 -2.46149625e-03 9.17693389e+01] [ 2.69391760e-03 1.17282872e-05 9.99996371e-01 4.98136615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38401273899999 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:172.72, Y:91.79, Z:0.49 [[ 4.10562558e-01 -9.11831777e-01 -1.09410930e-03 1.72720591e+02] [ 9.11828454e-01 4.10564016e-01 -2.46175832e-03 9.17926117e+01] [ 2.69391137e-03 1.30658072e-05 9.99996371e-01 4.94939832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.414012739 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:172.73, Y:91.82, Z:0.50 [[ 4.10494786e-01 -9.11862289e-01 -1.09349255e-03 1.72730786e+02] [ 9.11858966e-01 4.10496243e-01 -2.46203225e-03 9.18168503e+01] [ 2.69390894e-03 1.35404120e-05 9.99996371e-01 4.95013825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.444012739 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:172.74, Y:91.84, Z:0.50 [[ 4.10307501e-01 -9.11946578e-01 -1.09291748e-03 1.72739923e+02] [ 9.11943254e-01 4.10308956e-01 -2.46228750e-03 9.18414774e+01] [ 2.69390849e-03 1.36163055e-05 9.99996371e-01 4.98946251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.474012739 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:172.75, Y:91.87, Z:0.50 [[ 4.09625613e-01 -9.12253070e-01 -1.09233813e-03 1.72749620e+02] [ 9.12249747e-01 4.09627069e-01 -2.46254449e-03 9.18651027e+01] [ 2.69391504e-03 1.22361144e-05 9.99996371e-01 5.00962993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.504012739 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:172.76, Y:91.89, Z:0.50 [[ 4.07579409e-01 -9.13169115e-01 -1.09173103e-03 1.72760478e+02] [ 9.13165794e-01 4.07580871e-01 -2.46281361e-03 9.18888283e+01] [ 2.69393401e-03 6.86068049e-06 9.99996371e-01 5.01818560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.534012739 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:172.77, Y:91.91, Z:0.50 [[ 4.06094606e-01 -9.13830389e-01 -1.09115029e-03 1.72771209e+02] [ 9.13827070e-01 4.06096072e-01 -2.46307088e-03 9.19123902e+01] [ 2.69394086e-03 3.11712139e-06 9.99996371e-01 5.01029783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.564012739 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:172.78, Y:91.94, Z:0.50 [[ 4.04705020e-01 -9.14446640e-01 -1.09056497e-03 1.72782597e+02] [ 9.14443322e-01 4.04706490e-01 -2.46333001e-03 9.19365374e+01] [ 2.69394257e-03 -3.37831015e-07 9.99996371e-01 4.99199501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.594012739 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:172.79, Y:91.96, Z:0.50 [[ 4.02550900e-01 -9.15396955e-01 -1.08998000e-03 1.72793168e+02] [ 9.15393640e-01 4.02552376e-01 -2.46358882e-03 9.19591164e+01] [ 2.69393574e-03 -6.04086538e-06 9.99996371e-01 4.96860549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.624012739 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:172.80, Y:91.98, Z:0.50 [[ 4.01600165e-01 -9.15814457e-01 -1.08951432e-03 1.72803448e+02] [ 9.15811143e-01 4.01601643e-01 -2.46379475e-03 9.19829439e+01] [ 2.69392959e-03 -8.32897653e-06 9.99996371e-01 4.95944605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.654012739 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:172.81, Y:92.01, Z:0.49 [[ 4.00925918e-01 -9.16109831e-01 -1.08893554e-03 1.72813723e+02] [ 9.16106517e-01 4.00927396e-01 -2.46405053e-03 9.20076500e+01] [ 2.69392501e-03 -9.67923019e-06 9.99996371e-01 4.93920417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68401273899997 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:172.82, Y:92.03, Z:0.49 [[ 4.00812180e-01 -9.16159599e-01 -1.08835919e-03 1.72823847e+02] [ 9.16156285e-01 4.00813658e-01 -2.46430508e-03 9.20315650e+01] [ 2.69392598e-03 -9.38361947e-06 9.99996371e-01 4.94058966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71401273899997 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:172.83, Y:92.06, Z:0.50 [[ 4.02162979e-01 -9.15567450e-01 -1.08778493e-03 1.72834588e+02] [ 9.15564133e-01 4.02164450e-01 -2.46455854e-03 9.20556973e+01] [ 2.69393800e-03 -4.78266241e-06 9.99996371e-01 4.97405540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74401273899997 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:172.84, Y:92.08, Z:0.50 [[ 4.02879990e-01 -9.15252168e-01 -1.08721123e-03 1.72844600e+02] [ 9.15248849e-01 4.02881457e-01 -2.46481159e-03 9.20783433e+01] [ 2.69394140e-03 -2.04555768e-06 9.99996371e-01 5.00006007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77401273899997 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:172.86, Y:92.10, Z:0.50 [[ 4.03288013e-01 -9.15072455e-01 -1.08655564e-03 1.72855045e+02] [ 9.15069135e-01 4.03289477e-01 -2.46510056e-03 9.21027665e+01] [ 2.69394208e-03 -1.28020440e-07 9.99996371e-01 5.02075439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80401273899997 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:172.86, Y:92.13, Z:0.50 [[ 4.03587444e-01 -9.14940433e-01 -1.08597944e-03 1.72863855e+02] [ 9.14937111e-01 4.03588905e-01 -2.46535437e-03 9.21257390e+01] [ 2.69394165e-03 1.38317502e-06 9.99996371e-01 5.02200708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83401273899997 meters Centerline goodness : 0.994490 Centerline is valid? [True, True] Translation: X:172.87, Y:92.15, Z:0.50 [[ 4.03443196e-01 -9.15004049e-01 -1.08544167e-03 1.72873144e+02] [ 9.15000727e-01 4.03444657e-01 -2.46559112e-03 9.21480499e+01] [ 2.69394150e-03 1.54604875e-06 9.99996371e-01 5.00630321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86401273899997 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:172.88, Y:92.17, Z:0.50 [[ 4.03433804e-01 -9.15008191e-01 -1.08479104e-03 1.72884528e+02] [ 9.15004868e-01 4.03435262e-01 -2.46587734e-03 9.21714257e+01] [ 2.69394093e-03 2.22919254e-06 9.99996371e-01 4.96729782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89401273899998 meters Centerline goodness : 0.994594 Centerline is valid? [True, True] Translation: X:172.90, Y:92.20, Z:0.50 [[ 4.03444081e-01 -9.15003660e-01 -1.08420684e-03 1.72895244e+02] [ 9.15000337e-01 4.03445538e-01 -2.46613418e-03 9.21953346e+01] [ 2.69394021e-03 2.89761507e-06 9.99996371e-01 4.96096249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92401273899998 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:172.90, Y:92.22, Z:0.50 [[ 4.03736177e-01 -9.14874814e-01 -1.08362637e-03 1.72904767e+02] [ 9.14871490e-01 4.03737631e-01 -2.46638922e-03 9.22188028e+01] [ 2.69393812e-03 4.39168555e-06 9.99996371e-01 4.96992978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95401273899998 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:172.91, Y:92.24, Z:0.50 [[ 4.04175648e-01 -9.14680749e-01 -1.08301691e-03 1.72913988e+02] [ 9.14677423e-01 4.04177099e-01 -2.46665680e-03 9.22431395e+01] [ 2.69393413e-03 6.35149263e-06 9.99996371e-01 4.98539314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98401273899998 meters Centerline goodness : 0.994803 Centerline is valid? [True, True] Translation: X:172.92, Y:92.27, Z:0.50 [[ 4.03935234e-01 -9.14786945e-01 -1.08243083e-03 1.72924021e+02] [ 9.14783619e-01 4.03936684e-01 -2.46691397e-03 9.22675384e+01] [ 2.69393421e-03 6.28348062e-06 9.99996371e-01 4.99690903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01401273899998 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:172.94, Y:92.29, Z:0.50 [[ 4.02544331e-01 -9.15399853e-01 -1.08183615e-03 1.72935018e+02] [ 9.15396528e-01 4.02545785e-01 -2.46717473e-03 9.22907557e+01] [ 2.69393997e-03 2.83814006e-06 9.99996371e-01 5.01843000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04401273899998 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:172.95, Y:92.31, Z:0.50 [[ 4.01657906e-01 -9.15789145e-01 -1.08121761e-03 1.72945415e+02] [ 9.15785820e-01 4.01659362e-01 -2.46744577e-03 9.23140390e+01] [ 2.69394122e-03 9.05342666e-07 9.99996371e-01 5.02502466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07401273899998 meters Centerline goodness : 0.994069 Centerline is valid? [True, True] Translation: X:172.96, Y:92.34, Z:0.51 [[ 4.01074581e-01 -9.16044766e-01 -1.08060157e-03 1.72955340e+02] [ 9.16041442e-01 4.01076037e-01 -2.46771553e-03 9.23374957e+01] [ 2.69394129e-03 -1.37849281e-07 9.99996371e-01 5.05456269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10401273899998 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:172.97, Y:92.36, Z:0.51 [[ 4.01425943e-01 -9.15890848e-01 -1.07999441e-03 1.72965004e+02] [ 9.15887523e-01 4.01427396e-01 -2.46798123e-03 9.23608980e+01] [ 2.69394076e-03 1.55829082e-06 9.99996371e-01 5.06549371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13401273899999 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:172.97, Y:92.38, Z:0.51 [[ 4.02513617e-01 -9.15413362e-01 -1.07937837e-03 1.72972483e+02] [ 9.15410034e-01 4.02515064e-01 -2.46825062e-03 9.23840550e+01] [ 2.69393565e-03 5.43069532e-06 9.99996371e-01 5.06256469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.164012739 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:172.98, Y:92.41, Z:0.51 [[ 4.02907654e-01 -9.15240001e-01 -1.07873814e-03 1.72981440e+02] [ 9.15236672e-01 4.02909098e-01 -2.46853040e-03 9.24084130e+01] [ 2.69393117e-03 7.28908447e-06 9.99996371e-01 5.05111559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.194012739 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:172.99, Y:92.43, Z:0.50 [[ 4.02634121e-01 -9.15360368e-01 -1.07816403e-03 1.72990447e+02] [ 9.15357038e-01 4.02635564e-01 -2.46878112e-03 9.24316468e+01] [ 2.69393158e-03 7.11048385e-06 9.99996371e-01 5.03965142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.224012739 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:173.00, Y:92.46, Z:0.50 [[ 4.00786991e-01 -9.16170632e-01 -1.07750362e-03 1.73001279e+02] [ 9.16167305e-01 4.00788439e-01 -2.46906933e-03 9.24556068e+01] [ 2.69393980e-03 2.39727378e-06 9.99996371e-01 5.01557270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.254012739 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:173.01, Y:92.48, Z:0.50 [[ 3.99225514e-01 -9.16852130e-01 -1.07689750e-03 1.73011334e+02] [ 9.16848805e-01 3.99226967e-01 -2.46933366e-03 9.24782891e+01] [ 2.69394035e-03 -1.53118816e-06 9.99996371e-01 5.02240217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.284012739 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:173.02, Y:92.50, Z:0.50 [[ 3.95516455e-01 -9.18458260e-01 -1.07641774e-03 1.73022387e+02] [ 9.18454940e-01 3.95517919e-01 -2.46954278e-03 9.24999820e+01] [ 2.69391447e-03 -1.18963905e-05 9.99996371e-01 5.04646915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.314012739 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:173.03, Y:92.52, Z:0.50 [[ 3.93624420e-01 -9.19270721e-01 -1.07588788e-03 1.73033431e+02] [ 9.19267403e-01 3.93625890e-01 -2.46977360e-03 9.25230530e+01] [ 2.69388788e-03 -1.68654548e-05 9.99996371e-01 5.04693498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.344012739 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:173.04, Y:92.55, Z:0.50 [[ 3.91900669e-01 -9.20006907e-01 -1.07527246e-03 1.73044542e+02] [ 9.20003592e-01 3.91902144e-01 -2.47004150e-03 9.25459356e+01] [ 2.69385683e-03 -2.12436065e-05 9.99996371e-01 5.04163411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.374012739 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:173.05, Y:92.57, Z:0.50 [[ 3.91032884e-01 -9.20376080e-01 -1.07464705e-03 1.73054650e+02] [ 9.20372765e-01 3.91034360e-01 -2.47031357e-03 9.25678900e+01] [ 2.69384144e-03 -2.31020340e-05 9.99996371e-01 5.04542173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40401273899997 meters Centerline goodness : 0.994638 Centerline is valid? [True, True] Translation: X:173.06, Y:92.59, Z:0.50 [[ 3.92443342e-01 -9.19775554e-01 -1.07411359e-03 1.73064022e+02] [ 9.19772236e-01 3.92444812e-01 -2.47054550e-03 9.25907535e+01] [ 2.69387767e-03 -1.83907242e-05 9.99996371e-01 5.04926185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43401273899997 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:173.07, Y:92.61, Z:0.50 [[ 3.94461613e-01 -9.18911793e-01 -1.07347649e-03 1.73073411e+02] [ 9.18908472e-01 3.94463073e-01 -2.47082230e-03 9.26146487e+01] [ 2.69391459e-03 -1.17820916e-05 9.99996371e-01 5.03164193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46401273899997 meters Centerline goodness : 0.995011 Centerline is valid? [True, True] Translation: X:173.08, Y:92.64, Z:0.50 [[ 3.98868670e-01 -9.17007433e-01 -1.07284552e-03 1.73083027e+02] [ 9.17004104e-01 3.98870113e-01 -2.47109624e-03 9.26391279e+01] [ 2.69393963e-03 1.83912097e-06 9.99996371e-01 5.00700277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49401273899997 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:173.09, Y:92.66, Z:0.50 [[ 4.00552574e-01 -9.16273150e-01 -1.07225978e-03 1.73092542e+02] [ 9.16269817e-01 4.00554009e-01 -2.47135038e-03 9.26639201e+01] [ 2.69392995e-03 7.42648419e-06 9.99996371e-01 5.01114153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52401273899997 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:173.10, Y:92.69, Z:0.50 [[ 4.01841794e-01 -9.15708482e-01 -1.07166990e-03 1.73101030e+02] [ 9.15705147e-01 4.01843222e-01 -2.47160615e-03 9.26879344e+01] [ 2.69391400e-03 1.18610034e-05 9.99996371e-01 5.02888662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55401273899997 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:173.11, Y:92.71, Z:0.51 [[ 4.02562735e-01 -9.15391773e-01 -1.07105282e-03 1.73107954e+02] [ 9.15388435e-01 4.02564160e-01 -2.47187352e-03 9.27134443e+01] [ 2.69390017e-03 1.46547997e-05 9.99996371e-01 5.05991577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58401273899997 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:173.12, Y:92.74, Z:0.51 [[ 4.01735779e-01 -9.15754999e-01 -1.07046656e-03 1.73117623e+02] [ 9.15751662e-01 4.01737205e-01 -2.47212738e-03 9.27374465e+01] [ 2.69390925e-03 1.28604886e-05 9.99996371e-01 5.06858594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61401273899997 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:173.13, Y:92.76, Z:0.51 [[ 3.98148441e-01 -9.17320377e-01 -1.06988236e-03 1.73127879e+02] [ 9.17317045e-01 3.98149879e-01 -2.47238019e-03 9.27615843e+01] [ 2.69393826e-03 2.95299699e-06 9.99996371e-01 5.05772330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64401273899998 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:173.14, Y:92.79, Z:0.51 [[ 3.95423152e-01 -9.18498442e-01 -1.06928680e-03 1.73137727e+02] [ 9.18495113e-01 3.95424598e-01 -2.47263773e-03 9.27851840e+01] [ 2.69393621e-03 -4.39649430e-06 9.99996371e-01 5.06542343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67401273899998 meters Centerline goodness : 0.993202 Centerline is valid? [True, True] Translation: X:173.15, Y:92.81, Z:0.51 [[ 3.89707294e-01 -9.20938154e-01 -1.06866336e-03 1.73149519e+02] [ 9.20934834e-01 3.89708759e-01 -2.47290716e-03 9.28082664e+01] [ 2.69386202e-03 -2.04593554e-05 9.99996371e-01 5.08370548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70401273899998 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:173.16, Y:92.83, Z:0.51 [[ 3.86562482e-01 -9.22262602e-01 -1.06804221e-03 1.73161715e+02] [ 9.22259286e-01 3.86563956e-01 -2.47317540e-03 9.28315067e+01] [ 2.69378380e-03 -2.89750235e-05 9.99996371e-01 5.08344344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73401273899998 meters Centerline goodness : 0.989167 Centerline is valid? [True, True] Translation: X:173.17, Y:92.86, Z:0.52 [[ 3.83652723e-01 -9.23476826e-01 -1.06745872e-03 1.73174271e+02] [ 9.23473515e-01 3.83654206e-01 -2.47342722e-03 9.28551952e+01] [ 2.69368774e-03 -3.68327712e-05 9.99996371e-01 5.17318452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76401273899998 meters Centerline goodness : 0.993884 Centerline is valid? [True, True] Translation: X:173.19, Y:92.88, Z:0.51 [[ 3.80932246e-01 -9.24602339e-01 -1.06687862e-03 1.73186481e+02] [ 9.24599031e-01 3.80933737e-01 -2.47367741e-03 9.28788360e+01] [ 2.69357798e-03 -4.41314438e-05 9.99996371e-01 5.05224191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79401273899998 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:173.20, Y:92.90, Z:0.50 [[ 3.76818834e-01 -9.26286365e-01 -1.06629595e-03 1.73201971e+02] [ 9.26283063e-01 3.76820339e-01 -2.47392855e-03 9.29002345e+01] [ 2.69336828e-03 -5.54690095e-05 9.99996371e-01 5.00454220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82401273899998 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:173.21, Y:92.92, Z:0.50 [[ 3.75721451e-01 -9.26732030e-01 -1.06583333e-03 1.73214879e+02] [ 9.26728729e-01 3.75722958e-01 -2.47412784e-03 9.29225093e+01] [ 2.69331157e-03 -5.81554612e-05 9.99996371e-01 5.00742583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85401273899998 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:173.23, Y:92.94, Z:0.50 [[ 3.75884692e-01 -9.26665832e-01 -1.06520530e-03 1.73229577e+02] [ 9.26662530e-01 3.75886197e-01 -2.47439820e-03 9.29430334e+01] [ 2.69333624e-03 -5.69974288e-05 9.99996371e-01 5.02149244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88401273899999 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:173.24, Y:92.97, Z:0.50 [[ 3.77312466e-01 -9.26085401e-01 -1.06455152e-03 1.73242105e+02] [ 9.26082096e-01 3.77313964e-01 -2.47467944e-03 9.29658885e+01] [ 2.69343466e-03 -5.21347012e-05 9.99996371e-01 5.02911066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.914012739 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:173.25, Y:92.99, Z:0.50 [[ 3.79320773e-01 -9.25264621e-01 -1.06395334e-03 1.73254306e+02] [ 9.25261312e-01 3.79322263e-01 -2.47493660e-03 9.29884199e+01] [ 2.69355246e-03 -4.56399989e-05 9.99996371e-01 5.02438471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.944012739 meters Centerline goodness : 0.994047 Centerline is valid? [True, True] Translation: X:173.27, Y:93.01, Z:0.50 [[ 3.83684137e-01 -9.23463780e-01 -1.06332399e-03 1.73268548e+02] [ 9.23460463e-01 3.83685609e-01 -2.47520696e-03 9.30089626e+01] [ 2.69374608e-03 -3.22400232e-05 9.99996371e-01 5.01405813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.974012739 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:173.28, Y:93.03, Z:0.50 [[ 3.85346905e-01 -9.22771171e-01 -1.06266725e-03 1.73279810e+02] [ 9.22767851e-01 3.85348369e-01 -2.47548888e-03 9.30322164e+01] [ 2.69380686e-03 -2.66731974e-05 9.99996371e-01 5.02124464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.004012739 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:173.29, Y:93.05, Z:0.50 [[ 3.89049139e-01 -9.21216391e-01 -1.06204957e-03 1.73291552e+02] [ 9.21213064e-01 3.89050589e-01 -2.47575385e-03 9.30538715e+01] [ 2.69389604e-03 -1.51840385e-05 9.99996371e-01 5.02712931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.034012739 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:173.30, Y:93.08, Z:0.50 [[ 3.90384743e-01 -9.20651197e-01 -1.06143491e-03 1.73302547e+02] [ 9.20647867e-01 3.90386185e-01 -2.47601735e-03 9.30767775e+01] [ 2.69391786e-03 -1.06083939e-05 9.99996371e-01 5.01377418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.064012739 meters Centerline goodness : 0.993769 Centerline is valid? [True, True] Translation: X:173.31, Y:93.10, Z:0.50 [[ 3.91534975e-01 -9.20162615e-01 -1.06081061e-03 1.73313328e+02] [ 9.20159283e-01 3.91536412e-01 -2.47628479e-03 9.30989195e+01] [ 2.69393067e-03 -6.56263031e-06 9.99996371e-01 4.99674413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.094012739 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:173.32, Y:93.12, Z:0.50 [[ 3.94115473e-01 -9.19060319e-01 -1.06027950e-03 1.73324174e+02] [ 9.19056982e-01 3.94116900e-01 -2.47651218e-03 9.31221838e+01] [ 2.69393814e-03 1.57448900e-06 9.99996371e-01 4.99729733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.124012739 meters Centerline goodness : 0.992714 Centerline is valid? [True, True] Translation: X:173.33, Y:93.14, Z:0.50 [[ 3.95704738e-01 -9.18377176e-01 -1.05966092e-03 1.73333337e+02] [ 9.18373836e-01 3.95706157e-01 -2.47677683e-03 9.31444089e+01] [ 2.69392966e-03 6.90746431e-06 9.99996371e-01 5.01508119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15401273899997 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:173.34, Y:93.17, Z:0.50 [[ 3.97676752e-01 -9.17524975e-01 -1.05901725e-03 1.73343318e+02] [ 9.17521631e-01 3.97678162e-01 -2.47705202e-03 9.31679742e+01] [ 2.69390512e-03 1.33947670e-05 9.99996371e-01 5.03205822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18401273899997 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:173.35, Y:93.19, Z:0.50 [[ 4.01588836e-01 -9.15819462e-01 -1.05839245e-03 1.73353524e+02] [ 9.15816112e-01 4.01590229e-01 -2.47731895e-03 9.31905997e+01] [ 2.69381698e-03 2.55707730e-05 9.99996371e-01 5.02893740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21401273899997 meters Centerline goodness : 0.992552 Centerline is valid? [True, True] Translation: X:173.36, Y:93.21, Z:0.50 [[ 4.04471176e-01 -9.14550135e-01 -1.05774058e-03 1.73362398e+02] [ 9.14546779e-01 4.04472558e-01 -2.47759725e-03 9.32142043e+01] [ 2.69371394e-03 3.47634385e-05 9.99996371e-01 4.99083774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24401273899997 meters Centerline goodness : 0.992552 Centerline is valid? [True, True] Translation: X:173.37, Y:93.24, Z:0.50 [[ 4.04235225e-01 -9.14654452e-01 -1.05710279e-03 1.73372286e+02] [ 9.14651096e-01 4.04236605e-01 -2.47786934e-03 9.32382262e+01] [ 2.69371387e-03 3.47618437e-05 9.99996371e-01 4.99153758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27401273899997 meters Centerline goodness : 0.992466 Centerline is valid? [True, True] Translation: X:173.38, Y:93.26, Z:0.50 [[ 4.04662637e-01 -9.14465436e-01 -1.05646347e-03 1.73381930e+02] [ 9.14462079e-01 4.04664014e-01 -2.47814189e-03 9.32612497e+01] [ 2.69368786e-03 3.67156503e-05 9.99996371e-01 4.97129797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30401273899997 meters Centerline goodness : 0.992141 Centerline is valid? [True, True] Translation: X:173.39, Y:93.28, Z:0.50 [[ 4.04523942e-01 -9.14526799e-01 -1.05579859e-03 1.73393246e+02] [ 9.14523441e-01 4.04525318e-01 -2.47842513e-03 9.32846151e+01] [ 2.69368346e-03 3.70297409e-05 9.99996371e-01 4.97215094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33401273899997 meters Centerline goodness : 0.992514 Centerline is valid? [True, True] Translation: X:173.40, Y:93.31, Z:0.50 [[ 4.03990745e-01 -9.14762463e-01 -1.05516749e-03 1.73403755e+02] [ 9.14759106e-01 4.03992122e-01 -2.47869379e-03 9.33063408e+01] [ 2.69369539e-03 3.61452818e-05 9.99996371e-01 4.97868080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36401273899997 meters Centerline goodness : 0.992282 Centerline is valid? [True, True] Translation: X:173.41, Y:93.33, Z:0.50 [[ 4.03535648e-01 -9.14963315e-01 -1.05451143e-03 1.73412488e+02] [ 9.14959958e-01 4.03537024e-01 -2.47897286e-03 9.33293697e+01] [ 2.69370363e-03 3.55181890e-05 9.99996371e-01 5.03399074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39401273899998 meters Centerline goodness : 0.991624 Centerline is valid? [True, True] Translation: X:173.42, Y:93.35, Z:0.50 [[ 4.03951382e-01 -9.14779848e-01 -1.05386365e-03 1.73421188e+02] [ 9.14776489e-01 4.03952755e-01 -2.47924822e-03 9.33532199e+01] [ 2.69367743e-03 3.74460592e-05 9.99996371e-01 5.04703339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42401273899998 meters Centerline goodness : 0.991934 Centerline is valid? [True, True] Translation: X:173.43, Y:93.38, Z:0.50 [[ 4.06145932e-01 -9.13807623e-01 -1.05324534e-03 1.73429628e+02] [ 9.13804261e-01 4.06147295e-01 -2.47951086e-03 9.33765880e+01] [ 2.69356867e-03 4.45831753e-05 9.99996371e-01 5.04278475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45401273899998 meters Centerline goodness : 0.991706 Centerline is valid? [True, True] Translation: X:173.44, Y:93.40, Z:0.50 [[ 4.07004857e-01 -9.13425387e-01 -1.05260219e-03 1.73437884e+02] [ 9.13422022e-01 4.07006216e-01 -2.47978386e-03 9.33998525e+01] [ 2.69351317e-03 4.78140557e-05 9.99996371e-01 5.03106569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48401273899998 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:173.45, Y:93.42, Z:0.50 [[ 4.07548747e-01 -9.13182847e-01 -1.05196416e-03 1.73445832e+02] [ 9.13179481e-01 4.07550101e-01 -2.48005449e-03 9.34239569e+01] [ 2.69347133e-03 5.01110114e-05 9.99996371e-01 5.02588041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51401273899998 meters Centerline goodness : 0.992469 Centerline is valid? [True, True] Translation: X:173.45, Y:93.45, Z:0.50 [[ 4.06901250e-01 -9.13471547e-01 -1.05131986e-03 1.73452144e+02] [ 9.13468181e-01 4.06902605e-01 -2.48032759e-03 9.34481933e+01] [ 2.69349347e-03 4.89011518e-05 9.99996371e-01 5.00535329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54401273899998 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:173.46, Y:93.47, Z:0.50 [[ 4.05143251e-01 -9.14252614e-01 -1.05064996e-03 1.73460837e+02] [ 9.14249250e-01 4.05144611e-01 -2.48061133e-03 9.34708536e+01] [ 2.69357056e-03 4.44470038e-05 9.99996371e-01 4.99580076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57401273899998 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:173.47, Y:93.49, Z:0.50 [[ 3.99969799e-01 -9.16527718e-01 -1.04998737e-03 1.73470756e+02] [ 9.16524361e-01 3.99971176e-01 -2.48089175e-03 9.34934027e+01] [ 2.69377074e-03 2.99427751e-05 9.99996371e-01 4.98127572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60401273899998 meters Centerline goodness : 0.992679 Centerline is valid? [True, True] Translation: X:173.48, Y:93.52, Z:0.50 [[ 3.97188808e-01 -9.17736318e-01 -1.04934632e-03 1.73480373e+02] [ 9.17732965e-01 3.97190193e-01 -2.48116287e-03 9.35166114e+01] [ 2.69384334e-03 2.24704149e-05 9.99996371e-01 4.98493951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63401273899999 meters Centerline goodness : 0.992177 Centerline is valid? [True, True] Translation: X:173.49, Y:93.54, Z:0.50 [[ 3.93566321e-01 -9.19295628e-01 -1.04871352e-03 1.73489684e+02] [ 9.19292279e-01 3.93567718e-01 -2.48143030e-03 9.35397970e+01] [ 2.69390782e-03 1.25331560e-05 9.99996371e-01 5.00283005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.664012739 meters Centerline goodness : 0.992144 Centerline is valid? [True, True] Translation: X:173.50, Y:93.56, Z:0.50 [[ 3.92686129e-01 -9.19671955e-01 -1.04806619e-03 1.73499343e+02] [ 9.19668607e-01 3.92687528e-01 -2.48170368e-03 9.35637251e+01] [ 2.69391580e-03 1.06570351e-05 9.99996371e-01 5.00450628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.694012739 meters Centerline goodness : 0.991854 Centerline is valid? [True, True] Translation: X:173.51, Y:93.59, Z:0.50 [[ 3.92241580e-01 -9.19861645e-01 -1.04742101e-03 1.73507935e+02] [ 9.19858296e-01 3.92242979e-01 -2.48197596e-03 9.35868528e+01] [ 2.69391802e-03 1.00552646e-05 9.99996371e-01 4.99170710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.724012739 meters Centerline goodness : 0.992123 Centerline is valid? [True, True] Translation: X:173.52, Y:93.61, Z:0.50 [[ 3.92362053e-01 -9.19810265e-01 -1.04674959e-03 1.73516413e+02] [ 9.19806916e-01 3.92363449e-01 -2.48225909e-03 9.36107939e+01] [ 2.69391367e-03 1.11367651e-05 9.99996371e-01 4.98906905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.754012739 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:173.52, Y:93.63, Z:0.50 [[ 3.91927330e-01 -9.19995584e-01 -1.04610192e-03 1.73523079e+02] [ 9.19992234e-01 3.91928726e-01 -2.48253201e-03 9.36345037e+01] [ 2.69391587e-03 1.05664994e-05 9.99996371e-01 5.00641559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.784012739 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:173.53, Y:93.66, Z:0.50 [[ 3.91090388e-01 -9.20351680e-01 -1.04555122e-03 1.73531788e+02] [ 9.20348331e-01 3.91091786e-01 -2.48276392e-03 9.36575896e+01] [ 2.69392244e-03 8.71377991e-06 9.99996371e-01 5.00284325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.814012739 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:173.54, Y:93.68, Z:0.50 [[ 3.89025336e-01 -9.21226463e-01 -1.04491383e-03 1.73541522e+02] [ 9.21223117e-01 3.89026739e-01 -2.48303215e-03 9.36810141e+01] [ 2.69393434e-03 3.36364573e-06 9.99996371e-01 4.97034209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.844012739 meters Centerline goodness : 0.992411 Centerline is valid? [True, True] Translation: X:173.55, Y:93.70, Z:0.50 [[ 3.87316147e-01 -9.21946371e-01 -1.04428733e-03 1.73550479e+02] [ 9.21943027e-01 3.87317555e-01 -2.48329561e-03 9.37038469e+01] [ 2.69393619e-03 -9.52934629e-07 9.99996371e-01 4.97112744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.874012739 meters Centerline goodness : 0.992349 Centerline is valid? [True, True] Translation: X:173.56, Y:93.73, Z:0.50 [[ 3.85599413e-01 -9.22665705e-01 -1.04363388e-03 1.73559936e+02] [ 9.22662363e-01 3.85600825e-01 -2.48357020e-03 9.37288660e+01] [ 2.69393113e-03 -5.25849211e-06 9.99996371e-01 4.98157615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90401273899997 meters Centerline goodness : 0.991741 Centerline is valid? [True, True] Translation: X:173.57, Y:93.75, Z:0.50 [[ 3.82988807e-01 -9.23752394e-01 -1.04302874e-03 1.73567874e+02] [ 9.23749055e-01 3.82990227e-01 -2.48382431e-03 9.37527326e+01] [ 2.69390847e-03 -1.22199044e-05 9.99996371e-01 5.00509089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93401273899997 meters Centerline goodness : 0.991949 Centerline is valid? [True, True] Translation: X:173.58, Y:93.78, Z:0.50 [[ 3.81573278e-01 -9.24338005e-01 -1.04254795e-03 1.73577268e+02] [ 9.24334667e-01 3.81574702e-01 -2.48402610e-03 9.37757400e+01] [ 2.69388965e-03 -1.58252350e-05 9.99996371e-01 5.00924665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96401273899997 meters Centerline goodness : 0.992118 Centerline is valid? [True, True] Translation: X:173.59, Y:93.80, Z:0.50 [[ 3.79800497e-01 -9.25067834e-01 -1.04117855e-03 1.73587630e+02] [ 9.25064498e-01 3.79801924e-01 -2.48460049e-03 9.37998357e+01] [ 2.69386561e-03 -1.95048105e-05 9.99996371e-01 5.00252236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99401273899997 meters Centerline goodness : 0.992495 Centerline is valid? [True, True] Translation: X:173.60, Y:93.82, Z:0.50 [[ 3.76718670e-01 -9.26327134e-01 -1.04137377e-03 1.73598665e+02] [ 9.26323802e-01 3.76720109e-01 -2.48451866e-03 9.38215755e+01] [ 2.69378349e-03 -2.86847478e-05 9.99996371e-01 4.98960317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02401273899997 meters Centerline goodness : 0.992369 Centerline is valid? [True, True] Translation: X:173.61, Y:93.84, Z:0.50 [[ 3.75477396e-01 -9.26830967e-01 -1.04073362e-03 1.73609326e+02] [ 9.26827637e-01 3.75478837e-01 -2.48478678e-03 9.38448722e+01] [ 2.69375079e-03 -3.15994120e-05 9.99996371e-01 4.99729937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05401273899997 meters Centerline goodness : 0.991868 Centerline is valid? [True, True] Translation: X:173.62, Y:93.87, Z:0.50 [[ 3.74353331e-01 -9.27285556e-01 -1.04012615e-03 1.73619848e+02] [ 9.27282227e-01 3.74354774e-01 -2.48504105e-03 9.38677684e+01] [ 2.69371886e-03 -3.42070950e-05 9.99996371e-01 5.00503266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08401273899997 meters Centerline goodness : 0.992992 Centerline is valid? [True, True] Translation: X:173.63, Y:93.89, Z:0.50 [[ 3.73981918e-01 -9.27435412e-01 -1.03952310e-03 1.73631173e+02] [ 9.27432083e-01 3.73983362e-01 -2.48529328e-03 9.38896163e+01] [ 2.69371334e-03 -3.46323293e-05 9.99996371e-01 5.01202956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11401273899997 meters Centerline goodness : 0.992249 Centerline is valid? [True, True] Translation: X:173.64, Y:93.91, Z:0.50 [[ 3.74431385e-01 -9.27254042e-01 -1.03892242e-03 1.73641793e+02] [ 9.27250711e-01 3.74432825e-01 -2.48554436e-03 9.39128544e+01] [ 2.69373771e-03 -3.26757392e-05 9.99996371e-01 4.99759008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14401273899998 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:173.65, Y:93.94, Z:0.50 [[ 3.76465803e-01 -9.26429933e-01 -1.03828297e-03 1.73653812e+02] [ 9.26426598e-01 3.76467234e-01 -2.48581145e-03 9.39355221e+01] [ 2.69380965e-03 -2.60699544e-05 9.99996371e-01 4.97742847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17401273899998 meters Centerline goodness : 0.992578 Centerline is valid? [True, True] Translation: X:173.66, Y:93.96, Z:0.50 [[ 3.77664275e-01 -9.25942017e-01 -1.03764685e-03 1.73664760e+02] [ 9.25938680e-01 3.77665700e-01 -2.48607695e-03 9.39579515e+01] [ 2.69384673e-03 -2.18949091e-05 9.99996371e-01 4.98346107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20401273899998 meters Centerline goodness : 0.991987 Centerline is valid? [True, True] Translation: X:173.68, Y:93.98, Z:0.50 [[ 3.78927125e-01 -9.25425934e-01 -1.03698515e-03 1.73676013e+02] [ 9.25422594e-01 3.78928543e-01 -2.48635293e-03 9.39811981e+01] [ 2.69387875e-03 -1.75029265e-05 9.99996371e-01 5.00263041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23401273899998 meters Centerline goodness : 0.992502 Centerline is valid? [True, True] Translation: X:173.69, Y:94.00, Z:0.50 [[ 3.81896906e-01 -9.24204349e-01 -1.03635458e-03 1.73688401e+02] [ 9.24201004e-01 3.81898312e-01 -2.48661573e-03 9.40035626e+01] [ 2.69392314e-03 -8.16908817e-06 9.99996371e-01 5.01073020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26401273899998 meters Centerline goodness : 0.992692 Centerline is valid? [True, True] Translation: X:173.70, Y:94.03, Z:0.50 [[ 3.82944528e-01 -9.23770759e-01 -1.03574683e-03 1.73698280e+02] [ 9.23767412e-01 3.82945929e-01 -2.48686885e-03 9.40254876e+01] [ 2.69393176e-03 -4.45635374e-06 9.99996371e-01 5.01301275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29401273899998 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:173.71, Y:94.05, Z:0.50 [[ 3.83667325e-01 -9.23470797e-01 -1.03508100e-03 1.73709491e+02] [ 9.23467447e-01 3.83668721e-01 -2.48714595e-03 9.40487375e+01] [ 2.69393486e-03 -1.62697682e-06 9.99996371e-01 5.02208358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32401273899998 meters Centerline goodness : 0.992819 Centerline is valid? [True, True] Translation: X:173.72, Y:94.07, Z:0.50 [[ 3.83745135e-01 -9.23438467e-01 -1.03442898e-03 1.73721598e+02] [ 9.23435116e-01 3.83746529e-01 -2.48741710e-03 9.40726265e+01] [ 2.69393517e-03 -6.93831721e-07 9.99996371e-01 5.03178013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35401273899998 meters Centerline goodness : 0.992499 Centerline is valid? [True, True] Translation: X:173.74, Y:94.09, Z:0.50 [[ 3.83421484e-01 -9.23572897e-01 -1.03382559e-03 1.73736710e+02] [ 9.23569547e-01 3.83422878e-01 -2.48766786e-03 9.40932724e+01] [ 2.69393500e-03 -9.84532589e-07 9.99996371e-01 5.03476834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38401273899999 meters Centerline goodness : 0.992435 Centerline is valid? [True, True] Translation: X:173.75, Y:94.11, Z:0.50 [[ 3.83015336e-01 -9.23741406e-01 -1.03313399e-03 1.73747975e+02] [ 9.23738055e-01 3.83016730e-01 -2.48795505e-03 9.41149004e+01] [ 2.69393470e-03 -1.42023892e-06 9.99996371e-01 5.01672813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.414012739 meters Centerline goodness : 0.992551 Centerline is valid? [True, True] Translation: X:173.76, Y:94.14, Z:0.50 [[ 3.83051756e-01 -9.23726305e-01 -1.03245436e-03 1.73760244e+02] [ 9.23722954e-01 3.83053147e-01 -2.48823705e-03 9.41359135e+01] [ 2.69393491e-03 -5.78222100e-07 9.99996371e-01 4.98438746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.444012739 meters Centerline goodness : 0.993039 Centerline is valid? [True, True] Translation: X:173.77, Y:94.16, Z:0.50 [[ 3.83129214e-01 -9.23694181e-01 -1.03183744e-03 1.73771134e+02] [ 9.23690829e-01 3.83130604e-01 -2.48849286e-03 9.41590993e+01] [ 2.69393487e-03 3.15535168e-07 9.99996371e-01 4.98385859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.474012739 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:173.78, Y:94.18, Z:0.50 [[ 3.83110984e-01 -9.23701743e-01 -1.03117920e-03 1.73781680e+02] [ 9.23698391e-01 3.83112372e-01 -2.48876559e-03 9.41817185e+01] [ 2.69393462e-03 9.74867289e-07 9.99996371e-01 4.99112117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.504012739 meters Centerline goodness : 0.992528 Centerline is valid? [True, True] Translation: X:173.79, Y:94.20, Z:0.50 [[ 3.82861842e-01 -9.23805038e-01 -1.03049736e-03 1.73794045e+02] [ 9.23801685e-01 3.82863228e-01 -2.48904788e-03 9.42037648e+01] [ 2.69393451e-03 9.86255631e-07 9.99996371e-01 5.01698510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.534012739 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:173.80, Y:94.23, Z:0.50 [[ 3.82567763e-01 -9.23926862e-01 -1.02984851e-03 1.73804171e+02] [ 9.23923508e-01 3.82569149e-01 -2.48931631e-03 9.42260355e+01] [ 2.69393447e-03 8.30923804e-07 9.99996371e-01 5.01488886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.564012739 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:173.81, Y:94.25, Z:0.50 [[ 3.82403754e-01 -9.23994756e-01 -1.02917240e-03 1.73813692e+02] [ 9.23991402e-01 3.82405139e-01 -2.48959580e-03 9.42473293e+01] [ 2.69393428e-03 1.08433059e-06 9.99996371e-01 5.00904747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.594012739 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:173.82, Y:94.27, Z:0.50 [[ 3.82129783e-01 -9.24108095e-01 -1.02849765e-03 1.73824369e+02] [ 9.24104741e-01 3.82131167e-01 -2.48987452e-03 9.42709221e+01] [ 2.69393421e-03 1.01565593e-06 9.99996371e-01 4.99975110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.624012739 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:173.83, Y:94.29, Z:0.50 [[ 3.81565039e-01 -9.24341422e-01 -1.02785981e-03 1.73834072e+02] [ 9.24338068e-01 3.81566424e-01 -2.49013781e-03 9.42934373e+01] [ 2.69393431e-03 5.95809733e-08 9.99996371e-01 5.00697441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65401273899997 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:173.84, Y:94.32, Z:0.50 [[ 3.81138252e-01 -9.24517484e-01 -1.02719736e-03 1.73844847e+02] [ 9.24514129e-01 3.81139636e-01 -2.49041104e-03 9.43160876e+01] [ 2.69393418e-03 -4.67558129e-07 9.99996371e-01 5.01781841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68401273899997 meters Centerline goodness : 0.993106 Centerline is valid? [True, True] Translation: X:173.85, Y:94.34, Z:0.50 [[ 3.81016320e-01 -9.24567742e-01 -1.02656735e-03 1.73854299e+02] [ 9.24564388e-01 3.81017703e-01 -2.49067071e-03 9.43393620e+01] [ 2.69393413e-03 -1.41419744e-07 9.99996371e-01 5.01889630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71401273899997 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:173.86, Y:94.36, Z:0.50 [[ 3.80825208e-01 -9.24646478e-01 -1.02593679e-03 1.73863399e+02] [ 9.24643122e-01 3.80826590e-01 -2.49093042e-03 9.43630778e+01] [ 2.69393405e-03 -1.62978308e-08 9.99996371e-01 5.02995460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74401273899997 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:173.87, Y:94.39, Z:0.51 [[ 3.81069902e-01 -9.24545661e-01 -1.02530837e-03 1.73872634e+02] [ 9.24542304e-01 3.81071281e-01 -2.49118906e-03 9.43867430e+01] [ 2.69393361e-03 1.37620668e-06 9.99996371e-01 5.05334116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77401273899997 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:173.88, Y:94.41, Z:0.51 [[ 3.82661252e-01 -9.23888151e-01 -1.02467891e-03 1.73881360e+02] [ 9.23884792e-01 3.82662624e-01 -2.49144795e-03 9.44092001e+01] [ 2.69392556e-03 6.69533089e-06 9.99996371e-01 5.08793152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80401273899997 meters Centerline goodness : 0.992830 Centerline is valid? [True, True] Translation: X:173.89, Y:94.43, Z:0.51 [[ 3.83349999e-01 -9.23602582e-01 -1.02419745e-03 1.73890017e+02] [ 9.23599221e-01 3.83351367e-01 -2.49164581e-03 9.44336028e+01] [ 2.69391800e-03 9.22444912e-06 9.99996371e-01 5.09450992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83401273899997 meters Centerline goodness : 0.993018 Centerline is valid? [True, True] Translation: X:173.90, Y:94.46, Z:0.51 [[ 3.85106486e-01 -9.22871577e-01 -1.02342110e-03 1.73897361e+02] [ 9.22868212e-01 3.85107845e-01 -2.49196465e-03 9.44586135e+01] [ 2.69389084e-03 1.51889529e-05 9.99996371e-01 5.10038254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86401273899997 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:173.91, Y:94.48, Z:0.51 [[ 3.85497808e-01 -9.22708185e-01 -1.02279734e-03 1.73905603e+02] [ 9.22704819e-01 3.85499164e-01 -2.49222064e-03 9.44815694e+01] [ 2.69387990e-03 1.70055598e-05 9.99996371e-01 5.08721447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89401273899998 meters Centerline goodness : 0.993651 Centerline is valid? [True, True] Translation: X:173.91, Y:94.50, Z:0.51 [[ 3.85822510e-01 -9.22572461e-01 -1.02214854e-03 1.73913097e+02] [ 9.22569094e-01 3.85823863e-01 -2.49248671e-03 9.45046483e+01] [ 2.69386889e-03 1.86548257e-05 9.99996371e-01 5.05688685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92401273899998 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:173.92, Y:94.53, Z:0.50 [[ 3.85526191e-01 -9.22696327e-01 -1.02150468e-03 1.73921446e+02] [ 9.22692960e-01 3.85527544e-01 -2.49275055e-03 9.45288501e+01] [ 2.69386997e-03 1.84854477e-05 9.99996371e-01 5.04870690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95401273899998 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:173.93, Y:94.55, Z:0.51 [[ 3.85078104e-01 -9.22883423e-01 -1.02089278e-03 1.73929231e+02] [ 9.22880056e-01 3.85079457e-01 -2.49300113e-03 9.45517222e+01] [ 2.69387425e-03 1.78385681e-05 9.99996371e-01 5.05304267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98401273899998 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:173.94, Y:94.57, Z:0.51 [[ 3.85565390e-01 -9.22679950e-01 -1.02025697e-03 1.73936725e+02] [ 9.22676581e-01 3.85566739e-01 -2.49326131e-03 9.45749060e+01] [ 2.69385937e-03 1.99480575e-05 9.99996371e-01 5.07062641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01401273899998 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:173.95, Y:94.60, Z:0.51 [[ 3.85941516e-01 -9.22522686e-01 -1.01962825e-03 1.73945092e+02] [ 9.22519317e-01 3.85942862e-01 -2.49351840e-03 9.45994502e+01] [ 2.69384554e-03 2.17255086e-05 9.99996371e-01 5.07101756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04401273899998 meters Centerline goodness : 0.993410 Centerline is valid? [True, True] Translation: X:173.95, Y:94.62, Z:0.51 [[ 3.86536761e-01 -9.22273438e-01 -1.01898948e-03 1.73952633e+02] [ 9.22270067e-01 3.86538104e-01 -2.49377941e-03 9.46241226e+01] [ 2.69382477e-03 2.41539219e-05 9.99996371e-01 5.06081087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07401273899998 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:173.96, Y:94.65, Z:0.50 [[ 3.87472560e-01 -9.21880675e-01 -1.01835120e-03 1.73957205e+02] [ 9.21877301e-01 3.87473897e-01 -2.49404002e-03 9.46485809e+01] [ 2.69379181e-03 2.75772136e-05 9.99996371e-01 5.01760888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10401273899998 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:173.96, Y:94.67, Z:0.50 [[ 3.87344290e-01 -9.21934577e-01 -1.01768654e-03 1.73964667e+02] [ 9.21931204e-01 3.87345626e-01 -2.49431121e-03 9.46717079e+01] [ 2.69378818e-03 2.79202304e-05 9.99996371e-01 5.00331577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13401273899999 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:173.97, Y:94.70, Z:0.50 [[ 3.87105354e-01 -9.22034929e-01 -1.01703210e-03 1.73973783e+02] [ 9.22031555e-01 3.87106689e-01 -2.49457802e-03 9.46951453e+01] [ 2.69378800e-03 2.79288180e-05 9.99996371e-01 5.00399312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.164012739 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:173.98, Y:94.72, Z:0.50 [[ 3.85131265e-01 -9.22861244e-01 -1.01638555e-03 1.73982768e+02] [ 9.22857872e-01 3.85132606e-01 -2.49484142e-03 9.47183536e+01] [ 2.69383567e-03 2.28620281e-05 9.99996371e-01 5.01189595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.194012739 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:173.99, Y:94.74, Z:0.50 [[ 3.83125880e-01 -9.23695582e-01 -1.01574176e-03 1.73992914e+02] [ 9.23692212e-01 3.83127226e-01 -2.49510351e-03 9.47421946e+01] [ 2.69387441e-03 1.77059735e-05 9.99996371e-01 5.01082462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.224012739 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:174.00, Y:94.76, Z:0.50 [[ 3.80824860e-01 -9.24646633e-01 -1.01512046e-03 1.74002041e+02] [ 9.24643266e-01 3.80826213e-01 -2.49535625e-03 9.47646680e+01] [ 2.69390724e-03 1.16694012e-05 9.99996371e-01 4.99714916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.254012739 meters Centerline goodness : 0.993802 Centerline is valid? [True, True] Translation: X:174.01, Y:94.79, Z:0.50 [[ 3.78927329e-01 -9.25425875e-01 -1.01459174e-03 1.74011660e+02] [ 9.25422510e-01 3.78928687e-01 -2.49557121e-03 9.47881734e+01] [ 2.69392409e-03 6.71409959e-06 9.99996371e-01 4.98713472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.284012739 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:174.02, Y:94.81, Z:0.50 [[ 3.76615072e-01 -9.26369289e-01 -1.01397663e-03 1.74021692e+02] [ 9.26365927e-01 3.76616437e-01 -2.49582111e-03 9.48119060e+01] [ 2.69393229e-03 6.50442596e-07 9.99996371e-01 5.01094613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.314012739 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:174.03, Y:94.84, Z:0.50 [[ 3.75992968e-01 -9.26621963e-01 -1.01336165e-03 1.74031170e+02] [ 9.26618601e-01 3.75994333e-01 -2.49607078e-03 9.48358717e+01] [ 2.69393224e-03 -4.94692946e-07 9.99996371e-01 5.03482919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.344012739 meters Centerline goodness : 0.988369 Centerline is valid? [True, True] Translation: X:174.04, Y:94.86, Z:0.52 [[ 3.75603201e-01 -9.26780022e-01 -1.01274537e-03 1.74042544e+02] [ 9.26776660e-01 3.75604567e-01 -2.49632080e-03 9.48596288e+01] [ 2.69393203e-03 -9.62681122e-07 9.99996371e-01 5.17275448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.374012739 meters Centerline goodness : 0.989157 Centerline is valid? [True, True] Translation: X:174.05, Y:94.88, Z:0.52 [[ 3.75136792e-01 -9.26968912e-01 -1.01213071e-03 1.74053092e+02] [ 9.26965550e-01 3.75138157e-01 -2.49656999e-03 9.48821839e+01] [ 2.69393162e-03 -1.65504194e-06 9.99996371e-01 5.15551084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40401273899997 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:174.06, Y:94.90, Z:0.50 [[ 3.74224711e-01 -9.27337502e-01 -1.01149007e-03 1.74062943e+02] [ 9.27334141e-01 3.74226078e-01 -2.49682952e-03 9.49043310e+01] [ 2.69392961e-03 -3.61396842e-06 9.99996371e-01 5.02766764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43401273899997 meters Centerline goodness : 0.993902 Centerline is valid? [True, True] Translation: X:174.07, Y:94.93, Z:0.50 [[ 3.73772521e-01 -9.27519855e-01 -1.01079499e-03 1.74073888e+02] [ 9.27516493e-01 3.73773888e-01 -2.49711088e-03 9.49254195e+01] [ 2.69392869e-03 -4.17759729e-06 9.99996371e-01 5.02398760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46401273899997 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:174.09, Y:94.95, Z:0.51 [[ 3.72878545e-01 -9.27879610e-01 -1.01011596e-03 1.74086686e+02] [ 9.27876249e-01 3.72879913e-01 -2.49738553e-03 9.49452599e+01] [ 2.69392506e-03 -6.04112545e-06 9.99996371e-01 5.05447815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49401273899997 meters Centerline goodness : 0.993999 Centerline is valid? [True, True] Translation: X:174.10, Y:94.97, Z:0.51 [[ 3.72018711e-01 -9.28224682e-01 -1.00944214e-03 1.74098090e+02] [ 9.28221321e-01 3.72020081e-01 -2.49765785e-03 9.49678652e+01] [ 2.69392041e-03 -7.81026472e-06 9.99996371e-01 5.05686139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52401273899997 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:174.11, Y:94.99, Z:0.51 [[ 3.71345051e-01 -9.28494392e-01 -1.00879033e-03 1.74111400e+02] [ 9.28491032e-01 3.71346421e-01 -2.49792109e-03 9.49895267e+01] [ 2.69391640e-03 -9.06214289e-06 9.99996371e-01 5.07653994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55401273899997 meters Centerline goodness : 0.994058 Centerline is valid? [True, True] Translation: X:174.12, Y:95.01, Z:0.51 [[ 3.71315972e-01 -9.28506022e-01 -1.00813081e-03 1.74122109e+02] [ 9.28502661e-01 3.71317340e-01 -2.49818723e-03 9.50114151e+01] [ 2.69391834e-03 -8.43532185e-06 9.99996371e-01 5.09041188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58401273899997 meters Centerline goodness : 0.994146 Centerline is valid? [True, True] Translation: X:174.13, Y:95.03, Z:0.51 [[ 3.71508183e-01 -9.28429133e-01 -1.00757007e-03 1.74133581e+02] [ 9.28425771e-01 3.71509550e-01 -2.49841337e-03 9.50347634e+01] [ 2.69392166e-03 -7.27300924e-06 9.99996371e-01 5.08549287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61401273899997 meters Centerline goodness : 0.993273 Centerline is valid? [True, True] Translation: X:174.15, Y:95.06, Z:0.51 [[ 3.72401175e-01 -9.28071307e-01 -1.00691819e-03 1.74147343e+02] [ 9.28067943e-01 3.72402536e-01 -2.49867607e-03 9.50551059e+01] [ 2.69392845e-03 -3.97859387e-06 9.99996371e-01 5.09666270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64401273899998 meters Centerline goodness : 0.989075 Centerline is valid? [True, True] Translation: X:174.16, Y:95.08, Z:0.52 [[ 3.72504404e-01 -9.28029883e-01 -1.00311515e-03 1.74160473e+02] [ 9.28026515e-01 3.72505755e-01 -2.50020735e-03 9.50770025e+01] [ 2.69393330e-03 4.20792896e-07 9.99996371e-01 5.20480078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67401273899998 meters Centerline goodness : 0.993619 Centerline is valid? [True, True] Translation: X:174.18, Y:95.10, Z:0.51 [[ 3.74154879e-01 -9.27365686e-01 -1.00560540e-03 1.74176264e+02] [ 9.27362318e-01 3.74156230e-01 -2.49920535e-03 9.50976598e+01] [ 2.69393081e-03 2.52931701e-06 9.99996371e-01 5.09673829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70401273899998 meters Centerline goodness : 0.992972 Centerline is valid? [True, True] Translation: X:174.19, Y:95.12, Z:0.51 [[ 3.75652716e-01 -9.26759962e-01 -1.00496020e-03 1.74187694e+02] [ 9.26756591e-01 3.75654060e-01 -2.49946477e-03 9.51195446e+01] [ 2.69392125e-03 7.57723452e-06 9.99996371e-01 5.09172314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73401273899998 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:174.20, Y:95.14, Z:0.51 [[ 3.77544096e-01 -9.25991062e-01 -1.00429021e-03 1.74198727e+02] [ 9.25987688e-01 3.77545432e-01 -2.49973394e-03 9.51430329e+01] [ 2.69389647e-03 1.37994255e-05 9.99996371e-01 5.09102221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76401273899998 meters Centerline goodness : 0.993369 Centerline is valid? [True, True] Translation: X:174.21, Y:95.17, Z:0.51 [[ 3.82394492e-01 -9.23998617e-01 -1.00365280e-03 1.74210673e+02] [ 9.23995236e-01 3.82395808e-01 -2.49998984e-03 9.51660564e+01] [ 2.69377978e-03 2.86119419e-05 9.99996371e-01 5.05106179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79401273899998 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:174.22, Y:95.19, Z:0.50 [[ 3.84485220e-01 -9.23130603e-01 -1.00300156e-03 1.74221221e+02] [ 9.23127217e-01 3.84486527e-01 -2.50025109e-03 9.51896778e+01] [ 2.69369888e-03 3.54115533e-05 9.99996371e-01 5.02995572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82401273899998 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:174.23, Y:95.21, Z:0.50 [[ 3.87669846e-01 -9.21797747e-01 -1.00235311e-03 1.74232145e+02] [ 9.21794356e-01 3.87671140e-01 -2.50051103e-03 9.52126801e+01] [ 2.69354880e-03 4.54092872e-05 9.99996371e-01 5.02283346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85401273899998 meters Centerline goodness : 0.993556 Centerline is valid? [True, True] Translation: X:174.24, Y:95.24, Z:0.50 [[ 3.88701680e-01 -9.21363121e-01 -1.00169857e-03 1.74241532e+02] [ 9.21359728e-01 3.88702968e-01 -2.50077321e-03 9.52350520e+01] [ 2.69348341e-03 4.91300278e-05 9.99996371e-01 5.03352662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88401273899999 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:174.25, Y:95.26, Z:0.50 [[ 3.89181460e-01 -9.21160566e-01 -1.00101996e-03 1.74250835e+02] [ 9.21157172e-01 3.89182744e-01 -2.50104481e-03 9.52583516e+01] [ 2.69344355e-03 5.12635541e-05 9.99996371e-01 5.04491531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.914012739 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:174.26, Y:95.28, Z:0.50 [[ 3.89664440e-01 -9.20956364e-01 -1.00036660e-03 1.74258406e+02] [ 9.20952968e-01 3.89665720e-01 -2.50130612e-03 9.52819257e+01] [ 2.69340236e-03 5.33794577e-05 9.99996371e-01 5.04198893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.944012739 meters Centerline goodness : 0.993054 Centerline is valid? [True, True] Translation: X:174.27, Y:95.31, Z:0.50 [[ 3.90410993e-01 -9.20640135e-01 -9.99687509e-04 1.74266318e+02] [ 9.20636738e-01 3.90412268e-01 -2.50157750e-03 9.53060883e+01] [ 2.69334291e-03 5.62943070e-05 9.99996371e-01 5.03358898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.974012739 meters Centerline goodness : 0.993634 Centerline is valid? [True, True] Translation: X:174.27, Y:95.33, Z:0.50 [[ 3.91568572e-01 -9.20148388e-01 -9.99035652e-04 1.74274190e+02] [ 9.20144989e-01 3.91569841e-01 -2.50183780e-03 9.53299900e+01] [ 2.69325425e-03 6.03834042e-05 9.99996371e-01 5.03052148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.004012739 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:174.28, Y:95.36, Z:0.51 [[ 3.94708823e-01 -9.18805719e-01 -9.98379311e-04 1.74279583e+02] [ 9.18802314e-01 3.94710079e-01 -2.50209969e-03 9.53554235e+01] [ 2.69301388e-03 7.02876007e-05 9.99996371e-01 5.05041151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.034012739 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:174.29, Y:95.38, Z:0.51 [[ 3.96505742e-01 -9.18031699e-01 -9.97727446e-04 1.74285662e+02] [ 9.18028292e-01 3.96506990e-01 -2.50235960e-03 9.53791893e+01] [ 2.69285134e-03 7.62579250e-05 9.99996371e-01 5.06521705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.064012739 meters Centerline goodness : 0.993242 Centerline is valid? [True, True] Translation: X:174.29, Y:95.40, Z:0.51 [[ 3.98833659e-01 -9.17022747e-01 -9.97048682e-04 1.74289303e+02] [ 9.17019336e-01 3.98834897e-01 -2.50263002e-03 9.54047998e+01] [ 2.69262646e-03 8.38201677e-05 9.99996371e-01 5.07413754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.094012739 meters Centerline goodness : 0.993345 Centerline is valid? [True, True] Translation: X:174.30, Y:95.43, Z:0.51 [[ 3.98898639e-01 -9.16994484e-01 -9.96393328e-04 1.74296211e+02] [ 9.16991072e-01 3.98899874e-01 -2.50289091e-03 9.54285774e+01] [ 2.69259833e-03 8.47159922e-05 9.99996371e-01 5.08272402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.124012739 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:174.30, Y:95.45, Z:0.51 [[ 3.98278517e-01 -9.17263992e-01 -9.95712716e-04 1.74302826e+02] [ 9.17260581e-01 3.98279752e-01 -2.50316165e-03 9.54523589e+01] [ 2.69263226e-03 8.36274832e-05 9.99996371e-01 5.09476232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15401273899997 meters Centerline goodness : 0.993481 Centerline is valid? [True, True] Translation: X:174.31, Y:95.48, Z:0.51 [[ 3.96887216e-01 -9.17866846e-01 -9.95167193e-04 1.74309479e+02] [ 9.17863436e-01 3.96888456e-01 -2.50337851e-03 9.54775186e+01] [ 2.69273851e-03 8.01313474e-05 9.99996371e-01 5.10482901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18401273899997 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:174.31, Y:95.50, Z:0.51 [[ 3.93741815e-01 -9.19220536e-01 -9.94529175e-04 1.74313855e+02] [ 9.19217130e-01 3.93743064e-01 -2.50363195e-03 9.55041155e+01] [ 2.69297887e-03 7.15963342e-05 9.99996371e-01 5.11039046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21401273899997 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:174.32, Y:95.53, Z:0.51 [[ 3.92156024e-01 -9.19898182e-01 -9.93961592e-04 1.74321082e+02] [ 9.19894777e-01 3.92157278e-01 -2.50385727e-03 9.55279178e+01] [ 2.69308302e-03 6.75626329e-05 9.99996371e-01 5.11166990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24401273899997 meters Centerline goodness : 0.993386 Centerline is valid? [True, True] Translation: X:174.33, Y:95.55, Z:0.51 [[ 3.90485020e-01 -9.20608746e-01 -9.93274096e-04 1.74326702e+02] [ 9.20605342e-01 3.90486278e-01 -2.50412996e-03 9.55518291e+01] [ 2.69318385e-03 6.34117996e-05 9.99996371e-01 5.11773692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27401273899997 meters Centerline goodness : 0.993016 Centerline is valid? [True, True] Translation: X:174.33, Y:95.58, Z:0.51 [[ 3.90355293e-01 -9.20663761e-01 -9.92600449e-04 1.74333401e+02] [ 9.20660357e-01 3.90356550e-01 -2.50439696e-03 9.55757490e+01] [ 2.69317561e-03 6.37567257e-05 9.99996371e-01 5.11806859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30401273899997 meters Centerline goodness : 0.988237 Centerline is valid? [True, True] Translation: X:174.34, Y:95.60, Z:0.52 [[ 3.91164688e-01 -9.20320163e-01 -9.91929927e-04 1.74341826e+02] [ 9.20316757e-01 3.91165940e-01 -2.50466251e-03 9.56007304e+01] [ 2.69310061e-03 6.68457946e-05 9.99996371e-01 5.22559052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33401273899997 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:174.35, Y:95.63, Z:0.51 [[ 3.91262321e-01 -9.20278661e-01 -9.91326833e-04 1.74345262e+02] [ 9.20275254e-01 3.91263571e-01 -2.50490119e-03 9.56262999e+01] [ 2.69307718e-03 6.77798988e-05 9.99996371e-01 5.09225529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36401273899997 meters Centerline goodness : 0.988706 Centerline is valid? [True, True] Translation: X:174.35, Y:95.65, Z:0.52 [[ 3.91061062e-01 -9.20364202e-01 -9.90696539e-04 1.74352574e+02] [ 9.20360795e-01 3.91062311e-01 -2.50515044e-03 9.56496745e+01] [ 2.69307487e-03 6.78685389e-05 9.99996371e-01 5.16589668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39401273899998 meters Centerline goodness : 0.992550 Centerline is valid? [True, True] Translation: X:174.36, Y:95.68, Z:0.51 [[ 3.89660704e-01 -9.20957955e-01 -9.90025018e-04 1.74358029e+02] [ 9.20954550e-01 3.89661957e-01 -2.50541580e-03 9.56752865e+01] [ 2.69315770e-03 6.44940392e-05 9.99996371e-01 5.06929939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42401273899998 meters Centerline goodness : 0.992129 Centerline is valid? [True, True] Translation: X:174.36, Y:95.70, Z:0.51 [[ 3.86614390e-01 -9.22240931e-01 -9.89374389e-04 1.74363164e+02] [ 9.22237529e-01 3.86615652e-01 -2.50567270e-03 9.57000866e+01] [ 2.69334155e-03 5.62909323e-05 9.99996371e-01 5.06175733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45401273899998 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:174.37, Y:95.72, Z:0.51 [[ 3.84324641e-01 -9.23197483e-01 -9.88694249e-04 1.74371347e+02] [ 9.23194083e-01 3.84325909e-01 -2.50594104e-03 9.57238971e+01] [ 2.69345928e-03 5.03382107e-05 9.99996371e-01 5.06000263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48401273899998 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:174.38, Y:95.75, Z:0.51 [[ 3.79793321e-01 -9.25070839e-01 -9.88051349e-04 1.74379091e+02] [ 9.25067445e-01 3.79794604e-01 -2.50619450e-03 9.57483413e+01] [ 2.69366402e-03 3.78217968e-05 9.99996371e-01 5.07008759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51401273899998 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:174.39, Y:95.77, Z:0.51 [[ 3.77733647e-01 -9.25913774e-01 -9.87390252e-04 1.74386278e+02] [ 9.25910382e-01 3.77734936e-01 -2.50645493e-03 9.57714078e+01] [ 2.69373294e-03 3.25374765e-05 9.99996371e-01 5.06678857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54401273899998 meters Centerline goodness : 0.992679 Centerline is valid? [True, True] Translation: X:174.39, Y:95.79, Z:0.51 [[ 3.76113589e-01 -9.26573038e-01 -9.86827122e-04 1.74393560e+02] [ 9.26569647e-01 3.76114883e-01 -2.50667663e-03 9.57949533e+01] [ 2.69377934e-03 2.84310850e-05 9.99996371e-01 5.06102477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57401273899998 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:174.40, Y:95.82, Z:0.51 [[ 3.73925704e-01 -9.27458137e-01 -9.86267140e-04 1.74401588e+02] [ 9.27454749e-01 3.73927004e-01 -2.50689694e-03 9.58195715e+01] [ 2.69383388e-03 2.26750594e-05 9.99996371e-01 5.06062871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60401273899998 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:174.41, Y:95.84, Z:0.51 [[ 3.73152507e-01 -9.27769495e-01 -9.85626079e-04 1.74410588e+02] [ 9.27766107e-01 3.73153808e-01 -2.50714895e-03 9.58439760e+01] [ 2.69384644e-03 2.11184465e-05 9.99996371e-01 5.07455443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63401273899999 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:174.42, Y:95.87, Z:0.51 [[ 3.72743074e-01 -9.27934066e-01 -9.85009001e-04 1.74418975e+02] [ 9.27930679e-01 3.72744375e-01 -2.50739137e-03 9.58670759e+01] [ 2.69385043e-03 2.05926953e-05 9.99996371e-01 5.07823200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.664012739 meters Centerline goodness : 0.992658 Centerline is valid? [True, True] Translation: X:174.43, Y:95.89, Z:0.51 [[ 3.72361665e-01 -9.28087184e-01 -9.84302638e-04 1.74428853e+02] [ 9.28083797e-01 3.72362965e-01 -2.50766863e-03 9.58903166e+01] [ 2.69385297e-03 2.02443352e-05 9.99996371e-01 5.07977475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.694012739 meters Centerline goodness : 0.992242 Centerline is valid? [True, True] Translation: X:174.44, Y:95.91, Z:0.51 [[ 3.72200729e-01 -9.28151739e-01 -9.83655055e-04 1.74438368e+02] [ 9.28148351e-01 3.72202028e-01 -2.50792262e-03 9.59131922e+01] [ 2.69385115e-03 2.04728107e-05 9.99996371e-01 5.08850482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.724012739 meters Centerline goodness : 0.992449 Centerline is valid? [True, True] Translation: X:174.45, Y:95.94, Z:0.51 [[ 3.72052139e-01 -9.28211312e-01 -9.83103640e-04 1.74447738e+02] [ 9.28207924e-01 3.72053437e-01 -2.50813876e-03 9.59366299e+01] [ 2.69384986e-03 2.06338009e-05 9.99996371e-01 5.11268467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.754012739 meters Centerline goodness : 0.992624 Centerline is valid? [True, True] Translation: X:174.46, Y:95.96, Z:0.51 [[ 3.72247023e-01 -9.28133174e-01 -9.82437628e-04 1.74455770e+02] [ 9.28129785e-01 3.72248319e-01 -2.50839961e-03 9.59596891e+01] [ 2.69383965e-03 2.19146617e-05 9.99996371e-01 5.12089248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.784012739 meters Centerline goodness : 0.992475 Centerline is valid? [True, True] Translation: X:174.46, Y:95.98, Z:0.51 [[ 3.72761612e-01 -9.27926623e-01 -9.81745730e-04 1.74463879e+02] [ 9.27923232e-01 3.72762904e-01 -2.50867038e-03 9.59839754e+01] [ 2.69382042e-03 2.41513428e-05 9.99996371e-01 5.11012749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.814012739 meters Centerline goodness : 0.992537 Centerline is valid? [True, True] Translation: X:174.47, Y:96.01, Z:0.51 [[ 3.73408852e-01 -9.27666355e-01 -9.81124206e-04 1.74472168e+02] [ 9.27662963e-01 3.73410140e-01 -2.50891343e-03 9.60078723e+01] [ 2.69379630e-03 2.66978945e-05 9.99996371e-01 5.10067274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.844012739 meters Centerline goodness : 0.992983 Centerline is valid? [True, True] Translation: X:174.48, Y:96.03, Z:0.51 [[ 3.74237806e-01 -9.27332251e-01 -9.80466141e-04 1.74479636e+02] [ 9.27328856e-01 3.74239090e-01 -2.50917057e-03 9.60310190e+01] [ 2.69376355e-03 2.98119435e-05 9.99996371e-01 5.09040680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.874012739 meters Centerline goodness : 0.992288 Centerline is valid? [True, True] Translation: X:174.49, Y:96.05, Z:0.51 [[ 3.74369033e-01 -9.27279282e-01 -9.79784166e-04 1.74487513e+02] [ 9.27275887e-01 3.74370314e-01 -2.50943684e-03 9.60532209e+01] [ 2.69375090e-03 3.09252095e-05 9.99996371e-01 5.09045813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90401273899997 meters Centerline goodness : 0.992911 Centerline is valid? [True, True] Translation: X:174.50, Y:96.08, Z:0.51 [[ 3.72424879e-01 -9.28061835e-01 -9.69687670e-04 1.74496310e+02] [ 9.28058432e-01 3.72426140e-01 -2.51337405e-03 9.60797089e+01] [ 2.69370357e-03 3.61162092e-05 9.99996371e-01 5.09238618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93401273899997 meters Centerline goodness : 0.992950 Centerline is valid? [True, True] Translation: X:174.51, Y:96.10, Z:0.51 [[ 3.68825084e-01 -9.29498306e-01 -9.78283673e-04 1.74506108e+02] [ 9.29494917e-01 3.68826381e-01 -2.51002375e-03 9.61029285e+01] [ 2.69387965e-03 1.64500204e-05 9.99996371e-01 5.08846779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96401273899997 meters Centerline goodness : 0.992820 Centerline is valid? [True, True] Translation: X:174.52, Y:96.13, Z:0.51 [[ 3.66510070e-01 -9.30413571e-01 -9.77631260e-04 1.74515189e+02] [ 9.30410185e-01 3.66511374e-01 -2.51027784e-03 9.61252448e+01] [ 2.69390954e-03 1.04440239e-05 9.99996371e-01 5.08624771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99401273899997 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:174.52, Y:96.15, Z:0.51 [[ 3.61838118e-01 -9.32240431e-01 -9.76954349e-04 1.74524711e+02] [ 9.32237051e-01 3.61839437e-01 -2.51054125e-03 9.61485560e+01] [ 2.69392867e-03 -2.34351982e-06 9.99996371e-01 5.05625273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02401273899997 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:174.53, Y:96.17, Z:0.50 [[ 3.59616633e-01 -9.33099633e-01 -9.76285232e-04 1.74534184e+02] [ 9.33096255e-01 3.59617958e-01 -2.51080143e-03 9.61712456e+01] [ 2.69391759e-03 -8.04213948e-06 9.99996371e-01 5.04218510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05401273899997 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:174.54, Y:96.20, Z:0.50 [[ 3.59378366e-01 -9.33191426e-01 -9.75592952e-04 1.74543288e+02] [ 9.33188048e-01 3.59379690e-01 -2.51107039e-03 9.61955789e+01] [ 2.69391765e-03 -7.98730978e-06 9.99996371e-01 5.04288495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08401273899997 meters Centerline goodness : 0.993490 Centerline is valid? [True, True] Translation: X:174.55, Y:96.22, Z:0.50 [[ 3.57328597e-01 -9.33978224e-01 -9.74951717e-04 1.74553143e+02] [ 9.33974848e-01 3.57329927e-01 -2.51131933e-03 9.62189556e+01] [ 2.69389699e-03 -1.32141683e-05 9.99996371e-01 5.02730611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11401273899997 meters Centerline goodness : 0.993709 Centerline is valid? [True, True] Translation: X:174.56, Y:96.24, Z:0.50 [[ 3.55952611e-01 -9.34503499e-01 -9.74305961e-04 1.74562551e+02] [ 9.34500124e-01 3.55953944e-01 -2.51156984e-03 9.62410522e+01] [ 2.69387885e-03 -1.64892013e-05 9.99996371e-01 5.01309964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14401273899998 meters Centerline goodness : 0.993067 Centerline is valid? [True, True] Translation: X:174.57, Y:96.26, Z:0.50 [[ 3.55392985e-01 -9.34716470e-01 -9.73633918e-04 1.74572269e+02] [ 9.34713095e-01 3.55394318e-01 -2.51183033e-03 9.62648974e+01] [ 2.69387314e-03 -1.73814938e-05 9.99996371e-01 5.01187256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17401273899998 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:174.58, Y:96.29, Z:0.50 [[ 3.55884425e-01 -9.34529470e-01 -9.72981163e-04 1.74581265e+02] [ 9.34526093e-01 3.55885754e-01 -2.51208316e-03 9.62875727e+01] [ 2.69388588e-03 -1.52650155e-05 9.99996371e-01 5.01335662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20401273899998 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:174.59, Y:96.31, Z:0.50 [[ 3.57885040e-01 -9.33765149e-01 -9.72302075e-04 1.74591153e+02] [ 9.33761769e-01 3.57886360e-01 -2.51234597e-03 9.63096928e+01] [ 2.69391476e-03 -8.76746815e-06 9.99996371e-01 5.03084349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23401273899998 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:174.60, Y:96.33, Z:0.50 [[ 3.59109080e-01 -9.33295090e-01 -9.71624876e-04 1.74599391e+02] [ 9.33291708e-01 3.59110394e-01 -2.51260784e-03 9.63326845e+01] [ 2.69392516e-03 -4.50914854e-06 9.99996371e-01 5.03854500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26401273899998 meters Centerline goodness : 0.993153 Centerline is valid? [True, True] Translation: X:174.61, Y:96.36, Z:0.51 [[ 3.61499203e-01 -9.32371913e-01 -9.70955990e-04 1.74605955e+02] [ 9.32368526e-01 3.61500507e-01 -2.51286630e-03 9.63572892e+01] [ 2.69392704e-03 3.11035903e-06 9.99996371e-01 5.05307621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29401273899998 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:174.61, Y:96.38, Z:0.51 [[ 3.62152175e-01 -9.32118480e-01 -9.70344242e-04 1.74614390e+02] [ 9.32115092e-01 3.62153475e-01 -2.51310250e-03 9.63816125e+01] [ 2.69392282e-03 5.65302363e-06 9.99996371e-01 5.06274321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32401273899998 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:174.62, Y:96.40, Z:0.51 [[ 3.62440302e-01 -9.32006484e-01 -9.69700776e-04 1.74622972e+02] [ 9.32003095e-01 3.62441600e-01 -2.51335076e-03 9.64048538e+01] [ 2.69391911e-03 7.17548562e-06 9.99996371e-01 5.06840999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35401273899998 meters Centerline goodness : 0.992284 Centerline is valid? [True, True] Translation: X:174.63, Y:96.43, Z:0.51 [[ 3.62276138e-01 -9.32070309e-01 -9.69029186e-04 1.74632935e+02] [ 9.32066920e-01 3.62277434e-01 -2.51360967e-03 9.64276527e+01] [ 2.69391835e-03 7.42075509e-06 9.99996371e-01 5.06552800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38401273899999 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:174.64, Y:96.45, Z:0.50 [[ 3.60698891e-01 -9.32681823e-01 -9.63030895e-04 1.74642447e+02] [ 9.32678430e-01 3.60700176e-01 -2.51591971e-03 9.64515828e+01] [ 2.69391799e-03 9.29130552e-06 9.99996371e-01 5.04978695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.414012739 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:174.65, Y:96.47, Z:0.50 [[ 3.58977094e-01 -9.33345868e-01 -9.67671088e-04 1.74651662e+02] [ 9.33342482e-01 3.58978398e-01 -2.51413373e-03 9.64749065e+01] [ 2.69392935e-03 -6.52112991e-07 9.99996371e-01 5.04139426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.444012739 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:174.66, Y:96.50, Z:0.51 [[ 3.56275443e-01 -9.34380476e-01 -9.67011524e-04 1.74660804e+02] [ 9.34377093e-01 3.56276755e-01 -2.51438740e-03 9.64975050e+01] [ 2.69391822e-03 -7.73893489e-06 9.99996371e-01 5.06677995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.474012739 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:174.67, Y:96.52, Z:0.51 [[ 3.54516523e-01 -9.35049251e-01 -9.66329500e-04 1.74670296e+02] [ 9.35045869e-01 3.54517840e-01 -2.51464948e-03 9.65214234e+01] [ 2.69390216e-03 -1.20776157e-05 9.99996371e-01 5.09994798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.504012739 meters Centerline goodness : 0.991772 Centerline is valid? [True, True] Translation: X:174.68, Y:96.54, Z:0.51 [[ 3.52729683e-01 -9.35724766e-01 -9.65668466e-04 1.74680386e+02] [ 9.35721387e-01 3.52731005e-01 -2.51490331e-03 9.65439610e+01] [ 2.69387852e-03 -1.65155899e-05 9.99996371e-01 5.12563063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.534012739 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:174.69, Y:96.57, Z:0.51 [[ 3.49464805e-01 -9.36948995e-01 -9.64982457e-04 1.74694433e+02] [ 9.36945619e-01 3.49466137e-01 -2.51516650e-03 9.65657168e+01] [ 2.69381142e-03 -2.51739122e-05 9.99996371e-01 5.12865230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.564012739 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:174.71, Y:96.59, Z:0.51 [[ 3.48292839e-01 -9.37385283e-01 -9.64324212e-04 1.74705886e+02] [ 9.37381908e-01 3.48294172e-01 -2.51541885e-03 9.65863713e+01] [ 2.69378512e-03 -2.78376981e-05 9.99996371e-01 5.10976397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.594012739 meters Centerline goodness : 0.992617 Centerline is valid? [True, True] Translation: X:174.72, Y:96.61, Z:0.51 [[ 3.46737185e-01 -9.37961835e-01 -9.59097796e-04 1.74720569e+02] [ 9.37958457e-01 3.46738511e-01 -2.51742016e-03 9.66083133e+01] [ 2.69380017e-03 -2.67107085e-05 9.99996371e-01 5.11159594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.624012739 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:174.73, Y:96.63, Z:0.51 [[ 3.47384370e-01 -9.37722332e-01 -9.62940648e-04 1.74731700e+02] [ 9.37718957e-01 3.47385704e-01 -2.51594937e-03 9.66304597e+01] [ 2.69377372e-03 -2.89662135e-05 9.99996371e-01 5.11070369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65401273899997 meters Centerline goodness : 0.992498 Centerline is valid? [True, True] Translation: X:174.74, Y:96.65, Z:0.51 [[ 3.48340909e-01 -9.37367423e-01 -9.62273104e-04 1.74742937e+02] [ 9.37364046e-01 3.48342237e-01 -2.51620466e-03 9.66534486e+01] [ 2.69380864e-03 -2.55031940e-05 9.99996371e-01 5.10932485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68401273899997 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:174.76, Y:96.68, Z:0.51 [[ 3.52171969e-01 -9.35934816e-01 -9.61631004e-04 1.74756817e+02] [ 9.35931433e-01 3.52173282e-01 -2.51645003e-03 9.66755472e+01] [ 2.69389394e-03 -1.37975226e-05 9.99996371e-01 5.07199725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71401273899997 meters Centerline goodness : 0.992663 Centerline is valid? [True, True] Translation: X:174.77, Y:96.70, Z:0.51 [[ 3.54746699e-01 -9.34961954e-01 -9.60978688e-04 1.74766932e+02] [ 9.34958567e-01 3.54748001e-01 -2.51669911e-03 9.66974321e+01] [ 2.69392318e-03 -5.68455638e-06 9.99996371e-01 5.05669360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74401273899997 meters Centerline goodness : 0.993128 Centerline is valid? [True, True] Translation: X:174.78, Y:96.72, Z:0.51 [[ 3.61280880e-01 -9.32456542e-01 -9.60297265e-04 1.74778282e+02] [ 9.32453145e-01 3.61282156e-01 -2.51695909e-03 9.67203854e+01] [ 2.69389324e-03 1.38969907e-05 9.99996371e-01 5.05529689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77401273899997 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:174.79, Y:96.74, Z:0.51 [[ 3.64639428e-01 -9.31148306e-01 -9.59643405e-04 1.74788147e+02] [ 9.31144903e-01 3.64640690e-01 -2.51720837e-03 9.67430306e+01] [ 2.69381934e-03 2.43063515e-05 9.99996371e-01 5.06967952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80401273899997 meters Centerline goodness : 0.993543 Centerline is valid? [True, True] Translation: X:174.80, Y:96.77, Z:0.51 [[ 3.68475479e-01 -9.29636973e-01 -9.58927054e-04 1.74797832e+02] [ 9.29633565e-01 3.68476725e-01 -2.51748123e-03 9.67661468e+01] [ 2.69368593e-03 3.61793244e-05 9.99996371e-01 5.08186250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83401273899997 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:174.81, Y:96.79, Z:0.51 [[ 3.77034385e-01 -9.26198766e-01 -9.58272447e-04 1.74805988e+02] [ 9.26195346e-01 3.77035598e-01 -2.51773038e-03 9.67907420e+01] [ 2.69322159e-03 6.17234450e-05 9.99996371e-01 5.10119690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86401273899997 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:174.81, Y:96.81, Z:0.51 [[ 3.81766367e-01 -9.24258364e-01 -9.57591244e-04 1.74812750e+02] [ 9.24254938e-01 3.81767560e-01 -2.51798944e-03 9.68143269e+01] [ 2.69285007e-03 7.62252446e-05 9.99996371e-01 5.09470483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89401273899998 meters Centerline goodness : 0.993137 Centerline is valid? [True, True] Translation: X:174.82, Y:96.84, Z:0.51 [[ 3.90389183e-01 -9.20649428e-01 -9.56887025e-04 1.74816240e+02] [ 9.20645990e-01 3.90390343e-01 -2.51825703e-03 9.68388099e+01] [ 2.69199135e-03 1.02146102e-04 9.99996371e-01 5.09001702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92401273899998 meters Centerline goodness : 0.992920 Centerline is valid? [True, True] Translation: X:174.82, Y:96.86, Z:0.51 [[ 3.94539328e-01 -9.18878558e-01 -9.56227140e-04 1.74821829e+02] [ 9.18875114e-01 3.94540470e-01 -2.51850757e-03 9.68607876e+01] [ 2.69147291e-03 1.14996963e-04 9.99996371e-01 5.09594146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95401273899998 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:174.83, Y:96.89, Z:0.51 [[ 3.95464070e-01 -9.18480961e-01 -9.44932229e-04 1.74828123e+02] [ 9.18477506e-01 3.95465178e-01 -2.52279581e-03 9.68883448e+01] [ 2.69082771e-03 1.29776103e-04 9.99996371e-01 5.10138419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98401273899998 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:174.83, Y:96.91, Z:0.51 [[ 3.95994836e-01 -9.18252240e-01 -9.55909666e-04 1.74834212e+02] [ 9.18248794e-01 3.95995972e-01 -2.51862948e-03 9.69127408e+01] [ 2.69127354e-03 1.19601370e-04 9.99996371e-01 5.11458174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01401273899998 meters Centerline goodness : 0.993068 Centerline is valid? [True, True] Translation: X:174.84, Y:96.94, Z:0.51 [[ 3.94947916e-01 -9.18703016e-01 -9.55436149e-04 1.74838909e+02] [ 9.18699570e-01 3.94949055e-01 -2.51880910e-03 9.69376330e+01] [ 2.69138612e-03 1.17039625e-04 9.99996371e-01 5.11479265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04401273899998 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:174.85, Y:96.96, Z:0.51 [[ 3.93439505e-01 -9.19350012e-01 -9.54765745e-04 1.74846500e+02] [ 9.19346568e-01 3.93440647e-01 -2.51906319e-03 9.69624799e+01] [ 2.69154443e-03 1.13338363e-04 9.99996371e-01 5.09825274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07401273899998 meters Centerline goodness : 0.993262 Centerline is valid? [True, True] Translation: X:174.85, Y:96.99, Z:0.51 [[ 3.89427692e-01 -9.21056547e-01 -9.54124990e-04 1.74853338e+02] [ 9.21053107e-01 3.89428848e-01 -2.51930586e-03 9.69874025e+01] [ 2.69198695e-03 1.02287681e-04 9.99996371e-01 5.08726761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10401273899998 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:174.86, Y:97.01, Z:0.51 [[ 3.87533129e-01 -9.21855284e-01 -9.53478588e-04 1.74860422e+02] [ 9.21851846e-01 3.87534290e-01 -2.51955048e-03 9.70111433e+01] [ 2.69216657e-03 9.74432844e-05 9.99996371e-01 5.09750903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13401273899999 meters Centerline goodness : 0.992686 Centerline is valid? [True, True] Translation: X:174.87, Y:97.04, Z:0.51 [[ 3.85908751e-01 -9.22536464e-01 -9.52806203e-04 1.74867291e+02] [ 9.22533028e-01 3.85909916e-01 -2.51980473e-03 9.70353553e+01] [ 2.69230911e-03 9.34195043e-05 9.99996371e-01 5.10623203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.164012739 meters Centerline goodness : 0.993137 Centerline is valid? [True, True] Translation: X:174.87, Y:97.06, Z:0.51 [[ 3.84469096e-01 -9.23137372e-01 -9.52164891e-04 1.74873204e+02] [ 9.23133937e-01 3.84470264e-01 -2.52004704e-03 9.70591982e+01] [ 2.69242869e-03 8.99044826e-05 9.99996371e-01 5.11094235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.194012739 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:174.88, Y:97.08, Z:0.51 [[ 3.83949276e-01 -9.23353696e-01 -9.51495801e-04 1.74881157e+02] [ 9.23350261e-01 3.83950444e-01 -2.52029964e-03 9.70837496e+01] [ 2.69245523e-03 8.91033252e-05 9.99996371e-01 5.10396859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.224012739 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:174.89, Y:97.11, Z:0.51 [[ 3.83770552e-01 -9.23427994e-01 -9.50858988e-04 1.74889351e+02] [ 9.23424558e-01 3.83771719e-01 -2.52053988e-03 9.71076249e+01] [ 2.69244987e-03 8.92624387e-05 9.99996371e-01 5.09488801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.254012739 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:174.90, Y:97.13, Z:0.51 [[ 3.82720277e-01 -9.23863781e-01 -9.50213045e-04 1.74897851e+02] [ 9.23860346e-01 3.82721447e-01 -2.52078336e-03 9.71318259e+01] [ 2.69252736e-03 8.68907553e-05 9.99996371e-01 5.09116392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.284012739 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:174.91, Y:97.15, Z:0.51 [[ 3.82110297e-01 -9.24116237e-01 -9.49558428e-04 1.74905576e+02] [ 9.24112802e-01 3.82111467e-01 -2.52102993e-03 9.71546284e+01] [ 2.69256186e-03 8.58123944e-05 9.99996371e-01 5.09066396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.314012739 meters Centerline goodness : 0.993383 Centerline is valid? [True, True] Translation: X:174.91, Y:97.18, Z:0.51 [[ 3.80706885e-01 -9.24695284e-01 -9.48877059e-04 1.74910642e+02] [ 9.24691850e-01 3.80708059e-01 -2.52128636e-03 9.71801051e+01] [ 2.69266675e-03 8.24521935e-05 9.99996371e-01 5.09088013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.344012739 meters Centerline goodness : 0.993292 Centerline is valid? [True, True] Translation: X:174.92, Y:97.20, Z:0.51 [[ 3.80399677e-01 -9.24821705e-01 -9.48235936e-04 1.74916574e+02] [ 9.24818271e-01 3.80400850e-01 -2.52152746e-03 9.72039862e+01] [ 2.69267308e-03 8.22423113e-05 9.99996371e-01 5.09573557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.374012739 meters Centerline goodness : 0.993252 Centerline is valid? [True, True] Translation: X:174.92, Y:97.23, Z:0.51 [[ 3.80146870e-01 -9.24925651e-01 -9.47568091e-04 1.74923054e+02] [ 9.24922217e-01 3.80148042e-01 -2.52177840e-03 9.72287055e+01] [ 2.69267369e-03 8.22193888e-05 9.99996371e-01 5.10757266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40401273899997 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:174.93, Y:97.25, Z:0.51 [[ 3.80493941e-01 -9.24782928e-01 -9.46928218e-04 1.74926997e+02] [ 9.24779493e-01 3.80495110e-01 -2.52201865e-03 9.72538353e+01] [ 2.69262135e-03 8.39130199e-05 9.99996371e-01 5.11340794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43401273899997 meters Centerline goodness : 0.993238 Centerline is valid? [True, True] Translation: X:174.93, Y:97.28, Z:0.51 [[ 3.80763807e-01 -9.24671849e-01 -9.46260243e-04 1.74932677e+02] [ 9.24668413e-01 3.80764973e-01 -2.52226925e-03 9.72776137e+01] [ 2.69257413e-03 8.54118856e-05 9.99996371e-01 5.11694296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46401273899997 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:174.94, Y:97.30, Z:0.51 [[ 3.80990209e-01 -9.24578589e-01 -9.45601348e-04 1.74938402e+02] [ 9.24575152e-01 3.80991373e-01 -2.52251625e-03 9.73023849e+01] [ 2.69253047e-03 8.67744835e-05 9.99996371e-01 5.12173863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49401273899997 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:174.94, Y:97.33, Z:0.51 [[ 3.80936763e-01 -9.24600611e-01 -9.44974967e-04 1.74944546e+02] [ 9.24597173e-01 3.80937925e-01 -2.52275088e-03 9.73274456e+01] [ 2.69251381e-03 8.72873704e-05 9.99996371e-01 5.12952347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52401273899997 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:174.95, Y:97.35, Z:0.51 [[ 3.80142909e-01 -9.24927282e-01 -9.44338093e-04 1.74948097e+02] [ 9.24923845e-01 3.80144072e-01 -2.52298926e-03 9.73528706e+01] [ 2.69256612e-03 8.56556544e-05 9.99996371e-01 5.14038296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55401273899997 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:174.95, Y:97.38, Z:0.51 [[ 3.78987767e-01 -9.25401201e-01 -9.43699602e-04 1.74954158e+02] [ 9.25397764e-01 3.78988932e-01 -2.52322806e-03 9.73780430e+01] [ 2.69264998e-03 8.29750632e-05 9.99996371e-01 5.14062007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58401273899997 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:174.96, Y:97.40, Z:0.51 [[ 3.76311918e-01 -9.26492553e-01 -9.43054693e-04 1.74957696e+02] [ 9.26489120e-01 3.76313092e-01 -2.52346907e-03 9.74025740e+01] [ 2.69285913e-03 7.58815710e-05 9.99996371e-01 5.14814473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61401273899997 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:174.96, Y:97.43, Z:0.52 [[ 3.74452468e-01 -9.27245632e-01 -9.42384235e-04 1.74964935e+02] [ 9.27242200e-01 3.74453647e-01 -2.52371942e-03 9.74269870e+01] [ 2.69298702e-03 7.11945350e-05 9.99996371e-01 5.15242525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64401273899998 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:174.97, Y:97.45, Z:0.51 [[ 3.72266414e-01 -9.28125439e-01 -9.41756826e-04 1.74972686e+02] [ 9.28122009e-01 3.72267600e-01 -2.52395353e-03 9.74515823e+01] [ 2.69313103e-03 6.55178908e-05 9.99996371e-01 5.14809266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67401273899998 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:174.98, Y:97.48, Z:0.51 [[ 3.69217821e-01 -9.29342410e-01 -9.41113692e-04 1.74978800e+02] [ 9.29338984e-01 3.69219016e-01 -2.52419331e-03 9.74757910e+01] [ 2.69331697e-03 5.73635110e-05 9.99996371e-01 5.10855730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70401273899998 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:174.99, Y:97.50, Z:0.51 [[ 3.68386514e-01 -9.29672250e-01 -9.40445401e-04 1.74986063e+02] [ 9.29668824e-01 3.68387710e-01 -2.52444227e-03 9.75000976e+01] [ 2.69335246e-03 5.56677194e-05 9.99996371e-01 5.09133335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73401273899998 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:174.99, Y:97.52, Z:0.51 [[ 3.68230248e-01 -9.29734156e-01 -9.39810135e-04 1.74991414e+02] [ 9.29730730e-01 3.68231443e-01 -2.52467875e-03 9.75247954e+01] [ 2.69334771e-03 5.58927204e-05 9.99996371e-01 5.08460181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76401273899998 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:175.00, Y:97.55, Z:0.51 [[ 3.68866823e-01 -9.29481783e-01 -9.39172775e-04 1.74997304e+02] [ 9.29478355e-01 3.68868014e-01 -2.52491582e-03 9.75482131e+01] [ 2.69329406e-03 5.84169121e-05 9.99996371e-01 5.08630970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79401273899998 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:175.00, Y:97.57, Z:0.51 [[ 3.70075464e-01 -9.29001222e-01 -9.38509286e-04 1.75002065e+02] [ 9.28997792e-01 3.70076648e-01 -2.52516242e-03 9.75740384e+01] [ 2.69319934e-03 6.26275984e-05 9.99996371e-01 5.08771987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82401273899998 meters Centerline goodness : 0.994280 Centerline is valid? [True, True] Translation: X:175.01, Y:97.60, Z:0.51 [[ 3.70061121e-01 -9.29006936e-01 -9.37879534e-04 1.75008909e+02] [ 9.29003506e-01 3.70062304e-01 -2.52539630e-03 9.75977409e+01] [ 2.69318454e-03 6.32576100e-05 9.99996371e-01 5.08940786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85401273899998 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:175.02, Y:97.62, Z:0.51 [[ 3.69504801e-01 -9.29228349e-01 -9.37223048e-04 1.75015748e+02] [ 9.29224918e-01 3.69505984e-01 -2.52563991e-03 9.76225330e+01] [ 2.69320572e-03 6.23450592e-05 9.99996371e-01 5.11155335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88401273899999 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:175.02, Y:97.65, Z:0.52 [[ 3.67169986e-01 -9.30153387e-01 -9.36598818e-04 1.75019470e+02] [ 9.30149960e-01 3.67171176e-01 -2.52587137e-03 9.76478696e+01] [ 2.69333990e-03 5.62468039e-05 9.99996371e-01 5.16043404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.914012739 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:175.03, Y:97.67, Z:0.52 [[ 3.65064378e-01 -9.30981806e-01 -9.35940972e-04 1.75025773e+02] [ 9.30978381e-01 3.65065574e-01 -2.52611511e-03 9.76729394e+01] [ 2.69344704e-03 5.08538304e-05 9.99996371e-01 5.15406656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.944012739 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:175.03, Y:97.70, Z:0.52 [[ 3.64821530e-01 -9.31076998e-01 -9.35284636e-04 1.75034480e+02] [ 9.31073572e-01 3.64822726e-01 -2.52635809e-03 9.76974029e+01] [ 2.69344700e-03 5.08510181e-05 9.99996371e-01 5.15476640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.974012739 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:175.04, Y:97.72, Z:0.51 [[ 3.62505007e-01 -9.31981355e-01 -9.34625601e-04 1.75040640e+02] [ 9.31977931e-01 3.62506209e-01 -2.52660188e-03 9.77208751e+01] [ 2.69355343e-03 4.48553968e-05 9.99996371e-01 5.13285691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.004012739 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:175.05, Y:97.75, Z:0.51 [[ 3.58647556e-01 -9.33472580e-01 -9.33940266e-04 1.75046182e+02] [ 9.33469161e-01 3.58648770e-01 -2.52685518e-03 9.77458922e+01] [ 2.69370655e-03 3.44459978e-05 9.99996371e-01 5.11476941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.034012739 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:175.05, Y:97.77, Z:0.51 [[ 3.57434617e-01 -9.33937698e-01 -9.33282035e-04 1.75051965e+02] [ 9.33934279e-01 3.57435834e-01 -2.52709827e-03 9.77696226e+01] [ 2.69374079e-03 3.16483185e-05 9.99996371e-01 5.13278069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.064012739 meters Centerline goodness : 0.992760 Centerline is valid? [True, True] Translation: X:175.06, Y:97.80, Z:0.52 [[ 3.56011686e-01 -9.34481038e-01 -9.32597799e-04 1.75055286e+02] [ 9.34477620e-01 3.56012906e-01 -2.52735076e-03 9.77955772e+01] [ 2.69377821e-03 2.82746314e-05 9.99996371e-01 5.16535498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.094012739 meters Centerline goodness : 0.989983 Centerline is valid? [True, True] Translation: X:175.06, Y:97.82, Z:0.52 [[ 3.55354413e-01 -9.34731177e-01 -9.31944092e-04 1.75063640e+02] [ 9.34727760e-01 3.55355634e-01 -2.52759178e-03 9.78189784e+01] [ 2.69379043e-03 2.70768804e-05 9.99996371e-01 5.23088579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.124012739 meters Centerline goodness : 0.993514 Centerline is valid? [True, True] Translation: X:175.07, Y:97.84, Z:0.52 [[ 3.53598412e-01 -9.35396865e-01 -9.31265084e-04 1.75069492e+02] [ 9.35393450e-01 3.53599638e-01 -2.52784193e-03 9.78439220e+01] [ 2.69383042e-03 2.27416339e-05 9.99996371e-01 5.15956918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15401273899997 meters Centerline goodness : 0.993285 Centerline is valid? [True, True] Translation: X:175.08, Y:97.87, Z:0.52 [[ 3.51384017e-01 -9.36230958e-01 -9.30601111e-04 1.75077433e+02] [ 9.36227545e-01 3.51385249e-01 -2.52808634e-03 9.78672741e+01] [ 2.69387220e-03 1.70747432e-05 9.99996371e-01 5.15254246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18401273899997 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:175.09, Y:97.89, Z:0.51 [[ 3.46773697e-01 -9.37948366e-01 -9.29910118e-04 1.75085483e+02] [ 9.37944959e-01 3.46774944e-01 -2.52834049e-03 9.78910084e+01] [ 2.69392236e-03 4.55747195e-06 9.99996371e-01 5.14092947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21401273899997 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:175.09, Y:97.91, Z:0.51 [[ 3.44657163e-01 -9.38728170e-01 -9.29246961e-04 1.75094187e+02] [ 9.38724764e-01 3.44658416e-01 -2.52858420e-03 9.79147022e+01] [ 2.69392600e-03 -8.12478872e-07 9.99996371e-01 5.14323634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24401273899997 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:175.10, Y:97.94, Z:0.52 [[ 3.41777607e-01 -9.39780403e-01 -9.28584082e-04 1.75102995e+02] [ 9.39777000e-01 3.41778868e-01 -2.52882760e-03 9.79369968e+01] [ 2.69391304e-03 -8.36531627e-06 9.99996371e-01 5.15673353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27401273899997 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:175.11, Y:97.96, Z:0.52 [[ 3.41116434e-01 -9.40020594e-01 -9.27896423e-04 1.75111320e+02] [ 9.40017192e-01 3.41117696e-01 -2.52907990e-03 9.79615610e+01] [ 2.69390908e-03 -9.52787260e-06 9.99996371e-01 5.16394678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30401273899997 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:175.12, Y:97.99, Z:0.52 [[ 3.41017468e-01 -9.40056502e-01 -9.27256831e-04 1.75118870e+02] [ 9.40053099e-01 3.41018728e-01 -2.52931438e-03 9.79863693e+01] [ 2.69391037e-03 -9.13027336e-06 9.99996371e-01 5.16312899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33401273899997 meters Centerline goodness : 0.992987 Centerline is valid? [True, True] Translation: X:175.13, Y:98.01, Z:0.52 [[ 3.41384426e-01 -9.39923303e-01 -9.26596896e-04 1.75125872e+02] [ 9.39919899e-01 3.41385684e-01 -2.52955612e-03 9.80094205e+01] [ 2.69391566e-03 -7.37579612e-06 9.99996371e-01 5.16178382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36401273899997 meters Centerline goodness : 0.992665 Centerline is valid? [True, True] Translation: X:175.13, Y:98.03, Z:0.52 [[ 3.42350854e-01 -9.39571730e-01 -9.25911995e-04 1.75133511e+02] [ 9.39568324e-01 3.42352106e-01 -2.52980679e-03 9.80328057e+01] [ 2.69392287e-03 -3.87606600e-06 9.99996371e-01 5.17042964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39401273899998 meters Centerline goodness : 0.992285 Centerline is valid? [True, True] Translation: X:175.14, Y:98.06, Z:0.52 [[ 3.41799402e-01 -9.39772479e-01 -9.25229346e-04 1.75142537e+02] [ 9.39769074e-01 3.41800654e-01 -2.53005643e-03 9.80562067e+01] [ 2.69392140e-03 -4.73014884e-06 9.99996371e-01 5.17457520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42401273899998 meters Centerline goodness : 0.993395 Centerline is valid? [True, True] Translation: X:175.15, Y:98.08, Z:0.52 [[ 3.38606353e-01 -9.40927671e-01 -9.24575986e-04 1.75153408e+02] [ 9.40924269e-01 3.38607615e-01 -2.53029517e-03 9.80797121e+01] [ 2.69389321e-03 -1.31819626e-05 9.99996371e-01 5.16361470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45401273899998 meters Centerline goodness : 0.993255 Centerline is valid? [True, True] Translation: X:175.16, Y:98.10, Z:0.52 [[ 3.36066972e-01 -9.41837638e-01 -9.23921977e-04 1.75163426e+02] [ 9.41834239e-01 3.36068241e-01 -2.53053396e-03 9.81034445e+01] [ 2.69385296e-03 -1.97524687e-05 9.99996371e-01 5.16252938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48401273899998 meters Centerline goodness : 0.988901 Centerline is valid? [True, True] Translation: X:175.18, Y:98.12, Z:0.53 [[ 3.31492107e-01 -9.43457540e-01 -9.23262192e-04 1.75178135e+02] [ 9.43454147e-01 3.31493392e-01 -2.53077466e-03 9.81241777e+01] [ 2.69373375e-03 -3.21237190e-05 9.99996371e-01 5.25839089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51401273899998 meters Centerline goodness : 0.993206 Centerline is valid? [True, True] Translation: X:175.19, Y:98.15, Z:0.52 [[ 3.28937363e-01 -9.44351290e-01 -9.22577305e-04 1.75186631e+02] [ 9.44347899e-01 3.28938655e-01 -2.53102430e-03 9.81480634e+01] [ 2.69364740e-03 -3.86854788e-05 9.99996371e-01 5.16871927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54401273899998 meters Centerline goodness : 0.994017 Centerline is valid? [True, True] Translation: X:175.20, Y:98.17, Z:0.52 [[ 3.27287596e-01 -9.44924325e-01 -9.21911890e-04 1.75197824e+02] [ 9.44920935e-01 3.27288892e-01 -2.53126665e-03 9.81725092e+01] [ 2.69358695e-03 -4.26816662e-05 9.99996371e-01 5.15799177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57401273899998 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:175.21, Y:98.19, Z:0.51 [[ 3.26617895e-01 -9.45156020e-01 -9.21306063e-04 1.75211256e+02] [ 9.45152631e-01 3.26619191e-01 -2.53148714e-03 9.81939742e+01] [ 2.69356655e-03 -4.39458490e-05 9.99996371e-01 5.13664747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60401273899998 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:175.22, Y:98.22, Z:0.51 [[ 3.27214694e-01 -9.44949573e-01 -9.20736228e-04 1.75222491e+02] [ 9.44946183e-01 3.27215987e-01 -2.53169438e-03 9.82159605e+01] [ 2.69360314e-03 -4.16385836e-05 9.99996371e-01 5.13294144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63401273899999 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:175.23, Y:98.24, Z:0.51 [[ 3.28447889e-01 -9.44521645e-01 -9.20062992e-04 1.75233329e+02] [ 9.44518252e-01 3.28449175e-01 -2.53193902e-03 9.82387485e+01] [ 2.69366514e-03 -3.74062644e-05 9.99996371e-01 5.14217804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.664012739 meters Centerline goodness : 0.993638 Centerline is valid? [True, True] Translation: X:175.25, Y:98.26, Z:0.52 [[ 3.32675435e-01 -9.43040938e-01 -9.19416806e-04 1.75246669e+02] [ 9.43037538e-01 3.32676704e-01 -2.53217365e-03 9.82604138e+01] [ 2.69381196e-03 -2.46525933e-05 9.99996371e-01 5.17815777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.694012739 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:175.26, Y:98.28, Z:0.52 [[ 3.34639127e-01 -9.42345908e-01 -9.18866214e-04 1.75257884e+02] [ 9.42342506e-01 3.34640388e-01 -2.53237343e-03 9.82838826e+01] [ 2.69386148e-03 -1.84554580e-05 9.99996371e-01 5.19199210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.724012739 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:175.27, Y:98.31, Z:0.52 [[ 3.38109672e-01 -9.41106268e-01 -9.18226034e-04 1.75271074e+02] [ 9.41102860e-01 3.38110919e-01 -2.53260553e-03 9.83058482e+01] [ 2.69391319e-03 -7.84672143e-06 9.99996371e-01 5.16619005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.754012739 meters Centerline goodness : 0.993657 Centerline is valid? [True, True] Translation: X:175.28, Y:98.33, Z:0.52 [[ 3.39609854e-01 -9.40565949e-01 -9.17564302e-04 1.75281529e+02] [ 9.40562539e-01 3.39611093e-01 -2.53284525e-03 9.83284611e+01] [ 2.69392302e-03 -2.84740230e-06 9.99996371e-01 5.15698702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.784012739 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:175.29, Y:98.35, Z:0.52 [[ 3.41548745e-01 -9.39863615e-01 -9.16904433e-04 1.75291990e+02] [ 9.39860201e-01 3.41549975e-01 -2.53308411e-03 9.83507742e+01] [ 2.69392227e-03 3.40971262e-06 9.99996371e-01 5.16539670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.814012739 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:175.30, Y:98.37, Z:0.52 [[ 3.45805292e-01 -9.38305846e-01 -9.16218097e-04 1.75302344e+02] [ 9.38302426e-01 3.45806506e-01 -2.53333233e-03 9.83742607e+01] [ 2.69387472e-03 1.63500648e-05 9.99996371e-01 5.21131019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.844012739 meters Centerline goodness : 0.993221 Centerline is valid? [True, True] Translation: X:175.31, Y:98.40, Z:0.52 [[ 3.48007259e-01 -9.37491392e-01 -9.15561870e-04 1.75309931e+02] [ 9.37487968e-01 3.48008463e-01 -2.53356947e-03 9.83975455e+01] [ 2.69382285e-03 2.33723317e-05 9.99996371e-01 5.21813188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.874012739 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:175.32, Y:98.42, Z:0.52 [[ 3.50130643e-01 -9.36700430e-01 -9.14878342e-04 1.75317110e+02] [ 9.36697004e-01 3.50131837e-01 -2.53381627e-03 9.84216437e+01] [ 2.69375483e-03 3.02029201e-05 9.99996371e-01 5.20609854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90401273899997 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:175.32, Y:98.45, Z:0.52 [[ 3.53092976e-01 -9.35587791e-01 -9.14222708e-04 1.75324145e+02] [ 9.35584360e-01 3.53094157e-01 -2.53405281e-03 9.84455776e+01] [ 2.69363557e-03 3.94237807e-05 9.99996371e-01 5.18670481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93401273899997 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:175.33, Y:98.47, Z:0.52 [[ 3.53528547e-01 -9.35423290e-01 -9.13541627e-04 1.75331459e+02] [ 9.35419858e-01 3.53529725e-01 -2.53429832e-03 9.84695012e+01] [ 2.69360579e-03 4.14018244e-05 9.99996371e-01 5.19522608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96401273899997 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:175.34, Y:98.50, Z:0.52 [[ 3.54056956e-01 -9.35223416e-01 -9.12889967e-04 1.75336835e+02] [ 9.35219983e-01 3.54058131e-01 -2.53453304e-03 9.84950850e+01] [ 2.69357076e-03 4.36161132e-05 9.99996371e-01 5.19839933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99401273899997 meters Centerline goodness : 0.993402 Centerline is valid? [True, True] Translation: X:175.34, Y:98.52, Z:0.52 [[ 3.53537026e-01 -9.35420087e-01 -9.12235656e-04 1.75343512e+02] [ 9.35416654e-01 3.53538200e-01 -2.53476852e-03 9.85201191e+01] [ 2.69358354e-03 4.28140973e-05 9.99996371e-01 5.19350241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02401273899997 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:175.35, Y:98.54, Z:0.52 [[ 3.52407951e-01 -9.35846037e-01 -9.11578724e-04 1.75350218e+02] [ 9.35842605e-01 3.52409128e-01 -2.53500475e-03 9.85447676e+01] [ 2.69362281e-03 4.02616206e-05 9.99996371e-01 5.18681107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05401273899997 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:175.36, Y:98.57, Z:0.52 [[ 3.49044004e-01 -9.37105892e-01 -9.10922064e-04 1.75355002e+02] [ 9.37102463e-01 3.49045191e-01 -2.53524069e-03 9.85691422e+01] [ 2.69374195e-03 3.12832500e-05 9.99996371e-01 5.18888801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08401273899997 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:175.36, Y:98.59, Z:0.52 [[ 3.47556133e-01 -9.37658736e-01 -9.10235970e-04 1.75361102e+02] [ 9.37655309e-01 3.47557324e-01 -2.53548699e-03 9.85944146e+01] [ 2.69378071e-03 2.77364655e-05 9.99996371e-01 5.19998834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11401273899997 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:175.36, Y:98.62, Z:0.52 [[ 3.44637422e-01 -9.38735437e-01 -9.09581795e-04 1.75364695e+02] [ 9.38732012e-01 3.44638622e-01 -2.53572165e-03 9.86194140e+01] [ 2.69384879e-03 2.00510237e-05 9.99996371e-01 5.19725153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14401273899998 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:175.37, Y:98.64, Z:0.52 [[ 3.42825977e-01 -9.39398490e-01 -9.08904833e-04 1.75370945e+02] [ 9.39395067e-01 3.42827181e-01 -2.53596428e-03 9.86447009e+01] [ 2.69387830e-03 1.55737134e-05 9.99996371e-01 5.18029395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17401273899998 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:175.38, Y:98.67, Z:0.52 [[ 3.40948447e-01 -9.40081556e-01 -9.08234929e-04 1.75377561e+02] [ 9.40078135e-01 3.40949657e-01 -2.53620418e-03 9.86693245e+01] [ 2.69390115e-03 1.09030774e-05 9.99996371e-01 5.16700801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20401273899998 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:175.38, Y:98.69, Z:0.52 [[ 3.35525512e-01 -9.42030683e-01 -9.07557505e-04 1.75382819e+02] [ 9.42027268e-01 3.35526739e-01 -2.53644656e-03 9.86930286e+01] [ 2.69392030e-03 -3.90138592e-06 9.99996371e-01 5.17745931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23401273899998 meters Centerline goodness : 0.993330 Centerline is valid? [True, True] Translation: X:175.39, Y:98.72, Z:0.52 [[ 3.32345146e-01 -9.43157400e-01 -9.06854297e-04 1.75390638e+02] [ 9.43153989e-01 3.32346383e-01 -2.53669796e-03 9.87167915e+01] [ 2.69389519e-03 -1.22439946e-05 9.99996371e-01 5.19465162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26401273899998 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:175.40, Y:98.74, Z:0.52 [[ 3.26643374e-01 -9.45147229e-01 -9.06195214e-04 1.75398532e+02] [ 9.45143825e-01 3.26644630e-01 -2.53693338e-03 9.87408775e+01] [ 2.69377936e-03 -2.78123303e-05 9.99996371e-01 5.21716273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29401273899998 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:175.41, Y:98.76, Z:0.52 [[ 3.23656466e-01 -9.46174229e-01 -9.05537592e-04 1.75406315e+02] [ 9.46170828e-01 3.23657731e-01 -2.53716809e-03 9.87635999e+01] [ 2.69368731e-03 -3.56223946e-05 9.99996371e-01 5.21311656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32401273899998 meters Centerline goodness : 0.993411 Centerline is valid? [True, True] Translation: X:175.41, Y:98.79, Z:0.52 [[ 3.21147491e-01 -9.47028759e-01 -9.04855405e-04 1.75414360e+02] [ 9.47025361e-01 3.21148763e-01 -2.53741136e-03 9.87881157e+01] [ 2.69359473e-03 -4.20377220e-05 9.99996371e-01 5.20456632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35401273899998 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:175.42, Y:98.81, Z:0.52 [[ 3.19183519e-01 -9.47692494e-01 -9.04207323e-04 1.75422533e+02] [ 9.47689098e-01 3.19184796e-01 -2.53764229e-03 9.88122874e+01] [ 2.69351378e-03 -4.69338286e-05 9.99996371e-01 5.20313363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38401273899999 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:175.43, Y:98.83, Z:0.52 [[ 3.16086097e-01 -9.48730079e-01 -9.03553179e-04 1.75431560e+02] [ 9.48726686e-01 3.16087384e-01 -2.53787518e-03 9.88349631e+01] [ 2.69336028e-03 -5.50379521e-05 9.99996371e-01 5.21705285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.414012739 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:175.44, Y:98.86, Z:0.52 [[ 3.14314803e-01 -9.49318382e-01 -9.02871276e-04 1.75440972e+02] [ 9.49314990e-01 3.14316094e-01 -2.53811775e-03 9.88588578e+01] [ 2.69326881e-03 -5.93412570e-05 9.99996371e-01 5.22325356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.444012739 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:175.45, Y:98.88, Z:0.52 [[ 3.10887683e-01 -9.50446229e-01 -9.02225554e-04 1.75451787e+02] [ 9.50442842e-01 3.10888985e-01 -2.53834726e-03 9.88810274e+01] [ 2.69305457e-03 -6.83729203e-05 9.99996371e-01 5.20120629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.474012739 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:175.46, Y:98.90, Z:0.52 [[ 3.08997871e-01 -9.51062303e-01 -9.01553388e-04 1.75461705e+02] [ 9.51058917e-01 3.08999177e-01 -2.53858598e-03 9.89047526e+01] [ 2.69293268e-03 -7.30127283e-05 9.99996371e-01 5.17828072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.504012739 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:175.47, Y:98.93, Z:0.52 [[ 3.06898652e-01 -9.51741775e-01 -9.00903277e-04 1.75471295e+02] [ 9.51738392e-01 3.06899964e-01 -2.53881667e-03 9.89277149e+01] [ 2.69278507e-03 -7.82648229e-05 9.99996371e-01 5.16987436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.534012739 meters Centerline goodness : 0.993768 Centerline is valid? [True, True] Translation: X:175.48, Y:98.95, Z:0.52 [[ 3.03225562e-01 -9.52918385e-01 -9.00227753e-04 1.75482920e+02] [ 9.52915006e-01 3.03226885e-01 -2.53905618e-03 9.89510104e+01] [ 2.69248657e-03 -8.79337998e-05 9.99996371e-01 5.18684503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.564012739 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:175.49, Y:98.97, Z:0.52 [[ 3.01966431e-01 -9.53318134e-01 -8.99577195e-04 1.75492669e+02] [ 9.53314757e-01 3.01967757e-01 -2.53928665e-03 9.89731781e+01] [ 2.69239132e-03 -9.08008887e-05 9.99996371e-01 5.20275524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.594012739 meters Centerline goodness : 0.993821 Centerline is valid? [True, True] Translation: X:175.50, Y:99.00, Z:0.52 [[ 3.00778992e-01 -9.53693446e-01 -8.98902538e-04 1.75502823e+02] [ 9.53690070e-01 3.00780321e-01 -2.53952545e-03 9.89967862e+01] [ 2.69230097e-03 -9.34385176e-05 9.99996371e-01 5.22278402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.624012739 meters Centerline goodness : 0.993973 Centerline is valid? [True, True] Translation: X:175.52, Y:99.02, Z:0.52 [[ 2.99813459e-01 -9.53997423e-01 -8.98250447e-04 1.75515281e+02] [ 9.53994047e-01 2.99814789e-01 -2.53975608e-03 9.90183275e+01] [ 2.69222952e-03 -9.54725239e-05 9.99996371e-01 5.24793282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65401273899997 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:175.53, Y:99.04, Z:0.53 [[ 2.99283298e-01 -9.54163876e-01 -8.97697458e-04 1.75525708e+02] [ 9.54160500e-01 2.99284629e-01 -2.53995152e-03 9.90407594e+01] [ 2.69219704e-03 -9.63823848e-05 9.99996371e-01 5.25142644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68401273899997 meters Centerline goodness : 0.994134 Centerline is valid? [True, True] Translation: X:175.54, Y:99.06, Z:0.52 [[ 2.98311628e-01 -9.54468107e-01 -8.97038079e-04 1.75540026e+02] [ 9.54464732e-01 2.98312961e-01 -2.54018438e-03 9.90630958e+01] [ 2.69212306e-03 -9.84246725e-05 9.99996371e-01 5.22194984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71401273899997 meters Centerline goodness : 0.994704 Centerline is valid? [True, True] Translation: X:175.55, Y:99.09, Z:0.52 [[ 2.98121144e-01 -9.54527621e-01 -8.96378091e-04 1.75551613e+02] [ 9.54524246e-01 2.98122476e-01 -2.54041725e-03 9.90850465e+01] [ 2.69212889e-03 -9.82625232e-05 9.99996371e-01 5.19393374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74401273899997 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:175.56, Y:99.11, Z:0.52 [[ 2.98156149e-01 -9.54516688e-01 -8.95692581e-04 1.75562948e+02] [ 9.54513312e-01 2.98157479e-01 -2.54065892e-03 9.91078436e+01] [ 2.69215878e-03 -9.74374112e-05 9.99996371e-01 5.17124753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77401273899997 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:175.58, Y:99.13, Z:0.52 [[ 3.00139713e-01 -9.53894833e-01 -8.95056885e-04 1.75576406e+02] [ 9.53891453e-01 3.00141034e-01 -2.54088286e-03 9.91299060e+01] [ 2.69237832e-03 -9.11672612e-05 9.99996371e-01 5.19797392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80401273899997 meters Centerline goodness : 0.990731 Centerline is valid? [True, True] Translation: X:175.59, Y:99.15, Z:0.53 [[ 3.01477266e-01 -9.53472946e-01 -8.94406688e-04 1.75588694e+02] [ 9.53469563e-01 3.01478581e-01 -2.54111171e-03 9.91516720e+01] [ 2.69252572e-03 -8.67021432e-05 9.99996371e-01 5.30789417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83401273899997 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:175.60, Y:99.18, Z:0.52 [[ 3.03632532e-01 -9.52788794e-01 -8.93851853e-04 1.75598567e+02] [ 9.52785409e-01 3.03633837e-01 -2.54130686e-03 9.91756712e+01] [ 2.69273237e-03 -8.00255677e-05 9.99996371e-01 5.22010188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86401273899997 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:175.61, Y:99.20, Z:0.52 [[ 3.03390620e-01 -9.52865853e-01 -8.93204052e-04 1.75606891e+02] [ 9.52862467e-01 3.03391924e-01 -2.54153452e-03 9.92002807e+01] [ 2.69273236e-03 -8.00228817e-05 9.99996371e-01 5.22080172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89401273899998 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:175.62, Y:99.22, Z:0.52 [[ 3.06796352e-01 -9.51774764e-01 -8.92558726e-04 1.75621761e+02] [ 9.51771373e-01 3.06797642e-01 -2.54176114e-03 9.92208062e+01] [ 2.69301902e-03 -6.97088002e-05 9.99996371e-01 5.21571672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92401273899998 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:175.63, Y:99.24, Z:0.52 [[ 3.08891611e-01 -9.51096829e-01 -8.91887558e-04 1.75632735e+02] [ 9.51093434e-01 3.08892892e-01 -2.54199662e-03 9.92434725e+01] [ 2.69318265e-03 -6.30669692e-05 9.99996371e-01 5.20305557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95401273899998 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:175.64, Y:99.27, Z:0.52 [[ 3.14495106e-01 -9.49258676e-01 -8.91251287e-04 1.75644845e+02] [ 9.49255273e-01 3.14496366e-01 -2.54221969e-03 9.92658599e+01] [ 2.69351938e-03 -4.65093324e-05 9.99996371e-01 5.21977094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98401273899998 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:175.65, Y:99.29, Z:0.52 [[ 3.17938089e-01 -9.48111058e-01 -8.90608939e-04 1.75653952e+02] [ 9.48107650e-01 3.17939335e-01 -2.54244470e-03 9.92896017e+01] [ 2.69367955e-03 -3.60531384e-05 9.99996371e-01 5.23304546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01401273899998 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:175.66, Y:99.31, Z:0.52 [[ 3.21739797e-01 -9.46827709e-01 -8.89966534e-04 1.75662044e+02] [ 9.46824295e-01 3.21741027e-01 -2.54266955e-03 9.93131708e+01] [ 2.69380873e-03 -2.45639521e-05 9.99996371e-01 5.24094541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04401273899998 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:175.67, Y:99.34, Z:0.52 [[ 3.29656464e-01 -9.44100537e-01 -8.89416191e-04 1.75668530e+02] [ 9.44097113e-01 3.29657664e-01 -2.54286204e-03 9.93379956e+01] [ 2.69392028e-03 -1.42434825e-06 9.99996371e-01 5.20297295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07401273899998 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:175.68, Y:99.36, Z:0.52 [[ 3.33382769e-01 -9.42791143e-01 -8.88799759e-04 1.75675309e+02] [ 9.42787713e-01 3.33383954e-01 -2.54307748e-03 9.93626684e+01] [ 2.69390250e-03 9.86872039e-06 9.99996371e-01 5.19354214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10401273899998 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:175.68, Y:99.39, Z:0.52 [[ 3.36368945e-01 -9.41729868e-01 -8.88150232e-04 1.75681639e+02] [ 9.41726434e-01 3.36370117e-01 -2.54330431e-03 9.93875340e+01] [ 2.69385282e-03 1.90940364e-05 9.99996371e-01 5.19379643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13401273899999 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:175.68, Y:99.41, Z:0.52 [[ 3.40313767e-01 -9.40311519e-01 -8.87504333e-04 1.75684587e+02] [ 9.40308079e-01 3.40314923e-01 -2.54352968e-03 9.94123167e+01] [ 2.69374122e-03 3.10706711e-05 9.99996371e-01 5.21787782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.164012739 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:175.69, Y:99.44, Z:0.52 [[ 3.40649932e-01 -9.40189788e-01 -8.86829146e-04 1.75689995e+02] [ 9.40186347e-01 3.40651085e-01 -2.54376507e-03 9.94374164e+01] [ 2.69372125e-03 3.27487421e-05 9.99996371e-01 5.22009828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.194012739 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:175.69, Y:99.46, Z:0.52 [[ 3.38598932e-01 -9.40930379e-01 -8.86154709e-04 1.75694255e+02] [ 9.40926940e-01 3.38600091e-01 -2.54399999e-03 9.94622959e+01] [ 2.69377894e-03 2.75888436e-05 9.99996371e-01 5.19809878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.224012739 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:175.70, Y:99.49, Z:0.53 [[ 3.36244950e-01 -9.41774150e-01 -8.85452640e-04 1.75702198e+02] [ 9.41770714e-01 3.36246115e-01 -2.54424433e-03 9.94862209e+01] [ 2.69383355e-03 2.15959417e-05 9.99996371e-01 5.27378693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.254012739 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:175.71, Y:99.51, Z:0.52 [[ 3.33937533e-01 -9.42594792e-01 -8.84780068e-04 1.75706269e+02] [ 9.42591357e-01 3.33938705e-01 -2.54447820e-03 9.95104947e+01] [ 2.69387421e-03 1.57107268e-05 9.99996371e-01 5.18204651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.284012739 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:175.71, Y:99.54, Z:0.52 [[ 3.28524164e-01 -9.44495152e-01 -8.84079794e-04 1.75709850e+02] [ 9.44491724e-01 3.28525354e-01 -2.54472149e-03 9.95359056e+01] [ 2.69391973e-03 9.96451134e-07 9.99996371e-01 5.20553875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.314012739 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:175.72, Y:99.56, Z:0.52 [[ 3.26336701e-01 -9.45253181e-01 -8.83410037e-04 1.75716298e+02] [ 9.45249755e-01 3.26337897e-01 -2.54495397e-03 9.95606197e+01] [ 2.69391601e-03 -4.53123631e-06 9.99996371e-01 5.20582489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.344012739 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:175.72, Y:99.58, Z:0.52 [[ 3.23350459e-01 -9.46278871e-01 -8.82745683e-04 1.75721803e+02] [ 9.46275448e-01 3.23351664e-01 -2.54518439e-03 9.95844164e+01] [ 2.69389150e-03 -1.23340250e-05 9.99996371e-01 5.18224745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.374012739 meters Centerline goodness : 0.994280 Centerline is valid? [True, True] Translation: X:175.73, Y:99.61, Z:0.52 [[ 3.21460138e-01 -9.46922701e-01 -8.82057792e-04 1.75729164e+02] [ 9.46919280e-01 3.21461347e-01 -2.54542276e-03 9.96079523e+01] [ 2.69386609e-03 -1.69855768e-05 9.99996371e-01 5.19028290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40401273899997 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:175.74, Y:99.63, Z:0.52 [[ 3.19840412e-01 -9.47471020e-01 -8.81372298e-04 1.75736668e+02] [ 9.47467600e-01 3.19841626e-01 -2.54566010e-03 9.96312463e+01] [ 2.69383872e-03 -2.08667195e-05 9.99996371e-01 5.20682066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43401273899997 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:175.74, Y:99.65, Z:0.52 [[ 3.16642069e-01 -9.48544688e-01 -8.80694954e-04 1.75744407e+02] [ 9.48541272e-01 3.16643292e-01 -2.54589441e-03 9.96547803e+01] [ 2.69376077e-03 -2.92382378e-05 9.99996371e-01 5.20991263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46401273899997 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:175.75, Y:99.68, Z:0.52 [[ 3.15022125e-01 -9.49083920e-01 -8.80020792e-04 1.75752007e+02] [ 9.49080505e-01 3.15023352e-01 -2.54612742e-03 9.96776144e+01] [ 2.69371569e-03 -3.31241058e-05 9.99996371e-01 5.21436836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49401273899997 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:175.76, Y:99.70, Z:0.52 [[ 3.12072142e-01 -9.50058001e-01 -8.79352446e-04 1.75759714e+02] [ 9.50054589e-01 3.12073378e-01 -2.54635823e-03 9.97020794e+01] [ 2.69361050e-03 -4.07853607e-05 9.99996371e-01 5.22465681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52401273899997 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:175.77, Y:99.73, Z:0.52 [[ 3.10449537e-01 -9.50589456e-01 -8.78705077e-04 1.75767422e+02] [ 9.50586046e-01 3.10450777e-01 -2.54658160e-03 9.97265399e+01] [ 2.69354829e-03 -4.46997050e-05 9.99996371e-01 5.22900559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55401273899997 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:175.78, Y:99.75, Z:0.52 [[ 3.08987432e-01 -9.51065716e-01 -8.78055607e-04 1.75775512e+02] [ 9.51062307e-01 3.08988676e-01 -2.54680552e-03 9.97502192e+01] [ 2.69348865e-03 -4.81546944e-05 9.99996371e-01 5.23615411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58401273899997 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:175.78, Y:99.77, Z:0.52 [[ 3.06020836e-01 -9.52024411e-01 -8.77408696e-04 1.75784808e+02] [ 9.52021005e-01 3.06022088e-01 -2.54702837e-03 9.97736517e+01] [ 2.69333962e-03 -5.58677578e-05 9.99996371e-01 5.24211126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61401273899997 meters Centerline goodness : 0.994941 Centerline is valid? [True, True] Translation: X:175.79, Y:99.80, Z:0.52 [[ 3.04277967e-01 -9.52582884e-01 -8.76748123e-04 1.75793384e+02] [ 9.52579480e-01 3.04279224e-01 -2.54725574e-03 9.97968320e+01] [ 2.69324845e-03 -6.00984744e-05 9.99996371e-01 5.24389695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64401273899998 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:175.80, Y:99.82, Z:0.52 [[ 3.01674773e-01 -9.53410491e-01 -8.76061250e-04 1.75802836e+02] [ 9.53407090e-01 3.01676038e-01 -2.54749195e-03 9.98200430e+01] [ 2.69309223e-03 -6.67289517e-05 9.99996371e-01 5.21826595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67401273899998 meters Centerline goodness : 0.994759 Centerline is valid? [True, True] Translation: X:175.81, Y:99.84, Z:0.52 [[ 3.00323072e-01 -9.53837138e-01 -8.75411547e-04 1.75812295e+02] [ 9.53833738e-01 3.00324339e-01 -2.54771519e-03 9.98442617e+01] [ 2.69301276e-03 -6.98594184e-05 9.99996371e-01 5.19978467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70401273899998 meters Centerline goodness : 0.994873 Centerline is valid? [True, True] Translation: X:175.82, Y:99.87, Z:0.52 [[ 2.99472136e-01 -9.54104645e-01 -8.74759680e-04 1.75822161e+02] [ 9.54101246e-01 2.99473405e-01 -2.54793899e-03 9.98667059e+01] [ 2.69296768e-03 -7.15725700e-05 9.99996371e-01 5.18694429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73401273899998 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:175.84, Y:99.89, Z:0.52 [[ 2.99098555e-01 -9.54221825e-01 -8.74082330e-04 1.75835047e+02] [ 9.54218425e-01 2.99099823e-01 -2.54817133e-03 9.98894367e+01] [ 2.69295857e-03 -7.19111006e-05 9.99996371e-01 5.21117957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76401273899998 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:175.84, Y:99.91, Z:0.52 [[ 2.99204497e-01 -9.54188611e-01 -8.73421927e-04 1.75843604e+02] [ 9.54185211e-01 2.99205764e-01 -2.54839768e-03 9.99120778e+01] [ 2.69298491e-03 -7.09142394e-05 9.99996371e-01 5.17189541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79401273899998 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:175.86, Y:99.93, Z:0.52 [[ 3.00309284e-01 -9.53841482e-01 -8.72736858e-04 1.75855301e+02] [ 9.53838079e-01 3.00310545e-01 -2.54863227e-03 9.99349722e+01] [ 2.69308326e-03 -6.70717167e-05 9.99996371e-01 5.20042289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82401273899998 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:175.86, Y:99.96, Z:0.52 [[ 3.00891920e-01 -9.53657848e-01 -8.72083140e-04 1.75864482e+02] [ 9.53654444e-01 3.00893177e-01 -2.54885593e-03 9.99586998e+01] [ 2.69314033e-03 -6.47358059e-05 9.99996371e-01 5.22521337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85401273899998 meters Centerline goodness : 0.994389 Centerline is valid? [True, True] Translation: X:175.87, Y:99.98, Z:0.53 [[ 3.02020927e-01 -9.53300897e-01 -8.71421368e-04 1.75873422e+02] [ 9.53297491e-01 3.02022178e-01 -2.54908217e-03 9.99815945e+01] [ 2.69323089e-03 -6.08476452e-05 9.99996371e-01 5.25312007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88401273899999 meters Centerline goodness : 0.995169 Centerline is valid? [True, True] Translation: X:175.88, Y:100.00, Z:0.52 [[ 3.04629007e-01 -9.52470687e-01 -8.70857499e-04 1.75883125e+02] [ 9.52467277e-01 3.04630247e-01 -2.54927479e-03 1.00004304e+02] [ 2.69339904e-03 -5.28802236e-05 9.99996371e-01 5.23780527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.914012739 meters Centerline goodness : 0.995252 Centerline is valid? [True, True] Translation: X:175.89, Y:100.03, Z:0.52 [[ 3.05968915e-01 -9.52041105e-01 -8.70180524e-04 1.75891966e+02] [ 9.52037693e-01 3.05970148e-01 -2.54950585e-03 1.00027840e+02] [ 2.69348363e-03 -4.83751211e-05 9.99996371e-01 5.21959684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.944012739 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:175.90, Y:100.05, Z:0.52 [[ 3.07306577e-01 -9.51610168e-01 -8.69546782e-04 1.75900727e+02] [ 9.51606753e-01 3.07307804e-01 -2.54972198e-03 1.00052294e+02] [ 2.69355987e-03 -4.39202560e-05 9.99996371e-01 5.20270876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.974012739 meters Centerline goodness : 0.995004 Centerline is valid? [True, True] Translation: X:175.91, Y:100.08, Z:0.52 [[ 3.09797014e-01 -9.50802322e-01 -8.68899949e-04 1.75910065e+02] [ 9.50798903e-01 3.09798230e-01 -2.54994239e-03 1.00075323e+02] [ 2.69367481e-03 -3.61845811e-05 9.99996371e-01 5.21107450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.004012739 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:175.92, Y:100.10, Z:0.52 [[ 3.10825715e-01 -9.50466528e-01 -8.68225308e-04 1.75918168e+02] [ 9.50463108e-01 3.10826926e-01 -2.55017207e-03 1.00097860e+02] [ 2.69372100e-03 -3.25570666e-05 9.99996371e-01 5.23171506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.034012739 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:175.93, Y:100.12, Z:0.53 [[ 3.12533652e-01 -9.49906292e-01 -8.67516681e-04 1.75927025e+02] [ 9.49902869e-01 3.12534855e-01 -2.55041311e-03 1.00121623e+02] [ 2.69378266e-03 -2.69666593e-05 9.99996371e-01 5.25863651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.064012739 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:175.93, Y:100.15, Z:0.53 [[ 3.13470908e-01 -9.49597409e-01 -8.66870366e-04 1.75934911e+02] [ 9.49593983e-01 3.13472106e-01 -2.55063277e-03 1.00146070e+02] [ 2.69381395e-03 -2.36257125e-05 9.99996371e-01 5.25764002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.094012739 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:175.94, Y:100.17, Z:0.53 [[ 3.14563169e-01 -9.49236147e-01 -8.66214255e-04 1.75943835e+02] [ 9.49232720e-01 3.14564361e-01 -2.55085557e-03 1.00170238e+02] [ 2.69384445e-03 -1.98337005e-05 9.99996371e-01 5.29775419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.124012739 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:175.95, Y:100.19, Z:0.52 [[ 3.16833072e-01 -9.48480920e-01 -8.65539399e-04 1.75950971e+02] [ 9.48477489e-01 3.16834254e-01 -2.55108454e-03 1.00193731e+02] [ 2.69388754e-03 -1.26766851e-05 9.99996371e-01 5.24024457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15401273899997 meters Centerline goodness : 0.994776 Centerline is valid? [True, True] Translation: X:175.96, Y:100.22, Z:0.52 [[ 3.17311528e-01 -9.48320962e-01 -8.64837024e-04 1.75958725e+02] [ 9.48317530e-01 3.17312706e-01 -2.55132263e-03 1.00217756e+02] [ 2.69389651e-03 -1.05760295e-05 9.99996371e-01 5.24493774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18401273899997 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:175.97, Y:100.24, Z:0.52 [[ 3.17365510e-01 -9.48302898e-01 -8.64167844e-04 1.75967102e+02] [ 9.48299465e-01 3.17366687e-01 -2.55154927e-03 1.00242110e+02] [ 2.69389965e-03 -9.71616871e-06 9.99996371e-01 5.23411920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21401273899997 meters Centerline goodness : 0.995135 Centerline is valid? [True, True] Translation: X:175.98, Y:100.26, Z:0.52 [[ 3.16960021e-01 -9.48438506e-01 -8.63492588e-04 1.75975096e+02] [ 9.48435073e-01 3.16961197e-01 -2.55177777e-03 1.00264892e+02] [ 2.69389794e-03 -1.01551206e-05 9.99996371e-01 5.21198550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24401273899997 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:175.98, Y:100.29, Z:0.52 [[ 3.16498331e-01 -9.48592674e-01 -8.62916803e-04 1.75983687e+02] [ 9.48589242e-01 3.16499507e-01 -2.55197246e-03 1.00288728e+02] [ 2.69389513e-03 -1.08585698e-05 9.99996371e-01 5.18714943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27401273899997 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:175.99, Y:100.31, Z:0.52 [[ 3.16408788e-01 -9.48622546e-01 -8.62260347e-04 1.75991899e+02] [ 9.48619113e-01 3.16409963e-01 -2.55219425e-03 1.00312287e+02] [ 2.69389677e-03 -1.04199572e-05 9.99996371e-01 5.16090045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30401273899997 meters Centerline goodness : 0.995165 Centerline is valid? [True, True] Translation: X:176.00, Y:100.34, Z:0.52 [[ 3.16725948e-01 -9.48516701e-01 -8.61579595e-04 1.75999198e+02] [ 9.48513266e-01 3.16727120e-01 -2.55242404e-03 1.00336281e+02] [ 2.69390245e-03 -8.80075313e-06 9.99996371e-01 5.18277535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33401273899997 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:176.01, Y:100.36, Z:0.52 [[ 3.17521370e-01 -9.48250726e-01 -8.60912083e-04 1.76007113e+02] [ 9.48247290e-01 3.17522537e-01 -2.55264916e-03 1.00359371e+02] [ 2.69391041e-03 -5.83689078e-06 9.99996371e-01 5.20471937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36401273899997 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:176.02, Y:100.38, Z:0.52 [[ 3.19765280e-01 -9.47496399e-01 -8.60340190e-04 1.76015906e+02] [ 9.47492960e-01 3.19766437e-01 -2.55284190e-03 1.00381867e+02] [ 2.69391642e-03 1.14393097e-06 9.99996371e-01 5.23202320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39401273899998 meters Centerline goodness : 0.995677 Centerline is valid? [True, True] Translation: X:176.02, Y:100.41, Z:0.52 [[ 3.20252171e-01 -9.47331942e-01 -8.59655895e-04 1.76023943e+02] [ 9.47328502e-01 3.20253325e-01 -2.55307231e-03 1.00405536e+02] [ 2.69391461e-03 3.25041861e-06 9.99996371e-01 5.23000181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42401273899998 meters Centerline goodness : 0.995060 Centerline is valid? [True, True] Translation: X:176.03, Y:100.43, Z:0.52 [[ 3.19030242e-01 -9.47744146e-01 -8.59001496e-04 1.76032001e+02] [ 9.47740707e-01 3.19031398e-01 -2.55329247e-03 1.00428920e+02] [ 2.69391644e-03 4.66829080e-07 9.99996371e-01 5.22498847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45401273899998 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:176.04, Y:100.45, Z:0.53 [[ 3.16964910e-01 -9.48436877e-01 -8.58320920e-04 1.76042529e+02] [ 9.48433439e-01 3.16966072e-01 -2.55352123e-03 1.00451756e+02] [ 2.69391231e-03 -4.68363505e-06 9.99996371e-01 5.32503526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48401273899998 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:176.05, Y:100.48, Z:0.52 [[ 3.15638269e-01 -9.48879206e-01 -8.57663735e-04 1.76051128e+02] [ 9.48875770e-01 3.15639434e-01 -2.55374195e-03 1.00476160e+02] [ 2.69390513e-03 -7.75764957e-06 9.99996371e-01 5.24549494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51401273899998 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:176.06, Y:100.50, Z:0.53 [[ 3.13525435e-01 -9.49579416e-01 -8.57003878e-04 1.76062945e+02] [ 9.49575981e-01 3.13526606e-01 -2.55396337e-03 1.00498326e+02] [ 2.69388456e-03 -1.30578222e-05 9.99996371e-01 5.25544029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54401273899998 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:176.07, Y:100.52, Z:0.53 [[ 3.12550856e-01 -9.49900642e-01 -8.56320366e-04 1.76073371e+02] [ 9.49897208e-01 3.12552029e-01 -2.55419252e-03 1.00521749e+02] [ 2.69387378e-03 -1.51012664e-05 9.99996371e-01 5.33757222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57401273899998 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:176.08, Y:100.54, Z:0.52 [[ 3.13831979e-01 -9.49478150e-01 -8.55648465e-04 1.76081513e+02] [ 9.49474714e-01 3.13833145e-01 -2.55441759e-03 1.00544683e+02] [ 2.69389453e-03 -1.07586568e-05 9.99996371e-01 5.19792927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60401273899998 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:176.09, Y:100.57, Z:0.52 [[ 3.14843803e-01 -9.49143113e-01 -8.54948797e-04 1.76090178e+02] [ 9.49139675e-01 3.14844963e-01 -2.55465174e-03 1.00567703e+02] [ 2.69390643e-03 -7.14955623e-06 9.99996371e-01 5.20241011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63401273899999 meters Centerline goodness : 0.995690 Centerline is valid? [True, True] Translation: X:176.10, Y:100.59, Z:0.52 [[ 3.16269845e-01 -9.48668884e-01 -8.56308315e-04 1.76098862e+02] [ 9.48665446e-01 3.16271004e-01 -2.55419712e-03 1.00591572e+02] [ 2.69391283e-03 -4.53458054e-06 9.99996371e-01 5.21703596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.664012739 meters Centerline goodness : 0.995180 Centerline is valid? [True, True] Translation: X:176.11, Y:100.62, Z:0.53 [[ 3.18551090e-01 -9.47905309e-01 -8.53550286e-04 1.76107083e+02] [ 9.47901865e-01 3.18552233e-01 -2.55511846e-03 1.00615159e+02] [ 2.69391070e-03 4.85386032e-06 9.99996371e-01 5.27332888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.694012739 meters Centerline goodness : 0.995407 Centerline is valid? [True, True] Translation: X:176.12, Y:100.64, Z:0.53 [[ 3.18614685e-01 -9.47883935e-01 -8.52865634e-04 1.76115043e+02] [ 9.47880491e-01 3.18615827e-01 -2.55534697e-03 1.00638764e+02] [ 2.69390883e-03 5.75637341e-06 9.99996371e-01 5.27884915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.724012739 meters Centerline goodness : 0.996083 Centerline is valid? [True, True] Translation: X:176.12, Y:100.66, Z:0.52 [[ 3.17317187e-01 -9.48319080e-01 -8.52155372e-04 1.76124372e+02] [ 9.48315636e-01 3.17318331e-01 -2.55558380e-03 1.00662246e+02] [ 2.69391340e-03 2.81839994e-06 9.99996371e-01 5.24817283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.754012739 meters Centerline goodness : 0.996083 Centerline is valid? [True, True] Translation: X:176.13, Y:100.69, Z:0.52 [[ 3.17063197e-01 -9.48404030e-01 -8.51471369e-04 1.76132285e+02] [ 9.48400586e-01 3.17064340e-01 -2.55581168e-03 1.00687001e+02] [ 2.69391330e-03 2.81787492e-06 9.99996371e-01 5.24887267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.784012739 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:176.14, Y:100.71, Z:0.52 [[ 3.16027106e-01 -9.48749780e-01 -8.50786808e-04 1.76139739e+02] [ 9.48746337e-01 3.16028251e-01 -2.55603954e-03 1.00710024e+02] [ 2.69391461e-03 5.96909083e-07 9.99996371e-01 5.24723693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.814012739 meters Centerline goodness : 0.995955 Centerline is valid? [True, True] Translation: X:176.15, Y:100.74, Z:0.53 [[ 3.15682156e-01 -9.48864613e-01 -8.50075040e-04 1.76146793e+02] [ 9.48861170e-01 3.15683300e-01 -2.55627623e-03 1.00735511e+02] [ 2.69391455e-03 3.67594733e-07 9.99996371e-01 5.26405667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.844012739 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:176.15, Y:100.76, Z:0.53 [[ 3.16033870e-01 -9.48747525e-01 -8.52674180e-04 1.76153164e+02] [ 9.48744084e-01 3.16035020e-01 -2.55541259e-03 1.00758619e+02] [ 2.69391627e-03 -1.37265244e-06 9.99996371e-01 5.26564916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.874012739 meters Centerline goodness : 0.995570 Centerline is valid? [True, True] Translation: X:176.16, Y:100.78, Z:0.53 [[ 3.17139831e-01 -9.48378409e-01 -8.48755236e-04 1.76160575e+02] [ 9.48374963e-01 3.17140966e-01 -2.55671357e-03 1.00782426e+02] [ 2.69390700e-03 5.89749285e-06 9.99996371e-01 5.25116451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90401273899997 meters Centerline goodness : 0.995410 Centerline is valid? [True, True] Translation: X:176.17, Y:100.81, Z:0.52 [[ 3.20549064e-01 -9.47231534e-01 -8.48049158e-04 1.76166569e+02] [ 9.47228083e-01 3.20550185e-01 -2.55694775e-03 1.00807751e+02] [ 2.69386385e-03 1.63312298e-05 9.99996371e-01 5.23939936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93401273899997 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:176.17, Y:100.83, Z:0.52 [[ 3.22333512e-01 -9.46625791e-01 -8.47372961e-04 1.76171972e+02] [ 9.46622338e-01 3.22334625e-01 -2.55717182e-03 1.00831228e+02] [ 2.69382245e-03 2.21200014e-05 9.99996371e-01 5.24739987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96401273899997 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:176.18, Y:100.86, Z:0.53 [[ 3.25801105e-01 -9.45437953e-01 -8.46669697e-04 1.76176049e+02] [ 9.45434495e-01 3.25802203e-01 -2.55740465e-03 1.00856853e+02] [ 2.69371427e-03 3.27345224e-05 9.99996371e-01 5.26484888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99401273899997 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:176.18, Y:100.88, Z:0.53 [[ 3.26973494e-01 -9.45033131e-01 -8.46007629e-04 1.76181783e+02] [ 9.45029671e-01 3.26974587e-01 -2.55762365e-03 1.00880585e+02] [ 2.69366208e-03 3.67728303e-05 9.99996371e-01 5.27037742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02401273899997 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:176.19, Y:100.91, Z:0.53 [[ 3.27286217e-01 -9.44924874e-01 -8.45320424e-04 1.76187845e+02] [ 9.44921413e-01 3.27287306e-01 -2.55785076e-03 1.00905573e+02] [ 2.69363945e-03 3.83879272e-05 9.99996371e-01 5.26237199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05401273899997 meters Centerline goodness : 0.996573 Centerline is valid? [True, True] Translation: X:176.19, Y:100.93, Z:0.53 [[ 3.26789531e-01 -9.45096762e-01 -8.44657722e-04 1.76191033e+02] [ 9.45093300e-01 3.26790621e-01 -2.55806958e-03 1.00930426e+02] [ 2.69364949e-03 3.76700036e-05 9.99996371e-01 5.26008424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08401273899997 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:176.20, Y:100.95, Z:0.53 [[ 3.26095842e-01 -9.45336337e-01 -8.43967590e-04 1.76196918e+02] [ 9.45332876e-01 3.26096932e-01 -2.55829725e-03 1.00954868e+02] [ 2.69366659e-03 3.64197863e-05 9.99996371e-01 5.26820254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11401273899997 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:176.20, Y:100.98, Z:0.53 [[ 3.25024610e-01 -9.45705182e-01 -8.43319849e-04 1.76202713e+02] [ 9.45701722e-01 3.25025702e-01 -2.55851075e-03 1.00979293e+02] [ 2.69369750e-03 3.40499259e-05 9.99996371e-01 5.26941336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14401273899998 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:176.21, Y:101.00, Z:0.53 [[ 3.24600698e-01 -9.45850769e-01 -8.42672252e-04 1.76209691e+02] [ 9.45847308e-01 3.24601790e-01 -2.55872403e-03 1.01004136e+02] [ 2.69370401e-03 3.35243232e-05 9.99996371e-01 5.26287111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17401273899998 meters Centerline goodness : 0.996647 Centerline is valid? [True, True] Translation: X:176.22, Y:101.03, Z:0.53 [[ 3.24405990e-01 -9.45917568e-01 -8.42022440e-04 1.76216526e+02] [ 9.45914107e-01 3.24407081e-01 -2.55893785e-03 1.01028932e+02] [ 2.69370231e-03 3.36538600e-05 9.99996371e-01 5.25579467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20401273899998 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:176.22, Y:101.05, Z:0.53 [[ 3.24212680e-01 -9.45983842e-01 -8.41370850e-04 1.76222771e+02] [ 9.45980381e-01 3.24213770e-01 -2.55915207e-03 1.01053728e+02] [ 2.69370052e-03 3.37892335e-05 9.99996371e-01 5.25832227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23401273899998 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:176.23, Y:101.08, Z:0.53 [[ 3.23815810e-01 -9.46119768e-01 -8.40695930e-04 1.76229883e+02] [ 9.46116306e-01 3.23816900e-01 -2.55937377e-03 1.01077182e+02] [ 2.69370566e-03 3.33695606e-05 9.99996371e-01 5.27453528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26401273899998 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:176.24, Y:101.10, Z:0.53 [[ 3.24172794e-01 -9.45997513e-01 -8.39995262e-04 1.76237255e+02] [ 9.45994051e-01 3.24173880e-01 -2.55960371e-03 1.01101301e+02] [ 2.69368326e-03 3.51233645e-05 9.99996371e-01 5.29887779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29401273899998 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:176.24, Y:101.13, Z:0.53 [[ 3.24188410e-01 -9.45992162e-01 -8.39330572e-04 1.76244831e+02] [ 9.45988699e-01 3.24189495e-01 -2.55982165e-03 1.01125473e+02] [ 2.69367337e-03 3.58672750e-05 9.99996371e-01 5.29936012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32401273899998 meters Centerline goodness : 0.997225 Centerline is valid? [True, True] Translation: X:176.25, Y:101.15, Z:0.53 [[ 3.24133143e-01 -9.46011101e-01 -8.38662552e-04 1.76251451e+02] [ 9.46007637e-01 3.24134226e-01 -2.56004049e-03 1.01150584e+02] [ 2.69366596e-03 3.64127918e-05 9.99996371e-01 5.28071229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35401273899998 meters Centerline goodness : 0.997311 Centerline is valid? [True, True] Translation: X:176.26, Y:101.17, Z:0.53 [[ 3.24127377e-01 -9.46013077e-01 -8.37976858e-04 1.76258279e+02] [ 9.46009613e-01 3.24128458e-01 -2.56026492e-03 1.01173905e+02] [ 2.69365624e-03 3.71177882e-05 9.99996371e-01 5.27007015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38401273899999 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:176.27, Y:101.20, Z:0.53 [[ 3.24567171e-01 -9.45862279e-01 -8.37261931e-04 1.76265170e+02] [ 9.45858814e-01 3.24568248e-01 -2.56049869e-03 1.01197482e+02] [ 2.69362777e-03 3.91222399e-05 9.99996371e-01 5.27232822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.414012739 meters Centerline goodness : 0.996498 Centerline is valid? [True, True] Translation: X:176.27, Y:101.22, Z:0.53 [[ 3.26812027e-01 -9.45088990e-01 -8.36586150e-04 1.76272041e+02] [ 9.45085522e-01 3.26813095e-01 -2.56071947e-03 1.01222234e+02] [ 2.69351509e-03 4.62284638e-05 9.99996371e-01 5.29405215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.444012739 meters Centerline goodness : 0.997079 Centerline is valid? [True, True] Translation: X:176.28, Y:101.25, Z:0.53 [[ 3.27948242e-01 -9.44695322e-01 -8.35923819e-04 1.76277911e+02] [ 9.44691852e-01 3.27949303e-01 -2.56093567e-03 1.01245864e+02] [ 2.69344458e-03 5.01639277e-05 9.99996371e-01 5.29658855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.474012739 meters Centerline goodness : 0.997186 Centerline is valid? [True, True] Translation: X:176.28, Y:101.27, Z:0.53 [[ 3.29446751e-01 -9.44173787e-01 -8.35359445e-04 1.76281955e+02] [ 9.44170315e-01 3.29447805e-01 -2.56111975e-03 1.01271321e+02] [ 2.69334947e-03 5.50309888e-05 9.99996371e-01 5.27068676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.504012739 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:176.29, Y:101.30, Z:0.53 [[ 3.30050611e-01 -9.43962869e-01 -8.34708327e-04 1.76287817e+02] [ 9.43959395e-01 3.30051662e-01 -2.56133194e-03 1.01296408e+02] [ 2.69329912e-03 5.74384042e-05 9.99996371e-01 5.25637798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.534012739 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:176.29, Y:101.32, Z:0.52 [[ 3.30751588e-01 -9.43717485e-01 -8.34051939e-04 1.76293482e+02] [ 9.43714011e-01 3.30752634e-01 -2.56154566e-03 1.01321608e+02] [ 2.69324031e-03 6.01287950e-05 9.99996371e-01 5.24495010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.564012739 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:176.30, Y:101.35, Z:0.52 [[ 3.32951213e-01 -9.42943686e-01 -8.33399686e-04 1.76296920e+02] [ 9.42940209e-01 3.32952249e-01 -2.56175786e-03 1.01346532e+02] [ 2.69307570e-03 6.70943116e-05 9.99996371e-01 5.23866265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.594012739 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:176.30, Y:101.37, Z:0.52 [[ 3.33888480e-01 -9.42612216e-01 -8.32844452e-04 1.76302065e+02] [ 9.42608737e-01 3.33889512e-01 -2.56193835e-03 1.01370635e+02] [ 2.69299241e-03 7.03552461e-05 9.99996371e-01 5.23876643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.624012739 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:176.30, Y:101.40, Z:0.52 [[ 3.35072790e-01 -9.42191877e-01 -8.32173001e-04 1.76303164e+02] [ 9.42188396e-01 3.35073816e-01 -2.56215644e-03 1.01396726e+02] [ 2.69288236e-03 7.44451611e-05 9.99996371e-01 5.23508744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65401273899997 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:176.31, Y:101.42, Z:0.52 [[ 3.35634075e-01 -9.41992079e-01 -8.31517366e-04 1.76306576e+02] [ 9.41988597e-01 3.35635097e-01 -2.56236920e-03 1.01422245e+02] [ 2.69281790e-03 7.67385397e-05 9.99996371e-01 5.23223687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68401273899997 meters Centerline goodness : 0.997635 Centerline is valid? [True, True] Translation: X:176.31, Y:101.45, Z:0.52 [[ 3.36038490e-01 -9.41847887e-01 -8.30866055e-04 1.76310283e+02] [ 9.41844404e-01 3.36039508e-01 -2.56258037e-03 1.01447846e+02] [ 2.69276473e-03 7.85790944e-05 9.99996371e-01 5.21971341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71401273899997 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:176.31, Y:101.47, Z:0.52 [[ 3.36427438e-01 -9.41709026e-01 -8.30193925e-04 1.76311261e+02] [ 9.41705542e-01 3.36428453e-01 -2.56279810e-03 1.01472747e+02] [ 2.69271096e-03 8.03973796e-05 9.99996371e-01 5.23034492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74401273899997 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:176.32, Y:101.50, Z:0.52 [[ 3.35375433e-01 -9.42084195e-01 -8.29620859e-04 1.76315907e+02] [ 9.42080712e-01 3.35376450e-01 -2.56298360e-03 1.01497942e+02] [ 2.69278164e-03 7.79919239e-05 9.99996371e-01 5.24034227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77401273899997 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:176.32, Y:101.52, Z:0.53 [[ 3.30421005e-01 -9.43833286e-01 -8.28970989e-04 1.76318504e+02] [ 9.43829808e-01 3.30422038e-01 -2.56319378e-03 1.01524246e+02] [ 2.69313789e-03 6.45255344e-05 9.99996371e-01 5.25914355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80401273899997 meters Centerline goodness : 0.997405 Centerline is valid? [True, True] Translation: X:176.32, Y:101.55, Z:0.53 [[ 3.26608080e-01 -9.45159498e-01 -8.28320492e-04 1.76324674e+02] [ 9.45156023e-01 3.26609125e-01 -2.56340397e-03 1.01548821e+02] [ 2.69336264e-03 5.43363468e-05 9.99996371e-01 5.26198969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83401273899997 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:176.33, Y:101.57, Z:0.53 [[ 3.22237647e-01 -9.46658446e-01 -8.27664740e-04 1.76331517e+02] [ 9.46654976e-01 3.22238707e-01 -2.56361568e-03 1.01573227e+02] [ 2.69357406e-03 4.25805412e-05 9.99996371e-01 5.26400860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86401273899997 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:176.34, Y:101.60, Z:0.52 [[ 3.13732997e-01 -9.49510886e-01 -8.27000468e-04 1.76339150e+02] [ 9.49507425e-01 3.13734087e-01 -2.56382995e-03 1.01595964e+02] [ 2.69384269e-03 1.91149716e-05 9.99996371e-01 5.24368529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89401273899998 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:176.35, Y:101.62, Z:0.52 [[ 3.07273613e-01 -9.51620851e-01 -8.26307057e-04 1.76348928e+02] [ 9.51617397e-01 3.07274724e-01 -2.56405342e-03 1.01619693e+02] [ 2.69390997e-03 1.53778639e-06 9.99996371e-01 5.24916266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92401273899998 meters Centerline goodness : 0.997905 Centerline is valid? [True, True] Translation: X:176.36, Y:101.64, Z:0.53 [[ 3.04805971e-01 -9.52414111e-01 -8.25656018e-04 1.76358471e+02] [ 9.52410659e-01 3.04807089e-01 -2.56426304e-03 1.01643457e+02] [ 2.69390611e-03 -4.76090508e-06 9.99996371e-01 5.27047593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95401273899998 meters Centerline goodness : 0.997953 Centerline is valid? [True, True] Translation: X:176.37, Y:101.67, Z:0.53 [[ 3.02910964e-01 -9.53018503e-01 -8.25005374e-04 1.76367831e+02] [ 9.53015053e-01 3.02912088e-01 -2.56447236e-03 1.01666879e+02] [ 2.69389371e-03 -9.43574520e-06 9.99996371e-01 5.27989313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98401273899998 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:176.38, Y:101.69, Z:0.53 [[ 3.01738038e-01 -9.53390516e-01 -8.24355375e-04 1.76376709e+02] [ 9.53387067e-01 3.01739164e-01 -2.56468128e-03 1.01690024e+02] [ 2.69388312e-03 -1.20678533e-05 9.99996371e-01 5.27265563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01401273899998 meters Centerline goodness : 0.998110 Centerline is valid? [True, True] Translation: X:176.39, Y:101.71, Z:0.52 [[ 3.01823618e-01 -9.53363428e-01 -8.23678161e-04 1.76387423e+02] [ 9.53359978e-01 3.01824741e-01 -2.56489876e-03 1.01712851e+02] [ 2.69388712e-03 -1.11147698e-05 9.99996371e-01 5.21832223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04401273899998 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:176.40, Y:101.73, Z:0.52 [[ 3.03423841e-01 -9.52855338e-01 -8.23002211e-04 1.76400226e+02] [ 9.52851885e-01 3.03424957e-01 -2.56511564e-03 1.01734525e+02] [ 2.69390354e-03 -5.88196917e-06 9.99996371e-01 5.21791031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07401273899998 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:176.41, Y:101.76, Z:0.52 [[ 3.04100955e-01 -9.52639456e-01 -8.22300113e-04 1.76409749e+02] [ 9.52636002e-01 3.04102067e-01 -2.56534069e-03 1.01756918e+02] [ 2.69390792e-03 -3.23013941e-06 9.99996371e-01 5.24133883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10401273899998 meters Centerline goodness : 0.997807 Centerline is valid? [True, True] Translation: X:176.42, Y:101.78, Z:0.53 [[ 3.05452120e-01 -9.52207082e-01 -8.21608742e-04 1.76418892e+02] [ 9.52203626e-01 3.05453225e-01 -2.56556210e-03 1.01780327e+02] [ 2.69390944e-03 1.31755899e-06 9.99996371e-01 5.25513285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13401273899999 meters Centerline goodness : 0.998172 Centerline is valid? [True, True] Translation: X:176.43, Y:101.80, Z:0.52 [[ 3.06573974e-01 -9.51846482e-01 -8.20943106e-04 1.76427695e+02] [ 9.51843023e-01 3.06575073e-01 -2.56577507e-03 1.01804470e+02] [ 2.69390467e-03 5.19089329e-06 9.99996371e-01 5.24576834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.164012739 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:176.44, Y:101.83, Z:0.52 [[ 3.08597665e-01 -9.51192309e-01 -8.20275742e-04 1.76436821e+02] [ 9.51188848e-01 3.08598755e-01 -2.56598841e-03 1.01827142e+02] [ 2.69388451e-03 1.16208954e-05 9.99996371e-01 5.19910019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.194012739 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:176.45, Y:101.85, Z:0.52 [[ 3.09200599e-01 -9.50996487e-01 -8.19584714e-04 1.76445568e+02] [ 9.50993024e-01 3.09201685e-01 -2.56620911e-03 1.01849930e+02] [ 2.69387282e-03 1.40540475e-05 9.99996371e-01 5.21470252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.224012739 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:176.45, Y:101.87, Z:0.52 [[ 3.09006564e-01 -9.51059553e-01 -8.18912730e-04 1.76453258e+02] [ 9.51056090e-01 3.09007649e-01 -2.56642353e-03 1.01874057e+02] [ 2.69387191e-03 1.42097774e-05 9.99996371e-01 5.23702111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.254012739 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:176.46, Y:101.90, Z:0.53 [[ 3.08836295e-01 -9.51114858e-01 -8.18252355e-04 1.76460826e+02] [ 9.51111395e-01 3.08837378e-01 -2.56663406e-03 1.01897665e+02] [ 2.69387070e-03 1.44206135e-05 9.99996371e-01 5.25656442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.284012739 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:176.47, Y:101.92, Z:0.53 [[ 3.07869146e-01 -9.51428358e-01 -8.17688298e-04 1.76470091e+02] [ 9.51424896e-01 3.07870232e-01 -2.56681375e-03 1.01921472e+02] [ 2.69388127e-03 1.22737532e-05 9.99996371e-01 5.25161575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.314012739 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:176.48, Y:101.94, Z:0.52 [[ 3.06859923e-01 -9.51754338e-01 -8.17034453e-04 1.76478471e+02] [ 9.51750876e-01 3.06861011e-01 -2.56702185e-03 1.01944825e+02] [ 2.69389020e-03 1.01028727e-05 9.99996371e-01 5.24579083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.344012739 meters Centerline goodness : 0.998371 Centerline is valid? [True, True] Translation: X:176.49, Y:101.97, Z:0.53 [[ 3.06769291e-01 -9.51783555e-01 -8.16354102e-04 1.76488006e+02] [ 9.51780093e-01 3.06770377e-01 -2.56723820e-03 1.01968539e+02] [ 2.69388835e-03 1.05602595e-05 9.99996371e-01 5.27340247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.374012739 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:176.50, Y:101.99, Z:0.53 [[ 3.07689614e-01 -9.51486435e-01 -8.15694108e-04 1.76495603e+02] [ 9.51482971e-01 3.07690695e-01 -2.56744788e-03 1.01992572e+02] [ 2.69387332e-03 1.38579932e-05 9.99996371e-01 5.28759429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40401273899997 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:176.50, Y:102.02, Z:0.53 [[ 3.09588687e-01 -9.50870223e-01 -8.15037196e-04 1.76502347e+02] [ 9.50866756e-01 3.09589759e-01 -2.56765640e-03 1.02016604e+02] [ 2.69383518e-03 1.99255989e-05 9.99996371e-01 5.29781506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43401273899997 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:176.51, Y:102.04, Z:0.53 [[ 3.15448409e-01 -9.48942378e-01 -8.14476312e-04 1.76506419e+02] [ 9.48938905e-01 3.15449459e-01 -2.56783430e-03 1.02040815e+02] [ 2.69365290e-03 3.71309876e-05 9.99996371e-01 5.28890259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46401273899997 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:176.51, Y:102.07, Z:0.53 [[ 3.18511484e-01 -9.47918653e-01 -8.13910503e-04 1.76512196e+02] [ 9.47915175e-01 3.18512520e-01 -2.56801363e-03 1.02066186e+02] [ 2.69350871e-03 4.64237152e-05 9.99996371e-01 5.27735001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49401273899997 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:176.52, Y:102.09, Z:0.53 [[ 3.24132887e-01 -9.46011210e-01 -8.13219827e-04 1.76516823e+02] [ 9.46007726e-01 3.24133901e-01 -2.56823233e-03 1.02090298e+02] [ 2.69316869e-03 6.31363218e-05 9.99996371e-01 5.26282087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52401273899997 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:176.52, Y:102.11, Z:0.53 [[ 3.26285677e-01 -9.45270859e-01 -8.12632211e-04 1.76522801e+02] [ 9.45267372e-01 3.26286682e-01 -2.56841825e-03 1.02114963e+02] [ 2.69300199e-03 6.98833740e-05 9.99996371e-01 5.27317930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55401273899997 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:176.53, Y:102.14, Z:0.53 [[ 3.27507529e-01 -9.44848220e-01 -8.11991366e-04 1.76528495e+02] [ 9.44844731e-01 3.27508528e-01 -2.56862083e-03 1.02139790e+02] [ 2.69289092e-03 7.40368992e-05 9.99996371e-01 5.28520033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58401273899997 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:176.53, Y:102.17, Z:0.53 [[ 3.28570572e-01 -9.44479074e-01 -8.11351025e-04 1.76531194e+02] [ 9.44475584e-01 3.28571565e-01 -2.56882308e-03 1.02166062e+02] [ 2.69278652e-03 7.77384381e-05 9.99996371e-01 5.28459263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61401273899997 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:176.54, Y:102.19, Z:0.53 [[ 3.28786126e-01 -9.44404059e-01 -8.10670930e-04 1.76535373e+02] [ 9.44400568e-01 3.28787116e-01 -2.56903769e-03 1.02189998e+02] [ 2.69274778e-03 7.90658641e-05 9.99996371e-01 5.27125367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64401273899998 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:176.54, Y:102.21, Z:0.53 [[ 3.29294914e-01 -9.44226775e-01 -8.09965051e-04 1.76539378e+02] [ 9.44223283e-01 3.29295900e-01 -2.56926022e-03 1.02214416e+02] [ 2.69268246e-03 8.12564642e-05 9.99996371e-01 5.25010346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67401273899998 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:176.55, Y:102.24, Z:0.53 [[ 3.29048439e-01 -9.44312697e-01 -8.09274106e-04 1.76546554e+02] [ 9.44309205e-01 3.29049424e-01 -2.56947784e-03 1.02238509e+02] [ 2.69268173e-03 8.12776842e-05 9.99996371e-01 5.25078083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70401273899998 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:176.55, Y:102.27, Z:0.52 [[ 3.29931578e-01 -9.44004502e-01 -8.08603358e-04 1.76547468e+02] [ 9.44001008e-01 3.29932558e-01 -2.56968890e-03 1.02265201e+02] [ 2.69258247e-03 8.44991295e-05 9.99996371e-01 5.20521653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73401273899998 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:176.55, Y:102.29, Z:0.52 [[ 3.31354514e-01 -9.43505980e-01 -8.07929365e-04 1.76549561e+02] [ 9.43502484e-01 3.31355487e-01 -2.56990079e-03 1.02290332e+02] [ 2.69242859e-03 8.92648652e-05 9.99996371e-01 5.22563991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76401273899998 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:176.55, Y:102.32, Z:0.53 [[ 3.31951501e-01 -9.43296109e-01 -8.07353884e-04 1.76554024e+02] [ 9.43292612e-01 3.31952470e-01 -2.57008157e-03 1.02315112e+02] [ 2.69235106e-03 9.15714822e-05 9.99996371e-01 5.25918097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79401273899998 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:176.56, Y:102.34, Z:0.53 [[ 3.32460254e-01 -9.43116922e-01 -8.06679441e-04 1.76557464e+02] [ 9.43113424e-01 3.32461219e-01 -2.57029324e-03 1.02339703e+02] [ 2.69227668e-03 9.37301341e-05 9.99996371e-01 5.27616045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82401273899998 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:176.56, Y:102.36, Z:0.53 [[ 3.33096294e-01 -9.42892470e-01 -8.05975645e-04 1.76560196e+02] [ 9.42888971e-01 3.33097255e-01 -2.57051392e-03 1.02364627e+02] [ 2.69218649e-03 9.62831132e-05 9.99996371e-01 5.26929829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85401273899998 meters Centerline goodness : 0.998104 Centerline is valid? [True, True] Translation: X:176.56, Y:102.39, Z:0.53 [[ 3.34504262e-01 -9.42393893e-01 -8.05296760e-04 1.76558083e+02] [ 9.42390393e-01 3.34505216e-01 -2.57072658e-03 1.02392360e+02] [ 2.69201300e-03 1.01015068e-04 9.99996371e-01 5.25791838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88401273899999 meters Centerline goodness : 0.997862 Centerline is valid? [True, True] Translation: X:176.56, Y:102.42, Z:0.53 [[ 3.35011609e-01 -9.42213656e-01 -8.04638348e-04 1.76555749e+02] [ 9.42210155e-01 3.35012559e-01 -2.57093265e-03 1.02420282e+02] [ 2.69193180e-03 1.03153861e-04 9.99996371e-01 5.25816037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.914012739 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:176.56, Y:102.45, Z:0.53 [[ 3.34538144e-01 -9.42381867e-01 -8.03974649e-04 1.76558696e+02] [ 9.42378365e-01 3.34539095e-01 -2.57114018e-03 1.02446156e+02] [ 2.69195684e-03 1.02496150e-04 9.99996371e-01 5.25720709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.944012739 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:176.56, Y:102.47, Z:0.53 [[ 3.33741387e-01 -9.42664331e-01 -8.03307907e-04 1.76561870e+02] [ 9.42660830e-01 3.33742338e-01 -2.57134848e-03 1.02471415e+02] [ 2.69201635e-03 1.00918509e-04 9.99996371e-01 5.25182322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.974012739 meters Centerline goodness : 0.998109 Centerline is valid? [True, True] Translation: X:176.56, Y:102.50, Z:0.52 [[ 3.32379908e-01 -9.43145245e-01 -8.02635663e-04 1.76564864e+02] [ 9.43141744e-01 3.32380863e-01 -2.57155830e-03 1.02495742e+02] [ 2.69213371e-03 9.77351131e-05 9.99996371e-01 5.24572254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.004012739 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:176.56, Y:102.52, Z:0.53 [[ 3.29424270e-01 -9.44181660e-01 -8.01936254e-04 1.76564664e+02] [ 9.44178162e-01 3.29425234e-01 -2.57177639e-03 1.02522683e+02] [ 2.69240214e-03 9.00348618e-05 9.99996371e-01 5.25223306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.034012739 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:176.57, Y:102.55, Z:0.53 [[ 3.28036846e-01 -9.44664589e-01 -8.01272466e-04 1.76568652e+02] [ 9.44661092e-01 3.28037813e-01 -2.57198318e-03 1.02547831e+02] [ 2.69250911e-03 8.67743301e-05 9.99996371e-01 5.27811185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.064012739 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:176.57, Y:102.57, Z:0.54 [[ 3.26129996e-01 -9.45324592e-01 -8.00600189e-04 1.76571462e+02] [ 9.45321096e-01 3.26130968e-01 -2.57219243e-03 1.02574237e+02] [ 2.69265728e-03 8.20448594e-05 9.99996371e-01 5.41127603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.094012739 meters Centerline goodness : 0.995866 Centerline is valid? [True, True] Translation: X:176.58, Y:102.60, Z:0.54 [[ 3.25106437e-01 -9.45677093e-01 -7.99952993e-04 1.76575864e+02] [ 9.45673598e-01 3.25107411e-01 -2.57239369e-03 1.02599115e+02] [ 2.69272444e-03 7.98073225e-05 9.99996371e-01 5.39963703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.124012739 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:176.58, Y:102.62, Z:0.53 [[ 3.24340921e-01 -9.45939918e-01 -7.99437933e-04 1.76579076e+02] [ 9.45936423e-01 3.24341896e-01 -2.57255375e-03 1.02624492e+02] [ 2.69277250e-03 7.81669944e-05 9.99996371e-01 5.32447762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15401273899997 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:176.58, Y:102.65, Z:0.53 [[ 3.23098841e-01 -9.46364888e-01 -7.98753348e-04 1.76579604e+02] [ 9.46361394e-01 3.23099820e-01 -2.57276629e-03 1.02649887e+02] [ 2.69285275e-03 7.53484764e-05 9.99996371e-01 5.28338378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18401273899997 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:176.59, Y:102.67, Z:0.53 [[ 3.22478287e-01 -9.46576525e-01 -7.98039422e-04 1.76585009e+02] [ 9.46573031e-01 3.22479266e-01 -2.57298772e-03 1.02674866e+02] [ 2.69288095e-03 7.43300791e-05 9.99996371e-01 5.25773985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21401273899997 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:176.59, Y:102.70, Z:0.53 [[ 3.19679376e-01 -9.47525441e-01 -7.97362582e-04 1.76589409e+02] [ 9.47521949e-01 3.19680364e-01 -2.57319746e-03 1.02699013e+02] [ 2.69307122e-03 6.70796117e-05 9.99996371e-01 5.25187498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24401273899997 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:176.59, Y:102.72, Z:0.53 [[ 3.17250177e-01 -9.48341547e-01 -7.96657633e-04 1.76594541e+02] [ 9.48338058e-01 3.17251171e-01 -2.57341569e-03 1.02723099e+02] [ 2.69321759e-03 6.09158310e-05 9.99996371e-01 5.26560966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27401273899997 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:176.60, Y:102.75, Z:0.53 [[ 3.11592170e-01 -9.50215600e-01 -7.95975323e-04 1.76598412e+02] [ 9.50212115e-01 3.11593184e-01 -2.57362672e-03 1.02747299e+02] [ 2.69352074e-03 4.55765382e-05 9.99996371e-01 5.31901380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30401273899997 meters Centerline goodness : 0.997758 Centerline is valid? [True, True] Translation: X:176.61, Y:102.77, Z:0.53 [[ 3.08525579e-01 -9.51215714e-01 -7.95418278e-04 1.76605985e+02] [ 9.51212232e-01 3.08526602e-01 -2.57379887e-03 1.02772466e+02] [ 2.69364563e-03 3.74711906e-05 9.99996371e-01 5.32883531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33401273899997 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:176.61, Y:102.80, Z:0.53 [[ 3.05785851e-01 -9.52099985e-01 -7.94791876e-04 1.76613667e+02] [ 9.52096506e-01 3.05786883e-01 -2.57399229e-03 1.02796262e+02] [ 2.69373495e-03 3.03718550e-05 9.99996371e-01 5.32896823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36401273899997 meters Centerline goodness : 0.998018 Centerline is valid? [True, True] Translation: X:176.62, Y:102.82, Z:0.53 [[ 3.02208295e-01 -9.53241583e-01 -7.94135414e-04 1.76621972e+02] [ 9.53238108e-01 3.02209338e-01 -2.57419481e-03 1.02820468e+02] [ 2.69382467e-03 2.09428832e-05 9.99996371e-01 5.27418260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39401273899998 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:176.63, Y:102.85, Z:0.53 [[ 3.00783089e-01 -9.53692248e-01 -7.93472913e-04 1.76630068e+02] [ 9.53688773e-01 3.00784135e-01 -2.57439900e-03 1.02845339e+02] [ 2.69384843e-03 1.76094743e-05 9.99996371e-01 5.25986163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42401273899998 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:176.64, Y:102.87, Z:0.53 [[ 2.98097796e-01 -9.54535005e-01 -7.92849024e-04 1.76638940e+02] [ 9.54531533e-01 2.98098851e-01 -2.57459113e-03 1.02869545e+02] [ 2.69388474e-03 1.06805477e-05 9.99996371e-01 5.28639213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45401273899998 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:176.65, Y:102.89, Z:0.53 [[ 2.97003096e-01 -9.54876188e-01 -7.92198230e-04 1.76646119e+02] [ 9.54872716e-01 2.97004152e-01 -2.57479136e-03 1.02893083e+02] [ 2.69389312e-03 8.27252857e-06 9.99996371e-01 5.31211912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48401273899998 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:176.65, Y:102.92, Z:0.53 [[ 2.96287448e-01 -9.55098488e-01 -7.91490628e-04 1.76653577e+02] [ 9.55095017e-01 2.96288505e-01 -2.57500886e-03 1.02917581e+02] [ 2.69389664e-03 6.99404789e-06 9.99996371e-01 5.32084139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51401273899998 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:176.66, Y:102.94, Z:0.53 [[ 2.95886045e-01 -9.55222918e-01 -7.90825281e-04 1.76662158e+02] [ 9.55219447e-01 2.95887102e-01 -2.57521318e-03 1.02940410e+02] [ 2.69389765e-03 6.55795656e-06 9.99996371e-01 5.26919853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54401273899998 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:176.67, Y:102.96, Z:0.53 [[ 2.95922773e-01 -9.55211541e-01 -7.90131634e-04 1.76671365e+02] [ 9.55208069e-01 2.95923828e-01 -2.57542599e-03 1.02964677e+02] [ 2.69389540e-03 7.38708813e-06 9.99996371e-01 5.25200714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57401273899998 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:176.68, Y:102.99, Z:0.53 [[ 2.96457903e-01 -9.55045595e-01 -7.89460286e-04 1.76681344e+02] [ 9.55042122e-01 2.96458955e-01 -2.57563176e-03 1.02988150e+02] [ 2.69388834e-03 9.59856644e-06 9.99996371e-01 5.26610147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60401273899998 meters Centerline goodness : 0.997725 Centerline is valid? [True, True] Translation: X:176.69, Y:103.01, Z:0.53 [[ 2.96646408e-01 -9.54987061e-01 -7.88782751e-04 1.76688925e+02] [ 9.54983587e-01 2.96647457e-01 -2.57583924e-03 1.03011145e+02] [ 2.69388354e-03 1.08388782e-05 9.99996371e-01 5.27537812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63401273899999 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:176.70, Y:103.04, Z:0.53 [[ 2.96859745e-01 -9.54920767e-01 -7.88077079e-04 1.76696097e+02] [ 9.54917292e-01 2.96860791e-01 -2.57605512e-03 1.03035775e+02] [ 2.69387772e-03 1.21786376e-05 9.99996371e-01 5.27563723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.664012739 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:176.70, Y:103.06, Z:0.53 [[ 2.98330676e-01 -9.54462251e-01 -7.87397218e-04 1.76703471e+02] [ 9.54458774e-01 2.98331714e-01 -2.57626291e-03 1.03058855e+02] [ 2.69385126e-03 1.70400726e-05 9.99996371e-01 5.25849442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.694012739 meters Centerline goodness : 0.997489 Centerline is valid? [True, True] Translation: X:176.71, Y:103.08, Z:0.53 [[ 2.99126259e-01 -9.54213216e-01 -7.86820071e-04 1.76711369e+02] [ 9.54209738e-01 2.99127293e-01 -2.57643917e-03 1.03083890e+02] [ 2.69383166e-03 1.98892359e-05 9.99996371e-01 5.27622788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.724012739 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:176.72, Y:103.11, Z:0.53 [[ 2.99949673e-01 -9.53954703e-01 -7.86183183e-04 1.76717473e+02] [ 9.53951224e-01 2.99950703e-01 -2.57663350e-03 1.03108342e+02] [ 2.69380784e-03 2.28799653e-05 9.99996371e-01 5.31268889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.754012739 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:176.72, Y:103.13, Z:0.53 [[ 2.99667871e-01 -9.54043264e-01 -7.85516280e-04 1.76723406e+02] [ 9.54039784e-01 2.99668900e-01 -2.57683679e-03 1.03131852e+02] [ 2.69380858e-03 2.27814141e-05 9.99996371e-01 5.31638327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.784012739 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:176.73, Y:103.16, Z:0.53 [[ 2.99236431e-01 -9.54178674e-01 -7.84816562e-04 1.76730493e+02] [ 9.54175194e-01 2.99237460e-01 -2.57704989e-03 1.03156736e+02] [ 2.69381256e-03 2.22947155e-05 9.99996371e-01 5.30874841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.814012739 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:176.74, Y:103.18, Z:0.54 [[ 2.96988589e-01 -9.54880706e-01 -7.84143705e-04 1.76738746e+02] [ 9.54877228e-01 2.96989624e-01 -2.57725461e-03 1.03181285e+02] [ 2.69385324e-03 1.66542425e-05 9.99996371e-01 5.36685912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.844012739 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:176.75, Y:103.21, Z:0.53 [[ 2.95383477e-01 -9.55378453e-01 -7.83463121e-04 1.76745104e+02] [ 9.55374976e-01 2.95384516e-01 -2.57746148e-03 1.03205915e+02] [ 2.69387404e-03 1.28384740e-05 9.99996371e-01 5.30901253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.874012739 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:176.75, Y:103.23, Z:0.53 [[ 2.91104209e-01 -9.56691030e-01 -7.82786958e-04 1.76753292e+02] [ 9.56687557e-01 2.91105262e-01 -2.57766682e-03 1.03228953e+02] [ 2.69390413e-03 1.48711803e-06 9.99996371e-01 5.32990552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90401273899997 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:176.76, Y:103.25, Z:0.53 [[ 2.88234681e-01 -9.57559480e-01 -7.82085256e-04 1.76762759e+02] [ 9.57556010e-01 2.88235742e-01 -2.57787970e-03 1.03252590e+02] [ 2.69389807e-03 -5.85610231e-06 9.99996371e-01 5.32773599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93401273899997 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:176.77, Y:103.28, Z:0.53 [[ 2.85346725e-01 -9.58424038e-01 -7.81416166e-04 1.76772894e+02] [ 9.58420570e-01 2.85347794e-01 -2.57808250e-03 1.03275770e+02] [ 2.69387162e-03 -1.32779289e-05 9.99996371e-01 5.32236574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96401273899997 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:176.79, Y:103.30, Z:0.53 [[ 2.81499501e-01 -9.59561057e-01 -7.80735771e-04 1.76785635e+02] [ 9.59557593e-01 2.81500583e-01 -2.57828854e-03 1.03297014e+02] [ 2.69380285e-03 -2.33740003e-05 9.99996371e-01 5.31168124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99401273899997 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:176.80, Y:103.32, Z:0.54 [[ 2.80158334e-01 -9.59953488e-01 -7.80027998e-04 1.76795761e+02] [ 9.59950026e-01 2.80159418e-01 -2.57850265e-03 1.03320463e+02] [ 2.69377480e-03 -2.63988924e-05 9.99996371e-01 5.38819995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02401273899997 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:176.81, Y:103.34, Z:0.53 [[ 2.80419440e-01 -9.59877247e-01 -7.79362605e-04 1.76807018e+02] [ 9.59873784e-01 2.80420522e-01 -2.57870375e-03 1.03344164e+02] [ 2.69378832e-03 -2.49710713e-05 9.99996371e-01 5.32357196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05401273899997 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:176.82, Y:103.37, Z:0.53 [[ 2.81690036e-01 -9.59505142e-01 -7.78698222e-04 1.76816350e+02] [ 9.59501676e-01 2.81691112e-01 -2.57890436e-03 1.03366705e+02] [ 2.69382436e-03 -2.07105872e-05 9.99996371e-01 5.32309711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08401273899997 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:176.83, Y:103.39, Z:0.53 [[ 2.83531223e-01 -9.58962690e-01 -7.78009401e-04 1.76825431e+02] [ 9.58959222e-01 2.83532290e-01 -2.57911215e-03 1.03389831e+02] [ 2.69386311e-03 -1.48204683e-05 9.99996371e-01 5.31879249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11401273899997 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:176.83, Y:103.41, Z:0.53 [[ 2.85743760e-01 -9.58305744e-01 -7.77325246e-04 1.76834509e+02] [ 9.58302273e-01 2.85744817e-01 -2.57931833e-03 1.03413497e+02] [ 2.69389223e-03 -7.88843440e-06 9.99996371e-01 5.30382242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14401273899998 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:176.84, Y:103.44, Z:0.53 [[ 2.90613377e-01 -9.56840249e-01 -7.76658916e-04 1.76843571e+02] [ 9.56836772e-01 2.90614415e-01 -2.57951895e-03 1.03436677e+02] [ 2.69389583e-03 6.50690409e-06 9.99996371e-01 5.27542546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17401273899998 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:176.85, Y:103.46, Z:0.53 [[ 2.92592412e-01 -9.56236936e-01 -7.75965215e-04 1.76851587e+02] [ 9.56233457e-01 2.92593441e-01 -2.57972761e-03 1.03460909e+02] [ 2.69387316e-03 1.28048245e-05 9.99996371e-01 5.27467639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20401273899998 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:176.86, Y:103.48, Z:0.53 [[ 2.95784584e-01 -9.55254353e-01 -7.75299973e-04 1.76861469e+02] [ 9.55250869e-01 2.95785600e-01 -2.57992753e-03 1.03484850e+02] [ 2.69380957e-03 2.24968174e-05 9.99996371e-01 5.29299918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23401273899998 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:176.87, Y:103.51, Z:0.53 [[ 2.97157225e-01 -9.54828248e-01 -7.74608819e-04 1.76869355e+02] [ 9.54824762e-01 2.97158234e-01 -2.58013502e-03 1.03507678e+02] [ 2.69376719e-03 2.70900837e-05 9.99996371e-01 5.29601206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26401273899998 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:176.88, Y:103.53, Z:0.53 [[ 3.00235584e-01 -9.53864768e-01 -7.74018757e-04 1.76876155e+02] [ 9.53861278e-01 3.00236579e-01 -2.58031203e-03 1.03531386e+02] [ 2.69365747e-03 3.63949662e-05 9.99996371e-01 5.30511362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29401273899998 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:176.88, Y:103.56, Z:0.53 [[ 3.01634192e-01 -9.53423419e-01 -7.73457695e-04 1.76882557e+02] [ 9.53419928e-01 3.01635181e-01 -2.58048019e-03 1.03556282e+02] [ 2.69359230e-03 4.09310793e-05 9.99996371e-01 5.30056362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32401273899998 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:176.89, Y:103.58, Z:0.53 [[ 3.02539522e-01 -9.53136528e-01 -7.72801457e-04 1.76888635e+02] [ 9.53133035e-01 3.02540506e-01 -2.58067671e-03 1.03579737e+02] [ 2.69354098e-03 4.41740994e-05 9.99996371e-01 5.29157594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35401273899998 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:176.90, Y:103.60, Z:0.53 [[ 3.03549447e-01 -9.52815374e-01 -7.72116888e-04 1.76896503e+02] [ 9.52811880e-01 3.03550425e-01 -2.58088151e-03 1.03604275e+02] [ 2.69347999e-03 4.77430115e-05 9.99996371e-01 5.28414947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38401273899999 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:176.90, Y:103.63, Z:0.53 [[ 3.03428088e-01 -9.52854029e-01 -7.71459842e-04 1.76903393e+02] [ 9.52850534e-01 3.03429065e-01 -2.58107790e-03 1.03627382e+02] [ 2.69347381e-03 4.80856096e-05 9.99996371e-01 5.29124886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.414012739 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:176.91, Y:103.65, Z:0.53 [[ 3.03160933e-01 -9.52939061e-01 -7.70776371e-04 1.76910378e+02] [ 9.52935566e-01 3.03161909e-01 -2.58128198e-03 1.03652314e+02] [ 2.69347446e-03 4.80436368e-05 9.99996371e-01 5.30273040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.444012739 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:176.92, Y:103.68, Z:0.53 [[ 3.02710844e-01 -9.53082133e-01 -7.70130957e-04 1.76917753e+02] [ 9.53078638e-01 3.02711820e-01 -2.58147453e-03 1.03676568e+02] [ 2.69348499e-03 4.74449694e-05 9.99996371e-01 5.31917957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.474012739 meters Centerline goodness : 0.997781 Centerline is valid? [True, True] Translation: X:176.92, Y:103.70, Z:0.53 [[ 3.02317755e-01 -9.53206894e-01 -7.69446887e-04 1.76924826e+02] [ 9.53203399e-01 3.02318731e-01 -2.58167841e-03 1.03700408e+02] [ 2.69349186e-03 4.70478323e-05 9.99996371e-01 5.32917467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.504012739 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:176.93, Y:103.73, Z:0.54 [[ 3.02388407e-01 -9.53184484e-01 -7.68735228e-04 1.76931329e+02] [ 9.53180988e-01 3.02389380e-01 -2.58189030e-03 1.03725220e+02] [ 2.69347514e-03 4.79898910e-05 9.99996371e-01 5.35105964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.534012739 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:176.94, Y:103.75, Z:0.53 [[ 3.02697716e-01 -9.53086304e-01 -7.68056802e-04 1.76937859e+02] [ 9.53082808e-01 3.02698686e-01 -2.58209210e-03 1.03748738e+02] [ 2.69344640e-03 4.95716476e-05 9.99996371e-01 5.34859728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.564012739 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:176.94, Y:103.77, Z:0.53 [[ 3.02450942e-01 -9.53164644e-01 -7.67350846e-04 1.76944937e+02] [ 9.53161148e-01 3.02451911e-01 -2.58230188e-03 1.03773714e+02] [ 2.69344558e-03 4.96106225e-05 9.99996371e-01 5.34929715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.594012739 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:176.95, Y:103.80, Z:0.53 [[ 3.02675855e-01 -9.53093248e-01 -7.66682207e-04 1.76951894e+02] [ 9.53089750e-01 3.02676822e-01 -2.58250038e-03 1.03797558e+02] [ 2.69342061e-03 5.09435595e-05 9.99996371e-01 5.33700201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.624012739 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:176.96, Y:103.82, Z:0.53 [[ 3.02642364e-01 -9.53103884e-01 -7.65986874e-04 1.76959072e+02] [ 9.53100386e-01 3.02643329e-01 -2.58270661e-03 1.03821496e+02] [ 2.69340852e-03 5.15740482e-05 9.99996371e-01 5.32347869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65401273899997 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:176.97, Y:103.85, Z:0.53 [[ 3.01790522e-01 -9.53373953e-01 -7.65318601e-04 1.76966794e+02] [ 9.53370456e-01 3.01791489e-01 -2.58290462e-03 1.03846244e+02] [ 2.69344063e-03 4.98639902e-05 9.99996371e-01 5.29678503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68401273899997 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:176.97, Y:103.87, Z:0.53 [[ 3.00999534e-01 -9.53623980e-01 -7.64636445e-04 1.76973364e+02] [ 9.53620483e-01 3.01000501e-01 -2.58310655e-03 1.03869644e+02] [ 2.69346830e-03 4.83408909e-05 9.99996371e-01 5.28926946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71401273899997 meters Centerline goodness : 0.997675 Centerline is valid? [True, True] Translation: X:176.98, Y:103.89, Z:0.53 [[ 3.00212954e-01 -9.53871898e-01 -7.63926055e-04 1.76980904e+02] [ 9.53868401e-01 3.00213923e-01 -2.58331662e-03 1.03893030e+02] [ 2.69349436e-03 4.68601888e-05 9.99996371e-01 5.28820318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74401273899997 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:176.99, Y:103.92, Z:0.53 [[ 3.00056503e-01 -9.53921125e-01 -7.63221401e-04 1.76988495e+02] [ 9.53917628e-01 3.00057470e-01 -2.58352479e-03 1.03917508e+02] [ 2.69348915e-03 4.71530646e-05 9.99996371e-01 5.29920017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77401273899997 meters Centerline goodness : 0.997376 Centerline is valid? [True, True] Translation: X:177.00, Y:103.94, Z:0.53 [[ 2.99904730e-01 -9.53968852e-01 -7.62554714e-04 1.76995295e+02] [ 9.53965355e-01 2.99905696e-01 -2.58372155e-03 1.03941743e+02] [ 2.69348439e-03 4.74195370e-05 9.99996371e-01 5.31432837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80401273899997 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:177.00, Y:103.97, Z:0.53 [[ 3.00212769e-01 -9.53871958e-01 -7.61886778e-04 1.77000853e+02] [ 9.53868460e-01 3.00213731e-01 -2.58391850e-03 1.03966488e+02] [ 2.69345627e-03 4.89855585e-05 9.99996371e-01 5.32565808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83401273899997 meters Centerline goodness : 0.997775 Centerline is valid? [True, True] Translation: X:177.01, Y:103.99, Z:0.53 [[ 3.00420083e-01 -9.53806686e-01 -7.61213086e-04 1.77007067e+02] [ 9.53803187e-01 3.00421043e-01 -2.58411695e-03 1.03989908e+02] [ 2.69343245e-03 5.02731608e-05 9.99996371e-01 5.32048166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86401273899997 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:177.01, Y:104.01, Z:0.53 [[ 3.01889913e-01 -9.53342489e-01 -7.60513915e-04 1.77013583e+02] [ 9.53338988e-01 3.01890866e-01 -2.58432270e-03 1.04013932e+02] [ 2.69333684e-03 5.51533884e-05 9.99996371e-01 5.31688284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89401273899998 meters Centerline goodness : 0.997615 Centerline is valid? [True, True] Translation: X:177.02, Y:104.04, Z:0.53 [[ 3.01241395e-01 -9.53547614e-01 -7.54594885e-04 1.77019164e+02] [ 9.53544109e-01 3.01242334e-01 -2.58606238e-03 1.04038602e+02] [ 2.69324954e-03 5.94895317e-05 9.99996371e-01 5.31096654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92401273899998 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:177.02, Y:104.06, Z:0.53 [[ 2.99966934e-01 -9.53949298e-01 -7.59236978e-04 1.77023670e+02] [ 9.53945797e-01 2.99967890e-01 -2.58469880e-03 1.04064216e+02] [ 2.69341832e-03 5.10532488e-05 9.99996371e-01 5.34712497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95401273899998 meters Centerline goodness : 0.997096 Centerline is valid? [True, True] Translation: X:177.03, Y:104.09, Z:0.53 [[ 2.98818849e-01 -9.54309552e-01 -7.58573298e-04 1.77029501e+02] [ 9.54306052e-01 2.98819808e-01 -2.58489357e-03 1.04088625e+02] [ 2.69346535e-03 4.85038310e-05 9.99996371e-01 5.34898724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98401273899998 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:177.04, Y:104.11, Z:0.53 [[ 2.97661858e-01 -9.54671066e-01 -7.57907788e-04 1.77035141e+02] [ 9.54667567e-01 2.97662820e-01 -2.58508868e-03 1.04112063e+02] [ 2.69351034e-03 4.59323178e-05 9.99996371e-01 5.33612790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01401273899998 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:177.04, Y:104.14, Z:0.53 [[ 2.96302425e-01 -9.55093870e-01 -7.57214721e-04 1.77039775e+02] [ 9.55090371e-01 2.96303390e-01 -2.58529168e-03 1.04136825e+02] [ 2.69356152e-03 4.28197047e-05 9.99996371e-01 5.32176159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04401273899998 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:177.05, Y:104.16, Z:0.53 [[ 2.95893692e-01 -9.55220577e-01 -7.56552916e-04 1.77045031e+02] [ 9.55217079e-01 2.95894656e-01 -2.58548533e-03 1.04160435e+02] [ 2.69356876e-03 4.23565338e-05 9.99996371e-01 5.32364563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07401273899998 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:177.05, Y:104.19, Z:0.53 [[ 2.95065015e-01 -9.55476879e-01 -7.55864781e-04 1.77048734e+02] [ 9.55473381e-01 2.95065980e-01 -2.58568649e-03 1.04185417e+02] [ 2.69359364e-03 4.07369450e-05 9.99996371e-01 5.33120069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10401273899998 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:177.05, Y:104.21, Z:0.53 [[ 2.94543407e-01 -9.55637803e-01 -7.55210436e-04 1.77054050e+02] [ 9.55634306e-01 2.94544372e-01 -2.58587760e-03 1.04210581e+02] [ 2.69360537e-03 3.99481959e-05 9.99996371e-01 5.33290360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13401273899999 meters Centerline goodness : 0.997426 Centerline is valid? [True, True] Translation: X:177.06, Y:104.24, Z:0.53 [[ 2.94263650e-01 -9.55723985e-01 -7.54557516e-04 1.77058927e+02] [ 9.55720487e-01 2.94264615e-01 -2.58606810e-03 1.04235962e+02] [ 2.69360689e-03 3.98397638e-05 9.99996371e-01 5.34058859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.164012739 meters Centerline goodness : 0.992970 Centerline is valid? [True, True] Translation: X:177.06, Y:104.26, Z:0.55 [[ 2.94040364e-01 -9.55792706e-01 -7.53907076e-04 1.77063947e+02] [ 9.55789207e-01 2.94041328e-01 -2.58625771e-03 1.04261151e+02] [ 2.69360609e-03 3.98879118e-05 9.99996371e-01 5.47267205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.194012739 meters Centerline goodness : 0.997090 Centerline is valid? [True, True] Translation: X:177.07, Y:104.29, Z:0.54 [[ 2.94085084e-01 -9.55778947e-01 -7.53228123e-04 1.77068535e+02] [ 9.55775449e-01 2.94086045e-01 -2.58645543e-03 1.04285295e+02] [ 2.69359353e-03 4.07210156e-05 9.99996371e-01 5.36900394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.224012739 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:177.07, Y:104.31, Z:0.54 [[ 2.94605229e-01 -9.55618749e-01 -7.52522116e-04 1.77072488e+02] [ 9.55615249e-01 2.94606187e-01 -2.58666083e-03 1.04309939e+02] [ 2.69355926e-03 4.29221968e-05 9.99996371e-01 5.35112210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.254012739 meters Centerline goodness : 0.996965 Centerline is valid? [True, True] Translation: X:177.08, Y:104.33, Z:0.54 [[ 2.94169290e-01 -9.55753035e-01 -7.51948878e-04 1.77077659e+02] [ 9.55749535e-01 2.94170248e-01 -2.58682746e-03 1.04334966e+02] [ 2.69356918e-03 4.22904075e-05 9.99996371e-01 5.35029433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.284012739 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:177.08, Y:104.36, Z:0.54 [[ 2.93316319e-01 -9.56015153e-01 -7.51279801e-04 1.77083370e+02] [ 9.56011653e-01 2.93317278e-01 -2.58702176e-03 1.04359192e+02] [ 2.69359535e-03 4.05834564e-05 9.99996371e-01 5.35349309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.314012739 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:177.09, Y:104.38, Z:0.54 [[ 2.89783407e-01 -9.57091957e-01 -7.50615910e-04 1.77089400e+02] [ 9.57088460e-01 2.89784378e-01 -2.58721437e-03 1.04383708e+02] [ 2.69371883e-03 3.13259703e-05 9.99996371e-01 5.38681209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.344012739 meters Centerline goodness : 0.997007 Centerline is valid? [True, True] Translation: X:177.10, Y:104.41, Z:0.54 [[ 2.87177187e-01 -9.57877185e-01 -7.49962777e-04 1.77095467e+02] [ 9.57873690e-01 2.87178165e-01 -2.58740369e-03 1.04408942e+02] [ 2.69378789e-03 2.46736995e-05 9.99996371e-01 5.39223806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.374012739 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:177.10, Y:104.43, Z:0.54 [[ 2.82213991e-01 -9.59351188e-01 -7.49281390e-04 1.77101680e+02] [ 9.59347699e-01 2.82214985e-01 -2.58760099e-03 1.04432656e+02] [ 2.69387652e-03 1.14358246e-05 9.99996371e-01 5.35897169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40401273899997 meters Centerline goodness : 0.997032 Centerline is valid? [True, True] Translation: X:177.11, Y:104.46, Z:0.53 [[ 2.80611603e-01 -9.59821113e-01 -7.48571568e-04 1.77109592e+02] [ 9.59817624e-01 2.80612601e-01 -2.58780632e-03 1.04457148e+02] [ 2.69388976e-03 7.67629545e-06 9.99996371e-01 5.34506192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43401273899997 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:177.12, Y:104.48, Z:0.53 [[ 2.79883634e-01 -9.60033641e-01 -7.47884832e-04 1.77117556e+02] [ 9.60030153e-01 2.79884633e-01 -2.58800478e-03 1.04479827e+02] [ 2.69389312e-03 6.34819089e-06 9.99996371e-01 5.33988630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46401273899997 meters Centerline goodness : 0.997055 Centerline is valid? [True, True] Translation: X:177.13, Y:104.50, Z:0.54 [[ 2.80099706e-01 -9.59970623e-01 -7.47299218e-04 1.77125406e+02] [ 9.59967134e-01 2.80100703e-01 -2.58817386e-03 1.04502964e+02] [ 2.69388991e-03 7.56404983e-06 9.99996371e-01 5.35043620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49401273899997 meters Centerline goodness : 0.996778 Centerline is valid? [True, True] Translation: X:177.13, Y:104.53, Z:0.54 [[ 2.79879725e-01 -9.60034782e-01 -7.46593099e-04 1.77131437e+02] [ 9.60031293e-01 2.79880720e-01 -2.58837754e-03 1.04527536e+02] [ 2.69388948e-03 7.68165410e-06 9.99996371e-01 5.35785635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52401273899997 meters Centerline goodness : 0.997094 Centerline is valid? [True, True] Translation: X:177.14, Y:104.55, Z:0.54 [[ 2.79716961e-01 -9.60082218e-01 -7.45898757e-04 1.77137756e+02] [ 9.60078728e-01 2.79717956e-01 -2.58857761e-03 1.04551400e+02] [ 2.69388861e-03 7.94753370e-06 9.99996371e-01 5.36046694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55401273899997 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:177.15, Y:104.57, Z:0.54 [[ 2.78707311e-01 -9.60375801e-01 -7.45174290e-04 1.77145999e+02] [ 9.60372312e-01 2.78708307e-01 -2.58878615e-03 1.04574426e+02] [ 2.69389383e-03 5.86886982e-06 9.99996371e-01 5.36854108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58401273899997 meters Centerline goodness : 0.996735 Centerline is valid? [True, True] Translation: X:177.15, Y:104.60, Z:0.54 [[ 2.77920287e-01 -9.60603852e-01 -7.44479132e-04 1.77153959e+02] [ 9.60600363e-01 2.77921284e-01 -2.58898604e-03 1.04597602e+02] [ 2.69389656e-03 4.38482016e-06 9.99996371e-01 5.37055895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61401273899997 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:177.16, Y:104.62, Z:0.54 [[ 2.76241245e-01 -9.61088040e-01 -7.43915673e-04 1.77163136e+02] [ 9.61084553e-01 2.76242247e-01 -2.58914794e-03 1.04619914e+02] [ 2.69390005e-03 2.63588256e-07 9.99996371e-01 5.37562142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64401273899998 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:177.17, Y:104.64, Z:0.54 [[ 2.75608892e-01 -9.61269570e-01 -7.43234394e-04 1.77171098e+02] [ 9.61266083e-01 2.75609894e-01 -2.58934349e-03 1.04644601e+02] [ 2.69389985e-03 -7.99925820e-07 9.99996371e-01 5.38558212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67401273899998 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:177.18, Y:104.67, Z:0.54 [[ 2.75290108e-01 -9.61360913e-01 -7.42560509e-04 1.77178177e+02] [ 9.61357425e-01 2.75291110e-01 -2.58953673e-03 1.04669030e+02] [ 2.69389970e-03 -9.92212566e-07 9.99996371e-01 5.39181819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70401273899998 meters Centerline goodness : 0.996834 Centerline is valid? [True, True] Translation: X:177.19, Y:104.69, Z:0.54 [[ 2.75469719e-01 -9.61309463e-01 -7.41885486e-04 1.77185350e+02] [ 9.61305975e-01 2.75470718e-01 -2.58973010e-03 1.04693825e+02] [ 2.69389978e-03 2.13274158e-07 9.99996371e-01 5.38649697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73401273899998 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:177.19, Y:104.72, Z:0.55 [[ 2.75708645e-01 -9.61240966e-01 -7.41208708e-04 1.77193045e+02] [ 9.61237476e-01 2.75709641e-01 -2.58992379e-03 1.04716598e+02] [ 2.69389923e-03 1.58679020e-06 9.99996371e-01 5.48425118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76401273899998 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:177.20, Y:104.74, Z:0.54 [[ 2.75715866e-01 -9.61238895e-01 -7.40505440e-04 1.77199367e+02] [ 9.61235405e-01 2.75716861e-01 -2.59012485e-03 1.04741727e+02] [ 2.69389858e-03 2.33847133e-06 9.99996371e-01 5.37633504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79401273899998 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:177.21, Y:104.77, Z:0.54 [[ 2.76673521e-01 -9.60963691e-01 -7.39845789e-04 1.77208057e+02] [ 9.60960200e-01 2.76674510e-01 -2.59031326e-03 1.04765345e+02] [ 2.69389346e-03 5.70873219e-06 9.99996371e-01 5.36968217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82401273899998 meters Centerline goodness : 0.996882 Centerline is valid? [True, True] Translation: X:177.22, Y:104.79, Z:0.54 [[ 2.77177735e-01 -9.60818379e-01 -7.39163908e-04 1.77215636e+02] [ 9.60814887e-01 2.77178720e-01 -2.59050783e-03 1.04788158e+02] [ 2.69388804e-03 7.83140422e-06 9.99996371e-01 5.36938337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85401273899998 meters Centerline goodness : 0.996494 Centerline is valid? [True, True] Translation: X:177.22, Y:104.81, Z:0.54 [[ 2.77422254e-01 -9.60747806e-01 -7.38453289e-04 1.77223140e+02] [ 9.60744314e-01 2.77423237e-01 -2.59071038e-03 1.04811522e+02] [ 2.69388342e-03 9.25591515e-06 9.99996371e-01 5.37565019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88401273899999 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:177.23, Y:104.84, Z:0.54 [[ 2.77701432e-01 -9.60667149e-01 -7.37879678e-04 1.77231269e+02] [ 9.60663655e-01 2.77702412e-01 -2.59087374e-03 1.04835371e+02] [ 2.69387826e-03 1.06351597e-05 9.99996371e-01 5.38963575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.914012739 meters Centerline goodness : 0.997012 Centerline is valid? [True, True] Translation: X:177.24, Y:104.86, Z:0.54 [[ 2.77626685e-01 -9.60688753e-01 -7.37213484e-04 1.77239001e+02] [ 9.60685259e-01 2.77627663e-01 -2.59106329e-03 1.04859241e+02] [ 2.69387622e-03 1.11181848e-05 9.99996371e-01 5.38434621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.944012739 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:177.25, Y:104.88, Z:0.54 [[ 2.77621072e-01 -9.60690376e-01 -7.36542185e-04 1.77247254e+02] [ 9.60686881e-01 2.77622048e-01 -2.59125410e-03 1.04883022e+02] [ 2.69387323e-03 1.18003261e-05 9.99996371e-01 5.37817995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.974012739 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:177.26, Y:104.91, Z:0.54 [[ 2.77426052e-01 -9.60746712e-01 -7.35872775e-04 1.77258322e+02] [ 9.60743217e-01 2.77427027e-01 -2.59144419e-03 1.04906125e+02] [ 2.69387248e-03 1.19493527e-05 9.99996371e-01 5.39047581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.004012739 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:177.27, Y:104.93, Z:0.55 [[ 2.76113702e-01 -9.61124697e-01 -7.35206175e-04 1.77268433e+02] [ 9.61121203e-01 2.76114681e-01 -2.59163329e-03 1.04929286e+02] [ 2.69388398e-03 8.96321956e-06 9.99996371e-01 5.49764009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.034012739 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:177.28, Y:104.95, Z:0.55 [[ 2.73839942e-01 -9.61774998e-01 -7.34540380e-04 1.77281401e+02] [ 9.61771506e-01 2.73840927e-01 -2.59182198e-03 1.04950623e+02] [ 2.69389680e-03 3.28437400e-06 9.99996371e-01 5.48264645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.064012739 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:177.29, Y:104.97, Z:0.54 [[ 2.73053437e-01 -9.61998587e-01 -7.33847498e-04 1.77290700e+02] [ 9.61995095e-01 2.73054423e-01 -2.59201815e-03 1.04974993e+02] [ 2.69389811e-03 1.80177099e-06 9.99996371e-01 5.39006455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.094012739 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:177.30, Y:105.00, Z:0.54 [[ 2.72937841e-01 -9.62031391e-01 -7.33174135e-04 1.77300502e+02] [ 9.62027899e-01 2.72938826e-01 -2.59220860e-03 1.04997579e+02] [ 2.69389774e-03 2.17784751e-06 9.99996371e-01 5.39592015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.124012739 meters Centerline goodness : 0.996665 Centerline is valid? [True, True] Translation: X:177.31, Y:105.02, Z:0.54 [[ 2.75093196e-01 -9.61417286e-01 -7.32474313e-04 1.77313405e+02] [ 9.61413790e-01 2.75094171e-01 -2.59240634e-03 1.05020504e+02] [ 2.69388368e-03 8.94243907e-06 9.99996371e-01 5.39482427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15401273899997 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:177.32, Y:105.04, Z:0.55 [[ 2.76911882e-01 -9.60895038e-01 -7.31811610e-04 1.77323226e+02] [ 9.60891541e-01 2.76912849e-01 -2.59259340e-03 1.05042854e+02] [ 2.69385817e-03 1.47283316e-05 9.99996371e-01 5.46664280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18401273899997 meters Centerline goodness : 0.996969 Centerline is valid? [True, True] Translation: X:177.33, Y:105.07, Z:0.54 [[ 2.79015205e-01 -9.60286406e-01 -7.31246076e-04 1.77331086e+02] [ 9.60282906e-01 2.79016163e-01 -2.59275290e-03 1.05067091e+02] [ 2.69381483e-03 2.12143754e-05 9.99996371e-01 5.38998786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21401273899997 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:177.34, Y:105.09, Z:0.54 [[ 2.84027066e-01 -9.58815984e-01 -7.30602353e-04 1.77340070e+02] [ 9.58812479e-01 2.84028004e-01 -2.59293428e-03 1.05089980e+02] [ 2.69365836e-03 3.59528620e-05 9.99996371e-01 5.40046351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24401273899997 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:177.35, Y:105.11, Z:0.54 [[ 2.86329469e-01 -9.58130942e-01 -7.29897137e-04 1.77347709e+02] [ 9.58127434e-01 2.86330396e-01 -2.59313278e-03 1.05114520e+02] [ 2.69355249e-03 4.31558595e-05 9.99996371e-01 5.42039787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27401273899997 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:177.36, Y:105.14, Z:0.55 [[ 2.90491931e-01 -9.56877164e-01 -7.29245738e-04 1.77355054e+02] [ 9.56873651e-01 2.90492841e-01 -2.59331595e-03 1.05136799e+02] [ 2.69332548e-03 5.55413262e-05 9.99996371e-01 5.46709911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30401273899997 meters Centerline goodness : 0.996478 Centerline is valid? [True, True] Translation: X:177.36, Y:105.16, Z:0.55 [[ 2.92331205e-01 -9.56316859e-01 -7.28510143e-04 1.77360869e+02] [ 9.56313345e-01 2.92332107e-01 -2.59352258e-03 1.05161259e+02] [ 2.69319627e-03 6.14836101e-05 9.99996371e-01 5.47505209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33401273899997 meters Centerline goodness : 0.996790 Centerline is valid? [True, True] Translation: X:177.37, Y:105.19, Z:0.55 [[ 2.94133739e-01 -9.55763995e-01 -7.27809515e-04 1.77365648e+02] [ 9.55760478e-01 2.94134632e-01 -2.59371918e-03 1.05186753e+02] [ 2.69305739e-03 6.72887498e-05 9.99996371e-01 5.45708536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36401273899997 meters Centerline goodness : 0.996450 Centerline is valid? [True, True] Translation: X:177.37, Y:105.21, Z:0.54 [[ 2.97101826e-01 -9.54845525e-01 -7.27149534e-04 1.77367493e+02] [ 9.54842005e-01 2.97102706e-01 -2.59390419e-03 1.05211665e+02] [ 2.69281590e-03 7.63407532e-05 9.99996371e-01 5.41384693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39401273899998 meters Centerline goodness : 0.996905 Centerline is valid? [True, True] Translation: X:177.37, Y:105.24, Z:0.54 [[ 2.97501515e-01 -9.54721070e-01 -7.26465677e-04 1.77372210e+02] [ 9.54717549e-01 2.97502392e-01 -2.59409570e-03 1.05237291e+02] [ 2.69276310e-03 7.81778713e-05 9.99996371e-01 5.41396999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42401273899998 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:177.37, Y:105.26, Z:0.54 [[ 2.96357634e-01 -9.55076765e-01 -7.25810683e-04 1.77374903e+02] [ 9.55073244e-01 2.96358513e-01 -2.59427895e-03 1.05261978e+02] [ 2.69283572e-03 7.56320074e-05 9.99996371e-01 5.43015383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45401273899998 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:177.38, Y:105.29, Z:0.54 [[ 2.94374795e-01 -9.55689779e-01 -7.25130172e-04 1.77379867e+02] [ 9.55686260e-01 2.94375680e-01 -2.59446915e-03 1.05287455e+02] [ 2.69296833e-03 7.07493817e-05 9.99996371e-01 5.43426690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48401273899998 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:177.39, Y:105.31, Z:0.54 [[ 2.94135685e-01 -9.55763398e-01 -7.24481146e-04 1.77386523e+02] [ 9.55759879e-01 2.94136569e-01 -2.59465037e-03 1.05312552e+02] [ 2.69296825e-03 7.07492523e-05 9.99996371e-01 5.43496673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51401273899998 meters Centerline goodness : 0.996489 Centerline is valid? [True, True] Translation: X:177.39, Y:105.34, Z:0.54 [[ 2.91590887e-01 -9.56542854e-01 -7.23831952e-04 1.77391392e+02] [ 9.56539336e-01 2.91591778e-01 -2.59483146e-03 1.05337227e+02] [ 2.69313094e-03 6.42554718e-05 9.99996371e-01 5.43277544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54401273899998 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:177.40, Y:105.36, Z:0.55 [[ 2.86263290e-01 -9.58150722e-01 -7.23185764e-04 1.77395948e+02] [ 9.58147209e-01 2.86264199e-01 -2.59501154e-03 1.05362219e+02] [ 2.69343438e-03 4.99381214e-05 9.99996371e-01 5.51479080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57401273899998 meters Centerline goodness : 0.996457 Centerline is valid? [True, True] Translation: X:177.40, Y:105.39, Z:0.54 [[ 2.84116444e-01 -9.58789510e-01 -7.22514047e-04 1.77399043e+02] [ 9.58785999e-01 2.84117359e-01 -2.59519855e-03 1.05386310e+02] [ 2.69352793e-03 4.46022317e-05 9.99996371e-01 5.40957844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60401273899998 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:177.40, Y:105.41, Z:0.54 [[ 2.82274973e-01 -9.59333268e-01 -7.21812512e-04 1.77401283e+02] [ 9.59329758e-01 2.82275893e-01 -2.59539366e-03 1.05411929e+02] [ 2.69359775e-03 4.01584530e-05 9.99996371e-01 5.42211900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63401273899999 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:177.41, Y:105.44, Z:0.54 [[ 2.81868313e-01 -9.59452830e-01 -7.21133988e-04 1.77405403e+02] [ 9.59449320e-01 2.81869233e-01 -2.59558217e-03 1.05435756e+02] [ 2.69360415e-03 3.97208553e-05 9.99996371e-01 5.42947457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.664012739 meters Centerline goodness : 0.996695 Centerline is valid? [True, True] Translation: X:177.41, Y:105.46, Z:0.54 [[ 2.81597645e-01 -9.59532307e-01 -7.20426134e-04 1.77409838e+02] [ 9.59528796e-01 2.81598564e-01 -2.59577863e-03 1.05460280e+02] [ 2.69360442e-03 3.96955292e-05 9.99996371e-01 5.42865333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.694012739 meters Centerline goodness : 0.996386 Centerline is valid? [True, True] Translation: X:177.41, Y:105.49, Z:0.54 [[ 2.81453208e-01 -9.59574684e-01 -7.19727091e-04 1.77413109e+02] [ 9.59571173e-01 2.81454125e-01 -2.59597244e-03 1.05486255e+02] [ 2.69359959e-03 4.00154001e-05 9.99996371e-01 5.42595039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.724012739 meters Centerline goodness : 0.995865 Centerline is valid? [True, True] Translation: X:177.42, Y:105.51, Z:0.54 [[ 2.81547421e-01 -9.59547045e-01 -7.19054522e-04 1.77418276e+02] [ 9.59543534e-01 2.81548337e-01 -2.59615872e-03 1.05510980e+02] [ 2.69358503e-03 4.09776755e-05 9.99996371e-01 5.43399427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.754012739 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:177.42, Y:105.54, Z:0.55 [[ 2.80816903e-01 -9.59761091e-01 -7.18368239e-04 1.77421950e+02] [ 9.59757580e-01 2.80817819e-01 -2.59634860e-03 1.05535649e+02] [ 2.69360497e-03 3.96392095e-05 9.99996371e-01 5.45017174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.784012739 meters Centerline goodness : 0.996146 Centerline is valid? [True, True] Translation: X:177.43, Y:105.56, Z:0.55 [[ 2.79936219e-01 -9.60018332e-01 -7.17656163e-04 1.77426836e+02] [ 9.60014821e-01 2.79937137e-01 -2.59654541e-03 1.05559649e+02] [ 2.69362981e-03 3.79065527e-05 9.99996371e-01 5.46847515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.814012739 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:177.43, Y:105.58, Z:0.55 [[ 2.78845608e-01 -9.60335677e-01 -7.16957402e-04 1.77432931e+02] [ 9.60332167e-01 2.78846528e-01 -2.59673834e-03 1.05584654e+02] [ 2.69366155e-03 3.55718261e-05 9.99996371e-01 5.47659126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.844012739 meters Centerline goodness : 0.996112 Centerline is valid? [True, True] Translation: X:177.44, Y:105.61, Z:0.55 [[ 2.76037026e-01 -9.61146736e-01 -7.16293515e-04 1.77439410e+02] [ 9.61143228e-01 2.76037953e-01 -2.59692146e-03 1.05609345e+02] [ 2.69374678e-03 2.83858127e-05 9.99996371e-01 5.47395205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.874012739 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:177.44, Y:105.63, Z:0.55 [[ 2.74417779e-01 -9.61610301e-01 -7.15617049e-04 1.77444916e+02] [ 9.61606794e-01 2.74418711e-01 -2.59710785e-03 1.05633980e+02] [ 2.69378437e-03 2.45503538e-05 9.99996371e-01 5.47528034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90401273899997 meters Centerline goodness : 0.996553 Centerline is valid? [True, True] Translation: X:177.45, Y:105.66, Z:0.55 [[ 2.73095054e-01 -9.61986788e-01 -7.14942152e-04 1.77449257e+02] [ 9.61983282e-01 2.73095989e-01 -2.59729363e-03 1.05658524e+02] [ 2.69380999e-03 2.15456456e-05 9.99996371e-01 5.47111759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93401273899997 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:177.45, Y:105.68, Z:0.54 [[ 2.71574838e-01 -9.62417060e-01 -7.14366277e-04 1.77453251e+02] [ 9.62413555e-01 2.71575777e-01 -2.59745201e-03 1.05683145e+02] [ 2.69383670e-03 1.78868201e-05 9.99996371e-01 5.43314392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96401273899997 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:177.46, Y:105.71, Z:0.54 [[ 2.71412102e-01 -9.62462966e-01 -7.13801249e-04 1.77460220e+02] [ 9.62459461e-01 2.71413040e-01 -2.59760727e-03 1.05707800e+02] [ 2.69383577e-03 1.80172839e-05 9.99996371e-01 5.43641565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99401273899997 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:177.46, Y:105.73, Z:0.55 [[ 2.71483569e-01 -9.62442810e-01 -7.13138905e-04 1.77464801e+02] [ 9.62439305e-01 2.71484505e-01 -2.59778910e-03 1.05731943e+02] [ 2.69382960e-03 1.89041431e-05 9.99996371e-01 5.47932449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02401273899997 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:177.47, Y:105.76, Z:0.55 [[ 2.71266562e-01 -9.62503997e-01 -7.12449667e-04 1.77468916e+02] [ 9.62500491e-01 2.71267497e-01 -2.59797811e-03 1.05757172e+02] [ 2.69382875e-03 1.90114352e-05 9.99996371e-01 5.49641873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05401273899997 meters Centerline goodness : 0.995353 Centerline is valid? [True, True] Translation: X:177.47, Y:105.78, Z:0.55 [[ 2.71025405e-01 -9.62571931e-01 -7.11780453e-04 1.77473027e+02] [ 9.62568425e-01 2.71026339e-01 -2.59816144e-03 1.05781381e+02] [ 2.69382853e-03 1.90303680e-05 9.99996371e-01 5.50224434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08401273899997 meters Centerline goodness : 0.996203 Centerline is valid? [True, True] Translation: X:177.48, Y:105.81, Z:0.55 [[ 2.70537136e-01 -9.62709277e-01 -7.11085260e-04 1.77478665e+02] [ 9.62705771e-01 2.70538070e-01 -2.59835170e-03 1.05805868e+02] [ 2.69383292e-03 1.83847427e-05 9.99996371e-01 5.49146640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11401273899997 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:177.48, Y:105.83, Z:0.55 [[ 2.69950660e-01 -9.62873894e-01 -7.10412601e-04 1.77484403e+02] [ 9.62870388e-01 2.69951594e-01 -2.59853559e-03 1.05829204e+02] [ 2.69383910e-03 1.74411425e-05 9.99996371e-01 5.47346068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14401273899998 meters Centerline goodness : 0.995916 Centerline is valid? [True, True] Translation: X:177.49, Y:105.85, Z:0.55 [[ 2.69030778e-01 -9.63131319e-01 -7.09838335e-04 1.77490151e+02] [ 9.63127813e-01 2.69031714e-01 -2.59869245e-03 1.05853312e+02] [ 2.69385111e-03 1.54632083e-05 9.99996371e-01 5.47498572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17401273899998 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:177.50, Y:105.88, Z:0.55 [[ 2.65511335e-01 -9.64107478e-01 -7.09148992e-04 1.77496196e+02] [ 9.64103975e-01 2.65512282e-01 -2.59888055e-03 1.05876892e+02] [ 2.69388794e-03 6.33888337e-06 9.99996371e-01 5.47476049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20401273899998 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:177.50, Y:105.90, Z:0.55 [[ 2.63347539e-01 -9.64700768e-01 -7.08468131e-04 1.77503521e+02] [ 9.64697267e-01 2.63348492e-01 -2.59906615e-03 1.05901247e+02] [ 2.69389512e-03 1.00040480e-06 9.99996371e-01 5.46338392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23401273899998 meters Centerline goodness : 0.995755 Centerline is valid? [True, True] Translation: X:177.51, Y:105.93, Z:0.54 [[ 2.59967702e-01 -9.65617053e-01 -7.07817955e-04 1.77511863e+02] [ 9.65613555e-01 2.59968666e-01 -2.59924320e-03 1.05925590e+02] [ 2.69388405e-03 -7.75932994e-06 9.99996371e-01 5.44851279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26401273899998 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:177.52, Y:105.95, Z:0.55 [[ 2.59112288e-01 -9.65846945e-01 -7.07124995e-04 1.77518153e+02] [ 9.65843448e-01 2.59113253e-01 -2.59943171e-03 1.05949256e+02] [ 2.69387863e-03 -9.42734503e-06 9.99996371e-01 5.46774840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29401273899998 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:177.52, Y:105.97, Z:0.55 [[ 2.59260392e-01 -9.65807201e-01 -7.06539030e-04 1.77524384e+02] [ 9.65803703e-01 2.59261354e-01 -2.59959097e-03 1.05973897e+02] [ 2.69388194e-03 -8.40704004e-06 9.99996371e-01 5.48959022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32401273899998 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:177.53, Y:106.00, Z:0.55 [[ 2.61724344e-01 -9.65142409e-01 -7.05864574e-04 1.77531643e+02] [ 9.65138907e-01 2.61725296e-01 -2.59977409e-03 1.05998528e+02] [ 2.69389484e-03 -8.33196306e-07 9.99996371e-01 5.49558754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35401273899998 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:177.54, Y:106.02, Z:0.55 [[ 2.62837365e-01 -9.64839895e-01 -7.05192152e-04 1.77538024e+02] [ 9.64836392e-01 2.62838311e-01 -2.59995647e-03 1.06021812e+02] [ 2.69389324e-03 2.97065706e-06 9.99996371e-01 5.48813047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38401273899999 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:177.54, Y:106.05, Z:0.55 [[ 2.65099931e-01 -9.64220685e-01 -7.04616227e-04 1.77543393e+02] [ 9.64217180e-01 2.65100867e-01 -2.60011254e-03 1.06046036e+02] [ 2.69387667e-03 9.88658403e-06 9.99996371e-01 5.48628446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.414012739 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:177.55, Y:106.07, Z:0.55 [[ 2.65709447e-01 -9.64052900e-01 -7.03957329e-04 1.77548765e+02] [ 9.64049393e-01 2.65710379e-01 -2.60029092e-03 1.06069718e+02] [ 2.69386677e-03 1.22722256e-05 9.99996371e-01 5.49241919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.444012739 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:177.55, Y:106.09, Z:0.55 [[ 2.65765090e-01 -9.64037563e-01 -7.03270721e-04 1.77554993e+02] [ 9.64034055e-01 2.65766021e-01 -2.60047661e-03 1.06094818e+02] [ 2.69386259e-03 1.31389752e-05 9.99996371e-01 5.49081617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.474012739 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:177.56, Y:106.12, Z:0.55 [[ 2.65196668e-01 -9.64194085e-01 -7.02600994e-04 1.77561749e+02] [ 9.64190578e-01 2.65197598e-01 -2.60065754e-03 1.06119258e+02] [ 2.69386672e-03 1.22444554e-05 9.99996371e-01 5.47893478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.504012739 meters Centerline goodness : 0.995839 Centerline is valid? [True, True] Translation: X:177.57, Y:106.14, Z:0.55 [[ 2.64531530e-01 -9.64376782e-01 -7.01937362e-04 1.77567979e+02] [ 9.64373275e-01 2.64532461e-01 -2.60083665e-03 1.06143242e+02] [ 2.69387169e-03 1.10736649e-05 9.99996371e-01 5.46711577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.534012739 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:177.57, Y:106.17, Z:0.55 [[ 2.63759436e-01 -9.64588238e-01 -7.01247316e-04 1.77573952e+02] [ 9.64584731e-01 2.63760368e-01 -2.60102269e-03 1.06167088e+02] [ 2.69387714e-03 9.63182289e-06 9.99996371e-01 5.45655008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.564012739 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:177.58, Y:106.19, Z:0.55 [[ 2.62973502e-01 -9.64802802e-01 -7.00574996e-04 1.77580435e+02] [ 9.64799295e-01 2.62974435e-01 -2.60120376e-03 1.06191961e+02] [ 2.69388199e-03 8.13340039e-06 9.99996371e-01 5.45725168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.594012739 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:177.59, Y:106.22, Z:0.55 [[ 2.61753183e-01 -9.65134592e-01 -6.99898426e-04 1.77586789e+02] [ 9.65131086e-01 2.61754119e-01 -2.60138579e-03 1.06216926e+02] [ 2.69388871e-03 5.42728378e-06 9.99996371e-01 5.46456994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.624012739 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:177.59, Y:106.24, Z:0.55 [[ 2.59179866e-01 -9.65828819e-01 -6.99224851e-04 1.77593612e+02] [ 9.65825316e-01 2.59180809e-01 -2.60156683e-03 1.06239904e+02] [ 2.69389388e-03 -1.05532049e-06 9.99996371e-01 5.47377902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65401273899997 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:177.60, Y:106.26, Z:0.55 [[ 2.57611665e-01 -9.66248282e-01 -6.98524251e-04 1.77600235e+02] [ 9.66244779e-01 2.57612612e-01 -2.60175493e-03 1.06263213e+02] [ 2.69388989e-03 -4.70299132e-06 9.99996371e-01 5.47578069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68401273899997 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:177.61, Y:106.29, Z:0.55 [[ 2.56034510e-01 -9.66667390e-01 -6.97841186e-04 1.77608320e+02] [ 9.66663888e-01 2.56035461e-01 -2.60193813e-03 1.06287155e+02] [ 2.69388083e-03 -8.39192069e-06 9.99996371e-01 5.47007421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71401273899997 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:177.62, Y:106.31, Z:0.55 [[ 2.55504425e-01 -9.66807635e-01 -6.97193303e-04 1.77615236e+02] [ 9.66804133e-01 2.55505376e-01 -2.60211172e-03 1.06311292e+02] [ 2.69387811e-03 -9.19830932e-06 9.99996371e-01 5.46442977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74401273899997 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:177.62, Y:106.34, Z:0.55 [[ 2.55266203e-01 -9.66870560e-01 -6.96538509e-04 1.77621682e+02] [ 9.66867058e-01 2.55267153e-01 -2.60228698e-03 1.06335144e+02] [ 2.69387807e-03 -9.18422247e-06 9.99996371e-01 5.46765362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77401273899997 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:177.63, Y:106.36, Z:0.55 [[ 2.55912932e-01 -9.66699585e-01 -6.95857086e-04 1.77627437e+02] [ 9.66696082e-01 2.55913878e-01 -2.60246918e-03 1.06359036e+02] [ 2.69388536e-03 -6.67679991e-06 9.99996371e-01 5.47163108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80401273899997 meters Centerline goodness : 0.995369 Centerline is valid? [True, True] Translation: X:177.63, Y:106.38, Z:0.55 [[ 2.56136237e-01 -9.66640442e-01 -6.95182784e-04 1.77633507e+02] [ 9.66636939e-01 2.56137180e-01 -2.60264929e-03 1.06383428e+02] [ 2.69388822e-03 -5.35656321e-06 9.99996371e-01 5.46008417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83401273899997 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:177.64, Y:106.41, Z:0.54 [[ 2.54732961e-01 -9.67011187e-01 -6.94537200e-04 1.77639710e+02] [ 9.67007684e-01 2.54733908e-01 -2.60282156e-03 1.06407470e+02] [ 2.69387974e-03 -8.59836699e-06 9.99996371e-01 5.44511111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86401273899997 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:177.65, Y:106.43, Z:0.55 [[ 2.53632436e-01 -9.67300422e-01 -6.93865121e-04 1.77646211e+02] [ 9.67296919e-01 2.53633385e-01 -2.60300071e-03 1.06431933e+02] [ 2.69387105e-03 -1.09681814e-05 9.99996371e-01 5.45545243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89401273899998 meters Centerline goodness : 0.995401 Centerline is valid? [True, True] Translation: X:177.65, Y:106.46, Z:0.55 [[ 2.52306221e-01 -9.67647193e-01 -6.93223080e-04 1.77652630e+02] [ 9.67643692e-01 2.52307172e-01 -2.60317169e-03 1.06455429e+02] [ 2.69385693e-03 -1.39965311e-05 9.99996371e-01 5.46568876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92401273899998 meters Centerline goodness : 0.995036 Centerline is valid? [True, True] Translation: X:177.66, Y:106.48, Z:0.55 [[ 2.49885766e-01 -9.68275077e-01 -6.92526439e-04 1.77659581e+02] [ 9.68271577e-01 2.49886725e-01 -2.60335700e-03 1.06478102e+02] [ 2.69381887e-03 -2.00118069e-05 9.99996371e-01 5.45247516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95401273899998 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:177.67, Y:106.50, Z:0.55 [[ 2.48378197e-01 -9.68662889e-01 -6.91804274e-04 1.77666707e+02] [ 9.68659391e-01 2.48379159e-01 -2.60354889e-03 1.06502569e+02] [ 2.69379096e-03 -2.34579277e-05 9.99996371e-01 5.45253821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98401273899998 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:177.68, Y:106.53, Z:0.55 [[ 2.46113476e-01 -9.69240775e-01 -6.91128051e-04 1.77675976e+02] [ 9.69237278e-01 2.46114445e-01 -2.60372839e-03 1.06525512e+02] [ 2.69373632e-03 -2.90544266e-05 9.99996371e-01 5.46383444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01401273899998 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:177.68, Y:106.55, Z:0.55 [[ 2.45762928e-01 -9.69329720e-01 -6.90551288e-04 1.77683214e+02] [ 9.69326223e-01 2.45763896e-01 -2.60388135e-03 1.06547634e+02] [ 2.69373215e-03 -2.94319690e-05 9.99996371e-01 5.47955879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04401273899998 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:177.69, Y:106.57, Z:0.55 [[ 2.45876822e-01 -9.69300837e-01 -6.89912326e-04 1.77689972e+02] [ 9.69297339e-01 2.45877789e-01 -2.60405063e-03 1.06571482e+02] [ 2.69374257e-03 -2.84544873e-05 9.99996371e-01 5.49197454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07401273899998 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:177.70, Y:106.59, Z:0.55 [[ 2.48154941e-01 -9.68720109e-01 -6.89239826e-04 1.77696572e+02] [ 9.68716609e-01 2.48155897e-01 -2.60422862e-03 1.06593871e+02] [ 2.69380756e-03 -2.14258695e-05 9.99996371e-01 5.48843984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10401273899998 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:177.70, Y:106.62, Z:0.55 [[ 2.49329344e-01 -9.68418507e-01 -6.88540277e-04 1.77704104e+02] [ 9.68415005e-01 2.49330294e-01 -2.60441356e-03 1.06618604e+02] [ 2.69383624e-03 -1.74360113e-05 9.99996371e-01 5.47670166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13401273899999 meters Centerline goodness : 0.994728 Centerline is valid? [True, True] Translation: X:177.71, Y:106.64, Z:0.55 [[ 2.51618300e-01 -9.67826306e-01 -6.87842570e-04 1.77711753e+02] [ 9.67822801e-01 2.51619240e-01 -2.60459782e-03 1.06641864e+02] [ 2.69387271e-03 -1.03452476e-05 9.99996371e-01 5.47600089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.164012739 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:177.72, Y:106.67, Z:0.55 [[ 2.52379805e-01 -9.67628008e-01 -6.87114827e-04 1.77717806e+02] [ 9.67624502e-01 2.52380741e-01 -2.60478979e-03 1.06666376e+02] [ 2.69388210e-03 -7.47280342e-06 9.99996371e-01 5.48851699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.194012739 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:177.72, Y:106.69, Z:0.55 [[ 2.52683497e-01 -9.67548748e-01 -6.86426486e-04 1.77724549e+02] [ 9.67545241e-01 2.52684429e-01 -2.60497117e-03 1.06689846e+02] [ 2.69388588e-03 -5.91545496e-06 9.99996371e-01 5.48629959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.224012739 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:177.73, Y:106.71, Z:0.55 [[ 2.52254961e-01 -9.67660563e-01 -6.85708266e-04 1.77731932e+02] [ 9.67657056e-01 2.52255892e-01 -2.60516021e-03 1.06714127e+02] [ 2.69388475e-03 -6.36585592e-06 9.99996371e-01 5.49518177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.254012739 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:177.74, Y:106.74, Z:0.55 [[ 2.51470766e-01 -9.67864652e-01 -6.85039130e-04 1.77738437e+02] [ 9.67861146e-01 2.51471698e-01 -2.60533615e-03 1.06737257e+02] [ 2.69388072e-03 -7.85688004e-06 9.99996371e-01 5.50114664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.284012739 meters Centerline goodness : 0.995064 Centerline is valid? [True, True] Translation: X:177.74, Y:106.76, Z:0.55 [[ 2.50515743e-01 -9.68112284e-01 -6.84468967e-04 1.77744697e+02] [ 9.68108778e-01 2.50516678e-01 -2.60548594e-03 1.06760921e+02] [ 2.69387383e-03 -9.92516825e-06 9.99996371e-01 5.49832893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.314012739 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:177.75, Y:106.79, Z:0.55 [[ 2.49675361e-01 -9.68329358e-01 -6.83778297e-04 1.77751753e+02] [ 9.68325853e-01 2.49676297e-01 -2.60566718e-03 1.06785291e+02] [ 2.69386726e-03 -1.15493080e-05 9.99996371e-01 5.49066159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.344012739 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:177.76, Y:106.81, Z:0.55 [[ 2.49548319e-01 -9.68362107e-01 -6.83086688e-04 1.77758680e+02] [ 9.68358601e-01 2.49549253e-01 -2.60584848e-03 1.06808354e+02] [ 2.69386869e-03 -1.11877641e-05 9.99996371e-01 5.49036072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.374012739 meters Centerline goodness : 0.994843 Centerline is valid? [True, True] Translation: X:177.76, Y:106.83, Z:0.55 [[ 2.49298791e-01 -9.68426377e-01 -6.82365955e-04 1.77764954e+02] [ 9.68422870e-01 2.49299725e-01 -2.60603719e-03 1.06833546e+02] [ 2.69386880e-03 -1.11368755e-05 9.99996371e-01 5.49106060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40401273899997 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:177.77, Y:106.86, Z:0.55 [[ 2.49814193e-01 -9.68293553e-01 -6.81694406e-04 1.77772903e+02] [ 9.68290045e-01 2.49815123e-01 -2.60621285e-03 1.06856529e+02] [ 2.69387667e-03 -9.00894858e-06 9.99996371e-01 5.50037173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43401273899997 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:177.78, Y:106.88, Z:0.55 [[ 2.50564133e-01 -9.68099763e-01 -6.80996029e-04 1.77779625e+02] [ 9.68096255e-01 2.50565059e-01 -2.60639532e-03 1.06881210e+02] [ 2.69388450e-03 -6.20052116e-06 9.99996371e-01 5.50602337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46401273899997 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:177.79, Y:106.91, Z:0.55 [[ 2.51295636e-01 -9.67910141e-01 -6.80314550e-04 1.77785896e+02] [ 9.67906631e-01 2.51296557e-01 -2.60657318e-03 1.06905063e+02] [ 2.69388932e-03 -3.46049890e-06 9.99996371e-01 5.50468711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49401273899997 meters Centerline goodness : 0.995719 Centerline is valid? [True, True] Translation: X:177.79, Y:106.93, Z:0.55 [[ 2.52502322e-01 -9.67596050e-01 -6.79607263e-04 1.77792986e+02] [ 9.67592538e-01 2.52503236e-01 -2.60675758e-03 1.06929320e+02] [ 2.69389137e-03 6.29425032e-07 9.99996371e-01 5.49370939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52401273899997 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:177.80, Y:106.95, Z:0.55 [[ 2.52650821e-01 -9.67557286e-01 -6.78931690e-04 1.77800035e+02] [ 9.67553774e-01 2.52651733e-01 -2.60693352e-03 1.06953215e+02] [ 2.69389079e-03 1.74097470e-06 9.99996371e-01 5.49374848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55401273899997 meters Centerline goodness : 0.996040 Centerline is valid? [True, True] Translation: X:177.81, Y:106.98, Z:0.55 [[ 2.52278907e-01 -9.67654325e-01 -6.78229019e-04 1.77806754e+02] [ 9.67650813e-01 2.52279819e-01 -2.60711632e-03 1.06978206e+02] [ 2.69389088e-03 1.43159517e-06 9.99996371e-01 5.49535385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58401273899997 meters Centerline goodness : 0.995316 Centerline is valid? [True, True] Translation: X:177.81, Y:107.00, Z:0.55 [[ 2.51149337e-01 -9.67948114e-01 -6.77558912e-04 1.77814446e+02] [ 9.67944602e-01 2.51150251e-01 -2.60729046e-03 1.07001427e+02] [ 2.69389098e-03 -1.02022095e-06 9.99996371e-01 5.51309794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61401273899997 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:177.82, Y:107.03, Z:0.55 [[ 2.50293209e-01 -9.68169846e-01 -6.76859414e-04 1.77821681e+02] [ 9.68166335e-01 2.50294124e-01 -2.60747204e-03 1.07025203e+02] [ 2.69388974e-03 -2.67995452e-06 9.99996371e-01 5.52111264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64401273899998 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:177.83, Y:107.05, Z:0.55 [[ 2.48151970e-01 -9.68720880e-01 -6.76166047e-04 1.77829461e+02] [ 9.68717370e-01 2.48152891e-01 -2.60765183e-03 1.07048242e+02] [ 2.69387933e-03 -7.91985681e-06 9.99996371e-01 5.50339812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67401273899998 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:177.84, Y:107.07, Z:0.55 [[ 2.47211204e-01 -9.68961384e-01 -6.75477700e-04 1.77836369e+02] [ 9.68957875e-01 2.47212127e-01 -2.60783013e-03 1.07073086e+02] [ 2.69387297e-03 -9.82461113e-06 9.99996371e-01 5.49415787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70401273899998 meters Centerline goodness : 0.995496 Centerline is valid? [True, True] Translation: X:177.84, Y:107.10, Z:0.55 [[ 2.46651395e-01 -9.69104037e-01 -6.74820520e-04 1.77843481e+02] [ 9.69100528e-01 2.46652318e-01 -2.60800017e-03 1.07097800e+02] [ 2.69386954e-03 -1.07020424e-05 9.99996371e-01 5.49494384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73401273899998 meters Centerline goodness : 0.994969 Centerline is valid? [True, True] Translation: X:177.85, Y:107.12, Z:0.55 [[ 2.46804464e-01 -9.69065066e-01 -6.74163871e-04 1.77850651e+02] [ 9.69061556e-01 2.46805385e-01 -2.60816990e-03 1.07122393e+02] [ 2.69387361e-03 -9.59831440e-06 9.99996371e-01 5.52655522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76401273899998 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:177.86, Y:107.15, Z:0.55 [[ 2.46534372e-01 -9.69133814e-01 -6.73501768e-04 1.77856454e+02] [ 9.69130304e-01 2.46535292e-01 -2.60834086e-03 1.07145722e+02] [ 2.69387329e-03 -9.66529662e-06 9.99996371e-01 5.53887673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79401273899998 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:177.86, Y:107.17, Z:0.55 [[ 2.45773898e-01 -9.69326951e-01 -6.72814711e-04 1.77862394e+02] [ 9.69323442e-01 2.45774818e-01 -2.60851808e-03 1.07168328e+02] [ 2.69386779e-03 -1.10694167e-05 9.99996371e-01 5.54426716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82401273899998 meters Centerline goodness : 0.995058 Centerline is valid? [True, True] Translation: X:177.87, Y:107.19, Z:0.55 [[ 2.45210338e-01 -9.69469669e-01 -6.72073026e-04 1.77868553e+02] [ 9.69466159e-01 2.45211259e-01 -2.60870915e-03 1.07192191e+02] [ 2.69386427e-03 -1.18696010e-05 9.99996371e-01 5.54831066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85401273899998 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:177.87, Y:107.22, Z:0.56 [[ 2.44957687e-01 -9.69533538e-01 -6.71375692e-04 1.77874818e+02] [ 9.69530028e-01 2.44958607e-01 -2.60888861e-03 1.07216387e+02] [ 2.69386426e-03 -1.18515741e-05 9.99996371e-01 5.55741276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88401273899999 meters Centerline goodness : 0.994926 Centerline is valid? [True, True] Translation: X:177.88, Y:107.24, Z:0.56 [[ 2.45612204e-01 -9.69367936e-01 -6.70669840e-04 1.77880402e+02] [ 9.69364425e-01 2.45613120e-01 -2.60907005e-03 1.07239962e+02] [ 2.69387416e-03 -9.30403752e-06 9.99996371e-01 5.56463910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.914012739 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:177.89, Y:107.26, Z:0.56 [[ 2.46393681e-01 -9.69169596e-01 -6.69963939e-04 1.77885466e+02] [ 9.69166083e-01 2.46394592e-01 -2.60925130e-03 1.07263863e+02] [ 2.69388252e-03 -6.40329400e-06 9.99996371e-01 5.56357609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.944012739 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:177.89, Y:107.29, Z:0.55 [[ 2.47081540e-01 -9.68994461e-01 -6.69257244e-04 1.77890094e+02] [ 9.68990947e-01 2.47082446e-01 -2.60943255e-03 1.07288521e+02] [ 2.69388740e-03 -3.76159715e-06 9.99996371e-01 5.54628515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.974012739 meters Centerline goodness : 0.994655 Centerline is valid? [True, True] Translation: X:177.89, Y:107.31, Z:0.55 [[ 2.48492715e-01 -9.68633534e-01 -6.68551443e-04 1.77892707e+02] [ 9.68630019e-01 2.48493614e-01 -2.60961337e-03 1.07312224e+02] [ 2.69388978e-03 8.90912813e-07 9.99996371e-01 5.50322961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.004012739 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:177.90, Y:107.34, Z:0.55 [[ 2.48687393e-01 -9.68583571e-01 -6.67817735e-04 1.77896963e+02] [ 9.68580055e-01 2.48688289e-01 -2.60980112e-03 1.07335777e+02] [ 2.69388894e-03 2.18969579e-06 9.99996371e-01 5.49047451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.034012739 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:177.90, Y:107.36, Z:0.55 [[ 2.48155098e-01 -9.68720085e-01 -6.67162004e-04 1.77900008e+02] [ 9.68716569e-01 2.48155995e-01 -2.60996873e-03 1.07360833e+02] [ 2.69388938e-03 1.38616033e-06 9.99996371e-01 5.51785073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.064012739 meters Centerline goodness : 0.993851 Centerline is valid? [True, True] Translation: X:177.90, Y:107.38, Z:0.55 [[ 2.46983352e-01 -9.69019494e-01 -6.66483983e-04 1.77904167e+02] [ 9.69015979e-01 2.46984251e-01 -2.61014186e-03 1.07384537e+02] [ 2.69388939e-03 -1.17204174e-06 9.99996371e-01 5.53750525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.094012739 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:177.91, Y:107.41, Z:0.55 [[ 2.44373666e-01 -9.69680910e-01 -6.65777002e-04 1.77907978e+02] [ 9.69677397e-01 2.44374573e-01 -2.61032218e-03 1.07408703e+02] [ 2.69387856e-03 -7.69490898e-06 9.99996371e-01 5.54822903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.124012739 meters Centerline goodness : 0.994316 Centerline is valid? [True, True] Translation: X:177.91, Y:107.43, Z:0.55 [[ 2.42350768e-01 -9.70188468e-01 -6.65075191e-04 1.77912611e+02] [ 9.70184956e-01 2.42351680e-01 -2.61050098e-03 1.07432149e+02] [ 2.69386004e-03 -1.25890264e-05 9.99996371e-01 5.53691644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15401273899997 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:177.92, Y:107.46, Z:0.55 [[ 2.40144010e-01 -9.70737046e-01 -6.64349536e-04 1.77917677e+02] [ 9.70733536e-01 2.40144928e-01 -2.61068564e-03 1.07456493e+02] [ 2.69382944e-03 -1.79658550e-05 9.99996371e-01 5.52841646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18401273899997 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:177.92, Y:107.48, Z:0.55 [[ 2.35914668e-01 -9.71773548e-01 -6.63670678e-04 1.77923860e+02] [ 9.71770041e-01 2.35915600e-01 -2.61085820e-03 1.07481598e+02] [ 2.69373321e-03 -2.89955362e-05 9.99996371e-01 5.50163524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21401273899997 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:177.93, Y:107.51, Z:0.55 [[ 2.33338175e-01 -9.72395422e-01 -6.63010096e-04 1.77930449e+02] [ 9.72391917e-01 2.33339114e-01 -2.61102594e-03 1.07505619e+02] [ 2.69365586e-03 -3.54536295e-05 9.99996371e-01 5.49003735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24401273899997 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:177.94, Y:107.53, Z:0.55 [[ 2.29039746e-01 -9.73416846e-01 -6.62323534e-04 1.77938887e+02] [ 9.73413345e-01 2.29040699e-01 -2.61120009e-03 1.07527464e+02] [ 2.69348520e-03 -4.66459609e-05 9.99996371e-01 5.49083004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27401273899997 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:177.95, Y:107.55, Z:0.55 [[ 2.27175310e-01 -9.73853655e-01 -6.61625112e-04 1.77945932e+02] [ 9.73850155e-01 2.27176268e-01 -2.61137704e-03 1.07551800e+02] [ 2.69340460e-03 -5.10833277e-05 9.99996371e-01 5.51371203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30401273899997 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:177.95, Y:107.58, Z:0.55 [[ 2.25838261e-01 -9.74164587e-01 -6.60960642e-04 1.77951975e+02] [ 9.74161088e-01 2.25839222e-01 -2.61154521e-03 1.07575812e+02] [ 2.69334570e-03 -5.40953082e-05 9.99996371e-01 5.54121199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33401273899997 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:177.96, Y:107.60, Z:0.56 [[ 2.25121997e-01 -9.74330360e-01 -6.60268233e-04 1.77958571e+02] [ 9.74326861e-01 2.25122958e-01 -2.61172026e-03 1.07600258e+02] [ 2.69331988e-03 -5.53613954e-05 9.99996371e-01 5.56938128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36401273899997 meters Centerline goodness : 0.993335 Centerline is valid? [True, True] Translation: X:177.97, Y:107.62, Z:0.56 [[ 2.25064131e-01 -9.74343729e-01 -6.59600005e-04 1.77965449e+02] [ 9.74340229e-01 2.25065091e-01 -2.61188902e-03 1.07623617e+02] [ 2.69333062e-03 -5.48322882e-05 9.99996371e-01 5.57102248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39401273899998 meters Centerline goodness : 0.992707 Centerline is valid? [True, True] Translation: X:177.97, Y:107.65, Z:0.56 [[ 2.25411498e-01 -9.74263426e-01 -6.58903963e-04 1.77974088e+02] [ 9.74259926e-01 2.25412455e-01 -2.61206459e-03 1.07646465e+02] [ 2.69336416e-03 -5.31543333e-05 9.99996371e-01 5.56084875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42401273899998 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:177.98, Y:107.67, Z:0.56 [[ 2.25320767e-01 -9.74284414e-01 -6.58327356e-04 1.77979961e+02] [ 9.74280913e-01 2.25321722e-01 -2.61220991e-03 1.07668881e+02] [ 2.69337085e-03 -5.28106378e-05 9.99996371e-01 5.55108774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45401273899998 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:177.99, Y:107.69, Z:0.55 [[ 2.24869272e-01 -9.74388720e-01 -6.57659512e-04 1.77986018e+02] [ 9.74385220e-01 2.24870227e-01 -2.61237804e-03 1.07693626e+02] [ 2.69335974e-03 -5.33701603e-05 9.99996371e-01 5.54388921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48401273899998 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:177.99, Y:107.72, Z:0.55 [[ 2.24059920e-01 -9.74575149e-01 -6.57003607e-04 1.77994167e+02] [ 9.74571649e-01 2.24060876e-01 -2.61254299e-03 1.07717379e+02] [ 2.69332827e-03 -5.49309171e-05 9.99996371e-01 5.54626132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51401273899998 meters Centerline goodness : 0.988451 Centerline is valid? [True, True] Translation: X:178.00, Y:107.74, Z:0.57 [[ 2.23500203e-01 -9.74703662e-01 -6.56350188e-04 1.78001746e+02] [ 9.74700162e-01 2.23501160e-01 -2.61270713e-03 1.07741356e+02] [ 2.69331024e-03 -5.58040593e-05 9.99996372e-01 5.65899607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54401273899998 meters Centerline goodness : 0.992548 Centerline is valid? [True, True] Translation: X:178.01, Y:107.77, Z:0.55 [[ 2.23857088e-01 -9.74621760e-01 -6.55672332e-04 1.78008302e+02] [ 9.74618259e-01 2.23858042e-01 -2.61287723e-03 1.07765343e+02] [ 2.69334453e-03 -5.41191378e-05 9.99996372e-01 5.54948986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57401273899998 meters Centerline goodness : 0.992939 Centerline is valid? [True, True] Translation: X:178.01, Y:107.79, Z:0.55 [[ 2.23854119e-01 -9.74622442e-01 -6.55095172e-04 1.78014105e+02] [ 9.74618941e-01 2.23855071e-01 -2.61302193e-03 1.07789694e+02] [ 2.69335619e-03 -5.35324420e-05 9.99996372e-01 5.53393772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60401273899998 meters Centerline goodness : 0.992780 Centerline is valid? [True, True] Translation: X:178.02, Y:107.81, Z:0.55 [[ 2.23265808e-01 -9.74757381e-01 -6.54438658e-04 1.78020046e+02] [ 9.74753879e-01 2.23266760e-01 -2.61318635e-03 1.07814064e+02] [ 2.69333708e-03 -5.44814603e-05 9.99996372e-01 5.52424121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63401273899999 meters Centerline goodness : 0.993046 Centerline is valid? [True, True] Translation: X:178.03, Y:107.84, Z:0.55 [[ 2.22773975e-01 -9.74869904e-01 -6.53766863e-04 1.78027442e+02] [ 9.74866402e-01 2.22774927e-01 -2.61335441e-03 1.07837608e+02] [ 2.69332342e-03 -5.51480014e-05 9.99996372e-01 5.51614558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.664012739 meters Centerline goodness : 0.992796 Centerline is valid? [True, True] Translation: X:178.03, Y:107.86, Z:0.55 [[ 2.22594695e-01 -9.74910855e-01 -6.53191483e-04 1.78034374e+02] [ 9.74907354e-01 2.22595646e-01 -2.61349821e-03 1.07862325e+02] [ 2.69332535e-03 -5.50503443e-05 9.99996372e-01 5.53001492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.694012739 meters Centerline goodness : 0.992752 Centerline is valid? [True, True] Translation: X:178.04, Y:107.89, Z:0.56 [[ 2.22337070e-01 -9.74969641e-01 -6.52537257e-04 1.78040853e+02] [ 9.74966139e-01 2.22338021e-01 -2.61366155e-03 1.07886922e+02] [ 2.69332450e-03 -5.50878786e-05 9.99996372e-01 5.55705272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.724012739 meters Centerline goodness : 0.993112 Centerline is valid? [True, True] Translation: X:178.05, Y:107.91, Z:0.56 [[ 2.22070489e-01 -9.75030396e-01 -6.51859021e-04 1.78047471e+02] [ 9.75026894e-01 2.22071439e-01 -2.61383069e-03 1.07911882e+02] [ 2.69332364e-03 -5.51254173e-05 9.99996372e-01 5.58898257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.754012739 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:178.05, Y:107.94, Z:0.56 [[ 2.22351975e-01 -9.74966243e-01 -6.51166164e-04 1.78053664e+02] [ 9.74962740e-01 2.22352922e-01 -2.61400329e-03 1.07935932e+02] [ 2.69335366e-03 -5.36339555e-05 9.99996372e-01 5.58872972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.784012739 meters Centerline goodness : 0.993130 Centerline is valid? [True, True] Translation: X:178.06, Y:107.96, Z:0.56 [[ 2.23870124e-01 -9.74618769e-01 -6.50448598e-04 1.78060640e+02] [ 9.74615264e-01 2.23871063e-01 -2.61418183e-03 1.07958621e+02] [ 2.69344729e-03 -4.86999227e-05 9.99996372e-01 5.57611276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.814012739 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:178.07, Y:107.98, Z:0.56 [[ 2.24747220e-01 -9.74416885e-01 -6.49712687e-04 1.78066356e+02] [ 9.74413378e-01 2.24748155e-01 -2.61436471e-03 1.07982630e+02] [ 2.69350285e-03 -4.55175315e-05 9.99996372e-01 5.56438426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.844012739 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:178.07, Y:108.01, Z:0.56 [[ 2.25546794e-01 -9.74232119e-01 -6.49011395e-04 1.78072254e+02] [ 9.74228612e-01 2.25547724e-01 -2.61453880e-03 1.08007192e+02] [ 2.69355072e-03 -4.25846267e-05 9.99996372e-01 5.55253321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.874012739 meters Centerline goodness : 0.993114 Centerline is valid? [True, True] Translation: X:178.08, Y:108.03, Z:0.55 [[ 2.28211902e-01 -9.73611271e-01 -6.48337447e-04 1.78078478e+02] [ 9.73607761e-01 2.28212820e-01 -2.61470591e-03 1.08032106e+02] [ 2.69366606e-03 -3.45193629e-05 9.99996372e-01 5.54209035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90401273899997 meters Centerline goodness : 0.992542 Centerline is valid? [True, True] Translation: X:178.08, Y:108.06, Z:0.55 [[ 2.29715423e-01 -9.73257625e-01 -6.47665392e-04 1.78083635e+02] [ 9.73254113e-01 2.29716334e-01 -2.61487237e-03 1.08056579e+02] [ 2.69372379e-03 -2.96664952e-05 9.99996372e-01 5.54645536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93401273899997 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:178.09, Y:108.08, Z:0.55 [[ 2.31073059e-01 -9.72936186e-01 -6.46991830e-04 1.78088296e+02] [ 9.72932672e-01 2.31073963e-01 -2.61503901e-03 1.08081975e+02] [ 2.69376905e-03 -2.52144263e-05 9.99996372e-01 5.54568888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96401273899997 meters Centerline goodness : 0.992925 Centerline is valid? [True, True] Translation: X:178.09, Y:108.11, Z:0.55 [[ 2.32925407e-01 -9.72494389e-01 -6.46314591e-04 1.78091276e+02] [ 9.72490873e-01 2.32926303e-01 -2.61520638e-03 1.08107040e+02] [ 2.69381720e-03 -1.93870284e-05 9.99996372e-01 5.52099636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99401273899997 meters Centerline goodness : 0.992288 Centerline is valid? [True, True] Translation: X:178.10, Y:108.13, Z:0.55 [[ 2.33371280e-01 -9.72387489e-01 -6.45634730e-04 1.78096606e+02] [ 9.72383972e-01 2.33372172e-01 -2.61537422e-03 1.08130811e+02] [ 2.69383035e-03 -1.74516348e-05 9.99996372e-01 5.50321935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02401273899997 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:178.10, Y:108.16, Z:0.55 [[ 2.33192424e-01 -9.72430397e-01 -6.44928661e-04 1.78101553e+02] [ 9.72426880e-01 2.33193315e-01 -2.61554831e-03 1.08155568e+02] [ 2.69383174e-03 -1.72199155e-05 9.99996372e-01 5.49353998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05401273899997 meters Centerline goodness : 0.992796 Centerline is valid? [True, True] Translation: X:178.11, Y:108.18, Z:0.55 [[ 2.32825021e-01 -9.72518429e-01 -6.44247133e-04 1.78106087e+02] [ 9.72514911e-01 2.32825911e-01 -2.61571617e-03 1.08179947e+02] [ 2.69382961e-03 -1.75357713e-05 9.99996372e-01 5.49788090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08401273899997 meters Centerline goodness : 0.993130 Centerline is valid? [True, True] Translation: X:178.11, Y:108.20, Z:0.55 [[ 2.32160372e-01 -9.72677309e-01 -6.43537152e-04 1.78110598e+02] [ 9.72673792e-01 2.32161264e-01 -2.61589084e-03 1.08204678e+02] [ 2.69382206e-03 -1.86455309e-05 9.99996372e-01 5.51295638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11401273899997 meters Centerline goodness : 0.992145 Centerline is valid? [True, True] Translation: X:178.11, Y:108.23, Z:0.55 [[ 2.31227994e-01 -9.72899379e-01 -6.42863328e-04 1.78114313e+02] [ 9.72895862e-01 2.31228887e-01 -2.61605642e-03 1.08229035e+02] [ 2.69380824e-03 -2.05335929e-05 9.99996372e-01 5.53744594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14401273899998 meters Centerline goodness : 0.992881 Centerline is valid? [True, True] Translation: X:178.12, Y:108.25, Z:0.55 [[ 2.30757209e-01 -9.73011150e-01 -6.42163078e-04 1.78119089e+02] [ 9.73007633e-01 2.30758101e-01 -2.61622830e-03 1.08252854e+02] [ 2.69380364e-03 -2.11160368e-05 9.99996372e-01 5.52627739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17401273899998 meters Centerline goodness : 0.993106 Centerline is valid? [True, True] Translation: X:178.12, Y:108.28, Z:0.55 [[ 2.30517044e-01 -9.73068076e-01 -6.41453746e-04 1.78124228e+02] [ 9.73064559e-01 2.30517935e-01 -2.61640220e-03 1.08278059e+02] [ 2.69380405e-03 -2.10506047e-05 9.99996372e-01 5.51125152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20401273899998 meters Centerline goodness : 0.993019 Centerline is valid? [True, True] Translation: X:178.13, Y:108.30, Z:0.55 [[ 2.30075029e-01 -9.73172683e-01 -6.40794206e-04 1.78129345e+02] [ 9.73169165e-01 2.30075920e-01 -2.61656372e-03 1.08303221e+02] [ 2.69379966e-03 -2.15951886e-05 9.99996372e-01 5.50414877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23401273899998 meters Centerline goodness : 0.992798 Centerline is valid? [True, True] Translation: X:178.13, Y:108.33, Z:0.55 [[ 2.29698296e-01 -9.73261673e-01 -6.40135979e-04 1.78134868e+02] [ 9.73258155e-01 2.29699187e-01 -2.61672475e-03 1.08327706e+02] [ 2.69379662e-03 -2.19603473e-05 9.99996372e-01 5.51456882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26401273899998 meters Centerline goodness : 0.992785 Centerline is valid? [True, True] Translation: X:178.14, Y:108.35, Z:0.55 [[ 2.29341596e-01 -9.73345788e-01 -6.39418807e-04 1.78138905e+02] [ 9.73342271e-01 2.29342486e-01 -2.61689998e-03 1.08352159e+02] [ 2.69379448e-03 -2.22093358e-05 9.99996372e-01 5.53200381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29401273899998 meters Centerline goodness : 0.992785 Centerline is valid? [True, True] Translation: X:178.14, Y:108.38, Z:0.55 [[ 2.29076331e-01 -9.73408253e-01 -6.38701587e-04 1.78144507e+02] [ 9.73404735e-01 2.29077220e-01 -2.61707502e-03 1.08376657e+02] [ 2.69379441e-03 -2.22052045e-05 9.99996372e-01 5.53268116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32401273899998 meters Centerline goodness : 0.993525 Centerline is valid? [True, True] Translation: X:178.15, Y:108.40, Z:0.55 [[ 2.29104619e-01 -9.73401596e-01 -6.37988332e-04 1.78148696e+02] [ 9.73398077e-01 2.29105506e-01 -2.61724889e-03 1.08399948e+02] [ 2.69380088e-03 -2.13928075e-05 9.99996372e-01 5.53165419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35401273899998 meters Centerline goodness : 0.992857 Centerline is valid? [True, True] Translation: X:178.15, Y:108.43, Z:0.55 [[ 2.29228295e-01 -9.73372479e-01 -6.37249160e-04 1.78154236e+02] [ 9.73368960e-01 2.29229180e-01 -2.61742885e-03 1.08425120e+02] [ 2.69380931e-03 -2.02897992e-05 9.99996372e-01 5.53347552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38401273899999 meters Centerline goodness : 0.993130 Centerline is valid? [True, True] Translation: X:178.16, Y:108.45, Z:0.56 [[ 2.29336755e-01 -9.73346931e-01 -6.36555072e-04 1.78158655e+02] [ 9.73343411e-01 2.29337638e-01 -2.61759764e-03 1.08449575e+02] [ 2.69381666e-03 -1.92753363e-05 9.99996372e-01 5.55428125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.414012739 meters Centerline goodness : 0.992853 Centerline is valid? [True, True] Translation: X:178.16, Y:108.47, Z:0.56 [[ 2.28876600e-01 -9.73455237e-01 -6.35832861e-04 1.78163258e+02] [ 9.73451717e-01 2.28877482e-01 -2.61777306e-03 1.08474344e+02] [ 2.69381272e-03 -1.98055932e-05 9.99996372e-01 5.55935237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.444012739 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:178.17, Y:108.50, Z:0.56 [[ 2.27627160e-01 -9.73748157e-01 -6.35152119e-04 1.78167402e+02] [ 9.73744638e-01 2.27628045e-01 -2.61793822e-03 1.08498056e+02] [ 2.69379095e-03 -2.25621298e-05 9.99996372e-01 5.55040217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.474012739 meters Centerline goodness : 0.992715 Centerline is valid? [True, True] Translation: X:178.17, Y:108.52, Z:0.55 [[ 2.26725927e-01 -9.73958393e-01 -6.34445219e-04 1.78173113e+02] [ 9.73954875e-01 2.26726813e-01 -2.61810952e-03 1.08521879e+02] [ 2.69377548e-03 -2.43277069e-05 9.99996372e-01 5.54154420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.504012739 meters Centerline goodness : 0.993090 Centerline is valid? [True, True] Translation: X:178.18, Y:108.55, Z:0.55 [[ 2.26151304e-01 -9.74091980e-01 -6.33742822e-04 1.78178766e+02] [ 9.74088462e-01 2.26152191e-01 -2.61827953e-03 1.08545989e+02] [ 2.69376742e-03 -2.51942391e-05 9.99996372e-01 5.53844364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.534012739 meters Centerline goodness : 0.992737 Centerline is valid? [True, True] Translation: X:178.18, Y:108.57, Z:0.56 [[ 2.27447484e-01 -9.73790142e-01 -6.33051469e-04 1.78184061e+02] [ 9.73786622e-01 2.27448364e-01 -2.61844668e-03 1.08571179e+02] [ 2.69380408e-03 -2.08979436e-05 9.99996372e-01 5.56303494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.564012739 meters Centerline goodness : 0.992377 Centerline is valid? [True, True] Translation: X:178.19, Y:108.60, Z:0.56 [[ 2.29976966e-01 -9.73195867e-01 -6.32389424e-04 1.78189309e+02] [ 9.73192344e-01 2.29977835e-01 -2.61860656e-03 1.08595497e+02] [ 2.69385263e-03 -1.32173550e-05 9.99996372e-01 5.58482584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.594012739 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:178.19, Y:108.62, Z:0.56 [[ 2.31147611e-01 -9.72918487e-01 -6.31702406e-04 1.78194458e+02] [ 9.72914963e-01 2.31148474e-01 -2.61877228e-03 1.08619367e+02] [ 2.69386901e-03 -9.26976551e-06 9.99996372e-01 5.58021030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.624012739 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:178.20, Y:108.64, Z:0.56 [[ 2.32278452e-01 -9.72649126e-01 -6.30989586e-04 1.78199210e+02] [ 9.72645600e-01 2.32279309e-01 -2.61894402e-03 1.08644199e+02] [ 2.69387944e-03 -5.40498154e-06 9.99996372e-01 5.56868520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65401273899997 meters Centerline goodness : 0.991811 Centerline is valid? [True, True] Translation: X:178.20, Y:108.67, Z:0.56 [[ 2.34368559e-01 -9.72147613e-01 -6.30322013e-04 1.78203224e+02] [ 9.72144085e-01 2.34369406e-01 -2.61910468e-03 1.08669318e+02] [ 2.69388456e-03 1.07197403e-06 9.99996372e-01 5.57385433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68401273899997 meters Centerline goodness : 0.991454 Centerline is valid? [True, True] Translation: X:178.21, Y:108.69, Z:0.56 [[ 2.35344958e-01 -9.71911701e-01 -6.29656882e-04 1.78208500e+02] [ 9.71908172e-01 2.35345800e-01 -2.61926458e-03 1.08692908e+02] [ 2.69388099e-03 4.46204252e-06 9.99996372e-01 5.58164928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71401273899997 meters Centerline goodness : 0.991743 Centerline is valid? [True, True] Translation: X:178.21, Y:108.72, Z:0.56 [[ 2.36404861e-01 -9.71654438e-01 -6.28964054e-04 1.78213396e+02] [ 9.71650907e-01 2.36405698e-01 -2.61943094e-03 1.08717760e+02] [ 2.69387238e-03 8.11271302e-06 9.99996372e-01 5.56950962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74401273899997 meters Centerline goodness : 0.992354 Centerline is valid? [True, True] Translation: X:178.22, Y:108.74, Z:0.56 [[ 2.35870571e-01 -9.71784276e-01 -6.28306056e-04 1.78217276e+02] [ 9.71780745e-01 2.35871407e-01 -2.61958876e-03 1.08743092e+02] [ 2.69387460e-03 7.30816757e-06 9.99996372e-01 5.55324911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77401273899997 meters Centerline goodness : 0.991615 Centerline is valid? [True, True] Translation: X:178.22, Y:108.77, Z:0.55 [[ 2.34785885e-01 -9.72046910e-01 -6.27643267e-04 1.78221033e+02] [ 9.72043379e-01 2.34786724e-01 -2.61974755e-03 1.08766373e+02] [ 2.69387982e-03 4.98326396e-06 9.99996372e-01 5.53238807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80401273899997 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:178.23, Y:108.79, Z:0.55 [[ 2.29946186e-01 -9.73203144e-01 -6.26895796e-04 1.78226640e+02] [ 9.73199617e-01 2.29947040e-01 -2.61992640e-03 1.08789696e+02] [ 2.69387344e-03 -7.65266432e-06 9.99996372e-01 5.50783620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83401273899997 meters Centerline goodness : 0.992434 Centerline is valid? [True, True] Translation: X:178.23, Y:108.81, Z:0.55 [[ 2.26463575e-01 -9.74019434e-01 -6.26158269e-04 1.78232340e+02] [ 9.74015910e-01 2.26464440e-01 -2.62010266e-03 1.08814119e+02] [ 2.69383349e-03 -1.65303020e-05 9.99996372e-01 5.52056320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86401273899997 meters Centerline goodness : 0.992394 Centerline is valid? [True, True] Translation: X:178.24, Y:108.84, Z:0.55 [[ 2.19797999e-01 -9.75545206e-01 -6.25452759e-04 1.78237418e+02] [ 9.75541687e-01 2.19798887e-01 -2.62027106e-03 1.08837942e+02] [ 2.69366669e-03 -3.42249027e-05 9.99996372e-01 5.52537565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89401273899998 meters Centerline goodness : 0.992694 Centerline is valid? [True, True] Translation: X:178.24, Y:108.86, Z:0.55 [[ 2.16646066e-01 -9.76250015e-01 -6.24735867e-04 1.78243220e+02] [ 9.76246499e-01 2.16646963e-01 -2.62044198e-03 1.08860736e+02] [ 2.69355365e-03 -4.21877574e-05 9.99996372e-01 5.51292710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92401273899998 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:178.25, Y:108.88, Z:0.55 [[ 2.13874572e-01 -9.76860931e-01 -6.23995503e-04 1.78250290e+02] [ 9.76857417e-01 2.13875477e-01 -2.62061826e-03 1.08884320e+02] [ 2.69343693e-03 -4.90710241e-05 9.99996372e-01 5.50033651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95401273899998 meters Centerline goodness : 0.992336 Centerline is valid? [True, True] Translation: X:178.26, Y:108.91, Z:0.55 [[ 2.09267227e-01 -9.77858292e-01 -6.23306710e-04 1.78258848e+02] [ 9.77854782e-01 2.09268146e-01 -2.62078208e-03 1.08908848e+02] [ 2.69319173e-03 -6.10596492e-05 9.99996372e-01 5.52814881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98401273899998 meters Centerline goodness : 0.991608 Centerline is valid? [True, True] Translation: X:178.27, Y:108.93, Z:0.55 [[ 2.07807779e-01 -9.78169484e-01 -6.22649595e-04 1.78265398e+02] [ 9.78165975e-01 2.07808702e-01 -2.62093819e-03 1.08933007e+02] [ 2.69311376e-03 -6.44033039e-05 9.99996372e-01 5.53796093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01401273899998 meters Centerline goodness : 0.992264 Centerline is valid? [True, True] Translation: X:178.28, Y:108.95, Z:0.55 [[ 2.05991108e-01 -9.78553666e-01 -6.21991868e-04 1.78275936e+02] [ 9.78550158e-01 2.05992036e-01 -2.62109427e-03 1.08954337e+02] [ 2.69300678e-03 -6.87281267e-05 9.99996372e-01 5.52660061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04401273899998 meters Centerline goodness : 0.992384 Centerline is valid? [True, True] Translation: X:178.28, Y:108.98, Z:0.55 [[ 2.05349771e-01 -9.78688452e-01 -6.21319282e-04 1.78284699e+02] [ 9.78684944e-01 2.05350699e-01 -2.62125370e-03 1.08976114e+02] [ 2.69297907e-03 -6.98019799e-05 9.99996372e-01 5.52173965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07401273899998 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:178.29, Y:109.00, Z:0.55 [[ 2.05120860e-01 -9.78736455e-01 -6.20585028e-04 1.78293065e+02] [ 9.78732946e-01 2.05121787e-01 -2.62142752e-03 1.08999338e+02] [ 2.69298219e-03 -6.96775446e-05 9.99996372e-01 5.52443804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10401273899998 meters Centerline goodness : 0.992447 Centerline is valid? [True, True] Translation: X:178.30, Y:109.02, Z:0.55 [[ 2.05477449e-01 -9.78661654e-01 -6.19878890e-04 1.78300246e+02] [ 9.78658145e-01 2.05478373e-01 -2.62159449e-03 1.09021528e+02] [ 2.69302570e-03 -6.79709766e-05 9.99996372e-01 5.51866060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13401273899999 meters Centerline goodness : 0.992653 Centerline is valid? [True, True] Translation: X:178.31, Y:109.04, Z:0.55 [[ 2.06269916e-01 -9.78494935e-01 -6.19150773e-04 1.78306457e+02] [ 9.78491425e-01 2.06270835e-01 -2.62176644e-03 1.09044856e+02] [ 2.69309793e-03 -6.50421787e-05 9.99996372e-01 5.52154791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.164012739 meters Centerline goodness : 0.992376 Centerline is valid? [True, True] Translation: X:178.32, Y:109.07, Z:0.55 [[ 2.09453308e-01 -9.77818454e-01 -6.18447228e-04 1.78316599e+02] [ 9.77814941e-01 2.09454214e-01 -2.62193239e-03 1.09066663e+02] [ 2.69331025e-03 -5.55545284e-05 9.99996372e-01 5.53894074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.194012739 meters Centerline goodness : 0.992529 Centerline is valid? [True, True] Translation: X:178.32, Y:109.09, Z:0.56 [[ 2.11153534e-01 -9.77452712e-01 -6.17717780e-04 1.78323649e+02] [ 9.77449196e-01 2.11154432e-01 -2.62210423e-03 1.09090795e+02] [ 2.69341674e-03 -5.01211722e-05 9.99996372e-01 5.55083625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.224012739 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:178.33, Y:109.12, Z:0.56 [[ 2.13141205e-01 -9.77021211e-01 -6.17017003e-04 1.78330487e+02] [ 9.77017693e-01 2.13142094e-01 -2.62226912e-03 1.09115479e+02] [ 2.69352485e-03 -4.39229274e-05 9.99996372e-01 5.55634788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.254012739 meters Centerline goodness : 0.992906 Centerline is valid? [True, True] Translation: X:178.34, Y:109.14, Z:0.56 [[ 2.16220060e-01 -9.76344461e-01 -6.16353740e-04 1.78338680e+02] [ 9.76340939e-01 2.16220936e-01 -2.62242501e-03 1.09139352e+02] [ 2.69365871e-03 -3.47504961e-05 9.99996372e-01 5.55637406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.284012739 meters Centerline goodness : 0.992899 Centerline is valid? [True, True] Translation: X:178.35, Y:109.16, Z:0.56 [[ 2.16817497e-01 -9.76211962e-01 -6.15690943e-04 1.78345875e+02] [ 9.76208439e-01 2.16818369e-01 -2.62258061e-03 1.09161792e+02] [ 2.69368767e-03 -3.24213296e-05 9.99996372e-01 5.55199386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.314012739 meters Centerline goodness : 0.988663 Centerline is valid? [True, True] Translation: X:178.35, Y:109.19, Z:0.57 [[ 2.17197490e-01 -9.76127488e-01 -6.15009939e-04 1.78354032e+02] [ 9.76123965e-01 2.17198359e-01 -2.62274030e-03 1.09186055e+02] [ 2.69370805e-03 -3.06733292e-05 9.99996372e-01 5.65687732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.344012739 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:178.36, Y:109.21, Z:0.55 [[ 2.18319358e-01 -9.75877185e-01 -6.14355231e-04 1.78361952e+02] [ 9.75873661e-01 2.18320221e-01 -2.62289365e-03 1.09209339e+02] [ 2.69374824e-03 -2.69046305e-05 9.99996372e-01 5.52265906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.374012739 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:178.37, Y:109.23, Z:0.55 [[ 2.19312862e-01 -9.75654392e-01 -6.13637988e-04 1.78368405e+02] [ 9.75650866e-01 2.19313719e-01 -2.62306144e-03 1.09232679e+02] [ 2.69378065e-03 -2.34253231e-05 9.99996372e-01 5.52706750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40401273899997 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:178.38, Y:109.26, Z:0.56 [[ 2.21975539e-01 -9.75052042e-01 -6.12933358e-04 1.78375989e+02] [ 9.75048513e-01 2.21976384e-01 -2.62322608e-03 1.09256826e+02] [ 2.69383868e-03 -1.53477368e-05 9.99996372e-01 5.55513545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43401273899997 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:178.38, Y:109.28, Z:0.56 [[ 2.23198763e-01 -9.74772762e-01 -6.12325030e-04 1.78382214e+02] [ 9.74769232e-01 2.23199602e-01 -2.62336808e-03 1.09279910e+02] [ 2.69385845e-03 -1.13430905e-05 9.99996372e-01 5.57097851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46401273899997 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:178.39, Y:109.30, Z:0.56 [[ 2.24707085e-01 -9.74426166e-01 -6.11637896e-04 1.78388666e+02] [ 9.74422634e-01 2.24707917e-01 -2.62352827e-03 1.09303802e+02] [ 2.69387447e-03 -6.46842010e-06 9.99996372e-01 5.57542910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49401273899997 meters Centerline goodness : 0.993325 Centerline is valid? [True, True] Translation: X:178.39, Y:109.33, Z:0.56 [[ 2.28210439e-01 -9.73611638e-01 -6.10933141e-04 1.78394371e+02] [ 9.73608103e-01 2.28211257e-01 -2.62369237e-03 1.09326257e+02] [ 2.69387925e-03 3.94453130e-06 9.99996372e-01 5.59647973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52401273899997 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:178.40, Y:109.35, Z:0.56 [[ 2.29518614e-01 -9.73304081e-01 -6.10265768e-04 1.78399742e+02] [ 9.73300544e-01 2.29519426e-01 -2.62384760e-03 1.09350849e+02] [ 2.69386942e-03 8.24986080e-06 9.99996372e-01 5.60360275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55401273899997 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:178.41, Y:109.37, Z:0.56 [[ 2.31000005e-01 -9.72953558e-01 -6.09579596e-04 1.78405519e+02] [ 9.72950020e-01 2.31000808e-01 -2.62400700e-03 1.09374136e+02] [ 2.69385033e-03 1.30551486e-05 9.99996372e-01 5.59210623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58401273899997 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:178.41, Y:109.40, Z:0.56 [[ 2.30530661e-01 -9.73064871e-01 -6.08992570e-04 1.78411003e+02] [ 9.73061333e-01 2.30531465e-01 -2.62414323e-03 1.09399304e+02] [ 2.69385355e-03 1.23583528e-05 9.99996372e-01 5.58570015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61401273899997 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:178.42, Y:109.42, Z:0.56 [[ 2.29728723e-01 -9.73254511e-01 -6.08312975e-04 1.78415456e+02] [ 9.73250973e-01 2.29729528e-01 -2.62430076e-03 1.09423343e+02] [ 2.69386001e-03 1.08360673e-05 9.99996372e-01 5.58719131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64401273899998 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:178.42, Y:109.45, Z:0.56 [[ 2.27507587e-01 -9.73776118e-01 -6.07604994e-04 1.78418630e+02] [ 9.73772582e-01 2.27508398e-01 -2.62446467e-03 1.09448894e+02] [ 2.69387626e-03 5.41653980e-06 9.99996372e-01 5.55791547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67401273899998 meters Centerline goodness : 0.993802 Centerline is valid? [True, True] Translation: X:178.42, Y:109.47, Z:0.55 [[ 2.26284672e-01 -9.74061024e-01 -6.06914901e-04 1.78423758e+02] [ 9.74057488e-01 2.26285486e-01 -2.62462425e-03 1.09473040e+02] [ 2.69388022e-03 2.74223358e-06 9.99996372e-01 5.54251529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70401273899998 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:178.43, Y:109.50, Z:0.56 [[ 2.23444823e-01 -9.74716391e-01 -6.06327737e-04 1.78428588e+02] [ 9.74712857e-01 2.23445645e-01 -2.62475988e-03 1.09497550e+02] [ 2.69387777e-03 -4.50643422e-06 9.99996372e-01 5.60610094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73401273899998 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:178.43, Y:109.52, Z:0.55 [[ 2.21235027e-01 -9.75220332e-01 -6.05640920e-04 1.78430872e+02] [ 9.75216799e-01 2.21235856e-01 -2.62491835e-03 1.09521860e+02] [ 2.69386323e-03 -9.90731726e-06 9.99996372e-01 5.50507685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76401273899998 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:178.43, Y:109.55, Z:0.55 [[ 2.19023338e-01 -9.75719433e-01 -6.04928802e-04 1.78433844e+02] [ 9.75715902e-01 2.19024173e-01 -2.62508245e-03 1.09546812e+02] [ 2.69383799e-03 -1.52843300e-05 9.99996372e-01 5.51138864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79401273899998 meters Centerline goodness : 0.994054 Centerline is valid? [True, True] Translation: X:178.44, Y:109.57, Z:0.55 [[ 2.14047355e-01 -9.76823098e-01 -6.04201665e-04 1.78435832e+02] [ 9.76819571e-01 2.14048206e-01 -2.62524980e-03 1.09570683e+02] [ 2.69373293e-03 -2.82682336e-05 9.99996372e-01 5.52775082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82401273899998 meters Centerline goodness : 0.994326 Centerline is valid? [True, True] Translation: X:178.44, Y:109.59, Z:0.55 [[ 2.11153615e-01 -9.77452703e-01 -6.03519446e-04 1.78440072e+02] [ 9.77449178e-01 2.11154475e-01 -2.62540663e-03 1.09594088e+02] [ 2.69364664e-03 -3.55454838e-05 9.99996372e-01 5.52374300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85401273899998 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:178.44, Y:109.62, Z:0.55 [[ 2.05468178e-01 -9.78663612e-01 -6.02776544e-04 1.78443559e+02] [ 9.78660091e-01 2.05469056e-01 -2.62557718e-03 1.09618457e+02] [ 2.69340878e-03 -5.04407879e-05 9.99996372e-01 5.52599933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88401273899999 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:178.45, Y:109.64, Z:0.55 [[ 2.02969821e-01 -9.79184809e-01 -6.02051045e-04 1.78448454e+02] [ 9.79181290e-01 2.02970706e-01 -2.62574353e-03 1.09642767e+02] [ 2.69328690e-03 -5.65704232e-05 9.99996372e-01 5.52845943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.914012739 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:178.45, Y:109.67, Z:0.55 [[ 2.00217527e-01 -9.79751285e-01 -6.01326282e-04 1.78453683e+02] [ 9.79747768e-01 2.00218420e-01 -2.62590950e-03 1.09668248e+02] [ 2.69313481e-03 -6.33949752e-05 9.99996372e-01 5.53247104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.944012739 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:178.46, Y:109.69, Z:0.55 [[ 1.95010156e-01 -9.80801038e-01 -6.02375812e-04 1.78459383e+02] [ 9.80797527e-01 1.95011071e-01 -2.62566939e-03 1.09692418e+02] [ 2.69272922e-03 -7.87765071e-05 9.99996372e-01 5.50966155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.974012739 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:178.47, Y:109.72, Z:0.55 [[ 1.91791985e-01 -9.81435415e-01 -6.00137837e-04 1.78465232e+02] [ 9.81431905e-01 1.91792905e-01 -2.62618082e-03 1.09716051e+02] [ 2.69252904e-03 -8.53139878e-05 9.99996372e-01 5.49879285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.004012739 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:178.47, Y:109.74, Z:0.55 [[ 1.86757338e-01 -9.82405892e-01 -5.99556706e-04 1.78474805e+02] [ 9.82402387e-01 1.86758274e-01 -2.62631348e-03 1.09740458e+02] [ 2.69207802e-03 -9.85226244e-05 9.99996372e-01 5.49612844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.034012739 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:178.48, Y:109.76, Z:0.55 [[ 1.84943899e-01 -9.82748898e-01 -5.98883683e-04 1.78483412e+02] [ 9.82745393e-01 1.84944840e-01 -2.62646695e-03 1.09763206e+02] [ 2.69191794e-03 -1.02801142e-04 9.99996372e-01 5.51012157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.064012739 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:178.50, Y:109.78, Z:0.56 [[ 1.81916016e-01 -9.83313889e-01 -5.98300385e-04 1.78495895e+02] [ 9.83310388e-01 1.81916967e-01 -2.62659981e-03 1.09784437e+02] [ 2.69161307e-03 -1.10494409e-04 9.99996372e-01 5.56027002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.094012739 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:178.50, Y:109.81, Z:0.56 [[ 1.81212655e-01 -9.83443754e-01 -5.97553121e-04 1.78504618e+02] [ 9.83440252e-01 1.81213606e-01 -2.62676980e-03 1.09808608e+02] [ 2.69156511e-03 -1.11653862e-04 9.99996372e-01 5.56816024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.124012739 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:178.52, Y:109.83, Z:0.55 [[ 1.82051834e-01 -9.83288754e-01 -5.96886506e-04 1.78516248e+02] [ 9.83285251e-01 1.82052780e-01 -2.62692127e-03 1.09830280e+02] [ 2.69168699e-03 -1.08673863e-04 9.99996372e-01 5.54461640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15401273899997 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:178.52, Y:109.85, Z:0.55 [[ 1.83170236e-01 -9.83081029e-01 -5.96162897e-04 1.78524614e+02] [ 9.83077524e-01 1.83171177e-01 -2.62708548e-03 1.09853785e+02] [ 2.69183776e-03 -1.04870476e-04 9.99996372e-01 5.53580739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18401273899997 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:178.53, Y:109.88, Z:0.55 [[ 1.82911571e-01 -9.83129189e-01 -5.95469447e-04 1.78529817e+02] [ 9.83125684e-01 1.82912511e-01 -2.62724265e-03 1.09878385e+02] [ 2.69183775e-03 -1.04868226e-04 9.99996372e-01 5.53648473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21401273899997 meters Centerline goodness : 0.994148 Centerline is valid? [True, True] Translation: X:178.54, Y:109.90, Z:0.55 [[ 1.84752863e-01 -9.82784832e-01 -5.94778149e-04 1.78538130e+02] [ 9.82781325e-01 1.84753794e-01 -2.62739914e-03 1.09902857e+02] [ 2.69205555e-03 -9.91173427e-05 9.99996372e-01 5.53091253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24401273899997 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:178.55, Y:109.93, Z:0.55 [[ 1.88802762e-01 -9.82014849e-01 -5.94110659e-04 1.78548175e+02] [ 9.82011338e-01 1.88803676e-01 -2.62755007e-03 1.09926805e+02] [ 2.69246346e-03 -8.73346930e-05 9.99996372e-01 5.53099781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27401273899997 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:178.56, Y:109.95, Z:0.55 [[ 1.90970245e-01 -9.81595647e-01 -5.93502165e-04 1.78555368e+02] [ 9.81592133e-01 1.90971150e-01 -2.62768751e-03 1.09950522e+02] [ 2.69266841e-03 -8.07669303e-05 9.99996372e-01 5.53906681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30401273899997 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:178.56, Y:109.97, Z:0.55 [[ 1.95016851e-01 -9.80799713e-01 -5.92911330e-04 1.78563656e+02] [ 9.80796195e-01 1.95017740e-01 -2.62782082e-03 1.09972394e+02] [ 2.69299413e-03 -6.90558363e-05 9.99996372e-01 5.53201421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33401273899997 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:178.57, Y:110.00, Z:0.55 [[ 1.96301001e-01 -9.80543506e-01 -5.92219890e-04 1.78569803e+02] [ 9.80539986e-01 1.96301884e-01 -2.62797663e-03 1.09997116e+02] [ 2.69309930e-03 -6.48208385e-05 9.99996372e-01 5.53895677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36401273899997 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:178.58, Y:110.02, Z:0.55 [[ 1.97114145e-01 -9.80380367e-01 -5.91525566e-04 1.78575066e+02] [ 9.80376846e-01 1.97115023e-01 -2.62813291e-03 1.10021183e+02] [ 2.69316848e-03 -6.18757968e-05 9.99996372e-01 5.54415882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39401273899998 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:178.58, Y:110.04, Z:0.56 [[ 1.98939640e-01 -9.80011567e-01 -5.90805073e-04 1.78582071e+02] [ 9.80008044e-01 1.98940510e-01 -2.62829487e-03 1.10044641e+02] [ 2.69329443e-03 -5.61216889e-05 9.99996372e-01 5.57168578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42401273899998 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:178.59, Y:110.07, Z:0.56 [[ 1.99630555e-01 -9.79871059e-01 -5.90209018e-04 1.78588753e+02] [ 9.79867536e-01 1.99631420e-01 -2.62842871e-03 1.10069331e+02] [ 2.69334549e-03 -5.36119737e-05 9.99996372e-01 5.57493879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45401273899998 meters Centerline goodness : 0.993368 Centerline is valid? [True, True] Translation: X:178.60, Y:110.09, Z:0.55 [[ 2.00303260e-01 -9.79733768e-01 -5.89556785e-04 1.78596045e+02] [ 9.79730243e-01 2.00304122e-01 -2.62857500e-03 1.10093178e+02] [ 2.69339434e-03 -5.10944706e-05 9.99996372e-01 5.54945597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48401273899998 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:178.60, Y:110.12, Z:0.55 [[ 1.99690771e-01 -9.79858790e-01 -5.88842246e-04 1.78602133e+02] [ 9.79855266e-01 1.99691632e-01 -2.62873505e-03 1.10116867e+02] [ 2.69337602e-03 -5.20460461e-05 9.99996372e-01 5.52981608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51401273899998 meters Centerline goodness : 0.993906 Centerline is valid? [True, True] Translation: X:178.61, Y:110.14, Z:0.55 [[ 1.98718261e-01 -9.80056482e-01 -5.88102423e-04 1.78608768e+02] [ 9.80052957e-01 1.98719123e-01 -2.62890056e-03 1.10140245e+02] [ 2.69333823e-03 -5.39609729e-05 9.99996372e-01 5.52577842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54401273899998 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:178.62, Y:110.16, Z:0.55 [[ 1.98002024e-01 -9.80201435e-01 -5.87361524e-04 1.78615862e+02] [ 9.80197911e-01 1.98002888e-01 -2.62906608e-03 1.10162998e+02] [ 2.69331362e-03 -5.51701319e-05 9.99996372e-01 5.53041757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57401273899998 meters Centerline goodness : 0.993527 Centerline is valid? [True, True] Translation: X:178.62, Y:110.19, Z:0.56 [[ 1.99078486e-01 -9.79983373e-01 -5.86668653e-04 1.78624454e+02] [ 9.79979848e-01 1.99079344e-01 -2.62922069e-03 1.10186722e+02] [ 2.69338617e-03 -5.15021829e-05 9.99996372e-01 5.55959945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60401273899998 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:178.63, Y:110.21, Z:0.56 [[ 2.00568590e-01 -9.79679487e-01 -5.85934253e-04 1.78630369e+02] [ 9.79675960e-01 2.00569441e-01 -2.62938434e-03 1.10210601e+02] [ 2.69347441e-03 -4.66537913e-05 9.99996372e-01 5.57073755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63401273899999 meters Centerline goodness : 0.992894 Centerline is valid? [True, True] Translation: X:178.64, Y:110.23, Z:0.56 [[ 2.06453774e-01 -9.78456180e-01 -5.85202555e-04 1.78635842e+02] [ 9.78452647e-01 2.06454601e-01 -2.62954718e-03 1.10234551e+02] [ 2.69371445e-03 -2.97130508e-05 9.99996372e-01 5.56437107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.664012739 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:178.64, Y:110.26, Z:0.55 [[ 2.09712146e-01 -9.77762995e-01 -5.84466393e-04 1.78640679e+02] [ 9.77759459e-01 2.09712959e-01 -2.62971079e-03 1.10257802e+02] [ 2.69380408e-03 -1.99852508e-05 9.99996372e-01 5.54594159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.694012739 meters Centerline goodness : 0.993756 Centerline is valid? [True, True] Translation: X:178.65, Y:110.28, Z:0.55 [[ 2.16482046e-01 -9.76286425e-01 -5.83701409e-04 1.78645292e+02] [ 9.76282883e-01 2.16482833e-01 -2.62988058e-03 1.10282037e+02] [ 2.69387805e-03 -5.35763722e-07 9.99996372e-01 5.51585294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.724012739 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:178.65, Y:110.30, Z:0.55 [[ 2.19199122e-01 -9.75679971e-01 -5.82965515e-04 1.78649359e+02] [ 9.75676426e-01 2.19199897e-01 -2.63004370e-03 1.10304946e+02] [ 2.69386694e-03 7.71755856e-06 9.99996372e-01 5.51965831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.754012739 meters Centerline goodness : 0.993123 Centerline is valid? [True, True] Translation: X:178.65, Y:110.33, Z:0.55 [[ 2.21378822e-01 -9.75187714e-01 -5.82199442e-04 1.78653788e+02] [ 9.75184168e-01 2.21379587e-01 -2.63021327e-03 1.10329057e+02] [ 2.69383874e-03 1.45218357e-05 9.99996372e-01 5.52795602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.784012739 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:178.66, Y:110.35, Z:0.56 [[ 2.24039775e-01 -9.74579828e-01 -5.81485568e-04 1.78657901e+02] [ 9.74576279e-01 2.24040528e-01 -2.63037108e-03 1.10353116e+02] [ 2.69378293e-03 2.26057034e-05 9.99996372e-01 5.55316495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.814012739 meters Centerline goodness : 0.992715 Centerline is valid? [True, True] Translation: X:178.66, Y:110.38, Z:0.56 [[ 2.24038194e-01 -9.74580192e-01 -5.80761153e-04 1.78661667e+02] [ 9.74576642e-01 2.24038945e-01 -2.63053102e-03 1.10376920e+02] [ 2.69377654e-03 2.33431639e-05 9.99996372e-01 5.55039157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.844012739 meters Centerline goodness : 0.992319 Centerline is valid? [True, True] Translation: X:178.66, Y:110.40, Z:0.56 [[ 2.22964765e-01 -9.74826332e-01 -5.80009953e-04 1.78664463e+02] [ 9.74822783e-01 2.22965518e-01 -2.63069664e-03 1.10399760e+02] [ 2.69379457e-03 2.11457398e-05 9.99996372e-01 5.56653328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.874012739 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:178.67, Y:110.42, Z:0.56 [[ 2.21564035e-01 -9.75145655e-01 -5.74839351e-04 1.78668269e+02] [ 9.75142103e-01 2.21564780e-01 -2.63183503e-03 1.10423724e+02] [ 2.69378665e-03 2.25699358e-05 9.99996372e-01 5.57785262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90401273899997 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:178.67, Y:110.45, Z:0.56 [[ 2.19736890e-01 -9.75559005e-01 -5.71997101e-04 1.78672236e+02] [ 9.75555453e-01 2.19737634e-01 -2.63245982e-03 1.10449136e+02] [ 2.69380917e-03 2.04336421e-05 9.99996372e-01 5.58692863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93401273899997 meters Centerline goodness : 0.992290 Centerline is valid? [True, True] Translation: X:178.67, Y:110.47, Z:0.56 [[ 2.18501351e-01 -9.75836475e-01 -5.77763333e-04 1.78673651e+02] [ 9.75832928e-01 2.18502115e-01 -2.63119366e-03 1.10474399e+02] [ 2.69385725e-03 1.11188846e-05 9.99996372e-01 5.58223895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96401273899997 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:178.68, Y:110.50, Z:0.56 [[ 2.18056807e-01 -9.75935908e-01 -5.77013565e-04 1.78676215e+02] [ 9.75932360e-01 2.18057571e-01 -2.63135807e-03 1.10498358e+02] [ 2.69385900e-03 1.06593285e-05 9.99996372e-01 5.56804585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99401273899997 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:178.68, Y:110.52, Z:0.56 [[ 2.17327921e-01 -9.76098480e-01 -5.76235494e-04 1.78677027e+02] [ 9.76094933e-01 2.17328685e-01 -2.63152844e-03 1.10523538e+02] [ 2.69386342e-03 9.44406048e-06 9.99996372e-01 5.56053448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02401273899997 meters Centerline goodness : 0.993060 Centerline is valid? [True, True] Translation: X:178.68, Y:110.55, Z:0.56 [[ 2.16606238e-01 -9.76258883e-01 -5.75492822e-04 1.78680737e+02] [ 9.76255336e-01 2.16607002e-01 -2.63169085e-03 1.10548890e+02] [ 2.69386734e-03 8.21271619e-06 9.99996372e-01 5.57438400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05401273899997 meters Centerline goodness : 0.992928 Centerline is valid? [True, True] Translation: X:178.68, Y:110.57, Z:0.56 [[ 2.15663453e-01 -9.76467585e-01 -5.74787530e-04 1.78684999e+02] [ 9.76464038e-01 2.15664218e-01 -2.63184488e-03 1.10573307e+02] [ 2.69387232e-03 6.33340115e-06 9.99996372e-01 5.59012550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08401273899997 meters Centerline goodness : 0.993011 Centerline is valid? [True, True] Translation: X:178.69, Y:110.60, Z:0.56 [[ 2.11810430e-01 -9.77310602e-01 -5.74187675e-04 1.78688386e+02] [ 9.77307058e-01 2.11811208e-01 -2.63197575e-03 1.10597650e+02] [ 2.69387719e-03 -3.67775229e-06 9.99996372e-01 5.62561178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11401273899997 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:178.69, Y:110.62, Z:0.56 [[ 2.09753031e-01 -9.77754231e-01 -5.73454461e-04 1.78693714e+02] [ 9.77750689e-01 2.09753815e-01 -2.63213549e-03 1.10623313e+02] [ 2.69386587e-03 -8.59709633e-06 9.99996372e-01 5.63224380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14401273899998 meters Centerline goodness : 0.992352 Centerline is valid? [True, True] Translation: X:178.70, Y:110.65, Z:0.56 [[ 2.04996019e-01 -9.78762639e-01 -5.73707473e-04 1.78700084e+02] [ 9.78759100e-01 2.04996821e-01 -2.63208044e-03 1.10647426e+02] [ 2.69379021e-03 -2.19553977e-05 9.99996372e-01 5.61803576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17401273899998 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:178.71, Y:110.67, Z:0.56 [[ 2.02703456e-01 -9.79240002e-01 -5.72082010e-04 1.78705769e+02] [ 9.79236464e-01 2.02704262e-01 -2.63243369e-03 1.10671653e+02] [ 2.69374783e-03 -2.66001582e-05 9.99996372e-01 5.60075592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20401273899998 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:178.71, Y:110.70, Z:0.56 [[ 1.99467690e-01 -9.79904238e-01 -5.69844123e-04 1.78710811e+02] [ 9.79900702e-01 1.99468501e-01 -2.63291925e-03 1.10695609e+02] [ 2.69367468e-03 -3.32083374e-05 9.99996372e-01 5.58303063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23401273899998 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:178.72, Y:110.72, Z:0.56 [[ 1.98404359e-01 -9.80120088e-01 -5.69444698e-04 1.78715434e+02] [ 9.80116552e-01 1.98405173e-01 -2.63300578e-03 1.10719536e+02] [ 2.69364263e-03 -3.57223493e-05 9.99996372e-01 5.57812892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26401273899998 meters Centerline goodness : 0.993811 Centerline is valid? [True, True] Translation: X:178.72, Y:110.74, Z:0.56 [[ 1.97659305e-01 -9.80270613e-01 -5.69624208e-04 1.78721003e+02] [ 9.80267078e-01 1.97660122e-01 -2.63296695e-03 1.10744617e+02] [ 2.69361212e-03 -3.79534407e-05 9.99996372e-01 5.58206079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29401273899998 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:178.73, Y:110.77, Z:0.56 [[ 1.96887453e-01 -9.80425932e-01 -5.68936278e-04 1.78727701e+02] [ 9.80422396e-01 1.96888271e-01 -2.63311559e-03 1.10767716e+02] [ 2.69359169e-03 -3.93704479e-05 9.99996372e-01 5.59172332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32401273899998 meters Centerline goodness : 0.992944 Centerline is valid? [True, True] Translation: X:178.73, Y:110.79, Z:0.56 [[ 1.96445296e-01 -9.80514622e-01 -5.68159092e-04 1.78734718e+02] [ 9.80511086e-01 1.96446113e-01 -2.63328328e-03 1.10791784e+02] [ 2.69358540e-03 -3.97901767e-05 9.99996372e-01 5.57439303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35401273899998 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:178.74, Y:110.82, Z:0.56 [[ 1.96167304e-01 -9.80570276e-01 -5.67470809e-04 1.78740852e+02] [ 9.80566741e-01 1.96168121e-01 -2.63343159e-03 1.10815390e+02] [ 2.69358443e-03 -3.98498266e-05 9.99996372e-01 5.57113378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38401273899999 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:178.75, Y:110.84, Z:0.56 [[ 1.96130292e-01 -9.80577681e-01 -5.66752789e-04 1.78746957e+02] [ 9.80574145e-01 1.96131107e-01 -2.63358611e-03 1.10838098e+02] [ 2.69359361e-03 -3.92171193e-05 9.99996372e-01 5.57600280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.414012739 meters Centerline goodness : 0.992869 Centerline is valid? [True, True] Translation: X:178.75, Y:110.86, Z:0.56 [[ 1.96309048e-01 -9.80541910e-01 -5.66052750e-04 1.78753392e+02] [ 9.80538374e-01 1.96309861e-01 -2.63373657e-03 1.10862153e+02] [ 2.69361082e-03 -3.80101245e-05 9.99996372e-01 5.59484391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.444012739 meters Centerline goodness : 0.993111 Centerline is valid? [True, True] Translation: X:178.76, Y:110.89, Z:0.56 [[ 1.97288944e-01 -9.80345221e-01 -5.65308637e-04 1.78758798e+02] [ 9.80341684e-01 1.97289751e-01 -2.63389627e-03 1.10886292e+02] [ 2.69365723e-03 -3.45570065e-05 9.99996372e-01 5.59383002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.474012739 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:178.76, Y:110.91, Z:0.56 [[ 1.99506089e-01 -9.79896424e-01 -5.64566182e-04 1.78761523e+02] [ 9.79892884e-01 1.99506886e-01 -2.63405541e-03 1.10910702e+02] [ 2.69373632e-03 -2.77042916e-05 9.99996372e-01 5.56009686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.504012739 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:178.77, Y:110.93, Z:0.56 [[ 2.00902635e-01 -9.79611052e-01 -5.63820789e-04 1.78765475e+02] [ 9.79607511e-01 2.00903425e-01 -2.63421495e-03 1.10934145e+02] [ 2.69377961e-03 -2.31023560e-05 9.99996372e-01 5.56302008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.534012739 meters Centerline goodness : 0.993693 Centerline is valid? [True, True] Translation: X:178.77, Y:110.96, Z:0.56 [[ 2.01861687e-01 -9.79413877e-01 -5.63046074e-04 1.78769263e+02] [ 9.79410334e-01 2.01862471e-01 -2.63438053e-03 1.10957638e+02] [ 2.69380672e-03 -1.96726460e-05 9.99996372e-01 5.58419355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.564012739 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:178.77, Y:110.98, Z:0.56 [[ 2.02931272e-01 -9.79192822e-01 -5.62349881e-04 1.78772755e+02] [ 9.79189278e-01 2.02932050e-01 -2.63452913e-03 1.10983009e+02] [ 2.69383083e-03 -1.60186262e-05 9.99996372e-01 5.61662337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.594012739 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:178.78, Y:111.01, Z:0.56 [[ 2.02573220e-01 -9.79266958e-01 -5.61656649e-04 1.78776953e+02] [ 9.79263414e-01 2.02573998e-01 -2.63467692e-03 1.11006971e+02] [ 2.69382908e-03 -1.62948212e-05 9.99996372e-01 5.60799348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.624012739 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:178.78, Y:111.03, Z:0.56 [[ 2.00434596e-01 -9.79706925e-01 -5.60937858e-04 1.78782278e+02] [ 9.79703382e-01 2.00435380e-01 -2.63482994e-03 1.11030427e+02] [ 2.69379293e-03 -2.14416405e-05 9.99996372e-01 5.58344192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65401273899997 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:178.79, Y:111.05, Z:0.56 [[ 1.99002157e-01 -9.79998892e-01 -5.60163121e-04 1.78787269e+02] [ 9.79995350e-01 1.99002944e-01 -2.63499464e-03 1.11054388e+02] [ 2.69376594e-03 -2.45876356e-05 9.99996372e-01 5.58322856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68401273899997 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:178.79, Y:111.08, Z:0.56 [[ 1.98052694e-01 -9.80191215e-01 -5.59412952e-04 1.78791957e+02] [ 9.80187673e-01 1.98053482e-01 -2.63515389e-03 1.11077708e+02] [ 2.69374838e-03 -2.64303519e-05 9.99996372e-01 5.61454396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71401273899997 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:178.80, Y:111.10, Z:0.57 [[ 1.98718114e-01 -9.80056528e-01 -5.58636407e-04 1.78796001e+02] [ 9.80052986e-01 1.98718898e-01 -2.63531851e-03 1.11100671e+02] [ 2.69377272e-03 -2.38077542e-05 9.99996372e-01 5.68671331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74401273899997 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:178.80, Y:111.13, Z:0.57 [[ 1.99502547e-01 -9.79897152e-01 -5.52463027e-04 1.78799870e+02] [ 9.79893605e-01 1.99503311e-01 -2.63662479e-03 1.11125065e+02] [ 2.69383933e-03 -1.53416268e-05 9.99996372e-01 5.69757794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77401273899997 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:178.80, Y:111.15, Z:0.57 [[ 2.03404384e-01 -9.79094656e-01 -5.57115886e-04 1.78803068e+02] [ 9.79091109e-01 2.03405147e-01 -2.63564128e-03 1.11150235e+02] [ 2.69386253e-03 -9.36621871e-06 9.99996372e-01 5.65973789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80401273899997 meters Centerline goodness : 0.993880 Centerline is valid? [True, True] Translation: X:178.81, Y:111.17, Z:0.56 [[ 2.04760382e-01 -9.78811972e-01 -5.56420678e-04 1.78806808e+02] [ 9.78808423e-01 2.04761138e-01 -2.63578804e-03 1.11174324e+02] [ 2.69387422e-03 -4.92427982e-06 9.99996372e-01 5.64669871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83401273899997 meters Centerline goodness : 0.994385 Centerline is valid? [True, True] Translation: X:178.81, Y:111.20, Z:0.56 [[ 2.05663935e-01 -9.78622520e-01 -5.55698089e-04 1.78811138e+02] [ 9.78618970e-01 2.05664686e-01 -2.63594037e-03 1.11197575e+02] [ 2.69387808e-03 -1.69882187e-06 9.99996372e-01 5.64510854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86401273899997 meters Centerline goodness : 0.994029 Centerline is valid? [True, True] Translation: X:178.81, Y:111.22, Z:0.56 [[ 2.07538009e-01 -9.78226797e-01 -5.54918343e-04 1.78814978e+02] [ 9.78223245e-01 2.07538751e-01 -2.63610452e-03 1.11221703e+02] [ 2.69387514e-03 4.25785991e-06 9.99996372e-01 5.63875002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89401273899998 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:178.82, Y:111.25, Z:0.56 [[ 2.08357114e-01 -9.78052660e-01 -5.54169064e-04 1.78818509e+02] [ 9.78049107e-01 2.08357851e-01 -2.63626202e-03 1.11245197e+02] [ 2.69386856e-03 7.27938915e-06 9.99996372e-01 5.62866398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92401273899998 meters Centerline goodness : 0.994471 Centerline is valid? [True, True] Translation: X:178.82, Y:111.27, Z:0.56 [[ 2.08806294e-01 -9.77956863e-01 -5.53394603e-04 1.78822234e+02] [ 9.77953309e-01 2.08807028e-01 -2.63642458e-03 1.11269630e+02] [ 2.69386220e-03 9.30796433e-06 9.99996372e-01 5.61055084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95401273899998 meters Centerline goodness : 0.994293 Centerline is valid? [True, True] Translation: X:178.83, Y:111.29, Z:0.56 [[ 2.08978688e-01 -9.77920039e-01 -5.52662392e-04 1.78825732e+02] [ 9.77916485e-01 2.08979418e-01 -2.63657806e-03 1.11292671e+02] [ 2.69385759e-03 1.05309604e-05 9.99996372e-01 5.60365600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98401273899998 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:178.83, Y:111.32, Z:0.56 [[ 2.08107583e-01 -9.78105786e-01 -5.51902840e-04 1.78830698e+02] [ 9.78102232e-01 2.08108315e-01 -2.63673705e-03 1.11317203e+02] [ 2.69386333e-03 8.90757503e-06 9.99996372e-01 5.64329038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01401273899998 meters Centerline goodness : 0.994423 Centerline is valid? [True, True] Translation: X:178.84, Y:111.34, Z:0.57 [[ 2.07204927e-01 -9.78297406e-01 -5.51176387e-04 1.78835471e+02] [ 9.78293852e-01 2.07205659e-01 -2.63688890e-03 1.11341292e+02] [ 2.69386843e-03 7.16389908e-06 9.99996372e-01 5.66566572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04401273899998 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:178.84, Y:111.37, Z:0.57 [[ 2.06508070e-01 -9.78444742e-01 -5.50451941e-04 1.78840390e+02] [ 9.78441189e-01 2.06508804e-01 -2.63704012e-03 1.11365523e+02] [ 2.69387121e-03 5.98521424e-06 9.99996372e-01 5.66937955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07401273899998 meters Centerline goodness : 0.989041 Centerline is valid? [True, True] Translation: X:178.85, Y:111.39, Z:0.58 [[ 2.06302325e-01 -9.78488144e-01 -5.49729492e-04 1.78846598e+02] [ 9.78484590e-01 2.06303058e-01 -2.63719071e-03 1.11389291e+02] [ 2.69387072e-03 6.15673992e-06 9.99996372e-01 5.76016101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10401273899998 meters Centerline goodness : 0.989041 Centerline is valid? [True, True] Translation: X:178.85, Y:111.41, Z:0.58 [[ 2.06034912e-01 -9.78544487e-01 -5.49009997e-04 1.78851343e+02] [ 9.78540933e-01 2.06035644e-01 -2.63734049e-03 1.11413987e+02] [ 2.69387062e-03 6.15546103e-06 9.99996372e-01 5.76083836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13401273899999 meters Centerline goodness : 0.994918 Centerline is valid? [True, True] Translation: X:178.85, Y:111.44, Z:0.56 [[ 2.07157494e-01 -9.78307453e-01 -5.48289210e-04 1.78854530e+02] [ 9.78303897e-01 2.07158219e-01 -2.63749033e-03 1.11438104e+02] [ 2.69385906e-03 9.98241610e-06 9.99996372e-01 5.60384311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.164012739 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:178.86, Y:111.46, Z:0.56 [[ 2.09340312e-01 -9.77842694e-01 -5.47565516e-04 1.78858530e+02] [ 9.77839137e-01 2.09341027e-01 -2.63764056e-03 1.11461709e+02] [ 2.69382548e-03 1.67335068e-05 9.99996372e-01 5.60412955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.194012739 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:178.86, Y:111.49, Z:0.56 [[ 2.10003901e-01 -9.77700395e-01 -5.46817364e-04 1.78862682e+02] [ 9.77696837e-01 2.10004612e-01 -2.63779566e-03 1.11486065e+02] [ 2.69380802e-03 1.93257706e-05 9.99996372e-01 5.60863409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.224012739 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:178.87, Y:111.51, Z:0.56 [[ 2.11041472e-01 -9.77476956e-01 -5.46098329e-04 1.78866766e+02] [ 9.77473396e-01 2.11042178e-01 -2.63794451e-03 1.11510174e+02] [ 2.69377975e-03 2.29191043e-05 9.99996372e-01 5.62036842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.254012739 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:178.87, Y:111.53, Z:0.57 [[ 2.13990827e-01 -9.76835518e-01 -5.45379394e-04 1.78868878e+02] [ 9.76831956e-01 2.13991520e-01 -2.63809314e-03 1.11534027e+02] [ 2.69368964e-03 3.17837121e-05 9.99996372e-01 5.65250091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.284012739 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:178.87, Y:111.56, Z:0.57 [[ 2.15055664e-01 -9.76601641e-01 -5.44699363e-04 1.78871702e+02] [ 9.76598078e-01 2.15056351e-01 -2.63823354e-03 1.11559060e+02] [ 2.69364426e-03 3.54147134e-05 9.99996372e-01 5.66144134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.314012739 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:178.87, Y:111.58, Z:0.57 [[ 2.16417326e-01 -9.76300796e-01 -5.43987757e-04 1.78871927e+02] [ 9.76297232e-01 2.16418006e-01 -2.63838026e-03 1.11582875e+02] [ 2.69358149e-03 3.98974596e-05 9.99996372e-01 5.65794187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.344012739 meters Centerline goodness : 0.995210 Centerline is valid? [True, True] Translation: X:178.87, Y:111.61, Z:0.57 [[ 2.16215875e-01 -9.76345431e-01 -5.43250605e-04 1.78874897e+02] [ 9.76341866e-01 2.16216554e-01 -2.63853203e-03 1.11607570e+02] [ 2.69357847e-03 4.00942019e-05 9.99996372e-01 5.66333736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.374012739 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:178.88, Y:111.63, Z:0.57 [[ 2.15752600e-01 -9.76447910e-01 -5.42544512e-04 1.78878033e+02] [ 9.76444346e-01 2.15753279e-01 -2.63867721e-03 1.11632531e+02] [ 2.69358661e-03 3.95369485e-05 9.99996372e-01 5.65837345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40401273899997 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:178.88, Y:111.66, Z:0.56 [[ 2.13673150e-01 -9.76905058e-01 -5.41839311e-04 1.78877806e+02] [ 9.76901494e-01 2.13673834e-01 -2.63882201e-03 1.11656404e+02] [ 2.69365545e-03 3.45217789e-05 9.99996372e-01 5.64176589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43401273899997 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:178.88, Y:111.68, Z:0.56 [[ 2.12071908e-01 -9.77253914e-01 -5.41110270e-04 1.78880738e+02] [ 9.77250352e-01 2.12072596e-01 -2.63897150e-03 1.11681094e+02] [ 2.69369989e-03 3.08515187e-05 9.99996372e-01 5.63672840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46401273899997 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:178.88, Y:111.70, Z:0.56 [[ 2.09202215e-01 -9.77872252e-01 -5.40361464e-04 1.78884547e+02] [ 9.77868691e-01 2.09202912e-01 -2.63912482e-03 1.11704272e+02] [ 2.69377212e-03 2.37082008e-05 9.99996372e-01 5.64996594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49401273899997 meters Centerline goodness : 0.990294 Centerline is valid? [True, True] Translation: X:178.89, Y:111.73, Z:0.58 [[ 2.07650322e-01 -9.78202971e-01 -5.39585308e-04 1.78890030e+02] [ 9.78199411e-01 2.07651022e-01 -2.63928350e-03 1.11728345e+02] [ 2.69380040e-03 2.02260395e-05 9.99996372e-01 5.76272004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52401273899997 meters Centerline goodness : 0.989693 Centerline is valid? [True, True] Translation: X:178.89, Y:111.75, Z:0.58 [[ 2.06534262e-01 -9.78439221e-01 -5.38837157e-04 1.78893543e+02] [ 9.78435661e-01 2.06534964e-01 -2.63943623e-03 1.11751415e+02] [ 2.69381664e-03 1.79165251e-05 9.99996372e-01 5.79596930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55401273899997 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:178.90, Y:111.78, Z:0.57 [[ 2.06788839e-01 -9.78385449e-01 -5.38136117e-04 1.78896970e+02] [ 9.78381888e-01 2.06789539e-01 -2.63957916e-03 1.11776039e+02] [ 2.69380676e-03 1.93328796e-05 9.99996372e-01 5.68664108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58401273899997 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:178.90, Y:111.80, Z:0.57 [[ 2.06713302e-01 -9.78401412e-01 -5.37403744e-04 1.78901647e+02] [ 9.78397851e-01 2.06713999e-01 -2.63972825e-03 1.11799889e+02] [ 2.69380273e-03 1.98722747e-05 9.99996372e-01 5.68709019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61401273899997 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:178.91, Y:111.82, Z:0.57 [[ 2.06150148e-01 -9.78520224e-01 -5.36677535e-04 1.78908081e+02] [ 9.78516663e-01 2.06150846e-01 -2.63987589e-03 1.11824110e+02] [ 2.69380847e-03 1.90628962e-05 9.99996372e-01 5.67716301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64401273899998 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:178.92, Y:111.85, Z:0.57 [[ 2.05789354e-01 -9.78596165e-01 -5.35925756e-04 1.78915923e+02] [ 9.78592604e-01 2.05790051e-01 -2.64002850e-03 1.11847096e+02] [ 2.69380996e-03 1.88367774e-05 9.99996372e-01 5.65774356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67401273899998 meters Centerline goodness : 0.995952 Centerline is valid? [True, True] Translation: X:178.92, Y:111.87, Z:0.57 [[ 2.05716666e-01 -9.78611448e-01 -5.35145990e-04 1.78921661e+02] [ 9.78607887e-01 2.05717361e-01 -2.64018655e-03 1.11871738e+02] [ 2.69380561e-03 1.94322896e-05 9.99996372e-01 5.65406565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70401273899998 meters Centerline goodness : 0.995406 Centerline is valid? [True, True] Translation: X:178.93, Y:111.89, Z:0.57 [[ 2.05741787e-01 -9.78606168e-01 -5.34453253e-04 1.78926175e+02] [ 9.78602606e-01 2.05742480e-01 -2.64032678e-03 1.11894990e+02] [ 2.69379981e-03 2.02082036e-05 9.99996372e-01 5.65330709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73401273899998 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:178.93, Y:111.92, Z:0.57 [[ 2.07919918e-01 -9.78145706e-01 -5.33671505e-04 1.78930188e+02] [ 9.78142143e-01 2.07920601e-01 -2.64048478e-03 1.11919904e+02] [ 2.69374015e-03 2.70027879e-05 9.99996372e-01 5.67430399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76401273899998 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:178.93, Y:111.94, Z:0.57 [[ 2.09229841e-01 -9.77866346e-01 -5.32977067e-04 1.78934139e+02] [ 9.77862781e-01 2.09230517e-01 -2.64062494e-03 1.11943636e+02] [ 2.69369333e-03 3.13190996e-05 9.99996372e-01 5.69778834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79401273899998 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:178.94, Y:111.97, Z:0.57 [[ 2.12045328e-01 -9.77259687e-01 -5.32266011e-04 1.78936432e+02] [ 9.77256120e-01 2.12045992e-01 -2.64076826e-03 1.11968209e+02] [ 2.69358124e-03 3.98023541e-05 9.99996372e-01 5.71771902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82401273899998 meters Centerline goodness : 0.995610 Centerline is valid? [True, True] Translation: X:178.94, Y:111.99, Z:0.57 [[ 2.13215498e-01 -9.77005051e-01 -5.31512836e-04 1.78938632e+02] [ 9.77001482e-01 2.13216156e-01 -2.64091984e-03 1.11991697e+02] [ 2.69351915e-03 4.37962122e-05 9.99996372e-01 5.70641447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85401273899998 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:178.94, Y:112.02, Z:0.57 [[ 2.13899625e-01 -9.76855500e-01 -5.30803756e-04 1.78940652e+02] [ 9.76851931e-01 2.13900279e-01 -2.64106236e-03 1.12015175e+02] [ 2.69347536e-03 4.64055748e-05 9.99996372e-01 5.68488176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88401273899999 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:178.94, Y:112.04, Z:0.57 [[ 2.13933034e-01 -9.76848185e-01 -5.30049253e-04 1.78942587e+02] [ 9.76844615e-01 2.13933685e-01 -2.64121377e-03 1.12039896e+02] [ 2.69346027e-03 4.72671172e-05 9.99996372e-01 5.67537766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.914012739 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:178.95, Y:112.06, Z:0.57 [[ 2.13066767e-01 -9.77037498e-01 -5.29308063e-04 1.78945938e+02] [ 9.77033929e-01 2.13067420e-01 -2.64136230e-03 1.12064663e+02] [ 2.69348832e-03 4.56345895e-05 9.99996372e-01 5.69064807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.944012739 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:178.95, Y:112.09, Z:0.57 [[ 2.10720835e-01 -9.77546137e-01 -5.28569915e-04 1.78947009e+02] [ 9.77542569e-01 2.10721494e-01 -2.64151001e-03 1.12089049e+02] [ 2.69357894e-03 3.99216007e-05 9.99996372e-01 5.70656702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.974012739 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:178.95, Y:112.11, Z:0.57 [[ 2.10225544e-01 -9.77652772e-01 -5.27838444e-04 1.78949977e+02] [ 9.77649204e-01 2.10226203e-01 -2.64165616e-03 1.12112247e+02] [ 2.69358794e-03 3.93027703e-05 9.99996372e-01 5.68021696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.004012739 meters Centerline goodness : 0.996763 Centerline is valid? [True, True] Translation: X:178.95, Y:112.14, Z:0.57 [[ 2.08836055e-01 -9.77950527e-01 -5.18530925e-04 1.78953029e+02] [ 9.77946955e-01 2.08836694e-01 -2.64351219e-03 1.12136560e+02] [ 2.69351242e-03 4.49649180e-05 9.99996372e-01 5.67124791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.034012739 meters Centerline goodness : 0.996752 Centerline is valid? [True, True] Translation: X:178.96, Y:112.16, Z:0.57 [[ 2.08166309e-01 -9.78093307e-01 -5.20665967e-04 1.78955087e+02] [ 9.78089736e-01 2.08166956e-01 -2.64308711e-03 1.12161513e+02] [ 2.69357127e-03 4.09436502e-05 9.99996372e-01 5.68220642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.064012739 meters Centerline goodness : 0.996356 Centerline is valid? [True, True] Translation: X:178.96, Y:112.19, Z:0.57 [[ 2.07933010e-01 -9.78142931e-01 -5.20241185e-04 1.78957799e+02] [ 9.78139360e-01 2.07933657e-01 -2.64317163e-03 1.12185610e+02] [ 2.69357529e-03 4.07342530e-05 9.99996372e-01 5.71013572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.094012739 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:178.96, Y:112.21, Z:0.57 [[ 2.08558225e-01 -9.78009815e-01 -5.18251630e-04 1.78959529e+02] [ 9.78006243e-01 2.08558865e-01 -2.64356676e-03 1.12210325e+02] [ 2.69352021e-03 4.44842634e-05 9.99996372e-01 5.73186708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.124012739 meters Centerline goodness : 0.996547 Centerline is valid? [True, True] Translation: X:178.96, Y:112.24, Z:0.58 [[ 2.07706542e-01 -9.78191048e-01 -5.15877591e-04 1.78962810e+02] [ 9.78187476e-01 2.07707178e-01 -2.64403754e-03 1.12235820e+02] [ 2.69352533e-03 4.45588954e-05 9.99996371e-01 5.75238976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15401273899997 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:178.97, Y:112.26, Z:0.58 [[ 2.06909175e-01 -9.78360015e-01 -5.23562301e-04 1.78965975e+02] [ 9.78356447e-01 2.06909834e-01 -2.64251497e-03 1.12260820e+02] [ 2.69366117e-03 3.45300392e-05 9.99996372e-01 5.75314066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18401273899997 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:178.97, Y:112.28, Z:0.58 [[ 2.04792440e-01 -9.78805284e-01 -5.22853453e-04 1.78967328e+02] [ 9.78801717e-01 2.04793105e-01 -2.64265522e-03 1.12284879e+02] [ 2.69372167e-03 2.94259522e-05 9.99996372e-01 5.75196551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21401273899997 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:178.97, Y:112.31, Z:0.57 [[ 2.03771141e-01 -9.79018415e-01 -5.15724407e-04 1.78971459e+02] [ 9.79014845e-01 2.03771791e-01 -2.64406233e-03 1.12307583e+02] [ 2.69367579e-03 3.38817458e-05 9.99996371e-01 5.71978402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24401273899997 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:178.98, Y:112.34, Z:0.57 [[ 1.96612219e-01 -9.80481199e-01 -5.04771195e-04 1.78977348e+02] [ 9.80477628e-01 1.96612865e-01 -2.64622287e-03 1.12335514e+02] [ 2.69381629e-03 2.53628871e-05 9.99996371e-01 5.72659484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27401273899997 meters Centerline goodness : 0.996838 Centerline is valid? [True, True] Translation: X:178.98, Y:112.36, Z:0.57 [[ 1.93862222e-01 -9.81028627e-01 -5.21249982e-04 1.78983225e+02] [ 9.81025067e-01 1.93862922e-01 -2.64297291e-03 1.12358640e+02] [ 2.69388313e-03 1.01330159e-06 9.99996372e-01 5.71950452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30401273899997 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:178.99, Y:112.38, Z:0.57 [[ 1.90184767e-01 -9.81748177e-01 -5.20471296e-04 1.78989307e+02] [ 9.81744619e-01 1.90185479e-01 -2.64312625e-03 1.12382961e+02] [ 2.69387046e-03 -8.28754397e-06 9.99996372e-01 5.72942117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33401273899997 meters Centerline goodness : 0.996370 Centerline is valid? [True, True] Translation: X:178.99, Y:112.41, Z:0.57 [[ 1.89337100e-01 -9.81912009e-01 -5.19730678e-04 1.78993820e+02] [ 9.81908451e-01 1.89337813e-01 -2.64327187e-03 1.12405661e+02] [ 2.69386506e-03 -9.85851539e-06 9.99996372e-01 5.73119397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36401273899997 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:179.00, Y:112.43, Z:0.57 [[ 1.88692615e-01 -9.82036062e-01 -5.18961286e-04 1.78998782e+02] [ 9.82032505e-01 1.88693328e-01 -2.64342292e-03 1.12430050e+02] [ 2.69386116e-03 -1.08424690e-05 9.99996372e-01 5.71427810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39401273899998 meters Centerline goodness : 0.996575 Centerline is valid? [True, True] Translation: X:179.01, Y:112.45, Z:0.57 [[ 1.88224529e-01 -9.82125887e-01 -5.18218299e-04 1.79007485e+02] [ 9.82122329e-01 1.88225242e-01 -2.64356856e-03 1.12453123e+02] [ 2.69385889e-03 -1.13693157e-05 9.99996372e-01 5.68333415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42401273899998 meters Centerline goodness : 0.996534 Centerline is valid? [True, True] Translation: X:179.01, Y:112.48, Z:0.57 [[ 1.87653288e-01 -9.82235194e-01 -5.17473572e-04 1.79014745e+02] [ 9.82231636e-01 1.87654001e-01 -2.64371434e-03 1.12477365e+02] [ 2.69385525e-03 -1.21772250e-05 9.99996372e-01 5.68871573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45401273899998 meters Centerline goodness : 0.992969 Centerline is valid? [True, True] Translation: X:179.02, Y:112.50, Z:0.58 [[ 1.86644390e-01 -9.82427404e-01 -5.16779279e-04 1.79024972e+02] [ 9.82423847e-01 1.86645105e-01 -2.64385005e-03 1.12500112e+02] [ 2.69384506e-03 -1.42365083e-05 9.99996372e-01 5.82072249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48401273899998 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:179.03, Y:112.52, Z:0.57 [[ 1.87383584e-01 -9.82286682e-01 -5.16055510e-04 1.79031011e+02] [ 9.82283124e-01 1.87384294e-01 -2.64399131e-03 1.12524429e+02] [ 2.69385815e-03 -1.14720497e-05 9.99996372e-01 5.71746141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51401273899998 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:179.04, Y:112.55, Z:0.57 [[ 1.88015380e-01 -9.82165949e-01 -5.15311031e-04 1.79036809e+02] [ 9.82162390e-01 1.88016086e-01 -2.64413640e-03 1.12546885e+02] [ 2.69386750e-03 -8.98080332e-06 9.99996372e-01 5.71470079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54401273899998 meters Centerline goodness : 0.996751 Centerline is valid? [True, True] Translation: X:179.04, Y:112.57, Z:0.57 [[ 1.90413154e-01 -9.81703910e-01 -5.14538422e-04 1.79044137e+02] [ 9.81700348e-01 1.90413849e-01 -2.64428674e-03 1.12569904e+02] [ 2.69388187e-03 -1.61557012e-06 9.99996372e-01 5.70054644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57401273899998 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:179.05, Y:112.59, Z:0.57 [[ 1.91905197e-01 -9.81413334e-01 -5.13800983e-04 1.79049317e+02] [ 9.81409771e-01 1.91905885e-01 -2.64443002e-03 1.12593563e+02] [ 2.69388031e-03 3.23055822e-06 9.99996372e-01 5.69310771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60401273899998 meters Centerline goodness : 0.996665 Centerline is valid? [True, True] Translation: X:179.05, Y:112.62, Z:0.57 [[ 1.93666272e-01 -9.81067333e-01 -5.13061683e-04 1.79054256e+02] [ 9.81063769e-01 1.93666951e-01 -2.64457345e-03 1.12616865e+02] [ 2.69386771e-03 8.81845286e-06 9.99996372e-01 5.69407404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63401273899999 meters Centerline goodness : 0.996110 Centerline is valid? [True, True] Translation: X:179.06, Y:112.64, Z:0.57 [[ 1.96381503e-01 -9.80527431e-01 -5.12297813e-04 1.79060078e+02] [ 9.80523864e-01 1.96382170e-01 -2.64472141e-03 1.12641887e+02] [ 2.69382805e-03 1.70541349e-05 9.99996372e-01 5.71017560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.664012739 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:179.06, Y:112.66, Z:0.57 [[ 1.98727623e-01 -9.80054626e-01 -5.11604025e-04 1.79063559e+02] [ 9.80051058e-01 1.98728280e-01 -2.64485562e-03 1.12664960e+02] [ 2.69377317e-03 2.42078025e-05 9.99996372e-01 5.73067164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.694012739 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:179.07, Y:112.69, Z:0.57 [[ 1.99812836e-01 -9.79833950e-01 -5.10818807e-04 1.79067688e+02] [ 9.79830380e-01 1.99813487e-01 -2.64500726e-03 1.12688753e+02] [ 2.69373640e-03 2.79906157e-05 9.99996372e-01 5.73069274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.724012739 meters Centerline goodness : 0.996661 Centerline is valid? [True, True] Translation: X:179.07, Y:112.71, Z:0.57 [[ 2.00377230e-01 -9.79718687e-01 -5.10087303e-04 1.79071746e+02] [ 9.79715117e-01 2.00377877e-01 -2.64514832e-03 1.12712466e+02] [ 2.69371145e-03 3.02872529e-05 9.99996372e-01 5.71494951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.754012739 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:179.08, Y:112.74, Z:0.57 [[ 2.00380779e-01 -9.79717961e-01 -5.09329139e-04 1.79076394e+02] [ 9.79714391e-01 2.00381424e-01 -2.64529430e-03 1.12735468e+02] [ 2.69370244e-03 3.10690473e-05 9.99996372e-01 5.70220231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.784012739 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:179.08, Y:112.76, Z:0.58 [[ 2.00746007e-01 -9.79643191e-01 -5.08644598e-04 1.79080641e+02] [ 9.79639620e-01 2.00746649e-01 -2.64542592e-03 1.12760144e+02] [ 2.69368219e-03 3.27702892e-05 9.99996372e-01 5.75094364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.814012739 meters Centerline goodness : 0.996201 Centerline is valid? [True, True] Translation: X:179.08, Y:112.78, Z:0.58 [[ 2.00971686e-01 -9.79596919e-01 -5.07891242e-04 1.79084431e+02] [ 9.79593347e-01 2.00972325e-01 -2.64557055e-03 1.12784394e+02] [ 2.69366484e-03 3.41578915e-05 9.99996372e-01 5.76278926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.844012739 meters Centerline goodness : 0.996547 Centerline is valid? [True, True] Translation: X:179.09, Y:112.81, Z:0.58 [[ 2.00825986e-01 -9.79626800e-01 -5.07136699e-04 1.79088226e+02] [ 9.79623227e-01 2.00826623e-01 -2.64571518e-03 1.12808020e+02] [ 2.69366005e-03 3.45254691e-05 9.99996372e-01 5.76012577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.874012739 meters Centerline goodness : 0.996054 Centerline is valid? [True, True] Translation: X:179.09, Y:112.83, Z:0.57 [[ 2.00875093e-01 -9.79616732e-01 -5.06388079e-04 1.79091826e+02] [ 9.79613159e-01 2.00875728e-01 -2.64585846e-03 1.12832296e+02] [ 2.69364829e-03 3.54226381e-05 9.99996372e-01 5.74877432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90401273899997 meters Centerline goodness : 0.996430 Centerline is valid? [True, True] Translation: X:179.10, Y:112.86, Z:0.58 [[ 2.00674966e-01 -9.79657748e-01 -5.05645887e-04 1.79096277e+02] [ 9.79654175e-01 2.00675599e-01 -2.64600029e-03 1.12856375e+02] [ 2.69364548e-03 3.56279133e-05 9.99996372e-01 5.75885021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93401273899997 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:179.10, Y:112.88, Z:0.58 [[ 1.98370788e-01 -9.80126918e-01 -5.04896443e-04 1.79101761e+02] [ 9.80123347e-01 1.98371428e-01 -2.64614329e-03 1.12879166e+02] [ 2.69371329e-03 3.00567374e-05 9.99996372e-01 5.79025501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96401273899997 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:179.11, Y:112.90, Z:0.58 [[ 1.96161747e-01 -9.80571423e-01 -5.04120318e-04 1.79107090e+02] [ 9.80567852e-01 1.96162393e-01 -2.64629114e-03 1.12902739e+02] [ 2.69376692e-03 2.47769145e-05 9.99996372e-01 5.78918000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99401273899997 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:179.11, Y:112.93, Z:0.58 [[ 1.95888238e-01 -9.80626098e-01 -5.03381960e-04 1.79111416e+02] [ 9.80622528e-01 1.95888884e-01 -2.64643158e-03 1.12927506e+02] [ 2.69376681e-03 2.47771310e-05 9.99996372e-01 5.78985735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.024012739 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:179.12, Y:112.95, Z:0.58 [[ 1.93068860e-01 -9.81185081e-01 -5.02643776e-04 1.79117293e+02] [ 9.81181512e-01 1.93069513e-01 -2.64657178e-03 1.12951327e+02] [ 2.69382194e-03 1.77858165e-05 9.99996372e-01 5.78035908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05401273900003 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:179.13, Y:112.98, Z:0.58 [[ 1.87790295e-01 -9.82209017e-01 -5.01907808e-04 1.79125663e+02] [ 9.82205451e-01 1.87790966e-01 -2.64671135e-03 1.12975140e+02] [ 2.69387750e-03 4.05012040e-06 9.99996372e-01 5.75501705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.084012739 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:179.13, Y:113.00, Z:0.58 [[ 1.85953720e-01 -9.82558376e-01 -5.01158011e-04 1.79131783e+02] [ 9.82554811e-01 1.85954395e-01 -2.64685331e-03 1.12998843e+02] [ 2.69388043e-03 -2.22994785e-07 9.99996372e-01 5.75933451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11401273900003 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:179.14, Y:113.02, Z:0.58 [[ 1.86348562e-01 -9.82483569e-01 -5.00405001e-04 1.79138345e+02] [ 9.82480003e-01 1.86349233e-01 -2.64699567e-03 1.13021516e+02] [ 2.69387984e-03 1.62592867e-06 9.99996372e-01 5.77967405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.144012739 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:179.14, Y:113.05, Z:0.58 [[ 1.86888692e-01 -9.82380971e-01 -4.94175558e-04 1.79143366e+02] [ 9.82377402e-01 1.86889346e-01 -2.64817088e-03 1.13045395e+02] [ 2.69386882e-03 9.44629164e-06 9.99996372e-01 5.78519639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17401273900003 meters Centerline goodness : 0.995643 Centerline is valid? [True, True] Translation: X:179.15, Y:113.07, Z:0.58 [[ 1.90435965e-01 -9.81699493e-01 -4.98838034e-04 1.79148118e+02] [ 9.81695924e-01 1.90436618e-01 -2.64729231e-03 1.13069669e+02] [ 2.69384255e-03 1.44324030e-05 9.99996372e-01 5.78461224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.204012739 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:179.15, Y:113.09, Z:0.58 [[ 1.91874623e-01 -9.81419320e-01 -4.98100412e-04 1.79151979e+02] [ 9.81415749e-01 1.91875269e-01 -2.64743109e-03 1.13094947e+02] [ 2.69381317e-03 1.91312531e-05 9.99996372e-01 5.78760841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23401273900004 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:179.16, Y:113.12, Z:0.58 [[ 1.93548122e-01 -9.81090657e-01 -4.97394479e-04 1.79155617e+02] [ 9.81087085e-01 1.93548759e-01 -2.64756371e-03 1.13119047e+02] [ 2.69377011e-03 2.44436841e-05 9.99996372e-01 5.79911934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.264012739 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:179.16, Y:113.14, Z:0.58 [[ 1.95692168e-01 -9.80665248e-01 -4.96781066e-04 1.79159842e+02] [ 9.80661674e-01 1.95692796e-01 -2.64767881e-03 1.13143006e+02] [ 2.69370307e-03 3.09558553e-05 9.99996372e-01 5.79093168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.294012739 meters Centerline goodness : 0.995172 Centerline is valid? [True, True] Translation: X:179.16, Y:113.17, Z:0.58 [[ 1.95775764e-01 -9.80648563e-01 -4.96042468e-04 1.79164347e+02] [ 9.80644989e-01 1.95776390e-01 -2.64781718e-03 1.13167260e+02] [ 2.69369151e-03 3.19368691e-05 9.99996372e-01 5.78010288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.324012739 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:179.17, Y:113.19, Z:0.58 [[ 1.94518730e-01 -9.80898679e-01 -4.95282924e-04 1.79169117e+02] [ 9.80895105e-01 1.94519358e-01 -2.64795924e-03 1.13190611e+02] [ 2.69372184e-03 2.92570728e-05 9.99996372e-01 5.77528444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.354012739 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:179.17, Y:113.21, Z:0.58 [[ 1.93293290e-01 -9.81140897e-01 -4.94496560e-04 1.79173165e+02] [ 9.81137324e-01 1.93293921e-01 -2.64810609e-03 1.13214809e+02] [ 2.69374836e-03 2.66921064e-05 9.99996372e-01 5.78234416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.384012739 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:179.18, Y:113.24, Z:0.58 [[ 1.91944181e-01 -9.81405720e-01 -4.93749585e-04 1.79177410e+02] [ 9.81402147e-01 1.91944815e-01 -2.64824536e-03 1.13239047e+02] [ 2.69377581e-03 2.37483823e-05 9.99996372e-01 5.78251050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.414012739 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:179.18, Y:113.26, Z:0.58 [[ 1.90537831e-01 -9.81679730e-01 -4.93003242e-04 1.79182273e+02] [ 9.81676158e-01 1.90538468e-01 -2.64838429e-03 1.13261868e+02] [ 2.69380126e-03 2.06478700e-05 9.99996372e-01 5.77824717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.444012739 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:179.19, Y:113.29, Z:0.58 [[ 1.88366958e-01 -9.82098593e-01 -4.92231991e-04 1.79188520e+02] [ 9.82095022e-01 1.88367600e-01 -2.64852763e-03 1.13286866e+02] [ 2.69383582e-03 1.54765031e-05 9.99996372e-01 5.75797018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.474012739 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:179.19, Y:113.31, Z:0.57 [[ 1.88157569e-01 -9.82138731e-01 -4.91514089e-04 1.79191691e+02] [ 9.82135160e-01 1.88158210e-01 -2.64866085e-03 1.13312629e+02] [ 2.69383482e-03 1.56323181e-05 9.99996372e-01 5.73169642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.504012739 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:179.20, Y:113.34, Z:0.57 [[ 1.88396918e-01 -9.82092847e-01 -4.90799077e-04 1.79195375e+02] [ 9.82089275e-01 1.88397557e-01 -2.64879333e-03 1.13337042e+02] [ 2.69382633e-03 1.70159916e-05 9.99996372e-01 5.73068512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.534012739 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:179.20, Y:113.36, Z:0.57 [[ 1.88693456e-01 -9.82035916e-01 -4.90053621e-04 1.79198389e+02] [ 9.82032343e-01 1.88694091e-01 -2.64893124e-03 1.13360434e+02] [ 2.69381584e-03 1.85874851e-05 9.99996372e-01 5.73816719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.564012739 meters Centerline goodness : 0.995370 Centerline is valid? [True, True] Translation: X:179.20, Y:113.39, Z:0.58 [[ 1.90545002e-01 -9.81678340e-01 -4.89363817e-04 1.79199407e+02] [ 9.81674766e-01 1.90545629e-01 -2.64905867e-03 1.13385686e+02] [ 2.69376966e-03 2.43687803e-05 9.99996372e-01 5.76599370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.594012739 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:179.20, Y:113.41, Z:0.58 [[ 1.91437234e-01 -9.81504736e-01 -4.88621606e-04 1.79201168e+02] [ 9.81501161e-01 1.91437856e-01 -2.64919557e-03 1.13411268e+02] [ 2.69373867e-03 2.75719980e-05 9.99996372e-01 5.76919754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.624012739 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:179.20, Y:113.44, Z:0.58 [[ 1.92932081e-01 -9.81211992e-01 -4.87921181e-04 1.79200614e+02] [ 9.81208416e-01 1.92932696e-01 -2.64932456e-03 1.13437350e+02] [ 2.69368498e-03 3.23873327e-05 9.99996372e-01 5.76659861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.654012739 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:179.20, Y:113.46, Z:0.58 [[ 1.92996571e-01 -9.81199310e-01 -4.87207184e-04 1.79203225e+02] [ 9.81195734e-01 1.92997184e-01 -2.64945586e-03 1.13461343e+02] [ 2.69367388e-03 3.32902869e-05 9.99996372e-01 5.76738521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.684012739 meters Centerline goodness : 0.995238 Centerline is valid? [True, True] Translation: X:179.21, Y:113.49, Z:0.58 [[ 1.92190956e-01 -9.81357427e-01 -4.86600988e-04 1.79205878e+02] [ 9.81353851e-01 1.92191569e-01 -2.64956719e-03 1.13485893e+02] [ 2.69369305e-03 3.16950964e-05 9.99996372e-01 5.77121436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.714012739 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:179.21, Y:113.51, Z:0.58 [[ 1.89824186e-01 -9.81817978e-01 -4.85848569e-04 1.79206636e+02] [ 9.81814403e-01 1.89824806e-01 -2.64970515e-03 1.13511490e+02] [ 2.69375427e-03 2.59650003e-05 9.99996372e-01 5.77636094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.744012739 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:179.21, Y:113.54, Z:0.58 [[ 1.88160325e-01 -9.82138207e-01 -4.85148513e-04 1.79208376e+02] [ 9.82134632e-01 1.88160949e-01 -2.64983332e-03 1.13535336e+02] [ 2.69378855e-03 2.21123439e-05 9.99996372e-01 5.78761455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.774012739 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:179.21, Y:113.56, Z:0.58 [[ 1.84495630e-01 -9.82833215e-01 -4.84358234e-04 1.79208270e+02] [ 9.82829642e-01 1.84496265e-01 -2.64997777e-03 1.13560764e+02] [ 2.69384845e-03 1.28676880e-05 9.99996372e-01 5.76567551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80401273900003 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:179.21, Y:113.59, Z:0.58 [[ 1.82703390e-01 -9.83167960e-01 -4.83654512e-04 1.79211035e+02] [ 9.83164388e-01 1.82704030e-01 -2.65010620e-03 1.13585549e+02] [ 2.69386514e-03 8.67149501e-06 9.99996372e-01 5.77256004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.834012739 meters Centerline goodness : 0.995011 Centerline is valid? [True, True] Translation: X:179.21, Y:113.61, Z:0.58 [[ 1.80861554e-01 -9.83508447e-01 -4.82926014e-04 1.79213586e+02] [ 9.83504876e-01 1.80862199e-01 -2.65023895e-03 1.13609947e+02] [ 2.69387545e-03 4.36624571e-06 9.99996372e-01 5.77196441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86401273900003 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:179.21, Y:113.64, Z:0.58 [[ 1.77424960e-01 -9.84134214e-01 -4.82216928e-04 1.79214497e+02] [ 9.84130645e-01 1.77425616e-01 -2.65036796e-03 1.13635591e+02] [ 2.69387543e-03 -4.32302593e-06 9.99996372e-01 5.78415848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.894012739 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:179.22, Y:113.66, Z:0.58 [[ 1.76070726e-01 -9.84377400e-01 -4.83876830e-04 1.79216676e+02] [ 9.84373833e-01 1.76071390e-01 -2.65006632e-03 1.13660083e+02] [ 2.69386226e-03 -9.71658857e-06 9.99996372e-01 5.79405346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92401273900003 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:179.22, Y:113.68, Z:0.58 [[ 1.73387994e-01 -9.84853478e-01 -4.80753300e-04 1.79216968e+02] [ 9.84849911e-01 1.73388660e-01 -2.65063285e-03 1.13684117e+02] [ 2.69384215e-03 -1.38819334e-05 9.99996372e-01 5.80595396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.954012739 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:179.22, Y:113.71, Z:0.58 [[ 1.71838193e-01 -9.85125071e-01 -4.79973764e-04 1.79219050e+02] [ 9.85121505e-01 1.71838862e-01 -2.65077400e-03 1.13709478e+02] [ 2.69382207e-03 -1.73282632e-05 9.99996372e-01 5.78300098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98401273900004 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:179.22, Y:113.73, Z:0.58 [[ 1.69433420e-01 -9.85541519e-01 -4.79271493e-04 1.79219235e+02] [ 9.85537954e-01 1.69434097e-01 -2.65090097e-03 1.13734667e+02] [ 2.69377790e-03 -2.31890294e-05 9.99996372e-01 5.76428038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.014012739 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:179.22, Y:113.76, Z:0.58 [[ 1.68345806e-01 -9.85727884e-01 -4.78542777e-04 1.79222032e+02] [ 9.85724319e-01 1.68346484e-01 -2.65103251e-03 1.13759739e+02] [ 2.69375766e-03 -2.54210497e-05 9.99996372e-01 5.76831393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.044012739 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:179.22, Y:113.78, Z:0.58 [[ 1.68242580e-01 -9.85745508e-01 -4.77850270e-04 1.79222285e+02] [ 9.85741943e-01 1.68243256e-01 -2.65115733e-03 1.13784439e+02] [ 2.69376151e-03 -2.49995059e-05 9.99996372e-01 5.80400478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.074012739 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:179.22, Y:113.81, Z:0.58 [[ 1.68204201e-01 -9.85752058e-01 -4.77256890e-04 1.79223423e+02] [ 9.85748492e-01 1.68204877e-01 -2.65126414e-03 1.13809079e+02] [ 2.69376602e-03 -2.45014921e-05 9.99996372e-01 5.82376695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.104012739 meters Centerline goodness : 0.994840 Centerline is valid? [True, True] Translation: X:179.22, Y:113.83, Z:0.58 [[ 1.68178486e-01 -9.85756446e-01 -4.76518671e-04 1.79224946e+02] [ 9.85752880e-01 1.68179159e-01 -2.65139682e-03 1.13832616e+02] [ 2.69377201e-03 -2.38217504e-05 9.99996372e-01 5.84660380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.134012739 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:179.23, Y:113.86, Z:0.58 [[ 1.67787861e-01 -9.85823010e-01 -4.75756411e-04 1.79228364e+02] [ 9.85819445e-01 1.67788533e-01 -2.65153359e-03 1.13857401e+02] [ 2.69376929e-03 -2.41147726e-05 9.99996372e-01 5.81929387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.164012739 meters Centerline goodness : 0.995574 Centerline is valid? [True, True] Translation: X:179.23, Y:113.88, Z:0.58 [[ 1.66343389e-01 -9.86067774e-01 -4.72093239e-04 1.79233574e+02] [ 9.86064207e-01 1.66344057e-01 -2.65218988e-03 1.13882270e+02] [ 2.69376887e-03 -2.43399943e-05 9.99996372e-01 5.81366969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.194012739 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:179.24, Y:113.91, Z:0.58 [[ 1.63155280e-01 -9.86600289e-01 -4.74422196e-04 1.79240033e+02] [ 9.86596726e-01 1.63155966e-01 -2.65177321e-03 1.13905348e+02] [ 2.69364503e-03 -3.54125845e-05 9.99996372e-01 5.80953805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.224012739 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:179.25, Y:113.93, Z:0.59 [[ 1.61471941e-01 -9.86877190e-01 -4.73728048e-04 1.79245866e+02] [ 9.86873628e-01 1.61472631e-01 -2.65189721e-03 1.13929249e+02] [ 2.69359098e-03 -3.93027281e-05 9.99996372e-01 5.90431371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.254012739 meters Centerline goodness : 0.996245 Centerline is valid? [True, True] Translation: X:179.25, Y:113.95, Z:0.58 [[ 1.59486238e-01 -9.87200039e-01 -4.72996927e-04 1.79250842e+02] [ 9.87196477e-01 1.59486933e-01 -2.65202761e-03 1.13954304e+02] [ 2.69351859e-03 -4.39789949e-05 9.99996372e-01 5.78307220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.284012739 meters Centerline goodness : 0.996149 Centerline is valid? [True, True] Translation: X:179.26, Y:113.98, Z:0.58 [[ 1.58208823e-01 -9.87405561e-01 -4.76731516e-04 1.79257878e+02] [ 9.87402002e-01 1.58209533e-01 -2.65136255e-03 1.13977786e+02] [ 2.69339360e-03 -5.12567051e-05 9.99996372e-01 5.76128188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.314012739 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:179.26, Y:114.00, Z:0.57 [[ 1.58461633e-01 -9.87365023e-01 -4.71318982e-04 1.79263284e+02] [ 9.87361462e-01 1.58462328e-01 -2.65232436e-03 1.14002981e+02] [ 2.69349861e-03 -4.50705485e-05 9.99996372e-01 5.74497361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.344012739 meters Centerline goodness : 0.995902 Centerline is valid? [True, True] Translation: X:179.27, Y:114.03, Z:0.58 [[ 1.61345618e-01 -9.86897852e-01 -4.70626138e-04 1.79269602e+02] [ 9.86894288e-01 1.61346300e-01 -2.65244729e-03 1.14026693e+02] [ 2.69362832e-03 -3.64975011e-05 9.99996372e-01 5.75713076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.374012739 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:179.27, Y:114.05, Z:0.58 [[ 1.63287228e-01 -9.86578461e-01 -4.69904756e-04 1.79274390e+02] [ 9.86574896e-01 1.63287902e-01 -2.65257509e-03 1.14049408e+02] [ 2.69370321e-03 -3.04646021e-05 9.99996372e-01 5.75635148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.404012739 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:179.28, Y:114.07, Z:0.57 [[ 1.66711191e-01 -9.86005659e-01 -4.69152077e-04 1.79280598e+02] [ 9.86002090e-01 1.66711849e-01 -2.65270820e-03 1.14074016e+02] [ 2.69379851e-03 -2.03487857e-05 9.99996372e-01 5.73156227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.434012739 meters Centerline goodness : 0.996493 Centerline is valid? [True, True] Translation: X:179.29, Y:114.10, Z:0.57 [[ 1.66985118e-01 -9.85959305e-01 -4.68442482e-04 1.79285425e+02] [ 9.85955736e-01 1.66985774e-01 -2.65283350e-03 1.14098545e+02] [ 2.69380911e-03 -1.88798371e-05 9.99996372e-01 5.72209997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.464012739 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:179.29, Y:114.12, Z:0.57 [[ 1.66667195e-01 -9.86013097e-01 -4.67725000e-04 1.79290388e+02] [ 9.86009528e-01 1.66667851e-01 -2.65296000e-03 1.14122622e+02] [ 2.69380802e-03 -1.90199039e-05 9.99996372e-01 5.73423828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.494012739 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:179.30, Y:114.15, Z:0.57 [[ 1.65180448e-01 -9.86263252e-01 -4.67111456e-04 1.79297568e+02] [ 9.86259683e-01 1.65181107e-01 -2.65306802e-03 1.14146856e+02] [ 2.69378148e-03 -2.24582327e-05 9.99996372e-01 5.74123164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.524012739 meters Centerline goodness : 0.995306 Centerline is valid? [True, True] Translation: X:179.30, Y:114.17, Z:0.57 [[ 1.64565041e-01 -9.86366124e-01 -4.66362782e-04 1.79302733e+02] [ 9.86362556e-01 1.64565700e-01 -2.65319962e-03 1.14170685e+02] [ 2.69377354e-03 -2.33788822e-05 9.99996372e-01 5.73715948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55401273900003 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:179.31, Y:114.19, Z:0.57 [[ 1.66094305e-01 -9.86109763e-01 -4.65613550e-04 1.79305856e+02] [ 9.86106194e-01 1.66094957e-01 -2.65333110e-03 1.14194334e+02] [ 2.69381176e-03 -1.84412200e-05 9.99996372e-01 5.72711349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.584012739 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:179.31, Y:114.22, Z:0.57 [[ 1.68418361e-01 -9.85715496e-01 -4.64836713e-04 1.79307918e+02] [ 9.85711925e-01 1.68419002e-01 -2.65346718e-03 1.14217532e+02] [ 2.69385106e-03 -1.13024956e-05 9.99996372e-01 5.72326869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61401273900003 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:179.31, Y:114.24, Z:0.57 [[ 1.74223030e-01 -9.84706109e-01 -4.64076319e-04 1.79308704e+02] [ 9.84702533e-01 1.74223648e-01 -2.65360017e-03 1.14242956e+02] [ 2.69386936e-03 5.34113439e-06 9.99996372e-01 5.73793800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.644012739 meters Centerline goodness : 0.994756 Centerline is valid? [True, True] Translation: X:179.31, Y:114.27, Z:0.58 [[ 1.76336457e-01 -9.84329843e-01 -4.63383990e-04 1.79311678e+02] [ 9.84326266e-01 1.76337066e-01 -2.65372106e-03 1.14267260e+02] [ 2.69384860e-03 1.18267371e-05 9.99996372e-01 5.75158755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67401273900003 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:179.31, Y:114.29, Z:0.58 [[ 1.77265847e-01 -9.84162896e-01 -4.62629642e-04 1.79314814e+02] [ 9.84159318e-01 1.77266450e-01 -2.65385256e-03 1.14290210e+02] [ 2.69383193e-03 1.51361483e-05 9.99996372e-01 5.77129961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.704012739 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:179.32, Y:114.31, Z:0.58 [[ 1.75881626e-01 -9.84411215e-01 -4.61921925e-04 1.79319934e+02] [ 9.84407637e-01 1.75882232e-01 -2.65397574e-03 1.14314485e+02] [ 2.69384734e-03 1.20660974e-05 9.99996372e-01 5.77571487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73401273900004 meters Centerline goodness : 0.994363 Centerline is valid? [True, True] Translation: X:179.32, Y:114.34, Z:0.58 [[ 1.74256586e-01 -9.84700172e-01 -4.61173819e-04 1.79324429e+02] [ 9.84696596e-01 1.74257196e-01 -2.65410573e-03 1.14339120e+02] [ 2.69386122e-03 8.37911422e-06 9.99996372e-01 5.79948991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.764012739 meters Centerline goodness : 0.993609 Centerline is valid? [True, True] Translation: X:179.33, Y:114.36, Z:0.58 [[ 1.72832296e-01 -9.84951159e-01 -4.60431157e-04 1.79328624e+02] [ 9.84947583e-01 1.72832909e-01 -2.65423456e-03 1.14362295e+02] [ 2.69386906e-03 5.23689654e-06 9.99996372e-01 5.82259064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.794012739 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:179.33, Y:114.39, Z:0.58 [[ 1.72656319e-01 -9.84982022e-01 -4.59660107e-04 1.79331967e+02] [ 9.84978446e-01 1.72656931e-01 -2.65436808e-03 1.14387075e+02] [ 2.69386834e-03 5.53812539e-06 9.99996372e-01 5.81175867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.824012739 meters Centerline goodness : 0.994317 Centerline is valid? [True, True] Translation: X:179.34, Y:114.41, Z:0.58 [[ 1.73652171e-01 -9.84806942e-01 -4.58902680e-04 1.79335617e+02] [ 9.84803364e-01 1.73652777e-01 -2.65449902e-03 1.14412243e+02] [ 2.69385879e-03 9.03061451e-06 9.99996372e-01 5.79572404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.854012739 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:179.34, Y:114.44, Z:0.58 [[ 1.77028357e-01 -9.84205645e-01 -4.58210526e-04 1.79338574e+02] [ 9.84202065e-01 1.77028949e-01 -2.65461849e-03 1.14436006e+02] [ 2.69380703e-03 1.89710043e-05 9.99996372e-01 5.76911617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.884012739 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:179.34, Y:114.46, Z:0.58 [[ 1.78830814e-01 -9.83879734e-01 -4.57457691e-04 1.79342896e+02] [ 9.83876153e-01 1.78831398e-01 -2.65474822e-03 1.14460179e+02] [ 2.69376077e-03 2.46690719e-05 9.99996372e-01 5.75204854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.914012739 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:179.35, Y:114.49, Z:0.58 [[ 1.78557651e-01 -9.83929345e-01 -4.56721116e-04 1.79346790e+02] [ 9.83925764e-01 1.78558233e-01 -2.65487493e-03 1.14485010e+02] [ 2.69376067e-03 2.46685589e-05 9.99996372e-01 5.75272586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.944012739 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:179.35, Y:114.51, Z:0.57 [[ 1.80949168e-01 -9.83492344e-01 -4.55984000e-04 1.79352368e+02] [ 9.83488761e-01 1.80949740e-01 -2.65500153e-03 1.14509864e+02] [ 2.69368386e-03 3.19651793e-05 9.99996372e-01 5.73408389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.974012739 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:179.36, Y:114.54, Z:0.57 [[ 1.80878016e-01 -9.83505433e-01 -4.55278381e-04 1.79356946e+02] [ 9.83501849e-01 1.80878586e-01 -2.65512252e-03 1.14535019e+02] [ 2.69367754e-03 3.24861636e-05 9.99996372e-01 5.73637526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.004012739 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:179.36, Y:114.56, Z:0.57 [[ 1.80165459e-01 -9.83636214e-01 -4.54572503e-04 1.79361617e+02] [ 9.83632630e-01 1.80166029e-01 -2.65524337e-03 1.14559351e+02] [ 2.69369206e-03 3.12507924e-05 9.99996372e-01 5.73160825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.034012739 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:179.37, Y:114.58, Z:0.57 [[ 1.79140896e-01 -9.83823324e-01 -4.53841632e-04 1.79367209e+02] [ 9.83819741e-01 1.79141469e-01 -2.65536828e-03 1.14582870e+02] [ 2.69371511e-03 2.91866969e-05 9.99996372e-01 5.71131056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.064012739 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:179.37, Y:114.61, Z:0.57 [[ 1.79154377e-01 -9.83820870e-01 -4.53229877e-04 1.79370868e+02] [ 9.83817287e-01 1.79154948e-01 -2.65547270e-03 1.14606485e+02] [ 2.69370783e-03 2.98441688e-05 9.99996372e-01 5.71971370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.094012739 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:179.37, Y:114.63, Z:0.57 [[ 1.81207661e-01 -9.83444751e-01 -4.52519079e-04 1.79372255e+02] [ 9.83441167e-01 1.81208222e-01 -2.65559382e-03 1.14631218e+02] [ 2.69362998e-03 3.61880525e-05 9.99996372e-01 5.71889774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.124012739 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:179.37, Y:114.65, Z:0.57 [[ 1.82637009e-01 -9.83180309e-01 -4.51798607e-04 1.79374915e+02] [ 9.83176723e-01 1.82637563e-01 -2.65571639e-03 1.14654566e+02] [ 2.69356345e-03 4.08342228e-05 9.99996372e-01 5.71125530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.154012739 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:179.38, Y:114.68, Z:0.57 [[ 1.83767588e-01 -9.82969618e-01 -4.51048938e-04 1.79377821e+02] [ 9.82966031e-01 1.83768136e-01 -2.65584371e-03 1.14679494e+02] [ 2.69350210e-03 4.46922080e-05 9.99996372e-01 5.69882768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.184012739 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:179.38, Y:114.70, Z:0.57 [[ 1.86415514e-01 -9.82470892e-01 -4.50333542e-04 1.79378753e+02] [ 9.82467303e-01 1.86416050e-01 -2.65596501e-03 1.14703649e+02] [ 2.69335771e-03 5.26750997e-05 9.99996372e-01 5.66717813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.214012739 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:179.38, Y:114.73, Z:0.57 [[ 1.87921570e-01 -9.82183935e-01 -4.49589724e-04 1.79380627e+02] [ 9.82180345e-01 1.87922099e-01 -2.65609091e-03 1.14728805e+02] [ 2.69325766e-03 5.75585837e-05 9.99996372e-01 5.65002032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.244012739 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:179.38, Y:114.75, Z:0.57 [[ 1.89342282e-01 -9.81911044e-01 -4.48888347e-04 1.79381847e+02] [ 9.81907454e-01 1.89342804e-01 -2.65620944e-03 1.14753193e+02] [ 2.69315516e-03 6.21659421e-05 9.99996372e-01 5.69880893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.274012739 meters Centerline goodness : 0.995182 Centerline is valid? [True, True] Translation: X:179.38, Y:114.78, Z:0.57 [[ 1.88215496e-01 -9.82127653e-01 -4.48159211e-04 1.79384692e+02] [ 9.82124062e-01 1.88216020e-01 -2.65633245e-03 1.14777297e+02] [ 2.69320830e-03 5.98149857e-05 9.99996372e-01 5.69822959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30401273900003 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:179.39, Y:114.80, Z:0.57 [[ 1.86309383e-01 -9.82491025e-01 -4.47412602e-04 1.79387355e+02] [ 9.82487435e-01 1.86309912e-01 -2.65645820e-03 1.14802278e+02] [ 2.69330374e-03 5.53458304e-05 9.99996372e-01 5.68819513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.334012739 meters Centerline goodness : 0.995414 Centerline is valid? [True, True] Translation: X:179.39, Y:114.83, Z:0.57 [[ 1.81944984e-01 -9.83308610e-01 -4.46706227e-04 1.79390483e+02] [ 9.83305023e-01 1.81945527e-01 -2.65657698e-03 1.14827325e+02] [ 2.69351122e-03 4.41023796e-05 9.99996372e-01 5.66430299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36401273900003 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:179.40, Y:114.85, Z:0.57 [[ 1.79172226e-01 -9.83817623e-01 -4.45996172e-04 1.79395147e+02] [ 9.83814036e-01 1.79172777e-01 -2.65669618e-03 1.14851644e+02] [ 2.69361489e-03 3.72288750e-05 9.99996372e-01 5.68745451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.394012739 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:179.40, Y:114.88, Z:0.57 [[ 1.74682125e-01 -9.84624780e-01 -4.45254197e-04 1.79400199e+02] [ 9.84621196e-01 1.74682691e-01 -2.65682053e-03 1.14875342e+02] [ 2.69374953e-03 2.56923354e-05 9.99996372e-01 5.67789145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42401273900003 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:179.40, Y:114.90, Z:0.57 [[ 1.72276384e-01 -9.85048552e-01 -4.44515384e-04 1.79404271e+02] [ 9.85044969e-01 1.72276956e-01 -2.65694413e-03 1.14900993e+02] [ 2.69379873e-03 1.98610859e-05 9.99996372e-01 5.67201182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.454012739 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:179.41, Y:114.92, Z:0.57 [[ 1.69559495e-01 -9.85519853e-01 -4.43842369e-04 1.79407399e+02] [ 9.85516271e-01 1.69560075e-01 -2.65705656e-03 1.14924789e+02] [ 2.69383993e-03 1.31152910e-05 9.99996372e-01 5.69173607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48401273900004 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:179.41, Y:114.95, Z:0.57 [[ 1.69211221e-01 -9.85579711e-01 -4.43108316e-04 1.79410807e+02] [ 9.85576129e-01 1.69211800e-01 -2.65717897e-03 1.14949927e+02] [ 2.69384083e-03 1.29075181e-05 9.99996372e-01 5.67522742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.514012739 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:179.41, Y:114.97, Z:0.57 [[ 1.70247838e-01 -9.85401176e-01 -4.42407852e-04 1.79413322e+02] [ 9.85397593e-01 1.70248412e-01 -2.65729558e-03 1.14974307e+02] [ 2.69382143e-03 1.64511962e-05 9.99996372e-01 5.68740405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.544012739 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:179.42, Y:115.00, Z:0.57 [[ 1.70761405e-01 -9.85312310e-01 -4.41681069e-04 1.79415784e+02] [ 9.85308726e-01 1.70761975e-01 -2.65741638e-03 1.14999608e+02] [ 2.69380740e-03 1.85919422e-05 9.99996372e-01 5.68038196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.574012739 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:179.42, Y:115.02, Z:0.57 [[ 1.71269745e-01 -9.85224076e-01 -4.40986624e-04 1.79417630e+02] [ 9.85220492e-01 1.71270311e-01 -2.65753162e-03 1.15022959e+02] [ 2.69379205e-03 2.06857029e-05 9.99996372e-01 5.69269815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.604012739 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:179.42, Y:115.05, Z:0.57 [[ 1.71393190e-01 -9.85202609e-01 -4.40200277e-04 1.79418056e+02] [ 9.85199025e-01 1.71393754e-01 -2.65766186e-03 1.15048635e+02] [ 2.69378298e-03 2.18202601e-05 9.99996372e-01 5.65890179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.634012739 meters Centerline goodness : 0.994317 Centerline is valid? [True, True] Translation: X:179.42, Y:115.07, Z:0.57 [[ 1.70230840e-01 -9.85404114e-01 -4.39506398e-04 1.79420614e+02] [ 9.85400530e-01 1.70231406e-01 -2.65777661e-03 1.15072499e+02] [ 2.69380179e-03 1.93457067e-05 9.99996372e-01 5.65713589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.664012739 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:179.42, Y:115.10, Z:0.56 [[ 1.66250272e-01 -9.86083493e-01 -4.38793830e-04 1.79423417e+02] [ 9.86079911e-01 1.66250851e-01 -2.65789424e-03 1.15096669e+02] [ 2.69385549e-03 9.18986073e-06 9.99996372e-01 5.63058092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.694012739 meters Centerline goodness : 0.994314 Centerline is valid? [True, True] Translation: X:179.43, Y:115.12, Z:0.56 [[ 1.63078883e-01 -9.86612936e-01 -4.38083236e-04 1.79427019e+02] [ 9.86609356e-01 1.63079472e-01 -2.65801136e-03 1.15121129e+02] [ 2.69387078e-03 1.24850498e-06 9.99996372e-01 5.61957259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.724012739 meters Centerline goodness : 0.993671 Centerline is valid? [True, True] Translation: X:179.43, Y:115.14, Z:0.56 [[ 1.55957113e-01 -9.87763731e-01 -4.37340806e-04 1.79431196e+02] [ 9.87760154e-01 1.55957725e-01 -2.65813351e-03 1.15144689e+02] [ 2.69381455e-03 -1.74329933e-05 9.99996372e-01 5.62819902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.754012739 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:179.44, Y:115.17, Z:0.56 [[ 1.52059987e-01 -9.88371170e-01 -4.36570832e-04 1.79436305e+02] [ 9.88367596e-01 1.52060611e-01 -2.65825997e-03 1.15168306e+02] [ 2.69373274e-03 -2.72774875e-05 9.99996372e-01 5.62663951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.784012739 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:179.44, Y:115.19, Z:0.56 [[ 1.45213491e-01 -9.89400249e-01 -4.35841592e-04 1.79444194e+02] [ 9.89396678e-01 1.45214138e-01 -2.65837953e-03 1.15191276e+02] [ 2.69349173e-03 -4.51876514e-05 9.99996372e-01 5.58863858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.814012739 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:179.45, Y:115.22, Z:0.56 [[ 1.42946241e-01 -9.89730359e-01 -4.35113695e-04 1.79450153e+02] [ 9.89726789e-01 1.42946895e-01 -2.65849866e-03 1.15215099e+02] [ 2.69339498e-03 -5.06212889e-05 9.99996372e-01 5.56603120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.844012739 meters Centerline goodness : 0.994395 Centerline is valid? [True, True] Translation: X:179.46, Y:115.24, Z:0.56 [[ 1.41543855e-01 -9.89931891e-01 -4.34393261e-04 1.79456163e+02] [ 9.89928322e-01 1.41544512e-01 -2.65861637e-03 1.15239298e+02] [ 2.69333512e-03 -5.37073800e-05 9.99996372e-01 5.55659481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.874012739 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:179.46, Y:115.26, Z:0.56 [[ 1.43151457e-01 -9.89700698e-01 -4.33670925e-04 1.79463513e+02] [ 9.89697128e-01 1.43152106e-01 -2.65873419e-03 1.15261727e+02] [ 2.69343200e-03 -4.86011945e-05 9.99996372e-01 5.57017015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.904012739 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:179.47, Y:115.29, Z:0.56 [[ 1.45437920e-01 -9.89367285e-01 -4.32924068e-04 1.79468218e+02] [ 9.89363713e-01 1.45438558e-01 -2.65885580e-03 1.15285132e+02] [ 2.69354880e-03 -4.16209071e-05 9.99996372e-01 5.58666807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.934012739 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:179.47, Y:115.31, Z:0.56 [[ 1.52243830e-01 -9.88342870e-01 -4.32185761e-04 1.79472672e+02] [ 9.88339294e-01 1.52244442e-01 -2.65897580e-03 1.15309790e+02] [ 2.69377766e-03 -2.23335096e-05 9.99996372e-01 5.62099628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.964012739 meters Centerline goodness : 0.992577 Centerline is valid? [True, True] Translation: X:179.48, Y:115.33, Z:0.56 [[ 1.55687729e-01 -9.87806228e-01 -4.31509036e-04 1.79475449e+02] [ 9.87802649e-01 1.55688326e-01 -2.65908562e-03 1.15332830e+02] [ 2.69384226e-03 -1.22587680e-05 9.99996372e-01 5.61649042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.994012739 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:179.48, Y:115.36, Z:0.56 [[ 1.59081114e-01 -9.87265422e-01 -4.30773305e-04 1.79478236e+02] [ 9.87261841e-01 1.59081697e-01 -2.65920480e-03 1.15358304e+02] [ 2.69386910e-03 -2.25678364e-06 9.99996372e-01 5.57592551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.024012739 meters Centerline goodness : 0.992846 Centerline is valid? [True, True] Translation: X:179.48, Y:115.38, Z:0.56 [[ 1.65827429e-01 -9.86154693e-01 -4.30069169e-04 1.79479382e+02] [ 9.86151108e-01 1.65827986e-01 -2.65931868e-03 1.15382708e+02] [ 2.69381710e-03 1.68747920e-05 9.99996372e-01 5.57936584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05401273900003 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:179.48, Y:115.41, Z:0.56 [[ 1.68482873e-01 -9.85704488e-01 -4.29332992e-04 1.79481638e+02] [ 9.85700900e-01 1.68483418e-01 -2.65943753e-03 1.15406858e+02] [ 2.69375499e-03 2.48757592e-05 9.99996372e-01 5.58014057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.084012739 meters Centerline goodness : 0.992586 Centerline is valid? [True, True] Translation: X:179.48, Y:115.43, Z:0.56 [[ 1.71264038e-01 -9.85225074e-01 -4.26645530e-04 1.79482986e+02] [ 9.85221485e-01 1.71264566e-01 -2.65987046e-03 1.15431746e+02] [ 2.69364034e-03 3.51998127e-05 9.99996372e-01 5.57518664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11401273900003 meters Centerline goodness : 0.993840 Centerline is valid? [True, True] Translation: X:179.49, Y:115.46, Z:0.55 [[ 1.71301791e-01 -9.85218511e-01 -4.27878863e-04 1.79486212e+02] [ 9.85214921e-01 1.71302322e-01 -2.65967205e-03 1.15455779e+02] [ 2.69365478e-03 3.40539443e-05 9.99996372e-01 5.53788180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.144012739 meters Centerline goodness : 0.994140 Centerline is valid? [True, True] Translation: X:179.49, Y:115.48, Z:0.55 [[ 1.70330334e-01 -9.85386926e-01 -4.27133982e-04 1.79489034e+02] [ 9.85383337e-01 1.70330867e-01 -2.65979167e-03 1.15479323e+02] [ 2.69367804e-03 3.21524949e-05 9.99996372e-01 5.51225483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17401273900003 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:179.49, Y:115.50, Z:0.55 [[ 1.67618198e-01 -9.85851895e-01 -4.26364891e-04 1.79491214e+02] [ 9.85848307e-01 1.67618738e-01 -2.65991495e-03 1.15503135e+02] [ 2.69374894e-03 2.55190451e-05 9.99996372e-01 5.48050517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.204012739 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:179.49, Y:115.53, Z:0.55 [[ 1.65833350e-01 -9.86153699e-01 -4.25604347e-04 1.79494244e+02] [ 9.86150112e-01 1.65833895e-01 -2.66003664e-03 1.15528941e+02] [ 2.69378460e-03 2.14130121e-05 9.99996372e-01 5.45998416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23401273900004 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:179.50, Y:115.55, Z:0.55 [[ 1.63414334e-01 -9.86557436e-01 -4.24886942e-04 1.79497507e+02] [ 9.86553850e-01 1.63414885e-01 -2.66015122e-03 1.15553089e+02] [ 2.69382482e-03 1.55329910e-05 9.99996372e-01 5.45926560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.264012739 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:179.50, Y:115.58, Z:0.55 [[ 1.61920134e-01 -9.86803775e-01 -4.24275340e-04 1.79501432e+02] [ 9.86800189e-01 1.61920690e-01 -2.66024876e-03 1.15576125e+02] [ 2.69384248e-03 1.20728520e-05 9.99996372e-01 5.45976431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.294012739 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:179.51, Y:115.60, Z:0.55 [[ 1.59579950e-01 -9.87184917e-01 -4.23495783e-04 1.79505137e+02] [ 9.87181332e-01 1.59580512e-01 -2.66037286e-03 1.15599575e+02] [ 2.69386163e-03 6.47503759e-06 9.99996372e-01 5.45640137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.324012739 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:179.51, Y:115.62, Z:0.54 [[ 1.54606076e-01 -9.87976104e-01 -4.22737758e-04 1.79509778e+02] [ 9.87972522e-01 1.54606654e-01 -2.66049331e-03 1.15624940e+02] [ 2.69386188e-03 -6.32485973e-06 9.99996372e-01 5.44084756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.354012739 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:179.52, Y:115.65, Z:0.54 [[ 1.49702694e-01 -9.88730967e-01 -4.22037704e-04 1.79515888e+02] [ 9.88727388e-01 1.49703287e-01 -2.66060435e-03 1.15648088e+02] [ 2.69380234e-03 -1.89805986e-05 9.99996372e-01 5.43858367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.384012739 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:179.52, Y:115.67, Z:0.54 [[ 1.46576886e-01 -9.89199191e-01 -4.21245106e-04 1.79521411e+02] [ 9.89195613e-01 1.46577489e-01 -2.66072983e-03 1.15670994e+02] [ 2.69373685e-03 -2.66923166e-05 9.99996372e-01 5.43954479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.414012739 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:179.53, Y:115.70, Z:0.54 [[ 1.43256343e-01 -9.89685528e-01 -4.20548347e-04 1.79527682e+02] [ 9.89681951e-01 1.43256956e-01 -2.66083996e-03 1.15695326e+02] [ 2.69364127e-03 -3.50269072e-05 9.99996372e-01 5.42389957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.444012739 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:179.54, Y:115.72, Z:0.54 [[ 1.37438001e-01 -9.90510282e-01 -4.19802624e-04 1.79535120e+02] [ 9.90506709e-01 1.37438634e-01 -2.66095761e-03 1.15718519e+02] [ 2.69340297e-03 -5.01006207e-05 9.99996372e-01 5.39403931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.474012739 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:179.54, Y:115.74, Z:0.54 [[ 1.34580609e-01 -9.90902560e-01 -4.19099295e-04 1.79540703e+02] [ 9.90898989e-01 1.34581249e-01 -2.66106838e-03 1.15741925e+02] [ 2.69326237e-03 -5.71568652e-05 9.99996372e-01 5.38034781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.504012739 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:179.55, Y:115.77, Z:0.54 [[ 1.31839189e-01 -9.91271029e-01 -4.18347617e-04 1.79547657e+02] [ 9.91267459e-01 1.31839838e-01 -2.66118654e-03 1.15765795e+02] [ 2.69311200e-03 -6.38457029e-05 9.99996372e-01 5.38007675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.534012739 meters Centerline goodness : 0.996001 Centerline is valid? [True, True] Translation: X:179.56, Y:115.79, Z:0.54 [[ 1.28379977e-01 -9.91724966e-01 -4.17609046e-04 1.79559967e+02] [ 9.91721397e-01 1.28380636e-01 -2.66130244e-03 1.15788105e+02] [ 2.69289298e-03 -7.24938810e-05 9.99996372e-01 5.39458764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.564012739 meters Centerline goodness : 0.995857 Centerline is valid? [True, True] Translation: X:179.57, Y:115.81, Z:0.54 [[ 1.27177023e-01 -9.91879948e-01 -4.16839673e-04 1.79567380e+02] [ 9.91876380e-01 1.27177684e-01 -2.66142294e-03 1.15811766e+02] [ 2.69282475e-03 -7.49815791e-05 9.99996372e-01 5.40360556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.594012739 meters Centerline goodness : 0.996182 Centerline is valid? [True, True] Translation: X:179.58, Y:115.83, Z:0.54 [[ 1.26613683e-01 -9.91952016e-01 -4.16102989e-04 1.79576601e+02] [ 9.91948448e-01 1.26614344e-01 -2.66153811e-03 1.15834894e+02] [ 2.69280270e-03 -7.57655720e-05 9.99996372e-01 5.37951319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.624012739 meters Centerline goodness : 0.996181 Centerline is valid? [True, True] Translation: X:179.58, Y:115.86, Z:0.54 [[ 1.27296844e-01 -9.91864578e-01 -4.15357071e-04 1.79583317e+02] [ 9.91861009e-01 1.27297500e-01 -2.66165451e-03 1.15858051e+02] [ 2.69287475e-03 -7.31562652e-05 9.99996372e-01 5.35677287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.654012739 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:179.60, Y:115.88, Z:0.54 [[ 1.30076622e-01 -9.91503858e-01 -4.14585240e-04 1.79595742e+02] [ 9.91500287e-01 1.30077267e-01 -2.66177473e-03 1.15882242e+02] [ 2.69308803e-03 -6.48267188e-05 9.99996372e-01 5.35015602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.684012739 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:179.60, Y:115.91, Z:0.53 [[ 1.31736250e-01 -9.91284717e-01 -4.13873884e-04 1.79602756e+02] [ 9.91281144e-01 1.31736886e-01 -2.66188533e-03 1.15906324e+02] [ 2.69320870e-03 -5.95985866e-05 9.99996372e-01 5.34361579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.714012739 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:179.61, Y:115.93, Z:0.53 [[ 1.33311293e-01 -9.91074129e-01 -4.13131992e-04 1.79609641e+02] [ 9.91070555e-01 1.33311922e-01 -2.66200047e-03 1.15929982e+02] [ 2.69331522e-03 -5.45682269e-05 9.99996372e-01 5.33569772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.744012739 meters Centerline goodness : 0.996797 Centerline is valid? [True, True] Translation: X:179.62, Y:115.95, Z:0.53 [[ 1.36864157e-01 -9.90589740e-01 -4.12397091e-04 1.79619626e+02] [ 9.90586164e-01 1.36864772e-01 -2.66211432e-03 1.15953814e+02] [ 2.69350576e-03 -4.41668189e-05 9.99996372e-01 5.31415876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.774012739 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:179.63, Y:115.98, Z:0.53 [[ 1.38560171e-01 -9.90353931e-01 -4.11638835e-04 1.79626493e+02] [ 9.90350354e-01 1.38560777e-01 -2.66223156e-03 1.15976335e+02] [ 2.69358849e-03 -3.87874054e-05 9.99996372e-01 5.28925211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80401273900003 meters Centerline goodness : 0.997151 Centerline is valid? [True, True] Translation: X:179.64, Y:116.00, Z:0.53 [[ 1.41725045e-01 -9.89905977e-01 -4.10851812e-04 1.79635758e+02] [ 9.89902397e-01 1.41725637e-01 -2.66235301e-03 1.15999514e+02] [ 2.69370740e-03 -2.93810939e-05 9.99996372e-01 5.27990810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.834012739 meters Centerline goodness : 0.997151 Centerline is valid? [True, True] Translation: X:179.64, Y:116.02, Z:0.53 [[ 1.41443860e-01 -9.89946194e-01 -4.10098119e-04 1.79639223e+02] [ 9.89942614e-01 1.41444452e-01 -2.66246910e-03 1.16024428e+02] [ 2.69370726e-03 -2.93836957e-05 9.99996372e-01 5.28058544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86401273900003 meters Centerline goodness : 0.997062 Centerline is valid? [True, True] Translation: X:179.64, Y:116.05, Z:0.53 [[ 1.43575889e-01 -9.89639225e-01 -4.09341820e-04 1.79644444e+02] [ 9.89635644e-01 1.43576471e-01 -2.66258538e-03 1.16047451e+02] [ 2.69377078e-03 -2.28161924e-05 9.99996372e-01 5.27418008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.894012739 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:179.65, Y:116.07, Z:0.53 [[ 1.49641779e-01 -9.88740194e-01 -4.08558231e-04 1.79648990e+02] [ 9.88736609e-01 1.49642336e-01 -2.66270561e-03 1.16071941e+02] [ 2.69386167e-03 -5.50447680e-06 9.99996372e-01 5.28445217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92401273900003 meters Centerline goodness : 0.997116 Centerline is valid? [True, True] Translation: X:179.65, Y:116.10, Z:0.53 [[ 1.52984329e-01 -9.88228531e-01 -4.07803077e-04 1.79651739e+02] [ 9.88224943e-01 1.52984873e-01 -2.66282126e-03 1.16095238e+02] [ 2.69386364e-03 4.36875055e-06 9.99996372e-01 5.30163229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.954012739 meters Centerline goodness : 0.996996 Centerline is valid? [True, True] Translation: X:179.65, Y:116.12, Z:0.53 [[ 1.56045166e-01 -9.87749837e-01 -4.07018008e-04 1.79654822e+02] [ 9.87746248e-01 1.56045696e-01 -2.66294125e-03 1.16119968e+02] [ 2.69383320e-03 1.35085998e-05 9.99996372e-01 5.31525469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98401273900004 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:179.66, Y:116.14, Z:0.53 [[ 1.61094780e-01 -9.86938857e-01 -4.06274567e-04 1.79658423e+02] [ 9.86935264e-01 1.61095290e-01 -2.66305467e-03 1.16143960e+02] [ 2.69372105e-03 2.80375105e-05 9.99996372e-01 5.33883124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.014012739 meters Centerline goodness : 0.996955 Centerline is valid? [True, True] Translation: X:179.66, Y:116.17, Z:0.53 [[ 1.63691678e-01 -9.86511465e-01 -4.05532709e-04 1.79660852e+02] [ 9.86507871e-01 1.63692176e-01 -2.66316764e-03 1.16167468e+02] [ 2.69362794e-03 3.58771700e-05 9.99996372e-01 5.32117164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.044012739 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:179.66, Y:116.19, Z:0.53 [[ 1.63873971e-01 -9.86481200e-01 -4.04766551e-04 1.79663349e+02] [ 9.86477606e-01 1.63874466e-01 -2.66328408e-03 1.16192352e+02] [ 2.69361058e-03 3.71497990e-05 9.99996372e-01 5.29836254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.074012739 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:179.67, Y:116.22, Z:0.53 [[ 1.63219962e-01 -9.86589621e-01 -4.04030504e-04 1.79665746e+02] [ 9.86586027e-01 1.63220458e-01 -2.66339573e-03 1.16216894e+02] [ 2.69362463e-03 3.61085006e-05 9.99996372e-01 5.27797291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.104012739 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:179.67, Y:116.24, Z:0.53 [[ 1.60451385e-01 -9.87043662e-01 -4.03282732e-04 1.79668988e+02] [ 9.87040069e-01 1.60451889e-01 -2.66350895e-03 1.16240079e+02] [ 2.69370711e-03 2.93074849e-05 9.99996372e-01 5.29430853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.134012739 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:179.67, Y:116.26, Z:0.53 [[ 1.58302372e-01 -9.87390600e-01 -4.02507460e-04 1.79673157e+02] [ 9.87387008e-01 1.58302882e-01 -2.66362611e-03 1.16264398e+02] [ 2.69375747e-03 2.42276943e-05 9.99996372e-01 5.29990010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.164012739 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:179.68, Y:116.29, Z:0.53 [[ 1.56244988e-01 -9.87718250e-01 -4.01772110e-04 1.79677410e+02] [ 9.87714659e-01 1.56245504e-01 -2.66373702e-03 1.16288454e+02] [ 2.69379676e-03 1.93593570e-05 9.99996372e-01 5.29140993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.194012739 meters Centerline goodness : 0.997091 Centerline is valid? [True, True] Translation: X:179.68, Y:116.31, Z:0.53 [[ 1.53497558e-01 -9.88148946e-01 -4.01026093e-04 1.79682284e+02] [ 9.88145355e-01 1.53498081e-01 -2.66384933e-03 1.16312434e+02] [ 2.69383664e-03 1.26222947e-05 9.99996372e-01 5.28158444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.224012739 meters Centerline goodness : 0.997505 Centerline is valid? [True, True] Translation: X:179.69, Y:116.34, Z:0.53 [[ 1.53013329e-01 -9.88224044e-01 -4.00276335e-04 1.79686232e+02] [ 9.88220453e-01 1.53013852e-01 -2.66396199e-03 1.16335639e+02] [ 2.69383911e-03 1.20604297e-05 9.99996372e-01 5.27322371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.254012739 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:179.69, Y:116.36, Z:0.53 [[ 1.53863821e-01 -9.88091982e-01 -3.99497784e-04 1.79691610e+02] [ 9.88088391e-01 1.53864339e-01 -2.66407873e-03 1.16359618e+02] [ 2.69382330e-03 1.51662097e-05 9.99996372e-01 5.30609835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.284012739 meters Centerline goodness : 0.997300 Centerline is valid? [True, True] Translation: X:179.70, Y:116.38, Z:0.53 [[ 1.54562747e-01 -9.87982894e-01 -3.98755937e-04 1.79696361e+02] [ 9.87979302e-01 1.54563261e-01 -2.66418977e-03 1.16383433e+02] [ 2.69380693e-03 1.78218777e-05 9.99996372e-01 5.31175724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.314012739 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:179.70, Y:116.41, Z:0.53 [[ 1.57451087e-01 -9.87526707e-01 -3.98015586e-04 1.79702943e+02] [ 9.87523113e-01 1.57451588e-01 -2.66430037e-03 1.16406693e+02] [ 2.69373595e-03 2.64473990e-05 9.99996372e-01 5.28180254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.344012739 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:179.71, Y:116.43, Z:0.53 [[ 1.58604369e-01 -9.87342137e-01 -3.97247907e-04 1.79707268e+02] [ 9.87338543e-01 1.58604864e-01 -2.66441482e-03 1.16430839e+02] [ 2.69369448e-03 3.03696633e-05 9.99996372e-01 5.26774797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.374012739 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:179.71, Y:116.45, Z:0.53 [[ 1.59898482e-01 -9.87133384e-01 -3.96500885e-04 1.79710890e+02] [ 9.87129789e-01 1.59898970e-01 -2.66452599e-03 1.16453939e+02] [ 2.69364264e-03 3.46558258e-05 9.99996372e-01 5.25218277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.404012739 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:179.71, Y:116.48, Z:0.52 [[ 1.63420353e-01 -9.86556451e-01 -3.95728535e-04 1.79713731e+02] [ 9.86552854e-01 1.63420826e-01 -2.66464069e-03 1.16477294e+02] [ 2.69348875e-03 4.50494073e-05 9.99996372e-01 5.23818713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.434012739 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:179.72, Y:116.50, Z:0.53 [[ 1.65091595e-01 -9.86278160e-01 -3.94973242e-04 1.79717209e+02] [ 9.86274562e-01 1.65092060e-01 -2.66475264e-03 1.16501540e+02] [ 2.69339428e-03 5.03762027e-05 9.99996372e-01 5.25059484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.464012739 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:179.72, Y:116.53, Z:0.53 [[ 1.67638769e-01 -9.85848410e-01 -3.94253398e-04 1.79720170e+02] [ 9.85844810e-01 1.67639223e-01 -2.66485914e-03 1.16526422e+02] [ 2.69323948e-03 5.80610398e-05 9.99996372e-01 5.30729736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.494012739 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:179.72, Y:116.55, Z:0.53 [[ 1.68360672e-01 -9.85725382e-01 -3.93502902e-04 1.79721997e+02] [ 9.85721782e-01 1.68361121e-01 -2.66496995e-03 1.16552003e+02] [ 2.69317912e-03 6.07917494e-05 9.99996372e-01 5.32952129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.524012739 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:179.72, Y:116.58, Z:0.53 [[ 1.67660018e-01 -9.85844797e-01 -3.92788330e-04 1.79723135e+02] [ 9.85841197e-01 1.67660468e-01 -2.66507527e-03 1.16576774e+02] [ 2.69320566e-03 5.95996508e-05 9.99996372e-01 5.32034634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55401273900003 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:179.73, Y:116.60, Z:0.53 [[ 1.65702662e-01 -9.86175681e-01 -3.92048291e-04 1.79726219e+02] [ 9.86172081e-01 1.65703117e-01 -2.66518413e-03 1.16600881e+02] [ 2.69330340e-03 5.50010265e-05 9.99996372e-01 5.31531581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.584012739 meters Centerline goodness : 0.997089 Centerline is valid? [True, True] Translation: X:179.73, Y:116.62, Z:0.53 [[ 1.63437084e-01 -9.86553681e-01 -3.91281199e-04 1.79729349e+02] [ 9.86550082e-01 1.63437545e-01 -2.66529674e-03 1.16624727e+02] [ 2.69340835e-03 4.95898297e-05 9.99996372e-01 5.31078655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61401273900003 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:179.73, Y:116.65, Z:0.53 [[ 1.58327878e-01 -9.87386515e-01 -3.90485592e-04 1.79731658e+02] [ 9.87382918e-01 1.58328356e-01 -2.66541330e-03 1.16648716e+02] [ 2.69361809e-03 3.64504294e-05 9.99996372e-01 5.31730192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.644012739 meters Centerline goodness : 0.996802 Centerline is valid? [True, True] Translation: X:179.73, Y:116.67, Z:0.53 [[ 1.55802995e-01 -9.87788072e-01 -3.89704685e-04 1.79734751e+02] [ 9.87784476e-01 1.55803480e-01 -2.66552747e-03 1.16673569e+02] [ 2.69369359e-03 3.03529258e-05 9.99996372e-01 5.30703070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67401273900003 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:179.74, Y:116.70, Z:0.53 [[ 1.52869884e-01 -9.88246248e-01 -3.88955646e-04 1.79738367e+02] [ 9.88242654e-01 1.52870377e-01 -2.66563677e-03 1.16698391e+02] [ 2.69376533e-03 2.31130222e-05 9.99996372e-01 5.29818700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.704012739 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:179.74, Y:116.72, Z:0.53 [[ 1.46897349e-01 -9.89151666e-01 -3.88199816e-04 1.79743887e+02] [ 9.89148074e-01 1.46897862e-01 -2.66574683e-03 1.16722621e+02] [ 2.69385364e-03 7.60404224e-06 9.99996372e-01 5.29234279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73401273900004 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:179.75, Y:116.75, Z:0.53 [[ 1.44004767e-01 -9.89576918e-01 -3.87440373e-04 1.79747359e+02] [ 9.89573327e-01 1.44005288e-01 -2.66585721e-03 1.16745788e+02] [ 2.69386422e-03 4.95486102e-07 9.99996372e-01 5.27994338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.764012739 meters Centerline goodness : 0.996839 Centerline is valid? [True, True] Translation: X:179.75, Y:116.77, Z:0.53 [[ 1.40146269e-01 -9.90130736e-01 -3.86652667e-04 1.79749821e+02] [ 9.90127147e-01 1.40146802e-01 -2.66597145e-03 1.16770043e+02] [ 2.69384841e-03 -9.20934993e-06 9.99996372e-01 5.27923684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.794012739 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:179.75, Y:116.79, Z:0.53 [[ 1.38884548e-01 -9.90308504e-01 -3.85875380e-04 1.79752934e+02] [ 9.90304916e-01 1.38885083e-01 -2.66608395e-03 1.16794745e+02] [ 2.69383794e-03 -1.18564220e-05 9.99996372e-01 5.27648834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.824012739 meters Centerline goodness : 0.996904 Centerline is valid? [True, True] Translation: X:179.76, Y:116.82, Z:0.53 [[ 1.38059056e-01 -9.90423924e-01 -3.85097337e-04 1.79756381e+02] [ 9.90420335e-01 1.38059592e-01 -2.66619633e-03 1.16818109e+02] [ 2.69383101e-03 -1.33156858e-05 9.99996372e-01 5.26359203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.854012739 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:179.76, Y:116.84, Z:0.52 [[ 1.37131064e-01 -9.90552837e-01 -3.84288925e-04 1.79758718e+02] [ 9.90549249e-01 1.37131601e-01 -2.66631284e-03 1.16841523e+02] [ 2.69382191e-03 -1.50227903e-05 9.99996372e-01 5.22893964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.884012739 meters Centerline goodness : 0.997664 Centerline is valid? [True, True] Translation: X:179.76, Y:116.87, Z:0.52 [[ 1.38302356e-01 -9.90389979e-01 -3.83486025e-04 1.79760381e+02] [ 9.90386390e-01 1.38302887e-01 -2.66642832e-03 1.16866700e+02] [ 2.69384111e-03 -1.10260220e-05 9.99996372e-01 5.21650439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.914012739 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:179.76, Y:116.89, Z:0.52 [[ 1.39174917e-01 -9.90267740e-01 -3.82745599e-04 1.79763732e+02] [ 9.90264149e-01 1.39175443e-01 -2.66653459e-03 1.16890666e+02] [ 2.69385197e-03 -7.90451403e-06 9.99996372e-01 5.22615698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.944012739 meters Centerline goodness : 0.997764 Centerline is valid? [True, True] Translation: X:179.77, Y:116.91, Z:0.52 [[ 1.39876309e-01 -9.90168911e-01 -3.81972060e-04 1.79766860e+02] [ 9.90165320e-01 1.39876830e-01 -2.66664540e-03 1.16914399e+02] [ 2.69385841e-03 -5.21497195e-06 9.99996372e-01 5.23065147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.974012739 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:179.77, Y:116.94, Z:0.53 [[ 1.41828309e-01 -9.89891199e-01 -3.81166263e-04 1.79766533e+02] [ 9.89887607e-01 1.41828821e-01 -2.66676057e-03 1.16939026e+02] [ 2.69386318e-03 9.10383691e-07 9.99996372e-01 5.25837982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.004012739 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:179.77, Y:116.96, Z:0.53 [[ 1.42693505e-01 -9.89766851e-01 -3.80397468e-04 1.79767715e+02] [ 9.89763258e-01 1.42694012e-01 -2.66687023e-03 1.16962683e+02] [ 2.69386019e-03 4.04162408e-06 9.99996372e-01 5.25292105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.034012739 meters Centerline goodness : 0.996668 Centerline is valid? [True, True] Translation: X:179.77, Y:116.99, Z:0.52 [[ 1.43717234e-01 -9.89618721e-01 -3.79600269e-04 1.79770389e+02] [ 9.89615127e-01 1.43717735e-01 -2.66698370e-03 1.16987379e+02] [ 2.69385229e-03 7.63335071e-06 9.99996372e-01 5.24135796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.064012739 meters Centerline goodness : 0.997729 Centerline is valid? [True, True] Translation: X:179.77, Y:117.01, Z:0.52 [[ 1.43631919e-01 -9.89631107e-01 -3.78835934e-04 1.79773851e+02] [ 9.89627513e-01 1.43632418e-01 -2.66709227e-03 1.17011243e+02] [ 2.69385059e-03 8.17311647e-06 9.99996372e-01 5.21771303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.094012739 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:179.78, Y:117.04, Z:0.52 [[ 1.43947825e-01 -9.89585206e-01 -3.78044844e-04 1.79776401e+02] [ 9.89581612e-01 1.43948322e-01 -2.66720439e-03 1.17035299e+02] [ 2.69384493e-03 9.83204658e-06 9.99996372e-01 5.21281582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.124012739 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:179.78, Y:117.06, Z:0.52 [[ 1.45605646e-01 -9.89342637e-01 -3.77298523e-04 1.79776490e+02] [ 9.89339042e-01 1.45606134e-01 -2.66730996e-03 1.17059714e+02] [ 2.69382045e-03 1.50992304e-05 9.99996372e-01 5.22588620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.154012739 meters Centerline goodness : 0.997947 Centerline is valid? [True, True] Translation: X:179.78, Y:117.08, Z:0.52 [[ 1.46831274e-01 -9.89161481e-01 -3.76517384e-04 1.79777594e+02] [ 9.89157884e-01 1.46831756e-01 -2.66742022e-03 1.17083720e+02] [ 2.69379405e-03 1.92255722e-05 9.99996372e-01 5.21052100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.184012739 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:179.78, Y:117.11, Z:0.52 [[ 1.45984769e-01 -9.89286766e-01 -3.75708365e-04 1.79779335e+02] [ 9.89283170e-01 1.45985251e-01 -2.66753417e-03 1.17108337e+02] [ 2.69380413e-03 1.77373971e-05 9.99996372e-01 5.21272013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.214012739 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:179.78, Y:117.13, Z:0.52 [[ 1.44998984e-01 -9.89431733e-01 -3.74964899e-04 1.79780453e+02] [ 9.89428137e-01 1.44999468e-01 -2.66763867e-03 1.17133145e+02] [ 2.69381606e-03 1.58040769e-05 9.99996372e-01 5.22803839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.244012739 meters Centerline goodness : 0.997072 Centerline is valid? [True, True] Translation: X:179.78, Y:117.16, Z:0.53 [[ 1.44191089e-01 -9.89549791e-01 -3.74217424e-04 1.79781949e+02] [ 9.89546196e-01 1.44191574e-01 -2.66774352e-03 1.17158210e+02] [ 2.69382405e-03 1.43594161e-05 9.99996372e-01 5.25309114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.274012739 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:179.78, Y:117.18, Z:0.52 [[ 1.42676890e-01 -9.89769249e-01 -3.73441942e-04 1.79784795e+02] [ 9.89765653e-01 1.42677378e-01 -2.66785207e-03 1.17181645e+02] [ 2.69383966e-03 1.10208300e-05 9.99996372e-01 5.24151220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30401273900003 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:179.79, Y:117.21, Z:0.52 [[ 1.41600455e-01 -9.89923822e-01 -3.72714132e-04 1.79787821e+02] [ 9.89920226e-01 1.41600945e-01 -2.66795375e-03 1.17206065e+02] [ 2.69384764e-03 8.82620625e-06 9.99996372e-01 5.23384658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.334012739 meters Centerline goodness : 0.997472 Centerline is valid? [True, True] Translation: X:179.79, Y:117.23, Z:0.52 [[ 1.38792711e-01 -9.90321385e-01 -3.71958857e-04 1.79790710e+02] [ 9.90317791e-01 1.38793209e-01 -2.66805904e-03 1.17231044e+02] [ 2.69386129e-03 1.94967352e-06 9.99996372e-01 5.19084709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36401273900003 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:179.79, Y:117.25, Z:0.52 [[ 1.37261871e-01 -9.90534725e-01 -3.71233240e-04 1.79793413e+02] [ 9.90531131e-01 1.37262373e-01 -2.66816000e-03 1.17254371e+02] [ 2.69386149e-03 -1.48144772e-06 9.99996372e-01 5.17049412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.394012739 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:179.80, Y:117.28, Z:0.51 [[ 1.35670065e-01 -9.90754004e-01 -3.70448238e-04 1.79797939e+02] [ 9.90750411e-01 1.35670570e-01 -2.66826899e-03 1.17278954e+02] [ 2.69385711e-03 -5.01751720e-06 9.99996372e-01 5.14880126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42401273900003 meters Centerline goodness : 0.997582 Centerline is valid? [True, True] Translation: X:179.80, Y:117.30, Z:0.52 [[ 1.35397341e-01 -9.90791312e-01 -3.69712401e-04 1.79801658e+02] [ 9.90787718e-01 1.35397846e-01 -2.66837094e-03 1.17304022e+02] [ 2.69385701e-03 -5.01617512e-06 9.99996372e-01 5.15250640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.454012739 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:179.80, Y:117.33, Z:0.51 [[ 1.35587390e-01 -9.90765322e-01 -3.68986396e-04 1.79804843e+02] [ 9.90761729e-01 1.35587892e-01 -2.66847133e-03 1.17327011e+02] [ 2.69385894e-03 -3.76653555e-06 9.99996372e-01 5.12320782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48401273900004 meters Centerline goodness : 0.997749 Centerline is valid? [True, True] Translation: X:179.81, Y:117.35, Z:0.51 [[ 1.36542105e-01 -9.90634200e-01 -3.68161772e-04 1.79810448e+02] [ 9.90630606e-01 1.36542601e-01 -2.66858510e-03 1.17351460e+02] [ 2.69386143e-03 -3.38093768e-07 9.99996372e-01 5.13300695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.514012739 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:179.82, Y:117.38, Z:0.52 [[ 1.36547344e-01 -9.90633478e-01 -3.67400988e-04 1.79815546e+02] [ 9.90629883e-01 1.36547839e-01 -2.66868983e-03 1.17376184e+02] [ 2.69386130e-03 4.44112457e-07 9.99996372e-01 5.17194258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.544012739 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:179.82, Y:117.40, Z:0.52 [[ 1.36836652e-01 -9.90593558e-01 -3.66672958e-04 1.79821032e+02] [ 9.90589963e-01 1.36837143e-01 -2.66878986e-03 1.17400218e+02] [ 2.69386052e-03 1.96571648e-06 9.99996372e-01 5.20483670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.574012739 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:179.82, Y:117.43, Z:0.52 [[ 1.36371821e-01 -9.90657657e-01 -3.65920711e-04 1.79823976e+02] [ 9.90654062e-01 1.36372312e-01 -2.66889300e-03 1.17425287e+02] [ 2.69386074e-03 1.46095890e-06 9.99996372e-01 5.23077614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.604012739 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:179.83, Y:117.45, Z:0.52 [[ 1.36269032e-01 -9.90671801e-01 -3.65185075e-04 1.79826971e+02] [ 9.90668206e-01 1.36269521e-01 -2.66899365e-03 1.17449256e+02] [ 2.69386034e-03 1.92393737e-06 9.99996372e-01 5.21734094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.634012739 meters Centerline goodness : 0.997757 Centerline is valid? [True, True] Translation: X:179.83, Y:117.47, Z:0.52 [[ 1.36328521e-01 -9.90663617e-01 -3.64421249e-04 1.79831239e+02] [ 9.90660021e-01 1.36329008e-01 -2.66909794e-03 1.17473207e+02] [ 2.69385941e-03 2.85661134e-06 9.99996372e-01 5.16398180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.664012739 meters Centerline goodness : 0.997466 Centerline is valid? [True, True] Translation: X:179.83, Y:117.50, Z:0.52 [[ 1.36393211e-01 -9.90654713e-01 -3.63684549e-04 1.79834941e+02] [ 9.90651117e-01 1.36393695e-01 -2.66919832e-03 1.17497312e+02] [ 2.69385817e-03 3.77602352e-06 9.99996372e-01 5.15501190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.694012739 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:179.84, Y:117.52, Z:0.52 [[ 1.37919708e-01 -9.90443346e-01 -3.62927557e-04 1.79836067e+02] [ 9.90439749e-01 1.37920186e-01 -2.66930124e-03 1.17522102e+02] [ 2.69384669e-03 8.69136958e-06 9.99996372e-01 5.17671150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.724012739 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:179.84, Y:117.55, Z:0.52 [[ 1.37637747e-01 -9.90482569e-01 -3.62171373e-04 1.79839071e+02] [ 9.90478972e-01 1.37638223e-01 -2.66940383e-03 1.17547075e+02] [ 2.69384659e-03 8.68760079e-06 9.99996372e-01 5.17738882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.754012739 meters Centerline goodness : 0.997602 Centerline is valid? [True, True] Translation: X:179.84, Y:117.57, Z:0.52 [[ 1.38869848e-01 -9.90310575e-01 -3.61411425e-04 1.79840257e+02] [ 9.90306977e-01 1.38870318e-01 -2.66950672e-03 1.17572040e+02] [ 2.69383005e-03 1.28057383e-05 9.99996372e-01 5.18768466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.784012739 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:179.84, Y:117.60, Z:0.52 [[ 1.39545352e-01 -9.90215615e-01 -3.60641998e-04 1.79841947e+02] [ 9.90212017e-01 1.39545817e-01 -2.66961066e-03 1.17595216e+02] [ 2.69381625e-03 1.54197179e-05 9.99996372e-01 5.18276789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.814012739 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:179.84, Y:117.62, Z:0.52 [[ 1.39334714e-01 -9.90245277e-01 -3.59921300e-04 1.79844029e+02] [ 9.90241678e-01 1.39335178e-01 -2.66970783e-03 1.17620046e+02] [ 2.69381526e-03 1.55739031e-05 9.99996372e-01 5.17362075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.844012739 meters Centerline goodness : 0.997293 Centerline is valid? [True, True] Translation: X:179.85, Y:117.64, Z:0.52 [[ 1.38374153e-01 -9.90379960e-01 -3.59158119e-04 1.79846736e+02] [ 9.90376361e-01 1.38374618e-01 -2.66981049e-03 1.17643916e+02] [ 2.69382518e-03 1.37310545e-05 9.99996372e-01 5.16847713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.874012739 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:179.85, Y:117.67, Z:0.52 [[ 1.35416978e-01 -9.90788632e-01 -3.58365833e-04 1.79847930e+02] [ 9.90785035e-01 1.35417452e-01 -2.66991684e-03 1.17667275e+02] [ 2.69385224e-03 6.48856399e-06 9.99996372e-01 5.18627365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.904012739 meters Centerline goodness : 0.997188 Centerline is valid? [True, True] Translation: X:179.85, Y:117.69, Z:0.52 [[ 1.33213100e-01 -9.91087353e-01 -3.57582206e-04 1.79850905e+02] [ 9.91083757e-01 1.33213580e-01 -2.67002178e-03 1.17692638e+02] [ 2.69385963e-03 1.28796242e-06 9.99996372e-01 5.22539646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.934012739 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:179.85, Y:117.72, Z:0.53 [[ 1.28806210e-01 -9.91669720e-01 -3.56865125e-04 1.79853938e+02] [ 9.91666125e-01 1.28806704e-01 -2.67011762e-03 1.17716721e+02] [ 2.69384141e-03 -9.96332375e-06 9.99996372e-01 5.27199302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.964012739 meters Centerline goodness : 0.996739 Centerline is valid? [True, True] Translation: X:179.86, Y:117.74, Z:0.53 [[ 1.27246523e-01 -9.91871058e-01 -3.56091103e-04 1.79855930e+02] [ 9.91867464e-01 1.27247020e-01 -2.67022084e-03 1.17740152e+02] [ 2.69382630e-03 -1.34188620e-05 9.99996372e-01 5.26936086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.994012739 meters Centerline goodness : 0.997236 Centerline is valid? [True, True] Translation: X:179.86, Y:117.76, Z:0.53 [[ 1.26256011e-01 -9.91997628e-01 -3.55292008e-04 1.79858271e+02] [ 9.91994034e-01 1.26256510e-01 -2.67032716e-03 1.17763536e+02] [ 2.69381614e-03 -1.53026973e-05 9.99996372e-01 5.25443878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.024012739 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:179.86, Y:117.79, Z:0.52 [[ 1.26656061e-01 -9.91946630e-01 -3.54498851e-04 1.79861909e+02] [ 9.91943035e-01 1.26656556e-01 -2.67043246e-03 1.17788998e+02] [ 2.69382608e-03 -1.34162098e-05 9.99996372e-01 5.19410784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05401273900003 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:179.86, Y:117.81, Z:0.52 [[ 1.27143933e-01 -9.91884213e-01 -3.57143392e-04 1.79864547e+02] [ 9.91880620e-01 1.27144434e-01 -2.67008209e-03 1.17813594e+02] [ 2.69382107e-03 -1.47588698e-05 9.99996372e-01 5.23296625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.084012739 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:179.87, Y:117.84, Z:0.52 [[ 1.27057141e-01 -9.91895336e-01 -3.53022512e-04 1.79868390e+02] [ 9.91891741e-01 1.27057631e-01 -2.67062682e-03 1.17836638e+02] [ 2.69383649e-03 -1.08379066e-05 9.99996372e-01 5.23860541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11401273900003 meters Centerline goodness : 0.996980 Centerline is valid? [True, True] Translation: X:179.87, Y:117.86, Z:0.52 [[ 1.26399496e-01 -9.91979356e-01 -3.52224027e-04 1.79873088e+02] [ 9.91975761e-01 1.26399986e-01 -2.67073212e-03 1.17860934e+02] [ 2.69383225e-03 -1.18185024e-05 9.99996372e-01 5.24492654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.144012739 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:179.88, Y:117.89, Z:0.53 [[ 1.26108660e-01 -9.92016372e-01 -3.51452355e-04 1.79878326e+02] [ 9.92012777e-01 1.26109150e-01 -2.67083367e-03 1.17886295e+02] [ 2.69383208e-03 -1.18299708e-05 9.99996372e-01 5.25628985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17401273900003 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:179.89, Y:117.91, Z:0.52 [[ 1.25760892e-01 -9.92060520e-01 -3.50714373e-04 1.79885378e+02] [ 9.92056924e-01 1.25761381e-01 -2.67093057e-03 1.17910091e+02] [ 2.69383109e-03 -1.20300112e-05 9.99996372e-01 5.23595942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.204012739 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:179.89, Y:117.93, Z:0.52 [[ 1.25220927e-01 -9.92128821e-01 -3.49951605e-04 1.79889630e+02] [ 9.92125225e-01 1.25221416e-01 -2.67103051e-03 1.17934371e+02] [ 2.69382778e-03 -1.27268981e-05 9.99996372e-01 5.24687601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23401273900004 meters Centerline goodness : 0.996988 Centerline is valid? [True, True] Translation: X:179.89, Y:117.96, Z:0.52 [[ 1.25813081e-01 -9.92053903e-01 -3.49168977e-04 1.79893734e+02] [ 9.92050307e-01 1.25813565e-01 -2.67113281e-03 1.17957642e+02] [ 2.69383793e-03 -1.03297415e-05 9.99996372e-01 5.22483666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.264012739 meters Centerline goodness : 0.997552 Centerline is valid? [True, True] Translation: X:179.90, Y:117.98, Z:0.52 [[ 1.27052729e-01 -9.91895903e-01 -3.48356231e-04 1.79897133e+02] [ 9.91892306e-01 1.27053206e-01 -2.67123880e-03 1.17980709e+02] [ 2.69385060e-03 -6.14368708e-06 9.99996372e-01 5.21481332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.294012739 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:179.90, Y:118.01, Z:0.52 [[ 1.28570083e-01 -9.91700365e-01 -3.47557166e-04 1.79901012e+02] [ 9.91696767e-01 1.28570553e-01 -2.67134276e-03 1.18005065e+02] [ 2.69385721e-03 -1.21655683e-06 9.99996372e-01 5.23159723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.324012739 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:179.91, Y:118.03, Z:0.52 [[ 1.31540604e-01 -9.91310723e-01 -3.46793362e-04 1.79906586e+02] [ 9.91307123e-01 1.31541061e-01 -2.67144192e-03 1.18029502e+02] [ 2.69384659e-03 7.62435431e-06 9.99996372e-01 5.24839460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.354012739 meters Centerline goodness : 0.997844 Centerline is valid? [True, True] Translation: X:179.91, Y:118.05, Z:0.52 [[ 1.32306835e-01 -9.91208748e-01 -3.46023768e-04 1.79911230e+02] [ 9.91205148e-01 1.32307287e-01 -2.67154160e-03 1.18052408e+02] [ 2.69383687e-03 1.04826723e-05 9.99996372e-01 5.23806576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.384012739 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:179.92, Y:118.08, Z:0.52 [[ 1.34373575e-01 -9.90930685e-01 -3.45225739e-04 1.79917834e+02] [ 9.90927084e-01 1.34374017e-01 -2.67164472e-03 1.18076373e+02] [ 2.69380410e-03 1.69049172e-05 9.99996372e-01 5.22492981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.414012739 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:179.92, Y:118.10, Z:0.52 [[ 1.35617437e-01 -9.90761219e-01 -3.44469796e-04 1.79921555e+02] [ 9.90757616e-01 1.35617872e-01 -2.67174218e-03 1.18100660e+02] [ 2.69377480e-03 2.10487521e-05 9.99996372e-01 5.23889402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.444012739 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:179.92, Y:118.12, Z:0.52 [[ 1.36737583e-01 -9.90607246e-01 -3.43692110e-04 1.79923773e+02] [ 9.90603643e-01 1.36738013e-01 -2.67184222e-03 1.18124627e+02] [ 2.69374204e-03 2.48785914e-05 9.99996372e-01 5.23552327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.474012739 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:179.92, Y:118.15, Z:0.52 [[ 1.39310294e-01 -9.90248718e-01 -3.42888289e-04 1.79924478e+02] [ 9.90245114e-01 1.39310713e-01 -2.67194537e-03 1.18148683e+02] [ 2.69365849e-03 3.26860439e-05 9.99996372e-01 5.19903449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.504012739 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:179.93, Y:118.17, Z:0.52 [[ 1.40923870e-01 -9.90020377e-01 -3.42115379e-04 1.79926222e+02] [ 9.90016771e-01 1.40924280e-01 -2.67204433e-03 1.18173880e+02] [ 2.69359070e-03 3.78548654e-05 9.99996372e-01 5.16253028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.534012739 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:179.93, Y:118.20, Z:0.51 [[ 1.44544900e-01 -9.89498184e-01 -3.41402085e-04 1.79926303e+02] [ 9.89494577e-01 1.44545295e-01 -2.67213547e-03 1.18197951e+02] [ 2.69342125e-03 4.84280408e-05 9.99996372e-01 5.13068444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.564012739 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:179.93, Y:118.22, Z:0.51 [[ 1.45688779e-01 -9.89330412e-01 -3.40670478e-04 1.79927108e+02] [ 9.89326804e-01 1.45689168e-01 -2.67222873e-03 1.18221724e+02] [ 2.69334915e-03 5.22793070e-05 9.99996372e-01 5.12970591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.594012739 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:179.93, Y:118.25, Z:0.51 [[ 1.46014975e-01 -9.89282322e-01 -3.39908057e-04 1.79927425e+02] [ 9.89278714e-01 1.46015361e-01 -2.67232571e-03 1.18246848e+02] [ 2.69331638e-03 5.39357668e-05 9.99996372e-01 5.13550497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.624012739 meters Centerline goodness : 0.997258 Centerline is valid? [True, True] Translation: X:179.93, Y:118.27, Z:0.52 [[ 1.44370893e-01 -9.89523588e-01 -3.39177517e-04 1.79925859e+02] [ 9.89519980e-01 1.44371283e-01 -2.67241843e-03 1.18272557e+02] [ 2.69338857e-03 5.01965053e-05 9.99996372e-01 5.17456454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.654012739 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:179.93, Y:118.30, Z:0.52 [[ 1.42005514e-01 -9.89865809e-01 -3.38497516e-04 1.79926623e+02] [ 9.89862202e-01 1.42005910e-01 -2.67250456e-03 1.18296127e+02] [ 2.69348953e-03 4.44444866e-05 9.99996372e-01 5.17764570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.684012739 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:179.93, Y:118.32, Z:0.52 [[ 1.37011341e-01 -9.90569421e-01 -3.37728001e-04 1.79925542e+02] [ 9.90565816e-01 1.37011753e-01 -2.67260180e-03 1.18320575e+02] [ 2.69367032e-03 3.16349431e-05 9.99996372e-01 5.21712351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.714012739 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:179.93, Y:118.34, Z:0.52 [[ 1.34082827e-01 -9.90970071e-01 -3.37038385e-04 1.79926732e+02] [ 9.90966467e-01 1.34083248e-01 -2.67268876e-03 1.18344855e+02] [ 2.69374578e-03 2.43679275e-05 9.99996372e-01 5.22780559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.744012739 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:179.93, Y:118.37, Z:0.52 [[ 1.31443836e-01 -9.91323562e-01 -3.36322694e-04 1.79928599e+02] [ 9.91319959e-01 1.31444265e-01 -2.67277882e-03 1.18369092e+02] [ 2.69379631e-03 1.79169014e-05 9.99996372e-01 5.23608813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.774012739 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:179.93, Y:118.39, Z:0.52 [[ 1.28749303e-01 -9.91677117e-01 -3.35608668e-04 1.79929622e+02] [ 9.91673515e-01 1.28749740e-01 -2.67286847e-03 1.18393044e+02] [ 2.69383203e-03 1.13157269e-05 9.99996372e-01 5.24026290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80401273900003 meters Centerline goodness : 0.997821 Centerline is valid? [True, True] Translation: X:179.93, Y:118.42, Z:0.52 [[ 1.28559941e-01 -9.91701684e-01 -3.34866963e-04 1.79928247e+02] [ 9.91698081e-01 1.28560377e-01 -2.67296139e-03 1.18417453e+02] [ 2.69383094e-03 1.15488350e-05 9.99996372e-01 5.21249968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.834012739 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:179.93, Y:118.44, Z:0.52 [[ 1.28432966e-01 -9.91718136e-01 -3.34111956e-04 1.79929072e+02] [ 9.91714534e-01 1.28433400e-01 -2.67305576e-03 1.18440428e+02] [ 2.69382902e-03 1.19647982e-05 9.99996372e-01 5.18862437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86401273900003 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:179.93, Y:118.46, Z:0.52 [[ 1.28028253e-01 -9.91770465e-01 -3.33326463e-04 1.79930975e+02] [ 9.91766863e-01 1.28028686e-01 -2.67315371e-03 1.18464246e+02] [ 2.69383025e-03 1.16570585e-05 9.99996372e-01 5.18168687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.894012739 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:179.93, Y:118.49, Z:0.52 [[ 1.26689897e-01 -9.91942317e-01 -3.32565768e-04 1.79932404e+02] [ 9.91938714e-01 1.26690333e-01 -2.67324835e-03 1.18488077e+02] [ 2.69384102e-03 8.78869712e-06 9.99996372e-01 5.22923332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92401273900003 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:179.93, Y:118.51, Z:0.53 [[ 1.26314620e-01 -9.91990175e-01 -3.31828785e-04 1.79933362e+02] [ 9.91986573e-01 1.26315055e-01 -2.67333982e-03 1.18510983e+02] [ 2.69384181e-03 8.51220472e-06 9.99996372e-01 5.25345804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.954012739 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:179.93, Y:118.53, Z:0.53 [[ 1.26209880e-01 -9.92003506e-01 -3.31057794e-04 1.79934185e+02] [ 9.91999904e-01 1.26210314e-01 -2.67343530e-03 1.18534736e+02] [ 2.69384010e-03 9.00464804e-06 9.99996372e-01 5.25999021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98401273900004 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:179.93, Y:118.56, Z:0.53 [[ 1.26387930e-01 -9.91980838e-01 -3.30337440e-04 1.79933152e+02] [ 9.91977235e-01 1.26388361e-01 -2.67352430e-03 1.18559728e+02] [ 2.69383569e-03 1.02139821e-05 9.99996372e-01 5.31343930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.014012739 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:179.93, Y:118.58, Z:0.53 [[ 1.26327693e-01 -9.91988511e-01 -3.29553590e-04 1.79934501e+02] [ 9.91984908e-01 1.26328122e-01 -2.67362092e-03 1.18583686e+02] [ 2.69383312e-03 1.08401746e-05 9.99996372e-01 5.28790898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.044012739 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:179.94, Y:118.61, Z:0.53 [[ 1.25360031e-01 -9.92111261e-01 -3.28745349e-04 1.79935643e+02] [ 9.92107658e-01 1.25360462e-01 -2.67372030e-03 1.18606844e+02] [ 2.69383969e-03 9.02688005e-06 9.99996372e-01 5.30891831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.074012739 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:179.94, Y:118.63, Z:0.54 [[ 1.24599669e-01 -9.92207042e-01 -3.27991364e-04 1.79937945e+02] [ 9.92203440e-01 1.24600101e-01 -2.67381279e-03 1.18631905e+02] [ 2.69384364e-03 7.72202886e-06 9.99996372e-01 5.35375339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.104012739 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:179.94, Y:118.66, Z:0.53 [[ 1.23656727e-01 -9.92325001e-01 -3.27266027e-04 1.79939641e+02] [ 9.92321398e-01 1.23657160e-01 -2.67390156e-03 1.18655423e+02] [ 2.69384816e-03 5.89283409e-06 9.99996372e-01 5.32042968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.134012739 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:179.94, Y:118.68, Z:0.53 [[ 1.23265475e-01 -9.92373678e-01 -3.26448989e-04 1.79941883e+02] [ 9.92370075e-01 1.23265907e-01 -2.67400131e-03 1.18678163e+02] [ 2.69384855e-03 5.65383384e-06 9.99996372e-01 5.27377655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.164012739 meters Centerline goodness : 0.997192 Centerline is valid? [True, True] Translation: X:179.95, Y:118.70, Z:0.53 [[ 1.23745394e-01 -9.92313948e-01 -3.25698229e-04 1.79945024e+02] [ 9.92310345e-01 1.23745822e-01 -2.67409275e-03 1.18701980e+02] [ 2.69384333e-03 7.71293819e-06 9.99996372e-01 5.30549853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.194012739 meters Centerline goodness : 0.996855 Centerline is valid? [True, True] Translation: X:179.95, Y:118.73, Z:0.53 [[ 1.25396811e-01 -9.92106616e-01 -3.20092942e-04 1.79946036e+02] [ 9.92103010e-01 1.25397219e-01 -2.67477391e-03 1.18728298e+02] [ 2.69379965e-03 1.78429477e-05 9.99996372e-01 5.32548210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.224012739 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:179.95, Y:118.75, Z:0.53 [[ 1.27176542e-01 -9.91880044e-01 -3.24524274e-04 1.79946693e+02] [ 9.91876439e-01 1.27176955e-01 -2.67423616e-03 1.18751962e+02] [ 2.69379349e-03 1.82121253e-05 9.99996372e-01 5.33621890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.254012739 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:179.95, Y:118.78, Z:0.54 [[ 1.29318593e-01 -9.91603044e-01 -3.23713193e-04 1.79947923e+02] [ 9.91599438e-01 1.29318995e-01 -2.67433433e-03 1.18776992e+02] [ 2.69374033e-03 2.48473320e-05 9.99996372e-01 5.35248118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.284012739 meters Centerline goodness : 0.997214 Centerline is valid? [True, True] Translation: X:179.95, Y:118.80, Z:0.53 [[ 1.34177877e-01 -9.90957210e-01 -3.22973155e-04 1.79949117e+02] [ 9.90953602e-01 1.34178261e-01 -2.67442370e-03 1.18801215e+02] [ 2.69357543e-03 3.87970847e-05 9.99996372e-01 5.34843757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.314012739 meters Centerline goodness : 0.997479 Centerline is valid? [True, True] Translation: X:179.95, Y:118.83, Z:0.54 [[ 1.37090065e-01 -9.90558535e-01 -3.22231425e-04 1.79949153e+02] [ 9.90554925e-01 1.37090436e-01 -2.67451307e-03 1.18826465e+02] [ 2.69343659e-03 4.74612454e-05 9.99996372e-01 5.35536290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.344012739 meters Centerline goodness : 0.997780 Centerline is valid? [True, True] Translation: X:179.95, Y:118.85, Z:0.53 [[ 1.37805607e-01 -9.90459243e-01 -3.21472398e-04 1.79948920e+02] [ 9.90455633e-01 1.37805973e-01 -2.67460430e-03 1.18850337e+02] [ 2.69338736e-03 5.01713219e-05 9.99996372e-01 5.32954611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.374012739 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:179.95, Y:118.87, Z:0.53 [[ 1.38502525e-01 -9.90362029e-01 -3.20687238e-04 1.79948534e+02] [ 9.90358418e-01 1.38502886e-01 -2.67469844e-03 1.18874508e+02] [ 2.69333588e-03 5.28571813e-05 9.99996372e-01 5.28251933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.404012739 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:179.95, Y:118.90, Z:0.53 [[ 1.38864318e-01 -9.90311365e-01 -3.19921443e-04 1.79947753e+02] [ 9.90307754e-01 1.38864675e-01 -2.67479003e-03 1.18898452e+02] [ 2.69330075e-03 5.46122063e-05 9.99996372e-01 5.25684520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.434012739 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:179.94, Y:118.92, Z:0.52 [[ 1.40031859e-01 -9.90146947e-01 -3.19199878e-04 1.79943299e+02] [ 9.90143336e-01 1.40032211e-01 -2.67487614e-03 1.18922901e+02] [ 2.69321871e-03 5.85142460e-05 9.99996372e-01 5.21475886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.464012739 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:179.94, Y:118.95, Z:0.53 [[ 1.38952046e-01 -9.90299060e-01 -3.18487707e-04 1.79937995e+02] [ 9.90295448e-01 1.38952400e-01 -2.67496093e-03 1.18948119e+02] [ 2.69326592e-03 5.62943685e-05 9.99996372e-01 5.26890291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.494012739 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:179.94, Y:118.97, Z:0.53 [[ 1.37076256e-01 -9.90560447e-01 -3.17734221e-04 1.79938551e+02] [ 9.90556836e-01 1.37076614e-01 -2.67505043e-03 1.18972728e+02] [ 2.69335308e-03 5.19520924e-05 9.99996372e-01 5.27288462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.524012739 meters Centerline goodness : 0.997191 Centerline is valid? [True, True] Translation: X:179.94, Y:119.00, Z:0.53 [[ 1.34224356e-01 -9.90950918e-01 -3.17006405e-04 1.79940473e+02] [ 9.90947308e-01 1.34224723e-01 -2.67513667e-03 1.18998455e+02] [ 2.69347924e-03 4.49318543e-05 9.99996372e-01 5.32815574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55401273900003 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:179.94, Y:119.02, Z:0.54 [[ 1.26461751e-01 -9.91971434e-01 -3.16316920e-04 1.79943357e+02] [ 9.91967827e-01 1.26462144e-01 -2.67521820e-03 1.19023648e+02] [ 2.69374215e-03 2.45365690e-05 9.99996372e-01 5.38747977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.584012739 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:179.95, Y:119.05, Z:0.54 [[ 1.22040603e-01 -9.92525058e-01 -3.15609972e-04 1.79945535e+02] [ 9.92521453e-01 1.22041010e-01 -2.67530160e-03 1.19048245e+02] [ 2.69382123e-03 1.32457522e-05 9.99996372e-01 5.39632389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61401273900003 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:179.95, Y:119.07, Z:0.54 [[ 1.13859318e-01 -9.93496833e-01 -3.14830693e-04 1.79948015e+02] [ 9.93493230e-01 1.13859753e-01 -2.67539330e-03 1.19071676e+02] [ 2.69384132e-03 -8.16370589e-06 9.99996372e-01 5.37308182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.644012739 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:179.95, Y:119.10, Z:0.54 [[ 1.13596002e-01 -9.93526975e-01 -3.14028019e-04 1.79950564e+02] [ 9.93523372e-01 1.13596435e-01 -2.67548751e-03 1.19096684e+02] [ 2.69384148e-03 -8.06949292e-06 9.99996372e-01 5.37375918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67401273900003 meters Centerline goodness : 0.996961 Centerline is valid? [True, True] Translation: X:179.95, Y:119.12, Z:0.54 [[ 1.09882070e-01 -9.93944582e-01 -3.13318895e-04 1.79954029e+02] [ 9.93940981e-01 1.09882515e-01 -2.67557055e-03 1.19120808e+02] [ 2.69379712e-03 -1.74232595e-05 9.99996372e-01 5.37778310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.704012739 meters Centerline goodness : 0.996697 Centerline is valid? [True, True] Translation: X:179.96, Y:119.15, Z:0.54 [[ 1.06694393e-01 -9.94291813e-01 -3.12595373e-04 1.79957486e+02] [ 9.94288213e-01 1.06694848e-01 -2.67565508e-03 1.19145090e+02] [ 2.69373426e-03 -2.53324984e-05 9.99996372e-01 5.38623788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73401273900004 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:179.96, Y:119.17, Z:0.54 [[ 1.03292066e-01 -9.94651020e-01 -3.11871547e-04 1.79962095e+02] [ 9.94647422e-01 1.03292531e-01 -2.67573945e-03 1.19169789e+02] [ 2.69364097e-03 -3.38195752e-05 9.99996372e-01 5.40379845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.764012739 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:179.97, Y:119.19, Z:0.54 [[ 1.02822701e-01 -9.94699651e-01 -3.11152790e-04 1.79965304e+02] [ 9.94696052e-01 1.02823166e-01 -2.67582303e-03 1.19193700e+02] [ 2.69363395e-03 -3.43671017e-05 9.99996372e-01 5.40800350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.794012739 meters Centerline goodness : 0.996342 Centerline is valid? [True, True] Translation: X:179.97, Y:119.22, Z:0.54 [[ 1.03563979e-01 -9.94622746e-01 -3.10408662e-04 1.79970671e+02] [ 9.94619146e-01 1.03564440e-01 -2.67590935e-03 1.19217435e+02] [ 2.69366760e-03 -3.16105778e-05 9.99996372e-01 5.41282408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.824012739 meters Centerline goodness : 0.996399 Centerline is valid? [True, True] Translation: X:179.97, Y:119.24, Z:0.54 [[ 1.03794021e-01 -9.94598766e-01 -3.09655887e-04 1.79974629e+02] [ 9.94595167e-01 1.03794479e-01 -2.67599645e-03 1.19242108e+02] [ 2.69368334e-03 -3.02298165e-05 9.99996372e-01 5.41226447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.854012739 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:179.98, Y:119.27, Z:0.54 [[ 1.03903944e-01 -9.94587289e-01 -3.08875284e-04 1.79978329e+02] [ 9.94583689e-01 1.03904399e-01 -2.67608655e-03 1.19265212e+02] [ 2.69369517e-03 -2.91463719e-05 9.99996372e-01 5.40279417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.884012739 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:179.98, Y:119.29, Z:0.54 [[ 1.03524921e-01 -9.94626812e-01 -3.08065382e-04 1.79982086e+02] [ 9.94623212e-01 1.03525375e-01 -2.67617978e-03 1.19289429e+02] [ 2.69369275e-03 -2.93576799e-05 9.99996372e-01 5.42891966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.914012739 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:179.99, Y:119.31, Z:0.54 [[ 1.02121962e-01 -9.94771838e-01 -3.07330803e-04 1.79986085e+02] [ 9.94768239e-01 1.02122420e-01 -2.67626414e-03 1.19313428e+02] [ 2.69365756e-03 -3.24175757e-05 9.99996372e-01 5.44846145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.944012739 meters Centerline goodness : 0.996444 Centerline is valid? [True, True] Translation: X:179.99, Y:119.34, Z:0.55 [[ 9.84443522e-02 -9.95142510e-01 -3.06585273e-04 1.79993542e+02] [ 9.95138912e-01 9.84448208e-02 -2.67634954e-03 1.19337352e+02] [ 2.69353093e-03 -4.16234385e-05 9.99996372e-01 5.45472133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.974012739 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:180.00, Y:119.36, Z:0.55 [[ 9.60444243e-02 -9.95377001e-01 -3.05840084e-04 1.79998342e+02] [ 9.95373404e-01 9.60448996e-02 -2.67643470e-03 1.19362478e+02] [ 2.69343592e-03 -4.73684557e-05 9.99996372e-01 5.45896025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.004012739 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:180.00, Y:119.39, Z:0.54 [[ 9.41825413e-02 -9.95554898e-01 -3.05108825e-04 1.80002269e+02] [ 9.95551302e-01 9.41830213e-02 -2.67651806e-03 1.19387008e+02] [ 2.69335673e-03 -5.16702159e-05 9.99996372e-01 5.42501803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.034012739 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:180.01, Y:119.41, Z:0.54 [[ 9.40153276e-02 -9.95570703e-01 -3.04349906e-04 1.80007175e+02] [ 9.95567107e-01 9.40158062e-02 -2.67660435e-03 1.19411746e+02] [ 2.69336258e-03 -5.13589204e-05 9.99996372e-01 5.39885418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.064012739 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:180.01, Y:119.44, Z:0.54 [[ 9.53756702e-02 -9.95441304e-01 -3.03634992e-04 1.80011809e+02] [ 9.95437706e-01 9.53761419e-02 -2.67668545e-03 1.19436888e+02] [ 2.69344279e-03 -4.69590511e-05 9.99996372e-01 5.40712467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.094012739 meters Centerline goodness : 0.996134 Centerline is valid? [True, True] Translation: X:180.02, Y:119.46, Z:0.54 [[ 9.90327708e-02 -9.95084126e-01 -3.02918995e-04 1.80016087e+02] [ 9.95080527e-01 9.90332274e-02 -2.67676647e-03 1.19459957e+02] [ 2.69360687e-03 -3.63411920e-05 9.99996372e-01 5.42749588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.124012739 meters Centerline goodness : 0.986658 Centerline is valid? [True, True] Translation: X:180.02, Y:119.48, Z:0.56 [[ 1.00080535e-01 -9.94979294e-01 -3.02109058e-04 1.80019349e+02] [ 9.94975694e-01 1.00080986e-01 -2.67685788e-03 1.19484710e+02] [ 2.69365354e-03 -3.26897994e-05 9.99996372e-01 5.57396765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.154012739 meters Centerline goodness : 0.996276 Centerline is valid? [True, True] Translation: X:180.02, Y:119.51, Z:0.54 [[ 1.00606502e-01 -9.94926249e-01 -3.01371385e-04 1.80024553e+02] [ 9.94922648e-01 1.00606949e-01 -2.67694093e-03 1.19508982e+02] [ 2.69367886e-03 -3.05235527e-05 9.99996372e-01 5.41713591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.184012739 meters Centerline goodness : 0.996182 Centerline is valid? [True, True] Translation: X:180.03, Y:119.53, Z:0.54 [[ 9.95684865e-02 -9.95030666e-01 -3.00603099e-04 1.80030111e+02] [ 9.95027065e-01 9.95689349e-02 -2.67702720e-03 1.19532792e+02] [ 2.69365489e-03 -3.25606727e-05 9.99996372e-01 5.41340520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.214012739 meters Centerline goodness : 0.996113 Centerline is valid? [True, True] Translation: X:180.04, Y:119.56, Z:0.54 [[ 9.84935401e-02 -9.95137645e-01 -2.99841141e-04 1.80035449e+02] [ 9.95134045e-01 9.84939904e-02 -2.67711254e-03 1.19557213e+02] [ 2.69362802e-03 -3.47038356e-05 9.99996372e-01 5.41605002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.244012739 meters Centerline goodness : 0.996256 Centerline is valid? [True, True] Translation: X:180.04, Y:119.58, Z:0.54 [[ 9.70526591e-02 -9.95279203e-01 -2.99107432e-04 1.80042370e+02] [ 9.95275603e-01 9.70531126e-02 -2.67719452e-03 1.19580156e+02] [ 2.69358533e-03 -3.78654836e-05 9.99996372e-01 5.40889454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.274012739 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:180.05, Y:119.60, Z:0.54 [[ 9.69361723e-02 -9.95290555e-01 -2.98309738e-04 1.80047098e+02] [ 9.95286955e-01 9.69366241e-02 -2.67728340e-03 1.19603727e+02] [ 2.69359202e-03 -3.73781856e-05 9.99996372e-01 5.40664607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30401273900003 meters Centerline goodness : 0.996117 Centerline is valid? [True, True] Translation: X:180.05, Y:119.63, Z:0.54 [[ 9.84945511e-02 -9.95137546e-01 -2.97523087e-04 1.80053425e+02] [ 9.95133945e-01 9.84949951e-02 -2.67737081e-03 1.19627831e+02] [ 2.69365676e-03 -3.23688871e-05 9.99996372e-01 5.41835590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.334012739 meters Centerline goodness : 0.997129 Centerline is valid? [True, True] Translation: X:180.06, Y:119.65, Z:0.54 [[ 1.00056351e-01 -9.94981728e-01 -2.96774961e-04 1.80056223e+02] [ 9.94978126e-01 1.00056787e-01 -2.67745374e-03 1.19652743e+02] [ 2.69371190e-03 -2.73883451e-05 9.99996372e-01 5.39108136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36401273900003 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:180.06, Y:119.68, Z:0.54 [[ 1.02155049e-01 -9.94768445e-01 -2.94910186e-04 1.80058389e+02] [ 9.94764841e-01 1.02155473e-01 -2.67765999e-03 1.19677533e+02] [ 2.69377835e-03 -1.98297964e-05 9.99996372e-01 5.40313930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.394012739 meters Centerline goodness : 0.996867 Centerline is valid? [True, True] Translation: X:180.06, Y:119.70, Z:0.54 [[ 1.06918717e-01 -9.94267721e-01 -2.95639566e-04 1.80058424e+02] [ 9.94264115e-01 1.06919125e-01 -2.67757946e-03 1.19701391e+02] [ 2.69384035e-03 -7.66045168e-06 9.99996372e-01 5.40672285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42401273900003 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:180.06, Y:119.73, Z:0.54 [[ 1.09129569e-01 -9.94027490e-01 -2.94922818e-04 1.80060555e+02] [ 9.94023883e-01 1.09129968e-01 -2.67765840e-03 1.19725580e+02] [ 2.69385097e-03 -9.48617458e-07 9.99996372e-01 5.40663274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.454012739 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:180.06, Y:119.75, Z:0.54 [[ 1.11971362e-01 -9.93711391e-01 -2.94174762e-04 1.80062176e+02] [ 9.93707783e-01 1.11971748e-01 -2.67774058e-03 1.19749137e+02] [ 2.69384058e-03 7.50650846e-06 9.99996372e-01 5.40090001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48401273900004 meters Centerline goodness : 0.989745 Centerline is valid? [True, True] Translation: X:180.06, Y:119.77, Z:0.55 [[ 1.11600848e-01 -9.93753070e-01 -2.93400335e-04 1.80063416e+02] [ 9.93749462e-01 1.11601233e-01 -2.67782543e-03 1.19773402e+02] [ 2.69384108e-03 7.28116329e-06 9.99996372e-01 5.52770911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.514012739 meters Centerline goodness : 0.996007 Centerline is valid? [True, True] Translation: X:180.06, Y:119.80, Z:0.54 [[ 1.09611397e-01 -9.93974475e-01 -2.92662372e-04 1.80063117e+02] [ 9.93970867e-01 1.09611788e-01 -2.67790608e-03 1.19797639e+02] [ 2.69384954e-03 2.63115550e-06 9.99996372e-01 5.44779849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.544012739 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:180.07, Y:119.82, Z:0.55 [[ 1.07518365e-01 -9.94203056e-01 -2.92072366e-04 1.80065858e+02] [ 9.94199449e-01 1.07518762e-01 -2.67797043e-03 1.19822429e+02] [ 2.69384964e-03 -2.44718354e-06 9.99996372e-01 5.46491834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.574012739 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:180.07, Y:119.85, Z:0.55 [[ 1.05312291e-01 -9.94439157e-01 -2.91311140e-04 1.80069124e+02] [ 9.94435551e-01 1.05312693e-01 -2.67805323e-03 1.19846163e+02] [ 2.69383976e-03 -7.65823256e-06 9.99996372e-01 5.45797111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.604012739 meters Centerline goodness : 0.996728 Centerline is valid? [True, True] Translation: X:180.07, Y:119.87, Z:0.54 [[ 1.03327416e-01 -9.94647355e-01 -2.90522525e-04 1.80072205e+02] [ 9.94643750e-01 1.03327823e-01 -2.67813878e-03 1.19869675e+02] [ 2.69382272e-03 -1.22412540e-05 9.99996372e-01 5.44418274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.634012739 meters Centerline goodness : 0.996596 Centerline is valid? [True, True] Translation: X:180.08, Y:119.89, Z:0.54 [[ 1.01260483e-01 -9.94859905e-01 -2.89771224e-04 1.80075815e+02] [ 9.94856300e-01 1.01260896e-01 -2.67822007e-03 1.19893257e+02] [ 2.69379626e-03 -1.70828691e-05 9.99996372e-01 5.42741560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.664012739 meters Centerline goodness : 0.996426 Centerline is valid? [True, True] Translation: X:180.08, Y:119.92, Z:0.55 [[ 1.02060291e-01 -9.94778173e-01 -2.89024672e-04 1.80079989e+02] [ 9.94774568e-01 1.02060699e-01 -2.67830063e-03 1.19918037e+02] [ 2.69381307e-03 -1.41662512e-05 9.99996372e-01 5.45269747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.694012739 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:180.08, Y:119.94, Z:0.55 [[ 1.03710035e-01 -9.94607533e-01 -2.88282378e-04 1.80082349e+02] [ 9.94603927e-01 1.03710435e-01 -2.67838053e-03 1.19941975e+02] [ 2.69383534e-03 -8.95184761e-06 9.99996372e-01 5.46169701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.724012739 meters Centerline goodness : 0.995795 Centerline is valid? [True, True] Translation: X:180.08, Y:119.97, Z:0.55 [[ 1.05200846e-01 -9.94450954e-01 -2.87512162e-04 1.80084424e+02] [ 9.94447347e-01 1.05201239e-01 -2.67846321e-03 1.19966644e+02] [ 2.69384692e-03 -4.13911061e-06 9.99996372e-01 5.47588675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.754012739 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:180.09, Y:119.99, Z:0.55 [[ 1.06716680e-01 -9.94289429e-01 -2.86731004e-04 1.80087238e+02] [ 9.94285821e-01 1.06717066e-01 -2.67854683e-03 1.19990592e+02] [ 2.69384989e-03 7.53053638e-07 9.99996372e-01 5.47753221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.784012739 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:180.09, Y:120.01, Z:0.55 [[ 1.08498579e-01 -9.94096563e-01 -2.85919780e-04 1.80092204e+02] [ 9.94092954e-01 1.08498956e-01 -2.67863342e-03 1.20014566e+02] [ 2.69384227e-03 6.39708069e-06 9.99996372e-01 5.49485114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.814012739 meters Centerline goodness : 0.996080 Centerline is valid? [True, True] Translation: X:180.10, Y:120.04, Z:0.55 [[ 1.09325924e-01 -9.94005916e-01 -2.85144565e-04 1.80095758e+02] [ 9.94002307e-01 1.09326295e-01 -2.67871594e-03 1.20038034e+02] [ 2.69383329e-03 9.41873963e-06 9.99996372e-01 5.47565524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.844012739 meters Centerline goodness : 0.996456 Centerline is valid? [True, True] Translation: X:180.10, Y:120.06, Z:0.55 [[ 1.09857910e-01 -9.93947262e-01 -2.84412885e-04 1.80097762e+02] [ 9.93943652e-01 1.09858278e-01 -2.67879362e-03 1.20062793e+02] [ 2.69382469e-03 1.15962867e-05 9.99996372e-01 5.46169991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.874012739 meters Centerline goodness : 0.997094 Centerline is valid? [True, True] Translation: X:180.10, Y:120.09, Z:0.55 [[ 1.10426966e-01 -9.93884201e-01 -2.83652184e-04 1.80099165e+02] [ 9.93880591e-01 1.10427330e-01 -2.67887417e-03 1.20086195e+02] [ 2.69381366e-03 1.39035479e-05 9.99996372e-01 5.45300305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.904012739 meters Centerline goodness : 0.996891 Centerline is valid? [True, True] Translation: X:180.10, Y:120.11, Z:0.55 [[ 1.12171593e-01 -9.93688811e-01 -2.82862617e-04 1.80100650e+02] [ 9.93685200e-01 1.12171948e-01 -2.67895754e-03 1.20111731e+02] [ 2.69377938e-03 1.94265385e-05 9.99996372e-01 5.50616912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.934012739 meters Centerline goodness : 0.995624 Centerline is valid? [True, True] Translation: X:180.10, Y:120.14, Z:0.55 [[ 1.12596789e-01 -9.93640722e-01 -2.82166903e-04 1.80102493e+02] [ 9.93637110e-01 1.12597140e-01 -2.67903081e-03 1.20136286e+02] [ 2.69376530e-03 2.12787601e-05 9.99996372e-01 5.53622756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.964012739 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:180.10, Y:120.16, Z:0.55 [[ 1.13293445e-01 -9.93561531e-01 -2.81376035e-04 1.80103619e+02] [ 9.93557919e-01 1.13293792e-01 -2.67911387e-03 1.20160101e+02] [ 2.69374264e-03 2.39626520e-05 9.99996372e-01 5.54712282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.994012739 meters Centerline goodness : 0.996219 Centerline is valid? [True, True] Translation: X:180.11, Y:120.18, Z:0.56 [[ 1.13460770e-01 -9.93542437e-01 -2.80560695e-04 1.80105628e+02] [ 9.93538825e-01 1.13461114e-01 -2.67919925e-03 1.20184940e+02] [ 2.69373089e-03 2.52360677e-05 9.99996372e-01 5.55207113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.024012739 meters Centerline goodness : 0.996641 Centerline is valid? [True, True] Translation: X:180.11, Y:120.21, Z:0.55 [[ 1.13429472e-01 -9.93546011e-01 -2.79780771e-04 1.80107520e+02] [ 9.93542399e-01 1.13429814e-01 -2.67928070e-03 1.20208937e+02] [ 2.69372413e-03 2.59353350e-05 9.99996372e-01 5.54485352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05401273900003 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:180.11, Y:120.23, Z:0.56 [[ 1.12184986e-01 -9.93687301e-01 -2.78968402e-04 1.80108843e+02] [ 9.93683688e-01 1.12185330e-01 -2.67936528e-03 1.20233274e+02] [ 2.69374741e-03 2.33782050e-05 9.99996372e-01 5.55254790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.084012739 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:180.11, Y:120.26, Z:0.55 [[ 1.09665078e-01 -9.93968557e-01 -2.78184800e-04 1.80108211e+02] [ 9.93964946e-01 1.09665430e-01 -2.67944663e-03 1.20256813e+02] [ 2.69379296e-03 1.73357854e-05 9.99996372e-01 5.54476920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11401273900003 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:180.11, Y:120.28, Z:0.55 [[ 1.07881424e-01 -9.94163730e-01 -2.77370116e-04 1.80109114e+02] [ 9.94160119e-01 1.07881780e-01 -2.67953096e-03 1.20280494e+02] [ 2.69381568e-03 1.33213084e-05 9.99996372e-01 5.52449370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.144012739 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:180.11, Y:120.31, Z:0.55 [[ 1.05890635e-01 -9.94377744e-01 -2.76569706e-04 1.80110174e+02] [ 9.94374133e-01 1.05890995e-01 -2.67961358e-03 1.20305302e+02] [ 2.69383434e-03 8.73221991e-06 9.99996372e-01 5.52490420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17401273900003 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:180.11, Y:120.33, Z:0.55 [[ 1.02263800e-01 -9.94757277e-01 -2.75797923e-04 1.80108556e+02] [ 9.94753667e-01 1.02264172e-01 -2.67969301e-03 1.20329225e+02] [ 2.69384837e-03 -3.15405852e-07 9.99996372e-01 5.50589704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.204012739 meters Centerline goodness : 0.996875 Centerline is valid? [True, True] Translation: X:180.11, Y:120.35, Z:0.55 [[ 1.00379522e-01 -9.94949183e-01 -2.74998362e-04 1.80109365e+02] [ 9.94945574e-01 1.00379899e-01 -2.67977506e-03 1.20353832e+02] [ 2.69384431e-03 -4.61386354e-06 9.99996372e-01 5.49408095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23401273900004 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:180.11, Y:120.38, Z:0.55 [[ 9.86743788e-02 -9.95119737e-01 -2.74240124e-04 1.80110683e+02] [ 9.95116129e-01 9.86747595e-02 -2.67985265e-03 1.20378055e+02] [ 2.69383485e-03 -8.46797492e-06 9.99996372e-01 5.49097336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.264012739 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:180.11, Y:120.40, Z:0.55 [[ 9.57561777e-02 -9.95404782e-01 -2.73478589e-04 1.80110787e+02] [ 9.95401174e-01 9.57565669e-02 -2.67993037e-03 1.20401989e+02] [ 2.69380287e-03 -1.56010200e-05 9.99996372e-01 5.50226302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.294012739 meters Centerline goodness : 0.996428 Centerline is valid? [True, True] Translation: X:180.11, Y:120.43, Z:0.55 [[ 9.44370450e-02 -9.95530798e-01 -2.72688874e-04 1.80111724e+02] [ 9.95527191e-01 9.44374369e-02 -2.68001072e-03 1.20426580e+02] [ 2.69378525e-03 -1.83768956e-05 9.99996372e-01 5.51773406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.324012739 meters Centerline goodness : 0.996475 Centerline is valid? [True, True] Translation: X:180.11, Y:120.45, Z:0.55 [[ 9.24223953e-02 -9.95719854e-01 -2.71931933e-04 1.80112779e+02] [ 9.95716247e-01 9.24227925e-02 -2.68008752e-03 1.20449961e+02] [ 2.69374906e-03 -2.30669353e-05 9.99996372e-01 5.49737134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.354012739 meters Centerline goodness : 0.996490 Centerline is valid? [True, True] Translation: X:180.11, Y:120.47, Z:0.55 [[ 9.16190280e-02 -9.95794095e-01 -2.71150932e-04 1.80114093e+02] [ 9.95790489e-01 9.16194260e-02 -2.68016654e-03 1.20473565e+02] [ 2.69373670e-03 -2.44552666e-05 9.99996372e-01 5.49235311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.384012739 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:180.12, Y:120.50, Z:0.55 [[ 9.05173622e-02 -9.95894841e-01 -2.70452711e-04 1.80115069e+02] [ 9.95891235e-01 9.05177623e-02 -2.68023699e-03 1.20498612e+02] [ 2.69371496e-03 -2.67335020e-05 9.99996372e-01 5.49940603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.414012739 meters Centerline goodness : 0.997118 Centerline is valid? [True, True] Translation: X:180.12, Y:120.52, Z:0.55 [[ 8.88103823e-02 -9.96048515e-01 -2.69716168e-04 1.80118114e+02] [ 9.96044909e-01 8.88107866e-02 -2.68031111e-03 1.20522248e+02] [ 2.69367360e-03 -3.06099621e-05 9.99996372e-01 5.50245184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.444012739 meters Centerline goodness : 0.996289 Centerline is valid? [True, True] Translation: X:180.12, Y:120.55, Z:0.55 [[ 8.69863926e-02 -9.96209464e-01 -2.69023931e-04 1.80120351e+02] [ 9.96205858e-01 8.69868016e-02 -2.68038059e-03 1.20547260e+02] [ 2.69362204e-03 -3.48465781e-05 9.99996372e-01 5.50570483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.474012739 meters Centerline goodness : 0.997095 Centerline is valid? [True, True] Translation: X:180.12, Y:120.57, Z:0.55 [[ 8.66550932e-02 -9.96238336e-01 -2.68300077e-04 1.80121542e+02] [ 9.96234731e-01 8.66555015e-02 -2.68045304e-03 1.20571525e+02] [ 2.69361976e-03 -3.50149471e-05 9.99996372e-01 5.50978546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.504012739 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:180.12, Y:120.60, Z:0.55 [[ 8.67191308e-02 -9.96232764e-01 -2.67574128e-04 1.80122527e+02] [ 9.96229159e-01 8.67195369e-02 -2.68052551e-03 1.20596641e+02] [ 2.69363124e-03 -3.41123065e-05 9.99996372e-01 5.51809908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.534012739 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:180.12, Y:120.62, Z:0.55 [[ 8.64275090e-02 -9.96258106e-01 -2.66785452e-04 1.80124676e+02] [ 9.96254501e-01 8.64279140e-02 -2.68060400e-03 1.20621695e+02] [ 2.69363117e-03 -3.41082809e-05 9.99996372e-01 5.51877641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.564012739 meters Centerline goodness : 0.996984 Centerline is valid? [True, True] Translation: X:180.13, Y:120.64, Z:0.55 [[ 8.66723565e-02 -9.96236835e-01 -2.66000758e-04 1.80127424e+02] [ 9.96233229e-01 8.66727585e-02 -2.68068186e-03 1.20644802e+02] [ 2.69364903e-03 -3.26577797e-05 9.99996372e-01 5.53519265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.594012739 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:180.13, Y:120.67, Z:0.56 [[ 8.59222957e-02 -9.96301806e-01 -2.65260838e-04 1.80129989e+02] [ 9.96298200e-01 8.59226985e-02 -2.68075508e-03 1.20668401e+02] [ 2.69363305e-03 -3.39422646e-05 9.99996372e-01 5.55715568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.624012739 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:180.13, Y:120.69, Z:0.56 [[ 8.49780066e-02 -9.96382792e-01 -2.64512015e-04 1.80131807e+02] [ 9.96379186e-01 8.49784108e-02 -2.68082896e-03 1.20692610e+02] [ 2.69360966e-03 -3.57427647e-05 9.99996372e-01 5.58395785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.654012739 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:180.13, Y:120.72, Z:0.56 [[ 8.39206937e-02 -9.96472402e-01 -2.63769463e-04 1.80134397e+02] [ 9.96468796e-01 8.39210997e-02 -2.68090202e-03 1.20717242e+02] [ 2.69358070e-03 -3.78548824e-05 9.99996372e-01 5.57874187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.684012739 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:180.14, Y:120.74, Z:0.56 [[ 8.20942441e-02 -9.96624536e-01 -2.63025580e-04 1.80137671e+02] [ 9.96620931e-01 8.20946547e-02 -2.68097500e-03 1.20741707e+02] [ 2.69351846e-03 -4.20441822e-05 9.99996372e-01 5.56587391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.714012739 meters Centerline goodness : 0.997118 Centerline is valid? [True, True] Translation: X:180.14, Y:120.77, Z:0.55 [[ 7.78854776e-02 -9.96962278e-01 -2.62242311e-04 1.80141421e+02] [ 9.96958674e-01 7.78859013e-02 -2.68105162e-03 1.20765227e+02] [ 2.69333230e-03 -5.26297616e-05 9.99996372e-01 5.51506992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.744012739 meters Centerline goodness : 0.996625 Centerline is valid? [True, True] Translation: X:180.14, Y:120.79, Z:0.55 [[ 7.55544521e-02 -9.97141643e-01 -2.61427141e-04 1.80143799e+02] [ 9.97138040e-01 7.55548820e-02 -2.68113110e-03 1.20789604e+02] [ 2.69321957e-03 -5.81075558e-05 9.99996372e-01 5.52126194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.774012739 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:180.15, Y:120.81, Z:0.55 [[ 7.36774140e-02 -9.97282092e-01 -2.60659532e-04 1.80147157e+02] [ 9.97278490e-01 7.36778486e-02 -2.68120572e-03 1.20812686e+02] [ 2.69312329e-03 -6.24058407e-05 9.99996372e-01 5.51844308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80401273900003 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:180.15, Y:120.84, Z:0.55 [[ 7.33914493e-02 -9.97303177e-01 -2.59863545e-04 1.80150231e+02] [ 9.97299575e-01 7.33918828e-02 -2.68128287e-03 1.20837286e+02] [ 2.69312380e-03 -6.23785671e-05 9.99996372e-01 5.52854097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.834012739 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:180.15, Y:120.86, Z:0.56 [[ 7.33518072e-02 -9.97306094e-01 -2.59104198e-04 1.80152452e+02] [ 9.97302491e-01 7.33522388e-02 -2.68135625e-03 1.20862286e+02] [ 2.69313880e-03 -6.17229355e-05 9.99996372e-01 5.55018815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86401273900003 meters Centerline goodness : 0.997005 Centerline is valid? [True, True] Translation: X:180.15, Y:120.89, Z:0.56 [[ 7.52578186e-02 -9.97164076e-01 -2.58336682e-04 1.80153126e+02] [ 9.97160472e-01 7.52582413e-02 -2.68143019e-03 1.20885606e+02] [ 2.69326782e-03 -5.58045407e-05 9.99996372e-01 5.58089028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.894012739 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:180.16, Y:120.91, Z:0.56 [[ 7.65138121e-02 -9.97068488e-01 -2.57539346e-04 1.80155233e+02] [ 9.97064884e-01 7.65142281e-02 -2.68150677e-03 1.20909881e+02] [ 2.69335133e-03 -5.16111330e-05 9.99996372e-01 5.57547997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92401273900003 meters Centerline goodness : 0.996762 Centerline is valid? [True, True] Translation: X:180.16, Y:120.93, Z:0.55 [[ 8.03563326e-02 -9.96766168e-01 -2.56795952e-04 1.80157771e+02] [ 9.96762562e-01 8.03567327e-02 -2.68157796e-03 1.20934014e+02] [ 2.69354147e-03 -4.04828206e-05 9.99996372e-01 5.53576873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.954012739 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:180.16, Y:120.96, Z:0.55 [[ 8.19263333e-02 -9.96638355e-01 -2.56051291e-04 1.80158727e+02] [ 9.96634748e-01 8.19267257e-02 -2.68164906e-03 1.20959008e+02] [ 2.69361175e-03 -3.54919388e-05 9.99996372e-01 5.53102538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98401273900004 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:180.16, Y:120.98, Z:0.55 [[ 8.31553948e-02 -9.96536560e-01 -2.55294500e-04 1.80159260e+02] [ 9.96532952e-01 8.31557808e-02 -2.68172111e-03 1.20982668e+02] [ 2.69366234e-03 -3.14098041e-05 9.99996372e-01 5.53551253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.014012739 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:180.16, Y:121.01, Z:0.56 [[ 8.39562910e-02 -9.96469406e-01 -2.54506227e-04 1.80160288e+02] [ 9.96465797e-01 8.39566720e-02 -2.68179592e-03 1.21007562e+02] [ 2.69369508e-03 -2.84531116e-05 9.99996372e-01 5.58390146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.044012739 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:180.16, Y:121.03, Z:0.56 [[ 8.41624291e-02 -9.96452017e-01 -2.53752627e-04 1.80163087e+02] [ 9.96448408e-01 8.41628073e-02 -2.68186722e-03 1.21032010e+02] [ 2.69370853e-03 -2.71389418e-05 9.99996372e-01 5.59273800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.074012739 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:180.17, Y:121.06, Z:0.56 [[ 8.44601571e-02 -9.96426825e-01 -2.52995470e-04 1.80166270e+02] [ 9.96423216e-01 8.44605322e-02 -2.68193864e-03 1.21056020e+02] [ 2.69372374e-03 -2.55736003e-05 9.99996372e-01 5.56143062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.104012739 meters Centerline goodness : 0.996549 Centerline is valid? [True, True] Translation: X:180.17, Y:121.08, Z:0.56 [[ 8.40923053e-02 -9.96457937e-01 -2.52232498e-04 1.80168909e+02] [ 9.96454328e-01 8.40926796e-02 -2.68201040e-03 1.21079371e+02] [ 2.69372146e-03 -2.58017271e-05 9.99996372e-01 5.55001916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.134012739 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:180.17, Y:121.10, Z:0.56 [[ 8.37988476e-02 -9.96482659e-01 -2.51474994e-04 1.80174343e+02] [ 9.96479050e-01 8.37992209e-02 -2.68208142e-03 1.21103042e+02] [ 2.69372104e-03 -2.58342307e-05 9.99996372e-01 5.57971946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.164012739 meters Centerline goodness : 0.996604 Centerline is valid? [True, True] Translation: X:180.18, Y:121.13, Z:0.56 [[ 8.35333813e-02 -9.96504948e-01 -2.50703407e-04 1.80179157e+02] [ 9.96501339e-01 8.35337535e-02 -2.68215354e-03 1.21127693e+02] [ 2.69372147e-03 -2.57769265e-05 9.99996372e-01 5.58782319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.194012739 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:180.18, Y:121.15, Z:0.56 [[ 8.32153520e-02 -9.96531556e-01 -2.49944959e-04 1.80184102e+02] [ 9.96527947e-01 8.32157234e-02 -2.68222422e-03 1.21151506e+02] [ 2.69372043e-03 -2.58749041e-05 9.99996372e-01 5.57502443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.224012739 meters Centerline goodness : 0.997287 Centerline is valid? [True, True] Translation: X:180.19, Y:121.17, Z:0.55 [[ 8.28105702e-02 -9.96565275e-01 -2.49182752e-04 1.80192350e+02] [ 9.96561666e-01 8.28109410e-02 -2.68229503e-03 1.21174040e+02] [ 2.69371714e-03 -2.62035973e-05 9.99996372e-01 5.51832825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.254012739 meters Centerline goodness : 0.997677 Centerline is valid? [True, True] Translation: X:180.20, Y:121.20, Z:0.55 [[ 8.35142968e-02 -9.96506548e-01 -2.48392342e-04 1.80197140e+02] [ 9.96502938e-01 8.35146629e-02 -2.68236822e-03 1.21197778e+02] [ 2.69374190e-03 -2.35076028e-05 9.99996372e-01 5.49912507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.284012739 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:180.21, Y:121.22, Z:0.55 [[ 8.77045173e-02 -9.96146503e-01 -2.47612446e-04 1.80205009e+02] [ 9.96142892e-01 8.77048661e-02 -2.68244021e-03 1.21221519e+02] [ 2.69382026e-03 -1.13952535e-05 9.99996372e-01 5.53716590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.314012739 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:180.21, Y:121.25, Z:0.55 [[ 9.01856882e-02 -9.95924937e-01 -2.46866820e-04 1.80208973e+02] [ 9.95921325e-01 9.01860259e-02 -2.68250883e-03 1.21245853e+02] [ 2.69384138e-03 -3.93602495e-06 9.99996372e-01 5.54968907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.344012739 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:180.21, Y:121.27, Z:0.56 [[ 9.49469212e-02 -9.95482306e-01 -2.46119920e-04 1.80214298e+02] [ 9.95478692e-01 9.49472396e-02 -2.68257736e-03 1.21270480e+02] [ 2.69382670e-03 9.69532542e-06 9.99996372e-01 5.56705614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.374012739 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:180.22, Y:121.29, Z:0.56 [[ 9.68444767e-02 -9.95299496e-01 -2.45374981e-04 1.80218248e+02] [ 9.95295881e-01 9.68447863e-02 -2.68264550e-03 1.21294845e+02] [ 2.69379900e-03 1.55786911e-05 9.99996372e-01 5.57063353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.404012739 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:180.22, Y:121.32, Z:0.56 [[ 9.83255553e-02 -9.95154272e-01 -2.44631339e-04 1.80221821e+02] [ 9.95150656e-01 9.83258575e-02 -2.68271331e-03 1.21318830e+02] [ 2.69376719e-03 2.03342381e-05 9.99996372e-01 5.58187121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.434012739 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:180.22, Y:121.34, Z:0.56 [[ 1.01186584e-01 -9.94867436e-01 -2.43872272e-04 1.80223519e+02] [ 9.94863820e-01 1.01186873e-01 -2.68278231e-03 1.21342376e+02] [ 2.69368943e-03 2.88418761e-05 9.99996372e-01 5.58863104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.464012739 meters Centerline goodness : 0.997275 Centerline is valid? [True, True] Translation: X:180.22, Y:121.37, Z:0.56 [[ 1.02018965e-01 -9.94782424e-01 -2.43159084e-04 1.80224639e+02] [ 9.94778807e-01 1.02019250e-01 -2.68284695e-03 1.21366602e+02] [ 2.69365590e-03 3.18117652e-05 9.99996372e-01 5.58156606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.494012739 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:180.23, Y:121.39, Z:0.56 [[ 1.01872834e-01 -9.94797400e-01 -2.42401957e-04 1.80226769e+02] [ 9.94793783e-01 1.01873118e-01 -2.68291535e-03 1.21391579e+02] [ 2.69365146e-03 3.21762325e-05 9.99996372e-01 5.55529932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.524012739 meters Centerline goodness : 0.997400 Centerline is valid? [True, True] Translation: X:180.23, Y:121.42, Z:0.55 [[ 1.00446272e-01 -9.94942455e-01 -2.41629774e-04 1.80229273e+02] [ 9.94938838e-01 1.00446559e-01 -2.68298490e-03 1.21415010e+02] [ 2.69368646e-03 2.90889850e-05 9.99996372e-01 5.53006450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55401273900003 meters Centerline goodness : 0.996917 Centerline is valid? [True, True] Translation: X:180.23, Y:121.44, Z:0.55 [[ 9.80042378e-02 -9.95185968e-01 -2.40830857e-04 1.80231617e+02] [ 9.95182352e-01 9.80045309e-02 -2.68305661e-03 1.21439296e+02] [ 2.69374280e-03 2.32802992e-05 9.99996372e-01 5.53048317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.584012739 meters Centerline goodness : 0.997435 Centerline is valid? [True, True] Translation: X:180.23, Y:121.46, Z:0.56 [[ 9.15539281e-02 -9.95800091e-01 -2.40090302e-04 1.80233612e+02] [ 9.95796476e-01 9.15542427e-02 -2.68312287e-03 1.21463033e+02] [ 2.69383529e-03 6.56936177e-06 9.99996372e-01 5.56321247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61401273900003 meters Centerline goodness : 0.996760 Centerline is valid? [True, True] Translation: X:180.24, Y:121.49, Z:0.56 [[ 8.82872713e-02 -9.96095026e-01 -2.37969706e-04 1.80235977e+02] [ 9.96091412e-01 8.82875920e-02 -2.68331199e-03 1.21488457e+02] [ 2.69384350e-03 -1.37286583e-07 9.99996372e-01 5.56451059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.644012739 meters Centerline goodness : 0.997494 Centerline is valid? [True, True] Translation: X:180.24, Y:121.51, Z:0.55 [[ 8.39429396e-02 -9.96470534e-01 -2.38468375e-04 1.80239542e+02] [ 9.96466922e-01 8.39432775e-02 -2.68326767e-03 1.21512036e+02] [ 2.69381499e-03 -1.23844712e-05 9.99996372e-01 5.53634391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67401273900003 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:180.24, Y:121.54, Z:0.55 [[ 8.19945289e-02 -9.96632751e-01 -2.37756405e-04 1.80243070e+02] [ 9.96629139e-01 8.19948719e-02 -2.68333076e-03 1.21536743e+02] [ 2.69379012e-03 -1.69365203e-05 9.99996372e-01 5.52463119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.704012739 meters Centerline goodness : 0.997182 Centerline is valid? [True, True] Translation: X:180.25, Y:121.56, Z:0.55 [[ 8.00863555e-02 -9.96787901e-01 -2.36999516e-04 1.80246827e+02] [ 9.96784289e-01 8.00867033e-02 -2.68339761e-03 1.21561033e+02] [ 2.69375878e-03 -2.13338597e-05 9.99996372e-01 5.52346984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73401273900004 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:180.25, Y:121.59, Z:0.56 [[ 7.71338263e-02 -9.97020721e-01 -2.36231960e-04 1.80252158e+02] [ 9.97017110e-01 7.71341828e-02 -2.68346518e-03 1.21585520e+02] [ 2.69369194e-03 -2.85413693e-05 9.99996372e-01 5.57020577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.764012739 meters Centerline goodness : 0.997631 Centerline is valid? [True, True] Translation: X:180.26, Y:121.61, Z:0.56 [[ 7.61429767e-02 -9.97096882e-01 -2.35569955e-04 1.80257472e+02] [ 9.97093271e-01 7.61433350e-02 -2.68352329e-03 1.21609042e+02] [ 2.69366978e-03 -3.05537660e-05 9.99996372e-01 5.62326680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.794012739 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:180.26, Y:121.63, Z:0.56 [[ 7.59873174e-02 -9.97108757e-01 -2.34858344e-04 1.80261912e+02] [ 9.97105146e-01 7.59876743e-02 -2.68358557e-03 1.21633663e+02] [ 2.69367301e-03 -3.02599954e-05 9.99996372e-01 5.63157611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.824012739 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:180.27, Y:121.66, Z:0.56 [[ 7.61235915e-02 -9.97098362e-01 -2.34084552e-04 1.80266056e+02] [ 9.97094751e-01 7.61239458e-02 -2.68365306e-03 1.21657414e+02] [ 2.69368551e-03 -2.91151687e-05 9.99996372e-01 5.62967349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.854012739 meters Centerline goodness : 0.996389 Centerline is valid? [True, True] Translation: X:180.27, Y:121.68, Z:0.56 [[ 7.65642046e-02 -9.97064626e-01 -2.33281616e-04 1.80268101e+02] [ 9.97061014e-01 7.65645552e-02 -2.68372286e-03 1.21683243e+02] [ 2.69370623e-03 -2.71188992e-05 9.99996372e-01 5.63884355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.884012739 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:180.27, Y:121.71, Z:0.57 [[ 8.06732593e-02 -9.96740573e-01 -2.34408958e-04 1.80268654e+02] [ 9.96736961e-01 8.06735980e-02 -2.68362517e-03 1.21706721e+02] [ 2.69378870e-03 -1.71472835e-05 9.99996372e-01 5.65240645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.914012739 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:180.27, Y:121.73, Z:0.57 [[ 8.55298889e-02 -9.96335578e-01 -2.31611286e-04 1.80273158e+02] [ 9.96331963e-01 8.55302025e-02 -2.68386660e-03 1.21731025e+02] [ 2.69384154e-03 -1.21091489e-06 9.99996372e-01 5.68498389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.944012739 meters Centerline goodness : 0.996808 Centerline is valid? [True, True] Translation: X:180.28, Y:121.75, Z:0.57 [[ 8.68251983e-02 -9.96223535e-01 -2.30820889e-04 1.80275710e+02] [ 9.96219920e-01 8.68255051e-02 -2.68393457e-03 1.21754241e+02] [ 2.69383993e-03 3.08478385e-06 9.99996372e-01 5.68735774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.974012739 meters Centerline goodness : 0.997094 Centerline is valid? [True, True] Translation: X:180.28, Y:121.78, Z:0.57 [[ 8.75100829e-02 -9.96163607e-01 -2.30000028e-04 1.80277824e+02] [ 9.96159992e-01 8.75103850e-02 -2.68400492e-03 1.21778919e+02] [ 2.69383541e-03 5.76066686e-06 9.99996372e-01 5.67608973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.004012739 meters Centerline goodness : 0.997525 Centerline is valid? [True, True] Translation: X:180.28, Y:121.80, Z:0.57 [[ 8.84238691e-02 -9.96082912e-01 -2.29214416e-04 1.80279699e+02] [ 9.96079295e-01 8.84241657e-02 -2.68407201e-03 1.21804000e+02] [ 2.69382635e-03 9.02029815e-06 9.99996372e-01 5.66455998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.034012739 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:180.28, Y:121.83, Z:0.56 [[ 9.19255661e-02 -9.95765855e-01 -2.28416478e-04 1.80282054e+02] [ 9.95762238e-01 9.19258479e-02 -2.68413991e-03 1.21827232e+02] [ 2.69377225e-03 1.92925770e-05 9.99996372e-01 5.63703359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.064012739 meters Centerline goodness : 0.997331 Centerline is valid? [True, True] Translation: X:180.28, Y:121.85, Z:0.57 [[ 9.43259607e-02 -9.95541341e-01 -2.27588413e-04 1.80284436e+02] [ 9.95537723e-01 9.43262315e-02 -2.68421012e-03 1.21852089e+02] [ 2.69370970e-03 2.66178482e-05 9.99996372e-01 5.65987637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.094012739 meters Centerline goodness : 0.997259 Centerline is valid? [True, True] Translation: X:180.29, Y:121.88, Z:0.57 [[ 9.95532872e-02 -9.95032206e-01 -2.26817589e-04 1.80286101e+02] [ 9.95028587e-01 9.95535370e-02 -2.68427525e-03 1.21876717e+02] [ 2.69352082e-03 4.15384404e-05 9.99996372e-01 5.67480243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.124012739 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:180.29, Y:121.90, Z:0.57 [[ 1.01049698e-01 -9.94881353e-01 -2.26046271e-04 1.80287246e+02] [ 9.94877733e-01 1.01049940e-01 -2.68434021e-03 1.21900547e+02] [ 2.69344198e-03 4.63633656e-05 9.99996372e-01 5.66298406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.154012739 meters Centerline goodness : 0.997573 Centerline is valid? [True, True] Translation: X:180.29, Y:121.92, Z:0.57 [[ 1.01748645e-01 -9.94810114e-01 -2.25250572e-04 1.80288619e+02] [ 9.94806493e-01 1.01748882e-01 -2.68440697e-03 1.21924181e+02] [ 2.69339420e-03 4.90540400e-05 9.99996372e-01 5.65784700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.184012739 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:180.29, Y:121.95, Z:0.57 [[ 1.02929133e-01 -9.94688667e-01 -2.24466921e-04 1.80290561e+02] [ 9.94685045e-01 1.02929364e-01 -2.68447250e-03 1.21948875e+02] [ 2.69331861e-03 5.30365365e-05 9.99996372e-01 5.67936415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.214012739 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:180.29, Y:121.97, Z:0.57 [[ 1.04248422e-01 -9.94551264e-01 -2.23714138e-04 1.80291907e+02] [ 9.94547642e-01 1.04248646e-01 -2.68453523e-03 1.21973164e+02] [ 2.69322980e-03 5.73641927e-05 9.99996372e-01 5.69187717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.244012739 meters Centerline goodness : 0.996949 Centerline is valid? [True, True] Translation: X:180.29, Y:122.00, Z:0.57 [[ 1.07641080e-01 -9.94189795e-01 -2.22959248e-04 1.80291368e+02] [ 9.94186173e-01 1.07641290e-01 -2.68459793e-03 1.21998304e+02] [ 2.69299948e-03 6.73100179e-05 9.99996372e-01 5.68199975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.274012739 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:180.29, Y:122.02, Z:0.57 [[ 1.08520964e-01 -9.94094136e-01 -2.22180159e-04 1.80290874e+02] [ 9.94090513e-01 1.08521169e-01 -2.68466240e-03 1.22022060e+02] [ 2.69291840e-03 7.04749643e-05 9.99996372e-01 5.65789844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30401273900003 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:180.29, Y:122.05, Z:0.56 [[ 1.08733813e-01 -9.94070877e-01 -2.21373064e-04 1.80288232e+02] [ 9.94067254e-01 1.08734015e-01 -2.68472895e-03 1.22046949e+02] [ 2.69288165e-03 7.18611027e-05 9.99996372e-01 5.63669512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.334012739 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:180.29, Y:122.07, Z:0.57 [[ 1.08044416e-01 -9.94146043e-01 -2.20622371e-04 1.80288474e+02] [ 9.94142421e-01 1.08044618e-01 -2.68479064e-03 1.22071143e+02] [ 2.69291105e-03 7.07465778e-05 9.99996372e-01 5.65026442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36401273900003 meters Centerline goodness : 0.997658 Centerline is valid? [True, True] Translation: X:180.29, Y:122.10, Z:0.57 [[ 1.06800891e-01 -9.94280404e-01 -2.19846068e-04 1.80288994e+02] [ 9.94276781e-01 1.06801095e-01 -2.68485421e-03 1.22095490e+02] [ 2.69297773e-03 6.81569793e-05 9.99996372e-01 5.66832952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.394012739 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:180.29, Y:122.12, Z:0.57 [[ 1.03078772e-01 -9.94673172e-01 -2.19071680e-04 1.80288296e+02] [ 9.94669550e-01 1.03078988e-01 -2.68491739e-03 1.22118932e+02] [ 2.69319699e-03 5.88540573e-05 9.99996372e-01 5.65881112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42401273900003 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:180.29, Y:122.14, Z:0.56 [[ 1.00467613e-01 -9.94940305e-01 -2.18268200e-04 1.80289653e+02] [ 9.94936684e-01 1.00467837e-01 -2.68498271e-03 1.22143896e+02] [ 2.69332645e-03 5.25907656e-05 9.99996372e-01 5.64910526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.454012739 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:180.29, Y:122.17, Z:0.56 [[ 1.00186526e-01 -9.94968649e-01 -2.17510012e-04 1.80291323e+02] [ 9.94965028e-01 1.00186748e-01 -2.68504413e-03 1.22169001e+02] [ 2.69332635e-03 5.25903868e-05 9.99996372e-01 5.64978259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48401273900004 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:180.29, Y:122.19, Z:0.56 [[ 9.48074712e-02 -9.95495603e-01 -2.16751432e-04 1.80293711e+02] [ 9.95491983e-01 9.48077110e-02 -2.68510536e-03 1.22193055e+02] [ 2.69356029e-03 3.87937369e-05 9.99996372e-01 5.63732269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.514012739 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:180.30, Y:122.22, Z:0.56 [[ 9.27721958e-02 -9.95687337e-01 -2.15997057e-04 1.80295435e+02] [ 9.95683717e-01 9.27724410e-02 -2.68516605e-03 1.22219463e+02] [ 2.69362440e-03 3.40439973e-05 9.99996372e-01 5.62537005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.544012739 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:180.30, Y:122.24, Z:0.56 [[ 9.14456588e-02 -9.95810044e-01 -2.18645340e-04 1.80295836e+02] [ 9.95806425e-01 9.14459160e-02 -2.68495367e-03 1.22244150e+02] [ 2.69369806e-03 2.77989233e-05 9.99996372e-01 5.64535831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.574012739 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:180.29, Y:122.27, Z:0.57 [[ 9.44501667e-02 -9.95529568e-01 -2.14494999e-04 1.80292506e+02] [ 9.95525947e-01 9.44504018e-02 -2.68528519e-03 1.22268703e+02] [ 2.69353994e-03 4.00902973e-05 9.99996372e-01 5.65603095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.604012739 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:180.29, Y:122.29, Z:0.57 [[ 9.71302163e-02 -9.95271659e-01 -2.13739967e-04 1.80291376e+02] [ 9.95268038e-01 9.71304396e-02 -2.68534529e-03 1.22293751e+02] [ 2.69340872e-03 4.80996112e-05 9.99996372e-01 5.66369354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.634012739 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:180.29, Y:122.32, Z:0.57 [[ 1.02319542e-01 -9.94751560e-01 -2.12986268e-04 1.80287895e+02] [ 9.94747937e-01 1.02319744e-01 -2.68540507e-03 1.22319155e+02] [ 2.69310358e-03 6.29017653e-05 9.99996372e-01 5.65820093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.664012739 meters Centerline goodness : 0.998168 Centerline is valid? [True, True] Translation: X:180.29, Y:122.34, Z:0.57 [[ 1.04130658e-01 -9.94563603e-01 -2.15440291e-04 1.80287341e+02] [ 9.94559980e-01 1.04130860e-01 -2.68521108e-03 1.22344090e+02] [ 2.69304719e-03 6.53445042e-05 9.99996372e-01 5.66631460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.694012739 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:180.29, Y:122.37, Z:0.57 [[ 1.04661018e-01 -9.94507932e-01 -2.11484372e-04 1.80286603e+02] [ 9.94504308e-01 1.04661208e-01 -2.68552260e-03 1.22368107e+02] [ 2.69290774e-03 7.07474114e-05 9.99996372e-01 5.67220650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.724012739 meters Centerline goodness : 0.997678 Centerline is valid? [True, True] Translation: X:180.29, Y:122.39, Z:0.57 [[ 1.03534586e-01 -9.94625832e-01 -2.10703878e-04 1.80285275e+02] [ 9.94622208e-01 1.03534778e-01 -2.68558384e-03 1.22391950e+02] [ 2.69296624e-03 6.84800550e-05 9.99996372e-01 5.67812824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.754012739 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:180.28, Y:122.42, Z:0.57 [[ 1.01997601e-01 -9.94784623e-01 -2.09932643e-04 1.80284058e+02] [ 9.94780999e-01 1.01997796e-01 -2.68564413e-03 1.22417225e+02] [ 2.69305015e-03 6.50922533e-05 9.99996372e-01 5.66287636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.784012739 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:180.28, Y:122.44, Z:0.56 [[ 1.00551843e-01 -9.94931798e-01 -2.09180205e-04 1.80282223e+02] [ 9.94928175e-01 1.00552042e-01 -2.68570273e-03 1.22441852e+02] [ 2.69312454e-03 6.19330799e-05 9.99996372e-01 5.64805434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.814012739 meters Centerline goodness : 0.997918 Centerline is valid? [True, True] Translation: X:180.28, Y:122.47, Z:0.57 [[ 9.82161352e-02 -9.95165086e-01 -2.08426186e-04 1.80279229e+02] [ 9.95161463e-01 9.82163402e-02 -2.68576125e-03 1.22465607e+02] [ 2.69324668e-03 5.63673814e-05 9.99996372e-01 5.67196100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.844012739 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:180.28, Y:122.49, Z:0.57 [[ 9.68729551e-02 -9.95296733e-01 -2.07643538e-04 1.80279996e+02] [ 9.95293111e-01 9.68731628e-02 -2.68582175e-03 1.22489320e+02] [ 2.69330470e-03 5.35173075e-05 9.99996372e-01 5.68752256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.874012739 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:180.28, Y:122.51, Z:0.57 [[ 9.43592695e-02 -9.95538189e-01 -2.06866251e-04 1.80279287e+02] [ 9.95534567e-01 9.43594843e-02 -2.68588162e-03 1.22514478e+02] [ 2.69341752e-03 4.74953238e-05 9.99996372e-01 5.70827443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.904012739 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:180.28, Y:122.54, Z:0.57 [[ 9.31523369e-02 -9.95651847e-01 -2.06108339e-04 1.80277701e+02] [ 9.95648225e-01 9.31525541e-02 -2.68593978e-03 1.22538267e+02] [ 2.69346042e-03 4.49901656e-05 9.99996372e-01 5.70195441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.934012739 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:180.27, Y:122.56, Z:0.57 [[ 9.33267731e-02 -9.95635511e-01 -2.05322360e-04 1.80273792e+02] [ 9.95631889e-01 9.33269875e-02 -2.68599986e-03 1.22562511e+02] [ 2.69343896e-03 4.62502104e-05 9.99996372e-01 5.68413858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.964012739 meters Centerline goodness : 0.997801 Centerline is valid? [True, True] Translation: X:180.27, Y:122.59, Z:0.57 [[ 9.34952224e-02 -9.95619707e-01 -2.04552204e-04 1.80273284e+02] [ 9.95616085e-01 9.34954341e-02 -2.68605851e-03 1.22587748e+02] [ 2.69341749e-03 4.74781736e-05 9.99996372e-01 5.72855556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.994012739 meters Centerline goodness : 0.997322 Centerline is valid? [True, True] Translation: X:180.27, Y:122.61, Z:0.57 [[ 9.37935242e-02 -9.95591649e-01 -2.06707504e-04 1.80272743e+02] [ 9.95588027e-01 9.37937406e-02 -2.68589484e-03 1.22610986e+02] [ 2.69344235e-03 4.61240270e-05 9.99996372e-01 5.74766769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.024012739 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:180.27, Y:122.63, Z:0.58 [[ 9.37074782e-02 -9.95599753e-01 -2.03130818e-04 1.80270341e+02] [ 9.95596130e-01 9.37076853e-02 -2.68616532e-03 1.22634527e+02] [ 2.69338044e-03 4.94775213e-05 9.99996372e-01 5.76756570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05401273900003 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:180.27, Y:122.66, Z:0.57 [[ 9.29290676e-02 -9.95672711e-01 -2.02372069e-04 1.80270754e+02] [ 9.95669089e-01 9.29292754e-02 -2.68622248e-03 1.22657854e+02] [ 2.69340471e-03 4.81325369e-05 9.99996372e-01 5.73329444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.084012739 meters Centerline goodness : 0.997308 Centerline is valid? [True, True] Translation: X:180.27, Y:122.68, Z:0.57 [[ 9.13069086e-02 -9.95822779e-01 -2.01618802e-04 1.80270538e+02] [ 9.95819157e-01 9.13071204e-02 -2.68627901e-03 1.22679701e+02] [ 2.69346707e-03 4.44999672e-05 9.99996372e-01 5.71514052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11401273900003 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:180.27, Y:122.70, Z:0.57 [[ 8.98225035e-02 -9.95957770e-01 -1.96948572e-04 1.80270163e+02] [ 9.95954147e-01 8.98227080e-02 -2.68662756e-03 1.22704357e+02] [ 2.69345804e-03 4.51678655e-05 9.99996372e-01 5.68897528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.144012739 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:180.27, Y:122.73, Z:0.57 [[ 8.92100696e-02 -9.96012813e-01 -1.99730776e-04 1.80270304e+02] [ 9.96009191e-01 8.92102839e-02 -2.68642070e-03 1.22727931e+02] [ 2.69352748e-03 4.07220895e-05 9.99996372e-01 5.70681189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17401273900003 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:180.27, Y:122.75, Z:0.57 [[ 8.98985073e-02 -9.95950912e-01 -1.98952194e-04 1.80270534e+02] [ 9.95947290e-01 8.98987170e-02 -2.68647836e-03 1.22753061e+02] [ 2.69348612e-03 4.33644968e-05 9.99996372e-01 5.72046655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.204012739 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:180.27, Y:122.78, Z:0.57 [[ 9.08180754e-02 -9.95867480e-01 -1.98185853e-04 1.80270582e+02] [ 9.95863857e-01 9.08182797e-02 -2.68653490e-03 1.22777794e+02] [ 2.69343164e-03 4.66198009e-05 9.99996372e-01 5.71654718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23401273900004 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:180.27, Y:122.80, Z:0.57 [[ 9.34290736e-02 -9.95625918e-01 -1.97422270e-04 1.80267000e+02] [ 9.95622295e-01 9.34292663e-02 -2.68659101e-03 1.22802021e+02] [ 2.69328466e-03 5.44476958e-05 9.99996372e-01 5.69722522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.264012739 meters Centerline goodness : 0.997434 Centerline is valid? [True, True] Translation: X:180.27, Y:122.83, Z:0.57 [[ 9.43139818e-02 -9.95542482e-01 -1.96630211e-04 1.80265831e+02] [ 9.95538859e-01 9.43141692e-02 -2.68664898e-03 1.22826771e+02] [ 2.69321821e-03 5.76355473e-05 9.99996372e-01 5.71036750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.294012739 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:180.26, Y:122.85, Z:0.57 [[ 9.62711128e-02 -9.95355130e-01 -1.95876752e-04 1.80261994e+02] [ 9.95351506e-01 9.62712910e-02 -2.68670391e-03 1.22850503e+02] [ 2.69308183e-03 6.36857551e-05 9.99996372e-01 5.73440238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.324012739 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:180.26, Y:122.87, Z:0.57 [[ 9.71250220e-02 -9.95272170e-01 -1.95096135e-04 1.80260982e+02] [ 9.95268546e-01 9.71251950e-02 -2.68676059e-03 1.22874864e+02] [ 2.69300679e-03 6.67786355e-05 9.99996372e-01 5.73785984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.354012739 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:180.26, Y:122.90, Z:0.57 [[ 9.74790781e-02 -9.95237555e-01 -1.94349015e-04 1.80260184e+02] [ 9.95233931e-01 9.74792478e-02 -2.68681463e-03 1.22899446e+02] [ 2.69296382e-03 6.84854797e-05 9.99996372e-01 5.72406507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.384012739 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:180.26, Y:122.92, Z:0.57 [[ 9.71539500e-02 -9.95269347e-01 -1.93598258e-04 1.80255916e+02] [ 9.95265722e-01 9.71541189e-02 -2.68686873e-03 1.22923889e+02] [ 2.69296695e-03 6.83581999e-05 9.99996372e-01 5.70327175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.414012739 meters Centerline goodness : 0.997814 Centerline is valid? [True, True] Translation: X:180.25, Y:122.95, Z:0.57 [[ 9.56946081e-02 -9.95410722e-01 -1.92820670e-04 1.80253160e+02] [ 9.95407097e-01 9.56947801e-02 -2.68692453e-03 1.22948546e+02] [ 2.69304542e-03 6.51891265e-05 9.99996372e-01 5.69379982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.444012739 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:180.25, Y:122.97, Z:0.57 [[ 9.04693122e-02 -9.95899225e-01 -1.92086854e-04 1.80248837e+02] [ 9.95895602e-01 9.04695013e-02 -2.68697699e-03 1.22972463e+02] [ 2.69333630e-03 5.17905075e-05 9.99996372e-01 5.71117560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.474012739 meters Centerline goodness : 0.997821 Centerline is valid? [True, True] Translation: X:180.25, Y:123.00, Z:0.57 [[ 8.73694197e-02 -9.96175962e-01 -1.91325755e-04 1.80249062e+02] [ 9.96172339e-01 8.73696180e-02 -2.68703118e-03 1.22997492e+02] [ 2.69347193e-03 4.41709300e-05 9.99996372e-01 5.72487699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.504012739 meters Centerline goodness : 0.997667 Centerline is valid? [True, True] Translation: X:180.25, Y:123.02, Z:0.57 [[ 8.44272466e-02 -9.96429628e-01 -1.90595718e-04 1.80248568e+02] [ 9.96426006e-01 8.44274536e-02 -2.68708296e-03 1.23022511e+02] [ 2.69358059e-03 3.69484862e-05 9.99996372e-01 5.72206425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.534012739 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:180.24, Y:123.05, Z:0.57 [[ 7.97087378e-02 -9.96818179e-01 -1.89868465e-04 1.80244472e+02] [ 9.96814557e-01 7.97089600e-02 -2.68713435e-03 1.23047795e+02] [ 2.69371859e-03 2.49244375e-05 9.99996372e-01 5.68928278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.564012739 meters Centerline goodness : 0.997769 Centerline is valid? [True, True] Translation: X:180.24, Y:123.07, Z:0.57 [[ 7.67994574e-02 -9.97046542e-01 -1.89139172e-04 1.80243250e+02] [ 9.97042921e-01 7.67996883e-02 -2.68718568e-03 1.23072789e+02] [ 2.69377502e-03 1.77945296e-05 9.99996372e-01 5.69069627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.594012739 meters Centerline goodness : 0.997930 Centerline is valid? [True, True] Translation: X:180.24, Y:123.10, Z:0.57 [[ 7.00287807e-02 -9.97544954e-01 -1.88354423e-04 1.80241312e+02] [ 9.97541334e-01 7.00290340e-02 -2.68724069e-03 1.23096964e+02] [ 2.69383367e-03 2.92866175e-07 9.99996372e-01 5.70554548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.624012739 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:180.24, Y:123.12, Z:0.57 [[ 6.64337956e-02 -9.97790818e-01 -1.87540747e-04 1.80241878e+02] [ 9.97787199e-01 6.64340597e-02 -2.68729747e-03 1.23121573e+02] [ 2.69381983e-03 -8.59838556e-06 9.99996372e-01 5.71612182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.654012739 meters Centerline goodness : 0.997819 Centerline is valid? [True, True] Translation: X:180.24, Y:123.15, Z:0.57 [[ 6.33687839e-02 -9.97990161e-01 -1.86813922e-04 1.80242755e+02] [ 9.97986543e-01 6.33690572e-02 -2.68734800e-03 1.23145823e+02] [ 2.69378508e-03 -1.61438055e-05 9.99996372e-01 5.71545491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.684012739 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:180.24, Y:123.17, Z:0.57 [[ 6.12795991e-02 -9.98120622e-01 -1.86067003e-04 1.80243565e+02] [ 9.98117004e-01 6.12798779e-02 -2.68739971e-03 1.23169593e+02] [ 2.69375124e-03 -2.10338630e-05 9.99996372e-01 5.69589214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.714012739 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:180.24, Y:123.19, Z:0.57 [[ 5.79606986e-02 -9.98318848e-01 -1.85293892e-04 1.80244004e+02] [ 9.98315232e-01 5.79609874e-02 -2.68745302e-03 1.23192479e+02] [ 2.69367482e-03 -2.92150605e-05 9.99996372e-01 5.68031477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.744012739 meters Centerline goodness : 0.998303 Centerline is valid? [True, True] Translation: X:180.25, Y:123.22, Z:0.57 [[ 5.62131470e-02 -9.98418774e-01 -1.84505711e-04 1.80245202e+02] [ 9.98415157e-01 5.62134400e-02 -2.68750713e-03 1.23216073e+02] [ 2.69362927e-03 -3.31400650e-05 9.99996372e-01 5.67586676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.774012739 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:180.25, Y:123.24, Z:0.57 [[ 5.17126538e-02 -9.98661989e-01 -1.83750273e-04 1.80248547e+02] [ 9.98658373e-01 5.17129611e-02 -2.68755878e-03 1.23239096e+02] [ 2.69346506e-03 -4.45229516e-05 9.99996372e-01 5.68422150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80401273900003 meters Centerline goodness : 0.998317 Centerline is valid? [True, True] Translation: X:180.25, Y:123.26, Z:0.57 [[ 4.93127153e-02 -9.98783371e-01 -1.82970132e-04 1.80250671e+02] [ 9.98779756e-01 4.93130292e-02 -2.68761189e-03 1.23261432e+02] [ 2.69336487e-03 -5.02134241e-05 9.99996372e-01 5.68127069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.834012739 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:180.25, Y:123.29, Z:0.57 [[ 4.62737975e-02 -9.98928778e-01 -1.82197738e-04 1.80254286e+02] [ 9.98925164e-01 4.62741203e-02 -2.68766425e-03 1.23286322e+02] [ 2.69321620e-03 -5.76334738e-05 9.99996372e-01 5.67200977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86401273900003 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:180.26, Y:123.31, Z:0.57 [[ 4.46186398e-02 -9.99004076e-01 -1.81429595e-04 1.80258182e+02] [ 9.99000462e-01 4.46189665e-02 -2.68771610e-03 1.23310197e+02] [ 2.69313454e-03 -6.13260123e-05 9.99996372e-01 5.66010694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.894012739 meters Centerline goodness : 0.997581 Centerline is valid? [True, True] Translation: X:180.27, Y:123.33, Z:0.57 [[ 4.19619234e-02 -9.99119194e-01 -1.80634175e-04 1.80265903e+02] [ 9.99115581e-01 4.19622576e-02 -2.68776956e-03 1.23334181e+02] [ 2.69298197e-03 -6.76904387e-05 9.99996372e-01 5.67348230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92401273900003 meters Centerline goodness : 0.990437 Centerline is valid? [True, True] Translation: X:180.27, Y:123.36, Z:0.58 [[ 4.12862302e-02 -9.99147344e-01 -1.79866002e-04 1.80269912e+02] [ 9.99143731e-01 4.12865648e-02 -2.68782096e-03 1.23357467e+02] [ 2.69295523e-03 -6.87419934e-05 9.99996372e-01 5.82290787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.954012739 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:180.27, Y:123.38, Z:0.57 [[ 4.15420683e-02 -9.99136740e-01 -1.79070552e-04 1.80273487e+02] [ 9.99133126e-01 4.15423998e-02 -2.68787396e-03 1.23381500e+02] [ 2.69299264e-03 -6.72554768e-05 9.99996372e-01 5.70786318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98401273900004 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:180.28, Y:123.40, Z:0.57 [[ 4.29412066e-02 -9.99077585e-01 -1.78302734e-04 1.80281268e+02] [ 9.99073971e-01 4.29415310e-02 -2.68792489e-03 1.23404252e+02] [ 2.69310210e-03 -6.27148820e-05 9.99996372e-01 5.71433791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.014012739 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:180.29, Y:123.43, Z:0.57 [[ 4.39111882e-02 -9.99035423e-01 -1.77579310e-04 1.80285335e+02] [ 9.99031808e-01 4.39115071e-02 -2.68797268e-03 1.23429177e+02] [ 2.69317770e-03 -5.93753048e-05 9.99996372e-01 5.71140432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.044012739 meters Centerline goodness : 0.989186 Centerline is valid? [True, True] Translation: X:180.29, Y:123.45, Z:0.59 [[ 4.74292494e-02 -9.98874584e-01 -1.76881391e-04 1.80289398e+02] [ 9.98870969e-01 4.74295538e-02 -2.68801861e-03 1.23452318e+02] [ 2.69338288e-03 -4.91909812e-05 9.99996372e-01 5.85788409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.074012739 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:180.29, Y:123.48, Z:0.57 [[ 5.00578316e-02 -9.98746305e-01 -1.76124584e-04 1.80291442e+02] [ 9.98742689e-01 5.00581244e-02 -2.68806820e-03 1.23476496e+02] [ 2.69351465e-03 -4.13442759e-05 9.99996372e-01 5.70071594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.104012739 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:180.29, Y:123.50, Z:0.57 [[ 5.30038997e-02 -9.98594290e-01 -1.75360497e-04 1.80293774e+02] [ 9.98590672e-01 5.30041797e-02 -2.68811804e-03 1.23501488e+02] [ 2.69363417e-03 -3.26326177e-05 9.99996372e-01 5.70541634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.134012739 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:180.29, Y:123.53, Z:0.57 [[ 6.05685707e-02 -9.98164024e-01 -1.74595392e-04 1.80293998e+02] [ 9.98160404e-01 6.05688213e-02 -2.68816773e-03 1.23525501e+02] [ 2.69380736e-03 -1.14557298e-05 9.99996372e-01 5.72587839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.164012739 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:180.29, Y:123.55, Z:0.58 [[ 6.46231446e-02 -9.97909725e-01 -1.73803971e-04 1.80294107e+02] [ 9.97906104e-01 6.46233783e-02 -2.68821890e-03 1.23550113e+02] [ 2.69383159e-03 2.81114862e-07 9.99996372e-01 5.75991135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.194012739 meters Centerline goodness : 0.998019 Centerline is valid? [True, True] Translation: X:180.29, Y:123.57, Z:0.58 [[ 7.24438295e-02 -9.97372479e-01 -1.73061444e-04 1.80292920e+02] [ 9.97368856e-01 7.24440328e-02 -2.68826670e-03 1.23573784e+02] [ 2.69374050e-03 2.21422403e-05 9.99996372e-01 5.77761799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.224012739 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:180.29, Y:123.60, Z:0.58 [[ 7.50150661e-02 -9.97182386e-01 -1.72254181e-04 1.80292392e+02] [ 9.97178762e-01 7.50152579e-02 -2.68831843e-03 1.23598731e+02] [ 2.69366548e-03 2.98961737e-05 9.99996372e-01 5.76978080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.254012739 meters Centerline goodness : 0.990305 Centerline is valid? [True, True] Translation: X:180.29, Y:123.62, Z:0.59 [[ 7.63711542e-02 -9.97079444e-01 -1.71462812e-04 1.80290304e+02] [ 9.97075820e-01 7.63713390e-02 -2.68836890e-03 1.23622909e+02] [ 2.69361222e-03 3.43524120e-05 9.99996372e-01 5.89529225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.284012739 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:180.29, Y:123.65, Z:0.58 [[ 7.61174111e-02 -9.97098847e-01 -1.70640425e-04 1.80289610e+02] [ 9.97095223e-01 7.61175945e-02 -2.68842110e-03 1.23647944e+02] [ 2.69361032e-03 3.44909015e-05 9.99996372e-01 5.76051676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.314012739 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:180.29, Y:123.67, Z:0.57 [[ 7.60038373e-02 -9.97107511e-01 -1.69850913e-04 1.80289648e+02] [ 9.97103887e-01 7.60040190e-02 -2.68847098e-03 1.23673033e+02] [ 2.69360396e-03 3.49751054e-05 9.99996372e-01 5.74236584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.344012739 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:180.29, Y:123.70, Z:0.57 [[ 7.57115039e-02 -9.97129751e-01 -1.69064895e-04 1.80290860e+02] [ 9.97126127e-01 7.57116846e-02 -2.68852041e-03 1.23698140e+02] [ 2.69360387e-03 3.49728991e-05 9.99996372e-01 5.74304319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.374012739 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:180.29, Y:123.72, Z:0.57 [[ 7.75390444e-02 -9.96989302e-01 -1.68276663e-04 1.80287175e+02] [ 9.96985678e-01 7.75392163e-02 -2.68856974e-03 1.23721949e+02] [ 2.69352331e-03 4.06997060e-05 9.99996372e-01 5.69906695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.404012739 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:180.28, Y:123.75, Z:0.57 [[ 7.91240921e-02 -9.96864760e-01 -1.67460147e-04 1.80284851e+02] [ 9.96861135e-01 7.91242560e-02 -2.68862060e-03 1.23747065e+02] [ 2.69344129e-03 4.58001518e-05 9.99996372e-01 5.68337707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.434012739 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:180.28, Y:123.77, Z:0.57 [[ 8.27222075e-02 -9.96572631e-01 -1.66704333e-04 1.80281669e+02] [ 9.96569006e-01 8.27223563e-02 -2.68866746e-03 1.23768489e+02] [ 2.69324258e-03 5.62801364e-05 9.99996372e-01 5.67264642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.464012739 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:180.28, Y:123.80, Z:0.57 [[ 8.20390151e-02 -9.96629107e-01 -1.54170911e-04 1.80280926e+02] [ 9.96625480e-01 8.20391326e-02 -2.68944084e-03 1.23796403e+02] [ 2.69302307e-03 6.69884198e-05 9.99996372e-01 5.70286732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.494012739 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:180.28, Y:123.82, Z:0.57 [[ 8.15743764e-02 -9.96667243e-01 -1.65575605e-04 1.80280032e+02] [ 9.96663618e-01 8.15745264e-02 -2.68873852e-03 1.23821176e+02] [ 2.69328436e-03 5.43089867e-05 9.99996372e-01 5.71518807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.524012739 meters Centerline goodness : 0.997975 Centerline is valid? [True, True] Translation: X:180.28, Y:123.85, Z:0.57 [[ 7.94976644e-02 -9.96835039e-01 -1.64805598e-04 1.80277465e+02] [ 9.96831414e-01 7.94978198e-02 -2.68878572e-03 1.23845764e+02] [ 2.69337750e-03 4.94687877e-05 9.99996372e-01 5.70722970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55401273900003 meters Centerline goodness : 0.997571 Centerline is valid? [True, True] Translation: X:180.28, Y:123.87, Z:0.57 [[ 7.76377082e-02 -9.96981624e-01 -1.64037136e-04 1.80277652e+02] [ 9.96978000e-01 7.76378683e-02 -2.68883260e-03 1.23870916e+02] [ 2.69345219e-03 4.52133857e-05 9.99996372e-01 5.70489477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.584012739 meters Centerline goodness : 0.997871 Centerline is valid? [True, True] Translation: X:180.28, Y:123.89, Z:0.57 [[ 7.36069508e-02 -9.97287316e-01 -1.63267101e-04 1.80275207e+02] [ 9.97283692e-01 7.36071235e-02 -2.68887936e-03 1.23894369e+02] [ 2.69360290e-03 3.50965931e-05 9.99996372e-01 5.71728459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61401273900003 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:180.27, Y:123.92, Z:0.57 [[ 7.21627499e-02 -9.97392857e-01 -1.62469733e-04 1.80273592e+02] [ 9.97389233e-01 7.21629257e-02 -2.68892754e-03 1.23918751e+02] [ 2.69364141e-03 3.19948433e-05 9.99996372e-01 5.72255967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.644012739 meters Centerline goodness : 0.997336 Centerline is valid? [True, True] Translation: X:180.27, Y:123.94, Z:0.57 [[ 6.97412574e-02 -9.97565101e-01 -1.61713308e-04 1.80272561e+02] [ 9.97561477e-01 6.97414400e-02 -2.68897303e-03 1.23942606e+02] [ 2.69370377e-03 2.62133937e-05 9.99996372e-01 5.74175153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67401273900003 meters Centerline goodness : 0.997621 Centerline is valid? [True, True] Translation: X:180.27, Y:123.97, Z:0.58 [[ 6.85032343e-02 -9.97650881e-01 -1.60932034e-04 1.80273914e+02] [ 9.97647258e-01 6.85034192e-02 -2.68901979e-03 1.23966786e+02] [ 2.69372735e-03 2.36531495e-05 9.99996372e-01 5.75751794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.704012739 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:180.27, Y:123.99, Z:0.58 [[ 6.68419652e-02 -9.97763562e-01 -1.60184438e-04 1.80274579e+02] [ 9.97759939e-01 6.68421541e-02 -2.68906432e-03 1.23991633e+02] [ 2.69375747e-03 1.99167287e-05 9.99996372e-01 5.77082690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73401273900004 meters Centerline goodness : 0.997335 Centerline is valid? [True, True] Translation: X:180.27, Y:124.02, Z:0.58 [[ 6.45848257e-02 -9.97912208e-01 -1.59441578e-04 1.80273680e+02] [ 9.97908585e-01 6.45850208e-02 -2.68910836e-03 1.24015022e+02] [ 2.69379160e-03 1.45674750e-05 9.99996372e-01 5.77557759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.764012739 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:180.27, Y:124.04, Z:0.58 [[ 6.37011696e-02 -9.97969005e-01 -1.58667978e-04 1.80274697e+02] [ 9.97965382e-01 6.37013659e-02 -2.68915401e-03 1.24038866e+02] [ 2.69379972e-03 1.29571061e-05 9.99996372e-01 5.77479709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.794012739 meters Centerline goodness : 0.997239 Centerline is valid? [True, True] Translation: X:180.28, Y:124.06, Z:0.58 [[ 6.24923994e-02 -9.98045427e-01 -1.57971020e-04 1.80276710e+02] [ 9.98041804e-01 6.24925982e-02 -2.68919495e-03 1.24063077e+02] [ 2.69381074e-03 1.03925631e-05 9.99996372e-01 5.77383873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.824012739 meters Centerline goodness : 0.997426 Centerline is valid? [True, True] Translation: X:180.28, Y:124.09, Z:0.58 [[ 6.14359802e-02 -9.98111014e-01 -1.57242288e-04 1.80277477e+02] [ 9.98107391e-01 6.14361808e-02 -2.68923756e-03 1.24087294e+02] [ 2.69381799e-03 8.27125558e-06 9.99996372e-01 5.77672366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.854012739 meters Centerline goodness : 0.997311 Centerline is valid? [True, True] Translation: X:180.28, Y:124.11, Z:0.58 [[ 6.02125672e-02 -9.98185565e-01 -1.56518058e-04 1.80278790e+02] [ 9.98181942e-01 6.02127703e-02 -2.68927971e-03 1.24111851e+02] [ 2.69382457e-03 5.69493589e-06 9.99996372e-01 5.77011698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.884012739 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:180.28, Y:124.14, Z:0.58 [[ 5.63377448e-02 -9.98411756e-01 -1.55793677e-04 1.80282777e+02] [ 9.98408134e-01 5.63379601e-02 -2.68932167e-03 1.24136242e+02] [ 2.69382747e-03 -4.03535647e-06 9.99996372e-01 5.78377961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.914012739 meters Centerline goodness : 0.997326 Centerline is valid? [True, True] Translation: X:180.29, Y:124.16, Z:0.58 [[ 5.36609307e-02 -9.98559202e-01 -1.55072177e-04 1.80285686e+02] [ 9.98555581e-01 5.36611537e-02 -2.68936328e-03 1.24160385e+02] [ 2.69380980e-03 -1.05344514e-05 9.99996372e-01 5.80002345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.944012739 meters Centerline goodness : 0.997444 Centerline is valid? [True, True] Translation: X:180.29, Y:124.19, Z:0.58 [[ 5.03336442e-02 -9.98732447e-01 -1.54356033e-04 1.80288658e+02] [ 9.98728826e-01 5.03338774e-02 -2.68940438e-03 1.24185020e+02] [ 2.69376475e-03 -1.87922960e-05 9.99996372e-01 5.81031928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.974012739 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:180.30, Y:124.21, Z:0.58 [[ 4.28236424e-02 -9.99082635e-01 -1.53581599e-04 1.80295663e+02] [ 9.99079016e-01 4.28239007e-02 -2.68944860e-03 1.24208078e+02] [ 2.69355836e-03 -3.82681681e-05 9.99996372e-01 5.81322979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.004012739 meters Centerline goodness : 0.990119 Centerline is valid? [True, True] Translation: X:180.30, Y:124.23, Z:0.59 [[ 3.89166034e-02 -9.99242450e-01 -1.52779703e-04 1.80301381e+02] [ 9.99238832e-01 3.89168737e-02 -2.68949416e-03 1.24232228e+02] [ 2.69340244e-03 -4.79974341e-05 9.99996372e-01 5.93989513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.034012739 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:180.31, Y:124.26, Z:0.58 [[ 3.31290414e-02 -9.99451071e-01 -1.52021234e-04 1.80310665e+02] [ 9.99447454e-01 3.31293306e-02 -2.68953703e-03 1.24255100e+02] [ 2.69309702e-03 -6.28354521e-05 9.99996372e-01 5.78058003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.064012739 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:180.32, Y:124.28, Z:0.58 [[ 3.12167998e-02 -9.99512626e-01 -1.51307285e-04 1.80315296e+02] [ 9.99509009e-01 3.12170940e-02 -2.68957719e-03 1.24279876e+02] [ 2.69298973e-03 -6.72730015e-05 9.99996372e-01 5.78913535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.094012739 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:180.32, Y:124.30, Z:0.58 [[ 3.03179482e-02 -9.99540294e-01 -1.50555692e-04 1.80320522e+02] [ 9.99536678e-01 3.03182436e-02 -2.68961926e-03 1.24303695e+02] [ 2.69294741e-03 -6.89421988e-05 9.99996372e-01 5.80768097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.124012739 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:180.33, Y:124.33, Z:0.58 [[ 3.07796855e-02 -9.99526182e-01 -1.49775083e-04 1.80330508e+02] [ 9.99522565e-01 3.07799771e-02 -2.68966273e-03 1.24327178e+02] [ 2.69299839e-03 -6.69166022e-05 9.99996372e-01 5.79782624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.154012739 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:180.34, Y:124.35, Z:0.58 [[ 3.10073366e-02 -9.99519146e-01 -1.49077490e-04 1.80335236e+02] [ 9.99515529e-01 3.10076256e-02 -2.68970140e-03 1.24351878e+02] [ 2.69303058e-03 -6.56047901e-05 9.99996372e-01 5.76897611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.184012739 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:180.34, Y:124.38, Z:0.57 [[ 3.32241032e-02 -9.99447916e-01 -1.48367005e-04 1.80342521e+02] [ 9.99444298e-01 3.32243823e-02 -2.68974059e-03 1.24375242e+02] [ 2.69318503e-03 -5.89203381e-05 9.99996372e-01 5.71543853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.214012739 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:180.35, Y:124.40, Z:0.57 [[ 3.45784948e-02 -9.99401974e-01 -1.47594581e-04 1.80346753e+02] [ 9.99398356e-01 3.45787669e-02 -2.68978297e-03 1.24399470e+02] [ 2.69327805e-03 -5.44971355e-05 9.99996372e-01 5.74329258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.244012739 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:180.35, Y:124.42, Z:0.58 [[ 3.61933414e-02 -9.99344796e-01 -1.46844484e-04 1.80350790e+02] [ 9.99341177e-01 3.61936056e-02 -2.68982392e-03 1.24422652e+02] [ 2.69337637e-03 -4.93940236e-05 9.99996372e-01 5.76636244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.274012739 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:180.36, Y:124.45, Z:0.58 [[ 3.98469004e-02 -9.99205786e-01 -1.46099155e-04 1.80356465e+02] [ 9.99202166e-01 3.98471493e-02 -2.68986440e-03 1.24445969e+02] [ 2.69354971e-03 -3.87998329e-05 9.99996372e-01 5.77268761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30401273900003 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:180.36, Y:124.47, Z:0.58 [[ 4.08822163e-02 -9.99163962e-01 -1.45324968e-04 1.80359792e+02] [ 9.99160342e-01 4.08824594e-02 -2.68990623e-03 1.24470221e+02] [ 2.69359861e-03 -3.52336163e-05 9.99996372e-01 5.75203304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.334012739 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:180.37, Y:124.49, Z:0.57 [[ 4.18683411e-02 -9.99123126e-01 -1.44582742e-04 1.80366091e+02] [ 9.99119506e-01 4.18685786e-02 -2.68994612e-03 1.24493453e+02] [ 2.69364085e-03 -3.18318563e-05 9.99996372e-01 5.74400081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36401273900003 meters Centerline goodness : 0.997588 Centerline is valid? [True, True] Translation: X:180.37, Y:124.52, Z:0.58 [[ 4.22405086e-02 -9.99107461e-01 -1.43812963e-04 1.80370136e+02] [ 9.99103840e-01 4.22407427e-02 -2.68998728e-03 1.24517249e+02] [ 2.69366113e-03 -3.00576525e-05 9.99996372e-01 5.76326950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.394012739 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:180.37, Y:124.54, Z:0.58 [[ 4.22535121e-02 -9.99106911e-01 -1.43049996e-04 1.80373708e+02] [ 9.99103290e-01 4.22537441e-02 -2.69002785e-03 1.24541969e+02] [ 2.69366982e-03 -2.92585972e-05 9.99996372e-01 5.79452575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42401273900003 meters Centerline goodness : 0.997081 Centerline is valid? [True, True] Translation: X:180.38, Y:124.57, Z:0.58 [[ 4.23098632e-02 -9.99104527e-01 -1.42277738e-04 1.80380234e+02] [ 9.99100906e-01 4.23100930e-02 -2.69006870e-03 1.24565532e+02] [ 2.69367960e-03 -2.83333787e-05 9.99996372e-01 5.83473609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.454012739 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:180.39, Y:124.59, Z:0.58 [[ 4.21231214e-02 -9.99112417e-01 -1.41478176e-04 1.80386770e+02] [ 9.99108796e-01 4.21233496e-02 -2.69011075e-03 1.24590048e+02] [ 2.69368259e-03 -2.80362283e-05 9.99996372e-01 5.79580978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48401273900004 meters Centerline goodness : 0.991826 Centerline is valid? [True, True] Translation: X:180.39, Y:124.61, Z:0.59 [[ 4.20570323e-02 -9.99115202e-01 -1.40714427e-04 1.80390887e+02] [ 9.99111580e-01 4.20572587e-02 -2.69015070e-03 1.24613812e+02] [ 2.69368852e-03 -2.74496589e-05 9.99996372e-01 5.87773267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.514012739 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:180.39, Y:124.64, Z:0.57 [[ 4.23921121e-02 -9.99101041e-01 -1.39919728e-04 1.80393911e+02] [ 9.99097419e-01 4.23923352e-02 -2.69019203e-03 1.24637147e+02] [ 2.69370518e-03 -2.57505173e-05 9.99996372e-01 5.74304443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.544012739 meters Centerline goodness : 0.996986 Centerline is valid? [True, True] Translation: X:180.40, Y:124.66, Z:0.58 [[ 4.63203904e-02 -9.98926625e-01 -1.39141384e-04 1.80398279e+02] [ 9.98923003e-01 4.63205972e-02 -2.69023229e-03 1.24661462e+02] [ 2.69378977e-03 -1.43789188e-05 9.99996372e-01 5.77688858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.574012739 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:180.40, Y:124.69, Z:0.58 [[ 4.86952832e-02 -9.98813671e-01 -1.38365130e-04 1.80399639e+02] [ 9.98810048e-01 4.86954792e-02 -2.69027221e-03 1.24685445e+02] [ 2.69381842e-03 -7.19691540e-06 9.99996372e-01 5.78269196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.604012739 meters Centerline goodness : 0.996857 Centerline is valid? [True, True] Translation: X:180.40, Y:124.71, Z:0.58 [[ 5.43701905e-02 -9.98520838e-01 -1.37562823e-04 1.80399577e+02] [ 9.98517214e-01 5.43703638e-02 -2.69031323e-03 1.24710372e+02] [ 2.69381316e-03 8.91399678e-06 9.99996372e-01 5.76368000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.634012739 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:180.40, Y:124.73, Z:0.57 [[ 5.66660502e-02 -9.98393179e-01 -1.36778296e-04 1.80399487e+02] [ 9.98389554e-01 5.66662131e-02 -2.69035312e-03 1.24734765e+02] [ 2.69378091e-03 1.58936634e-05 9.99996372e-01 5.74903730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.664012739 meters Centerline goodness : 0.997570 Centerline is valid? [True, True] Translation: X:180.40, Y:124.76, Z:0.57 [[ 5.86311528e-02 -9.98279705e-01 -1.35995137e-04 1.80399566e+02] [ 9.98276080e-01 5.86313064e-02 -2.69039271e-03 1.24758464e+02] [ 2.69373801e-03 2.19801332e-05 9.99996372e-01 5.74938923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.694012739 meters Centerline goodness : 0.996891 Centerline is valid? [True, True] Translation: X:180.40, Y:124.78, Z:0.58 [[ 6.26517528e-02 -9.98035440e-01 -1.35182424e-04 1.80397446e+02] [ 9.98031814e-01 6.26518896e-02 -2.69043354e-03 1.24783280e+02] [ 2.69361746e-03 3.36440169e-05 9.99996372e-01 5.77629800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.724012739 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:180.40, Y:124.81, Z:0.58 [[ 6.36055324e-02 -9.97975109e-01 -1.34435246e-04 1.80396645e+02] [ 9.97971483e-01 6.36056638e-02 -2.69047088e-03 1.24808245e+02] [ 2.69357381e-03 3.69662903e-05 9.99996372e-01 5.79785862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.754012739 meters Centerline goodness : 0.997083 Centerline is valid? [True, True] Translation: X:180.39, Y:124.83, Z:0.58 [[ 6.37186265e-02 -9.97967895e-01 -1.33645874e-04 1.80393246e+02] [ 9.97964269e-01 6.37187553e-02 -2.69051009e-03 1.24832044e+02] [ 2.69355844e-03 3.80618009e-05 9.99996372e-01 5.80733069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.784012739 meters Centerline goodness : 0.997256 Centerline is valid? [True, True] Translation: X:180.39, Y:124.86, Z:0.58 [[ 6.35322279e-02 -9.97979779e-01 -1.32827839e-04 1.80391291e+02] [ 9.97976152e-01 6.35323552e-02 -2.69055047e-03 1.24856996e+02] [ 2.69355383e-03 3.83776497e-05 9.99996372e-01 5.80469355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.814012739 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:180.39, Y:124.88, Z:0.58 [[ 6.33283865e-02 -9.97992735e-01 -1.32059417e-04 1.80389000e+02] [ 9.97989108e-01 6.33285124e-02 -2.69058819e-03 1.24881016e+02] [ 2.69355059e-03 3.85967485e-05 9.99996372e-01 5.80217537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.844012739 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:180.39, Y:124.91, Z:0.58 [[ 6.38867420e-02 -9.97957147e-01 -1.31336652e-04 1.80385366e+02] [ 9.97953521e-01 6.38868640e-02 -2.69062347e-03 1.24905902e+02] [ 2.69351761e-03 4.08272930e-05 9.99996372e-01 5.80560491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.874012739 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:180.38, Y:124.93, Z:0.58 [[ 6.45041514e-02 -9.97917430e-01 -1.30572223e-04 1.80381893e+02] [ 9.97913804e-01 6.45042690e-02 -2.69066056e-03 1.24931160e+02] [ 2.69347954e-03 4.32589525e-05 9.99996372e-01 5.82915327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.904012739 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:180.38, Y:124.95, Z:0.58 [[ 6.42297924e-02 -9.97935127e-01 -1.29799555e-04 1.80379506e+02] [ 9.97931500e-01 6.42299089e-02 -2.69069784e-03 1.24954478e+02] [ 2.69347890e-03 4.32918988e-05 9.99996372e-01 5.83544896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.934012739 meters Centerline goodness : 0.996891 Centerline is valid? [True, True] Translation: X:180.38, Y:124.98, Z:0.58 [[ 6.35483541e-02 -9.97978752e-01 -1.29001256e-04 1.80377283e+02] [ 9.97975126e-01 6.35484709e-02 -2.69073611e-03 1.24979515e+02] [ 2.69349530e-03 4.22518059e-05 9.99996372e-01 5.83686375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.964012739 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:180.37, Y:125.00, Z:0.58 [[ 6.13784235e-02 -9.98114559e-01 -1.28237331e-04 1.80374123e+02] [ 9.98110933e-01 6.13785462e-02 -2.69077252e-03 1.25004524e+02] [ 2.69357025e-03 3.71602929e-05 9.99996372e-01 5.81759926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.994012739 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:180.37, Y:125.03, Z:0.58 [[ 5.98657322e-02 -9.98206431e-01 -1.27457341e-04 1.80373456e+02] [ 9.98202804e-01 5.98658583e-02 -2.69080946e-03 1.25028442e+02] [ 2.69361365e-03 3.38590037e-05 9.99996372e-01 5.80555636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.024012739 meters Centerline goodness : 0.997087 Centerline is valid? [True, True] Translation: X:180.37, Y:125.05, Z:0.58 [[ 5.84083772e-02 -9.98292765e-01 -1.26668440e-04 1.80371169e+02] [ 9.98289139e-01 5.84085065e-02 -2.69084660e-03 1.25053046e+02] [ 2.69365121e-03 3.07162548e-05 9.99996372e-01 5.79069170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05401273900003 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:180.37, Y:125.08, Z:0.58 [[ 5.75163831e-02 -9.98344555e-01 -1.25875998e-04 1.80370307e+02] [ 9.98340929e-01 5.75165135e-02 -2.69088367e-03 1.25077558e+02] [ 2.69366901e-03 2.91027356e-05 9.99996372e-01 5.78270394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.084012739 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:180.37, Y:125.10, Z:0.58 [[ 5.69303392e-02 -9.98378145e-01 -1.25093411e-04 1.80370072e+02] [ 9.98374519e-01 5.69304696e-02 -2.69092005e-03 1.25101260e+02] [ 2.69367740e-03 2.83049170e-05 9.99996372e-01 5.76648041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11401273900003 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:180.37, Y:125.13, Z:0.58 [[ 5.61871731e-02 -9.98420245e-01 -1.24356036e-04 1.80367860e+02] [ 9.98416619e-01 5.61873042e-02 -2.69095413e-03 1.25126384e+02] [ 2.69369031e-03 2.70379726e-05 9.99996372e-01 5.78166617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.144012739 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:180.37, Y:125.15, Z:0.58 [[ 5.60444841e-02 -9.98428265e-01 -1.23600921e-04 1.80365736e+02] [ 9.98424639e-01 5.60446137e-02 -2.69098881e-03 1.25151482e+02] [ 2.69368645e-03 2.74088749e-05 9.99996372e-01 5.81536706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17401273900003 meters Centerline goodness : 0.996141 Centerline is valid? [True, True] Translation: X:180.36, Y:125.18, Z:0.59 [[ 5.74455425e-02 -9.98348634e-01 -1.22831203e-04 1.80360177e+02] [ 9.98345008e-01 5.74456649e-02 -2.69102394e-03 1.25175777e+02] [ 2.69363620e-03 3.19594123e-05 9.99996372e-01 5.86088293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.204012739 meters Centerline goodness : 0.996206 Centerline is valid? [True, True] Translation: X:180.36, Y:125.20, Z:0.59 [[ 5.74347134e-02 -9.98349257e-01 -1.22033924e-04 1.80358832e+02] [ 9.98345631e-01 5.74348338e-02 -2.69106010e-03 1.25200066e+02] [ 2.69362685e-03 3.27282307e-05 9.99996372e-01 5.86350771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23401273900004 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:180.36, Y:125.22, Z:0.59 [[ 5.62602542e-02 -9.98416130e-01 -1.21267604e-04 1.80358394e+02] [ 9.98412504e-01 5.62603768e-02 -2.69109463e-03 1.25224028e+02] [ 2.69365485e-03 3.03265761e-05 9.99996372e-01 5.85199193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.264012739 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:180.36, Y:125.25, Z:0.59 [[ 5.59833048e-02 -9.98431698e-01 -1.20478167e-04 1.80359141e+02] [ 9.98428071e-01 5.59834262e-02 -2.69112997e-03 1.25249156e+02] [ 2.69365425e-03 3.03695658e-05 9.99996372e-01 5.85266928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.294012739 meters Centerline goodness : 0.996689 Centerline is valid? [True, True] Translation: X:180.36, Y:125.27, Z:0.58 [[ 5.09498496e-02 -9.98701206e-01 -1.19731672e-04 1.80357670e+02] [ 9.98697580e-01 5.09499873e-02 -2.69116318e-03 1.25274291e+02] [ 2.69376824e-03 1.75386288e-05 9.99996372e-01 5.79926090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.324012739 meters Centerline goodness : 0.996355 Centerline is valid? [True, True] Translation: X:180.36, Y:125.30, Z:0.58 [[ 4.81919517e-02 -9.98838086e-01 -1.18973110e-04 1.80357454e+02] [ 9.98834460e-01 4.81920973e-02 -2.69119672e-03 1.25298621e+02] [ 2.69380334e-03 1.08595797e-05 9.99996372e-01 5.77884067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.354012739 meters Centerline goodness : 0.996542 Centerline is valid? [True, True] Translation: X:180.36, Y:125.32, Z:0.58 [[ 4.46817319e-02 -9.99001266e-01 -1.18185897e-04 1.80356377e+02] [ 9.98997641e-01 4.46818882e-02 -2.69123129e-03 1.25322322e+02] [ 2.69382423e-03 2.18144290e-06 9.99996372e-01 5.76284006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.384012739 meters Centerline goodness : 0.996115 Centerline is valid? [True, True] Translation: X:180.36, Y:125.35, Z:0.58 [[ 4.34913694e-02 -9.99053796e-01 -1.17372352e-04 1.80356910e+02] [ 9.99050171e-01 4.34915278e-02 -2.69126677e-03 1.25347015e+02] [ 2.69382499e-03 -2.13991511e-07 9.99996372e-01 5.78410340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.414012739 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:180.36, Y:125.37, Z:0.58 [[ 4.27391954e-02 -9.99086256e-01 -1.16573628e-04 1.80357339e+02] [ 9.99082631e-01 4.27393544e-02 -2.69130137e-03 1.25370701e+02] [ 2.69382449e-03 -1.44263227e-06 9.99996372e-01 5.78192891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.444012739 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:180.36, Y:125.40, Z:0.58 [[ 4.23265893e-02 -9.99103822e-01 -1.15745104e-04 1.80358242e+02] [ 9.99100197e-01 4.23267475e-02 -2.69133700e-03 1.25395297e+02] [ 2.69382419e-03 -1.72584060e-06 9.99996372e-01 5.78489143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.474012739 meters Centerline goodness : 0.996101 Centerline is valid? [True, True] Translation: X:180.36, Y:125.42, Z:0.58 [[ 4.15312945e-02 -9.99137197e-01 -1.14989055e-04 1.80359558e+02] [ 9.99133572e-01 4.15314536e-02 -2.69136930e-03 1.25419626e+02] [ 2.69382284e-03 -3.11337460e-06 9.99996372e-01 5.79214461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.504012739 meters Centerline goodness : 0.995758 Centerline is valid? [True, True] Translation: X:180.36, Y:125.44, Z:0.58 [[ 4.04765363e-02 -9.99180483e-01 -1.14223568e-04 1.80362131e+02] [ 9.99176858e-01 4.04766971e-02 -2.69140179e-03 1.25443131e+02] [ 2.69381953e-03 -5.19092352e-06 9.99996372e-01 5.77506757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.534012739 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:180.36, Y:125.47, Z:0.58 [[ 4.07573352e-02 -9.99169068e-01 -1.13430324e-04 1.80363870e+02] [ 9.99165443e-01 4.07574929e-02 -2.69143522e-03 1.25466397e+02] [ 2.69382196e-03 -3.63993206e-06 9.99996372e-01 5.76079898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.564012739 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:180.37, Y:125.49, Z:0.58 [[ 4.16129576e-02 -9.99133799e-01 -1.12674703e-04 1.80365825e+02] [ 9.99130174e-01 4.16131101e-02 -2.69146685e-03 1.25490519e+02] [ 2.69382425e-03 -5.76799559e-07 9.99996372e-01 5.76077919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.594012739 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:180.37, Y:125.52, Z:0.58 [[ 4.41017340e-02 -9.99027039e-01 -1.11915835e-04 1.80368802e+02] [ 9.99023413e-01 4.41018754e-02 -2.69149841e-03 1.25515324e+02] [ 2.69381538e-03 6.89320771e-06 9.99996372e-01 5.76029312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.624012739 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:180.37, Y:125.54, Z:0.58 [[ 4.55199181e-02 -9.98963425e-01 -1.11164594e-04 1.80369599e+02] [ 9.98959799e-01 4.55200524e-02 -2.69152944e-03 1.25540384e+02] [ 2.69379968e-03 1.14692386e-05 9.99996372e-01 5.77090011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.654012739 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:180.37, Y:125.57, Z:0.58 [[ 4.91837782e-02 -9.98789740e-01 -1.10412677e-04 1.80369069e+02] [ 9.98786113e-01 4.91838972e-02 -2.69156028e-03 1.25565367e+02] [ 2.69373332e-03 2.21024552e-05 9.99996372e-01 5.80668611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.684012739 meters Centerline goodness : 0.996581 Centerline is valid? [True, True] Translation: X:180.37, Y:125.59, Z:0.58 [[ 5.08266845e-02 -9.98707483e-01 -1.09664579e-04 1.80369035e+02] [ 9.98703856e-01 5.08267955e-02 -2.69159076e-03 1.25588948e+02] [ 2.69368573e-03 2.72821968e-05 9.99996372e-01 5.81316015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.714012739 meters Centerline goodness : 0.996275 Centerline is valid? [True, True] Translation: X:180.37, Y:125.61, Z:0.58 [[ 5.17511379e-02 -9.98660006e-01 -1.08851269e-04 1.80369556e+02] [ 9.98656379e-01 5.17512433e-02 -2.69162365e-03 1.25614028e+02] [ 2.69365008e-03 3.05895724e-05 9.99996372e-01 5.82329583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.744012739 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:180.37, Y:125.64, Z:0.58 [[ 5.08114276e-02 -9.98708259e-01 -1.08065559e-04 1.80371029e+02] [ 9.98704633e-01 5.08115344e-02 -2.69165520e-03 1.25638941e+02] [ 2.69366925e-03 2.88412687e-05 9.99996372e-01 5.81798334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.774012739 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:180.37, Y:125.66, Z:0.58 [[ 4.90182741e-02 -9.98797876e-01 -1.07278616e-04 1.80372034e+02] [ 9.98794249e-01 4.90183853e-02 -2.69168656e-03 1.25662790e+02] [ 2.69370944e-03 2.47925650e-05 9.99996372e-01 5.79711170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80401273900003 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:180.37, Y:125.69, Z:0.58 [[ 4.53844836e-02 -9.98969588e-01 -1.06465106e-04 1.80372493e+02] [ 9.98965962e-01 4.53846057e-02 -2.69171874e-03 1.25687343e+02] [ 2.69377703e-03 1.58072476e-05 9.99996372e-01 5.78903007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.834012739 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:180.37, Y:125.71, Z:0.58 [[ 4.39998080e-02 -9.99031534e-01 -1.05693072e-04 1.80373341e+02] [ 9.99027908e-01 4.39999331e-02 -2.69174905e-03 1.25712170e+02] [ 2.69379267e-03 1.28461129e-05 9.99996372e-01 5.80442740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86401273900003 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:180.37, Y:125.74, Z:0.58 [[ 4.31236921e-02 -9.99069735e-01 -1.04928014e-04 1.80374866e+02] [ 9.99066109e-01 4.31238183e-02 -2.69177887e-03 1.25737201e+02] [ 2.69379970e-03 1.12494204e-05 9.99996372e-01 5.81858546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.894012739 meters Centerline goodness : 0.996063 Centerline is valid? [True, True] Translation: X:180.38, Y:125.76, Z:0.58 [[ 4.02896231e-02 -9.99188038e-01 -1.04158701e-04 1.80376019e+02] [ 9.99184412e-01 4.02897575e-02 -2.69180864e-03 1.25761612e+02] [ 2.69381952e-03 4.37820474e-06 9.99996372e-01 5.82182252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92401273900003 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:180.38, Y:125.78, Z:0.58 [[ 3.86645383e-02 -9.99252242e-01 -1.03377530e-04 1.80376767e+02] [ 9.99248616e-01 3.86646765e-02 -2.69183864e-03 1.25784752e+02] [ 2.69382286e-03 7.78844806e-07 9.99996372e-01 5.81223129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.954012739 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:180.38, Y:125.81, Z:0.58 [[ 3.52415330e-02 -9.99378819e-01 -1.02567714e-04 1.80379757e+02] [ 9.99375194e-01 3.52416814e-02 -2.69186950e-03 1.25809251e+02] [ 2.69381202e-03 -7.63802161e-06 9.99996372e-01 5.79694346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98401273900004 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:180.38, Y:125.83, Z:0.58 [[ 3.30890481e-02 -9.99452402e-01 -1.01762556e-04 1.80382504e+02] [ 9.99448777e-01 3.30892022e-02 -2.69189994e-03 1.25832660e+02] [ 2.69379310e-03 -1.26340560e-05 9.99996372e-01 5.78091498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.014012739 meters Centerline goodness : 0.996102 Centerline is valid? [True, True] Translation: X:180.39, Y:125.86, Z:0.58 [[ 2.87974471e-02 -9.99585262e-01 -1.00929394e-04 1.80387338e+02] [ 9.99581638e-01 2.87976145e-02 -2.69193117e-03 1.25856642e+02] [ 2.69372125e-03 -2.33664234e-05 9.99996372e-01 5.76918313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.044012739 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:180.39, Y:125.88, Z:0.58 [[ 2.67062721e-02 -9.99643319e-01 -1.00157932e-04 1.80390204e+02] [ 9.99639695e-01 2.67064450e-02 -2.69195988e-03 1.25880402e+02] [ 2.69367457e-03 -2.82296320e-05 9.99996372e-01 5.76523029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.074012739 meters Centerline goodness : 0.996386 Centerline is valid? [True, True] Translation: X:180.39, Y:125.91, Z:0.58 [[ 2.43773089e-02 -9.99702824e-01 -9.93627028e-05 1.80393670e+02] [ 9.99699200e-01 2.43774881e-02 -2.69198923e-03 1.25905065e+02] [ 2.69361145e-03 -3.37093615e-05 9.99996372e-01 5.77407327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.104012739 meters Centerline goodness : 0.996465 Centerline is valid? [True, True] Translation: X:180.40, Y:125.93, Z:0.58 [[ 2.40593428e-02 -9.99710527e-01 -9.86094691e-05 1.80395484e+02] [ 9.99706903e-01 2.40595211e-02 -2.69201682e-03 1.25929511e+02] [ 2.69361005e-03 -3.38124115e-05 9.99996372e-01 5.79366367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.134012739 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:180.40, Y:125.95, Z:0.58 [[ 2.34790500e-02 -9.99724324e-01 -9.78207134e-05 1.80399653e+02] [ 9.99720700e-01 2.34792283e-02 -2.69204548e-03 1.25952822e+02] [ 2.69360011e-03 -3.45867216e-05 9.99996372e-01 5.79579461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.164012739 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:180.40, Y:125.97, Z:0.58 [[ 2.40513242e-02 -9.99710720e-01 -9.70016282e-05 1.80403311e+02] [ 9.99707096e-01 2.40514983e-02 -2.69207500e-03 1.25973913e+02] [ 2.69362927e-03 -3.22252474e-05 9.99996372e-01 5.80017749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.194012739 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:180.41, Y:126.00, Z:0.58 [[ 2.20484266e-02 -9.99756901e-01 -8.24490111e-05 1.80406241e+02] [ 9.99753275e-01 2.20485686e-02 -2.69259607e-03 1.26001555e+02] [ 2.69375939e-03 -2.30611621e-05 9.99996372e-01 5.80197839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.224012739 meters Centerline goodness : 0.996696 Centerline is valid? [True, True] Translation: X:180.41, Y:126.03, Z:0.58 [[ 1.98937286e-02 -9.99802096e-01 -9.61599086e-05 1.80411814e+02] [ 9.99798472e-01 1.98939155e-02 -2.69210633e-03 1.26025519e+02] [ 2.69348655e-03 -4.25844969e-05 9.99996372e-01 5.81164532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.254012739 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:180.42, Y:126.05, Z:0.58 [[ 1.88067123e-02 -9.99823134e-01 -9.53983501e-05 1.80415374e+02] [ 9.99819510e-01 1.88069010e-02 -2.69213332e-03 1.26048914e+02] [ 2.69345132e-03 -4.47509549e-05 9.99996372e-01 5.80858372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.284012739 meters Centerline goodness : 0.996018 Centerline is valid? [True, True] Translation: X:180.42, Y:126.07, Z:0.58 [[ 1.72308023e-02 -9.99851534e-01 -9.46434294e-05 1.80422962e+02] [ 9.99847911e-01 1.72309947e-02 -2.69215986e-03 1.26073711e+02] [ 2.69339096e-03 -4.82409609e-05 9.99996372e-01 5.81699441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.314012739 meters Centerline goodness : 0.996614 Centerline is valid? [True, True] Translation: X:180.43, Y:126.10, Z:0.58 [[ 1.59385529e-02 -9.99872969e-01 -9.38457801e-05 1.80426573e+02] [ 9.99869346e-01 1.59387478e-02 -2.69218766e-03 1.26097152e+02] [ 2.69334146e-03 -5.09239432e-05 9.99996372e-01 5.81739113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.344012739 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:180.43, Y:126.12, Z:0.58 [[ 1.46187120e-02 -9.99893137e-01 -9.30212855e-05 1.80430089e+02] [ 9.99889514e-01 1.46189095e-02 -2.69221615e-03 1.26121680e+02] [ 2.69328832e-03 -5.36542755e-05 9.99996372e-01 5.82880020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.374012739 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:180.44, Y:126.14, Z:0.58 [[ 1.38098504e-02 -9.99904635e-01 -9.22491097e-05 1.80438905e+02] [ 9.99901012e-01 1.38100487e-02 -2.69224261e-03 1.26144684e+02] [ 2.69325983e-03 -5.50605106e-05 9.99996372e-01 5.82037878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.404012739 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:180.44, Y:126.17, Z:0.58 [[ 1.34044419e-02 -9.99910152e-01 -9.14518020e-05 1.80444151e+02] [ 9.99906529e-01 1.34046396e-02 -2.69226969e-03 1.26167060e+02] [ 2.69325368e-03 -5.53548813e-05 9.99996372e-01 5.81388620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.434012739 meters Centerline goodness : 0.996165 Centerline is valid? [True, True] Translation: X:180.45, Y:126.19, Z:0.58 [[ 1.31843393e-02 -9.99913079e-01 -9.06510752e-05 1.80452909e+02] [ 9.99909456e-01 1.31845357e-02 -2.69229665e-03 1.26191911e+02] [ 2.69325783e-03 -5.51467145e-05 9.99996372e-01 5.81299616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.464012739 meters Centerline goodness : 0.995733 Centerline is valid? [True, True] Translation: X:180.46, Y:126.22, Z:0.58 [[ 1.26356729e-02 -9.99920163e-01 -8.99038952e-05 1.80456966e+02] [ 9.99916540e-01 1.26358691e-02 -2.69232160e-03 1.26216797e+02] [ 2.69324267e-03 -5.58770968e-05 9.99996372e-01 5.82173299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.494012739 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:180.46, Y:126.24, Z:0.58 [[ 1.33555822e-02 -9.99910806e-01 -8.91145549e-05 1.80463459e+02] [ 9.99907183e-01 1.33557737e-02 -2.69234773e-03 1.26240511e+02] [ 2.69329778e-03 -5.31484122e-05 9.99996372e-01 5.84597653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.524012739 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:180.47, Y:126.26, Z:0.59 [[ 1.41651398e-02 -9.99899666e-01 -8.82957256e-05 1.80466108e+02] [ 9.99896042e-01 1.41653262e-02 -2.69237458e-03 1.26264558e+02] [ 2.69335518e-03 -5.01486841e-05 9.99996372e-01 5.86639572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55401273900003 meters Centerline goodness : 0.996093 Centerline is valid? [True, True] Translation: X:180.47, Y:126.29, Z:0.59 [[ 1.48067332e-02 -9.99890371e-01 -8.75088983e-05 1.80468561e+02] [ 9.99886747e-01 1.48069152e-02 -2.69240016e-03 1.26289553e+02] [ 2.69340073e-03 -4.76333367e-05 9.99996372e-01 5.88748175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.584012739 meters Centerline goodness : 0.995511 Centerline is valid? [True, True] Translation: X:180.47, Y:126.31, Z:0.59 [[ 1.76080230e-02 -9.99844963e-01 -8.67206014e-05 1.80472360e+02] [ 9.99841339e-01 1.76081927e-02 -2.69242555e-03 1.26313475e+02] [ 2.69353511e-03 -3.92985512e-05 9.99996372e-01 5.87804282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61401273900003 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:180.47, Y:126.34, Z:0.59 [[ 1.96381652e-02 -9.99807149e-01 -8.59027490e-05 1.80474862e+02] [ 9.99803524e-01 1.96383253e-02 -2.69245164e-03 1.26337814e+02] [ 2.69361939e-03 -3.30110612e-05 9.99996372e-01 5.86124167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.644012739 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:180.48, Y:126.36, Z:0.58 [[ 2.27176845e-02 -9.99741917e-01 -8.51146767e-05 1.80479817e+02] [ 9.99738291e-01 2.27178314e-02 -2.69247655e-03 1.26362558e+02] [ 2.69371529e-03 -2.39255685e-05 9.99996372e-01 5.81053205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67401273900003 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:180.48, Y:126.39, Z:0.58 [[ 2.24841427e-02 -9.99747196e-01 -8.43187729e-05 1.80481623e+02] [ 9.99743571e-01 2.24842883e-02 -2.69250148e-03 1.26387099e+02] [ 2.69371665e-03 -2.37585635e-05 9.99996372e-01 5.80715937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.704012739 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:180.48, Y:126.41, Z:0.59 [[ 2.17096505e-02 -9.99764314e-01 -8.35237781e-05 1.80483593e+02] [ 9.99760689e-01 2.17097967e-02 -2.69252614e-03 1.26410841e+02] [ 2.69370483e-03 -2.50499885e-05 9.99996372e-01 5.85321279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73401273900004 meters Centerline goodness : 0.995700 Centerline is valid? [True, True] Translation: X:180.49, Y:126.44, Z:0.59 [[ 2.10968276e-02 -9.99777434e-01 -8.27719365e-05 1.80485532e+02] [ 9.99773808e-01 2.10969740e-02 -2.69254925e-03 1.26435319e+02] [ 2.69369622e-03 -2.59489669e-05 9.99996372e-01 5.87012596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.764012739 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:180.49, Y:126.46, Z:0.59 [[ 2.20325668e-02 -9.99757250e-01 -8.20061160e-05 1.80489146e+02] [ 9.99753625e-01 2.20327078e-02 -2.69257258e-03 1.26459992e+02] [ 2.69372577e-03 -2.26616264e-05 9.99996372e-01 5.87266768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.794012739 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:180.49, Y:126.48, Z:0.59 [[ 2.35015144e-02 -9.99723798e-01 -8.12205334e-05 1.80489996e+02] [ 9.99720172e-01 2.35016479e-02 -2.69259627e-03 1.26483678e+02] [ 2.69376139e-03 -1.79177155e-05 9.99996372e-01 5.86726163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.824012739 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:180.49, Y:126.51, Z:0.59 [[ 2.53174974e-02 -9.99679458e-01 -8.04375259e-05 1.80490493e+02] [ 9.99675831e-01 2.53176222e-02 -2.69261966e-03 1.26507798e+02] [ 2.69379305e-03 -1.22410594e-05 9.99996372e-01 5.87267893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.854012739 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:180.49, Y:126.53, Z:0.59 [[ 2.94343866e-02 -9.99566711e-01 -7.96311841e-05 1.80492613e+02] [ 9.99563085e-01 2.94344943e-02 -2.69264351e-03 1.26531504e+02] [ 2.69382072e-03 -3.40081868e-07 9.99996372e-01 5.85544987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.884012739 meters Centerline goodness : 0.994617 Centerline is valid? [True, True] Translation: X:180.50, Y:126.56, Z:0.58 [[ 3.22296565e-02 -9.99480487e-01 -7.88321476e-05 1.80495394e+02] [ 9.99476859e-01 3.22297519e-02 -2.69266690e-03 1.26556374e+02] [ 2.69380877e-03 7.99282192e-06 9.99996372e-01 5.81938555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.914012739 meters Centerline goodness : 0.994346 Centerline is valid? [True, True] Translation: X:180.50, Y:126.58, Z:0.58 [[ 3.30503147e-02 -9.99453686e-01 -7.80817674e-05 1.80496401e+02] [ 9.99450059e-01 3.30504051e-02 -2.69268866e-03 1.26580623e+02] [ 2.69379824e-03 1.09553807e-05 9.99996372e-01 5.81466686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.944012739 meters Centerline goodness : 0.993855 Centerline is valid? [True, True] Translation: X:180.50, Y:126.60, Z:0.58 [[ 3.40176345e-02 -9.99421230e-01 -7.73205076e-05 1.80496871e+02] [ 9.99417602e-01 3.40177193e-02 -2.69271052e-03 1.26604859e+02] [ 2.69378233e-03 1.43241659e-05 9.99996372e-01 5.82926399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.974012739 meters Centerline goodness : 0.993812 Centerline is valid? [True, True] Translation: X:180.50, Y:126.63, Z:0.59 [[ 3.47355460e-02 -9.99396536e-01 -7.65593111e-05 1.80496955e+02] [ 9.99392908e-01 3.47356262e-02 -2.69273216e-03 1.26629112e+02] [ 2.69376653e-03 1.70206894e-05 9.99996372e-01 5.85418842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.004012739 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:180.49, Y:126.65, Z:0.59 [[ 3.70530052e-02 -9.99313299e-01 -7.57984163e-05 1.80494910e+02] [ 9.99309671e-01 3.70530750e-02 -2.69275358e-03 1.26652983e+02] [ 2.69371303e-03 2.40285222e-05 9.99996372e-01 5.87803647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.034012739 meters Centerline goodness : 0.995088 Centerline is valid? [True, True] Translation: X:180.49, Y:126.68, Z:0.59 [[ 3.98108314e-02 -9.99207232e-01 -7.50125629e-05 1.80491650e+02] [ 9.99203604e-01 3.98108891e-02 -2.69277547e-03 1.26677813e+02] [ 2.69362704e-03 3.22488074e-05 9.99996372e-01 5.88485392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.064012739 meters Centerline goodness : 0.994171 Centerline is valid? [True, True] Translation: X:180.49, Y:126.70, Z:0.59 [[ 4.15624813e-02 -9.99135904e-01 -7.42680301e-05 1.80489582e+02] [ 9.99132276e-01 4.15625305e-02 -2.69279601e-03 1.26702531e+02] [ 2.69355594e-03 3.77156978e-05 9.99996372e-01 5.89989216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.094012739 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:180.49, Y:126.73, Z:0.59 [[ 4.25600511e-02 -9.99093908e-01 -7.35180626e-05 1.80487447e+02] [ 9.99090280e-01 4.25600947e-02 -2.69281648e-03 1.26727094e+02] [ 2.69350548e-03 4.11552254e-05 9.99996372e-01 5.91769381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.124012739 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:180.48, Y:126.75, Z:0.59 [[ 4.31095406e-02 -9.99070349e-01 -7.27410691e-05 1.80483897e+02] [ 9.99066721e-01 4.31095801e-02 -2.69283747e-03 1.26750804e+02] [ 2.69346991e-03 4.34138049e-05 9.99996372e-01 5.90820542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.154012739 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:180.48, Y:126.78, Z:0.59 [[ 4.28333856e-02 -9.99082227e-01 -7.20086232e-05 1.80484195e+02] [ 9.99078599e-01 4.28334241e-02 -2.69285706e-03 1.26775967e+02] [ 2.69347000e-03 4.34019104e-05 9.99996372e-01 5.90888277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.184012739 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:180.48, Y:126.80, Z:0.59 [[ 4.21669776e-02 -9.99110575e-01 -7.12642816e-05 1.80483007e+02] [ 9.99106947e-01 4.21670165e-02 -2.69287676e-03 1.26799913e+02] [ 2.69348665e-03 4.23498350e-05 9.99996372e-01 5.89748296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.214012739 meters Centerline goodness : 0.993844 Centerline is valid? [True, True] Translation: X:180.48, Y:126.82, Z:0.59 [[ 4.08337051e-02 -9.99165954e-01 -7.04929947e-05 1.80478795e+02] [ 9.99162326e-01 4.08337468e-02 -2.69289695e-03 1.26823443e+02] [ 2.69352944e-03 3.95270153e-05 9.99996372e-01 5.88907123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.244012739 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:180.48, Y:126.85, Z:0.59 [[ 4.05991085e-02 -9.99175514e-01 -6.97022385e-05 1.80476476e+02] [ 9.99171886e-01 4.05991489e-02 -2.69291741e-03 1.26846828e+02] [ 2.69352699e-03 3.96855292e-05 9.99996372e-01 5.89208644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.274012739 meters Centerline goodness : 0.993766 Centerline is valid? [True, True] Translation: X:180.47, Y:126.87, Z:0.59 [[ 4.05486383e-02 -9.99177563e-01 -6.88839436e-05 1.80474173e+02] [ 9.99173935e-01 4.05486767e-02 -2.69293835e-03 1.26870424e+02] [ 2.69351673e-03 4.03679420e-05 9.99996372e-01 5.89790743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30401273900003 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:180.47, Y:126.90, Z:0.59 [[ 4.00870066e-02 -9.99196191e-01 -6.80949032e-05 1.80468559e+02] [ 9.99192562e-01 4.00870446e-02 -2.69295830e-03 1.26895495e+02] [ 2.69352340e-03 3.99127163e-05 9.99996372e-01 5.94957984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.334012739 meters Centerline goodness : 0.993174 Centerline is valid? [True, True] Translation: X:180.46, Y:126.92, Z:0.60 [[ 3.96027283e-02 -9.99215502e-01 -6.73292791e-05 1.80461099e+02] [ 9.99211874e-01 3.96027659e-02 -2.69297744e-03 1.26918855e+02] [ 2.69353123e-03 3.93730387e-05 9.99996372e-01 5.99211808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36401273900003 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:180.46, Y:126.94, Z:0.60 [[ 3.85286379e-02 -9.99257494e-01 -6.65341421e-05 1.80458161e+02] [ 9.99253866e-01 3.85286773e-02 -2.69299709e-03 1.26943597e+02] [ 2.69356099e-03 3.72730107e-05 9.99996372e-01 5.99507954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.394012739 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:180.46, Y:126.97, Z:0.60 [[ 3.67546134e-02 -9.99324319e-01 -6.57449367e-05 1.80456092e+02] [ 9.99320691e-01 3.67546572e-02 -2.69301635e-03 1.26966875e+02] [ 2.69361316e-03 3.32804994e-05 9.99996372e-01 5.97378646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42401273900003 meters Centerline goodness : 0.992646 Centerline is valid? [True, True] Translation: X:180.45, Y:126.99, Z:0.59 [[ 2.97741123e-02 -9.99556651e-01 -6.49287676e-05 1.80451993e+02] [ 9.99553023e-01 2.97741791e-02 -2.69303603e-03 1.26991995e+02] [ 2.69377528e-03 1.52830111e-05 9.99996372e-01 5.93324358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.454012739 meters Centerline goodness : 0.993165 Centerline is valid? [True, True] Translation: X:180.45, Y:127.02, Z:0.59 [[ 2.50283479e-02 -9.99686740e-01 -6.41608805e-05 1.80449465e+02] [ 9.99683112e-01 2.50284299e-02 -2.69305432e-03 1.27016701e+02] [ 2.69381654e-03 3.26215175e-06 9.99996372e-01 5.93045389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48401273900004 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:180.45, Y:127.04, Z:0.60 [[ 1.55459724e-02 -9.99879152e-01 -6.33815108e-05 1.80447050e+02] [ 9.99875526e-01 1.55460867e-02 -2.69307267e-03 1.27040442e+02] [ 2.69373255e-03 -2.15071882e-05 9.99996372e-01 5.95933630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.514012739 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:180.45, Y:127.07, Z:0.60 [[ 1.17412891e-02 -9.99931067e-01 -6.25729837e-05 1.80447554e+02] [ 9.99927441e-01 1.17414150e-02 -2.69309145e-03 1.27065217e+02] [ 2.69364050e-03 -3.09480782e-05 9.99996372e-01 5.97767222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.544012739 meters Centerline goodness : 0.992854 Centerline is valid? [True, True] Translation: X:180.45, Y:127.09, Z:0.60 [[ 5.49307153e-03 -9.99984911e-01 -6.17895976e-05 1.80447785e+02] [ 9.99981286e-01 5.49321802e-03 -2.69310943e-03 1.27088467e+02] [ 2.69340821e-03 -4.69949986e-05 9.99996372e-01 5.99996203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.574012739 meters Centerline goodness : 0.993150 Centerline is valid? [True, True] Translation: X:180.45, Y:127.11, Z:0.60 [[ 2.91537280e-03 -9.99995748e-01 -6.09777406e-05 1.80446795e+02] [ 9.99992123e-01 2.91552645e-03 -2.69312781e-03 1.27111757e+02] [ 2.69329414e-03 -5.31257888e-05 9.99996372e-01 6.01502894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.604012739 meters Centerline goodness : 0.993257 Centerline is valid? [True, True] Translation: X:180.45, Y:127.14, Z:0.60 [[ 9.62471637e-04 -9.99999535e-01 -6.02494342e-05 1.80445956e+02] [ 9.99995910e-01 9.62630405e-04 -2.69314410e-03 1.27136238e+02] [ 2.69320085e-03 -5.76571130e-05 9.99996372e-01 6.02234986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.634012739 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:180.45, Y:127.16, Z:0.60 [[ 1.13409479e-03 -9.99999355e-01 -5.94837578e-05 1.80448986e+02] [ 9.99995730e-01 1.13425087e-03 -2.69316101e-03 1.27160292e+02] [ 2.69322675e-03 -5.64292040e-05 9.99996372e-01 6.00871529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.664012739 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:180.45, Y:127.19, Z:0.60 [[ 4.88807316e-03 -9.99988052e-01 -5.87642258e-05 1.80450782e+02] [ 9.99984426e-01 4.88821369e-03 -2.69317671e-03 1.27185338e+02] [ 2.69343179e-03 -4.55988658e-05 9.99996372e-01 6.01456152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.694012739 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:180.45, Y:127.21, Z:0.60 [[ 7.03560614e-03 -9.99975248e-01 -5.80074441e-05 1.80449922e+02] [ 9.99971622e-01 7.03573685e-03 -2.69319301e-03 1.27209597e+02] [ 2.69353448e-03 -3.90575527e-05 9.99996372e-01 6.01613613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.724012739 meters Centerline goodness : 0.993263 Centerline is valid? [True, True] Translation: X:180.45, Y:127.23, Z:0.60 [[ 9.16854755e-03 -9.99957966e-01 -5.72535071e-05 1.80448971e+02] [ 9.99954340e-01 9.16866850e-03 -2.69320904e-03 1.27234706e+02] [ 2.69362077e-03 -3.25580777e-05 9.99996372e-01 6.01669144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.754012739 meters Centerline goodness : 0.993348 Centerline is valid? [True, True] Translation: X:180.45, Y:127.26, Z:0.60 [[ 1.38351932e-02 -9.99904288e-01 -5.64666817e-05 1.80449487e+02] [ 9.99900661e-01 1.38352951e-02 -2.69322554e-03 1.27258497e+02] [ 2.69374900e-03 -1.91997768e-05 9.99996372e-01 5.99928587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.784012739 meters Centerline goodness : 0.992997 Centerline is valid? [True, True] Translation: X:180.45, Y:127.28, Z:0.60 [[ 1.52362569e-02 -9.99883920e-01 -5.56506223e-05 1.80449341e+02] [ 9.99880293e-01 1.52363516e-02 -2.69324240e-03 1.27282830e+02] [ 2.69377768e-03 -1.46090274e-05 9.99996372e-01 5.99409975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.814012739 meters Centerline goodness : 0.992544 Centerline is valid? [True, True] Translation: X:180.45, Y:127.31, Z:0.60 [[ 1.75712158e-02 -9.99845613e-01 -5.48850740e-05 1.80448157e+02] [ 9.99841985e-01 1.75712999e-02 -2.69325800e-03 1.27307859e+02] [ 2.69380660e-03 -7.55258373e-06 9.99996372e-01 5.96900924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.844012739 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:180.45, Y:127.33, Z:0.60 [[ 1.83663604e-02 -9.99831323e-01 -5.41096991e-05 1.80447941e+02] [ 9.99827695e-01 1.83664395e-02 -2.69327358e-03 1.27331547e+02] [ 2.69381309e-03 -4.63474271e-06 9.99996372e-01 5.95244458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.874012739 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:180.45, Y:127.35, Z:0.59 [[ 1.96267346e-02 -9.99807376e-01 -5.33039013e-05 1.80447817e+02] [ 9.99803748e-01 1.96268070e-02 -2.69328953e-03 1.27354197e+02] [ 2.69381692e-03 -4.32961583e-07 9.99996372e-01 5.94336333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.904012739 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:180.44, Y:127.38, Z:0.59 [[ 2.34722851e-02 -9.99724487e-01 -5.24758628e-05 1.80444816e+02] [ 9.99720859e-01 2.34723413e-02 -2.69330566e-03 1.27377113e+02] [ 2.69379535e-03 1.07568237e-05 9.99996372e-01 5.94761323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.934012739 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:180.44, Y:127.40, Z:0.60 [[ 2.54378633e-02 -9.99676404e-01 -5.16453114e-05 1.80442777e+02] [ 9.99672776e-01 2.54379102e-02 -2.69332159e-03 1.27401763e+02] [ 2.69376379e-03 1.68839347e-05 9.99996372e-01 5.96507941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.964012739 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:180.44, Y:127.43, Z:0.60 [[ 2.97807271e-02 -9.99556455e-01 -5.08591847e-05 1.80438504e+02] [ 9.99552826e-01 2.97807560e-02 -2.69333643e-03 1.27425606e+02] [ 2.69365644e-03 2.93730752e-05 9.99996372e-01 5.97947109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.994012739 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:180.44, Y:127.45, Z:0.60 [[ 3.07987702e-02 -9.99525604e-01 -5.00430922e-05 1.80436610e+02] [ 9.99521976e-01 3.07987933e-02 -2.69335159e-03 1.27450033e+02] [ 2.69361515e-03 3.29327464e-05 9.99996372e-01 5.99231886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.024012739 meters Centerline goodness : 0.993210 Centerline is valid? [True, True] Translation: X:180.43, Y:127.47, Z:0.60 [[ 3.13069196e-02 -9.99509817e-01 -4.92637989e-05 1.80433224e+02] [ 9.99506189e-01 3.13069387e-02 -2.69336585e-03 1.27474052e+02] [ 2.69358790e-03 3.50815160e-05 9.99996372e-01 6.02905516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05401273900003 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:180.43, Y:127.50, Z:0.60 [[ 3.08422768e-02 -9.99524263e-01 -4.84574047e-05 1.80431001e+02] [ 9.99520634e-01 3.08422954e-02 -2.69338036e-03 1.27498558e+02] [ 2.69359355e-03 3.46358065e-05 9.99996372e-01 6.04206668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.084012739 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:180.43, Y:127.52, Z:0.60 [[ 2.96822712e-02 -9.99559383e-01 -4.76883384e-05 1.80425015e+02] [ 9.99555755e-01 2.96822920e-02 -2.69339397e-03 1.27522416e+02] [ 2.69362272e-03 3.22788972e-05 9.99996372e-01 6.02084822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11401273900003 meters Centerline goodness : 0.993674 Centerline is valid? [True, True] Translation: X:180.42, Y:127.55, Z:0.60 [[ 2.92224918e-02 -9.99572931e-01 -4.68909217e-05 1.80422167e+02] [ 9.99569302e-01 2.92225120e-02 -2.69340786e-03 1.27546603e+02] [ 2.69362785e-03 3.18373630e-05 9.99996372e-01 6.01258538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.144012739 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:180.42, Y:127.57, Z:0.60 [[ 2.95060786e-02 -9.99564600e-01 -4.60988442e-05 1.80419811e+02] [ 9.99560972e-01 2.95060957e-02 -2.69342141e-03 1.27570993e+02] [ 2.69360889e-03 3.33936984e-05 9.99996372e-01 6.02889433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17401273900003 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:180.41, Y:127.59, Z:0.61 [[ 3.15208036e-02 -9.99503095e-01 -4.53346288e-05 1.80414191e+02] [ 9.99499467e-01 3.15208114e-02 -2.69343427e-03 1.27594511e+02] [ 2.69352488e-03 3.95872755e-05 9.99996372e-01 6.07045849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.204012739 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:180.41, Y:127.62, Z:0.61 [[ 3.25032549e-02 -9.99471629e-01 -4.45430929e-05 1.80410834e+02] [ 9.99468000e-01 3.25032570e-02 -2.69344736e-03 1.27618301e+02] [ 2.69347202e-03 4.30264103e-05 9.99996372e-01 6.08655491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23401273900004 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:180.41, Y:127.64, Z:0.61 [[ 3.35184191e-02 -9.99438099e-01 -4.38339333e-05 1.80405154e+02] [ 9.99434471e-01 3.35184155e-02 -2.69345891e-03 1.27642749e+02] [ 2.69341469e-03 4.64713403e-05 9.99996372e-01 6.09471037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.264012739 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:180.40, Y:127.67, Z:0.61 [[ 3.30775016e-02 -9.99452789e-01 -4.30826686e-05 1.80402478e+02] [ 9.99449160e-01 3.30774977e-02 -2.69347092e-03 1.27667613e+02] [ 2.69342209e-03 4.60343518e-05 9.99996372e-01 6.09675455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.294012739 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:180.40, Y:127.69, Z:0.61 [[ 3.01355183e-02 -9.99545821e-01 -4.23310332e-05 1.80398529e+02] [ 9.99542193e-01 3.01355230e-02 -2.69348274e-03 1.27690925e+02] [ 2.69353508e-03 3.88578446e-05 9.99996372e-01 6.09427800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.324012739 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:180.40, Y:127.72, Z:0.61 [[ 2.79736531e-02 -9.99608660e-01 -4.15520753e-05 1.80395991e+02] [ 9.99605032e-01 2.79736636e-02 -2.69349475e-03 1.27715922e+02] [ 2.69360304e-03 3.38112244e-05 9.99996372e-01 6.10186798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.354012739 meters Centerline goodness : 0.994424 Centerline is valid? [True, True] Translation: X:180.39, Y:127.74, Z:0.61 [[ 2.58799110e-02 -9.99665058e-01 -4.08093734e-05 1.80393057e+02] [ 9.99661430e-01 2.58799270e-02 -2.69350600e-03 1.27740979e+02] [ 2.69365998e-03 2.89121391e-05 9.99996372e-01 6.10717794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.384012739 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:180.39, Y:127.77, Z:0.61 [[ 2.42774234e-02 -9.99705259e-01 -4.00523485e-05 1.80386965e+02] [ 9.99701631e-01 2.42774432e-02 -2.69351726e-03 1.27766082e+02] [ 2.69369574e-03 2.53512608e-05 9.99996372e-01 6.09480642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.414012739 meters Centerline goodness : 0.993554 Centerline is valid? [True, True] Translation: X:180.38, Y:127.79, Z:0.61 [[ 2.41635402e-02 -9.99708018e-01 -3.92947949e-05 1.80384679e+02] [ 9.99704390e-01 2.41635584e-02 -2.69352831e-03 1.27790944e+02] [ 2.69369135e-03 2.58020008e-05 9.99996372e-01 6.08089460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.444012739 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:180.38, Y:127.82, Z:0.60 [[ 2.30455455e-02 -9.99734415e-01 -3.85229519e-05 1.80379414e+02] [ 9.99730787e-01 2.30455656e-02 -2.69353935e-03 1.27816067e+02] [ 2.69371177e-03 2.35615026e-05 9.99996372e-01 6.04589388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.474012739 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:180.38, Y:127.84, Z:0.60 [[ 2.14939382e-02 -9.99768978e-01 -3.77522825e-05 1.80376936e+02] [ 9.99765350e-01 2.14939619e-02 -2.69355015e-03 1.27841198e+02] [ 2.69373933e-03 2.01515767e-05 9.99996372e-01 6.04717803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.504012739 meters Centerline goodness : 0.992958 Centerline is valid? [True, True] Translation: X:180.37, Y:127.86, Z:0.61 [[ 1.80847269e-02 -9.99836457e-01 -3.69796572e-05 1.80374113e+02] [ 9.99832829e-01 1.80847609e-02 -2.69356076e-03 1.27864865e+02] [ 2.69378902e-03 1.17388355e-05 9.99996372e-01 6.05972545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.534012739 meters Centerline goodness : 0.992552 Centerline is valid? [True, True] Translation: X:180.37, Y:127.89, Z:0.61 [[ 1.69158391e-02 -9.99856916e-01 -3.61763778e-05 1.80373541e+02] [ 9.99853288e-01 1.69158752e-02 -2.69357155e-03 1.27888738e+02] [ 2.69379810e-03 9.39295270e-06 9.99996372e-01 6.05426491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.564012739 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:180.37, Y:127.91, Z:0.60 [[ 1.68469423e-02 -9.99858080e-01 -3.53888845e-05 1.80371079e+02] [ 9.99854451e-01 1.68469765e-02 -2.69358190e-03 1.27912256e+02] [ 2.69379582e-03 9.99488513e-06 9.99996372e-01 6.03152515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.594012739 meters Centerline goodness : 0.991970 Centerline is valid? [True, True] Translation: X:180.37, Y:127.94, Z:0.60 [[ 1.74928617e-02 -9.99846988e-01 -3.46052083e-05 1.80369493e+02] [ 9.99843359e-01 1.74928915e-02 -2.69359196e-03 1.27936702e+02] [ 2.69378516e-03 1.25188440e-05 9.99996372e-01 6.03133114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.624012739 meters Centerline goodness : 0.992132 Centerline is valid? [True, True] Translation: X:180.37, Y:127.96, Z:0.60 [[ 1.84626407e-02 -9.99829550e-01 -3.38518326e-05 1.80366708e+02] [ 9.99825922e-01 1.84626649e-02 -2.69360143e-03 1.27961850e+02] [ 2.69376730e-03 1.58850557e-05 9.99996372e-01 6.02067360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.654012739 meters Centerline goodness : 0.991971 Centerline is valid? [True, True] Translation: X:180.37, Y:127.99, Z:0.60 [[ 1.80855809e-02 -9.99836442e-01 -3.30944769e-05 1.80365965e+02] [ 9.99832814e-01 1.80856044e-02 -2.69361074e-03 1.27986432e+02] [ 2.69376871e-03 1.56265709e-05 9.99996372e-01 6.01105602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.684012739 meters Centerline goodness : 0.991924 Centerline is valid? [True, True] Translation: X:180.37, Y:128.01, Z:0.60 [[ 1.61705548e-02 -9.99869248e-01 -3.23380998e-05 1.80365711e+02] [ 9.99865619e-01 1.61705833e-02 -2.69361982e-03 1.28011021e+02] [ 2.69379055e-03 1.12235728e-05 9.99996372e-01 6.01523299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.714012739 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:180.37, Y:128.03, Z:0.60 [[ 1.42582253e-02 -9.99898346e-01 -3.15588916e-05 1.80365885e+02] [ 9.99894718e-01 1.42582586e-02 -2.69362895e-03 1.28034834e+02] [ 2.69380510e-03 6.85079931e-06 9.99996372e-01 6.03172310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.744012739 meters Centerline goodness : 0.992146 Centerline is valid? [True, True] Translation: X:180.37, Y:128.06, Z:0.61 [[ 1.09465346e-02 -9.99940084e-01 -3.07546279e-05 1.80367581e+02] [ 9.99936456e-01 1.09465778e-02 -2.69363813e-03 1.28059819e+02] [ 2.69381340e-03 -1.26667054e-06 9.99996372e-01 6.05642714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.774012739 meters Centerline goodness : 0.991826 Centerline is valid? [True, True] Translation: X:180.37, Y:128.08, Z:0.60 [[ 9.57497183e-03 -9.99954159e-01 -2.99871121e-05 1.80368096e+02] [ 9.99950530e-01 9.57501787e-03 -2.69364667e-03 1.28083150e+02] [ 2.69381032e-03 -4.19403765e-06 9.99996372e-01 6.03737186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80401273900003 meters Centerline goodness : 0.991563 Centerline is valid? [True, True] Translation: X:180.37, Y:128.11, Z:0.60 [[ 8.16484883e-03 -9.99966667e-01 -2.91944159e-05 1.80369215e+02] [ 9.99963039e-01 8.16489785e-03 -2.69365527e-03 1.28107953e+02] [ 2.69380385e-03 -7.20004881e-06 9.99996372e-01 6.00794965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.834012739 meters Centerline goodness : 0.992078 Centerline is valid? [True, True] Translation: X:180.37, Y:128.13, Z:0.60 [[ 7.41856467e-03 -9.99972482e-01 -2.84191603e-05 1.80370090e+02] [ 9.99968854e-01 7.41861431e-03 -2.69366344e-03 1.28131402e+02] [ 2.69380015e-03 -8.43515870e-06 9.99996372e-01 6.01945641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86401273900003 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:180.37, Y:128.16, Z:0.61 [[ 6.19539144e-03 -9.99980808e-01 -2.76864059e-05 1.80370751e+02] [ 9.99977180e-01 6.19544354e-03 -2.69367098e-03 1.28155678e+02] [ 2.69379081e-03 -1.09974280e-05 9.99996372e-01 6.07029047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.894012739 meters Centerline goodness : 0.992032 Centerline is valid? [True, True] Translation: X:180.37, Y:128.18, Z:0.61 [[ 5.25745332e-03 -9.99986179e-01 -2.69226560e-05 1.80370684e+02] [ 9.99982551e-01 5.25750677e-03 -2.69367861e-03 1.28179416e+02] [ 2.69378293e-03 -1.27602967e-05 9.99996372e-01 6.07491362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92401273900003 meters Centerline goodness : 0.991793 Centerline is valid? [True, True] Translation: X:180.37, Y:128.20, Z:0.61 [[ 4.37884580e-03 -9.99990413e-01 -2.61310498e-05 1.80371617e+02] [ 9.99986785e-01 4.37890030e-03 -2.69368629e-03 1.28204304e+02] [ 2.69377489e-03 -1.43354676e-05 9.99996372e-01 6.06594048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.954012739 meters Centerline goodness : 0.991832 Centerline is valid? [True, True] Translation: X:180.37, Y:128.23, Z:0.61 [[ 2.33686442e-03 -9.99997269e-01 -2.53734498e-05 1.80374902e+02] [ 9.99993641e-01 2.33692429e-03 -2.69369343e-03 1.28228973e+02] [ 2.69374537e-03 -1.90784921e-05 9.99996372e-01 6.05934963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98401273900004 meters Centerline goodness : 0.991949 Centerline is valid? [True, True] Translation: X:180.38, Y:128.25, Z:0.61 [[ 3.60991086e-04 -9.99999935e-01 -2.46049945e-05 1.80375973e+02] [ 9.99996307e-01 3.61056051e-04 -2.69370044e-03 1.28252918e+02] [ 2.69370915e-03 -2.36325018e-05 9.99996372e-01 6.07031912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.014012739 meters Centerline goodness : 0.992253 Centerline is valid? [True, True] Translation: X:180.38, Y:128.28, Z:0.61 [[-4.14747584e-03 -9.99991399e-01 -2.38074890e-05 1.80376922e+02] [ 9.99987771e-01 -4.14739667e-03 -2.69370749e-03 1.28276304e+02] [ 2.69358559e-03 -3.49792847e-05 9.99996372e-01 6.10803765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.044012739 meters Centerline goodness : 0.992253 Centerline is valid? [True, True] Translation: X:180.38, Y:128.30, Z:0.61 [[-4.42094207e-03 -9.99990227e-01 -2.31045632e-05 1.80376768e+02] [ 9.99986600e-01 -4.42086380e-03 -2.69371352e-03 1.28301437e+02] [ 2.69358506e-03 -3.50130050e-05 9.99996372e-01 6.10871497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.074012739 meters Centerline goodness : 0.992071 Centerline is valid? [True, True] Translation: X:180.38, Y:128.33, Z:0.61 [[-7.16946093e-03 -9.99974299e-01 -2.23679123e-05 1.80377345e+02] [ 9.99970672e-01 -7.16937468e-03 -2.69371964e-03 1.28326087e+02] [ 2.69349004e-03 -4.16797740e-05 9.99996372e-01 6.12010028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.104012739 meters Centerline goodness : 0.992428 Centerline is valid? [True, True] Translation: X:180.38, Y:128.35, Z:0.61 [[-8.81582897e-03 -9.99961140e-01 -2.16301197e-05 1.80378983e+02] [ 9.99957512e-01 -8.81573873e-03 -2.69372556e-03 1.28350476e+02] [ 2.69343020e-03 -4.53766245e-05 9.99996372e-01 6.11480183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.134012739 meters Centerline goodness : 0.992104 Centerline is valid? [True, True] Translation: X:180.38, Y:128.37, Z:0.61 [[-1.02114701e-02 -9.99947861e-01 -2.08738632e-05 1.80383764e+02] [ 9.99944234e-01 -1.02113768e-02 -2.69373142e-03 1.28373980e+02] [ 2.69337783e-03 -4.83796570e-05 9.99996372e-01 6.10403964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.164012739 meters Centerline goodness : 0.991401 Centerline is valid? [True, True] Translation: X:180.39, Y:128.40, Z:0.61 [[-1.20071188e-02 -9.99927912e-01 -2.00894472e-05 1.80388896e+02] [ 9.99924285e-01 -1.20070212e-02 -2.69373727e-03 1.28398894e+02] [ 2.69330187e-03 -5.24319498e-05 9.99996372e-01 6.14091433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.194012739 meters Centerline goodness : 0.991800 Centerline is valid? [True, True] Translation: X:180.39, Y:128.42, Z:0.61 [[-1.30436840e-02 -9.99914927e-01 -1.93074876e-05 1.80391778e+02] [ 9.99911300e-01 -1.30435847e-02 -2.69374288e-03 1.28422427e+02] [ 2.69326188e-03 -5.44421058e-05 9.99996372e-01 6.10595564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.224012739 meters Centerline goodness : 0.991737 Centerline is valid? [True, True] Translation: X:180.39, Y:128.45, Z:0.61 [[-1.39303346e-02 -9.99902968e-01 -1.84976815e-05 1.80394975e+02] [ 9.99899341e-01 -1.39302342e-02 -2.69374844e-03 1.28445689e+02] [ 2.69322938e-03 -5.60206366e-05 9.99996372e-01 6.10123952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.254012739 meters Centerline goodness : 0.991847 Centerline is valid? [True, True] Translation: X:180.40, Y:128.47, Z:0.61 [[-1.42420351e-02 -9.99898577e-01 -1.77056687e-05 1.80401694e+02] [ 9.99894950e-01 -1.42419357e-02 -2.69375365e-03 1.28470073e+02] [ 2.69322827e-03 -5.60683426e-05 9.99996372e-01 6.10528015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.284012739 meters Centerline goodness : 0.992330 Centerline is valid? [True, True] Translation: X:180.40, Y:128.49, Z:0.61 [[-1.39347243e-02 -9.99902907e-01 -1.69264230e-05 1.80404560e+02] [ 9.99899280e-01 -1.39346282e-02 -2.69375854e-03 1.28493252e+02] [ 2.69326113e-03 -5.44615008e-05 9.99996372e-01 6.09951283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.314012739 meters Centerline goodness : 0.991779 Centerline is valid? [True, True] Translation: X:180.41, Y:128.52, Z:0.61 [[-1.07819000e-02 -9.99941874e-01 -1.61171865e-05 1.80408945e+02] [ 9.99938246e-01 -1.07818174e-02 -2.69376338e-03 1.28518109e+02] [ 2.69343303e-03 -4.51600785e-05 9.99996372e-01 6.09609811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.344012739 meters Centerline goodness : 0.992259 Centerline is valid? [True, True] Translation: X:180.41, Y:128.54, Z:0.61 [[-8.27183027e-03 -9.99965788e-01 -1.53323922e-05 1.80410531e+02] [ 9.99962160e-01 -8.27175897e-03 -2.69376785e-03 1.28541557e+02] [ 2.69354886e-03 -3.76142025e-05 9.99996372e-01 6.09711585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.374012739 meters Centerline goodness : 0.992440 Centerline is valid? [True, True] Translation: X:180.41, Y:128.57, Z:0.61 [[-5.38023270e-03 -9.99985526e-01 -1.45896507e-05 1.80411834e+02] [ 9.99981899e-01 -5.38017388e-03 -2.69377187e-03 1.28565027e+02] [ 2.69365439e-03 -2.90825061e-05 9.99996372e-01 6.09997822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.404012739 meters Centerline goodness : 0.992262 Centerline is valid? [True, True] Translation: X:180.41, Y:128.59, Z:0.61 [[ 1.47721383e-05 -1.00000000e+00 -1.38598145e-05 1.80414380e+02] [ 9.99996372e-01 1.48094164e-05 -2.69377563e-03 1.28589298e+02] [ 2.69377583e-03 -1.38199714e-05 9.99996372e-01 6.10960610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.434012739 meters Centerline goodness : 0.992490 Centerline is valid? [True, True] Translation: X:180.42, Y:128.61, Z:0.61 [[ 1.78549762e-03 -9.99998406e-01 -1.30950356e-05 1.80415733e+02] [ 9.99994778e-01 1.78552641e-03 -2.69377935e-03 1.28613150e+02] [ 2.69379843e-03 -8.28523060e-06 9.99996372e-01 6.11140569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.464012739 meters Centerline goodness : 0.992292 Centerline is valid? [True, True] Translation: X:180.42, Y:128.64, Z:0.61 [[ 3.21585907e-03 -9.99994829e-01 -1.23001573e-05 1.80419175e+02] [ 9.99991201e-01 3.21588053e-03 -2.69378298e-03 1.28637108e+02] [ 2.69380860e-03 -3.63722267e-06 9.99996372e-01 6.10106241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.494012739 meters Centerline goodness : 0.991607 Centerline is valid? [True, True] Translation: X:180.42, Y:128.66, Z:0.61 [[ 2.51886271e-03 -9.99996828e-01 -1.15147093e-05 1.80420475e+02] [ 9.99993199e-01 2.51888459e-03 -2.69378633e-03 1.28661232e+02] [ 2.69380679e-03 -4.72935301e-06 9.99996372e-01 6.09681108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.524012739 meters Centerline goodness : 0.991922 Centerline is valid? [True, True] Translation: X:180.42, Y:128.69, Z:0.61 [[ 1.13959772e-03 -9.99999351e-01 -1.07235392e-05 1.80421695e+02] [ 9.99995722e-01 1.13962247e-03 -2.69378948e-03 1.28685800e+02] [ 2.69379995e-03 -7.65365701e-06 9.99996372e-01 6.10345496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55401273900003 meters Centerline goodness : 0.991646 Centerline is valid? [True, True] Translation: X:180.43, Y:128.71, Z:0.61 [[-1.86605808e-03 -9.99998259e-01 -9.97129934e-06 1.80425749e+02] [ 9.99994631e-01 -1.86602445e-03 -2.69379227e-03 1.28710874e+02] [ 2.69376897e-03 -1.49980186e-05 9.99996372e-01 6.10423093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.584012739 meters Centerline goodness : 0.991861 Centerline is valid? [True, True] Translation: X:180.43, Y:128.74, Z:0.61 [[-3.34305170e-03 -9.99994412e-01 -9.20858399e-06 1.80427643e+02] [ 9.99990784e-01 -3.34301477e-03 -2.69379487e-03 1.28735455e+02] [ 2.69374904e-03 -1.82139947e-05 9.99996372e-01 6.11700087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61401273900003 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:180.43, Y:128.76, Z:0.61 [[-4.72223009e-03 -9.99988850e-01 -8.44257091e-06 1.80430689e+02] [ 9.99985222e-01 -4.72219022e-03 -2.69379727e-03 1.28759625e+02] [ 2.69372737e-03 -2.11631767e-05 9.99996372e-01 6.14497646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.644012739 meters Centerline goodness : 0.991854 Centerline is valid? [True, True] Translation: X:180.43, Y:128.78, Z:0.61 [[-5.01733256e-03 -9.99987413e-01 -7.68237169e-06 1.80431008e+02] [ 9.99983785e-01 -5.01729366e-03 -2.69379944e-03 1.28783570e+02] [ 2.69372699e-03 -2.11979348e-05 9.99996372e-01 6.14792348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67401273900003 meters Centerline goodness : 0.991984 Centerline is valid? [True, True] Translation: X:180.43, Y:128.81, Z:0.61 [[-3.77544727e-03 -9.99992873e-01 -6.96586976e-06 1.80431133e+02] [ 9.99989245e-01 -3.77541481e-03 -2.69380130e-03 1.28808618e+02] [ 2.69375580e-03 -1.71360996e-05 9.99996372e-01 6.12977351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.704012739 meters Centerline goodness : 0.991523 Centerline is valid? [True, True] Translation: X:180.43, Y:128.83, Z:0.61 [[-3.02669672e-03 -9.99995420e-01 -6.21813025e-06 1.80432208e+02] [ 9.99991791e-01 -3.02666899e-03 -2.69380302e-03 1.28832888e+02] [ 2.69377186e-03 -1.43714040e-05 9.99996372e-01 6.12097880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73401273900004 meters Centerline goodness : 0.991236 Centerline is valid? [True, True] Translation: X:180.44, Y:128.86, Z:0.61 [[-2.66887448e-03 -9.99996439e-01 -5.45403476e-06 1.80435658e+02] [ 9.99992810e-01 -2.66885011e-03 -2.69380457e-03 1.28856066e+02] [ 2.69378042e-03 -1.26434218e-05 9.99996372e-01 6.10482245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.764012739 meters Centerline goodness : 0.991827 Centerline is valid? [True, True] Translation: X:180.44, Y:128.88, Z:0.61 [[-3.19518189e-03 -9.99994895e-01 -4.66397428e-06 1.80436500e+02] [ 9.99991267e-01 -3.19515773e-03 -2.69380594e-03 1.28880067e+02] [ 2.69377728e-03 -1.32711335e-05 9.99996372e-01 6.09762104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.794012739 meters Centerline goodness : 0.991440 Centerline is valid? [True, True] Translation: X:180.44, Y:128.90, Z:0.61 [[-4.80115401e-03 -9.99988474e-01 -3.88247835e-06 1.80435803e+02] [ 9.99984846e-01 -4.80112614e-03 -2.69380706e-03 1.28903968e+02] [ 2.69375737e-03 -1.68158021e-05 9.99996372e-01 6.08549177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.824012739 meters Centerline goodness : 0.991680 Centerline is valid? [True, True] Translation: X:180.44, Y:128.93, Z:0.61 [[-5.58652868e-03 -9.99984395e-01 -3.08270131e-06 1.80435827e+02] [ 9.99980767e-01 -5.58650011e-03 -2.69380798e-03 1.28927611e+02] [ 2.69374872e-03 -1.81316776e-05 9.99996372e-01 6.08837331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.854012739 meters Centerline goodness : 0.991546 Centerline is valid? [True, True] Translation: X:180.44, Y:128.95, Z:0.61 [[-6.72047209e-03 -9.99977417e-01 -2.28136435e-06 1.80437933e+02] [ 9.99973789e-01 -6.72044156e-03 -2.69380866e-03 1.28952332e+02] [ 2.69373249e-03 -2.03849704e-05 9.99996372e-01 6.10984303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.884012739 meters Centerline goodness : 0.991607 Centerline is valid? [True, True] Translation: X:180.44, Y:128.98, Z:0.61 [[-7.19015877e-03 -9.99974151e-01 -1.53229937e-06 1.80437972e+02] [ 9.99970522e-01 -7.19012856e-03 -2.69380908e-03 1.28977184e+02] [ 2.69372843e-03 -2.09011692e-05 9.99996372e-01 6.11399414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.914012739 meters Centerline goodness : 0.992186 Centerline is valid? [True, True] Translation: X:180.44, Y:129.00, Z:0.61 [[-5.83279491e-03 -9.99982989e-01 -7.75040166e-07 1.80436344e+02] [ 9.99979361e-01 -5.83277166e-03 -2.69380930e-03 1.29000900e+02] [ 2.69375896e-03 -1.64874614e-05 9.99996372e-01 6.10467627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.944012739 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:180.44, Y:129.01, Z:0.61 [[-4.70219745e-03 -9.99988945e-01 1.04144914e-08 1.80435934e+02] [ 9.99985316e-01 -4.70218042e-03 -2.69380930e-03 1.29014127e+02] [ 2.69377957e-03 -1.26564089e-05 9.99996372e-01 6.10006787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.974012739 meters Centerline goodness : 0.988221 Centerline is valid? [True, True] Translation: X:180.44, Y:129.02, Z:0.62 [[-1.62188693e-03 -9.99998685e-01 1.02187737e-06 1.80436505e+02] [ 9.99995056e-01 -1.62188380e-03 -2.69380891e-03 1.29023141e+02] [ 2.69380703e-03 -3.34718116e-06 9.99996372e-01 6.22263359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.004012739 meters Centerline goodness : 0.991468 Centerline is valid? [True, True] Translation: X:180.44, Y:129.01, Z:0.62 [[-3.28024051e-04 -9.99999946e-01 2.04332189e-06 1.80436824e+02] [ 9.99996318e-01 -3.28028369e-04 -2.69380814e-03 1.29014365e+02] [ 2.69380866e-03 1.15968049e-06 9.99996372e-01 6.15029566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.034012739 meters Centerline goodness : 0.991531 Centerline is valid? [True, True] Translation: X:180.44, Y:129.01, Z:0.62 [[ 2.82304779e-04 -9.99999960e-01 3.06695868e-06 1.80437372e+02] [ 9.99996332e-01 2.82295489e-04 -2.69380697e-03 1.29011368e+02] [ 2.69380600e-03 3.82742200e-06 9.99996372e-01 6.16292989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.064012739 meters Centerline goodness : 0.991808 Centerline is valid? [True, True] Translation: X:180.44, Y:129.00, Z:0.62 [[ 2.37015281e-04 -9.99999972e-01 4.08806384e-06 1.80438037e+02] [ 9.99996344e-01 2.37003405e-04 -2.69380542e-03 1.28996060e+02] [ 2.69380438e-03 4.72652194e-06 9.99996372e-01 6.18416399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.094012739 meters Centerline goodness : 0.991988 Centerline is valid? [True, True] Translation: X:180.44, Y:129.01, Z:0.62 [[ 2.31779136e-04 -9.99999973e-01 5.10398849e-06 1.80438289e+02] [ 9.99996345e-01 2.31764542e-04 -2.69380350e-03 1.29005442e+02] [ 2.69380224e-03 5.72833727e-06 9.99996372e-01 6.16870229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.124012739 meters Centerline goodness : 0.991780 Centerline is valid? [True, True] Translation: X:180.44, Y:129.02, Z:0.61 [[ 2.31107181e-03 -9.99997329e-01 6.11991225e-06 1.80439408e+02] [ 9.99993701e-01 2.31104694e-03 -2.69380119e-03 1.29017987e+02] [ 2.69377985e-03 1.23454417e-05 9.99996372e-01 6.12291163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.154012739 meters Centerline goodness : 0.991546 Centerline is valid? [True, True] Translation: X:180.44, Y:129.00, Z:0.61 [[ 4.86616464e-03 -9.99988160e-01 7.14540656e-06 1.80438975e+02] [ 9.99984532e-01 4.86612773e-03 -2.69379847e-03 1.29004865e+02] [ 2.69373181e-03 2.02537629e-05 9.99996372e-01 6.11125227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.184012739 meters Centerline goodness : 0.992337 Centerline is valid? [True, True] Translation: X:180.44, Y:128.97, Z:0.61 [[ 1.27418822e-02 -9.99918819e-01 8.17276709e-06 1.80435202e+02] [ 9.99915191e-01 1.27418140e-02 -2.69379535e-03 1.28972891e+02] [ 2.69347253e-03 4.24960971e-05 9.99996372e-01 6.11820159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.214012739 meters Centerline goodness : 0.991941 Centerline is valid? [True, True] Translation: X:180.43, Y:128.97, Z:0.61 [[ 1.54759005e-02 -9.99880241e-01 9.18537429e-06 1.80432606e+02] [ 9.99876614e-01 1.54758196e-02 -2.69379190e-03 1.28970881e+02] [ 2.69332714e-03 5.08730963e-05 9.99996372e-01 6.11177127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.244012739 meters Centerline goodness : 0.991898 Centerline is valid? [True, True] Translation: X:180.43, Y:128.96, Z:0.61 [[ 1.71671848e-02 -9.99852633e-01 1.01875168e-05 1.80430555e+02] [ 9.99849006e-01 1.71670951e-02 -2.69378811e-03 1.28957427e+02] [ 2.69321625e-03 5.64307369e-05 9.99996372e-01 6.09665494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.274012739 meters Centerline goodness : 0.991430 Centerline is valid? [True, True] Translation: X:180.43, Y:128.97, Z:0.61 [[ 1.75408236e-02 -9.99846148e-01 1.11857866e-05 1.80427859e+02] [ 9.99842521e-01 1.75407298e-02 -2.69378397e-03 1.28970008e+02] [ 2.69317331e-03 5.84352143e-05 9.99996372e-01 6.09184713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30401273900003 meters Centerline goodness : 0.992082 Centerline is valid? [True, True] Translation: X:180.43, Y:128.96, Z:0.61 [[ 1.51394166e-02 -9.99885392e-01 1.21858243e-05 1.80425364e+02] [ 9.99881765e-01 1.51393288e-02 -2.69377944e-03 1.28964835e+02] [ 2.69328623e-03 5.29666326e-05 9.99996372e-01 6.11406299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.334012739 meters Centerline goodness : 0.991653 Centerline is valid? [True, True] Translation: X:180.42, Y:128.98, Z:0.61 [[ 1.33465476e-02 -9.99910931e-01 1.31900723e-05 1.80424819e+02] [ 9.99907303e-01 1.33464637e-02 -2.69377452e-03 1.28976087e+02] [ 2.69335855e-03 4.91414396e-05 9.99996372e-01 6.11636318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36401273900003 meters Centerline goodness : 0.991817 Centerline is valid? [True, True] Translation: X:180.42, Y:128.98, Z:0.61 [[ 1.14840481e-02 -9.99934056e-01 1.41983886e-05 1.80424478e+02] [ 9.99930429e-01 1.14839682e-02 -2.69376921e-03 1.28976773e+02] [ 2.69342852e-03 4.51327759e-05 9.99996372e-01 6.11299823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.394012739 meters Centerline goodness : 0.991481 Centerline is valid? [True, True] Translation: X:180.42, Y:128.97, Z:0.61 [[ 7.27259434e-03 -9.99973554e-01 1.52128058e-05 1.80423569e+02] [ 9.99969927e-01 7.27252697e-03 -2.69376348e-03 1.28971427e+02] [ 2.69358161e-03 3.48029973e-05 9.99996372e-01 6.09033652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42401273900003 meters Centerline goodness : 0.992043 Centerline is valid? [True, True] Translation: X:180.42, Y:128.97, Z:0.61 [[ 3.97319573e-03 -9.99992107e-01 1.62275549e-05 1.80422983e+02] [ 9.99988479e-01 3.97313760e-03 -2.69375737e-03 1.28968709e+02] [ 2.69367163e-03 2.69301932e-05 9.99996372e-01 6.10304635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.454012739 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:180.42, Y:128.98, Z:0.61 [[-2.95998885e-03 -9.99995619e-01 1.72412998e-05 1.80424717e+02] [ 9.99991991e-01 -2.96002456e-03 -2.69375088e-03 1.28975686e+02] [ 2.69379011e-03 9.26768917e-06 9.99996372e-01 6.13761734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48401273900004 meters Centerline goodness : 0.992293 Centerline is valid? [True, True] Translation: X:180.43, Y:128.97, Z:0.61 [[-6.23117832e-03 -9.99980586e-01 1.82582080e-05 1.80427450e+02] [ 9.99976958e-01 -6.23120490e-03 -2.69374399e-03 1.28970130e+02] [ 2.69380546e-03 1.47258810e-06 9.99996372e-01 6.14002714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.514012739 meters Centerline goodness : 0.991160 Centerline is valid? [True, True] Translation: X:180.43, Y:128.93, Z:0.61 [[-9.17856404e-03 -9.99957876e-01 1.92774422e-05 1.80429672e+02] [ 9.99954248e-01 -9.17858267e-03 -2.69373669e-03 1.28932351e+02] [ 2.69380016e-03 -5.44807457e-06 9.99996372e-01 6.13762590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.544012739 meters Centerline goodness : 0.991897 Centerline is valid? [True, True] Translation: X:180.43, Y:128.94, Z:0.61 [[-1.29503119e-02 -9.99916141e-01 1.96533899e-05 1.80431306e+02] [ 9.99912513e-01 -1.29503178e-02 -2.69373395e-03 1.28944422e+02] [ 2.69376257e-03 -1.52330243e-05 9.99996372e-01 6.12215473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.574012739 meters Centerline goodness : 0.991293 Centerline is valid? [True, True] Translation: X:180.44, Y:128.93, Z:0.61 [[-1.48363395e-02 -9.99889935e-01 2.06513150e-05 1.80435126e+02] [ 9.99886307e-01 -1.48363413e-02 -2.69372630e-03 1.28934115e+02] [ 2.69373621e-03 -1.93160708e-05 9.99996372e-01 6.09871838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.604012739 meters Centerline goodness : 0.991738 Centerline is valid? [True, True] Translation: X:180.44, Y:128.92, Z:0.61 [[-1.56767932e-02 -9.99877111e-01 2.16516546e-05 1.80438061e+02] [ 9.99873483e-01 -1.56767946e-02 -2.69371826e-03 1.28920385e+02] [ 2.69372666e-03 -2.05799488e-05 9.99996372e-01 6.08916086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.634012739 meters Centerline goodness : 0.991354 Centerline is valid? [True, True] Translation: X:180.44, Y:128.94, Z:0.61 [[-1.62843971e-02 -9.99867400e-01 2.26452661e-05 1.80440256e+02] [ 9.99863772e-01 -1.62843990e-02 -2.69370991e-03 1.28941625e+02] [ 2.69372149e-03 -2.12232604e-05 9.99996372e-01 6.08020744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.664012739 meters Centerline goodness : 0.991036 Centerline is valid? [True, True] Translation: X:180.44, Y:128.94, Z:0.61 [[-1.51266016e-02 -9.99885586e-01 2.36431819e-05 1.80442417e+02] [ 9.99881958e-01 -1.51266104e-02 -2.69370115e-03 1.28935932e+02] [ 2.69375059e-03 -1.71061529e-05 9.99996372e-01 6.05840467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.694012739 meters Centerline goodness : 0.991158 Centerline is valid? [True, True] Translation: X:180.44, Y:128.93, Z:0.61 [[-1.34627096e-02 -9.99909373e-01 2.46485335e-05 1.80442018e+02] [ 9.99905745e-01 -1.34627272e-02 -2.69369195e-03 1.28927189e+02] [ 2.69377966e-03 -1.16181822e-05 9.99996372e-01 6.06250799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.724012739 meters Centerline goodness : 0.991084 Centerline is valid? [True, True] Translation: X:180.44, Y:128.93, Z:0.61 [[-9.92738141e-03 -9.99950722e-01 2.56503109e-05 1.80440242e+02] [ 9.99947094e-01 -9.92741449e-03 -2.69368241e-03 1.28933133e+02] [ 2.69380431e-03 -1.09225885e-06 9.99996372e-01 6.10528990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.754012739 meters Centerline goodness : 0.991311 Centerline is valid? [True, True] Translation: X:180.44, Y:128.96, Z:0.61 [[-8.45194566e-03 -9.99964281e-01 2.66532134e-05 1.80439504e+02] [ 9.99960653e-01 -8.45198679e-03 -2.69367249e-03 1.28960046e+02] [ 2.69380154e-03 3.88539120e-06 9.99996372e-01 6.11381326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.784012739 meters Centerline goodness : 0.990977 Centerline is valid? [True, True] Translation: X:180.44, Y:128.96, Z:0.61 [[-6.78418374e-03 -9.99976987e-01 2.76697549e-05 1.80437758e+02] [ 9.99973359e-01 -6.78423367e-03 -2.69366204e-03 1.28960827e+02] [ 2.69378777e-03 9.39471953e-06 9.99996372e-01 6.10577353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.814012739 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:180.44, Y:128.93, Z:0.61 [[-6.68412577e-03 -9.99977661e-01 2.86982477e-05 1.80437332e+02] [ 9.99974033e-01 -6.68417883e-03 -2.69365109e-03 1.28933752e+02] [ 2.69378274e-03 1.06927998e-05 9.99996372e-01 6.09419100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.844012739 meters Centerline goodness : 0.991877 Centerline is valid? [True, True] Translation: X:180.44, Y:128.94, Z:0.61 [[-7.37018120e-03 -9.99972839e-01 2.97187957e-05 1.80437206e+02] [ 9.99969212e-01 -7.37023452e-03 -2.69363983e-03 1.28939143e+02] [ 2.69378570e-03 9.86526705e-06 9.99996372e-01 6.07984168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.874012739 meters Centerline goodness : 0.991522 Centerline is valid? [True, True] Translation: X:180.44, Y:128.92, Z:0.61 [[-7.78270988e-03 -9.99969714e-01 3.07331620e-05 1.80436974e+02] [ 9.99966086e-01 -7.78276443e-03 -2.69362825e-03 1.28924469e+02] [ 2.69378586e-03 9.76839246e-06 9.99996372e-01 6.07948549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.904012739 meters Centerline goodness : 0.991944 Centerline is valid? [True, True] Translation: X:180.44, Y:128.95, Z:0.61 [[-7.57037516e-03 -9.99971344e-01 3.17460359e-05 1.80435715e+02] [ 9.99967716e-01 -7.57043322e-03 -2.69361632e-03 1.28951187e+02] [ 2.69377946e-03 1.13533250e-05 9.99996372e-01 6.09511067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.934012739 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:180.43, Y:128.95, Z:0.61 [[-6.28341800e-03 -9.99980259e-01 3.27652200e-05 1.80431529e+02] [ 9.99976631e-01 -6.28348346e-03 -2.69360392e-03 1.28949828e+02] [ 2.69375662e-03 1.58394150e-05 9.99996372e-01 6.11224815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.964012739 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:180.43, Y:128.95, Z:0.61 [[-6.66618301e-03 -9.99977780e-01 3.37959129e-05 1.80431634e+02] [ 9.99974153e-01 -6.66624986e-03 -2.69359099e-03 1.28947318e+02] [ 2.69375643e-03 1.58390689e-05 9.99996372e-01 6.11218037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.994012739 meters Centerline goodness : 0.992162 Centerline is valid? [True, True] Translation: X:180.43, Y:128.94, Z:0.61 [[-6.33869933e-03 -9.99979910e-01 3.48269456e-05 1.80429982e+02] [ 9.99976282e-01 -6.33877015e-03 -2.69357765e-03 1.28935594e+02] [ 2.69374430e-03 1.77523407e-05 9.99996372e-01 6.09150583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.024012739 meters Centerline goodness : 0.991684 Centerline is valid? [True, True] Translation: X:180.43, Y:128.94, Z:0.61 [[-3.93398219e-03 -9.99992261e-01 3.58545605e-05 1.80427254e+02] [ 9.99988634e-01 -3.93406450e-03 -2.69356398e-03 1.28942786e+02] [ 2.69368419e-03 2.52577202e-05 9.99996372e-01 6.05859737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05401273900003 meters Centerline goodness : 0.991786 Centerline is valid? [True, True] Translation: X:180.43, Y:128.93, Z:0.61 [[-2.24958208e-03 -9.99997469e-01 3.68821701e-05 1.80425933e+02] [ 9.99993842e-01 -2.24967326e-03 -2.69354991e-03 1.28929309e+02] [ 2.69362606e-03 3.08225814e-05 9.99996372e-01 6.06426692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.084012739 meters Centerline goodness : 0.991471 Centerline is valid? [True, True] Translation: X:180.42, Y:128.90, Z:0.61 [[ 2.03271393e-03 -9.99997933e-01 3.79094315e-05 1.80422550e+02] [ 9.99994307e-01 2.03260444e-03 -2.69353545e-03 1.28904308e+02] [ 2.69345283e-03 4.33844027e-05 9.99996372e-01 6.09347891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11401273900003 meters Centerline goodness : 0.992080 Centerline is valid? [True, True] Translation: X:180.42, Y:128.89, Z:0.61 [[ 3.76704900e-03 -9.99992904e-01 3.89244257e-05 1.80421237e+02] [ 9.99989278e-01 3.76693049e-03 -2.69352078e-03 1.28893270e+02] [ 2.69335504e-03 4.90706331e-05 9.99996372e-01 6.10688618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.144012739 meters Centerline goodness : 0.991342 Centerline is valid? [True, True] Translation: X:180.42, Y:128.90, Z:0.61 [[ 6.63201154e-03 -9.99978007e-01 3.99282464e-05 1.80417794e+02] [ 9.99974381e-01 6.63187994e-03 -2.69350590e-03 1.28896406e+02] [ 2.69318186e-03 5.77905857e-05 9.99996372e-01 6.11012862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17401273900003 meters Centerline goodness : 0.991670 Centerline is valid? [True, True] Translation: X:180.42, Y:128.90, Z:0.61 [[ 6.68313073e-03 -9.99977667e-01 4.09310813e-05 1.80415288e+02] [ 9.99974041e-01 6.68299625e-03 -2.69349066e-03 1.28895654e+02] [ 2.69315696e-03 5.89309689e-05 9.99996372e-01 6.10213439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.204012739 meters Centerline goodness : 0.992116 Centerline is valid? [True, True] Translation: X:180.41, Y:128.89, Z:0.61 [[ 6.09937821e-03 -9.99981398e-01 4.19363518e-05 1.80412652e+02] [ 9.99977772e-01 6.09924313e-03 -2.69347501e-03 1.28888981e+02] [ 2.69316912e-03 5.83639424e-05 9.99996372e-01 6.10129304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.234012739 meters Centerline goodness : 0.991584 Centerline is valid? [True, True] Translation: X:180.41, Y:128.89, Z:0.61 [[ 4.37881183e-03 -9.99990412e-01 4.29409608e-05 1.80408437e+02] [ 9.99986786e-01 4.37868029e-03 -2.69345899e-03 1.28885904e+02] [ 2.69324514e-03 5.47345434e-05 9.99996372e-01 6.10830497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.264012739 meters Centerline goodness : 0.992319 Centerline is valid? [True, True] Translation: X:180.41, Y:128.89, Z:0.61 [[ 1.25752572e-03 -9.99999208e-01 4.39437777e-05 1.80405581e+02] [ 9.99995582e-01 1.25740280e-03 -2.69344263e-03 1.28887187e+02] [ 2.69338524e-03 4.73306570e-05 9.99996372e-01 6.12875186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.294012739 meters Centerline goodness : 0.990801 Centerline is valid? [True, True] Translation: X:180.40, Y:128.89, Z:0.62 [[-9.99106156e-04 -9.99999500e-01 4.49478958e-05 1.80404241e+02] [ 9.99995874e-01 -9.99223600e-04 -2.69342587e-03 1.28890198e+02] [ 2.69346944e-03 4.22566919e-05 9.99996372e-01 6.15264232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.324012739 meters Centerline goodness : 0.991528 Centerline is valid? [True, True] Translation: X:180.40, Y:128.89, Z:0.62 [[-3.10855415e-03 -9.99995167e-01 4.59552656e-05 1.80402563e+02] [ 9.99991541e-01 -3.10866666e-03 -2.69340869e-03 1.28890982e+02] [ 2.69353853e-03 3.75822700e-05 9.99996372e-01 6.16362077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.354012739 meters Centerline goodness : 0.991138 Centerline is valid? [True, True] Translation: X:180.40, Y:128.89, Z:0.61 [[-6.43369090e-03 -9.99979303e-01 4.59552656e-05 1.80400029e+02] [ 9.99975676e-01 -6.43379135e-03 -2.69340869e-03 1.28888526e+02] [ 2.69364861e-03 2.86255888e-05 9.99996372e-01 6.12102283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.384012739 meters Centerline goodness : 0.992238 Centerline is valid? [True, True] Translation: X:180.40, Y:128.91, Z:0.61 [[-8.55069961e-03 -9.99963441e-01 4.57029500e-05 1.80399343e+02] [ 9.99959814e-01 -8.55079170e-03 -2.69341297e-03 1.28911707e+02] [ 2.69370530e-03 2.26705481e-05 9.99996372e-01 6.07987186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.414012739 meters Centerline goodness : 0.991939 Centerline is valid? [True, True] Translation: X:180.40, Y:128.89, Z:0.61 [[-1.22813611e-02 -9.99924580e-01 4.67193908e-05 1.80401490e+02] [ 9.99920953e-01 -1.22814424e-02 -2.69339534e-03 1.28891785e+02] [ 2.69376598e-03 1.36371371e-05 9.99996372e-01 6.06001756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.444012739 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:180.40, Y:128.87, Z:0.61 [[-1.44526014e-02 -9.99895555e-01 4.63358210e-05 1.80403448e+02] [ 9.99891927e-01 -1.44526738e-02 -2.69340194e-03 1.28872925e+02] [ 2.69379030e-03 7.40414867e-06 9.99996372e-01 6.06819345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.474012739 meters Centerline goodness : 0.992030 Centerline is valid? [True, True] Translation: X:180.41, Y:128.87, Z:0.61 [[-1.97957557e-02 -9.99804044e-01 4.59582041e-05 1.80407362e+02] [ 9.99800416e-01 -1.97958077e-02 -2.69340838e-03 1.28868812e+02] [ 2.69379037e-03 -7.36902273e-06 9.99996372e-01 6.08934091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.504012739 meters Centerline goodness : 0.992172 Centerline is valid? [True, True] Translation: X:180.41, Y:128.86, Z:0.61 [[-2.27166151e-02 -9.99741943e-01 4.69516981e-05 1.80408985e+02] [ 9.99738315e-01 -2.27166591e-02 -2.69339106e-03 1.28859914e+02] [ 2.69376260e-03 -1.42453164e-05 9.99996372e-01 6.07905706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.534012739 meters Centerline goodness : 0.991572 Centerline is valid? [True, True] Translation: X:180.41, Y:128.86, Z:0.61 [[-2.51499033e-02 -9.99683690e-01 4.78175266e-05 1.80410597e+02] [ 9.99680062e-01 -2.51499409e-02 -2.69337569e-03 1.28859212e+02] [ 2.69372635e-03 -1.99359102e-05 9.99996372e-01 6.06798642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.564012739 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:180.41, Y:128.87, Z:0.60 [[-2.74224469e-02 -9.99623933e-01 4.88062500e-05 1.80414203e+02] [ 9.99620305e-01 -2.74224789e-02 -2.69335777e-03 1.28869980e+02] [ 2.69368328e-03 -2.50707419e-05 9.99996372e-01 6.04522889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.594012739 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:180.42, Y:128.87, Z:0.60 [[-2.78008814e-02 -9.99613480e-01 4.98001934e-05 1.80417576e+02] [ 9.99609851e-01 -2.78009147e-02 -2.69333939e-03 1.28865703e+02] [ 2.69368285e-03 -2.50964451e-05 9.99996372e-01 6.04804417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.624012739 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:180.42, Y:128.86, Z:0.61 [[-2.82294392e-02 -9.99601469e-01 5.07979682e-05 1.80423117e+02] [ 9.99597841e-01 -2.82294736e-02 -2.69332057e-03 1.28858168e+02] [ 2.69368120e-03 -2.52533901e-05 9.99996372e-01 6.07576584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.654012739 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:180.43, Y:128.85, Z:0.61 [[-2.80926332e-02 -9.99605323e-01 5.17931820e-05 1.80425383e+02] [ 9.99601695e-01 -2.80926707e-02 -2.69330144e-03 1.28850006e+02] [ 2.69369346e-03 -2.38893767e-05 9.99996372e-01 6.08173193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.684012739 meters Centerline goodness : 0.992056 Centerline is valid? [True, True] Translation: X:180.43, Y:128.86, Z:0.61 [[-2.71181598e-02 -9.99632234e-01 5.27848891e-05 1.80429732e+02] [ 9.99628606e-01 -2.71182036e-02 -2.69328200e-03 1.28861799e+02] [ 2.69372293e-03 -2.02715666e-05 9.99996372e-01 6.08746528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.714012739 meters Centerline goodness : 0.992248 Centerline is valid? [True, True] Translation: X:180.43, Y:128.86, Z:0.61 [[-2.68385793e-02 -9.99639779e-01 5.37794458e-05 1.80431969e+02] [ 9.99636151e-01 -2.68386268e-02 -2.69326214e-03 1.28857019e+02] [ 2.69373534e-03 -1.85234514e-05 9.99996372e-01 6.09908662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.744012739 meters Centerline goodness : 0.991894 Centerline is valid? [True, True] Translation: X:180.44, Y:128.87, Z:0.61 [[-2.58026397e-02 -9.99667055e-01 5.47781618e-05 1.80435321e+02] [ 9.99663427e-01 -2.58026936e-02 -2.69324183e-03 1.28866547e+02] [ 2.69375855e-03 -1.47330236e-05 9.99996372e-01 6.11042778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.774012739 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:180.44, Y:128.88, Z:0.61 [[-2.57786560e-02 -9.99667674e-01 5.57804193e-05 1.80437313e+02] [ 9.99664046e-01 -2.57787128e-02 -2.69322107e-03 1.28875128e+02] [ 2.69376399e-03 -1.36659399e-05 9.99996372e-01 6.10347465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80401273900003 meters Centerline goodness : 0.991970 Centerline is valid? [True, True] Translation: X:180.44, Y:128.86, Z:0.61 [[-2.54225008e-02 -9.99676794e-01 5.67909900e-05 1.80439890e+02] [ 9.99673167e-01 -2.54225616e-02 -2.69319976e-03 1.28856674e+02] [ 2.69377307e-03 -1.16954443e-05 9.99996372e-01 6.09354270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.834012739 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:180.44, Y:128.89, Z:0.61 [[-2.32203030e-02 -9.99730371e-01 5.77997452e-05 1.80442627e+02] [ 9.99726743e-01 -2.32203744e-02 -2.69317811e-03 1.28891850e+02] [ 2.69379408e-03 -4.75246068e-06 9.99996372e-01 6.08131853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86401273900003 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:180.44, Y:128.89, Z:0.61 [[-1.95903857e-02 -9.99808088e-01 5.88160959e-05 1.80444651e+02] [ 9.99804461e-01 -1.95904731e-02 -2.69315591e-03 1.28892089e+02] [ 2.69379130e-03 6.04463187e-06 9.99996372e-01 6.09865209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.894012739 meters Centerline goodness : 0.992640 Centerline is valid? [True, True] Translation: X:180.45, Y:128.88, Z:0.61 [[-1.78855627e-02 -9.99840039e-01 5.98476486e-05 1.80446220e+02] [ 9.99836412e-01 -1.78856590e-02 -2.69313299e-03 1.28881991e+02] [ 2.69377261e-03 1.16696593e-05 9.99996372e-01 6.10624389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92401273900003 meters Centerline goodness : 0.992443 Centerline is valid? [True, True] Translation: X:180.45, Y:128.88, Z:0.61 [[-1.64254761e-02 -9.99865091e-01 6.08773093e-05 1.80447744e+02] [ 9.99861464e-01 -1.64255805e-02 -2.69310972e-03 1.28877418e+02] [ 2.69374634e-03 1.66332663e-05 9.99996372e-01 6.11859689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.954012739 meters Centerline goodness : 0.992952 Centerline is valid? [True, True] Translation: X:180.45, Y:128.88, Z:0.61 [[-1.40791343e-02 -9.99900882e-01 6.19032154e-05 1.80450013e+02] [ 9.99897256e-01 -1.40792499e-02 -2.69308613e-03 1.28877620e+02] [ 2.69369075e-03 2.39805339e-05 9.99996372e-01 6.10314886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.984012739 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:180.45, Y:128.88, Z:0.61 [[-1.32139397e-02 -9.99912690e-01 6.29296119e-05 1.80451089e+02] [ 9.99909064e-01 -1.32140612e-02 -2.69306215e-03 1.28876458e+02] [ 2.69365857e-03 2.73379286e-05 9.99996372e-01 6.09120229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.014012739 meters Centerline goodness : 0.993057 Centerline is valid? [True, True] Translation: X:180.45, Y:128.84, Z:0.61 [[-9.02081284e-03 -9.99959310e-01 6.39570260e-05 1.80452822e+02] [ 9.99955684e-01 -9.02095238e-03 -2.69303775e-03 1.28839072e+02] [ 2.69350512e-03 3.96608022e-05 9.99996372e-01 6.07311468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.044012739 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:180.45, Y:128.83, Z:0.61 [[-6.83706982e-03 -9.99976625e-01 6.49723179e-05 1.80452429e+02] [ 9.99973000e-01 -6.83722001e-03 -2.69301325e-03 1.28834098e+02] [ 2.69339453e-03 4.65582440e-05 9.99996372e-01 6.07749786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.074012739 meters Centerline goodness : 0.992573 Centerline is valid? [True, True] Translation: X:180.45, Y:128.82, Z:0.61 [[-5.00070979e-03 -9.99987494e-01 6.59741632e-05 1.80452330e+02] [ 9.99983869e-01 -5.00086934e-03 -2.69298871e-03 1.28816258e+02] [ 2.69328496e-03 5.25062439e-05 9.99996372e-01 6.07887363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.104012739 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:180.45, Y:128.82, Z:0.61 [[-7.11978390e-04 -9.99999744e-01 6.69697223e-05 1.80449781e+02] [ 9.99996120e-01 -7.12156161e-04 -2.69296395e-03 1.28817510e+02] [ 2.69301096e-03 6.50521303e-05 9.99996372e-01 6.09019808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.134012739 meters Centerline goodness : 0.993449 Centerline is valid? [True, True] Translation: X:180.45, Y:128.81, Z:0.61 [[ 1.01977553e-03 -9.99999478e-01 6.79609839e-05 1.80448148e+02] [ 9.99995854e-01 1.01958882e-03 -2.69293894e-03 1.28807356e+02] [ 2.69286824e-03 7.07068954e-05 9.99996372e-01 6.08922555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.164012739 meters Centerline goodness : 0.993318 Centerline is valid? [True, True] Translation: X:180.45, Y:128.78, Z:0.61 [[ 1.82600874e-03 -9.99998331e-01 6.89508150e-05 1.80445761e+02] [ 9.99994707e-01 1.82581644e-03 -2.69291359e-03 1.28783681e+02] [ 2.69278320e-03 7.38677338e-05 9.99996372e-01 6.07970680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.194012739 meters Centerline goodness : 0.993705 Centerline is valid? [True, True] Translation: X:180.44, Y:128.80, Z:0.61 [[ 1.19510750e-03 -9.99999283e-01 6.99310892e-05 1.80444923e+02] [ 9.99995660e-01 1.19491485e-03 -2.69288814e-03 1.28797991e+02] [ 2.69280264e-03 7.31490766e-05 9.99996372e-01 6.07746321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.224012739 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:180.45, Y:128.79, Z:0.61 [[-1.60217579e-03 -9.99998714e-01 7.09096532e-05 1.80445325e+02] [ 9.99995090e-01 -1.60236093e-03 -2.69286237e-03 1.28788712e+02] [ 2.69297253e-03 6.65948661e-05 9.99996372e-01 6.09993771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.254012739 meters Centerline goodness : 0.992771 Centerline is valid? [True, True] Translation: X:180.45, Y:128.80, Z:0.61 [[-3.66439597e-03 -9.99993284e-01 7.18919285e-05 1.80445042e+02] [ 9.99989660e-01 -3.66457629e-03 -2.69283614e-03 1.28799048e+02] [ 2.69308151e-03 6.20235672e-05 9.99996372e-01 6.10942982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.284012739 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:180.44, Y:128.81, Z:0.61 [[-6.61680647e-03 -9.99978106e-01 7.28762224e-05 1.80444833e+02] [ 9.99974482e-01 -6.61697874e-03 -2.69280951e-03 1.28810126e+02] [ 2.69323277e-03 5.50565633e-05 9.99996372e-01 6.09192813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.314012739 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:180.45, Y:128.81, Z:0.61 [[-8.35072893e-03 -9.99965129e-01 7.38694918e-05 1.80445708e+02] [ 9.99961505e-01 -8.35089759e-03 -2.69278226e-03 1.28809432e+02] [ 2.69330524e-03 5.13799535e-05 9.99996372e-01 6.08009478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.344012739 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:180.45, Y:128.80, Z:0.61 [[-9.61181157e-03 -9.99953803e-01 7.48680271e-05 1.80447264e+02] [ 9.99950178e-01 -9.61197835e-03 -2.69275449e-03 1.28803246e+02] [ 2.69334973e-03 4.89820482e-05 9.99996372e-01 6.07800266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.374012739 meters Centerline goodness : 0.994158 Centerline is valid? [True, True] Translation: X:180.45, Y:128.81, Z:0.61 [[-9.14812132e-03 -9.99958152e-01 7.58659050e-05 1.80447708e+02] [ 9.99954528e-01 -9.14829247e-03 -2.69272638e-03 1.28807969e+02] [ 2.69330774e-03 5.12290676e-05 9.99996372e-01 6.11223729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.404012739 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:180.45, Y:128.79, Z:0.61 [[-8.50047143e-03 -9.99963867e-01 7.68652167e-05 1.80445984e+02] [ 9.99960243e-01 -8.50064761e-03 -2.69269785e-03 1.28791936e+02] [ 2.69325396e-03 5.39729596e-05 9.99996372e-01 6.12940506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.434012739 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:180.44, Y:128.78, Z:0.62 [[-6.40570764e-03 -9.99979480e-01 7.78624271e-05 1.80443360e+02] [ 9.99975857e-01 -6.40589410e-03 -2.69266902e-03 1.28782071e+02] [ 2.69311254e-03 6.06120968e-05 9.99996372e-01 6.15722130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.464012739 meters Centerline goodness : 0.993611 Centerline is valid? [True, True] Translation: X:180.44, Y:128.77, Z:0.62 [[-5.77001617e-03 -9.99983350e-01 7.88521577e-05 1.80444037e+02] [ 9.99979727e-01 -5.77020759e-03 -2.69264003e-03 1.28772759e+02] [ 2.69305020e-03 6.33139825e-05 9.99996372e-01 6.17351140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.494012739 meters Centerline goodness : 0.993831 Centerline is valid? [True, True] Translation: X:180.44, Y:128.79, Z:0.62 [[-5.63471773e-03 -9.99984122e-01 7.98371538e-05 1.80440080e+02] [ 9.99980499e-01 -5.63491229e-03 -2.69261083e-03 1.28788376e+02] [ 2.69301795e-03 6.46634948e-05 9.99996372e-01 6.18180657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.524012739 meters Centerline goodness : 0.993979 Centerline is valid? [True, True] Translation: X:180.44, Y:128.78, Z:0.62 [[-6.07064018e-03 -9.99981570e-01 8.08259095e-05 1.80436307e+02] [ 9.99977947e-01 -6.07083583e-03 -2.69258115e-03 1.28784585e+02] [ 2.69302221e-03 6.44784357e-05 9.99996372e-01 6.16951480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55401273900003 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:180.43, Y:128.78, Z:0.61 [[-7.22168119e-03 -9.99973920e-01 8.18205246e-05 1.80430679e+02] [ 9.99970297e-01 -7.22187534e-03 -2.69255092e-03 1.28778797e+02] [ 2.69307160e-03 6.23733499e-05 9.99996372e-01 6.10427661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.584012739 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:180.43, Y:128.78, Z:0.61 [[-8.71977945e-03 -9.99961979e-01 8.28136974e-05 1.80428961e+02] [ 9.99958355e-01 -8.71997085e-03 -2.69252038e-03 1.28784998e+02] [ 2.69314014e-03 5.93320648e-05 9.99996372e-01 6.09139621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61401273900003 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:180.42, Y:128.79, Z:0.61 [[-1.21654184e-02 -9.99925995e-01 8.38090811e-05 1.80422529e+02] [ 9.99922371e-01 -1.21656000e-02 -2.69248939e-03 1.28791229e+02] [ 2.69330972e-03 5.10473152e-05 9.99996372e-01 6.11078915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.644012739 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:180.42, Y:128.79, Z:0.61 [[-1.44517539e-02 -9.99895564e-01 8.48107288e-05 1.80419523e+02] [ 9.99891940e-01 -1.44519299e-02 -2.69245784e-03 1.28794377e+02] [ 2.69340233e-03 4.58908259e-05 9.99996372e-01 6.11692118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67401273900003 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:180.42, Y:128.80, Z:0.61 [[-1.70095933e-02 -9.99855323e-01 8.58174017e-05 1.80418177e+02] [ 9.99851698e-01 -1.70097627e-02 -2.69242576e-03 1.28803858e+02] [ 2.69349596e-03 4.00076077e-05 9.99996372e-01 6.11544973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.704012739 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:180.42, Y:128.80, Z:0.61 [[-2.33644186e-02 -9.99727011e-01 8.68306358e-05 1.80418085e+02] [ 9.99723386e-01 -2.33645677e-02 -2.69239308e-03 1.28799883e+02] [ 2.69368685e-03 2.39004183e-05 9.99996372e-01 6.09767262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.734012739 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:180.42, Y:128.79, Z:0.61 [[-2.96332274e-02 -9.99560836e-01 8.78478478e-05 1.80416469e+02] [ 9.99557210e-01 -2.96333566e-02 -2.69235989e-03 1.28790166e+02] [ 2.69378073e-03 8.02563667e-06 9.99996372e-01 6.08896570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.764012739 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:180.42, Y:128.81, Z:0.61 [[-3.19976363e-02 -9.99487941e-01 8.88617239e-05 1.80416239e+02] [ 9.99484314e-01 -3.19977596e-02 -2.69232643e-03 1.28807490e+02] [ 2.69379117e-03 2.66781732e-06 9.99996372e-01 6.07719520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.794012739 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:180.42, Y:128.78, Z:0.61 [[-3.36009201e-02 -9.99435326e-01 8.98804116e-05 1.80418821e+02] [ 9.99431699e-01 -3.36010403e-02 -2.69229242e-03 1.28784455e+02] [ 2.69379222e-03 -6.34169931e-07 9.99996372e-01 6.05566068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.824012739 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:180.42, Y:128.78, Z:0.60 [[-3.58177868e-02 -9.99358333e-01 8.96260642e-05 1.80422053e+02] [ 9.99354707e-01 -3.58178982e-02 -2.69230088e-03 1.28776028e+02] [ 2.69378354e-03 -6.86402989e-06 9.99996372e-01 6.02121463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.854012739 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:180.42, Y:128.77, Z:0.60 [[-3.61902256e-02 -9.99344915e-01 9.06315401e-05 1.80422211e+02] [ 9.99341289e-01 -3.61903384e-02 -2.69226704e-03 1.28773515e+02] [ 2.69378336e-03 -6.86191129e-06 9.99996372e-01 6.02114686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.884012739 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:180.42, Y:128.77, Z:0.60 [[-3.70850064e-02 -9.99312110e-01 9.16348864e-05 1.80422914e+02] [ 9.99308484e-01 -3.70851187e-02 -2.69223289e-03 1.28770958e+02] [ 2.69377922e-03 -8.26995437e-06 9.99996372e-01 6.02003707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.914012739 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:180.42, Y:128.77, Z:0.60 [[-3.69622583e-02 -9.99316658e-01 9.26382199e-05 1.80424395e+02] [ 9.99313032e-01 -3.69623737e-02 -2.69219836e-03 1.28774156e+02] [ 2.69378280e-03 -6.93515086e-06 9.99996372e-01 6.04370963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.944012739 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:180.43, Y:128.77, Z:0.61 [[-3.57744562e-02 -9.99359885e-01 9.36433289e-05 1.80426677e+02] [ 9.99356259e-01 -3.57745786e-02 -2.69216340e-03 1.28772437e+02] [ 2.69379016e-03 -2.72763479e-06 9.99996372e-01 6.07801987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.974012739 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:180.43, Y:128.78, Z:0.61 [[-3.17570994e-02 -9.99495612e-01 9.46510308e-05 1.80427855e+02] [ 9.99491986e-01 -3.17572391e-02 -2.69212797e-03 1.28782911e+02] [ 2.69377595e-03 9.10877121e-06 9.99996372e-01 6.11755702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.004012739 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:180.43, Y:128.79, Z:0.61 [[-2.95521959e-02 -9.99563234e-01 9.56636644e-05 1.80426323e+02] [ 9.99559609e-01 -2.95523463e-02 -2.69209199e-03 1.28789299e+02] [ 2.69374326e-03 1.60643053e-05 9.99996372e-01 6.10171578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.034012739 meters Centerline goodness : 0.995276 Centerline is valid? [True, True] Translation: X:180.42, Y:128.79, Z:0.60 [[-2.40613260e-02 -9.99710480e-01 9.66841062e-05 1.80422948e+02] [ 9.99706856e-01 -2.40614992e-02 -2.69205534e-03 1.28789446e+02] [ 2.69360230e-03 3.18813426e-05 9.99996372e-01 6.04473513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.064012739 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:180.42, Y:128.78, Z:0.60 [[-2.18005223e-02 -9.99762336e-01 9.77089227e-05 1.80422603e+02] [ 9.99758712e-01 -2.18007064e-02 -2.69201814e-03 1.28782935e+02] [ 2.69350847e-03 3.89979450e-05 9.99996372e-01 6.04583982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.094012739 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:180.42, Y:128.77, Z:0.61 [[-1.79279928e-02 -9.99839276e-01 9.87333840e-05 1.80419900e+02] [ 9.99835653e-01 -1.79281937e-02 -2.69198057e-03 1.28765496e+02] [ 2.69331801e-03 5.04553491e-05 9.99996372e-01 6.09483618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.124012739 meters Centerline goodness : 0.996267 Centerline is valid? [True, True] Translation: X:180.42, Y:128.75, Z:0.61 [[-1.66246676e-02 -9.99861796e-01 9.97507745e-05 1.80416806e+02] [ 9.99858173e-01 -1.66248759e-02 -2.69194287e-03 1.28752919e+02] [ 2.69322917e-03 5.49839720e-05 9.99996372e-01 6.12285498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.154012739 meters Centerline goodness : 0.996213 Centerline is valid? [True, True] Translation: X:180.41, Y:128.75, Z:0.61 [[-1.65444517e-02 -9.99863126e-01 9.97507746e-05 1.80414316e+02] [ 9.99859504e-01 -1.65446603e-02 -2.69194287e-03 1.28753643e+02] [ 2.69322475e-03 5.52000413e-05 9.99996372e-01 6.13144658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.184012739 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:180.41, Y:128.76, Z:0.61 [[-1.86903015e-02 -9.99825316e-01 1.00755132e-04 1.80410638e+02] [ 9.99821693e-01 -1.86905051e-02 -2.69190528e-03 1.28763129e+02] [ 2.69331821e-03 5.04246449e-05 9.99996372e-01 6.11282197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.214012739 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:180.41, Y:128.76, Z:0.61 [[-1.99624686e-02 -9.99800725e-01 1.01764871e-04 1.80407913e+02] [ 9.99797102e-01 -1.99626703e-02 -2.69186710e-03 1.28762911e+02] [ 2.69336218e-03 4.80079104e-05 9.99996372e-01 6.10723598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.244012739 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:180.40, Y:128.78, Z:0.61 [[-2.18888373e-02 -9.99760406e-01 1.01638592e-04 1.80399667e+02] [ 9.99756783e-01 -2.18890316e-02 -2.69187187e-03 1.28776124e+02] [ 2.69345168e-03 4.26919267e-05 9.99996372e-01 6.12073358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.274012739 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:180.40, Y:128.78, Z:0.61 [[-2.31578536e-02 -9.99731816e-01 1.01511718e-04 1.80396299e+02] [ 9.99728193e-01 -2.31580430e-02 -2.69187666e-03 1.28778650e+02] [ 2.69350555e-03 3.91460413e-05 9.99996372e-01 6.11518473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30401273900003 meters Centerline goodness : 0.995916 Centerline is valid? [True, True] Translation: X:180.39, Y:128.78, Z:0.61 [[-2.46771631e-02 -9.99695467e-01 1.01126053e-04 1.80393838e+02] [ 9.99691844e-01 -2.46773460e-02 -2.69189114e-03 1.28780415e+02] [ 2.69356690e-03 3.46666538e-05 9.99996372e-01 6.10114449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.334012739 meters Centerline goodness : 0.996080 Centerline is valid? [True, True] Translation: X:180.39, Y:128.78, Z:0.61 [[-2.84729740e-02 -9.99594558e-01 1.00740386e-04 1.80388962e+02] [ 9.99590933e-01 -2.84731421e-02 -2.69190558e-03 1.28775642e+02] [ 2.69368256e-03 2.40526189e-05 9.99996372e-01 6.08600577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36401273900003 meters Centerline goodness : 0.996062 Centerline is valid? [True, True] Translation: X:180.38, Y:128.77, Z:0.61 [[-3.12522897e-02 -9.99511523e-01 9.97214215e-05 1.80381076e+02] [ 9.99507898e-01 -3.12524449e-02 -2.69194332e-03 1.28767976e+02] [ 2.69374491e-03 1.55429558e-05 9.99996372e-01 6.07908251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.394012739 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:180.38, Y:128.77, Z:0.61 [[-3.18940686e-02 -9.99491250e-01 9.87086047e-05 1.80377824e+02] [ 9.99487625e-01 -3.18942188e-02 -2.69198046e-03 1.28765201e+02] [ 2.69375915e-03 1.27998193e-05 9.99996372e-01 6.07756776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42401273900003 meters Centerline goodness : 0.995955 Centerline is valid? [True, True] Translation: X:180.38, Y:128.76, Z:0.61 [[-3.21086104e-02 -9.99484381e-01 9.77012035e-05 1.80375709e+02] [ 9.99480756e-01 -3.21087571e-02 -2.69201702e-03 1.28759669e+02] [ 2.69376603e-03 1.12135470e-05 9.99996372e-01 6.06325513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.454012739 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:180.37, Y:128.75, Z:0.60 [[-3.23591387e-02 -9.99476301e-01 9.66988342e-05 1.80369952e+02] [ 9.99472676e-01 -3.23592818e-02 -2.69205303e-03 1.28753375e+02] [ 2.69377231e-03 9.53532516e-06 9.99996372e-01 6.04868598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.484012739 meters Centerline goodness : 0.995680 Centerline is valid? [True, True] Translation: X:180.37, Y:128.74, Z:0.61 [[-3.27660398e-02 -9.99463045e-01 9.57020924e-05 1.80367094e+02] [ 9.99459419e-01 -3.27661787e-02 -2.69208846e-03 1.28743911e+02] [ 2.69377872e-03 7.44128003e-06 9.99996372e-01 6.05201453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.514012739 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:180.36, Y:128.77, Z:0.60 [[-3.49847786e-02 -9.99387841e-01 9.47126547e-05 1.80363945e+02] [ 9.99384215e-01 -3.49849068e-02 -2.69212327e-03 1.28772129e+02] [ 2.69378878e-03 4.70995363e-07 9.99996372e-01 6.04943308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.544012739 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:180.36, Y:128.76, Z:0.60 [[-3.64103811e-02 -9.99336918e-01 9.37182883e-05 1.80364430e+02] [ 9.99333292e-01 -3.64105014e-02 -2.69215789e-03 1.28762049e+02] [ 2.69378509e-03 -4.36668900e-06 9.99996372e-01 6.04612555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.574012739 meters Centerline goodness : 0.996089 Centerline is valid? [True, True] Translation: X:180.36, Y:128.75, Z:0.60 [[-3.86492982e-02 -9.99252832e-01 9.27194190e-05 1.80364579e+02] [ 9.99249206e-01 -3.86494077e-02 -2.69219229e-03 1.28749033e+02] [ 2.69376432e-03 -1.14015367e-05 9.99996372e-01 6.03960404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.604012739 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:180.36, Y:128.74, Z:0.61 [[-3.86866903e-02 -9.99251386e-01 9.17302611e-05 1.80364247e+02] [ 9.99247759e-01 -3.86867970e-02 -2.69222599e-03 1.28742104e+02] [ 2.69375930e-03 -1.24920552e-05 9.99996372e-01 6.07482755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.634012739 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:180.36, Y:128.74, Z:0.61 [[-3.79997515e-02 -9.99277745e-01 9.07496924e-05 1.80364182e+02] [ 9.99274118e-01 -3.79998581e-02 -2.69225904e-03 1.28740579e+02] [ 2.69376302e-03 -1.16213559e-05 9.99996372e-01 6.10808429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.664012739 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:180.36, Y:128.75, Z:0.61 [[-3.66475859e-02 -9.99328248e-01 8.97735833e-05 1.80363658e+02] [ 9.99324621e-01 -3.66476948e-02 -2.69229159e-03 1.28746514e+02] [ 2.69377303e-03 -8.95303525e-06 9.99996372e-01 6.12334134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.694012739 meters Centerline goodness : 0.996353 Centerline is valid? [True, True] Translation: X:180.36, Y:128.76, Z:0.61 [[-3.58303192e-02 -9.99357884e-01 8.87977716e-05 1.80361221e+02] [ 9.99354257e-01 -3.58304284e-02 -2.69232378e-03 1.28762258e+02] [ 2.69377665e-03 -7.72638930e-06 9.99996372e-01 6.09195731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.724012739 meters Centerline goodness : 0.996202 Centerline is valid? [True, True] Translation: X:180.36, Y:128.78, Z:0.61 [[-3.57871007e-02 -9.99359433e-01 8.78162306e-05 1.80360291e+02] [ 9.99355806e-01 -3.57872074e-02 -2.69235579e-03 1.28779673e+02] [ 2.69377385e-03 -8.59194794e-06 9.99996372e-01 6.08783815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.754012739 meters Centerline goodness : 0.996290 Centerline is valid? [True, True] Translation: X:180.36, Y:128.74, Z:0.61 [[-3.63061194e-02 -9.99340712e-01 8.68249561e-05 1.80362260e+02] [ 9.99337085e-01 -3.63062216e-02 -2.69238776e-03 1.28742215e+02] [ 2.69376498e-03 -1.09827530e-05 9.99996372e-01 6.09996487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.784012739 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:180.36, Y:128.73, Z:0.61 [[-4.01305702e-02 -9.99194441e-01 8.58423074e-05 1.80363833e+02] [ 9.99190813e-01 -4.01306558e-02 -2.69241909e-03 1.28733555e+02] [ 2.69369509e-03 -2.22754681e-05 9.99996372e-01 6.11998048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.814012739 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:180.36, Y:128.74, Z:0.61 [[-4.24764241e-02 -9.99097466e-01 8.48772247e-05 1.80363529e+02] [ 9.99093838e-01 -4.24764986e-02 -2.69244951e-03 1.28736279e+02] [ 2.69362477e-03 -2.95653150e-05 9.99996372e-01 6.09855763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.844012739 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:180.36, Y:128.74, Z:0.61 [[-4.62018136e-02 -9.98932123e-01 8.39157235e-05 1.80364989e+02] [ 9.98928495e-01 -4.62018720e-02 -2.69247948e-03 1.28739876e+02] [ 2.69348130e-03 -4.05716277e-05 9.99996372e-01 6.07532449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.874012739 meters Centerline goodness : 0.996340 Centerline is valid? [True, True] Translation: X:180.37, Y:128.74, Z:0.61 [[-4.72026011e-02 -9.98885333e-01 8.29539117e-05 1.80366321e+02] [ 9.98881705e-01 -4.72026533e-02 -2.69250911e-03 1.28744437e+02] [ 2.69342350e-03 -4.42322889e-05 9.99996372e-01 6.07720081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.904012739 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:180.37, Y:128.73, Z:0.61 [[-4.84567412e-02 -9.98825279e-01 8.19910481e-05 1.80367688e+02] [ 9.98821651e-01 -4.84567863e-02 -2.69253843e-03 1.28734581e+02] [ 2.69334847e-03 -4.85772040e-05 9.99996372e-01 6.11871009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.934012739 meters Centerline goodness : 0.996544 Centerline is valid? [True, True] Translation: X:180.37, Y:128.74, Z:0.61 [[-4.81278510e-02 -9.98841180e-01 8.10314513e-05 1.80368069e+02] [ 9.98837552e-01 -4.81278946e-02 -2.69256731e-03 1.28735050e+02] [ 2.69334698e-03 -4.86502218e-05 9.99996372e-01 6.11676605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.964012739 meters Centerline goodness : 0.996264 Centerline is valid? [True, True] Translation: X:180.37, Y:128.76, Z:0.61 [[-4.75484274e-02 -9.98868931e-01 8.00764224e-05 1.80370910e+02] [ 9.98865303e-01 -4.75484706e-02 -2.69259571e-03 1.28759108e+02] [ 2.69335771e-03 -4.80431319e-05 9.99996372e-01 6.09564259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.994012739 meters Centerline goodness : 0.995783 Centerline is valid? [True, True] Translation: X:180.37, Y:128.76, Z:0.61 [[-4.79356462e-02 -9.98850423e-01 7.91151696e-05 1.80374362e+02] [ 9.98846795e-01 -4.79356854e-02 -2.69262395e-03 1.28755717e+02] [ 2.69332102e-03 -5.00487357e-05 9.99996372e-01 6.06437204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.024012739 meters Centerline goodness : 0.996183 Centerline is valid? [True, True] Translation: X:180.38, Y:128.75, Z:0.61 [[-4.84203431e-02 -9.98827044e-01 7.81489658e-05 1.80376309e+02] [ 9.98823416e-01 -4.84203779e-02 -2.69265200e-03 1.28750274e+02] [ 2.69327764e-03 -5.23221167e-05 9.99996372e-01 6.05558341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05401273900003 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:180.38, Y:128.74, Z:0.61 [[-4.86226077e-02 -9.98817219e-01 7.71873932e-05 1.80379069e+02] [ 9.98813590e-01 -4.86226392e-02 -2.69267956e-03 1.28741505e+02] [ 2.69324776e-03 -5.38292845e-05 9.99996372e-01 6.06525060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.084012739 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:180.38, Y:128.75, Z:0.61 [[-4.87707051e-02 -9.98809998e-01 7.62320289e-05 1.80383808e+02] [ 9.98806370e-01 -4.87707335e-02 -2.69270661e-03 1.28746443e+02] [ 2.69322017e-03 -5.51841639e-05 9.99996372e-01 6.07170686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11401273900003 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:180.39, Y:128.75, Z:0.61 [[-4.80057760e-02 -9.98847055e-01 7.58728515e-05 1.80385289e+02] [ 9.98843427e-01 -4.80058061e-02 -2.69271673e-03 1.28745105e+02] [ 2.69325451e-03 -5.34808570e-05 9.99996372e-01 6.05163298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.144012739 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:180.39, Y:128.78, Z:0.60 [[-4.71703203e-02 -9.98886858e-01 7.49209945e-05 1.80389236e+02] [ 9.98883230e-01 -4.71703509e-02 -2.69274321e-03 1.28775001e+02] [ 2.69327986e-03 -5.21802347e-05 9.99996372e-01 6.00947681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17401273900003 meters Centerline goodness : 0.996080 Centerline is valid? [True, True] Translation: X:180.39, Y:128.76, Z:0.60 [[-4.59737703e-02 -9.98942644e-01 7.50407968e-05 1.80393278e+02] [ 9.98939016e-01 -4.59738057e-02 -2.69273987e-03 1.28761394e+02] [ 2.69334260e-03 -4.88342249e-05 9.99996372e-01 6.01981784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.204012739 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:180.40, Y:128.77, Z:0.61 [[-4.37656084e-02 -9.99041824e-01 7.40756004e-05 1.80397977e+02] [ 9.99038196e-01 -4.37656492e-02 -2.69276643e-03 1.28771213e+02] [ 2.69342825e-03 -4.38462068e-05 9.99996372e-01 6.07486734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.234012739 meters Centerline goodness : 0.996196 Centerline is valid? [True, True] Translation: X:180.40, Y:128.78, Z:0.61 [[-4.19105002e-02 -9.99121366e-01 7.38345579e-05 1.80398319e+02] [ 9.99117738e-01 -4.19105470e-02 -2.69277303e-03 1.28778997e+02] [ 2.69350152e-03 -3.90860482e-05 9.99996372e-01 6.09304317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.264012739 meters Centerline goodness : 0.996593 Centerline is valid? [True, True] Translation: X:180.40, Y:128.81, Z:0.61 [[-3.99341893e-02 -9.99202309e-01 7.35923997e-05 1.80398576e+02] [ 9.99198682e-01 -3.99342426e-02 -2.69277965e-03 1.28805374e+02] [ 2.69357050e-03 -3.40005436e-05 9.99996372e-01 6.09329916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.294012739 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:180.40, Y:128.84, Z:0.61 [[-3.40699993e-02 -9.99419446e-01 7.45723126e-05 1.80400161e+02] [ 9.99415819e-01 -3.40700766e-02 -2.69275252e-03 1.28837477e+02] [ 2.69372991e-03 -1.72133274e-05 9.99996372e-01 6.06342701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.324012739 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:180.40, Y:128.84, Z:0.61 [[-3.08136057e-02 -9.99525145e-01 7.55740594e-05 1.80400470e+02] [ 9.99521518e-01 -3.08136975e-02 -2.69272440e-03 1.28841782e+02] [ 2.69377446e-03 -7.43464930e-06 9.99996372e-01 6.05785740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.354012739 meters Centerline goodness : 0.996198 Centerline is valid? [True, True] Translation: X:180.40, Y:128.84, Z:0.61 [[-2.70916211e-02 -9.99632952e-01 7.54475840e-05 1.80398321e+02] [ 9.99629325e-01 -2.70917261e-02 -2.69272794e-03 1.28838203e+02] [ 2.69378359e-03 2.46925230e-06 9.99996372e-01 6.07951582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.384012739 meters Centerline goodness : 0.996343 Centerline is valid? [True, True] Translation: X:180.40, Y:128.83, Z:0.61 [[-2.58593962e-02 -9.99665587e-01 7.50648635e-05 1.80397552e+02] [ 9.99661960e-01 -2.58595046e-02 -2.69273861e-03 1.28833741e+02] [ 2.69377927e-03 5.40689393e-06 9.99996372e-01 6.09174954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.414012739 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:180.40, Y:128.85, Z:0.61 [[-2.47852252e-02 -9.99692796e-01 7.46841478e-05 1.80397317e+02] [ 9.99689170e-01 -2.47853365e-02 -2.69274917e-03 1.28847346e+02] [ 2.69377302e-03 7.92053897e-06 9.99996372e-01 6.12174371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.444012739 meters Centerline goodness : 0.996165 Centerline is valid? [True, True] Translation: X:180.40, Y:128.82, Z:0.61 [[-2.46331953e-02 -9.99696554e-01 7.45580538e-05 1.80397702e+02] [ 9.99692928e-01 -2.46333068e-02 -2.69275266e-03 1.28824377e+02] [ 2.69377217e-03 8.20405684e-06 9.99996372e-01 6.13572885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.474012739 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:180.40, Y:128.82, Z:0.61 [[-2.71138146e-02 -9.99632350e-01 7.35515073e-05 1.80397390e+02] [ 9.99628723e-01 -2.71139143e-02 -2.69278016e-03 1.28816377e+02] [ 2.69378443e-03 5.12657491e-07 9.99996372e-01 6.13005895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.504012739 meters Centerline goodness : 0.996220 Centerline is valid? [True, True] Translation: X:180.40, Y:128.83, Z:0.61 [[-2.87289556e-02 -9.99587236e-01 7.31764514e-05 1.80398573e+02] [ 9.99583609e-01 -2.87290485e-02 -2.69279035e-03 1.28826349e+02] [ 2.69378115e-03 -4.21507312e-06 9.99996372e-01 6.11747317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.534012739 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:180.40, Y:128.82, Z:0.61 [[-3.08381962e-02 -9.99524387e-01 7.29277533e-05 1.80400233e+02] [ 9.99520760e-01 -3.08382807e-02 -2.69279708e-03 1.28822945e+02] [ 2.69376532e-03 -1.01482013e-05 9.99996372e-01 6.05584325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.564012739 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:180.40, Y:128.84, Z:0.60 [[-3.20275305e-02 -9.99486984e-01 7.26786506e-05 1.80398889e+02] [ 9.99483357e-01 -3.20276101e-02 -2.69280381e-03 1.28840318e+02] [ 2.69375008e-03 -1.36027545e-05 9.99996372e-01 6.02660759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.594012739 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:180.40, Y:128.81, Z:0.60 [[-3.26711501e-02 -9.99466153e-01 7.36789653e-05 1.80399337e+02] [ 9.99462525e-01 -3.26712301e-02 -2.69277644e-03 1.28808563e+02] [ 2.69374609e-03 -1.43367386e-05 9.99996372e-01 6.00056403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.624012739 meters Centerline goodness : 0.996397 Centerline is valid? [True, True] Translation: X:180.40, Y:128.82, Z:0.60 [[-3.66773737e-02 -9.99327156e-01 7.26848307e-05 1.80401163e+02] [ 9.99323528e-01 -3.66774365e-02 -2.69280327e-03 1.28820533e+02] [ 2.69365733e-03 -2.61292905e-05 9.99996372e-01 6.01894345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.654012739 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:180.40, Y:128.80, Z:0.61 [[-3.98369166e-02 -9.99206192e-01 7.35484407e-05 1.80404782e+02] [ 9.99202564e-01 -3.98369702e-02 -2.69277968e-03 1.28801526e+02] [ 2.69357208e-03 -3.37822490e-05 9.99996372e-01 6.05267190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.684012739 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:180.41, Y:128.81, Z:0.61 [[-4.17075031e-02 -9.99129861e-01 7.33017857e-05 1.80405591e+02] [ 9.99126233e-01 -4.17075492e-02 -2.69278640e-03 1.28811737e+02] [ 2.69350054e-03 -3.90716599e-05 9.99996372e-01 6.05160772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.714012739 meters Centerline goodness : 0.996649 Centerline is valid? [True, True] Translation: X:180.41, Y:128.79, Z:0.61 [[-4.26830304e-02 -9.99088661e-01 7.42843464e-05 1.80407453e+02] [ 9.99085033e-01 -4.26830756e-02 -2.69275929e-03 1.28789305e+02] [ 2.69347596e-03 -4.07187479e-05 9.99996372e-01 6.05394576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.744012739 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:180.41, Y:128.81, Z:0.61 [[-4.47236949e-02 -9.98999392e-01 7.39155769e-05 1.80410598e+02] [ 9.98995764e-01 -4.47237317e-02 -2.69276941e-03 1.28813688e+02] [ 2.69338079e-03 -4.65892495e-05 9.99996372e-01 6.06372200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.774012739 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:180.41, Y:128.81, Z:0.61 [[-4.50904201e-02 -9.98982907e-01 7.48947193e-05 1.80410742e+02] [ 9.98979279e-01 -4.50904583e-02 -2.69274218e-03 1.28811170e+02] [ 2.69338045e-03 -4.65986036e-05 9.99996372e-01 6.06365422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80401273900003 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:180.41, Y:128.79, Z:0.61 [[-4.51186516e-02 -9.98981632e-01 7.58832065e-05 1.80413009e+02] [ 9.98978004e-01 -4.51186923e-02 -2.69271432e-03 1.28793667e+02] [ 2.69339590e-03 -4.56859854e-05 9.99996372e-01 6.07602625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.834012739 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:180.41, Y:128.80, Z:0.60 [[-4.32353857e-02 -9.99064911e-01 7.56375486e-05 1.80414081e+02] [ 9.99061283e-01 -4.32354325e-02 -2.69272123e-03 1.28797168e+02] [ 2.69347351e-03 -4.08542943e-05 9.99996372e-01 6.04658624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86401273900003 meters Centerline goodness : 0.996342 Centerline is valid? [True, True] Translation: X:180.41, Y:128.81, Z:0.60 [[-4.18730864e-02 -9.99122935e-01 7.66146662e-05 1.80413601e+02] [ 9.99119307e-01 -4.18731408e-02 -2.69269342e-03 1.28808164e+02] [ 2.69353985e-03 -3.62041921e-05 9.99996372e-01 6.03845936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.894012739 meters Centerline goodness : 0.996123 Centerline is valid? [True, True] Translation: X:180.41, Y:128.82, Z:0.61 [[-4.13836519e-02 -9.99143327e-01 7.75985929e-05 1.80414890e+02] [ 9.99139699e-01 -4.13837108e-02 -2.69266507e-03 1.28816862e+02] [ 2.69356965e-03 -3.39004791e-05 9.99996372e-01 6.09279477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92401273900003 meters Centerline goodness : 0.996096 Centerline is valid? [True, True] Translation: X:180.42, Y:128.79, Z:0.61 [[-4.23900271e-02 -9.99101136e-01 7.84659582e-05 1.80416678e+02] [ 9.99097508e-01 -4.23900847e-02 -2.69263979e-03 1.28794331e+02] [ 2.69354565e-03 -3.57459305e-05 9.99996372e-01 6.14105989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.954012739 meters Centerline goodness : 0.996329 Centerline is valid? [True, True] Translation: X:180.42, Y:128.79, Z:0.62 [[-4.40354921e-02 -9.99029964e-01 7.82188838e-05 1.80418499e+02] [ 9.99026336e-01 -4.40355430e-02 -2.69264697e-03 1.28785446e+02] [ 2.69347942e-03 -4.04293094e-05 9.99996372e-01 6.16910770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.984012739 meters Centerline goodness : 0.996351 Centerline is valid? [True, True] Translation: X:180.42, Y:128.80, Z:0.61 [[-4.71683384e-02 -9.98886951e-01 7.91956641e-05 1.80422264e+02] [ 9.98883323e-01 -4.71683805e-02 -2.69261824e-03 1.28804245e+02] [ 2.69335676e-03 -4.78991001e-05 9.99996372e-01 6.12147948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.014012739 meters Centerline goodness : 0.996005 Centerline is valid? [True, True] Translation: X:180.43, Y:128.80, Z:0.61 [[-4.90908478e-02 -9.98794314e-01 8.01775360e-05 1.80427911e+02] [ 9.98790686e-01 -4.90908857e-02 -2.69258900e-03 1.28804883e+02] [ 2.69327857e-03 -5.21009008e-05 9.99996372e-01 6.09274330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.044012739 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:180.43, Y:128.78, Z:0.61 [[-4.98400861e-02 -9.98757207e-01 8.11677020e-05 1.80431991e+02] [ 9.98753579e-01 -4.98401239e-02 -2.69255915e-03 1.28777847e+02] [ 2.69325827e-03 -5.31308472e-05 9.99996372e-01 6.09628121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.074012739 meters Centerline goodness : 0.996118 Centerline is valid? [True, True] Translation: X:180.44, Y:128.78, Z:0.61 [[-5.10866932e-02 -9.98694219e-01 8.15351957e-05 1.80435627e+02] [ 9.98690591e-01 -5.10867274e-02 -2.69254803e-03 1.28784029e+02] [ 2.69319751e-03 -5.61249421e-05 9.99996372e-01 6.10679586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.104012739 meters Centerline goodness : 0.996340 Centerline is valid? [True, True] Translation: X:180.44, Y:128.78, Z:0.61 [[-5.34142775e-02 -9.98572435e-01 8.25122497e-05 1.80444455e+02] [ 9.98568807e-01 -5.34143059e-02 -2.69251808e-03 1.28778823e+02] [ 2.69308167e-03 -6.14247494e-05 9.99996372e-01 6.07664277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.134012739 meters Centerline goodness : 0.996776 Centerline is valid? [True, True] Translation: X:180.45, Y:128.77, Z:0.61 [[-5.45026191e-02 -9.98513624e-01 8.34912995e-05 1.80448646e+02] [ 9.98509996e-01 -5.45026462e-02 -2.69248772e-03 1.28767898e+02] [ 2.69303617e-03 -6.33807356e-05 9.99996372e-01 6.06461876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.164012739 meters Centerline goodness : 0.996351 Centerline is valid? [True, True] Translation: X:180.46, Y:128.78, Z:0.61 [[-5.50363927e-02 -9.98484346e-01 8.44666413e-05 1.80455006e+02] [ 9.98480717e-01 -5.50364205e-02 -2.69245713e-03 1.28776746e+02] [ 2.69302503e-03 -6.38448153e-05 9.99996372e-01 6.08677131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.194012739 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:180.46, Y:128.80, Z:0.61 [[-5.45089275e-02 -9.98513280e-01 8.54425901e-05 1.80457529e+02] [ 9.98509652e-01 -5.45089598e-02 -2.69242616e-03 1.28803510e+02] [ 2.69308066e-03 -6.14460112e-05 9.99996372e-01 6.10772015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.224012739 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:180.46, Y:128.78, Z:0.61 [[-5.17374921e-02 -9.98660715e-01 8.64322304e-05 1.80464904e+02] [ 9.98657087e-01 -5.17375372e-02 -2.69239439e-03 1.28784727e+02] [ 2.69326029e-03 -5.29815738e-05 9.99996372e-01 6.10566292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.254012739 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:180.47, Y:128.78, Z:0.61 [[-5.11075982e-02 -9.98693149e-01 8.74264547e-05 1.80466524e+02] [ 9.98689521e-01 -5.11076482e-02 -2.69236210e-03 1.28781205e+02] [ 2.69331175e-03 -5.02882763e-05 9.99996372e-01 6.08889635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.284012739 meters Centerline goodness : 0.995964 Centerline is valid? [True, True] Translation: X:180.47, Y:128.80, Z:0.61 [[-5.01633923e-02 -9.98741021e-01 8.84148008e-05 1.80466802e+02] [ 9.98737393e-01 -5.01634484e-02 -2.69232964e-03 1.28799824e+02] [ 2.69337525e-03 -4.67532206e-05 9.99996372e-01 6.05995717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.314012739 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:180.47, Y:128.80, Z:0.61 [[-4.98950516e-02 -9.98754462e-01 8.94101131e-05 1.80468736e+02] [ 9.98750835e-01 -4.98951114e-02 -2.69229659e-03 1.28796983e+02] [ 2.69340436e-03 -4.50338523e-05 9.99996372e-01 6.06195065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.344012739 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:180.47, Y:128.78, Z:0.60 [[-5.03312150e-02 -9.98732577e-01 9.04124908e-05 1.80471908e+02] [ 9.98728949e-01 -5.03312759e-02 -2.69226293e-03 1.28775483e+02] [ 2.69340127e-03 -4.52072923e-05 9.99996372e-01 6.04448774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.374012739 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:180.48, Y:128.78, Z:0.60 [[-5.09480880e-02 -9.98701299e-01 9.14081001e-05 1.80475091e+02] [ 9.98697671e-01 -5.09481494e-02 -2.69222912e-03 1.28782028e+02] [ 2.69338980e-03 -4.58748698e-05 9.99996372e-01 6.02330919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.404012739 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:180.48, Y:128.80, Z:0.60 [[-5.04415106e-02 -9.98727013e-01 9.24001930e-05 1.80476195e+02] [ 9.98723385e-01 -5.04415764e-02 -2.69219507e-03 1.28796048e+02] [ 2.69342876e-03 -4.35161528e-05 9.99996372e-01 6.04399591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.434012739 meters Centerline goodness : 0.995830 Centerline is valid? [True, True] Translation: X:180.48, Y:128.80, Z:0.61 [[-4.94240660e-02 -9.98777880e-01 9.34010790e-05 1.80477298e+02] [ 9.98774252e-01 -4.94241383e-02 -2.69216035e-03 1.28801295e+02] [ 2.69348647e-03 -3.97709180e-05 9.99996372e-01 6.07617335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.464012739 meters Centerline goodness : 0.995558 Centerline is valid? [True, True] Translation: X:180.48, Y:128.79, Z:0.61 [[-4.63200186e-02 -9.98926647e-01 9.44105841e-05 1.80478273e+02] [ 9.98923020e-01 -4.63201049e-02 -2.69212495e-03 1.28789635e+02] [ 2.69360846e-03 -3.03903720e-05 9.99996372e-01 6.12377181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.494012739 meters Centerline goodness : 0.995992 Centerline is valid? [True, True] Translation: X:180.48, Y:128.81, Z:0.61 [[-4.51007543e-02 -9.98982439e-01 9.54195922e-05 1.80477104e+02] [ 9.98978812e-01 -4.51008477e-02 -2.69208918e-03 1.28805127e+02] [ 2.69365332e-03 -2.60931019e-05 9.99996372e-01 6.12655832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.524012739 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:180.48, Y:128.82, Z:0.61 [[-4.26265281e-02 -9.99091072e-01 9.64318784e-05 1.80478041e+02] [ 9.99087445e-01 -4.26266332e-02 -2.69205292e-03 1.28815918e+02] [ 2.69371661e-03 -1.84089906e-05 9.99996372e-01 6.11074591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55401273900003 meters Centerline goodness : 0.995704 Centerline is valid? [True, True] Translation: X:180.48, Y:128.81, Z:0.61 [[-4.22521573e-02 -9.99106974e-01 9.74555147e-05 1.80479594e+02] [ 9.99103348e-01 -4.22522665e-02 -2.69201587e-03 1.28808775e+02] [ 2.69372954e-03 -1.63753469e-05 9.99996372e-01 6.09856212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.584012739 meters Centerline goodness : 0.995750 Centerline is valid? [True, True] Translation: X:180.48, Y:128.79, Z:0.61 [[-4.21084288e-02 -9.99113042e-01 9.84821822e-05 1.80481562e+02] [ 9.99109415e-01 -4.21085413e-02 -2.69197831e-03 1.28793841e+02] [ 2.69373758e-03 -1.49605015e-05 9.99996372e-01 6.08974321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61401273900003 meters Centerline goodness : 0.995861 Centerline is valid? [True, True] Translation: X:180.48, Y:128.83, Z:0.61 [[-4.31480533e-02 -9.99068684e-01 9.95025805e-05 1.80480424e+02] [ 9.99065058e-01 -4.31481648e-02 -2.69194059e-03 1.28826989e+02] [ 2.69372690e-03 -1.67424449e-05 9.99996372e-01 6.09217745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.644012739 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:180.48, Y:128.83, Z:0.61 [[-4.39152271e-02 -9.99035256e-01 1.00531436e-04 1.80480579e+02] [ 9.99031629e-01 -4.39153386e-02 -2.69190217e-03 1.28833556e+02] [ 2.69372004e-03 -1.77814109e-05 9.99996372e-01 6.09310048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67401273900003 meters Centerline goodness : 0.995695 Centerline is valid? [True, True] Translation: X:180.48, Y:128.80, Z:0.61 [[-4.31593817e-02 -9.99068195e-01 1.01577456e-04 1.80481943e+02] [ 9.99064568e-01 -4.31594987e-02 -2.69186269e-03 1.28800567e+02] [ 2.69373843e-03 -1.46966919e-05 9.99996372e-01 6.08723833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.704012739 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:180.48, Y:128.80, Z:0.61 [[-4.25398980e-02 -9.99094764e-01 1.02615406e-04 1.80481813e+02] [ 9.99091137e-01 -4.25400201e-02 -2.69182313e-03 1.28801476e+02] [ 2.69375165e-03 -1.19877387e-05 9.99996372e-01 6.09721498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.734012739 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:180.48, Y:128.80, Z:0.61 [[-3.97803814e-02 -9.99208442e-01 1.03642684e-04 1.80481159e+02] [ 9.99204816e-01 -3.97805162e-02 -2.69178357e-03 1.28796043e+02] [ 2.69377583e-03 -3.51990792e-06 9.99996372e-01 6.13032330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.764012739 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:180.48, Y:128.80, Z:0.61 [[-3.76520549e-02 -9.99290905e-01 1.04670449e-04 1.80479883e+02] [ 9.99287279e-01 -3.76522002e-02 -2.69174361e-03 1.28798565e+02] [ 2.69377598e-03 3.24616973e-06 9.99996372e-01 6.13263292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.794012739 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:180.48, Y:128.78, Z:0.61 [[-3.25650287e-02 -9.99469613e-01 1.05698884e-04 1.80477308e+02] [ 9.99465989e-01 -3.25651953e-02 -2.69170322e-03 1.28777152e+02] [ 2.69371768e-03 1.79870470e-05 9.99996372e-01 6.09790896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.824012739 meters Centerline goodness : 0.995762 Centerline is valid? [True, True] Translation: X:180.48, Y:128.78, Z:0.61 [[-3.03463304e-02 -9.99539438e-01 1.06722046e-04 1.80475997e+02] [ 9.99535814e-01 -3.03465077e-02 -2.69166265e-03 1.28776094e+02] [ 2.69366162e-03 2.49904230e-05 9.99996372e-01 6.08867940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.854012739 meters Centerline goodness : 0.995987 Centerline is valid? [True, True] Translation: X:180.47, Y:128.77, Z:0.61 [[-2.86661017e-02 -9.99589037e-01 1.07738979e-04 1.80474561e+02] [ 9.99585414e-01 -2.86662879e-02 -2.69162195e-03 1.28767389e+02] [ 2.69360427e-03 3.05360035e-05 9.99996372e-01 6.08421225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.884012739 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:180.47, Y:128.76, Z:0.61 [[-2.68184804e-02 -9.99640314e-01 1.08754066e-04 1.80470201e+02] [ 9.99636691e-01 -2.68186761e-02 -2.69158093e-03 1.28755867e+02] [ 2.69352945e-03 3.65304435e-05 9.99996372e-01 6.05670526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.914012739 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:180.47, Y:128.76, Z:0.61 [[-2.85085080e-02 -9.99593544e-01 1.09763682e-04 1.80465841e+02] [ 9.99589921e-01 -2.85087003e-02 -2.69153976e-03 1.28759552e+02] [ 2.69357499e-03 3.29868874e-05 9.99996372e-01 6.08893263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.944012739 meters Centerline goodness : 0.996300 Centerline is valid? [True, True] Translation: X:180.46, Y:128.76, Z:0.61 [[-3.05248834e-02 -9.99534001e-01 1.10772469e-04 1.80464433e+02] [ 9.99530378e-01 -3.05250711e-02 -2.69149824e-03 1.28760451e+02] [ 2.69362535e-03 2.85627775e-05 9.99996372e-01 6.10231504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.974012739 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:180.46, Y:128.76, Z:0.61 [[-3.29964216e-02 -9.99455464e-01 1.11784863e-04 1.80463853e+02] [ 9.99451840e-01 -3.29966030e-02 -2.69145620e-03 1.28758836e+02] [ 2.69367912e-03 2.29151640e-05 9.99996372e-01 6.11851594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.004012739 meters Centerline goodness : 0.995910 Centerline is valid? [True, True] Translation: X:180.46, Y:128.78, Z:0.61 [[-3.75144367e-02 -9.99296079e-01 1.12798730e-04 1.80463166e+02] [ 9.99292455e-01 -3.75146044e-02 -2.69141370e-03 1.28777527e+02] [ 2.69375076e-03 1.17520504e-05 9.99996372e-01 6.10844326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.034012739 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:180.46, Y:128.77, Z:0.61 [[-4.09214803e-02 -9.99162359e-01 1.13820761e-04 1.80461806e+02] [ 9.99158734e-01 -4.09216384e-02 -2.69137048e-03 1.28772144e+02] [ 2.69377381e-03 3.59014388e-06 9.99996372e-01 6.08213208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.064012739 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:180.46, Y:128.76, Z:0.61 [[-4.23226832e-02 -9.99103987e-01 1.14849740e-04 1.80461572e+02] [ 9.99100362e-01 -4.23228390e-02 -2.69132657e-03 1.28757564e+02] [ 2.69377587e-03 8.42255515e-07 9.99996372e-01 6.08535894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.094012739 meters Centerline goodness : 0.996183 Centerline is valid? [True, True] Translation: X:180.46, Y:128.76, Z:0.61 [[-4.27667731e-02 -9.99085076e-01 1.15873098e-04 1.80460765e+02] [ 9.99081451e-01 -4.27669301e-02 -2.69128251e-03 1.28762354e+02] [ 2.69377573e-03 6.69194437e-07 9.99996372e-01 6.09504851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.124012739 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:180.46, Y:128.77, Z:0.61 [[-4.16753104e-02 -9.99131200e-01 1.16894584e-04 1.80458171e+02] [ 9.99127576e-01 -4.16754741e-02 -2.69123814e-03 1.28766300e+02] [ 2.69377163e-03 4.63441721e-06 9.99996372e-01 6.11435800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.154012739 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:180.46, Y:128.77, Z:0.61 [[-4.04875401e-02 -9.99180036e-01 1.17921294e-04 1.80456731e+02] [ 9.99176412e-01 -4.04877109e-02 -2.69119315e-03 1.28766440e+02] [ 2.69376084e-03 8.86438493e-06 9.99996372e-01 6.10686206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.184012739 meters Centerline goodness : 0.996188 Centerline is valid? [True, True] Translation: X:180.45, Y:128.75, Z:0.61 [[-3.80260699e-02 -9.99276740e-01 1.18951397e-04 1.80454310e+02] [ 9.99273117e-01 -3.80262523e-02 -2.69114762e-03 1.28753117e+02] [ 2.69372450e-03 1.65311654e-05 9.99996372e-01 6.09040532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.214012739 meters Centerline goodness : 0.995856 Centerline is valid? [True, True] Translation: X:180.45, Y:128.76, Z:0.61 [[-3.73732861e-02 -9.99301368e-01 1.19978415e-04 1.80451499e+02] [ 9.99297744e-01 -3.73734737e-02 -2.69110183e-03 1.28763430e+02] [ 2.69370575e-03 1.93188405e-05 9.99996372e-01 6.12722913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.244012739 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:180.45, Y:128.74, Z:0.61 [[-3.72480607e-02 -9.99306043e-01 1.21006260e-04 1.80451451e+02] [ 9.99302420e-01 -3.72482515e-02 -2.69105562e-03 1.28738363e+02] [ 2.69369541e-03 2.06852452e-05 9.99996372e-01 6.14040135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.274012739 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:180.45, Y:128.75, Z:0.62 [[-3.67371815e-02 -9.99324955e-01 1.22030692e-04 1.80449503e+02] [ 9.99321332e-01 -3.67373769e-02 -2.69100916e-03 1.28746294e+02] [ 2.69367569e-03 2.30877819e-05 9.99996372e-01 6.15061202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30401273900003 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:180.45, Y:128.74, Z:0.61 [[-3.51088086e-02 -9.99383488e-01 1.23050720e-04 1.80445598e+02] [ 9.99379866e-01 -3.51090127e-02 -2.69096252e-03 1.28744464e+02] [ 2.69362370e-03 2.84979236e-05 9.99996372e-01 6.13770170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.334012739 meters Centerline goodness : 0.995694 Centerline is valid? [True, True] Translation: X:180.44, Y:128.73, Z:0.61 [[-3.48762674e-02 -9.99391630e-01 1.24074776e-04 1.80444097e+02] [ 9.99388008e-01 -3.48764750e-02 -2.69091530e-03 1.28733772e+02] [ 2.69360552e-03 3.01497613e-05 9.99996372e-01 6.13236505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36401273900003 meters Centerline goodness : 0.995519 Centerline is valid? [True, True] Translation: X:180.44, Y:128.73, Z:0.61 [[-3.48507090e-02 -9.99392522e-01 1.25096121e-04 1.80442173e+02] [ 9.99388900e-01 -3.48509195e-02 -2.69086782e-03 1.28729147e+02] [ 2.69359289e-03 3.12410233e-05 9.99996372e-01 6.13954127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.394012739 meters Centerline goodness : 0.995815 Centerline is valid? [True, True] Translation: X:180.44, Y:128.73, Z:0.62 [[-3.58787165e-02 -9.99356144e-01 1.26113760e-04 1.80441591e+02] [ 9.99352521e-01 -3.58789261e-02 -2.69082012e-03 1.28728399e+02] [ 2.69361245e-03 2.94889312e-05 9.99996372e-01 6.15057969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42401273900003 meters Centerline goodness : 0.995944 Centerline is valid? [True, True] Translation: X:180.44, Y:128.74, Z:0.62 [[-3.82415742e-02 -9.99268515e-01 1.27131380e-04 1.80439143e+02] [ 9.99264893e-01 -3.82417779e-02 -2.69077204e-03 1.28735915e+02] [ 2.69366551e-03 2.41385659e-05 9.99996372e-01 6.16706623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.454012739 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:180.44, Y:128.73, Z:0.62 [[-3.97350987e-02 -9.99210241e-01 1.28153505e-04 1.80439356e+02] [ 9.99206618e-01 -3.97352998e-02 -2.69072336e-03 1.28729413e+02] [ 2.69369056e-03 2.11356723e-05 9.99996372e-01 6.16408317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.484012739 meters Centerline goodness : 0.995556 Centerline is valid? [True, True] Translation: X:180.44, Y:128.72, Z:0.62 [[-4.21805140e-02 -9.99109998e-01 1.29177810e-04 1.80438783e+02] [ 9.99106375e-01 -4.21807090e-02 -2.69067419e-03 1.28724434e+02] [ 2.69372829e-03 1.55683535e-05 9.99996372e-01 6.15488958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.514012739 meters Centerline goodness : 0.996193 Centerline is valid? [True, True] Translation: X:180.44, Y:128.72, Z:0.61 [[-4.35431319e-02 -9.99051540e-01 1.30199559e-04 1.80437072e+02] [ 9.99047916e-01 -4.35433247e-02 -2.69062474e-03 1.28721725e+02] [ 2.69374211e-03 1.29173701e-05 9.99996372e-01 6.14224427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.544012739 meters Centerline goodness : 0.996324 Centerline is valid? [True, True] Translation: X:180.43, Y:128.74, Z:0.61 [[-4.48207148e-02 -9.98995038e-01 1.31220454e-04 1.80432990e+02] [ 9.98991415e-01 -4.48209056e-02 -2.69057495e-03 1.28738692e+02] [ 2.69375245e-03 1.04946149e-05 9.99996372e-01 6.09319271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.574012739 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:180.43, Y:128.74, Z:0.61 [[-4.51397128e-02 -9.98980675e-01 1.32248440e-04 1.80432930e+02] [ 9.98977052e-01 -4.51399053e-02 -2.69052442e-03 1.28735003e+02] [ 2.69375159e-03 1.06636564e-05 9.99996372e-01 6.07211148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.604012739 meters Centerline goodness : 0.995747 Centerline is valid? [True, True] Translation: X:180.43, Y:128.72, Z:0.61 [[-4.51697904e-02 -9.98979315e-01 1.33283614e-04 1.80432944e+02] [ 9.98975692e-01 -4.51699856e-02 -2.69047314e-03 1.28723608e+02] [ 2.69374744e-03 1.16189822e-05 9.99996372e-01 6.09009211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.634012739 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:180.43, Y:128.71, Z:0.61 [[-4.44182765e-02 -9.99013012e-01 1.34314978e-04 1.80429947e+02] [ 9.99009390e-01 -4.44184772e-02 -2.69042165e-03 1.28708471e+02] [ 2.69373231e-03 1.46780315e-05 9.99996372e-01 6.14341414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.664012739 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:180.43, Y:128.71, Z:0.61 [[-4.47965206e-02 -9.98996123e-01 1.35337568e-04 1.80430147e+02] [ 9.98992500e-01 -4.47967226e-02 -2.69037021e-03 1.28705960e+02] [ 2.69373209e-03 1.46819905e-05 9.99996372e-01 6.14334637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.694012739 meters Centerline goodness : 0.996018 Centerline is valid? [True, True] Translation: X:180.43, Y:128.71, Z:0.62 [[-4.48357037e-02 -9.98994365e-01 1.36356182e-04 1.80428075e+02] [ 9.98990742e-01 -4.48359083e-02 -2.69031858e-03 1.28708187e+02] [ 2.69372676e-03 1.55962371e-05 9.99996372e-01 6.15962552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.724012739 meters Centerline goodness : 0.996592 Centerline is valid? [True, True] Translation: X:180.43, Y:128.70, Z:0.62 [[-4.55617072e-02 -9.98961517e-01 1.37376622e-04 1.80426676e+02] [ 9.98957894e-01 -4.55619119e-02 -2.69026648e-03 1.28699842e+02] [ 2.69373182e-03 1.46603280e-05 9.99996372e-01 6.15739827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.754012739 meters Centerline goodness : 0.995686 Centerline is valid? [True, True] Translation: X:180.43, Y:128.70, Z:0.62 [[-4.65582707e-02 -9.98915566e-01 1.38396704e-04 1.80425254e+02] [ 9.98911944e-01 -4.65584746e-02 -2.69021400e-03 1.28702852e+02] [ 2.69374018e-03 1.29944091e-05 9.99996372e-01 6.15307478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.784012739 meters Centerline goodness : 0.996857 Centerline is valid? [True, True] Translation: X:180.42, Y:128.69, Z:0.62 [[-4.82250833e-02 -9.98836484e-01 1.39416766e-04 1.80424236e+02] [ 9.98832861e-01 -4.82252838e-02 -2.69016113e-03 1.28689313e+02] [ 2.69375450e-03 9.52080248e-06 9.99996372e-01 6.15030020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.814012739 meters Centerline goodness : 0.996527 Centerline is valid? [True, True] Translation: X:180.43, Y:128.68, Z:0.62 [[-4.98882495e-02 -9.98754796e-01 1.39416766e-04 1.80425520e+02] [ 9.98751173e-01 -4.98884441e-02 -2.69016113e-03 1.28681246e+02] [ 2.69376662e-03 5.03522849e-06 9.99996372e-01 6.16767049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.844012739 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:180.43, Y:128.70, Z:0.62 [[-5.24705571e-02 -9.98622462e-01 1.40426839e-04 1.80425727e+02] [ 9.98618838e-01 -5.24707451e-02 -2.69010841e-03 1.28696869e+02] [ 2.69377098e-03 -9.18599801e-07 9.99996372e-01 6.16783489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.874012739 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:180.43, Y:128.68, Z:0.62 [[-5.29071271e-02 -9.98599427e-01 1.41441350e-04 1.80426090e+02] [ 9.98595804e-01 -5.29073162e-02 -2.69005507e-03 1.28681479e+02] [ 2.69377073e-03 -1.08034643e-06 9.99996372e-01 6.15113511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.904012739 meters Centerline goodness : 0.996299 Centerline is valid? [True, True] Translation: X:180.43, Y:128.67, Z:0.61 [[-5.34501238e-02 -9.98570510e-01 1.41567916e-04 1.80427330e+02] [ 9.98566887e-01 -5.34503112e-02 -2.69004840e-03 1.28674107e+02] [ 2.69376986e-03 -2.41838681e-06 9.99996372e-01 6.13386338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.934012739 meters Centerline goodness : 0.996275 Centerline is valid? [True, True] Translation: X:180.43, Y:128.69, Z:0.61 [[-5.35340852e-02 -9.98566013e-01 1.42576623e-04 1.80428223e+02] [ 9.98562389e-01 -5.35342750e-02 -2.68999494e-03 1.28688748e+02] [ 2.69377026e-03 -1.63476546e-06 9.99996372e-01 6.14865555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.964012739 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:180.43, Y:128.66, Z:0.62 [[-5.28310615e-02 -9.98603454e-01 1.43589934e-04 1.80431465e+02] [ 9.98599831e-01 -5.28312566e-02 -2.68994085e-03 1.28661724e+02] [ 2.69377026e-03 1.27645324e-06 9.99996372e-01 6.19132591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.994012739 meters Centerline goodness : 0.996421 Centerline is valid? [True, True] Translation: X:180.43, Y:128.67, Z:0.62 [[-5.33070076e-02 -9.98578160e-01 1.43337491e-04 1.80431055e+02] [ 9.98574537e-01 -5.33072003e-02 -2.68995430e-03 1.28668288e+02] [ 2.69377054e-03 -2.60246067e-07 9.99996372e-01 6.20427040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.024012739 meters Centerline goodness : 0.996824 Centerline is valid? [True, True] Translation: X:180.43, Y:128.66, Z:0.62 [[-5.36335106e-02 -9.98560677e-01 1.44339315e-04 1.80431231e+02] [ 9.98557054e-01 -5.36337048e-02 -2.68990054e-03 1.28659632e+02] [ 2.69377036e-03 -1.37768333e-07 9.99996372e-01 6.20254339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05401273900003 meters Centerline goodness : 0.996287 Centerline is valid? [True, True] Translation: X:180.43, Y:128.67, Z:0.62 [[-5.17917721e-02 -9.98657895e-01 1.45342098e-04 1.80431221e+02] [ 9.98654273e-01 -5.17919757e-02 -2.68984636e-03 1.28671639e+02] [ 2.69376386e-03 5.83459781e-06 9.99996372e-01 6.17947487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.084012739 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:180.43, Y:128.67, Z:0.62 [[-5.03698364e-02 -9.98730623e-01 1.46348115e-04 1.80429244e+02] [ 9.98727001e-01 -5.03700479e-02 -2.68979162e-03 1.28670164e+02] [ 2.69374883e-03 1.06774502e-05 9.99996372e-01 6.16245641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11401273900003 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:180.43, Y:128.66, Z:0.62 [[-5.03899296e-02 -9.98729610e-01 1.47359530e-04 1.80428418e+02] [ 9.98725988e-01 -5.03901437e-02 -2.68973621e-03 1.28664473e+02] [ 2.69374467e-03 1.16361740e-05 9.99996372e-01 6.15112573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.144012739 meters Centerline goodness : 0.996834 Centerline is valid? [True, True] Translation: X:180.43, Y:128.68, Z:0.62 [[-5.02739097e-02 -9.98735457e-01 1.48370260e-04 1.80427346e+02] [ 9.98731835e-01 -5.02741269e-02 -2.68968046e-03 1.28676102e+02] [ 2.69373843e-03 1.29613495e-05 9.99996372e-01 6.15264459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17401273900003 meters Centerline goodness : 0.996464 Centerline is valid? [True, True] Translation: X:180.43, Y:128.67, Z:0.62 [[-4.92504347e-02 -9.98786450e-01 1.49384943e-04 1.80427625e+02] [ 9.98782829e-01 -4.92506584e-02 -2.68962410e-03 1.28674329e+02] [ 2.69371741e-03 1.67379597e-05 9.99996372e-01 6.16831020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.204012739 meters Centerline goodness : 0.996294 Centerline is valid? [True, True] Translation: X:180.43, Y:128.68, Z:0.62 [[-4.80922119e-02 -9.98842889e-01 1.50405117e-04 1.80427394e+02] [ 9.98839268e-01 -4.80924426e-02 -2.68956705e-03 1.28676579e+02] [ 2.69368827e-03 2.08833088e-05 9.99996372e-01 6.15811413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.234012739 meters Centerline goodness : 0.996397 Centerline is valid? [True, True] Translation: X:180.43, Y:128.67, Z:0.61 [[-4.48862292e-02 -9.98992094e-01 1.51427461e-04 1.80426053e+02] [ 9.98988474e-01 -4.48864743e-02 -2.68950949e-03 1.28674045e+02] [ 2.69359576e-03 3.05523485e-05 9.99996372e-01 6.09474272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.264012739 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:180.43, Y:128.67, Z:0.61 [[-4.36140491e-02 -9.99048443e-01 1.52451641e-04 1.80425143e+02] [ 9.99044824e-01 -4.36143015e-02 -2.68945143e-03 1.28669322e+02] [ 2.69354134e-03 3.50081558e-05 9.99996372e-01 6.08669814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.294012739 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:180.42, Y:128.67, Z:0.61 [[-4.15508091e-02 -9.99136380e-01 1.53474777e-04 1.80423318e+02] [ 9.99132762e-01 -4.15510717e-02 -2.68939305e-03 1.28670948e+02] [ 2.69344748e-03 4.15952209e-05 9.99996372e-01 6.11313866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.324012739 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:180.42, Y:128.68, Z:0.61 [[-4.11232543e-02 -9.99154069e-01 1.54498913e-04 1.80422595e+02] [ 9.99150451e-01 -4.11235213e-02 -2.68933421e-03 1.28678754e+02] [ 2.69341276e-03 4.37734838e-05 9.99996372e-01 6.13779355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.354012739 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:180.42, Y:128.66, Z:0.61 [[-4.03463864e-02 -9.99185741e-01 1.55528299e-04 1.80422810e+02] [ 9.99182123e-01 -4.03466589e-02 -2.68927468e-03 1.28661955e+02] [ 2.69335996e-03 4.68985801e-05 9.99996372e-01 6.14524879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.384012739 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:180.42, Y:128.64, Z:0.62 [[-3.85972343e-02 -9.99254837e-01 1.55271349e-04 1.80420971e+02] [ 9.99251220e-01 -3.85975124e-02 -2.68928952e-03 1.28643045e+02] [ 2.69327864e-03 5.13559479e-05 9.99996372e-01 6.15282695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.414012739 meters Centerline goodness : 0.996598 Centerline is valid? [True, True] Translation: X:180.42, Y:128.65, Z:0.61 [[-3.86917155e-02 -9.99251183e-01 1.54889806e-04 1.80419275e+02] [ 9.99247566e-01 -3.86919922e-02 -2.68931149e-03 1.28648768e+02] [ 2.69329068e-03 5.07191870e-05 9.99996372e-01 6.14772792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.444012739 meters Centerline goodness : 0.996439 Centerline is valid? [True, True] Translation: X:180.42, Y:128.66, Z:0.62 [[-3.91283125e-02 -9.99234182e-01 1.55896762e-04 1.80416312e+02] [ 9.99230565e-01 -3.91285904e-02 -2.68925312e-03 1.28656916e+02] [ 2.69329366e-03 5.05508730e-05 9.99996372e-01 6.15631151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.474012739 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:180.41, Y:128.67, Z:0.62 [[-3.92347023e-02 -9.99230010e-01 1.56783015e-04 1.80413910e+02] [ 9.99226393e-01 -3.92349823e-02 -2.68920145e-03 1.28666554e+02] [ 2.69328217e-03 5.11517078e-05 9.99996372e-01 6.15741651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.504012739 meters Centerline goodness : 0.996338 Centerline is valid? [True, True] Translation: X:180.41, Y:128.67, Z:0.62 [[-3.97996415e-02 -9.99207668e-01 1.56910226e-04 1.80409736e+02] [ 9.99204051e-01 -3.97999197e-02 -2.68919403e-03 1.28666618e+02] [ 2.69330831e-03 4.97563756e-05 9.99996372e-01 6.15850660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.534012739 meters Centerline goodness : 0.996370 Centerline is valid? [True, True] Translation: X:180.41, Y:128.67, Z:0.62 [[-4.01464742e-02 -9.99193793e-01 1.56523811e-04 1.80407854e+02] [ 9.99190175e-01 -4.01467501e-02 -2.68921652e-03 1.28672078e+02] [ 2.69333237e-03 4.84344926e-05 9.99996372e-01 6.16409871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.564012739 meters Centerline goodness : 0.996421 Centerline is valid? [True, True] Translation: X:180.41, Y:128.67, Z:0.62 [[-4.02940629e-02 -9.99187852e-01 1.56137545e-04 1.80406421e+02] [ 9.99184234e-01 -4.02943373e-02 -2.68923894e-03 1.28674292e+02] [ 2.69334634e-03 4.76498101e-05 9.99996372e-01 6.17449770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.594012739 meters Centerline goodness : 0.996762 Centerline is valid? [True, True] Translation: X:180.40, Y:128.67, Z:0.62 [[-3.97819895e-02 -9.99208371e-01 1.55750846e-04 1.80403414e+02] [ 9.99204753e-01 -3.97822647e-02 -2.68926134e-03 1.28667174e+02] [ 2.69332856e-03 4.86428190e-05 9.99996372e-01 6.20667166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.624012739 meters Centerline goodness : 0.996501 Centerline is valid? [True, True] Translation: X:180.40, Y:128.67, Z:0.62 [[-4.06185224e-02 -9.99174715e-01 1.54729520e-04 1.80400727e+02] [ 9.99171097e-01 -4.06187918e-02 -2.68932010e-03 1.28670761e+02] [ 2.69338557e-03 4.53650557e-05 9.99996372e-01 6.20213233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.654012739 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:180.40, Y:128.68, Z:0.62 [[-4.10841622e-02 -9.99155678e-01 1.54345347e-04 1.80400268e+02] [ 9.99152059e-01 -4.10844288e-02 -2.68934215e-03 1.28676968e+02] [ 2.69341267e-03 4.37251026e-05 9.99996372e-01 6.18114979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.684012739 meters Centerline goodness : 0.996306 Centerline is valid? [True, True] Translation: X:180.40, Y:128.68, Z:0.62 [[-4.20325059e-02 -9.99116232e-01 1.53960319e-04 1.80400224e+02] [ 9.99112613e-01 -4.20327681e-02 -2.68936419e-03 1.28682438e+02] [ 2.69345879e-03 4.07829808e-05 9.99996372e-01 6.15097740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.714012739 meters Centerline goodness : 0.996602 Centerline is valid? [True, True] Translation: X:180.40, Y:128.67, Z:0.62 [[-4.43623264e-02 -9.99015496e-01 1.53574523e-04 1.80401244e+02] [ 9.99011876e-01 -4.43625791e-02 -2.68938622e-03 1.28674705e+02] [ 2.69355147e-03 3.41153434e-05 9.99996372e-01 6.15015118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.744012739 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:180.40, Y:128.67, Z:0.62 [[-4.57362392e-02 -9.98953539e-01 1.52554662e-04 1.80401209e+02] [ 9.98949919e-01 -4.57364842e-02 -2.68944407e-03 1.28672764e+02] [ 2.69360699e-03 2.93894097e-05 9.99996372e-01 6.17312042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.774012739 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:180.40, Y:128.69, Z:0.62 [[-4.79805039e-02 -9.98848261e-01 1.52171713e-04 1.80400530e+02] [ 9.98844640e-01 -4.79807398e-02 -2.68946574e-03 1.28690400e+02] [ 2.69366949e-03 2.29539789e-05 9.99996372e-01 6.20231979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80401273900003 meters Centerline goodness : 0.996679 Centerline is valid? [True, True] Translation: X:180.40, Y:128.68, Z:0.62 [[-4.82151051e-02 -9.98836964e-01 1.51916571e-04 1.80401491e+02] [ 9.98833343e-01 -4.82153394e-02 -2.68948015e-03 1.28682359e+02] [ 2.69367690e-03 2.20657680e-05 9.99996372e-01 6.19335846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.834012739 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:180.40, Y:128.67, Z:0.62 [[-4.89898281e-02 -9.98799266e-01 1.50895840e-04 1.80403016e+02] [ 9.98795645e-01 -4.89900568e-02 -2.68953742e-03 1.28668456e+02] [ 2.69370040e-03 1.89541320e-05 9.99996372e-01 6.17454532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86401273900003 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:180.40, Y:128.67, Z:0.62 [[-5.02184133e-02 -9.98738248e-01 1.49885072e-04 1.80403151e+02] [ 9.98734627e-01 -5.02186349e-02 -2.68959375e-03 1.28670864e+02] [ 2.69372717e-03 1.46282814e-05 9.99996372e-01 6.16857765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.894012739 meters Centerline goodness : 0.997360 Centerline is valid? [True, True] Translation: X:180.40, Y:128.68, Z:0.62 [[-5.46370311e-02 -9.98506271e-01 1.49505957e-04 1.80403573e+02] [ 9.98502648e-01 -5.46372356e-02 -2.68961482e-03 1.28684775e+02] [ 2.69376586e-03 2.32952551e-06 9.99996372e-01 6.16582431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92401273900003 meters Centerline goodness : 0.996874 Centerline is valid? [True, True] Translation: X:180.40, Y:128.68, Z:0.62 [[-5.64599560e-02 -9.98404853e-01 1.49253128e-04 1.80404382e+02] [ 9.98401230e-01 -5.64601532e-02 -2.68962885e-03 1.28681534e+02] [ 2.69376535e-03 -2.84182010e-06 9.99996372e-01 6.16456099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.954012739 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:180.41, Y:128.65, Z:0.61 [[-5.76257043e-02 -9.98338247e-01 1.48871476e-04 1.80408157e+02] [ 9.98334624e-01 -5.76258963e-02 -2.68964997e-03 1.28645568e+02] [ 2.69375929e-03 -6.36942479e-06 9.99996372e-01 6.13617825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.984012739 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:180.41, Y:128.65, Z:0.61 [[-5.71215917e-02 -9.98367218e-01 1.47875939e-04 1.80408814e+02] [ 9.98363595e-01 -5.71217828e-02 -2.68970471e-03 1.28654770e+02] [ 2.69375994e-03 -6.00626003e-06 9.99996372e-01 6.14065511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.014012739 meters Centerline goodness : 0.996538 Centerline is valid? [True, True] Translation: X:180.41, Y:128.67, Z:0.62 [[-5.52357627e-02 -9.98473329e-01 1.47629398e-04 1.80411697e+02] [ 9.98469706e-01 -5.52359600e-02 -2.68971824e-03 1.28668980e+02] [ 2.69376638e-03 -1.16515668e-06 9.99996372e-01 6.16539986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.044012739 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:180.41, Y:128.67, Z:0.62 [[-5.40064666e-02 -9.98540575e-01 1.48497839e-04 1.80413171e+02] [ 9.98536952e-01 -5.40066707e-02 -2.68967029e-03 1.28667615e+02] [ 2.69376479e-03 3.02099070e-06 9.99996372e-01 6.17436736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.074012739 meters Centerline goodness : 0.996645 Centerline is valid? [True, True] Translation: X:180.41, Y:128.69, Z:0.62 [[-5.11200271e-02 -9.98692506e-01 1.48248107e-04 1.80413775e+02] [ 9.98688884e-01 -5.11202409e-02 -2.68968406e-03 1.28692235e+02] [ 2.69374579e-03 1.05570146e-05 9.99996372e-01 6.18100570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.104012739 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:180.41, Y:128.69, Z:0.62 [[-4.89609451e-02 -9.98800683e-01 1.49254873e-04 1.80414793e+02] [ 9.98797061e-01 -4.89611695e-02 -2.68962819e-03 1.28690464e+02] [ 2.69371016e-03 1.73885907e-05 9.99996372e-01 6.15987436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.134012739 meters Centerline goodness : 0.996622 Centerline is valid? [True, True] Translation: X:180.42, Y:128.72, Z:0.61 [[-4.39764217e-02 -9.99032558e-01 1.49000814e-04 1.80416087e+02] [ 9.99028938e-01 -4.39766635e-02 -2.68964226e-03 1.28722411e+02] [ 2.69359275e-03 3.05752825e-05 9.99996372e-01 6.13718383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.164012739 meters Centerline goodness : 0.996811 Centerline is valid? [True, True] Translation: X:180.42, Y:128.70, Z:0.61 [[-4.05461119e-02 -9.99177657e-01 1.50027253e-04 1.80417918e+02] [ 9.99174038e-01 -4.05463688e-02 -2.68958501e-03 1.28700881e+02] [ 2.69345631e-03 4.08511218e-05 9.99996372e-01 6.13767704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.194012739 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:180.42, Y:128.70, Z:0.62 [[-3.77928848e-02 -9.99285583e-01 1.49638649e-04 1.80416953e+02] [ 9.99281964e-01 -3.77931507e-02 -2.68960663e-03 1.28702545e+02] [ 2.69334044e-03 4.78832096e-05 9.99996372e-01 6.15099380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.224012739 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:180.42, Y:128.68, Z:0.62 [[-3.41273215e-02 -9.99417482e-01 1.50532513e-04 1.80416002e+02] [ 9.99413865e-01 -3.41276031e-02 -2.68955660e-03 1.28678086e+02] [ 2.69312720e-03 5.86569183e-05 9.99996372e-01 6.16586740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.254012739 meters Centerline goodness : 0.996903 Centerline is valid? [True, True] Translation: X:180.42, Y:128.68, Z:0.62 [[-3.46140916e-02 -9.99400742e-01 1.50150392e-04 1.80418354e+02] [ 9.99397124e-01 -3.46143704e-02 -2.68957793e-03 1.28678778e+02] [ 2.69316354e-03 5.69625728e-05 9.99996372e-01 6.15458712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.284012739 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:180.42, Y:128.69, Z:0.61 [[-3.61056328e-02 -9.99347968e-01 1.50275585e-04 1.80417729e+02] [ 9.99344350e-01 -3.61059065e-02 -2.68957094e-03 1.28690749e+02] [ 2.69324309e-03 5.30683964e-05 9.99996372e-01 6.14566535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.314012739 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:180.41, Y:128.68, Z:0.61 [[-3.66192238e-02 -9.99329280e-01 1.51286252e-04 1.80412630e+02] [ 9.99325662e-01 -3.66194984e-02 -2.68951409e-03 1.28682799e+02] [ 2.69325020e-03 5.26963158e-05 9.99996372e-01 6.13201935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.344012739 meters Centerline goodness : 0.997001 Centerline is valid? [True, True] Translation: X:180.41, Y:128.70, Z:0.61 [[-3.65127857e-02 -9.99333175e-01 1.50904826e-04 1.80409637e+02] [ 9.99329557e-01 -3.65130596e-02 -2.68953549e-03 1.28696312e+02] [ 2.69325203e-03 5.26012205e-05 9.99996372e-01 6.12452721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.374012739 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:180.41, Y:128.69, Z:0.61 [[-3.59654806e-02 -9.99353021e-01 1.50904826e-04 1.80409469e+02] [ 9.99349404e-01 -3.59657565e-02 -2.68953549e-03 1.28691433e+02] [ 2.69322282e-03 5.40762121e-05 9.99996372e-01 6.11708913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.404012739 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:180.41, Y:128.69, Z:0.61 [[-3.55006553e-02 -9.99369642e-01 1.50522015e-04 1.80408274e+02] [ 9.99366024e-01 -3.55009319e-02 -2.68955691e-03 1.28690154e+02] [ 2.69320520e-03 5.49455551e-05 9.99996372e-01 6.11469245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.434012739 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:180.41, Y:128.70, Z:0.61 [[-3.60730628e-02 -9.99349144e-01 1.50140434e-04 1.80405018e+02] [ 9.99345526e-01 -3.60733363e-02 -2.68957821e-03 1.28703714e+02] [ 2.69324375e-03 5.30208477e-05 9.99996372e-01 6.11693274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.464012739 meters Centerline goodness : 0.996690 Centerline is valid? [True, True] Translation: X:180.40, Y:128.70, Z:0.61 [[-3.69020660e-02 -9.99318876e-01 1.49886520e-04 1.80401230e+02] [ 9.99315257e-01 -3.69023358e-02 -2.68959236e-03 1.28703051e+02] [ 2.69329158e-03 5.05323717e-05 9.99996372e-01 6.13410382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.494012739 meters Centerline goodness : 0.996482 Centerline is valid? [True, True] Translation: X:180.40, Y:128.71, Z:0.61 [[-3.71732346e-02 -9.99308825e-01 1.49502794e-04 1.80400650e+02] [ 9.99305207e-01 -3.71735024e-02 -2.68961369e-03 1.28709828e+02] [ 2.69331224e-03 4.94172798e-05 9.99996372e-01 6.14103519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.524012739 meters Centerline goodness : 0.996295 Centerline is valid? [True, True] Translation: X:180.40, Y:128.71, Z:0.62 [[-3.70414938e-02 -9.99313717e-01 1.49118853e-04 1.80396901e+02] [ 9.99310099e-01 -3.70417611e-02 -2.68963498e-03 1.28713551e+02] [ 2.69331275e-03 4.93878781e-05 9.99996372e-01 6.15250008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55401273900003 meters Centerline goodness : 0.996452 Centerline is valid? [True, True] Translation: X:180.39, Y:128.71, Z:0.62 [[-3.56397013e-02 -9.99364693e-01 1.48733996e-04 1.80393063e+02] [ 9.99361075e-01 -3.56399726e-02 -2.68965626e-03 1.28714501e+02] [ 2.69324838e-03 5.27804209e-05 9.99996372e-01 6.16244892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.584012739 meters Centerline goodness : 0.996452 Centerline is valid? [True, True] Translation: X:180.39, Y:128.72, Z:0.62 [[-3.52609829e-02 -9.99378127e-01 1.47714371e-04 1.80392851e+02] [ 9.99374509e-01 -3.52612528e-02 -2.68971226e-03 1.28717027e+02] [ 2.69324819e-03 5.27800791e-05 9.99996372e-01 6.16251677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61401273900003 meters Centerline goodness : 0.996200 Centerline is valid? [True, True] Translation: X:180.39, Y:128.70, Z:0.62 [[-3.10027619e-02 -9.99519288e-01 1.46695062e-04 1.80387920e+02] [ 9.99515671e-01 -3.10030445e-02 -2.68976785e-03 1.28702290e+02] [ 2.69302284e-03 6.32337810e-05 9.99996372e-01 6.16734040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.644012739 meters Centerline goodness : 0.996105 Centerline is valid? [True, True] Translation: X:180.38, Y:128.72, Z:0.62 [[-2.86816582e-02 -9.99588586e-01 1.45681903e-04 1.80384747e+02] [ 9.99584969e-01 -2.86819465e-02 -2.68982272e-03 1.28717666e+02] [ 2.69289453e-03 6.84728642e-05 9.99996372e-01 6.16393120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67401273900003 meters Centerline goodness : 0.995604 Centerline is valid? [True, True] Translation: X:180.38, Y:128.70, Z:0.62 [[-2.58570537e-02 -9.99665640e-01 1.44670210e-04 1.80377841e+02] [ 9.99662024e-01 -2.58573495e-02 -2.68987713e-03 1.28695704e+02] [ 2.69271853e-03 7.50690170e-05 9.99996372e-01 6.15740420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.704012739 meters Centerline goodness : 0.996676 Centerline is valid? [True, True] Translation: X:180.37, Y:128.71, Z:0.62 [[-2.49819505e-02 -9.99687892e-01 1.43662447e-04 1.80372065e+02] [ 9.99684276e-01 -2.49822467e-02 -2.68993096e-03 1.28713855e+02] [ 2.69268042e-03 7.64173675e-05 9.99996372e-01 6.15774696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.734012739 meters Centerline goodness : 0.996301 Centerline is valid? [True, True] Translation: X:180.37, Y:128.72, Z:0.62 [[-2.47148876e-02 -9.99694530e-01 1.42657930e-04 1.80367902e+02] [ 9.99690914e-01 -2.47151821e-02 -2.68998423e-03 1.28716823e+02] [ 2.69268834e-03 7.61311787e-05 9.99996372e-01 6.16129576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.764012739 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:180.36, Y:128.74, Z:0.62 [[-2.64775665e-02 -9.99649398e-01 1.41647327e-04 1.80360827e+02] [ 9.99645781e-01 -2.64778519e-02 -2.69003744e-03 1.28736572e+02] [ 2.69284483e-03 7.03715080e-05 9.99996372e-01 6.17166079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.794012739 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:180.35, Y:128.73, Z:0.62 [[-2.83369086e-02 -9.99598419e-01 1.40630074e-04 1.80354148e+02] [ 9.99594802e-01 -2.83371845e-02 -2.69009062e-03 1.28731214e+02] [ 2.69299539e-03 6.43442385e-05 9.99996372e-01 6.15780087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.824012739 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:180.35, Y:128.74, Z:0.61 [[-2.91407899e-02 -9.99575307e-01 1.39609113e-04 1.80350481e+02] [ 9.99571689e-01 -2.91410601e-02 -2.69014361e-03 1.28735124e+02] [ 2.69306948e-03 6.11564072e-05 9.99996372e-01 6.14234558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.854012739 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:180.35, Y:128.74, Z:0.61 [[-2.95569944e-02 -9.99563087e-01 1.38590316e-04 1.80347172e+02] [ 9.99559469e-01 -2.95572604e-02 -2.69019609e-03 1.28743212e+02] [ 2.69311706e-03 5.90151517e-05 9.99996372e-01 6.12878506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.884012739 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:180.34, Y:128.73, Z:0.61 [[-3.01874360e-02 -9.99544246e-01 1.37568977e-04 1.80342907e+02] [ 9.99540627e-01 -3.01876969e-02 -2.69024832e-03 1.28733339e+02] [ 2.69317512e-03 5.62940825e-05 9.99996372e-01 6.10927247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.914012739 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:180.34, Y:128.74, Z:0.61 [[-3.06112585e-02 -9.99531356e-01 1.36549803e-04 1.80339815e+02] [ 9.99527737e-01 -3.06115152e-02 -2.69030005e-03 1.28740537e+02] [ 2.69321925e-03 5.41318458e-05 9.99996372e-01 6.11188886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.944012739 meters Centerline goodness : 0.994934 Centerline is valid? [True, True] Translation: X:180.34, Y:128.71, Z:0.61 [[-3.25412903e-02 -9.99470383e-01 1.35533279e-04 1.80335758e+02] [ 9.99466763e-01 -3.25415373e-02 -2.69035126e-03 1.28714502e+02] [ 2.69333686e-03 4.79135061e-05 9.99996372e-01 6.12353643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.974012739 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:180.33, Y:128.73, Z:0.61 [[-3.32000625e-02 -9.99448717e-01 1.34525340e-04 1.80333764e+02] [ 9.99445097e-01 -3.32003043e-02 -2.69040166e-03 1.28725689e+02] [ 2.69338477e-03 4.51291886e-05 9.99996372e-01 6.13535972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.004012739 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:180.33, Y:128.72, Z:0.62 [[-3.50463643e-02 -9.99385679e-01 1.33524544e-04 1.80333824e+02] [ 9.99382058e-01 -3.50465968e-02 -2.69045133e-03 1.28718692e+02] [ 2.69347810e-03 3.91514962e-05 9.99996372e-01 6.16469658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.034012739 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:180.33, Y:128.72, Z:0.62 [[-3.56412026e-02 -9.99364642e-01 1.32523729e-04 1.80333126e+02] [ 9.99361021e-01 -3.56414303e-02 -2.69050062e-03 1.28718339e+02] [ 2.69351452e-03 3.65463717e-05 9.99996372e-01 6.17224080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.064012739 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:180.33, Y:128.74, Z:0.62 [[-3.60811759e-02 -9.99348854e-01 1.31527557e-04 1.80329891e+02] [ 9.99345232e-01 -3.60813993e-02 -2.69054932e-03 1.28736444e+02] [ 2.69354308e-03 3.43632541e-05 9.99996372e-01 6.18695955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.094012739 meters Centerline goodness : 0.994046 Centerline is valid? [True, True] Translation: X:180.33, Y:128.71, Z:0.62 [[-3.55740009e-02 -9.99367036e-01 1.30526707e-04 1.80330200e+02] [ 9.99363415e-01 -3.55742235e-02 -2.69059787e-03 1.28714991e+02] [ 2.69353821e-03 3.47282842e-05 9.99996372e-01 6.18623045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.124012739 meters Centerline goodness : 0.994852 Centerline is valid? [True, True] Translation: X:180.33, Y:128.72, Z:0.62 [[-3.47297769e-02 -9.99396731e-01 1.29528735e-04 1.80329769e+02] [ 9.99393110e-01 -3.47299998e-02 -2.69064592e-03 1.28719316e+02] [ 2.69352126e-03 3.60045925e-05 9.99996372e-01 6.18329028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.154012739 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:180.33, Y:128.73, Z:0.62 [[-3.41649016e-02 -9.99416201e-01 1.28538869e-04 1.80327252e+02] [ 9.99412580e-01 -3.41651239e-02 -2.69069320e-03 1.28731708e+02] [ 2.69351393e-03 3.65360939e-05 9.99996372e-01 6.17422749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.184012739 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:180.33, Y:128.73, Z:0.62 [[-3.48976998e-02 -9.99390882e-01 1.27544705e-04 1.80325974e+02] [ 9.99387260e-01 -3.48979167e-02 -2.69074033e-03 1.28732827e+02] [ 2.69355239e-03 3.35659055e-05 9.99996372e-01 6.16803852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.214012739 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:180.33, Y:128.72, Z:0.62 [[-3.54846359e-02 -9.99370214e-01 1.26547327e-04 1.80327061e+02] [ 9.99366592e-01 -3.54848481e-02 -2.69078723e-03 1.28724815e+02] [ 2.69358313e-03 3.09855660e-05 9.99996372e-01 6.16907299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.244012739 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:180.33, Y:128.74, Z:0.62 [[-3.61954333e-02 -9.99344723e-01 1.25554240e-04 1.80327474e+02] [ 9.99341100e-01 -3.61956402e-02 -2.69083357e-03 1.28735511e+02] [ 2.69361485e-03 2.80756255e-05 9.99996372e-01 6.16119225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.274012739 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:180.33, Y:128.72, Z:0.61 [[-3.77104970e-02 -9.99288699e-01 1.24562096e-04 1.80328117e+02] [ 9.99285076e-01 -3.77106957e-02 -2.69087950e-03 1.28722735e+02] [ 2.69366280e-03 2.29986403e-05 9.99996372e-01 6.13498845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30401273900003 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:180.33, Y:128.72, Z:0.61 [[-3.82646323e-02 -9.99267633e-01 1.23572463e-04 1.80329273e+02] [ 9.99264010e-01 -3.82648264e-02 -2.69092494e-03 1.28719424e+02] [ 2.69368268e-03 2.05142613e-05 9.99996372e-01 6.13916637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.334012739 meters Centerline goodness : 0.992985 Centerline is valid? [True, True] Translation: X:180.33, Y:128.72, Z:0.61 [[-3.84433075e-02 -9.99260775e-01 1.22590030e-04 1.80330265e+02] [ 9.99257152e-01 -3.84434983e-02 -2.69096970e-03 1.28718535e+02] [ 2.69369326e-03 1.90491885e-05 9.99996372e-01 6.14858130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36401273900003 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:180.33, Y:128.72, Z:0.62 [[-4.06225722e-02 -9.99174555e-01 1.21610994e-04 1.80331379e+02] [ 9.99170932e-01 -4.06227524e-02 -2.69101394e-03 1.28715660e+02] [ 2.69373283e-03 1.21942624e-05 9.99996372e-01 6.18017496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.394012739 meters Centerline goodness : 0.993233 Centerline is valid? [True, True] Translation: X:180.33, Y:128.71, Z:0.62 [[-4.19081017e-02 -9.99121462e-01 1.20635023e-04 1.80332656e+02] [ 9.99117838e-01 -4.19082746e-02 -2.69105770e-03 1.28713062e+02] [ 2.69374911e-03 7.75148434e-06 9.99996372e-01 6.17961663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42401273900003 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:180.34, Y:128.72, Z:0.61 [[-4.45818305e-02 -9.99005729e-01 1.19662405e-04 1.80338008e+02] [ 9.99002104e-01 -4.45819911e-02 -2.69110094e-03 1.28721265e+02] [ 2.69376005e-03 -4.31211445e-07 9.99996372e-01 6.14715370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.454012739 meters Centerline goodness : 0.993322 Centerline is valid? [True, True] Translation: X:180.34, Y:128.72, Z:0.61 [[-4.53932080e-02 -9.98969190e-01 1.18689772e-04 1.80341055e+02] [ 9.98965565e-01 -4.53933631e-02 -2.69114384e-03 1.28721734e+02] [ 2.69375751e-03 -3.59265721e-06 9.99996372e-01 6.13526771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.484012739 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:180.34, Y:128.73, Z:0.61 [[-4.54809161e-02 -9.98965201e-01 1.17716057e-04 1.80343223e+02] [ 9.98961576e-01 -4.54810682e-02 -2.69118643e-03 1.28727636e+02] [ 2.69375545e-03 -4.80380619e-06 9.99996372e-01 6.12521470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.514012739 meters Centerline goodness : 0.992842 Centerline is valid? [True, True] Translation: X:180.35, Y:128.74, Z:0.61 [[-4.38026728e-02 -9.99040196e-01 1.16742020e-04 1.80347136e+02] [ 9.99036571e-01 -4.38028284e-02 -2.69122868e-03 1.28740457e+02] [ 2.69375926e-03 -1.25346222e-06 9.99996372e-01 6.12410858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.544012739 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:180.35, Y:128.75, Z:0.61 [[-3.96847903e-02 -9.99212242e-01 1.15763513e-04 1.80352607e+02] [ 9.99208617e-01 -3.96849581e-02 -2.69127077e-03 1.28748608e+02] [ 2.69374477e-03 8.86938362e-06 9.99996372e-01 6.14594517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.574012739 meters Centerline goodness : 0.992897 Centerline is valid? [True, True] Translation: X:180.35, Y:128.74, Z:0.62 [[-3.74738906e-02 -9.99297601e-01 1.14779553e-04 1.80354652e+02] [ 9.99293976e-01 -3.74740638e-02 -2.69131274e-03 1.28741976e+02] [ 2.69372362e-03 1.38445573e-05 9.99996372e-01 6.15138188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.604012739 meters Centerline goodness : 0.992945 Centerline is valid? [True, True] Translation: X:180.35, Y:128.77, Z:0.62 [[-3.26870780e-02 -9.99465628e-01 1.13796980e-04 1.80354790e+02] [ 9.99462005e-01 -3.26872659e-02 -2.69135428e-03 1.28765960e+02] [ 2.69363581e-03 2.57632506e-05 9.99996372e-01 6.15908080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.634012739 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:180.35, Y:128.78, Z:0.62 [[-2.98246030e-02 -9.99555141e-01 1.12810322e-04 1.80354850e+02] [ 9.99551518e-01 -2.98247986e-02 -2.69139564e-03 1.28780540e+02] [ 2.69356289e-03 3.24899225e-05 9.99996372e-01 6.16506487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.664012739 meters Centerline goodness : 0.992913 Centerline is valid? [True, True] Translation: X:180.36, Y:128.79, Z:0.62 [[-2.50956531e-02 -9.99685048e-01 1.11812057e-04 1.80355301e+02] [ 9.99681426e-01 -2.50958632e-02 -2.69143711e-03 1.28789881e+02] [ 2.69339546e-03 4.42330642e-05 9.99996372e-01 6.16729242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.694012739 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:180.35, Y:128.81, Z:0.61 [[-2.28926929e-02 -9.99737922e-01 1.10806982e-04 1.80353390e+02] [ 9.99734300e-01 -2.28929083e-02 -2.69147849e-03 1.28809716e+02] [ 2.69330981e-03 4.91623495e-05 9.99996372e-01 6.14512280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.724012739 meters Centerline goodness : 0.993398 Centerline is valid? [True, True] Translation: X:180.35, Y:128.81, Z:0.61 [[-2.09359626e-02 -9.99780813e-01 1.09793183e-04 1.80352030e+02] [ 9.99777191e-01 -2.09361823e-02 -2.69151985e-03 1.28805732e+02] [ 2.69322855e-03 5.34191614e-05 9.99996372e-01 6.11888467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.754012739 meters Centerline goodness : 0.992783 Centerline is valid? [True, True] Translation: X:180.35, Y:128.82, Z:0.61 [[-2.07289370e-02 -9.99785127e-01 1.08775373e-04 1.80349724e+02] [ 9.99781505e-01 -2.07291547e-02 -2.69156098e-03 1.28816307e+02] [ 2.69323746e-03 5.29584085e-05 9.99996372e-01 6.09167862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.784012739 meters Centerline goodness : 0.992884 Centerline is valid? [True, True] Translation: X:180.35, Y:128.81, Z:0.61 [[-2.21240059e-02 -9.99755228e-01 1.07756875e-04 1.80349963e+02] [ 9.99751606e-01 -2.21242159e-02 -2.69160175e-03 1.28806124e+02] [ 2.69332696e-03 4.81810957e-05 9.99996372e-01 6.08041929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.814012739 meters Centerline goodness : 0.992919 Centerline is valid? [True, True] Translation: X:180.35, Y:128.80, Z:0.61 [[-2.63125310e-02 -9.99653760e-01 1.06740198e-04 1.80349591e+02] [ 9.99650137e-01 -2.63127231e-02 -2.69164207e-03 1.28795429e+02] [ 2.69351874e-03 3.58789383e-05 9.99996372e-01 6.10946187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.844012739 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:180.35, Y:128.79, Z:0.61 [[-2.85800457e-02 -9.99591502e-01 1.05732923e-04 1.80349774e+02] [ 9.99587878e-01 -2.85802268e-02 -2.69168164e-03 1.28789573e+02] [ 2.69360396e-03 2.87609635e-05 9.99996372e-01 6.13563498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.874012739 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:180.35, Y:128.76, Z:0.62 [[-3.48937345e-02 -9.99391023e-01 1.04733105e-04 1.80353969e+02] [ 9.99387398e-01 -3.48938900e-02 -2.69172054e-03 1.28758994e+02] [ 2.69373589e-03 1.07447637e-05 9.99996372e-01 6.17200794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.904012739 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:180.35, Y:128.77, Z:0.62 [[-3.81968492e-02 -9.99270229e-01 1.03748039e-04 1.80354973e+02] [ 9.99266603e-01 -3.81969901e-02 -2.69175851e-03 1.28767554e+02] [ 2.69375700e-03 8.55256440e-07 9.99996372e-01 6.16344699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.934012739 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:180.36, Y:128.76, Z:0.61 [[-4.06959621e-02 -9.99171571e-01 1.02772109e-04 1.80356225e+02] [ 9.99167945e-01 -4.06960913e-02 -2.69179577e-03 1.28758250e+02] [ 2.69374823e-03 -6.85862128e-06 9.99996372e-01 6.13749973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.964012739 meters Centerline goodness : 0.993133 Centerline is valid? [True, True] Translation: X:180.36, Y:128.76, Z:0.61 [[-4.17312104e-02 -9.99128868e-01 1.01798161e-04 1.80357622e+02] [ 9.99125242e-01 -4.17313332e-02 -2.69183260e-03 1.28764448e+02] [ 2.69373583e-03 -1.06243202e-05 9.99996372e-01 6.12592086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.994012739 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:180.36, Y:128.76, Z:0.62 [[-3.86984619e-02 -9.99250929e-01 1.00826942e-04 1.80360441e+02] [ 9.99247303e-01 -3.86985931e-02 -2.69186898e-03 1.28763646e+02] [ 2.69375444e-03 -3.42013960e-06 9.99996372e-01 6.18043239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.024012739 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:180.36, Y:128.79, Z:0.62 [[-3.69561944e-02 -9.99316882e-01 9.98557091e-05 1.80360673e+02] [ 9.99313256e-01 -3.69563293e-02 -2.69190501e-03 1.28791537e+02] [ 2.69375642e-03 3.04569080e-07 9.99996372e-01 6.20654021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05401273900003 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:180.36, Y:128.78, Z:0.62 [[-3.51213570e-02 -9.99383050e-01 9.88769584e-05 1.80361754e+02] [ 9.99379424e-01 -3.51214959e-02 -2.69194096e-03 1.28780201e+02] [ 2.69375287e-03 4.27097844e-06 9.99996372e-01 6.21296392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.084012739 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:180.36, Y:128.81, Z:0.62 [[-3.21959512e-02 -9.99481571e-01 9.78944713e-05 1.80361233e+02] [ 9.99477946e-01 -3.21960981e-02 -2.69197669e-03 1.28812304e+02] [ 2.69373291e-03 1.11726152e-05 9.99996372e-01 6.17269062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11401273900003 meters Centerline goodness : 0.993328 Centerline is valid? [True, True] Translation: X:180.36, Y:128.81, Z:0.62 [[-3.14276152e-02 -9.99506026e-01 9.69064909e-05 1.80363063e+02] [ 9.99502401e-01 -3.14277622e-02 -2.69201225e-03 1.28808056e+02] [ 2.69372802e-03 1.22547452e-05 9.99996372e-01 6.15157653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.144012739 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:180.37, Y:128.81, Z:0.62 [[-3.21743195e-02 -9.99482268e-01 9.59108802e-05 1.80367079e+02] [ 9.99478643e-01 -3.21744611e-02 -2.69204772e-03 1.28810372e+02] [ 2.69373984e-03 9.24607281e-06 9.99996372e-01 6.15812245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17401273900003 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:180.37, Y:128.80, Z:0.62 [[-3.25183448e-02 -9.99471134e-01 9.49176522e-05 1.80368569e+02] [ 9.99467509e-01 -3.25184825e-02 -2.69208274e-03 1.28802683e+02] [ 2.69374557e-03 7.32503448e-06 9.99996372e-01 6.17775006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.204012739 meters Centerline goodness : 0.993714 Centerline is valid? [True, True] Translation: X:180.37, Y:128.80, Z:0.62 [[-3.23140885e-02 -9.99477759e-01 9.39282167e-05 1.80369074e+02] [ 9.99474133e-01 -3.23142243e-02 -2.69211726e-03 1.28804149e+02] [ 2.69374655e-03 6.88550755e-06 9.99996372e-01 6.17591878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.234012739 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:180.37, Y:128.81, Z:0.62 [[-3.22436072e-02 -9.99480035e-01 9.29425447e-05 1.80370269e+02] [ 9.99476410e-01 -3.22437406e-02 -2.69215129e-03 1.28810269e+02] [ 2.69374828e-03 6.08921206e-06 9.99996372e-01 6.16185281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.264012739 meters Centerline goodness : 0.993378 Centerline is valid? [True, True] Translation: X:180.38, Y:128.81, Z:0.62 [[-3.26681403e-02 -9.99466250e-01 9.19559135e-05 1.80375453e+02] [ 9.99462624e-01 -3.26682694e-02 -2.69218499e-03 1.28808035e+02] [ 2.69375208e-03 3.95782167e-06 9.99996372e-01 6.16814928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.294012739 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:180.38, Y:128.84, Z:0.62 [[-3.27732841e-02 -9.99462808e-01 9.09699016e-05 1.80376827e+02] [ 9.99459182e-01 -3.27734103e-02 -2.69221831e-03 1.28837318e+02] [ 2.69375346e-03 2.68786786e-06 9.99996372e-01 6.18847153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.324012739 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:180.38, Y:128.83, Z:0.62 [[-3.19885743e-02 -9.99488231e-01 9.05949236e-05 1.80379884e+02] [ 9.99484605e-01 -3.19887022e-02 -2.69223093e-03 1.28826896e+02] [ 2.69375114e-03 4.42760245e-06 9.99996372e-01 6.22441958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.354012739 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:180.38, Y:128.82, Z:0.62 [[-3.09038710e-02 -9.99522357e-01 8.95963513e-05 1.80381276e+02] [ 9.99518731e-01 -3.09040002e-02 -2.69226416e-03 1.28816490e+02] [ 2.69374710e-03 6.35184725e-06 9.99996372e-01 6.22357292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.384012739 meters Centerline goodness : 0.993181 Centerline is valid? [True, True] Translation: X:180.38, Y:128.87, Z:0.62 [[-2.78552013e-02 -9.99611965e-01 8.86068498e-05 1.80383066e+02] [ 9.99608339e-01 -2.78553390e-02 -2.69229672e-03 1.28865378e+02] [ 2.69372019e-03 1.35776787e-05 9.99996372e-01 6.19526198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.414012739 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:180.38, Y:128.86, Z:0.62 [[-2.55889403e-02 -9.99672545e-01 8.96105344e-05 1.80384225e+02] [ 9.99668920e-01 -2.55890889e-02 -2.69226332e-03 1.28860405e+02] [ 2.69367477e-03 2.06887008e-05 9.99996372e-01 6.17060486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.444012739 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:180.39, Y:128.87, Z:0.62 [[-2.17716862e-02 -9.99762965e-01 8.85917732e-05 1.80385336e+02] [ 9.99759340e-01 -2.17718459e-02 -2.69229684e-03 1.28873260e+02] [ 2.69358748e-03 2.99546107e-05 9.99996372e-01 6.15063154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.474012739 meters Centerline goodness : 0.992954 Centerline is valid? [True, True] Translation: X:180.39, Y:128.88, Z:0.62 [[-2.16282692e-02 -9.99766078e-01 8.82071763e-05 1.80385289e+02] [ 9.99762453e-01 -2.16284283e-02 -2.69230944e-03 1.28875772e+02] [ 2.69358743e-03 2.99562296e-05 9.99996372e-01 6.15069907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.504012739 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:180.39, Y:128.88, Z:0.61 [[-1.98460353e-02 -9.99803044e-01 8.78209591e-05 1.80386819e+02] [ 9.99799420e-01 -1.98461998e-02 -2.69232204e-03 1.28878217e+02] [ 2.69353468e-03 3.43714258e-05 9.99996372e-01 6.14145205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.534012739 meters Centerline goodness : 0.992604 Centerline is valid? [True, True] Translation: X:180.39, Y:128.87, Z:0.61 [[-1.75803262e-02 -9.99845450e-01 8.74347401e-05 1.80388408e+02] [ 9.99841826e-01 -1.75804979e-02 -2.69233458e-03 1.28868549e+02] [ 2.69345563e-03 4.00887901e-05 9.99996372e-01 6.12981353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.564012739 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:180.39, Y:128.89, Z:0.61 [[-1.81749294e-02 -9.99834819e-01 8.64159521e-05 1.80387531e+02] [ 9.99831194e-01 -1.81750962e-02 -2.69236728e-03 1.28894597e+02] [ 2.69349317e-03 3.74677794e-05 9.99996372e-01 6.11910823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.594012739 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:180.39, Y:128.89, Z:0.61 [[-1.82159636e-02 -9.99834072e-01 8.97053185e-05 1.80388550e+02] [ 9.99830448e-01 -1.82161391e-02 -2.69226162e-03 1.28885117e+02] [ 2.69344898e-03 4.06479691e-05 9.99996372e-01 6.10849593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.624012739 meters Centerline goodness : 0.992957 Centerline is valid? [True, True] Translation: X:180.39, Y:128.90, Z:0.61 [[-1.94648288e-02 -9.99810539e-01 8.57455998e-05 1.80389309e+02] [ 9.99806914e-01 -1.94649892e-02 -2.69238773e-03 1.28897030e+02] [ 2.69354666e-03 3.33221774e-05 9.99996372e-01 6.10666068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.654012739 meters Centerline goodness : 0.992690 Centerline is valid? [True, True] Translation: X:180.39, Y:128.87, Z:0.61 [[-2.28403861e-02 -9.99739121e-01 8.53581715e-05 1.80390938e+02] [ 9.99735496e-01 -2.28405332e-02 -2.69240001e-03 1.28866417e+02] [ 2.69364724e-03 2.38401381e-05 9.99996372e-01 6.14531106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.684012739 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:180.39, Y:128.87, Z:0.61 [[-2.41626532e-02 -9.99708037e-01 8.43400322e-05 1.80391233e+02] [ 9.99704411e-01 -2.41627928e-02 -2.69243190e-03 1.28867858e+02] [ 2.69368370e-03 1.92588039e-05 9.99996372e-01 6.14518280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.714012739 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:180.39, Y:128.87, Z:0.61 [[-2.55982182e-02 -9.99672308e-01 8.39605183e-05 1.80394668e+02] [ 9.99668683e-01 -2.55983515e-02 -2.69244374e-03 1.28872959e+02] [ 2.69371070e-03 1.50109384e-05 9.99996372e-01 6.14920513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.744012739 meters Centerline goodness : 0.993070 Centerline is valid? [True, True] Translation: X:180.40, Y:128.88, Z:0.61 [[-2.55361180e-02 -9.99673897e-01 8.35807954e-05 1.80396186e+02] [ 9.99670271e-01 -2.55362505e-02 -2.69245552e-03 1.28875613e+02] [ 2.69371185e-03 1.47983745e-05 9.99996372e-01 6.14028017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.774012739 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:180.40, Y:128.88, Z:0.62 [[-2.47346247e-02 -9.99694049e-01 8.32008037e-05 1.80396877e+02] [ 9.99690423e-01 -2.47347591e-02 -2.69246727e-03 1.28884283e+02] [ 2.69370145e-03 1.65778794e-05 9.99996372e-01 6.16515381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80401273900003 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:180.40, Y:128.89, Z:0.62 [[-2.42642639e-02 -9.99705576e-01 8.29478460e-05 1.80397221e+02] [ 9.99701950e-01 -2.42643993e-02 -2.69247506e-03 1.28892840e+02] [ 2.69369501e-03 1.75921980e-05 9.99996372e-01 6.20559318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.834012739 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:180.40, Y:128.88, Z:0.62 [[-2.42496237e-02 -9.99705931e-01 8.26936590e-05 1.80398450e+02] [ 9.99702306e-01 -2.42497585e-02 -2.69248287e-03 1.28876397e+02] [ 2.69369639e-03 1.73773452e-05 9.99996372e-01 6.23573168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86401273900003 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:180.40, Y:128.89, Z:0.62 [[-2.46948225e-02 -9.99695033e-01 8.24405239e-05 1.80398640e+02] [ 9.99691407e-01 -2.46949550e-02 -2.69249062e-03 1.28887205e+02] [ 2.69370536e-03 1.59245054e-05 9.99996372e-01 6.21626810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.894012739 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:180.40, Y:128.90, Z:0.62 [[-2.48304190e-02 -9.99691674e-01 8.23148915e-05 1.80398233e+02] [ 9.99688048e-01 -2.48305506e-02 -2.69249446e-03 1.28898990e+02] [ 2.69370822e-03 1.54334478e-05 9.99996372e-01 6.18653615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92401273900003 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:180.40, Y:128.89, Z:0.61 [[-2.57064156e-02 -9.99669532e-01 8.21882866e-05 1.80397732e+02] [ 9.99665906e-01 -2.57065437e-02 -2.69249832e-03 1.28886784e+02] [ 2.69372131e-03 1.29463471e-05 9.99996372e-01 6.13965755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.954012739 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:180.40, Y:128.91, Z:0.61 [[-2.72080957e-02 -9.99629788e-01 8.18057483e-05 1.80396249e+02] [ 9.99626162e-01 -2.72082173e-02 -2.69250994e-03 1.28909130e+02] [ 2.69373893e-03 8.51709800e-06 9.99996372e-01 6.14979797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.984012739 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:180.40, Y:128.89, Z:0.62 [[-2.86686436e-02 -9.99588967e-01 8.28245066e-05 1.80395162e+02] [ 9.99585340e-01 -2.86687627e-02 -2.69247861e-03 1.28885459e+02] [ 2.69374638e-03 5.60045300e-06 9.99996372e-01 6.19834957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.014012739 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:180.39, Y:128.88, Z:0.62 [[-2.94860154e-02 -9.99565190e-01 8.18071667e-05 1.80394901e+02] [ 9.99561563e-01 -2.94861288e-02 -2.69250952e-03 1.28876443e+02] [ 2.69375096e-03 2.37992244e-06 9.99996372e-01 6.20203350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.044012739 meters Centerline goodness : 0.993286 Centerline is valid? [True, True] Translation: X:180.39, Y:128.86, Z:0.62 [[-3.09718534e-02 -9.99520254e-01 8.14285280e-05 1.80394496e+02] [ 9.99516627e-01 -3.09719604e-02 -2.69252097e-03 1.28862476e+02] [ 2.69375124e-03 -2.00319704e-06 9.99996372e-01 6.17183965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.074012739 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:180.39, Y:128.87, Z:0.62 [[-3.18681505e-02 -9.99492078e-01 8.04348072e-05 1.80393862e+02] [ 9.99488452e-01 -3.18682516e-02 -2.69255065e-03 1.28873636e+02] [ 2.69374636e-03 -5.41294868e-06 9.99996372e-01 6.15598059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.104012739 meters Centerline goodness : 0.993374 Centerline is valid? [True, True] Translation: X:180.39, Y:128.86, Z:0.62 [[-3.27617997e-02 -9.99463185e-01 8.00610508e-05 1.80394147e+02] [ 9.99459558e-01 -3.27618965e-02 -2.69256177e-03 1.28860965e+02] [ 2.69373931e-03 -8.19538679e-06 9.99996372e-01 6.17014088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.134012739 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:180.39, Y:128.85, Z:0.62 [[-3.30028314e-02 -9.99455255e-01 7.90722239e-05 1.80393969e+02] [ 9.99451628e-01 -3.30029247e-02 -2.69259080e-03 1.28850733e+02] [ 2.69373364e-03 -9.83425745e-06 9.99996372e-01 6.19423100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.164012739 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:180.39, Y:128.87, Z:0.62 [[-3.33193508e-02 -9.99444753e-01 7.80929155e-05 1.80392460e+02] [ 9.99441126e-01 -3.33194402e-02 -2.69261921e-03 1.28871733e+02] [ 2.69372615e-03 -1.16670524e-05 9.99996372e-01 6.20943149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.194012739 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:180.39, Y:128.86, Z:0.62 [[-3.25129439e-02 -9.99471311e-01 7.79704832e-05 1.80391574e+02] [ 9.99467684e-01 -3.25130359e-02 -2.69262275e-03 1.28862914e+02] [ 2.69373425e-03 -9.61611412e-06 9.99996372e-01 6.18918048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.224012739 meters Centerline goodness : 0.993194 Centerline is valid? [True, True] Translation: X:180.39, Y:128.88, Z:0.62 [[-3.23498369e-02 -9.99476604e-01 7.69857198e-05 1.80392888e+02] [ 9.99472977e-01 -3.23499269e-02 -2.69265091e-03 1.28879486e+02] [ 2.69373207e-03 -1.01616712e-05 9.99996372e-01 6.16805337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.254012739 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:180.39, Y:128.87, Z:0.62 [[-3.23471530e-02 -9.99476691e-01 7.67389094e-05 1.80394488e+02] [ 9.99473064e-01 -3.23472424e-02 -2.69265794e-03 1.28867094e+02] [ 2.69373114e-03 -1.04013456e-05 9.99996372e-01 6.17547595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.284012739 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:180.40, Y:128.89, Z:0.62 [[-3.32756215e-02 -9.99446210e-01 7.57530418e-05 1.80396152e+02] [ 9.99442583e-01 -3.32757048e-02 -2.69268568e-03 1.28894658e+02] [ 2.69371523e-03 -1.38899735e-05 9.99996372e-01 6.19749842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.314012739 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:180.40, Y:128.89, Z:0.62 [[-3.42596575e-02 -9.99412963e-01 7.67449856e-05 1.80397994e+02] [ 9.99409335e-01 -3.42597399e-02 -2.69265740e-03 1.28888973e+02] [ 2.69370598e-03 -1.55498653e-05 9.99996372e-01 6.18716723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.344012739 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:180.40, Y:128.89, Z:0.62 [[-3.51413757e-02 -9.99382348e-01 7.63681452e-05 1.80400699e+02] [ 9.99378721e-01 -3.51414539e-02 -2.69266809e-03 1.28886047e+02] [ 2.69368865e-03 -1.83033619e-05 9.99996372e-01 6.17627330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.374012739 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:180.41, Y:128.87, Z:0.62 [[-3.65697313e-02 -9.99331101e-01 7.59931048e-05 1.80406280e+02] [ 9.99327473e-01 -3.65698033e-02 -2.69267868e-03 1.28865186e+02] [ 2.69365660e-03 -2.25285383e-05 9.99996372e-01 6.20184792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.404012739 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:180.41, Y:128.86, Z:0.62 [[-3.63468891e-02 -9.99339231e-01 7.56218133e-05 1.80408787e+02] [ 9.99335603e-01 -3.63469609e-02 -2.69268910e-03 1.28862132e+02] [ 2.69365848e-03 -2.22993018e-05 9.99996372e-01 6.23968467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.434012739 meters Centerline goodness : 0.993823 Centerline is valid? [True, True] Translation: X:180.41, Y:128.89, Z:0.62 [[-3.56140038e-02 -9.99365617e-01 7.56218132e-05 1.80408400e+02] [ 9.99361990e-01 -3.56140783e-02 -2.69268910e-03 1.28889912e+02] [ 2.69367411e-03 -2.03238743e-05 9.99996372e-01 6.23542609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.464012739 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:180.41, Y:128.89, Z:0.62 [[-3.46991022e-02 -9.99397802e-01 7.66068277e-05 1.80409048e+02] [ 9.99394175e-01 -3.46991827e-02 -2.69266108e-03 1.28890331e+02] [ 2.69369776e-03 -1.68725047e-05 9.99996372e-01 6.20320481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.494012739 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:180.41, Y:128.90, Z:0.61 [[-3.19535128e-02 -9.99489353e-01 7.76032304e-05 1.80411954e+02] [ 9.99485726e-01 -3.19536059e-02 -2.69263236e-03 1.28897926e+02] [ 2.69373708e-03 -8.47574172e-06 9.99996372e-01 6.14116569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.524012739 meters Centerline goodness : 0.993971 Centerline is valid? [True, True] Translation: X:180.41, Y:128.90, Z:0.61 [[-3.10557897e-02 -9.99517650e-01 7.86042810e-05 1.80413153e+02] [ 9.99514023e-01 -3.10558888e-02 -2.69260314e-03 1.28895856e+02] [ 2.69374549e-03 -5.05483590e-06 9.99996372e-01 6.12864171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55401273900003 meters Centerline goodness : 0.994205 Centerline is valid? [True, True] Translation: X:180.41, Y:128.91, Z:0.61 [[-3.05808734e-02 -9.99532293e-01 7.96092151e-05 1.80413930e+02] [ 9.99528666e-01 -3.05809769e-02 -2.69257343e-03 1.28912517e+02] [ 2.69374862e-03 -2.76955467e-06 9.99996372e-01 6.14543934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.584012739 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:180.42, Y:128.91, Z:0.62 [[-3.11350757e-02 -9.99515183e-01 8.06210203e-05 1.80415775e+02] [ 9.99511556e-01 -3.11351799e-02 -2.69254313e-03 1.28908346e+02] [ 2.69374789e-03 -3.25089281e-06 9.99996372e-01 6.15635515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61401273900003 meters Centerline goodness : 0.993594 Centerline is valid? [True, True] Translation: X:180.42, Y:128.89, Z:0.62 [[-3.22437764e-02 -9.99480031e-01 8.16392988e-05 1.80419895e+02] [ 9.99476404e-01 -3.22438793e-02 -2.69251226e-03 1.28887881e+02] [ 2.69374460e-03 -5.22021022e-06 9.99996372e-01 6.15914238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.644012739 meters Centerline goodness : 0.994004 Centerline is valid? [True, True] Translation: X:180.42, Y:128.90, Z:0.62 [[-3.25873565e-02 -9.99468888e-01 8.26502632e-05 1.80420104e+02] [ 9.99465261e-01 -3.25874610e-02 -2.69248122e-03 1.28900127e+02] [ 2.69374458e-03 -5.13477880e-06 9.99996372e-01 6.16409861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67401273900003 meters Centerline goodness : 0.993788 Centerline is valid? [True, True] Translation: X:180.42, Y:128.90, Z:0.62 [[-3.27933297e-02 -9.99462151e-01 8.36598901e-05 1.80421216e+02] [ 9.99458524e-01 -3.27934361e-02 -2.69244985e-03 1.28899338e+02] [ 2.69374522e-03 -4.67980553e-06 9.99996372e-01 6.15745202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.704012739 meters Centerline goodness : 0.993239 Centerline is valid? [True, True] Translation: X:180.43, Y:128.88, Z:0.61 [[-3.16299197e-02 -9.99499645e-01 8.46756271e-05 1.80425292e+02] [ 9.99496019e-01 -3.16300330e-02 -2.69241791e-03 1.28884074e+02] [ 2.69374904e-03 -5.28010031e-07 9.99996372e-01 6.12308270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.734012739 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:180.43, Y:128.89, Z:0.61 [[-3.11115902e-02 -9.99515914e-01 8.56873732e-05 1.80426558e+02] [ 9.99512287e-01 -3.11117081e-02 -2.69238571e-03 1.28890794e+02] [ 2.69374824e-03 1.88118154e-06 9.99996372e-01 6.10874527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.764012739 meters Centerline goodness : 0.993477 Centerline is valid? [True, True] Translation: X:180.43, Y:128.89, Z:0.61 [[-3.04922223e-02 -9.99535000e-01 8.66976262e-05 1.80427223e+02] [ 9.99531374e-01 -3.04923452e-02 -2.69235318e-03 1.28894275e+02] [ 2.69374485e-03 4.56116594e-06 9.99996372e-01 6.10380996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.794012739 meters Centerline goodness : 0.994062 Centerline is valid? [True, True] Translation: X:180.43, Y:128.90, Z:0.61 [[-2.87070369e-02 -9.99587864e-01 8.77133262e-05 1.80427450e+02] [ 9.99584239e-01 -2.87071690e-02 -2.69232009e-03 1.28899664e+02] [ 2.69372849e-03 1.03883263e-05 9.99996372e-01 6.10375553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.824012739 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:180.43, Y:128.89, Z:0.61 [[-2.81727040e-02 -9.99603067e-01 8.87341938e-05 1.80427846e+02] [ 9.99599441e-01 -2.81728408e-02 -2.69228644e-03 1.28891585e+02] [ 2.69371768e-03 1.28496615e-05 9.99996372e-01 6.11695671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.854012739 meters Centerline goodness : 0.993576 Centerline is valid? [True, True] Translation: X:180.43, Y:128.87, Z:0.62 [[-2.84214232e-02 -9.99596026e-01 8.97557257e-05 1.80426352e+02] [ 9.99592400e-01 -2.84215618e-02 -2.69225238e-03 1.28874861e+02] [ 2.69371578e-03 1.32014970e-05 9.99996372e-01 6.16585973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.884012739 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:180.43, Y:128.88, Z:0.62 [[-2.92577533e-02 -9.99571896e-01 9.07702290e-05 1.80425136e+02] [ 9.99568271e-01 -2.92578917e-02 -2.69221818e-03 1.28877479e+02] [ 2.69372138e-03 1.19627854e-05 9.99996372e-01 6.16909873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.914012739 meters Centerline goodness : 0.990961 Centerline is valid? [True, True] Translation: X:180.43, Y:128.88, Z:0.62 [[-3.13608032e-02 -9.99508125e-01 9.17815669e-05 1.80425330e+02] [ 9.99504499e-01 -3.13609366e-02 -2.69218370e-03 1.28879792e+02] [ 2.69373784e-03 7.30704595e-06 9.99996372e-01 6.21240261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.944012739 meters Centerline goodness : 0.993357 Centerline is valid? [True, True] Translation: X:180.43, Y:128.87, Z:0.61 [[-3.35984107e-02 -9.99435410e-01 9.27965329e-05 1.80426278e+02] [ 9.99431784e-01 -3.35985387e-02 -2.69214872e-03 1.28874560e+02] [ 2.69374658e-03 2.29188633e-06 9.99996372e-01 6.12323446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.974012739 meters Centerline goodness : 0.993781 Centerline is valid? [True, True] Translation: X:180.43, Y:128.87, Z:0.61 [[-3.85013978e-02 -9.99258542e-01 9.38121550e-05 1.80427660e+02] [ 9.99254916e-01 -3.85015108e-02 -2.69211332e-03 1.28870488e+02] [ 2.69372914e-03 -9.90786895e-06 9.99996372e-01 6.09045438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.004012739 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:180.43, Y:128.84, Z:0.61 [[-4.15457525e-02 -9.99136598e-01 9.48259374e-05 1.80429899e+02] [ 9.99132971e-01 -4.15458572e-02 -2.69207761e-03 1.28840648e+02] [ 2.69369289e-03 -1.71006697e-05 9.99996372e-01 6.09218593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.034012739 meters Centerline goodness : 0.993291 Centerline is valid? [True, True] Translation: X:180.43, Y:128.83, Z:0.61 [[-4.70831849e-02 -9.98890967e-01 9.52011910e-05 1.80433466e+02] [ 9.98887340e-01 -4.70832705e-02 -2.69206434e-03 1.28831388e+02] [ 2.69356114e-03 -3.16556989e-05 9.99996372e-01 6.13164705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.064012739 meters Centerline goodness : 0.992668 Centerline is valid? [True, True] Translation: X:180.44, Y:128.82, Z:0.62 [[-4.95883189e-02 -9.98769738e-01 9.61924367e-05 1.80435441e+02] [ 9.98766111e-01 -4.95883981e-02 -2.69202892e-03 1.28815273e+02] [ 2.69348705e-03 -3.74194430e-05 9.99996372e-01 6.15156433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.094012739 meters Centerline goodness : 0.993122 Centerline is valid? [True, True] Translation: X:180.44, Y:128.82, Z:0.62 [[-5.10799356e-02 -9.98694563e-01 9.71767469e-05 1.80437116e+02] [ 9.98690936e-01 -5.10800120e-02 -2.69199339e-03 1.28815578e+02] [ 2.69344295e-03 -4.04573128e-05 9.99996372e-01 6.15643353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.124012739 meters Centerline goodness : 0.992960 Centerline is valid? [True, True] Translation: X:180.44, Y:128.82, Z:0.61 [[-5.19554575e-02 -9.98649398e-01 9.81573066e-05 1.80442002e+02] [ 9.98645771e-01 -5.19555333e-02 -2.69195764e-03 1.28824895e+02] [ 2.69342169e-03 -4.18375115e-05 9.99996372e-01 6.14546718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.154012739 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:180.45, Y:128.83, Z:0.61 [[-5.16674481e-02 -9.98664341e-01 9.91426808e-05 1.80447131e+02] [ 9.98660713e-01 -5.16675276e-02 -2.69192135e-03 1.28828633e+02] [ 2.69344831e-03 -4.00748061e-05 9.99996372e-01 6.12790445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.184012739 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:180.45, Y:128.82, Z:0.61 [[-5.15009533e-02 -9.98672940e-01 1.00134340e-04 1.80449427e+02] [ 9.98669313e-01 -5.15010362e-02 -2.69188446e-03 1.28817669e+02] [ 2.69346919e-03 -3.86335236e-05 9.99996372e-01 6.11887776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.214012739 meters Centerline goodness : 0.991868 Centerline is valid? [True, True] Translation: X:180.45, Y:128.81, Z:0.61 [[-5.13905112e-02 -9.98678630e-01 1.01124881e-04 1.80451276e+02] [ 9.98675002e-01 -5.13905972e-02 -2.69184725e-03 1.28810043e+02] [ 2.69348719e-03 -3.73445156e-05 9.99996372e-01 6.10794046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.244012739 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:180.45, Y:128.81, Z:0.61 [[-5.13707875e-02 -9.98679644e-01 1.02110845e-04 1.80454691e+02] [ 9.98676017e-01 -5.13708761e-02 -2.69180985e-03 1.28811982e+02] [ 2.69350122e-03 -3.63047392e-05 9.99996372e-01 6.08651564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.274012739 meters Centerline goodness : 0.991647 Centerline is valid? [True, True] Translation: X:180.45, Y:128.87, Z:0.61 [[-5.08454976e-02 -9.98706526e-01 1.03096480e-04 1.80454062e+02] [ 9.98702899e-01 -5.08455908e-02 -2.69177210e-03 1.28874268e+02] [ 2.69353236e-03 -3.39017379e-05 9.99996372e-01 6.08703012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30401273900003 meters Centerline goodness : 0.991383 Centerline is valid? [True, True] Translation: X:180.46, Y:128.83, Z:0.61 [[-5.10609700e-02 -9.98695533e-01 1.00906169e-04 1.80459359e+02] [ 9.98691906e-01 -5.10610565e-02 -2.69185640e-03 1.28825396e+02] [ 2.69349734e-03 -3.66746242e-05 9.99996372e-01 6.10818403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.334012739 meters Centerline goodness : 0.990692 Centerline is valid? [True, True] Translation: X:180.46, Y:128.81, Z:0.61 [[-5.04628473e-02 -9.98725933e-01 1.04378485e-04 1.80462263e+02] [ 9.98722307e-01 -5.04629454e-02 -2.69172175e-03 1.28811259e+02] [ 2.69355956e-03 -3.15868227e-05 9.99996372e-01 6.12752493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36401273900003 meters Centerline goodness : 0.989738 Centerline is valid? [True, True] Translation: X:180.47, Y:128.81, Z:0.62 [[-4.83151062e-02 -9.98832138e-01 1.05373570e-04 1.80466876e+02] [ 9.98828511e-01 -4.83152148e-02 -2.69168280e-03 1.28812537e+02] [ 2.69363043e-03 -2.47988139e-05 9.99996372e-01 6.15756578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.394012739 meters Centerline goodness : 0.989738 Centerline is valid? [True, True] Translation: X:180.47, Y:128.81, Z:0.62 [[-4.86838271e-02 -9.98814234e-01 1.06365780e-04 1.80467049e+02] [ 9.98810607e-01 -4.86839370e-02 -2.69164359e-03 1.28810040e+02] [ 2.69363023e-03 -2.48002420e-05 9.99996372e-01 6.15749800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42401273900003 meters Centerline goodness : 0.989724 Centerline is valid? [True, True] Translation: X:180.47, Y:128.82, Z:0.62 [[-4.73971291e-02 -9.98876119e-01 1.07359403e-04 1.80469361e+02] [ 9.98872493e-01 -4.73972464e-02 -2.69160395e-03 1.28815296e+02] [ 2.69366745e-03 -2.03359456e-05 9.99996372e-01 6.15503214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.454012739 meters Centerline goodness : 0.989931 Centerline is valid? [True, True] Translation: X:180.47, Y:128.83, Z:0.61 [[-4.60919347e-02 -9.98937196e-01 1.08355410e-04 1.80470633e+02] [ 9.98933570e-01 -4.60920594e-02 -2.69156386e-03 1.28834794e+02] [ 2.69369758e-03 -1.58195285e-05 9.99996372e-01 6.13056514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.484012739 meters Centerline goodness : 0.989911 Centerline is valid? [True, True] Translation: X:180.47, Y:128.84, Z:0.61 [[-4.23331408e-02 -9.99103545e-01 1.09362075e-04 1.80473290e+02] [ 9.99099919e-01 -4.23332818e-02 -2.69152295e-03 1.28840979e+02] [ 2.69373978e-03 -4.67697984e-06 9.99996372e-01 6.09171173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.514012739 meters Centerline goodness : 0.989808 Centerline is valid? [True, True] Translation: X:180.48, Y:128.85, Z:0.61 [[-3.92694351e-02 -9.99228652e-01 1.10379627e-04 1.80475185e+02] [ 9.99225027e-01 -3.92695899e-02 -2.69148122e-03 1.28847481e+02] [ 2.69373972e-03 4.60113870e-06 9.99996372e-01 6.12414494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.544012739 meters Centerline goodness : 0.989492 Centerline is valid? [True, True] Translation: X:180.48, Y:128.83, Z:0.61 [[-3.76555061e-02 -9.99290774e-01 1.11403882e-04 1.80477464e+02] [ 9.99287149e-01 -3.76556696e-02 -2.69143883e-03 1.28826312e+02] [ 2.69372498e-03 9.97697670e-06 9.99996372e-01 6.13846426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.574012739 meters Centerline goodness : 0.989352 Centerline is valid? [True, True] Translation: X:180.48, Y:128.84, Z:0.61 [[-3.58802542e-02 -9.99356090e-01 1.12424412e-04 1.80478343e+02] [ 9.99352466e-01 -3.58804268e-02 -2.69139620e-03 1.28836604e+02] [ 2.69369702e-03 1.57836340e-05 9.99996372e-01 6.13704533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.604012739 meters Centerline goodness : 0.989405 Centerline is valid? [True, True] Translation: X:180.48, Y:128.80, Z:0.61 [[-3.10818119e-02 -9.99516837e-01 1.13442745e-04 1.80479616e+02] [ 9.99513214e-01 -3.10820047e-02 -2.69135327e-03 1.28799996e+02] [ 2.69357894e-03 2.97353861e-05 9.99996372e-01 6.12112862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.634012739 meters Centerline goodness : 0.989505 Centerline is valid? [True, True] Translation: X:180.48, Y:128.81, Z:0.61 [[-2.84782105e-02 -9.99594407e-01 1.14453269e-04 1.80478279e+02] [ 9.99590785e-01 -2.84784154e-02 -2.69131030e-03 1.28811364e+02] [ 2.69347817e-03 3.77627323e-05 9.99996372e-01 6.11330400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.664012739 meters Centerline goodness : 0.989317 Centerline is valid? [True, True] Translation: X:180.48, Y:128.79, Z:0.61 [[-2.37114318e-02 -9.99718838e-01 1.15456256e-04 1.80476794e+02] [ 9.99715217e-01 -2.37116567e-02 -2.69126727e-03 1.28786956e+02] [ 2.69324825e-03 5.16095755e-05 9.99996372e-01 6.10902010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.694012739 meters Centerline goodness : 0.989358 Centerline is valid? [True, True] Translation: X:180.48, Y:128.78, Z:0.61 [[-2.19248559e-02 -9.99759615e-01 1.16456469e-04 1.80475240e+02] [ 9.99755994e-01 -2.19250900e-02 -2.69122399e-03 1.28784070e+02] [ 2.69313038e-03 5.74233542e-05 9.99996372e-01 6.09182454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.724012739 meters Centerline goodness : 0.989882 Centerline is valid? [True, True] Translation: X:180.47, Y:128.76, Z:0.61 [[-1.92028434e-02 -9.99815602e-01 1.17448827e-04 1.80472058e+02] [ 9.99811982e-01 -1.92030900e-02 -2.69118068e-03 1.28761876e+02] [ 2.69293981e-03 6.57484235e-05 9.99996372e-01 6.07685555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.754012739 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:180.47, Y:128.76, Z:0.61 [[-1.91317657e-02 -9.99816964e-01 1.18434230e-04 1.80470032e+02] [ 9.99813344e-01 -1.91320152e-02 -2.69113731e-03 1.28764409e+02] [ 2.69291063e-03 6.69259149e-05 9.99996372e-01 6.08748684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.784012739 meters Centerline goodness : 0.989910 Centerline is valid? [True, True] Translation: X:180.47, Y:128.76, Z:0.61 [[-1.93884943e-02 -9.99812018e-01 1.19414787e-04 1.80465477e+02] [ 9.99808399e-01 -1.93887455e-02 -2.69109380e-03 1.28760393e+02] [ 2.69290323e-03 6.72156503e-05 9.99996372e-01 6.12521981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.814012739 meters Centerline goodness : 0.986313 Centerline is valid? [True, True] Translation: X:180.46, Y:128.76, Z:0.62 [[-2.06112079e-02 -9.99787559e-01 1.20396724e-04 1.80459787e+02] [ 9.99783940e-01 -2.06114574e-02 -2.69104987e-03 1.28760291e+02] [ 2.69295974e-03 6.49049225e-05 9.99996372e-01 6.19050278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.844012739 meters Centerline goodness : 0.990414 Centerline is valid? [True, True] Translation: X:180.46, Y:128.76, Z:0.61 [[-2.20439713e-02 -9.99756995e-01 1.21378958e-04 1.80455766e+02] [ 9.99753375e-01 -2.20442182e-02 -2.69100557e-03 1.28763354e+02] [ 2.69302734e-03 6.20285734e-05 9.99996372e-01 6.07819804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.874012739 meters Centerline goodness : 0.990832 Centerline is valid? [True, True] Translation: X:180.45, Y:128.78, Z:0.61 [[-2.33340661e-02 -9.99727716e-01 1.22364296e-04 1.80451424e+02] [ 9.99724096e-01 -2.33343110e-02 -2.69096076e-03 1.28780790e+02] [ 2.69308334e-03 5.95394790e-05 9.99996372e-01 6.06509854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.904012739 meters Centerline goodness : 0.990510 Centerline is valid? [True, True] Translation: X:180.45, Y:128.77, Z:0.61 [[-2.69298075e-02 -9.99637319e-01 1.23358628e-04 1.80445870e+02] [ 9.99633699e-01 -2.69300421e-02 -2.69091518e-03 1.28773211e+02] [ 2.69326129e-03 5.08476137e-05 9.99996372e-01 6.10058881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.934012739 meters Centerline goodness : 0.989762 Centerline is valid? [True, True] Translation: X:180.44, Y:128.78, Z:0.61 [[-2.96295835e-02 -9.99560940e-01 1.24358234e-04 1.80442957e+02] [ 9.99557319e-01 -2.96298109e-02 -2.69086898e-03 1.28775091e+02] [ 2.69337224e-03 4.45738559e-05 9.99996372e-01 6.13192326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.964012739 meters Centerline goodness : 0.989793 Centerline is valid? [True, True] Translation: X:180.44, Y:128.78, Z:0.62 [[-3.43468083e-02 -9.99409967e-01 1.25357823e-04 1.80437851e+02] [ 9.99406345e-01 -3.43470213e-02 -2.69082241e-03 1.28779322e+02] [ 2.69354041e-03 3.28622418e-05 9.99996372e-01 6.16662723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.994012739 meters Centerline goodness : 0.989476 Centerline is valid? [True, True] Translation: X:180.44, Y:128.81, Z:0.61 [[-3.73196317e-02 -9.99303372e-01 1.26361431e-04 1.80435248e+02] [ 9.99299750e-01 -3.73198367e-02 -2.69077528e-03 1.28807172e+02] [ 2.69361660e-03 2.58542035e-05 9.99996372e-01 6.14753652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.024012739 meters Centerline goodness : 0.990648 Centerline is valid? [True, True] Translation: X:180.44, Y:128.78, Z:0.61 [[-4.40018200e-02 -9.99031443e-01 1.27378698e-04 1.80435164e+02] [ 9.99027819e-01 -4.40020034e-02 -2.69072713e-03 1.28779564e+02] [ 2.69372592e-03 8.85797218e-06 9.99996372e-01 6.09179263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05401273900003 meters Centerline goodness : 0.990633 Centerline is valid? [True, True] Translation: X:180.43, Y:128.78, Z:0.61 [[-4.81581253e-02 -9.98839716e-01 1.27759851e-04 1.80434730e+02] [ 9.98836092e-01 -4.81582947e-02 -2.69070903e-03 1.28776884e+02] [ 2.69373974e-03 -1.96835184e-06 9.99996372e-01 6.08908672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.084012739 meters Centerline goodness : 0.990503 Centerline is valid? [True, True] Translation: X:180.44, Y:128.76, Z:0.61 [[-5.49636583e-02 -9.98488347e-01 1.28769801e-04 1.80436594e+02] [ 9.98484722e-01 -5.49638057e-02 -2.69066069e-03 1.28763341e+02] [ 2.69367103e-03 -1.93138764e-05 9.99996372e-01 6.11834756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11401273900003 meters Centerline goodness : 0.990943 Centerline is valid? [True, True] Translation: X:180.44, Y:128.74, Z:0.61 [[-5.80429389e-02 -9.98314079e-01 1.29775467e-04 1.80439135e+02] [ 9.98310454e-01 -5.80430779e-02 -2.69061219e-03 1.28744254e+02] [ 2.69360860e-03 -2.66148338e-05 9.99996372e-01 6.11552294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.144012739 meters Centerline goodness : 0.990547 Centerline is valid? [True, True] Translation: X:180.44, Y:128.74, Z:0.61 [[-6.03400997e-02 -9.98177868e-01 1.30771426e-04 1.80441524e+02] [ 9.98174242e-01 -6.03402331e-02 -2.69056378e-03 1.28739590e+02] [ 2.69355200e-03 -3.18162177e-05 9.99996372e-01 6.11185453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17401273900003 meters Centerline goodness : 0.990733 Centerline is valid? [True, True] Translation: X:180.45, Y:128.74, Z:0.61 [[-6.22233935e-02 -9.98062239e-01 1.31760840e-04 1.80445439e+02] [ 9.98058613e-01 -6.22235227e-02 -2.69051533e-03 1.28739571e+02] [ 2.69350037e-03 -3.59079524e-05 9.99996372e-01 6.09473073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.204012739 meters Centerline goodness : 0.990823 Centerline is valid? [True, True] Translation: X:180.45, Y:128.75, Z:0.61 [[-6.08021182e-02 -9.98149831e-01 1.32750237e-04 1.80449230e+02] [ 9.98146205e-01 -6.08022552e-02 -2.69046651e-03 1.28748798e+02] [ 2.69356021e-03 -3.10819176e-05 9.99996372e-01 6.09666681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.234012739 meters Centerline goodness : 0.990962 Centerline is valid? [True, True] Translation: X:180.45, Y:128.76, Z:0.61 [[-5.91574131e-02 -9.98248658e-01 1.33744385e-04 1.80449824e+02] [ 9.98245033e-01 -5.91575588e-02 -2.69041709e-03 1.28757522e+02] [ 2.69361724e-03 -2.56484475e-05 9.99996372e-01 6.09898656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.264012739 meters Centerline goodness : 0.991001 Centerline is valid? [True, True] Translation: X:180.45, Y:128.76, Z:0.61 [[-5.43761797e-02 -9.98520512e-01 1.34746383e-04 1.80449918e+02] [ 9.98516888e-01 -5.43763454e-02 -2.69036690e-03 1.28757661e+02] [ 2.69371355e-03 -1.17453356e-05 9.99996372e-01 6.06298620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.294012739 meters Centerline goodness : 0.991015 Centerline is valid? [True, True] Translation: X:180.45, Y:128.77, Z:0.60 [[-5.25030006e-02 -9.98620757e-01 1.35753406e-04 1.80449942e+02] [ 9.98617133e-01 -5.25031758e-02 -2.69031609e-03 1.28766426e+02] [ 2.69373298e-03 -5.68398974e-06 9.99996372e-01 6.03956877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.324012739 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:180.45, Y:128.78, Z:0.60 [[-5.02764628e-02 -9.98735330e-01 1.36765353e-04 1.80450095e+02] [ 9.98731706e-01 -5.02766488e-02 -2.69026465e-03 1.28779074e+02] [ 2.69373845e-03 1.33490373e-06 9.99996372e-01 6.03661848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.354012739 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:180.45, Y:128.77, Z:0.60 [[-4.99556463e-02 -9.98751428e-01 1.37786945e-04 1.80450882e+02] [ 9.98747805e-01 -4.99558362e-02 -2.69021232e-03 1.28773006e+02] [ 2.69373666e-03 3.22311345e-06 9.99996372e-01 6.02966036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.384012739 meters Centerline goodness : 0.990808 Centerline is valid? [True, True] Translation: X:180.45, Y:128.76, Z:0.60 [[-5.06481442e-02 -9.98716550e-01 1.38812919e-04 1.80452039e+02] [ 9.98712926e-01 -5.06483344e-02 -2.69015938e-03 1.28762508e+02] [ 2.69373734e-03 2.38267601e-06 9.99996372e-01 6.01368979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.414012739 meters Centerline goodness : 0.991423 Centerline is valid? [True, True] Translation: X:180.45, Y:128.78, Z:0.60 [[-5.14307183e-02 -9.98676555e-01 1.39834471e-04 1.80450973e+02] [ 9.98672932e-01 -5.14309084e-02 -2.69010628e-03 1.28775559e+02] [ 2.69373789e-03 1.29480250e-06 9.99996372e-01 6.00710892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.444012739 meters Centerline goodness : 0.991573 Centerline is valid? [True, True] Translation: X:180.45, Y:128.76, Z:0.60 [[-5.23559750e-02 -9.98628476e-01 1.40858880e-04 1.80449972e+02] [ 9.98624852e-01 -5.23561645e-02 -2.69005264e-03 1.28761975e+02] [ 2.69373800e-03 -1.75150524e-07 9.99996372e-01 6.01950652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.474012739 meters Centerline goodness : 0.991106 Centerline is valid? [True, True] Translation: X:180.45, Y:128.76, Z:0.60 [[-5.28723731e-02 -9.98601268e-01 1.41306972e-04 1.80449789e+02] [ 9.98597645e-01 -5.28725619e-02 -2.69002910e-03 1.28756659e+02] [ 2.69373773e-03 -1.11941279e-06 9.99996372e-01 6.03945897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.504012739 meters Centerline goodness : 0.991627 Centerline is valid? [True, True] Translation: X:180.45, Y:128.77, Z:0.61 [[-5.30082613e-02 -9.98594064e-01 1.42328813e-04 1.80448751e+02] [ 9.98590441e-01 -5.30084523e-02 -2.68997503e-03 1.28768515e+02] [ 2.69373773e-03 -4.62707086e-07 9.99996372e-01 6.05675510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.534012739 meters Centerline goodness : 0.992270 Centerline is valid? [True, True] Translation: X:180.45, Y:128.75, Z:0.61 [[-5.21228478e-02 -9.98640670e-01 1.43354696e-04 1.80447858e+02] [ 9.98637047e-01 -5.21230448e-02 -2.68992036e-03 1.28747790e+02] [ 2.69373596e-03 2.95300072e-06 9.99996372e-01 6.11343386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.564012739 meters Centerline goodness : 0.992132 Centerline is valid? [True, True] Translation: X:180.45, Y:128.74, Z:0.61 [[-5.29160751e-02 -9.98598953e-01 1.44379375e-04 1.80447868e+02] [ 9.98595330e-01 -5.29162720e-02 -2.68986536e-03 1.28740080e+02] [ 2.69373675e-03 1.83945204e-06 9.99996372e-01 6.14321165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.594012739 meters Centerline goodness : 0.991246 Centerline is valid? [True, True] Translation: X:180.45, Y:128.74, Z:0.61 [[-5.48198402e-02 -9.98496251e-01 1.45395288e-04 1.80448645e+02] [ 9.98492628e-01 -5.48200330e-02 -2.68981045e-03 1.28744139e+02] [ 2.69373622e-03 -2.27885552e-06 9.99996372e-01 6.14962674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.624012739 meters Centerline goodness : 0.991518 Centerline is valid? [True, True] Translation: X:180.45, Y:128.72, Z:0.61 [[-5.78003650e-02 -9.98328151e-01 1.46411852e-04 1.80450520e+02] [ 9.98324527e-01 -5.78005497e-02 -2.68975511e-03 1.28717816e+02] [ 2.69372093e-03 -9.30228475e-06 9.99996372e-01 6.13862632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.654012739 meters Centerline goodness : 0.991758 Centerline is valid? [True, True] Translation: X:180.45, Y:128.71, Z:0.61 [[-6.44929007e-02 -9.97918155e-01 1.47421772e-04 1.80451722e+02] [ 9.97914531e-01 -6.44930638e-02 -2.68969976e-03 1.28711175e+02] [ 2.69360790e-03 -2.63522112e-05 9.99996372e-01 6.09295220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.684012739 meters Centerline goodness : 0.991927 Centerline is valid? [True, True] Translation: X:180.45, Y:128.71, Z:0.61 [[-6.69170445e-02 -9.97758532e-01 1.48421722e-04 1.80453447e+02] [ 9.97754907e-01 -6.69172015e-02 -2.68964458e-03 1.28706838e+02] [ 2.69354779e-03 -3.18945642e-05 9.99996372e-01 6.07747383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.714012739 meters Centerline goodness : 0.992308 Centerline is valid? [True, True] Translation: X:180.46, Y:128.69, Z:0.61 [[-7.02052379e-02 -9.97532557e-01 1.49419557e-04 1.80458335e+02] [ 9.97528932e-01 -7.02053856e-02 -2.68958914e-03 1.28686431e+02] [ 2.69344279e-03 -3.97729150e-05 9.99996372e-01 6.07505358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.744012739 meters Centerline goodness : 0.992612 Centerline is valid? [True, True] Translation: X:180.46, Y:128.69, Z:0.61 [[-7.11222072e-02 -9.97467598e-01 1.50410350e-04 1.80459840e+02] [ 9.97463973e-01 -7.11223543e-02 -2.68953374e-03 1.28685976e+02] [ 2.69342029e-03 -4.12566706e-05 9.99996372e-01 6.08364361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.774012739 meters Centerline goodness : 0.992433 Centerline is valid? [True, True] Translation: X:180.46, Y:128.70, Z:0.61 [[-6.99423667e-02 -9.97551023e-01 1.51395460e-04 1.80462055e+02] [ 9.97547398e-01 -6.99425207e-02 -2.68947828e-03 1.28704088e+02] [ 2.69348079e-03 -3.70843289e-05 9.99996372e-01 6.11157541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80401273900003 meters Centerline goodness : 0.992450 Centerline is valid? [True, True] Translation: X:180.46, Y:128.71, Z:0.61 [[-6.81302359e-02 -9.97676424e-01 1.52388278e-04 1.80463501e+02] [ 9.97672800e-01 -6.81303992e-02 -2.68942203e-03 1.28711578e+02] [ 2.69355523e-03 -3.11973168e-05 9.99996372e-01 6.10359678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.834012739 meters Centerline goodness : 0.992635 Centerline is valid? [True, True] Translation: X:180.46, Y:128.72, Z:0.61 [[-6.22464551e-02 -9.98060797e-01 1.53392015e-04 1.80464440e+02] [ 9.98057174e-01 -6.22466424e-02 -2.68936478e-03 1.28723204e+02] [ 2.69369769e-03 -1.43094229e-05 9.99996372e-01 6.09112728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86401273900003 meters Centerline goodness : 0.992717 Centerline is valid? [True, True] Translation: X:180.46, Y:128.72, Z:0.61 [[-5.96248887e-02 -9.98220842e-01 1.54404420e-04 1.80464081e+02] [ 9.98217219e-01 -5.96250883e-02 -2.68930665e-03 1.28720336e+02] [ 2.69372833e-03 -6.22045841e-06 9.99996372e-01 6.09605397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.894012739 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:180.46, Y:128.72, Z:0.61 [[-5.64130898e-02 -9.98407502e-01 1.55421464e-04 1.80463623e+02] [ 9.98403880e-01 -5.64133038e-02 -2.68924787e-03 1.28721973e+02] [ 2.69373309e-03 3.46461139e-06 9.99996372e-01 6.10988920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92401273900003 meters Centerline goodness : 0.993257 Centerline is valid? [True, True] Translation: X:180.46, Y:128.73, Z:0.61 [[-5.63683867e-02 -9.98410026e-01 1.56439989e-04 1.80464253e+02] [ 9.98406405e-01 -5.63686036e-02 -2.68918862e-03 1.28725372e+02] [ 2.69373118e-03 4.60546252e-06 9.99996372e-01 6.10824308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.954012739 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:180.46, Y:128.71, Z:0.61 [[-5.81416835e-02 -9.98308329e-01 1.57462187e-04 1.80464172e+02] [ 9.98304707e-01 -5.81418968e-02 -2.68912877e-03 1.28714100e+02] [ 2.69373479e-03 8.44768998e-07 9.99996372e-01 6.07364236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.984012739 meters Centerline goodness : 0.992321 Centerline is valid? [True, True] Translation: X:180.46, Y:128.71, Z:0.60 [[-5.94639424e-02 -9.98230442e-01 1.58483345e-04 1.80463565e+02] [ 9.98226820e-01 -5.94641535e-02 -2.68906858e-03 1.28710349e+02] [ 2.69373420e-03 -1.70029380e-06 9.99996372e-01 6.04855175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.014012739 meters Centerline goodness : 0.992240 Centerline is valid? [True, True] Translation: X:180.46, Y:128.72, Z:0.60 [[-6.05930762e-02 -9.98162539e-01 1.59500790e-04 1.80462189e+02] [ 9.98158917e-01 -6.05932861e-02 -2.68900823e-03 1.28719591e+02] [ 2.69373196e-03 -3.72814484e-06 9.99996372e-01 6.03270530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.044012739 meters Centerline goodness : 0.992682 Centerline is valid? [True, True] Translation: X:180.46, Y:128.71, Z:0.60 [[-6.21602897e-02 -9.98066167e-01 1.60522241e-04 1.80459627e+02] [ 9.98062544e-01 -6.21604966e-02 -2.68894725e-03 1.28713350e+02] [ 2.69372542e-03 -6.93450394e-06 9.99996372e-01 6.03102602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.074012739 meters Centerline goodness : 0.992743 Centerline is valid? [True, True] Translation: X:180.46, Y:128.70, Z:0.61 [[-6.53495068e-02 -9.97862423e-01 1.61546547e-04 1.80456476e+02] [ 9.97858801e-01 -6.53497049e-02 -2.68888571e-03 1.28701607e+02] [ 2.69369503e-03 -1.45167118e-05 9.99996372e-01 6.07255091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.104012739 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:180.46, Y:128.68, Z:0.61 [[-6.80623113e-02 -9.97681059e-01 1.62566440e-04 1.80458205e+02] [ 9.97677436e-01 -6.80625022e-02 -2.68882405e-03 1.28681342e+02] [ 2.69365351e-03 -2.08187110e-05 9.99996372e-01 6.08942568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.134012739 meters Centerline goodness : 0.993048 Centerline is valid? [True, True] Translation: X:180.46, Y:128.68, Z:0.61 [[-7.35775206e-02 -9.97289487e-01 1.63576492e-04 1.80462834e+02] [ 9.97285863e-01 -7.35776942e-02 -2.68876260e-03 1.28677050e+02] [ 2.69351026e-03 -3.46999623e-05 9.99996372e-01 6.09568512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.164012739 meters Centerline goodness : 0.993314 Centerline is valid? [True, True] Translation: X:180.47, Y:128.66, Z:0.61 [[-7.63309217e-02 -9.97082526e-01 1.64579327e-04 1.80465400e+02] [ 9.97078902e-01 -7.63310880e-02 -2.68870122e-03 1.28658795e+02] [ 2.69341952e-03 -4.11324677e-05 9.99996372e-01 6.10230745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.194012739 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:180.47, Y:128.63, Z:0.61 [[-8.23873583e-02 -9.96600369e-01 1.65575690e-04 1.80471306e+02] [ 9.96596744e-01 -8.23875053e-02 -2.68863986e-03 1.28629748e+02] [ 2.69314084e-03 -5.64977415e-05 9.99996372e-01 6.13601572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.224012739 meters Centerline goodness : 0.992431 Centerline is valid? [True, True] Translation: X:180.48, Y:128.62, Z:0.62 [[-8.62455709e-02 -9.96273895e-01 1.66557039e-04 1.80476069e+02] [ 9.96270269e-01 -8.62457066e-02 -2.68857906e-03 1.28621292e+02] [ 2.69292597e-03 -6.59422107e-05 9.99996372e-01 6.15467031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.254012739 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:180.48, Y:128.63, Z:0.62 [[-8.97826847e-02 -9.95961365e-01 1.67527290e-04 1.80480632e+02] [ 9.95957740e-01 -8.97828100e-02 -2.68851861e-03 1.28631055e+02] [ 2.69270173e-03 -7.45323173e-05 9.99996372e-01 6.17082292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.284012739 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:180.48, Y:128.63, Z:0.62 [[-9.01443187e-02 -9.95928699e-01 1.68499501e-04 1.80480862e+02] [ 9.95925073e-01 -9.01444454e-02 -2.68845767e-03 1.28628563e+02] [ 2.69270145e-03 -7.45363073e-05 9.99996372e-01 6.17075515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.314012739 meters Centerline goodness : 0.993539 Centerline is valid? [True, True] Translation: X:180.49, Y:128.63, Z:0.62 [[-9.31579533e-02 -9.95651328e-01 1.69475679e-04 1.80488092e+02] [ 9.95647702e-01 -9.31580716e-02 -2.68839613e-03 1.28630904e+02] [ 2.69249321e-03 -8.17074113e-05 9.99996372e-01 6.15842011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.344012739 meters Centerline goodness : 0.992910 Centerline is valid? [True, True] Translation: X:180.50, Y:128.62, Z:0.61 [[-8.87516699e-02 -9.96053770e-01 1.70453218e-04 1.80495179e+02] [ 9.96050144e-01 -8.87518069e-02 -2.68833415e-03 1.28620358e+02] [ 2.69285340e-03 -6.88141926e-05 9.99996372e-01 6.10940102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.374012739 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:180.50, Y:128.65, Z:0.61 [[-8.46316379e-02 -9.96412292e-01 1.71429351e-04 1.80497262e+02] [ 9.96408668e-01 -8.46317925e-02 -2.68827191e-03 1.28649888e+02] [ 2.69313555e-03 -5.66991634e-05 9.99996372e-01 6.11224872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.404012739 meters Centerline goodness : 0.993247 Centerline is valid? [True, True] Translation: X:180.50, Y:128.65, Z:0.61 [[-7.97277387e-02 -9.96816662e-01 1.72413681e-04 1.80500025e+02] [ 9.96813038e-01 -7.97279138e-02 -2.68820877e-03 1.28652144e+02] [ 2.69339748e-03 -4.24606014e-05 9.99996372e-01 6.10966777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.434012739 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:180.50, Y:128.69, Z:0.61 [[-6.89704499e-02 -9.97618688e-01 1.73410507e-04 1.80499406e+02] [ 9.97615067e-01 -6.89706668e-02 -2.68814447e-03 1.28686817e+02] [ 2.69370340e-03 -1.24055989e-05 9.99996372e-01 6.09902506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.464012739 meters Centerline goodness : 0.993444 Centerline is valid? [True, True] Translation: X:180.50, Y:128.67, Z:0.61 [[-6.03905691e-02 -9.98174809e-01 1.74422450e-04 1.80501862e+02] [ 9.98171189e-01 -6.03908199e-02 -2.68807881e-03 1.28674544e+02] [ 2.69370606e-03 1.17688556e-05 9.99996372e-01 6.07770792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.494012739 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:180.51, Y:128.65, Z:0.61 [[-5.76229078e-02 -9.98338404e-01 1.75444225e-04 1.80505371e+02] [ 9.98334786e-01 -5.76231713e-02 -2.68801212e-03 1.28651162e+02] [ 2.69365538e-03 2.02609980e-05 9.99996372e-01 6.09123389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.524012739 meters Centerline goodness : 0.991001 Centerline is valid? [True, True] Translation: X:180.51, Y:128.64, Z:0.62 [[-5.39618926e-02 -9.98542980e-01 1.76454634e-04 1.80508876e+02] [ 9.98539363e-01 -5.39621721e-02 -2.68794579e-03 1.28638121e+02] [ 2.69355127e-03 3.11502560e-05 9.99996372e-01 6.19505896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55401273900003 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:180.51, Y:128.65, Z:0.61 [[-5.32364494e-02 -9.98581919e-01 1.77453604e-04 1.80508485e+02] [ 9.98578302e-01 -5.32367342e-02 -2.68787984e-03 1.28652935e+02] [ 2.69351525e-03 3.41081397e-05 9.99996372e-01 6.12608001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.584012739 meters Centerline goodness : 0.993406 Centerline is valid? [True, True] Translation: X:180.51, Y:128.64, Z:0.61 [[-5.29279066e-02 -9.98598320e-01 1.78454977e-04 1.80511846e+02] [ 9.98594703e-01 -5.29281952e-02 -2.68781335e-03 1.28643559e+02] [ 2.69349120e-03 3.59438609e-05 9.99996372e-01 6.09891046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61401273900003 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:180.51, Y:128.65, Z:0.61 [[-5.37951341e-02 -9.98551977e-01 1.79459900e-04 1.80512387e+02] [ 9.98548361e-01 -5.37954223e-02 -2.68774625e-03 1.28652084e+02] [ 2.69350846e-03 3.46117192e-05 9.99996372e-01 6.09211764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.644012739 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:180.51, Y:128.63, Z:0.61 [[-5.47135579e-02 -9.98502075e-01 1.80466266e-04 1.80514144e+02] [ 9.98498458e-01 -5.47138455e-02 -2.68767868e-03 1.28626516e+02] [ 2.69352674e-03 3.31428256e-05 9.99996372e-01 6.09382655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67401273900003 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:180.51, Y:128.64, Z:0.61 [[-5.46968361e-02 -9.98502991e-01 1.81468216e-04 1.80513498e+02] [ 9.98499375e-01 -5.46971264e-02 -2.68761103e-03 1.28640684e+02] [ 2.69351344e-03 3.41920808e-05 9.99996372e-01 6.11586012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.704012739 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:180.52, Y:128.62, Z:0.61 [[-5.42594363e-02 -9.98526855e-01 1.82467711e-04 1.80515918e+02] [ 9.98523239e-01 -5.42597309e-02 -2.68754317e-03 1.28622798e+02] [ 2.69348468e-03 3.63736722e-05 9.99996372e-01 6.14690882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.734012739 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] Translation: X:180.52, Y:128.63, Z:0.62 [[-5.49099116e-02 -9.98491296e-01 1.83467504e-04 1.80516270e+02] [ 9.98487680e-01 -5.49102065e-02 -2.68747491e-03 1.28628739e+02] [ 2.69349455e-03 3.56210330e-05 9.99996372e-01 6.15200403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.764012739 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:180.52, Y:128.63, Z:0.61 [[-5.60003852e-02 -9.98430730e-01 1.84464853e-04 1.80516621e+02] [ 9.98427114e-01 -5.60006789e-02 -2.68740645e-03 1.28629405e+02] [ 2.69351935e-03 3.36789137e-05 9.99996372e-01 6.13838591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.794012739 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:180.52, Y:128.63, Z:0.61 [[-5.81325922e-02 -9.98308854e-01 1.85466374e-04 1.80518263e+02] [ 9.98305237e-01 -5.81328809e-02 -2.68733734e-03 1.28626962e+02] [ 2.69357435e-03 2.89301673e-05 9.99996372e-01 6.12536369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.824012739 meters Centerline goodness : 0.994230 Centerline is valid? [True, True] Translation: X:180.52, Y:128.64, Z:0.62 [[-6.02563106e-02 -9.98182920e-01 1.86469001e-04 1.80516117e+02] [ 9.98179303e-01 -6.02565943e-02 -2.68726776e-03 1.28639231e+02] [ 2.69362077e-03 2.42046565e-05 9.99996372e-01 6.16176224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.854012739 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:180.51, Y:128.64, Z:0.62 [[-6.07652370e-02 -9.98152068e-01 1.87476989e-04 1.80514614e+02] [ 9.98148451e-01 -6.07655215e-02 -2.68719744e-03 1.28637744e+02] [ 2.69362382e-03 2.38416767e-05 9.99996372e-01 6.17750950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.884012739 meters Centerline goodness : 0.994642 Centerline is valid? [True, True] Translation: X:180.52, Y:128.61, Z:0.62 [[-6.04233916e-02 -9.98172820e-01 1.88490730e-04 1.80515094e+02] [ 9.98169203e-01 -6.04236801e-02 -2.68712633e-03 1.28607403e+02] [ 2.69360577e-03 2.57803550e-05 9.99996372e-01 6.17778938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.914012739 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:180.51, Y:128.63, Z:0.62 [[-5.83395145e-02 -9.98296782e-01 1.89494738e-04 1.80510776e+02] [ 9.98293166e-01 -5.83398132e-02 -2.68705553e-03 1.28629494e+02] [ 2.69353397e-03 3.24097876e-05 9.99996372e-01 6.15388074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.944012739 meters Centerline goodness : 0.994633 Centerline is valid? [True, True] Translation: X:180.51, Y:128.61, Z:0.61 [[-5.70991775e-02 -9.98368493e-01 1.90497586e-04 1.80510837e+02] [ 9.98364878e-01 -5.70994834e-02 -2.68698443e-03 1.28608728e+02] [ 2.69347791e-03 3.67614988e-05 9.99996372e-01 6.13636318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.974012739 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:180.51, Y:128.60, Z:0.61 [[-5.53577768e-02 -9.98466564e-01 1.91502527e-04 1.80506783e+02] [ 9.98462950e-01 -5.53580917e-02 -2.68691280e-03 1.28604973e+02] [ 2.69339381e-03 4.24666584e-05 9.99996372e-01 6.14553487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.004012739 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:180.50, Y:128.61, Z:0.61 [[-5.46502430e-02 -9.98505540e-01 1.92500636e-04 1.80504435e+02] [ 9.98501926e-01 -5.46505632e-02 -2.68684129e-03 1.28610702e+02] [ 2.69334618e-03 4.53757267e-05 9.99996372e-01 6.14365225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.034012739 meters Centerline goodness : 0.994521 Centerline is valid? [True, True] Translation: X:180.50, Y:128.61, Z:0.61 [[-5.41034231e-02 -9.98535318e-01 1.93501620e-04 1.80501088e+02] [ 9.98531705e-01 -5.41037480e-02 -2.68676920e-03 1.28610469e+02] [ 2.69330310e-03 4.78540919e-05 9.99996372e-01 6.14233406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.064012739 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:180.50, Y:128.59, Z:0.61 [[-5.39040905e-02 -9.98546099e-01 1.94506480e-04 1.80500574e+02] [ 9.98542485e-01 -5.39044188e-02 -2.68669645e-03 1.28587660e+02] [ 2.69327502e-03 4.93990548e-05 9.99996372e-01 6.13914970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.094012739 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:180.49, Y:128.60, Z:0.61 [[-5.36916897e-02 -9.98557542e-01 1.95504983e-04 1.80494172e+02] [ 9.98553929e-01 -5.36920215e-02 -2.68662379e-03 1.28601653e+02] [ 2.69324551e-03 5.09728976e-05 9.99996372e-01 6.13681150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.124012739 meters Centerline goodness : 0.994707 Centerline is valid? [True, True] Translation: X:180.50, Y:128.58, Z:0.61 [[-5.40982762e-02 -9.98535597e-01 1.96502337e-04 1.80495046e+02] [ 9.98531984e-01 -5.40986092e-02 -2.68655084e-03 1.28578006e+02] [ 2.69324715e-03 5.08760986e-05 9.99996372e-01 6.12383892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.154012739 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:180.50, Y:128.57, Z:0.61 [[-5.54634239e-02 -9.98460700e-01 1.97497899e-04 1.80496929e+02] [ 9.98457087e-01 -5.54637546e-02 -2.68647765e-03 1.28573905e+02] [ 2.69329633e-03 4.81919280e-05 9.99996372e-01 6.12715726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.184012739 meters Centerline goodness : 0.994361 Centerline is valid? [True, True] Translation: X:180.50, Y:128.58, Z:0.61 [[-5.63090927e-02 -9.98413365e-01 1.98485338e-04 1.80495703e+02] [ 9.98409752e-01 -5.63094230e-02 -2.68640470e-03 1.28583014e+02] [ 2.69331895e-03 4.69006855e-05 9.99996372e-01 6.12960109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.214012739 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:180.49, Y:128.61, Z:0.61 [[-5.68285361e-02 -9.98383933e-01 1.99476227e-04 1.80490103e+02] [ 9.98380320e-01 -5.68288672e-02 -2.68633112e-03 1.28612877e+02] [ 2.69332583e-03 4.64928749e-05 9.99996372e-01 6.10949287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.244012739 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:180.49, Y:128.59, Z:0.61 [[-5.72838076e-02 -9.98357914e-01 2.00483049e-04 1.80492011e+02] [ 9.98354302e-01 -5.72841397e-02 -2.68625598e-03 1.28585607e+02] [ 2.69332941e-03 4.62741443e-05 9.99996372e-01 6.10567718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.274012739 meters Centerline goodness : 0.994418 Centerline is valid? [True, True] Translation: X:180.49, Y:128.61, Z:0.61 [[-5.80299651e-02 -9.98314821e-01 2.01492795e-04 1.80491423e+02] [ 9.98311209e-01 -5.80302973e-02 -2.68618023e-03 1.28606451e+02] [ 2.69334623e-03 4.52735706e-05 9.99996372e-01 6.11254324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30401273900003 meters Centerline goodness : 0.995232 Centerline is valid? [True, True] Translation: X:180.49, Y:128.58, Z:0.61 [[-5.77262770e-02 -9.98332428e-01 2.02501849e-04 1.80492621e+02] [ 9.98328815e-01 -5.77266129e-02 -2.68610416e-03 1.28575932e+02] [ 2.69331463e-03 4.71046384e-05 9.99996372e-01 6.10939866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.334012739 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:180.49, Y:128.59, Z:0.61 [[-5.49174561e-02 -9.98490877e-01 2.03509068e-04 1.80487672e+02] [ 9.98487266e-01 -5.49178050e-02 -2.68602785e-03 1.28592374e+02] [ 2.69315057e-03 5.56913964e-05 9.99996372e-01 6.13153897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36401273900003 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:180.49, Y:128.57, Z:0.61 [[-5.35344617e-02 -9.98565982e-01 2.04513320e-04 1.80488815e+02] [ 9.98562371e-01 -5.35348182e-02 -2.68595138e-03 1.28569362e+02] [ 2.69304826e-03 6.04283446e-05 9.99996372e-01 6.14265398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.394012739 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:180.49, Y:128.56, Z:0.62 [[-5.21920510e-02 -9.98637045e-01 2.05516888e-04 1.80489747e+02] [ 9.98633435e-01 -5.21924151e-02 -2.68587459e-03 1.28557251e+02] [ 2.69294029e-03 6.50547319e-05 9.99996372e-01 6.15195807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42401273900003 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:180.49, Y:128.54, Z:0.61 [[-4.89312852e-02 -9.98802126e-01 2.06509798e-04 1.80487509e+02] [ 9.98798518e-01 -4.89316637e-02 -2.68579825e-03 1.28543048e+02] [ 2.69268587e-03 7.48421199e-05 9.99996372e-01 6.13684997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.454012739 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:180.48, Y:128.55, Z:0.61 [[-4.76304098e-02 -9.98865006e-01 2.07495256e-04 1.80484927e+02] [ 9.98861399e-01 -4.76307957e-02 -2.68572211e-03 1.28545232e+02] [ 2.69255700e-03 7.93369569e-05 9.99996372e-01 6.11755917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.484012739 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:180.48, Y:128.52, Z:0.61 [[-4.48536129e-02 -9.98993549e-01 2.08478333e-04 1.80483669e+02] [ 9.98989942e-01 -4.48540114e-02 -2.68564580e-03 1.28523787e+02] [ 2.69229392e-03 8.78068409e-05 9.99996372e-01 6.09560019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.514012739 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:180.48, Y:128.53, Z:0.61 [[-4.45645900e-02 -9.99006483e-01 2.09456877e-04 1.80481651e+02] [ 9.99002877e-01 -4.45649922e-02 -2.68556948e-03 1.28529289e+02] [ 2.69223577e-03 8.95667204e-05 9.99996372e-01 6.08273414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.544012739 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:180.47, Y:128.53, Z:0.61 [[-4.49392693e-02 -9.98989699e-01 2.10431691e-04 1.80474461e+02] [ 9.98986093e-01 -4.49396728e-02 -2.68549309e-03 1.28533573e+02] [ 2.69223667e-03 8.95342359e-05 9.99996372e-01 6.09394291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.574012739 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:180.47, Y:128.53, Z:0.61 [[-4.60444193e-02 -9.98939371e-01 2.11411572e-04 1.80468520e+02] [ 9.98935765e-01 -4.60448215e-02 -2.68541595e-03 1.28531934e+02] [ 2.69230213e-03 8.75381627e-05 9.99996372e-01 6.13068437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.604012739 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:180.47, Y:128.54, Z:0.61 [[-4.68086753e-02 -9.98903851e-01 2.12394537e-04 1.80466224e+02] [ 9.98900245e-01 -4.68090773e-02 -2.68533821e-03 1.28542255e+02] [ 2.69233667e-03 8.64638308e-05 9.99996372e-01 6.14378717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.634012739 meters Centerline goodness : 0.996236 Centerline is valid? [True, True] Translation: X:180.46, Y:128.54, Z:0.62 [[-4.74888262e-02 -9.98871746e-01 2.13382336e-04 1.80460173e+02] [ 9.98868141e-01 -4.74892284e-02 -2.68525971e-03 1.28535610e+02] [ 2.69236342e-03 8.56209855e-05 9.99996372e-01 6.15367182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.664012739 meters Centerline goodness : 0.996331 Centerline is valid? [True, True] Translation: X:180.46, Y:128.53, Z:0.62 [[-4.83087776e-02 -9.98832426e-01 2.14373588e-04 1.80455029e+02] [ 9.98828821e-01 -4.83091795e-02 -2.68518057e-03 1.28529140e+02] [ 2.69240164e-03 8.44047274e-05 9.99996372e-01 6.16127609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.694012739 meters Centerline goodness : 0.996561 Centerline is valid? [True, True] Translation: X:180.45, Y:128.53, Z:0.62 [[-4.94653628e-02 -9.98775816e-01 2.15362283e-04 1.80450058e+02] [ 9.98772211e-01 -4.94657632e-02 -2.68510127e-03 1.28527341e+02] [ 2.69246728e-03 8.22783550e-05 9.99996372e-01 6.15779145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.724012739 meters Centerline goodness : 0.996193 Centerline is valid? [True, True] Translation: X:180.44, Y:128.53, Z:0.62 [[-5.28410510e-02 -9.98602912e-01 2.16349995e-04 1.80443418e+02] [ 9.98599305e-01 -5.28414418e-02 -2.68502169e-03 1.28526291e+02] [ 2.69270272e-03 7.41675866e-05 9.99996372e-01 6.15185210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.754012739 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:180.43, Y:128.54, Z:0.61 [[-5.73557112e-02 -9.98353783e-01 2.17338631e-04 1.80434794e+02] [ 9.98350174e-01 -5.73560884e-02 -2.68494166e-03 1.28543837e+02] [ 2.69298736e-03 6.29833214e-05 9.99996372e-01 6.13420348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.784012739 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:180.43, Y:128.55, Z:0.61 [[-6.04618751e-02 -9.98170483e-01 2.18335357e-04 1.80430911e+02] [ 9.98166874e-01 -6.04622438e-02 -2.68486061e-03 1.28554814e+02] [ 2.69314965e-03 5.56034146e-05 9.99996372e-01 6.13391668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.814012739 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:180.43, Y:128.56, Z:0.61 [[-6.43864616e-02 -9.97925015e-01 2.19344576e-04 1.80428257e+02] [ 9.97921405e-01 -6.43868188e-02 -2.68477815e-03 1.28563897e+02] [ 2.69333018e-03 4.60252822e-05 9.99996372e-01 6.13941431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.844012739 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:180.43, Y:128.56, Z:0.62 [[-7.31892281e-02 -9.97318048e-01 2.19344576e-04 1.80427175e+02] [ 9.97314435e-01 -7.31895534e-02 -2.68477815e-03 1.28561681e+02] [ 2.69363144e-03 2.22586715e-05 9.99996372e-01 6.16295689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.874012739 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:180.43, Y:128.54, Z:0.62 [[-7.73196582e-02 -9.97006330e-01 2.18960201e-04 1.80428455e+02] [ 9.97002715e-01 -7.73199675e-02 -2.68480950e-03 1.28536874e+02] [ 2.69370206e-03 1.07153615e-05 9.99996372e-01 6.16266963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.904012739 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:180.43, Y:128.52, Z:0.61 [[-8.38941915e-02 -9.96474645e-01 2.17953667e-04 1.80429955e+02] [ 9.96471027e-01 -8.38944743e-02 -2.68489121e-03 1.28521226e+02] [ 2.69371112e-03 -8.06226252e-06 9.99996372e-01 6.13363980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.934012739 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:180.43, Y:128.52, Z:0.61 [[-8.59119629e-02 -9.96302709e-01 2.17579909e-04 1.80431134e+02] [ 9.96299091e-01 -8.59122373e-02 -2.68492150e-03 1.28523357e+02] [ 2.69368734e-03 -1.38922104e-05 9.99996372e-01 6.11279959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.964012739 meters Centerline goodness : 0.996771 Centerline is valid? [True, True] Translation: X:180.44, Y:128.51, Z:0.61 [[-8.84296069e-02 -9.96082405e-01 2.17333277e-04 1.80436091e+02] [ 9.96078787e-01 -8.84298715e-02 -2.68494146e-03 1.28509885e+02] [ 2.69364170e-03 -2.09472514e-05 9.99996372e-01 6.12253736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.994012739 meters Centerline goodness : 0.997226 Centerline is valid? [True, True] Translation: X:180.44, Y:128.51, Z:0.61 [[-8.91653050e-02 -9.96016818e-01 2.16963895e-04 1.80437968e+02] [ 9.96013199e-01 -8.91655659e-02 -2.68497131e-03 1.28512506e+02] [ 2.69362229e-03 -2.33073824e-05 9.99996372e-01 6.14635778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.024012739 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:180.44, Y:128.51, Z:0.62 [[-8.96711046e-02 -9.95971408e-01 2.17816774e-04 1.80440163e+02] [ 9.95967789e-01 -8.96713660e-02 -2.68490212e-03 1.28512183e+02] [ 2.69361767e-03 -2.38196478e-05 9.99996372e-01 6.15182155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05401273900003 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:180.45, Y:128.52, Z:0.61 [[-8.90612449e-02 -9.96026128e-01 2.18794423e-04 1.80445182e+02] [ 9.96022509e-01 -8.90615111e-02 -2.68482245e-03 1.28521322e+02] [ 2.69363947e-03 -2.11894588e-05 9.99996372e-01 6.11866849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.084012739 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:180.45, Y:128.54, Z:0.61 [[-8.86445411e-02 -9.96063300e-01 2.19776541e-04 1.80446305e+02] [ 9.96059682e-01 -8.86448115e-02 -2.68474205e-03 1.28541127e+02] [ 2.69365508e-03 -1.90771755e-05 9.99996372e-01 6.10818313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11401273900003 meters Centerline goodness : 0.997273 Centerline is valid? [True, True] Translation: X:180.45, Y:128.53, Z:0.61 [[-8.70826716e-02 -9.96201064e-01 2.20769994e-04 1.80451751e+02] [ 9.96197446e-01 -8.70829503e-02 -2.68466035e-03 1.28531694e+02] [ 2.69368680e-03 -1.38568920e-05 9.99996372e-01 6.10620259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.144012739 meters Centerline goodness : 0.997460 Centerline is valid? [True, True] Translation: X:180.46, Y:128.52, Z:0.61 [[-8.66796306e-02 -9.96236213e-01 2.21768710e-04 1.80455680e+02] [ 9.96232596e-01 -8.66799135e-02 -2.68457785e-03 1.28520514e+02] [ 2.69369657e-03 -1.17649989e-05 9.99996372e-01 6.12097613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17401273900003 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:180.46, Y:128.54, Z:0.61 [[-8.49185953e-02 -9.96387868e-01 2.22761780e-04 1.80461276e+02] [ 9.96384251e-01 -8.49188873e-02 -2.68449545e-03 1.28541675e+02] [ 2.69371538e-03 -6.00725280e-06 9.99996372e-01 6.13335194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.204012739 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:180.46, Y:128.54, Z:0.61 [[-8.52920390e-02 -9.96355970e-01 2.23759785e-04 1.80461559e+02] [ 9.96352353e-01 -8.52923323e-02 -2.68441226e-03 1.28539177e+02] [ 2.69371517e-03 -6.01540599e-06 9.99996372e-01 6.13328417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.234012739 meters Centerline goodness : 0.997434 Centerline is valid? [True, True] Translation: X:180.46, Y:128.54, Z:0.61 [[-8.54112225e-02 -9.96345760e-01 2.24765885e-04 1.80464306e+02] [ 9.96342144e-01 -8.54115181e-02 -2.68432801e-03 1.28539855e+02] [ 2.69371643e-03 -5.32801382e-06 9.99996372e-01 6.13269006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.264012739 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:180.47, Y:128.54, Z:0.61 [[-8.68619101e-02 -9.96220336e-01 2.25773095e-04 1.80467785e+02] [ 9.96216720e-01 -8.68622031e-02 -2.68424330e-03 1.28540939e+02] [ 2.69370891e-03 -8.23956807e-06 9.99996372e-01 6.11258511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.294012739 meters Centerline goodness : 0.997336 Centerline is valid? [True, True] Translation: X:180.47, Y:128.55, Z:0.61 [[-8.73590403e-02 -9.96176865e-01 2.26782744e-04 1.80469261e+02] [ 9.96173249e-01 -8.73593343e-02 -2.68415799e-03 1.28550679e+02] [ 2.69370768e-03 -8.57056341e-06 9.99996372e-01 6.10749090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.324012739 meters Centerline goodness : 0.997188 Centerline is valid? [True, True] Translation: X:180.47, Y:128.54, Z:0.61 [[-8.73929855e-02 -9.96173888e-01 2.27797831e-04 1.80471872e+02] [ 9.96170272e-01 -8.73932820e-02 -2.68407184e-03 1.28543938e+02] [ 2.69371028e-03 -7.64362482e-06 9.99996372e-01 6.10464255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.354012739 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:180.48, Y:128.53, Z:0.61 [[-8.50315160e-02 -9.96378236e-01 2.28815888e-04 1.80475387e+02] [ 9.96374621e-01 -8.50318238e-02 -2.68398505e-03 1.28526716e+02] [ 2.69372092e-03 -2.36974238e-07 9.99996372e-01 6.10988267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.384012739 meters Centerline goodness : 0.997430 Centerline is valid? [True, True] Translation: X:180.47, Y:128.57, Z:0.61 [[-8.28307246e-02 -9.96563605e-01 2.29826590e-04 1.80472285e+02] [ 9.96559991e-01 -8.28310432e-02 -2.68389850e-03 1.28568318e+02] [ 2.69371234e-03 6.72672673e-06 9.99996372e-01 6.11732239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.414012739 meters Centerline goodness : 0.997250 Centerline is valid? [True, True] Translation: X:180.48, Y:128.54, Z:0.61 [[-7.69530151e-02 -9.97034694e-01 2.30847942e-04 1.80476517e+02] [ 9.97031082e-01 -7.69533577e-02 -2.68381065e-03 1.28537187e+02] [ 2.69361685e-03 2.36352521e-05 9.99996372e-01 6.10432992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.444012739 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:180.48, Y:128.54, Z:0.61 [[-7.12928674e-02 -9.97455399e-01 2.31875202e-04 1.80475297e+02] [ 9.97451790e-01 -7.12932333e-02 -2.68372189e-03 1.28536244e+02] [ 2.69342403e-03 3.99541065e-05 9.99996372e-01 6.09646081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.474012739 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:180.48, Y:128.51, Z:0.61 [[-6.88481362e-02 -9.97627125e-01 2.32892452e-04 1.80476007e+02] [ 9.97623516e-01 -6.88485137e-02 -2.68363361e-03 1.28510194e+02] [ 2.69329999e-03 4.75758141e-05 9.99996372e-01 6.09873297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.504012739 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:180.47, Y:128.51, Z:0.61 [[-6.72564061e-02 -9.97735697e-01 2.33901539e-04 1.80474961e+02] [ 9.97732090e-01 -6.72567921e-02 -2.68354566e-03 1.28508269e+02] [ 2.69320077e-03 5.28854344e-05 9.99996372e-01 6.11001591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.534012739 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:180.48, Y:128.50, Z:0.61 [[-6.52534096e-02 -9.97868698e-01 2.34902418e-04 1.80475529e+02] [ 9.97865091e-01 -6.52538054e-02 -2.68345805e-03 1.28503373e+02] [ 2.69306706e-03 5.92961355e-05 9.99996372e-01 6.12430906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.564012739 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:180.47, Y:128.49, Z:0.61 [[-6.46455324e-02 -9.97908262e-01 2.35902461e-04 1.80474904e+02] [ 9.97904656e-01 -6.46459331e-02 -2.68337013e-03 1.28485314e+02] [ 2.69300736e-03 6.19402736e-05 9.99996372e-01 6.12829105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.594012739 meters Centerline goodness : 0.997341 Centerline is valid? [True, True] Translation: X:180.47, Y:128.49, Z:0.61 [[-6.47698069e-02 -9.97900203e-01 2.36896195e-04 1.80472388e+02] [ 9.97896598e-01 -6.47702099e-02 -2.68328240e-03 1.28494801e+02] [ 2.69299187e-03 6.26022244e-05 9.99996372e-01 6.12599863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.624012739 meters Centerline goodness : 0.997038 Centerline is valid? [True, True] Translation: X:180.47, Y:128.49, Z:0.61 [[-6.56218264e-02 -9.97844537e-01 2.37888784e-04 1.80471465e+02] [ 9.97840931e-01 -6.56222290e-02 -2.68319440e-03 1.28489863e+02] [ 2.69302166e-03 6.12990492e-05 9.99996372e-01 6.14145293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.654012739 meters Centerline goodness : 0.997007 Centerline is valid? [True, True] Translation: X:180.47, Y:128.49, Z:0.62 [[-6.70775955e-02 -9.97747733e-01 2.38884859e-04 1.80468801e+02] [ 9.97744127e-01 -6.70779955e-02 -2.68310571e-03 1.28491291e+02] [ 2.69308656e-03 5.83696859e-05 9.99996372e-01 6.16680825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.684012739 meters Centerline goodness : 0.997189 Centerline is valid? [True, True] Translation: X:180.47, Y:128.48, Z:0.62 [[-6.84776236e-02 -9.97652624e-01 2.39881549e-04 1.80468086e+02] [ 9.97649017e-01 -6.84780212e-02 -2.68301660e-03 1.28478681e+02] [ 2.69314517e-03 5.55909902e-05 9.99996372e-01 6.16805020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.714012739 meters Centerline goodness : 0.997502 Centerline is valid? [True, True] Translation: X:180.46, Y:128.50, Z:0.62 [[-7.04928881e-02 -9.97512253e-01 2.40876117e-04 1.80464982e+02] [ 9.97508646e-01 -7.04932811e-02 -2.68292731e-03 1.28497328e+02] [ 2.69323301e-03 5.11487150e-05 9.99996372e-01 6.15611335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.744012739 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:180.47, Y:128.49, Z:0.62 [[-7.16168783e-02 -9.97432185e-01 2.41874511e-04 1.80466338e+02] [ 9.97428578e-01 -7.16172699e-02 -2.68283730e-03 1.28492830e+02] [ 2.69327066e-03 4.91161172e-05 9.99996372e-01 6.15174928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.774012739 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:180.47, Y:128.51, Z:0.61 [[-7.42545899e-02 -9.97239288e-01 2.42880017e-04 1.80465117e+02] [ 9.97235680e-01 -7.42549747e-02 -2.68274626e-03 1.28506467e+02] [ 2.69337502e-03 4.30023953e-05 9.99996372e-01 6.12715461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80401273900003 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:180.46, Y:128.51, Z:0.61 [[-7.52325806e-02 -9.97165984e-01 2.43890583e-04 1.80463922e+02] [ 9.97162376e-01 -7.52329645e-02 -2.68265439e-03 1.28505605e+02] [ 2.69340032e-03 4.13755012e-05 9.99996372e-01 6.11923489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.834012739 meters Centerline goodness : 0.997010 Centerline is valid? [True, True] Translation: X:180.46, Y:128.49, Z:0.61 [[-7.38490779e-02 -9.97269399e-01 2.44907764e-04 1.80463134e+02] [ 9.97265792e-01 -7.38494696e-02 -2.68256152e-03 1.28492085e+02] [ 2.69332283e-03 4.61334396e-05 9.99996372e-01 6.11089908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86401273900003 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:180.46, Y:128.49, Z:0.61 [[-7.23719402e-02 -9.97377683e-01 2.45921573e-04 1.80463191e+02] [ 9.97374077e-01 -7.23723400e-02 -2.68246858e-03 1.28491498e+02] [ 2.69323222e-03 5.11403463e-05 9.99996372e-01 6.09997443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.894012739 meters Centerline goodness : 0.997316 Centerline is valid? [True, True] Translation: X:180.46, Y:128.46, Z:0.61 [[-6.91779971e-02 -9.97604302e-01 2.46932035e-04 1.80463056e+02] [ 9.97600698e-01 -6.91784111e-02 -2.68237556e-03 1.28461590e+02] [ 2.69303177e-03 6.07782014e-05 9.99996372e-01 6.09567611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92401273900003 meters Centerline goodness : 0.997629 Centerline is valid? [True, True] Translation: X:180.46, Y:128.47, Z:0.61 [[-6.89119177e-02 -9.97622717e-01 2.47933128e-04 1.80459771e+02] [ 9.97619113e-01 -6.89123354e-02 -2.68228303e-03 1.28467942e+02] [ 2.69299213e-03 6.25015603e-05 9.99996372e-01 6.10090825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.954012739 meters Centerline goodness : 0.996826 Centerline is valid? [True, True] Translation: X:180.46, Y:128.46, Z:0.61 [[-6.96686267e-02 -9.97570158e-01 2.48927746e-04 1.80459658e+02] [ 9.97566554e-01 -6.96690443e-02 -2.68219072e-03 1.28461619e+02] [ 2.69301598e-03 6.14574502e-05 9.99996372e-01 6.13996281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.984012739 meters Centerline goodness : 0.994808 Centerline is valid? [True, True] Translation: X:180.46, Y:128.47, Z:0.62 [[-7.10718802e-02 -9.97471165e-01 2.49924567e-04 1.80459940e+02] [ 9.97467561e-01 -7.10722954e-02 -2.68209783e-03 1.28468235e+02] [ 2.69307796e-03 5.86699125e-05 9.99996372e-01 6.22540408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.014012739 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:180.46, Y:128.47, Z:0.62 [[-7.30307961e-02 -9.97329655e-01 2.50923125e-04 1.80459555e+02] [ 9.97326050e-01 -7.30312069e-02 -2.68200441e-03 1.28474858e+02] [ 2.69316775e-03 5.43832525e-05 9.99996372e-01 6.17966171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.044012739 meters Centerline goodness : 0.996904 Centerline is valid? [True, True] Translation: X:180.46, Y:128.47, Z:0.61 [[-7.61758690e-02 -9.97094365e-01 2.51927989e-04 1.80456222e+02] [ 9.97090760e-01 -7.61762712e-02 -2.68191002e-03 1.28468806e+02] [ 2.69330830e-03 4.68982440e-05 9.99996372e-01 6.14558481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.074012739 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:180.45, Y:128.50, Z:0.61 [[-7.84849977e-02 -9.96915263e-01 2.52934948e-04 1.80452630e+02] [ 9.96911656e-01 -7.84853942e-02 -2.68181504e-03 1.28496756e+02] [ 2.69339405e-03 4.16715510e-05 9.99996372e-01 6.09206256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.104012739 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:180.45, Y:128.48, Z:0.61 [[-7.94796075e-02 -9.96836460e-01 2.53952146e-04 1.80454877e+02] [ 9.96832853e-01 -7.94800032e-02 -2.68171872e-03 1.28482948e+02] [ 2.69341911e-03 4.00058912e-05 9.99996372e-01 6.10968084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.134012739 meters Centerline goodness : 0.996599 Centerline is valid? [True, True] Translation: X:180.46, Y:128.48, Z:0.61 [[-8.04431387e-02 -9.96759167e-01 2.54976388e-04 1.80456383e+02] [ 9.96755560e-01 -8.04435336e-02 -2.68162133e-03 1.28475848e+02] [ 2.69344184e-03 3.84310953e-05 9.99996372e-01 6.13512220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.164012739 meters Centerline goodness : 0.996619 Centerline is valid? [True, True] Translation: X:180.46, Y:128.47, Z:0.62 [[-8.09079358e-02 -9.96721546e-01 2.55994680e-04 1.80457114e+02] [ 9.96717940e-01 -8.09083318e-02 -2.68152412e-03 1.28467747e+02] [ 2.69344497e-03 3.81979093e-05 9.99996372e-01 6.17662556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.194012739 meters Centerline goodness : 0.996633 Centerline is valid? [True, True] Translation: X:180.46, Y:128.46, Z:0.62 [[-8.04128787e-02 -9.96761608e-01 2.57008767e-04 1.80457053e+02] [ 9.96758002e-01 -8.04132792e-02 -2.68142692e-03 1.28458969e+02] [ 2.69341033e-03 4.05542870e-05 9.99996372e-01 6.18607860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.224012739 meters Centerline goodness : 0.996276 Centerline is valid? [True, True] Translation: X:180.46, Y:128.45, Z:0.62 [[-7.81057831e-02 -9.96945044e-01 2.58018834e-04 1.80456793e+02] [ 9.96941439e-01 -7.81061946e-02 -2.68132972e-03 1.28450862e+02] [ 2.69329125e-03 4.78023101e-05 9.99996372e-01 6.18182009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.254012739 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:180.45, Y:128.46, Z:0.62 [[-7.78099637e-02 -9.96968175e-01 2.59024584e-04 1.80454738e+02] [ 9.96964571e-01 -7.78103790e-02 -2.68123256e-03 1.28455064e+02] [ 2.69325834e-03 4.96117255e-05 9.99996372e-01 6.16957072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.284012739 meters Centerline goodness : 0.996562 Centerline is valid? [True, True] Translation: X:180.45, Y:128.45, Z:0.62 [[-7.78400039e-02 -9.96965830e-01 2.60030628e-04 1.80451756e+02] [ 9.96962226e-01 -7.78404218e-02 -2.68113499e-03 1.28452890e+02] [ 2.69324086e-03 5.05411557e-05 9.99996372e-01 6.15241643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.314012739 meters Centerline goodness : 0.996578 Centerline is valid? [True, True] Translation: X:180.45, Y:128.45, Z:0.62 [[-7.85417835e-02 -9.96910788e-01 2.61039588e-04 1.80451935e+02] [ 9.96907185e-01 -7.85422016e-02 -2.68103675e-03 1.28450285e+02] [ 2.69325709e-03 4.96588327e-05 9.99996372e-01 6.15220279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.344012739 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:180.45, Y:128.45, Z:0.62 [[-8.00779038e-02 -9.96788574e-01 2.62048512e-04 1.80450989e+02] [ 9.96784970e-01 -8.00783190e-02 -2.68093814e-03 1.28451105e+02] [ 2.69331290e-03 4.65221115e-05 9.99996372e-01 6.16420602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.374012739 meters Centerline goodness : 0.996432 Centerline is valid? [True, True] Translation: X:180.45, Y:128.45, Z:0.62 [[-7.98814014e-02 -9.96804340e-01 2.63058727e-04 1.80449467e+02] [ 9.96800736e-01 -7.98818201e-02 -2.68083901e-03 1.28448349e+02] [ 2.69328557e-03 4.80679558e-05 9.99996372e-01 6.17833174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.404012739 meters Centerline goodness : 0.996083 Centerline is valid? [True, True] Translation: X:180.45, Y:128.45, Z:0.62 [[-7.98404466e-02 -9.96807621e-01 2.63058727e-04 1.80445601e+02] [ 9.96804018e-01 -7.98408654e-02 -2.68083901e-03 1.28451843e+02] [ 2.69328359e-03 4.81786121e-05 9.99996372e-01 6.18300574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.434012739 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:180.45, Y:128.44, Z:0.62 [[-7.96708176e-02 -9.96821193e-01 2.63942985e-04 1.80445194e+02] [ 9.96817590e-01 -7.96712394e-02 -2.68075194e-03 1.28441332e+02] [ 2.69325902e-03 4.95253105e-05 9.99996372e-01 6.16755994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.464012739 meters Centerline goodness : 0.996784 Centerline is valid? [True, True] Translation: X:180.44, Y:128.46, Z:0.61 [[-8.15964779e-02 -9.96665413e-01 2.63562799e-04 1.80439846e+02] [ 9.96661809e-01 -8.15968917e-02 -2.68078932e-03 1.28458257e+02] [ 2.69335590e-03 4.39400097e-05 9.99996372e-01 6.14510145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.494012739 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:180.44, Y:128.45, Z:0.61 [[-8.22008531e-02 -9.96615748e-01 2.64574112e-04 1.80439025e+02] [ 9.96612144e-01 -8.22012674e-02 -2.68068951e-03 1.28454608e+02] [ 2.69336571e-03 4.33228082e-05 9.99996372e-01 6.13255892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.524012739 meters Centerline goodness : 0.996651 Centerline is valid? [True, True] Translation: X:180.44, Y:128.47, Z:0.61 [[-8.34949496e-02 -9.96508165e-01 2.64190957e-04 1.80437842e+02] [ 9.96504560e-01 -8.34953583e-02 -2.68072727e-03 1.28469319e+02] [ 2.69342533e-03 3.94403055e-05 9.99996372e-01 6.11293482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55401273900003 meters Centerline goodness : 0.996790 Centerline is valid? [True, True] Translation: X:180.44, Y:128.47, Z:0.61 [[-8.65422721e-02 -9.96248144e-01 2.65082672e-04 1.80439435e+02] [ 9.96244538e-01 -8.65426721e-02 -2.68063909e-03 1.28469481e+02] [ 2.69352268e-03 3.20985668e-05 9.99996372e-01 6.09625502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.584012739 meters Centerline goodness : 0.997140 Centerline is valid? [True, True] Translation: X:180.44, Y:128.47, Z:0.61 [[-8.83397414e-02 -9.96090367e-01 2.64826041e-04 1.80439537e+02] [ 9.96086761e-01 -8.83401342e-02 -2.68066444e-03 1.28468344e+02] [ 2.69357880e-03 2.69805094e-05 9.99996372e-01 6.10674850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61401273900003 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:180.44, Y:128.46, Z:0.61 [[-9.19751643e-02 -9.95761266e-01 2.64569732e-04 1.80439886e+02] [ 9.95757658e-01 -9.19755433e-02 -2.68068974e-03 1.28456931e+02] [ 2.69366095e-03 1.68904577e-05 9.99996372e-01 6.12220097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.644012739 meters Centerline goodness : 0.996545 Centerline is valid? [True, True] Translation: X:180.44, Y:128.45, Z:0.61 [[-9.27983414e-02 -9.95684889e-01 2.64186092e-04 1.80442130e+02] [ 9.95681280e-01 -9.27987164e-02 -2.68072755e-03 1.28445555e+02] [ 2.69367604e-03 1.42780762e-05 9.99996372e-01 6.14021378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67401273900003 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:180.44, Y:128.48, Z:0.61 [[-9.24147429e-02 -9.95720566e-01 2.63806179e-04 1.80442053e+02] [ 9.95716958e-01 -9.24151182e-02 -2.68076493e-03 1.28475775e+02] [ 2.69367246e-03 1.49340838e-05 9.99996372e-01 6.14393894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.704012739 meters Centerline goodness : 0.996355 Centerline is valid? [True, True] Translation: X:180.44, Y:128.46, Z:0.61 [[-9.02339320e-02 -9.95920563e-01 2.64820467e-04 1.80443944e+02] [ 9.95916955e-01 -9.02343179e-02 -2.68066473e-03 1.28460287e+02] [ 2.69362502e-03 2.18522741e-05 9.99996372e-01 6.11602711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.734012739 meters Centerline goodness : 0.996843 Centerline is valid? [True, True] Translation: X:180.44, Y:128.47, Z:0.61 [[-8.76930744e-02 -9.96147507e-01 2.64565233e-04 1.80442696e+02] [ 9.96143900e-01 -8.76934688e-02 -2.68068992e-03 1.28465521e+02] [ 2.69356323e-03 2.84671025e-05 9.99996372e-01 6.09164483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.764012739 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:180.44, Y:128.47, Z:0.61 [[-8.29739463e-02 -9.96551682e-01 2.64691813e-04 1.80441937e+02] [ 9.96548077e-01 -8.29743582e-02 -2.68067742e-03 1.28467229e+02] [ 2.69339623e-03 4.13517330e-05 9.99996372e-01 6.10251862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.794012739 meters Centerline goodness : 0.996405 Centerline is valid? [True, True] Translation: X:180.44, Y:128.47, Z:0.61 [[-8.19383952e-02 -9.96637361e-01 2.64437042e-04 1.80443672e+02] [ 9.96633757e-01 -8.19388101e-02 -2.68070256e-03 1.28472064e+02] [ 2.69335598e-03 4.38944168e-05 9.99996372e-01 6.13985800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.824012739 meters Centerline goodness : 0.997075 Centerline is valid? [True, True] Translation: X:180.45, Y:128.46, Z:0.61 [[-8.25310480e-02 -9.96588459e-01 2.65329016e-04 1.80445443e+02] [ 9.96584854e-01 -8.25314632e-02 -2.68061427e-03 1.28463914e+02] [ 2.69336723e-03 4.31889741e-05 9.99996372e-01 6.13933827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.854012739 meters Centerline goodness : 0.996760 Centerline is valid? [True, True] Translation: X:180.45, Y:128.47, Z:0.61 [[-8.65320834e-02 -9.96249029e-01 2.65073825e-04 1.80447139e+02] [ 9.96245423e-01 -8.65324835e-02 -2.68063950e-03 1.28474063e+02] [ 2.69352200e-03 3.21172640e-05 9.99996372e-01 6.11270652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.884012739 meters Centerline goodness : 0.996616 Centerline is valid? [True, True] Translation: X:180.45, Y:128.47, Z:0.61 [[-8.85568997e-02 -9.96071084e-01 2.66093932e-04 1.80449112e+02] [ 9.96067478e-01 -8.85572952e-02 -2.68053824e-03 1.28469911e+02] [ 2.69357119e-03 2.76673555e-05 9.99996372e-01 6.11769680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.914012739 meters Centerline goodness : 0.996570 Centerline is valid? [True, True] Translation: X:180.45, Y:128.48, Z:0.61 [[-8.92356034e-02 -9.96010510e-01 2.66988833e-04 1.80450928e+02] [ 9.96006903e-01 -8.92359988e-02 -2.68044910e-03 1.28479224e+02] [ 2.69358049e-03 2.67312275e-05 9.99996372e-01 6.14849670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.944012739 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:180.45, Y:128.47, Z:0.62 [[-8.81242241e-02 -9.96109457e-01 2.68015991e-04 1.80451832e+02] [ 9.96105851e-01 -8.81246263e-02 -2.68034639e-03 1.28474874e+02] [ 2.69353720e-03 3.07688503e-05 9.99996372e-01 6.16665469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.974012739 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:180.45, Y:128.46, Z:0.62 [[-8.26307666e-02 -9.96580195e-01 2.69046882e-04 1.80453083e+02] [ 9.96576591e-01 -8.26311915e-02 -2.68024291e-03 1.28456876e+02] [ 2.69330866e-03 4.66552980e-05 9.99996372e-01 6.18465502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.004012739 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:180.45, Y:128.46, Z:0.62 [[-7.96289776e-02 -9.96824535e-01 2.68790938e-04 1.80452431e+02] [ 9.96820933e-01 -7.96294126e-02 -2.68026858e-03 1.28456009e+02] [ 2.69316114e-03 5.45093870e-05 9.99996372e-01 6.17465831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.034012739 meters Centerline goodness : 0.996917 Centerline is valid? [True, True] Translation: X:180.45, Y:128.43, Z:0.62 [[-7.61451244e-02 -9.97096709e-01 2.69806873e-04 1.80453902e+02] [ 9.97093109e-01 -7.61455747e-02 -2.68016630e-03 1.28434500e+02] [ 2.69292960e-03 6.49409770e-05 9.99996372e-01 6.16723533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.064012739 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:180.45, Y:128.43, Z:0.62 [[-7.08112883e-02 -9.97489694e-01 2.69426830e-04 1.80454321e+02] [ 9.97486096e-01 -7.08117568e-02 -2.68020451e-03 1.28428710e+02] [ 2.69255496e-03 7.89607831e-05 9.99996372e-01 6.19077704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.094012739 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:180.45, Y:128.43, Z:0.62 [[-7.11818303e-02 -9.97463320e-01 2.69551197e-04 1.80454647e+02] [ 9.97459722e-01 -7.11822978e-02 -2.68019200e-03 1.28426209e+02] [ 2.69258048e-03 7.80854898e-05 9.99996372e-01 6.19070915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.124012739 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:180.46, Y:128.41, Z:0.62 [[-6.97042217e-02 -9.97567666e-01 2.70546799e-04 1.80455226e+02] [ 9.97564069e-01 -6.97046972e-02 -2.68009150e-03 1.28411532e+02] [ 2.69243100e-03 8.30740740e-05 9.99996372e-01 6.19321353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.154012739 meters Centerline goodness : 0.996638 Centerline is valid? [True, True] Translation: X:180.45, Y:128.41, Z:0.62 [[-6.90722203e-02 -9.97611626e-01 2.70299004e-04 1.80452689e+02] [ 9.97608029e-01 -6.90726975e-02 -2.68011649e-03 1.28409538e+02] [ 2.69238565e-03 8.45308604e-05 9.99996372e-01 6.17264025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.184012739 meters Centerline goodness : 0.996762 Centerline is valid? [True, True] Translation: X:180.45, Y:128.41, Z:0.62 [[-6.94197556e-02 -9.97587502e-01 2.70421578e-04 1.80452489e+02] [ 9.97583905e-01 -6.94202318e-02 -2.68010412e-03 1.28411743e+02] [ 2.69241110e-03 8.37160406e-05 9.99996372e-01 6.16552553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.214012739 meters Centerline goodness : 0.996776 Centerline is valid? [True, True] Translation: X:180.45, Y:128.43, Z:0.62 [[-6.99799171e-02 -9.97548364e-01 2.71282352e-04 1.80452004e+02] [ 9.97544767e-01 -6.99803937e-02 -2.68001699e-03 1.28427472e+02] [ 2.69243101e-03 8.30689234e-05 9.99996372e-01 6.16910879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.244012739 meters Centerline goodness : 0.997129 Centerline is valid? [True, True] Translation: X:180.45, Y:128.42, Z:0.62 [[-6.97748777e-02 -9.97562726e-01 2.72274839e-04 1.80452295e+02] [ 9.97559130e-01 -6.97753577e-02 -2.67991615e-03 1.28415390e+02] [ 2.69238254e-03 8.46194297e-05 9.99996372e-01 6.17119089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.274012739 meters Centerline goodness : 0.996915 Centerline is valid? [True, True] Translation: X:180.45, Y:128.40, Z:0.61 [[-6.95465643e-02 -9.97578669e-01 2.71900040e-04 1.80449902e+02] [ 9.97575073e-01 -6.95470440e-02 -2.67995418e-03 1.28403855e+02] [ 2.69237497e-03 8.48590963e-05 9.99996372e-01 6.13576127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30401273900003 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:180.45, Y:128.43, Z:0.61 [[-6.98809324e-02 -9.97555303e-01 2.71529140e-04 1.80447478e+02] [ 9.97551706e-01 -6.98814100e-02 -2.67999176e-03 1.28425236e+02] [ 2.69241483e-03 8.35840337e-05 9.99996372e-01 6.12350604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.334012739 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:180.45, Y:128.41, Z:0.62 [[-7.06857199e-02 -9.97498599e-01 2.72516699e-04 1.80449509e+02] [ 9.97495002e-01 -7.06861972e-02 -2.67989133e-03 1.28411072e+02] [ 2.69245102e-03 8.24039967e-05 9.99996372e-01 6.16641320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36401273900003 meters Centerline goodness : 0.996661 Centerline is valid? [True, True] Translation: X:180.45, Y:128.43, Z:0.62 [[-7.17774456e-02 -9.97420636e-01 2.72143434e-04 1.80446355e+02] [ 9.97417038e-01 -7.17779179e-02 -2.67992924e-03 1.28430040e+02] [ 2.69255061e-03 7.90820230e-05 9.99996372e-01 6.19838162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.394012739 meters Centerline goodness : 0.997040 Centerline is valid? [True, True] Translation: X:180.44, Y:128.43, Z:0.62 [[-7.38992135e-02 -9.97265678e-01 2.73135099e-04 1.80442019e+02] [ 9.97262080e-01 -7.38996809e-02 -2.67982817e-03 1.28425920e+02] [ 2.69268525e-03 7.43500827e-05 9.99996372e-01 6.16358942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42401273900003 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:180.44, Y:128.43, Z:0.61 [[-7.51950737e-02 -9.97168805e-01 2.72758972e-04 1.80440429e+02] [ 9.97165207e-01 -7.51955354e-02 -2.67986645e-03 1.28431328e+02] [ 2.69278948e-03 7.04730017e-05 9.99996372e-01 6.13625937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.454012739 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:180.44, Y:128.45, Z:0.61 [[-7.98525293e-02 -9.96806651e-01 2.72383452e-04 1.80436750e+02] [ 9.96803050e-01 -7.98529732e-02 -2.67990462e-03 1.28451501e+02] [ 2.69309737e-03 5.75154942e-05 9.99996372e-01 6.12886159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.484012739 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:180.43, Y:128.47, Z:0.61 [[-8.24811245e-02 -9.96592590e-01 2.72383452e-04 1.80434429e+02] [ 9.96588988e-01 -8.24815589e-02 -2.67990462e-03 1.28469568e+02] [ 2.69323969e-03 5.04128027e-05 9.99996372e-01 6.13731044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.514012739 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:180.43, Y:128.47, Z:0.63 [[-8.74212769e-02 -9.96171394e-01 2.72256598e-04 1.80434683e+02] [ 9.96167790e-01 -8.74216930e-02 -2.67991750e-03 1.28470751e+02] [ 2.69345829e-03 3.69314432e-05 9.99996372e-01 6.26579301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.544012739 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:180.43, Y:128.47, Z:0.62 [[-8.94165295e-02 -9.95994282e-01 2.71870315e-04 1.80434976e+02] [ 9.95990677e-01 -8.94169374e-02 -2.67995669e-03 1.28466587e+02] [ 2.69353135e-03 3.11478724e-05 9.99996372e-01 6.18436523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.574012739 meters Centerline goodness : 0.996697 Centerline is valid? [True, True] Translation: X:180.43, Y:128.48, Z:0.62 [[-9.05061980e-02 -9.95895855e-01 2.71485376e-04 1.80433552e+02] [ 9.95892250e-01 -9.05066009e-02 -2.67999569e-03 1.28479327e+02] [ 2.69356781e-03 2.78139620e-05 9.99996372e-01 6.18695242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.604012739 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:180.43, Y:128.47, Z:0.62 [[-9.14940230e-02 -9.95805589e-01 2.71229313e-04 1.80434419e+02] [ 9.95801982e-01 -9.14944216e-02 -2.68002160e-03 1.28470323e+02] [ 2.69359646e-03 2.48847294e-05 9.99996372e-01 6.15953516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.634012739 meters Centerline goodness : 0.997392 Centerline is valid? [True, True] Translation: X:180.44, Y:128.46, Z:0.61 [[-9.10472044e-02 -9.95846541e-01 2.70843507e-04 1.80435871e+02] [ 9.95842935e-01 -9.10476036e-02 -2.68006059e-03 1.28457964e+02] [ 2.69358872e-03 2.57055689e-05 9.99996372e-01 6.13883034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.664012739 meters Centerline goodness : 0.997231 Centerline is valid? [True, True] Translation: X:180.44, Y:128.47, Z:0.61 [[-8.92291578e-02 -9.96011087e-01 2.69831500e-04 1.80435012e+02] [ 9.96007481e-01 -8.92295608e-02 -2.68016247e-03 1.28468206e+02] [ 2.69354849e-03 2.96055528e-05 9.99996372e-01 6.10612097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.694012739 meters Centerline goodness : 0.996816 Centerline is valid? [True, True] Translation: X:180.43, Y:128.47, Z:0.61 [[-8.78921719e-02 -9.96129958e-01 2.69578614e-04 1.80434106e+02] [ 9.96126353e-01 -8.78925791e-02 -2.68018791e-03 1.28473330e+02] [ 2.69350943e-03 3.29668251e-05 9.99996372e-01 6.11314325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.724012739 meters Centerline goodness : 0.997095 Centerline is valid? [True, True] Translation: X:180.43, Y:128.48, Z:0.61 [[-8.66273319e-02 -9.96240751e-01 2.69196016e-04 1.80432870e+02] [ 9.96237146e-01 -8.66277427e-02 -2.68022634e-03 1.28483993e+02] [ 2.69347054e-03 3.60022137e-05 9.99996372e-01 6.12699931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.754012739 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:180.43, Y:128.48, Z:0.61 [[-8.51250128e-02 -9.96370242e-01 2.68940861e-04 1.80433088e+02] [ 9.96366638e-01 -8.51254283e-02 -2.68025194e-03 1.28480239e+02] [ 2.69341698e-03 3.98072211e-05 9.99996372e-01 6.14015513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.784012739 meters Centerline goodness : 0.997052 Centerline is valid? [True, True] Translation: X:180.43, Y:128.50, Z:0.61 [[-8.60058304e-02 -9.96294598e-01 2.68556156e-04 1.80431141e+02] [ 9.96290993e-01 -8.60062418e-02 -2.68029049e-03 1.28499366e+02] [ 2.69345644e-03 3.70394706e-05 9.99996372e-01 6.12968506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.814012739 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:180.43, Y:128.50, Z:0.61 [[-8.65928820e-02 -9.96243746e-01 2.68556156e-04 1.80431488e+02] [ 9.96240141e-01 -8.65932912e-02 -2.68029049e-03 1.28495735e+02] [ 2.69347780e-03 3.54523452e-05 9.99996372e-01 6.12664411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.844012739 meters Centerline goodness : 0.997589 Centerline is valid? [True, True] Translation: X:180.43, Y:128.48, Z:0.61 [[-8.71308574e-02 -9.96196839e-01 2.68167681e-04 1.80432898e+02] [ 9.96193234e-01 -8.71312636e-02 -2.68032935e-03 1.28483979e+02] [ 2.69350142e-03 3.36074342e-05 9.99996372e-01 6.14314398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.874012739 meters Centerline goodness : 0.997092 Centerline is valid? [True, True] Translation: X:180.43, Y:128.47, Z:0.62 [[-8.85470410e-02 -9.96071960e-01 2.67146366e-04 1.80434240e+02] [ 9.96068354e-01 -8.85474394e-02 -2.68043114e-03 1.28472480e+02] [ 2.69355743e-03 2.87517943e-05 9.99996372e-01 6.17220238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.904012739 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:180.43, Y:128.47, Z:0.62 [[-8.94616326e-02 -9.95990234e-01 2.66135375e-04 1.80434381e+02] [ 9.95986627e-01 -8.94620249e-02 -2.68053152e-03 1.28471837e+02] [ 2.69359222e-03 2.52625488e-05 9.99996372e-01 6.16319137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.934012739 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:180.43, Y:128.49, Z:0.62 [[-9.21969492e-02 -9.95740755e-01 2.65756174e-04 1.80432891e+02] [ 9.95737147e-01 -9.21973306e-02 -2.68056911e-03 1.28492858e+02] [ 2.69365392e-03 1.74830003e-05 9.99996372e-01 6.15173580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.964012739 meters Centerline goodness : 0.996847 Centerline is valid? [True, True] Translation: X:180.44, Y:128.47, Z:0.61 [[-9.30049168e-02 -9.95665614e-01 2.66641409e-04 1.80435500e+02] [ 9.95662006e-01 -9.30052976e-02 -2.68048106e-03 1.28466741e+02] [ 2.69366188e-03 1.61868024e-05 9.99996372e-01 6.14385089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.994012739 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:180.43, Y:128.50, Z:0.61 [[-9.48814025e-02 -9.95488548e-01 2.65631730e-04 1.80432782e+02] [ 9.95484939e-01 -9.48817738e-02 -2.68058111e-03 1.28499483e+02] [ 2.69369141e-03 1.00950917e-05 9.99996372e-01 6.14512798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.024012739 meters Centerline goodness : 0.996675 Centerline is valid? [True, True] Translation: X:180.44, Y:128.47, Z:0.62 [[-9.55594968e-02 -9.95423684e-01 2.66825538e-04 1.80435524e+02] [ 9.95420075e-01 -9.55598689e-02 -2.68046236e-03 1.28470273e+02] [ 2.69369353e-03 9.45986225e-06 9.99996372e-01 6.15237955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05401273900003 meters Centerline goodness : 0.996873 Centerline is valid? [True, True] Translation: X:180.44, Y:128.46, Z:0.62 [[-9.65481774e-02 -9.95328277e-01 2.65630898e-04 1.80436145e+02] [ 9.95324667e-01 -9.65485427e-02 -2.68058074e-03 1.28464563e+02] [ 2.69370409e-03 5.58379990e-06 9.99996372e-01 6.16551289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.084012739 meters Centerline goodness : 0.996822 Centerline is valid? [True, True] Translation: X:180.44, Y:128.46, Z:0.62 [[-9.87259815e-02 -9.95114622e-01 2.65254138e-04 1.80438017e+02] [ 9.95111011e-01 -9.87263379e-02 -2.68061803e-03 1.28456403e+02] [ 2.69370976e-03 -6.89331679e-07 9.99996372e-01 6.16229948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11401273900003 meters Centerline goodness : 0.996690 Centerline is valid? [True, True] Translation: X:180.44, Y:128.46, Z:0.62 [[-9.99881106e-02 -9.94988597e-01 2.64879849e-04 1.80438196e+02] [ 9.94984986e-01 -9.99884613e-02 -2.68065501e-03 1.28462255e+02] [ 2.69370609e-03 -4.48215664e-06 9.99996372e-01 6.16048186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.144012739 meters Centerline goodness : 0.996614 Centerline is valid? [True, True] Translation: X:180.44, Y:128.45, Z:0.62 [[-1.02535072e-01 -9.94729355e-01 2.64631868e-04 1.80440958e+02] [ 9.94725743e-01 -1.02535413e-01 -2.68067949e-03 1.28450383e+02] [ 2.69368472e-03 -1.16275342e-05 9.99996372e-01 6.16803254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17401273900003 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:180.44, Y:128.46, Z:0.62 [[-1.04615192e-01 -9.94512741e-01 2.64259613e-04 1.80440628e+02] [ 9.94509128e-01 -1.04615525e-01 -2.68071619e-03 1.28464124e+02] [ 2.69365206e-03 -1.76350414e-05 9.99996372e-01 6.15875215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.204012739 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:180.44, Y:128.47, Z:0.62 [[-1.07948599e-01 -9.94156441e-01 2.65247440e-04 1.80443441e+02] [ 9.94152828e-01 -1.07948922e-01 -2.68061844e-03 1.28465659e+02] [ 2.69358726e-03 -2.56725121e-05 9.99996372e-01 6.22830129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.234012739 meters Centerline goodness : 0.996692 Centerline is valid? [True, True] Translation: X:180.45, Y:128.44, Z:0.61 [[-1.09569938e-01 -9.93979053e-01 2.64998988e-04 1.80446865e+02] [ 9.93975439e-01 -1.09570255e-01 -2.68064300e-03 1.28441577e+02] [ 2.69353900e-03 -3.03154030e-05 9.99996372e-01 6.09003295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.264012739 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:180.45, Y:128.45, Z:0.61 [[-1.11373193e-01 -9.93778618e-01 2.64628050e-04 1.80449733e+02] [ 9.93775003e-01 -1.11373502e-01 -2.68067962e-03 1.28445990e+02] [ 2.69347464e-03 -3.55751069e-05 9.99996372e-01 6.09772858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.294012739 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:180.45, Y:128.42, Z:0.61 [[-1.11796620e-01 -9.93731073e-01 2.65604778e-04 1.80454381e+02] [ 9.93727458e-01 -1.11796930e-01 -2.68058284e-03 1.28422108e+02] [ 2.69347226e-03 -3.57413409e-05 9.99996372e-01 6.11750210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.324012739 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:180.46, Y:128.45, Z:0.61 [[-1.14097388e-01 -9.93469534e-01 2.65239003e-04 1.80456894e+02] [ 9.93465919e-01 -1.14097688e-01 -2.68061903e-03 1.28451404e+02] [ 2.69337650e-03 -4.23457186e-05 9.99996372e-01 6.12945336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.354012739 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:180.46, Y:128.45, Z:0.61 [[-1.15425440e-01 -9.93316111e-01 2.66210637e-04 1.80459104e+02] [ 9.93312496e-01 -1.15425738e-01 -2.68052254e-03 1.28446553e+02] [ 2.69333378e-03 -4.49701396e-05 9.99996372e-01 6.12306163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.384012739 meters Centerline goodness : 0.996865 Centerline is valid? [True, True] Translation: X:180.46, Y:128.42, Z:0.61 [[-1.15694544e-01 -9.93284804e-01 2.67191803e-04 1.80462287e+02] [ 9.93281188e-01 -1.15694844e-01 -2.68042473e-03 1.28424832e+02] [ 2.69333787e-03 -4.47139266e-05 9.99996372e-01 6.12467733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.414012739 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:180.46, Y:128.43, Z:0.61 [[-1.15683448e-01 -9.93286096e-01 2.66948537e-04 1.80463209e+02] [ 9.93282480e-01 -1.15683747e-01 -2.68044896e-03 1.28430851e+02] [ 2.69333429e-03 -4.49282720e-05 9.99996372e-01 6.13708486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.444012739 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:180.46, Y:128.43, Z:0.61 [[-1.15865750e-01 -9.93264847e-01 2.67915841e-04 1.80464112e+02] [ 9.93261231e-01 -1.15866051e-01 -2.68035227e-03 1.28434340e+02] [ 2.69334204e-03 -4.44506089e-05 9.99996372e-01 6.13451079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.474012739 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:180.47, Y:128.42, Z:0.61 [[-1.16915639e-01 -9.93141813e-01 2.68887828e-04 1.80467986e+02] [ 9.93138198e-01 -1.16915939e-01 -2.68025476e-03 1.28422197e+02] [ 2.69331034e-03 -4.63209261e-05 9.99996372e-01 6.12702074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.504012739 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:180.47, Y:128.42, Z:0.61 [[-1.18258825e-01 -9.92982768e-01 2.69858406e-04 1.80469656e+02] [ 9.92979152e-01 -1.18259123e-01 -2.68015703e-03 1.28418153e+02] [ 2.69326297e-03 -4.89884505e-05 9.99996372e-01 6.12033687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.534012739 meters Centerline goodness : 0.997126 Centerline is valid? [True, True] Translation: X:180.47, Y:128.42, Z:0.61 [[-1.20385980e-01 -9.92727124e-01 2.70825300e-04 1.80473770e+02] [ 9.92723508e-01 -1.20386272e-01 -2.68005933e-03 1.28417847e+02] [ 2.69317124e-03 -5.37869262e-05 9.99996372e-01 6.09849250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.564012739 meters Centerline goodness : 0.996690 Centerline is valid? [True, True] Translation: X:180.48, Y:128.41, Z:0.61 [[-1.21438081e-01 -9.92598972e-01 2.71792158e-04 1.80476222e+02] [ 9.92595355e-01 -1.21438373e-01 -2.67996127e-03 1.28414562e+02] [ 2.69313280e-03 -5.56697216e-05 9.99996372e-01 6.09506287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.594012739 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:180.48, Y:128.40, Z:0.61 [[-1.22700098e-01 -9.92443757e-01 2.72759285e-04 1.80480055e+02] [ 9.92440141e-01 -1.22700387e-01 -2.67986284e-03 1.28403082e+02] [ 2.69308081e-03 -5.81221688e-05 9.99996372e-01 6.12018550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.624012739 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:180.48, Y:128.40, Z:0.61 [[-1.23521704e-01 -9.92341833e-01 2.73722753e-04 1.80480936e+02] [ 9.92338217e-01 -1.23521993e-01 -2.67976442e-03 1.28403535e+02] [ 2.69305312e-03 -5.93835194e-05 9.99996372e-01 6.13929364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.654012739 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:180.48, Y:128.42, Z:0.61 [[-1.25676767e-01 -9.92071205e-01 2.74684093e-04 1.80482753e+02] [ 9.92067588e-01 -1.25677051e-01 -2.67966588e-03 1.28423099e+02] [ 2.69294084e-03 -6.42665599e-05 9.99996372e-01 6.13454203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.684012739 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:180.49, Y:128.41, Z:0.62 [[-1.26554506e-01 -9.91959617e-01 2.75653702e-04 1.80486897e+02] [ 9.91956000e-01 -1.26554789e-01 -2.67956613e-03 1.28406886e+02] [ 2.69290669e-03 -6.56748244e-05 9.99996372e-01 6.22400473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.714012739 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:180.49, Y:128.40, Z:0.61 [[-1.27425201e-01 -9.91848144e-01 2.76625711e-04 1.80489641e+02] [ 9.91844527e-01 -1.27425484e-01 -2.67946579e-03 1.28398474e+02] [ 2.69287233e-03 -6.70617693e-05 9.99996372e-01 6.11123149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.744012739 meters Centerline goodness : 0.996351 Centerline is valid? [True, True] Translation: X:180.49, Y:128.40, Z:0.61 [[-1.27140691e-01 -9.91884654e-01 2.77590996e-04 1.80492291e+02] [ 9.91881038e-01 -1.27140977e-01 -2.67936578e-03 1.28398638e+02] [ 2.69291499e-03 -6.53191719e-05 9.99996372e-01 6.11186386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.774012739 meters Centerline goodness : 0.996291 Centerline is valid? [True, True] Translation: X:180.49, Y:128.40, Z:0.61 [[-1.26831109e-01 -9.91924288e-01 2.78554890e-04 1.80493103e+02] [ 9.91920671e-01 -1.26831399e-01 -2.67926557e-03 1.28401390e+02] [ 2.69295809e-03 -6.35098710e-05 9.99996372e-01 6.11248092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80401273900003 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:180.49, Y:128.41, Z:0.61 [[-1.25966333e-01 -9.92034478e-01 2.79521460e-04 1.80494408e+02] [ 9.92030862e-01 -1.25966629e-01 -2.67916472e-03 1.28412927e+02] [ 2.69303415e-03 -6.01906408e-05 9.99996372e-01 6.14709024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.834012739 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:180.50, Y:128.41, Z:0.62 [[-1.26168493e-01 -9.92008787e-01 2.80494249e-04 1.80496717e+02] [ 9.92005171e-01 -1.26168791e-01 -2.67906287e-03 1.28405721e+02] [ 2.69304353e-03 -5.97615797e-05 9.99996372e-01 6.17520747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86401273900003 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:180.50, Y:128.41, Z:0.62 [[-1.26665541e-01 -9.91945443e-01 2.81470074e-04 1.80498648e+02] [ 9.91941827e-01 -1.26665839e-01 -2.67896035e-03 1.28407941e+02] [ 2.69303515e-03 -6.01300208e-05 9.99996372e-01 6.18003089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.894012739 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:180.51, Y:128.40, Z:0.61 [[-1.27863070e-01 -9.91791790e-01 2.82445862e-04 1.80505384e+02] [ 9.91788175e-01 -1.27863367e-01 -2.67885746e-03 1.28397360e+02] [ 2.69298332e-03 -6.24004739e-05 9.99996372e-01 6.14541340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92401273900003 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:180.51, Y:128.40, Z:0.61 [[-1.28026254e-01 -9.91770739e-01 2.83419918e-04 1.80509931e+02] [ 9.91767123e-01 -1.28026553e-01 -2.67875441e-03 1.28397963e+02] [ 2.69299551e-03 -6.18643358e-05 9.99996372e-01 6.10848249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.954012739 meters Centerline goodness : 0.996308 Centerline is valid? [True, True] Translation: X:180.51, Y:128.41, Z:0.61 [[-1.27151634e-01 -9.91883250e-01 2.84391940e-04 1.80510568e+02] [ 9.91879635e-01 -1.27151939e-01 -2.67865121e-03 1.28412265e+02] [ 2.69307025e-03 -5.85123044e-05 9.99996372e-01 6.07762146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.984012739 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:180.51, Y:128.41, Z:0.61 [[-1.25870339e-01 -9.92046660e-01 2.85370708e-04 1.80513456e+02] [ 9.92043046e-01 -1.25870651e-01 -2.67854693e-03 1.28413006e+02] [ 2.69316333e-03 -5.40495846e-05 9.99996372e-01 6.07319651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.014012739 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:180.51, Y:128.41, Z:0.61 [[-1.26235616e-01 -9.92000246e-01 2.86355999e-04 1.80513795e+02] [ 9.91996631e-01 -1.26235929e-01 -2.67844159e-03 1.28410527e+02] [ 2.69316313e-03 -5.40505378e-05 9.99996372e-01 6.07312874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.044012739 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:180.52, Y:128.41, Z:0.61 [[-1.22961680e-01 -9.92411378e-01 2.87342203e-04 1.80519102e+02] [ 9.92407765e-01 -1.22962008e-01 -2.67833579e-03 1.28411081e+02] [ 2.69334308e-03 -4.41720344e-05 9.99996372e-01 6.07291948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.074012739 meters Centerline goodness : 0.995783 Centerline is valid? [True, True] Translation: X:180.52, Y:128.42, Z:0.61 [[-1.21440267e-01 -9.92598700e-01 2.88329467e-04 1.80519786e+02] [ 9.92595087e-01 -1.21440603e-01 -2.67822950e-03 1.28422604e+02] [ 2.69342202e-03 -3.90504922e-05 9.99996372e-01 6.07775131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.104012739 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:180.52, Y:128.45, Z:0.61 [[-1.18196247e-01 -9.92990213e-01 2.89322255e-04 1.80520991e+02] [ 9.92986602e-01 -1.18196598e-01 -2.67812225e-03 1.28450111e+02] [ 2.69354609e-03 -2.92508765e-05 9.99996372e-01 6.06150782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.134012739 meters Centerline goodness : 0.996202 Centerline is valid? [True, True] Translation: X:180.52, Y:128.45, Z:0.61 [[-1.17039261e-01 -9.93127246e-01 2.90330409e-04 1.80523354e+02] [ 9.93123636e-01 -1.17039618e-01 -2.67801295e-03 1.28446290e+02] [ 2.69358779e-03 -2.50986647e-05 9.99996372e-01 6.07436496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.164012739 meters Centerline goodness : 0.996400 Centerline is valid? [True, True] Translation: X:180.53, Y:128.45, Z:0.61 [[-1.13689351e-01 -9.93516304e-01 2.91349174e-04 1.80525553e+02] [ 9.93512695e-01 -1.13689723e-01 -2.67790211e-03 1.28448428e+02] [ 2.69366282e-03 -1.49898504e-05 9.99996372e-01 6.08569116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.194012739 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:180.53, Y:128.45, Z:0.61 [[-1.11826007e-01 -9.93727759e-01 2.92368574e-04 1.80525522e+02] [ 9.93724151e-01 -1.11826389e-01 -2.67779081e-03 1.28454212e+02] [ 2.69368958e-03 -8.91294184e-06 9.99996372e-01 6.10052456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.224012739 meters Centerline goodness : 0.996255 Centerline is valid? [True, True] Translation: X:180.53, Y:128.43, Z:0.61 [[-1.06539514e-01 -9.94308426e-01 2.93392835e-04 1.80528846e+02] [ 9.94304820e-01 -1.06539918e-01 -2.67767858e-03 1.28432223e+02] [ 2.69369643e-03 6.44333568e-06 9.99996372e-01 6.11317650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.254012739 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:180.53, Y:128.43, Z:0.61 [[-1.03886632e-01 -9.94589102e-01 2.94412829e-04 1.80528762e+02] [ 9.94585498e-01 -1.03887048e-01 -2.67756643e-03 1.28433994e+02] [ 2.69366407e-03 1.46553723e-05 9.99996372e-01 6.11354402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.284012739 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:180.53, Y:128.43, Z:0.61 [[-9.86707608e-02 -9.95120090e-01 2.95426909e-04 1.80525426e+02] [ 9.95116489e-01 -9.86711986e-02 -2.67745454e-03 1.28429863e+02] [ 2.69353893e-03 2.97977122e-05 9.99996372e-01 6.13330864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.314012739 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:180.53, Y:128.40, Z:0.61 [[-9.65784617e-02 -9.95325330e-01 2.96442110e-04 1.80526753e+02] [ 9.95321730e-01 -9.65789098e-02 -2.67734213e-03 1.28398585e+02] [ 2.69345650e-03 3.64816892e-05 9.99996372e-01 6.14001026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.344012739 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:180.53, Y:128.39, Z:0.61 [[-9.57572280e-02 -9.95404674e-01 2.97446359e-04 1.80526075e+02] [ 9.95401074e-01 -9.57576818e-02 -2.67723056e-03 1.28392052e+02] [ 2.69341058e-03 3.97142486e-05 9.99996372e-01 6.14348475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.374012739 meters Centerline goodness : 0.995902 Centerline is valid? [True, True] Translation: X:180.52, Y:128.42, Z:0.61 [[-9.73155243e-02 -9.95253535e-01 2.98439097e-04 1.80520710e+02] [ 9.95249935e-01 -9.73159751e-02 -2.67711989e-03 1.28421979e+02] [ 2.69345593e-03 3.64961663e-05 9.99996372e-01 6.12100142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.404012739 meters Centerline goodness : 0.996300 Centerline is valid? [True, True] Translation: X:180.52, Y:128.41, Z:0.61 [[-9.99044854e-02 -9.94996987e-01 2.99441795e-04 1.80522028e+02] [ 9.94993386e-01 -9.99049295e-02 -2.67700773e-03 1.28406305e+02] [ 2.69353034e-03 3.04975261e-05 9.99996372e-01 6.09636353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.434012739 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:180.52, Y:128.41, Z:0.61 [[-1.07291463e-01 -9.94227565e-01 3.00451676e-04 1.80522783e+02] [ 9.94223962e-01 -1.07291883e-01 -2.67689438e-03 1.28411097e+02] [ 2.69367821e-03 1.15083418e-05 9.99996372e-01 6.10267476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.464012739 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:180.52, Y:128.43, Z:0.61 [[-1.11434988e-01 -9.93771680e-01 3.01459366e-04 1.80522074e+02] [ 9.93768075e-01 -1.11435396e-01 -2.67678090e-03 1.28426851e+02] [ 2.69370229e-03 1.29364752e-06 9.99996372e-01 6.11817985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.494012739 meters Centerline goodness : 0.996249 Centerline is valid? [True, True] Translation: X:180.52, Y:128.43, Z:0.61 [[-1.17098885e-01 -9.93120214e-01 3.02476152e-04 1.80521216e+02] [ 9.93116607e-01 -1.17099275e-01 -2.67666599e-03 1.28428900e+02] [ 2.69367084e-03 -1.30405130e-05 9.99996372e-01 6.13191411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.524012739 meters Centerline goodness : 0.996652 Centerline is valid? [True, True] Translation: X:180.51, Y:128.51, Z:0.61 [[-1.18948669e-01 -9.92900359e-01 3.03501352e-04 1.80512571e+02] [ 9.92896751e-01 -1.18949055e-01 -2.67654974e-03 1.28506783e+02] [ 2.69364840e-03 -1.70265222e-05 9.99996372e-01 6.12065763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55401273900003 meters Centerline goodness : 0.996289 Centerline is valid? [True, True] Translation: X:180.51, Y:128.56, Z:0.61 [[-1.21097860e-01 -9.92640527e-01 3.05863470e-04 1.80511007e+02] [ 9.92636919e-01 -1.21098244e-01 -2.67628116e-03 1.28563138e+02] [ 2.69362467e-03 -2.04805479e-05 9.99996372e-01 6.12020797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.584012739 meters Centerline goodness : 0.996390 Centerline is valid? [True, True] Translation: X:180.53, Y:128.40, Z:0.61 [[-1.20540929e-01 -9.92708311e-01 3.07497479e-04 1.80531204e+02] [ 9.92704704e-01 -1.20541320e-01 -2.67609465e-03 1.28403435e+02] [ 2.69364755e-03 -1.73247413e-05 9.99996372e-01 6.12594273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61401273900003 meters Centerline goodness : 0.996687 Centerline is valid? [True, True] Translation: X:180.53, Y:128.42, Z:0.61 [[-1.19815588e-01 -9.92796118e-01 3.04598358e-04 1.80530589e+02] [ 9.92792511e-01 -1.19815974e-01 -2.67642459e-03 1.28415179e+02] [ 2.69363969e-03 -1.82744174e-05 9.99996372e-01 6.11091744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.644012739 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:180.53, Y:128.41, Z:0.61 [[-1.18930392e-01 -9.92902547e-01 3.05612831e-04 1.80531839e+02] [ 9.92898941e-01 -1.18930783e-01 -2.67630874e-03 1.28407730e+02] [ 2.69366054e-03 -1.48517913e-05 9.99996372e-01 6.08547785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67401273900003 meters Centerline goodness : 0.996004 Centerline is valid? [True, True] Translation: X:180.53, Y:128.43, Z:0.61 [[-1.18072427e-01 -9.93004939e-01 3.06630450e-04 1.80530351e+02] [ 9.93001332e-01 -1.18072825e-01 -2.67619215e-03 1.28432064e+02] [ 2.69367674e-03 -1.15000564e-05 9.99996372e-01 6.07811868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.704012739 meters Centerline goodness : 0.995959 Centerline is valid? [True, True] Translation: X:180.54, Y:128.40, Z:0.61 [[-1.16294394e-01 -9.93214740e-01 3.07656315e-04 1.80536029e+02] [ 9.93211135e-01 -1.16294801e-01 -2.67607421e-03 1.28402312e+02] [ 2.69369518e-03 -5.64475131e-06 9.99996372e-01 6.10287525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.734012739 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:180.54, Y:128.41, Z:0.61 [[-1.15530340e-01 -9.93303904e-01 3.08681790e-04 1.80535682e+02] [ 9.93300299e-01 -1.15530752e-01 -2.67595592e-03 1.28405122e+02] [ 2.69369970e-03 -2.54038158e-06 9.99996372e-01 6.12554987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.764012739 meters Centerline goodness : 0.996399 Centerline is valid? [True, True] Translation: X:180.54, Y:128.40, Z:0.61 [[-1.14083201e-01 -9.93471151e-01 3.09698937e-04 1.80536483e+02] [ 9.93467547e-01 -1.14083621e-01 -2.67583819e-03 1.28396192e+02] [ 2.69369963e-03 2.40765748e-06 9.99996372e-01 6.11528028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.794012739 meters Centerline goodness : 0.996092 Centerline is valid? [True, True] Translation: X:180.54, Y:128.40, Z:0.61 [[-1.14675017e-01 -9.93403012e-01 3.10715701e-04 1.80536464e+02] [ 9.93399408e-01 -1.14675438e-01 -2.67572012e-03 1.28403497e+02] [ 2.69369989e-03 1.82654185e-06 9.99996372e-01 6.09654118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.824012739 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:180.54, Y:128.39, Z:0.61 [[-1.15313208e-01 -9.93329133e-01 3.11733590e-04 1.80540675e+02] [ 9.93325530e-01 -1.15313630e-01 -2.67560153e-03 1.28390530e+02] [ 2.69370008e-03 1.12073741e-06 9.99996372e-01 6.08075963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.854012739 meters Centerline goodness : 0.996160 Centerline is valid? [True, True] Translation: X:180.54, Y:128.40, Z:0.61 [[-1.15466697e-01 -9.93311303e-01 3.12750940e-04 1.80540209e+02] [ 9.93307699e-01 -1.15467121e-01 -2.67548261e-03 1.28400861e+02] [ 2.69369956e-03 1.72877712e-06 9.99996372e-01 6.09246309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.884012739 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:180.54, Y:128.38, Z:0.61 [[-1.14070021e-01 -9.93472663e-01 3.13769077e-04 1.80543235e+02] [ 9.93469061e-01 -1.14070452e-01 -2.67536320e-03 1.28381728e+02] [ 2.69369198e-03 6.54113556e-06 9.99996372e-01 6.13163727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.914012739 meters Centerline goodness : 0.996289 Centerline is valid? [True, True] Translation: X:180.54, Y:128.38, Z:0.61 [[-1.13029243e-01 -9.93591612e-01 3.14785660e-04 1.80543931e+02] [ 9.93588010e-01 -1.13029681e-01 -2.67524358e-03 1.28380506e+02] [ 2.69367970e-03 1.03865018e-05 9.99996372e-01 6.13905007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.944012739 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:180.55, Y:128.36, Z:0.61 [[-1.09858983e-01 -9.93947134e-01 3.15796360e-04 1.80547829e+02] [ 9.93943534e-01 -1.09859435e-01 -2.67512427e-03 1.28359562e+02] [ 2.69362531e-03 1.99973202e-05 9.99996372e-01 6.12799287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.974012739 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:180.55, Y:128.36, Z:0.61 [[-1.08499932e-01 -9.94096406e-01 3.16800763e-04 1.80547641e+02] [ 9.94092807e-01 -1.08500391e-01 -2.67500532e-03 1.28363724e+02] [ 2.69358618e-03 2.46914658e-05 9.99996372e-01 6.11346910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.004012739 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:180.55, Y:128.36, Z:0.61 [[-1.06197759e-01 -9.94344978e-01 3.17800878e-04 1.80548947e+02] [ 9.94341380e-01 -1.06198230e-01 -2.67488649e-03 1.28359210e+02] [ 2.69350984e-03 3.19356116e-05 9.99996372e-01 6.13738291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.034012739 meters Centerline goodness : 0.996156 Centerline is valid? [True, True] Translation: X:180.55, Y:128.35, Z:0.62 [[-1.05350869e-01 -9.94435062e-01 3.18802409e-04 1.80550769e+02] [ 9.94431466e-01 -1.05351345e-01 -2.67476712e-03 1.28351811e+02] [ 2.69346847e-03 3.52381065e-05 9.99996372e-01 6.15260271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.064012739 meters Centerline goodness : 0.995925 Centerline is valid? [True, True] Translation: X:180.55, Y:128.34, Z:0.62 [[-1.04624512e-01 -9.94511744e-01 3.19801305e-04 1.80552375e+02] [ 9.94508148e-01 -1.04624994e-01 -2.67464769e-03 1.28339437e+02] [ 2.69342774e-03 3.82112937e-05 9.99996372e-01 6.16585260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.094012739 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:180.55, Y:128.34, Z:0.62 [[-1.05201984e-01 -9.94450823e-01 3.20794841e-04 1.80551424e+02] [ 9.94447227e-01 -1.05202467e-01 -2.67452852e-03 1.28342757e+02] [ 2.69343549e-03 3.76478323e-05 9.99996372e-01 6.16572390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.124012739 meters Centerline goodness : 0.996585 Centerline is valid? [True, True] Translation: X:180.55, Y:128.35, Z:0.61 [[-1.07137236e-01 -9.94244190e-01 3.21787043e-04 1.80550585e+02] [ 9.94240593e-01 -1.07137714e-01 -2.67440913e-03 1.28345304e+02] [ 2.69349127e-03 3.34049378e-05 9.99996372e-01 6.13362157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.154012739 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:180.55, Y:128.34, Z:0.61 [[-1.08825768e-01 -9.94060787e-01 3.22783053e-04 1.80551151e+02] [ 9.94057190e-01 -1.08826242e-01 -2.67428892e-03 1.28343806e+02] [ 2.69353301e-03 2.98332704e-05 9.99996372e-01 6.11172423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.184012739 meters Centerline goodness : 0.995846 Centerline is valid? [True, True] Translation: X:180.55, Y:128.35, Z:0.61 [[-1.10907169e-01 -9.93830717e-01 3.23781118e-04 1.80551406e+02] [ 9.93827120e-01 -1.10907639e-01 -2.67416807e-03 1.28346078e+02] [ 2.69358018e-03 2.51980441e-05 9.99996372e-01 6.09012324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.214012739 meters Centerline goodness : 0.996457 Centerline is valid? [True, True] Translation: X:180.55, Y:128.36, Z:0.61 [[-1.13764829e-01 -9.93507654e-01 3.24780919e-04 1.80551533e+02] [ 9.93504055e-01 -1.13765291e-01 -2.67404664e-03 1.28357182e+02] [ 2.69363460e-03 1.84587005e-05 9.99996372e-01 6.08436775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.244012739 meters Centerline goodness : 0.995625 Centerline is valid? [True, True] Translation: X:180.55, Y:128.36, Z:0.61 [[-1.15203922e-01 -9.93341809e-01 3.25787534e-04 1.80552634e+02] [ 9.93338211e-01 -1.15204381e-01 -2.67392400e-03 1.28361195e+02] [ 2.69365265e-03 1.55706752e-05 9.99996372e-01 6.08837468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.274012739 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:180.56, Y:128.35, Z:0.61 [[-1.17677625e-01 -9.93051796e-01 3.26801056e-04 1.80557927e+02] [ 9.93048197e-01 -1.17678079e-01 -2.67380012e-03 1.28345898e+02] [ 2.69367933e-03 9.88275039e-06 9.99996372e-01 6.06737426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30401273900003 meters Centerline goodness : 0.996371 Centerline is valid? [True, True] Translation: X:180.56, Y:128.35, Z:0.61 [[-1.18919900e-01 -9.92903797e-01 3.27811877e-04 1.80558477e+02] [ 9.92900197e-01 -1.18920352e-01 -2.67367619e-03 1.28352069e+02] [ 2.69368674e-03 7.53117112e-06 9.99996372e-01 6.05559139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.334012739 meters Centerline goodness : 0.996044 Centerline is valid? [True, True] Translation: X:180.56, Y:128.35, Z:0.61 [[-1.20940146e-01 -9.92659747e-01 3.28821162e-04 1.80561221e+02] [ 9.92656147e-01 -1.20940593e-01 -2.67355205e-03 1.28347733e+02] [ 2.69369533e-03 3.06657276e-06 9.99996372e-01 6.10790655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36401273900003 meters Centerline goodness : 0.996184 Centerline is valid? [True, True] Translation: X:180.56, Y:128.36, Z:0.61 [[-1.21491037e-01 -9.92592474e-01 3.29832712e-04 1.80560682e+02] [ 9.92588874e-01 -1.21491485e-01 -2.67342726e-03 1.28361781e+02] [ 2.69369564e-03 2.59083045e-06 9.99996372e-01 6.11130173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.394012739 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:180.56, Y:128.35, Z:0.61 [[-1.21344727e-01 -9.92610371e-01 3.30849232e-04 1.80563877e+02] [ 9.92606771e-01 -1.21345178e-01 -2.67330145e-03 1.28345398e+02] [ 2.69369370e-03 4.01215216e-06 9.99996372e-01 6.10543390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42401273900003 meters Centerline goodness : 0.995915 Centerline is valid? [True, True] Translation: X:180.57, Y:128.35, Z:0.61 [[-1.19387287e-01 -9.92847705e-01 3.31866875e-04 1.80565269e+02] [ 9.92844107e-01 -1.19387748e-01 -2.67317511e-03 1.28348189e+02] [ 2.69367661e-03 1.03489475e-05 9.99996372e-01 6.06106820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.454012739 meters Centerline goodness : 0.996044 Centerline is valid? [True, True] Translation: X:180.57, Y:128.33, Z:0.61 [[-1.18993137e-01 -9.92895021e-01 3.32881121e-04 1.80566941e+02] [ 9.92891423e-01 -1.18993602e-01 -2.67304881e-03 1.28332321e+02] [ 2.69366757e-03 1.24403467e-05 9.99996372e-01 6.08290194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.484012739 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:180.56, Y:128.35, Z:0.61 [[-1.19651371e-01 -9.92815914e-01 3.33891990e-04 1.80564208e+02] [ 9.92812315e-01 -1.19651836e-01 -2.67292253e-03 1.28348055e+02] [ 2.69367082e-03 1.16732355e-05 9.99996372e-01 6.10236405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.514012739 meters Centerline goodness : 0.996171 Centerline is valid? [True, True] Translation: X:180.56, Y:128.35, Z:0.61 [[-1.20452515e-01 -9.92719034e-01 3.34904641e-04 1.80564175e+02] [ 9.92715435e-01 -1.20452980e-01 -2.67279565e-03 1.28346016e+02] [ 2.69367537e-03 1.05200482e-05 9.99996372e-01 6.13837789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.544012739 meters Centerline goodness : 0.995935 Centerline is valid? [True, True] Translation: X:180.57, Y:128.33, Z:0.62 [[-1.22645648e-01 -9.92450468e-01 3.35924284e-04 1.80566410e+02] [ 9.92446870e-01 -1.22646108e-01 -2.67266749e-03 1.28329426e+02] [ 2.69368991e-03 5.59596723e-06 9.99996372e-01 6.16001556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.574012739 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:180.57, Y:128.34, Z:0.61 [[-1.26066357e-01 -9.92021754e-01 3.36938672e-04 1.80565121e+02] [ 9.92018154e-01 -1.26066807e-01 -2.67253960e-03 1.28342616e+02] [ 2.69369420e-03 -2.66805153e-06 9.99996372e-01 6.12668954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.604012739 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:180.56, Y:128.35, Z:0.61 [[-1.28678935e-01 -9.91686250e-01 3.37953842e-04 1.80564942e+02] [ 9.91682649e-01 -1.28679379e-01 -2.67241122e-03 1.28346051e+02] [ 2.69368115e-03 -8.74006901e-06 9.99996372e-01 6.11426661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.634012739 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:180.56, Y:128.35, Z:0.61 [[-1.31191016e-01 -9.91357051e-01 3.38976723e-04 1.80564272e+02] [ 9.91353449e-01 -1.31191453e-01 -2.67228147e-03 1.28353869e+02] [ 2.69365593e-03 -1.45335779e-05 9.99996372e-01 6.11985553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.664012739 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:180.57, Y:128.34, Z:0.62 [[-1.32903961e-01 -9.91128862e-01 3.40005885e-04 1.80565939e+02] [ 9.91125260e-01 -1.32904395e-01 -2.67215052e-03 1.28343942e+02] [ 2.69363378e-03 -1.81509671e-05 9.99996372e-01 6.15507729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.694012739 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:180.57, Y:128.34, Z:0.62 [[-1.32661445e-01 -9.91161352e-01 3.41035851e-04 1.80567420e+02] [ 9.91157750e-01 -1.32661883e-01 -2.67201906e-03 1.28335089e+02] [ 2.69364448e-03 -1.64535833e-05 9.99996372e-01 6.16207343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.724012739 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:180.57, Y:128.34, Z:0.61 [[-1.30886894e-01 -9.91397248e-01 3.42060454e-04 1.80567619e+02] [ 9.91393648e-01 -1.30887341e-01 -2.67188789e-03 1.28340434e+02] [ 2.69367368e-03 -1.05985464e-05 9.99996372e-01 6.13432825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.754012739 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:180.57, Y:128.33, Z:0.61 [[-1.30438641e-01 -9.91456324e-01 3.43085694e-04 1.80569088e+02] [ 9.91452725e-01 -1.30439092e-01 -2.67175624e-03 1.28326923e+02] [ 2.69368140e-03 -8.34700584e-06 9.99996372e-01 6.12005515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.784012739 meters Centerline goodness : 0.996405 Centerline is valid? [True, True] Translation: X:180.57, Y:128.32, Z:0.61 [[-1.29673242e-01 -9.91556721e-01 3.44109510e-04 1.80567919e+02] [ 9.91553122e-01 -1.29673699e-01 -2.67162437e-03 1.28324538e+02] [ 2.69368905e-03 -5.23533531e-06 9.99996372e-01 6.12816015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.814012739 meters Centerline goodness : 0.996060 Centerline is valid? [True, True] Translation: X:180.57, Y:128.33, Z:0.61 [[-1.29844256e-01 -9.91534341e-01 3.45129542e-04 1.80567570e+02] [ 9.91530742e-01 -1.29844715e-01 -2.67149259e-03 1.28327499e+02] [ 2.69368989e-03 -4.67141647e-06 9.99996372e-01 6.13700047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.844012739 meters Centerline goodness : 0.996058 Centerline is valid? [True, True] Translation: X:180.57, Y:128.32, Z:0.61 [[-1.30213899e-01 -9.91485865e-01 3.46151387e-04 1.80569879e+02] [ 9.91482266e-01 -1.30214359e-01 -2.67136018e-03 1.28316748e+02] [ 2.69368974e-03 -4.64526316e-06 9.99996372e-01 6.12991465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.874012739 meters Centerline goodness : 0.996097 Centerline is valid? [True, True] Translation: X:180.57, Y:128.33, Z:0.61 [[-1.32310949e-01 -9.91208198e-01 3.47171999e-04 1.80570254e+02] [ 9.91204599e-01 -1.32311404e-01 -2.67122753e-03 1.28328722e+02] [ 2.69367745e-03 -9.31416878e-06 9.99996372e-01 6.10394324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.904012739 meters Centerline goodness : 0.996097 Centerline is valid? [True, True] Translation: X:180.57, Y:128.33, Z:0.61 [[-1.32692439e-01 -9.91157200e-01 3.48194768e-04 1.80570648e+02] [ 9.91153601e-01 -1.32692896e-01 -2.67109421e-03 1.28326268e+02] [ 2.69367723e-03 -9.31950759e-06 9.99996372e-01 6.10387547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.934012739 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:180.57, Y:128.32, Z:0.61 [[-1.34047170e-01 -9.90974891e-01 3.49222780e-04 1.80572606e+02] [ 9.90971291e-01 -1.34047625e-01 -2.67095980e-03 1.28319474e+02] [ 2.69366658e-03 -1.19648544e-05 9.99996372e-01 6.10173048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.964012739 meters Centerline goodness : 0.996155 Centerline is valid? [True, True] Translation: X:180.58, Y:128.32, Z:0.61 [[-1.35575563e-01 -9.90766947e-01 3.50249199e-04 1.80575080e+02] [ 9.90763348e-01 -1.35576014e-01 -2.67082520e-03 1.28324609e+02] [ 2.69365072e-03 -1.50845602e-05 9.99996372e-01 6.12616853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.994012739 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:180.58, Y:128.32, Z:0.61 [[-1.35896011e-01 -9.90723044e-01 3.51276761e-04 1.80577703e+02] [ 9.90719445e-01 -1.35896464e-01 -2.67069004e-03 1.28315926e+02] [ 2.69365144e-03 -1.49194054e-05 9.99996372e-01 6.14067781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.024012739 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:180.58, Y:128.31, Z:0.61 [[-1.34905543e-01 -9.90858401e-01 3.52304271e-04 1.80581398e+02] [ 9.90854802e-01 -1.34906002e-01 -2.67055449e-03 1.28310230e+02] [ 2.69366931e-03 -1.11902236e-05 9.99996372e-01 6.11815459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05401273900003 meters Centerline goodness : 0.995971 Centerline is valid? [True, True] Translation: X:180.59, Y:128.29, Z:0.61 [[-1.33670505e-01 -9.91025767e-01 3.53327968e-04 1.80585701e+02] [ 9.91022169e-01 -1.33670971e-01 -2.67041904e-03 1.28289916e+02] [ 2.69368377e-03 -6.80041143e-06 9.99996372e-01 6.09237485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.084012739 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:180.59, Y:128.28, Z:0.61 [[-1.28420174e-01 -9.91719786e-01 3.54343341e-04 1.80589711e+02] [ 9.91716191e-01 -1.28420663e-01 -2.67028430e-03 1.28280309e+02] [ 2.69367878e-03 8.48965336e-06 9.99996372e-01 6.08269924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11401273900003 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:180.59, Y:128.30, Z:0.61 [[-1.22301737e-01 -9.92492901e-01 3.55349528e-04 1.80587868e+02] [ 9.92489310e-01 -1.22302250e-01 -2.67015040e-03 1.28304436e+02] [ 2.69356536e-03 2.61165772e-05 9.99996372e-01 6.09308300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.144012739 meters Centerline goodness : 0.995339 Centerline is valid? [True, True] Translation: X:180.59, Y:128.26, Z:0.61 [[-1.19827569e-01 -9.92794655e-01 3.56362623e-04 1.80592988e+02] [ 9.92791065e-01 -1.19828094e-01 -2.67001518e-03 1.28263364e+02] [ 2.69347905e-03 3.38522006e-05 9.99996372e-01 6.09819280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17401273900003 meters Centerline goodness : 0.995279 Centerline is valid? [True, True] Translation: X:180.60, Y:128.24, Z:0.61 [[-1.17824353e-01 -9.93034387e-01 3.57371009e-04 1.80595639e+02] [ 9.93030799e-01 -1.17824888e-01 -2.66988021e-03 1.28236469e+02] [ 2.69339005e-03 4.03035105e-05 9.99996372e-01 6.10588587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.204012739 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:180.59, Y:128.23, Z:0.61 [[-1.13848083e-01 -9.93498105e-01 3.58356882e-04 1.80593570e+02] [ 9.93494520e-01 -1.13848635e-01 -2.66974787e-03 1.28230576e+02] [ 2.69318790e-03 5.20799200e-05 9.99996372e-01 6.14385421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.234012739 meters Centerline goodness : 0.995415 Centerline is valid? [True, True] Translation: X:180.59, Y:128.22, Z:0.62 [[-1.12202086e-01 -9.93685344e-01 3.59333010e-04 1.80592117e+02] [ 9.93681760e-01 -1.12202646e-01 -2.66961649e-03 1.28219319e+02] [ 2.69307689e-03 5.75261205e-05 9.99996372e-01 6.16259976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.264012739 meters Centerline goodness : 0.995532 Centerline is valid? [True, True] Translation: X:180.59, Y:128.22, Z:0.62 [[-1.08911423e-01 -9.94051393e-01 3.60305384e-04 1.80585930e+02] [ 9.94047811e-01 -1.08911998e-01 -2.66948524e-03 1.28218518e+02] [ 2.69284710e-03 6.74233422e-05 9.99996372e-01 6.16631200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.294012739 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:180.59, Y:128.20, Z:0.62 [[-1.08167460e-01 -9.94132622e-01 3.61275714e-04 1.80585285e+02] [ 9.94129041e-01 -1.08168041e-01 -2.66935392e-03 1.28203875e+02] [ 2.69277029e-03 7.04174453e-05 9.99996372e-01 6.16833526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.324012739 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:180.58, Y:128.22, Z:0.61 [[-1.07253721e-01 -9.94231617e-01 3.62242639e-04 1.80577587e+02] [ 9.94228037e-01 -1.07254307e-01 -2.66922269e-03 1.28217776e+02] [ 2.69267768e-03 7.38677218e-05 9.99996372e-01 6.14731473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.354012739 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:180.58, Y:128.20, Z:0.61 [[-1.07233137e-01 -9.94233837e-01 3.63211499e-04 1.80575464e+02] [ 9.94230257e-01 -1.07233726e-01 -2.66909085e-03 1.28200695e+02] [ 2.69264896e-03 7.49008775e-05 9.99996372e-01 6.12779272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.384012739 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:180.57, Y:128.20, Z:0.61 [[-1.07788828e-01 -9.94173745e-01 3.64181376e-04 1.80570978e+02] [ 9.94170166e-01 -1.07789417e-01 -2.66895851e-03 1.28204380e+02] [ 2.69266338e-03 7.43743503e-05 9.99996372e-01 6.11404119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.414012739 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:180.57, Y:128.20, Z:0.61 [[-1.10094701e-01 -9.93921035e-01 3.65148771e-04 1.80565498e+02] [ 9.93917454e-01 -1.10095285e-01 -2.66882615e-03 1.28200646e+02] [ 2.69280361e-03 6.91041200e-05 9.99996372e-01 6.11787746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.444012739 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:180.56, Y:128.20, Z:0.61 [[-1.13202089e-01 -9.93571916e-01 3.66118244e-04 1.80559313e+02] [ 9.93568334e-01 -1.13202664e-01 -2.66869315e-03 1.28198088e+02] [ 2.69298413e-03 6.16618552e-05 9.99996372e-01 6.14721641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.474012739 meters Centerline goodness : 0.995570 Centerline is valid? [True, True] Translation: X:180.55, Y:128.21, Z:0.62 [[-1.14765860e-01 -9.93392502e-01 3.67087668e-04 1.80554197e+02] [ 9.93388919e-01 -1.14766432e-01 -2.66855980e-03 1.28212445e+02] [ 2.69305663e-03 5.84012618e-05 9.99996372e-01 6.16696070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.504012739 meters Centerline goodness : 0.995575 Centerline is valid? [True, True] Translation: X:180.55, Y:128.21, Z:0.62 [[-1.16228355e-01 -9.93222449e-01 3.68063049e-04 1.80552117e+02] [ 9.93218866e-01 -1.16228925e-01 -2.66842526e-03 1.28207395e+02] [ 2.69311944e-03 5.54204853e-05 9.99996372e-01 6.16533000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.534012739 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:180.55, Y:128.20, Z:0.61 [[-1.17889590e-01 -9.93026640e-01 3.69043829e-04 1.80547872e+02] [ 9.93023057e-01 -1.17890157e-01 -2.66828961e-03 1.28204319e+02] [ 2.69318930e-03 5.19054618e-05 9.99996372e-01 6.14394626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.564012739 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:180.54, Y:128.21, Z:0.61 [[-1.18323310e-01 -9.92975054e-01 3.70023615e-04 1.80544428e+02] [ 9.92971470e-01 -1.18323877e-01 -2.66815373e-03 1.28207064e+02] [ 2.69319272e-03 5.17181124e-05 9.99996372e-01 6.12552966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.594012739 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:180.54, Y:128.22, Z:0.61 [[-1.18561807e-01 -9.92946605e-01 3.71005387e-04 1.80537313e+02] [ 9.92943022e-01 -1.18562376e-01 -2.66801721e-03 1.28215303e+02] [ 2.69318591e-03 5.20622676e-05 9.99996372e-01 6.08711159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.624012739 meters Centerline goodness : 0.995900 Centerline is valid? [True, True] Translation: X:180.54, Y:128.20, Z:0.61 [[-1.18977586e-01 -9.92896871e-01 3.71992949e-04 1.80536850e+02] [ 9.92893288e-01 -1.18978156e-01 -2.66787951e-03 1.28204586e+02] [ 2.69318825e-03 5.19314381e-05 9.99996372e-01 6.07256941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.654012739 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:180.53, Y:128.21, Z:0.61 [[-1.19660662e-01 -9.92814780e-01 3.72981888e-04 1.80534602e+02] [ 9.92811197e-01 -1.19661232e-01 -2.66774124e-03 1.28209852e+02] [ 2.69320441e-03 5.10769124e-05 9.99996372e-01 6.09012680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.684012739 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:180.53, Y:128.22, Z:0.61 [[-1.20859479e-01 -9.92669556e-01 3.73970776e-04 1.80529276e+02] [ 9.92665972e-01 -1.20860048e-01 -2.66760261e-03 1.28217150e+02] [ 2.69324603e-03 4.88230017e-05 9.99996372e-01 6.10315381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.714012739 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:180.53, Y:128.21, Z:0.61 [[-1.21984312e-01 -9.92531958e-01 3.74966338e-04 1.80527787e+02] [ 9.92528374e-01 -1.21984880e-01 -2.66746267e-03 1.28211589e+02] [ 2.69328217e-03 4.67761307e-05 9.99996372e-01 6.09782170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.744012739 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:180.52, Y:128.23, Z:0.61 [[-1.23736298e-01 -9.92315065e-01 3.75964278e-04 1.80522684e+02] [ 9.92311481e-01 -1.23736862e-01 -2.66732200e-03 1.28229981e+02] [ 2.69334445e-03 4.30291185e-05 9.99996372e-01 6.07562832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.774012739 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:180.52, Y:128.22, Z:0.61 [[-1.24608968e-01 -9.92205857e-01 3.76969015e-04 1.80523047e+02] [ 9.92202273e-01 -1.24609531e-01 -2.66718000e-03 1.28221637e+02] [ 2.69336555e-03 4.16749660e-05 9.99996372e-01 6.08869314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80401273900003 meters Centerline goodness : 0.994683 Centerline is valid? [True, True] Translation: X:180.52, Y:128.21, Z:0.61 [[-1.26077112e-01 -9.92020372e-01 3.77979484e-04 1.80523963e+02] [ 9.92016788e-01 -1.26077673e-01 -2.66703679e-03 1.28208405e+02] [ 2.69340960e-03 3.87096968e-05 9.99996372e-01 6.11082770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.834012739 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:180.52, Y:128.21, Z:0.61 [[-1.28035466e-01 -9.91769518e-01 3.78983782e-04 1.80520715e+02] [ 9.91765932e-01 -1.28036022e-01 -2.66689407e-03 1.28210543e+02] [ 2.69346783e-03 3.44061784e-05 9.99996372e-01 6.13428991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86401273900003 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:180.52, Y:128.21, Z:0.61 [[-1.28643293e-01 -9.91690859e-01 3.79985895e-04 1.80519502e+02] [ 9.91687274e-01 -1.28643849e-01 -2.66675128e-03 1.28208278e+02] [ 2.69347572e-03 3.37675110e-05 9.99996372e-01 6.13087709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.894012739 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:180.52, Y:128.21, Z:0.61 [[-1.29189640e-01 -9.91619832e-01 3.80990086e-04 1.80517175e+02] [ 9.91616247e-01 -1.29190198e-01 -2.66660781e-03 1.28208125e+02] [ 2.69348137e-03 3.32978565e-05 9.99996372e-01 6.14694340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92401273900003 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:180.52, Y:128.21, Z:0.61 [[-1.29897328e-01 -9.91527376e-01 3.81995369e-04 1.80516301e+02] [ 9.91523792e-01 -1.29897886e-01 -2.66646379e-03 1.28205804e+02] [ 2.69349224e-03 3.23909739e-05 9.99996372e-01 6.11461372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.954012739 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:180.51, Y:128.22, Z:0.61 [[-1.31170247e-01 -9.91359783e-01 3.83001592e-04 1.80512168e+02] [ 9.91356198e-01 -1.31170803e-01 -2.66631926e-03 1.28222900e+02] [ 2.69352031e-03 2.99492471e-05 9.99996372e-01 6.13751824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.984012739 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:180.51, Y:128.21, Z:0.61 [[-1.31846218e-01 -9.91270108e-01 3.84015064e-04 1.80513649e+02] [ 9.91266523e-01 -1.31846774e-01 -2.66617328e-03 1.28212795e+02] [ 2.69352903e-03 2.91364127e-05 9.99996372e-01 6.12661592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.014012739 meters Centerline goodness : 0.991571 Centerline is valid? [True, True] Translation: X:180.51, Y:128.23, Z:0.62 [[-1.33085245e-01 -9.91104520e-01 3.85033349e-04 1.80512115e+02] [ 9.91100935e-01 -1.33085799e-01 -2.66602622e-03 1.28227335e+02] [ 2.69355311e-03 2.67981599e-05 9.99996372e-01 6.20379827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.044012739 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:180.51, Y:128.21, Z:0.61 [[-1.35224713e-01 -9.90814881e-01 3.86054963e-04 1.80513132e+02] [ 9.90811295e-01 -1.35225262e-01 -2.66587828e-03 1.28206498e+02] [ 2.69359625e-03 2.20149937e-05 9.99996372e-01 6.11669850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.074012739 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:180.51, Y:128.22, Z:0.61 [[-1.35868585e-01 -9.90726793e-01 3.87076020e-04 1.80510317e+02] [ 9.90723207e-01 -1.35869135e-01 -2.66573001e-03 1.28216455e+02] [ 2.69360183e-03 2.12962303e-05 9.99996372e-01 6.12196663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.104012739 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:180.51, Y:128.21, Z:0.61 [[-1.35404522e-01 -9.90790323e-01 3.88095156e-04 1.80509631e+02] [ 9.90786738e-01 -1.35405076e-01 -2.66558163e-03 1.28207414e+02] [ 2.69358254e-03 2.35877259e-05 9.99996372e-01 6.09993806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.134012739 meters Centerline goodness : 0.994456 Centerline is valid? [True, True] Translation: X:180.51, Y:128.20, Z:0.61 [[-1.34545294e-01 -9.90907368e-01 3.89116598e-04 1.80509307e+02] [ 9.90903784e-01 -1.34545854e-01 -2.66543252e-03 1.28201867e+02] [ 2.69355075e-03 2.69557090e-05 9.99996372e-01 6.08551382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.164012739 meters Centerline goodness : 0.994964 Centerline is valid? [True, True] Translation: X:180.50, Y:128.21, Z:0.61 [[-1.30905203e-01 -9.91394813e-01 3.90134600e-04 1.80501135e+02] [ 9.91391231e-01 -1.30905779e-01 -2.66528351e-03 1.28214939e+02] [ 2.69341912e-03 3.78765421e-05 9.99996372e-01 6.08242782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.194012739 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:180.50, Y:128.20, Z:0.61 [[-1.28660633e-01 -9.91688605e-01 3.91157298e-04 1.80500178e+02] [ 9.91685024e-01 -1.28661219e-01 -2.66513341e-03 1.28198672e+02] [ 2.69330920e-03 4.50070846e-05 9.99996372e-01 6.10563145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.224012739 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:180.50, Y:128.17, Z:0.61 [[-1.25117117e-01 -9.92141902e-01 3.92181472e-04 1.80499760e+02] [ 9.92138324e-01 -1.25117720e-01 -2.66498269e-03 1.28168817e+02] [ 2.69310984e-03 5.56633168e-05 9.99996372e-01 6.11189252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.254012739 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:180.50, Y:128.18, Z:0.61 [[-1.25508327e-01 -9.92092489e-01 3.91801732e-04 1.80495619e+02] [ 9.92088911e-01 -1.25508927e-01 -2.66503851e-03 1.28181459e+02] [ 2.69313931e-03 5.42176281e-05 9.99996372e-01 6.09289088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.284012739 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:180.49, Y:128.18, Z:0.61 [[-1.27584413e-01 -9.91827638e-01 3.92803146e-04 1.80489341e+02] [ 9.91824059e-01 -1.27585008e-01 -2.66489091e-03 1.28182719e+02] [ 2.69322825e-03 4.95930672e-05 9.99996372e-01 6.06438741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.314012739 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:180.49, Y:128.19, Z:0.61 [[-1.29468096e-01 -9.91583510e-01 3.92928806e-04 1.80485260e+02] [ 9.91579930e-01 -1.29468684e-01 -2.66487238e-03 1.28189462e+02] [ 2.69331548e-03 4.46043659e-05 9.99996372e-01 6.08663251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.344012739 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:180.48, Y:128.19, Z:0.61 [[-1.31625777e-01 -9.91299400e-01 3.92928806e-04 1.80482857e+02] [ 9.91295819e-01 -1.31626358e-01 -2.66487238e-03 1.28186676e+02] [ 2.69340618e-03 3.87427840e-05 9.99996372e-01 6.13062219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.374012739 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:180.48, Y:128.19, Z:0.62 [[-1.36618416e-01 -9.90623669e-01 3.92675253e-04 1.80477161e+02] [ 9.90620085e-01 -1.36618978e-01 -2.66490974e-03 1.28193826e+02] [ 2.69356956e-03 2.49162453e-05 9.99996372e-01 6.17964837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.404012739 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:180.48, Y:128.18, Z:0.62 [[-1.38713676e-01 -9.90332450e-01 3.92421660e-04 1.80477382e+02] [ 9.90328865e-01 -1.38714230e-01 -2.66494708e-03 1.28179324e+02] [ 2.69361804e-03 1.89618900e-05 9.99996372e-01 6.16974988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.434012739 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:180.47, Y:128.21, Z:0.61 [[-1.42979000e-01 -9.89725645e-01 3.91412858e-04 1.80469686e+02] [ 9.89722057e-01 -1.42979535e-01 -2.66509524e-03 1.28213630e+02] [ 2.69367714e-03 6.33728766e-06 9.99996372e-01 6.12449659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.464012739 meters Centerline goodness : 0.993998 Centerline is valid? [True, True] Translation: X:180.47, Y:128.17, Z:0.61 [[-1.44364038e-01 -9.89524568e-01 3.92430390e-04 1.80473566e+02] [ 9.89520979e-01 -1.44364571e-01 -2.66494540e-03 1.28174212e+02] [ 2.69368199e-03 3.59582532e-06 9.99996372e-01 6.13035383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.494012739 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:180.47, Y:128.14, Z:0.62 [[-1.46170684e-01 -9.89259308e-01 3.91415257e-04 1.80474870e+02] [ 9.89255718e-01 -1.46171208e-01 -2.66509449e-03 1.28140893e+02] [ 2.69368317e-03 -2.34890404e-06 9.99996372e-01 6.16108553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.524012739 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:180.47, Y:128.16, Z:0.62 [[-1.46982378e-01 -9.89139034e-01 3.90428137e-04 1.80470876e+02] [ 9.89135443e-01 -1.46982897e-01 -2.66523910e-03 1.28160470e+02] [ 2.69367828e-03 -5.55687285e-06 9.99996372e-01 6.16640483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55401273900003 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:180.47, Y:128.16, Z:0.62 [[-1.48962211e-01 -9.88842812e-01 3.90058166e-04 1.80471194e+02] [ 9.88839220e-01 -1.48962722e-01 -2.66529324e-03 1.28155876e+02] [ 2.69366019e-03 -1.13231628e-05 9.99996372e-01 6.16807128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.584012739 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:180.47, Y:128.15, Z:0.62 [[-1.50394730e-01 -9.88625952e-01 3.89073669e-04 1.80470802e+02] [ 9.88622359e-01 -1.50395233e-01 -2.66543695e-03 1.28153985e+02] [ 2.69363496e-03 -1.62207427e-05 9.99996372e-01 6.16413493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61401273900003 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:180.47, Y:128.15, Z:0.62 [[-1.51859295e-01 -9.88402046e-01 3.88093357e-04 1.80470043e+02] [ 9.88398452e-01 -1.51859789e-01 -2.66557967e-03 1.28154863e+02] [ 2.69360018e-03 -2.12021763e-05 9.99996372e-01 6.15839414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.644012739 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:180.47, Y:128.16, Z:0.62 [[-1.53507853e-01 -9.88147352e-01 3.87115025e-04 1.80468807e+02] [ 9.88143757e-01 -1.53508338e-01 -2.66572175e-03 1.28162227e+02] [ 2.69355127e-03 -2.66839254e-05 9.99996372e-01 6.15614196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67401273900003 meters Centerline goodness : 0.994734 Centerline is valid? [True, True] Translation: X:180.47, Y:128.15, Z:0.61 [[-1.53129096e-01 -9.88206117e-01 3.86745442e-04 1.80470371e+02] [ 9.88202522e-01 -1.53129583e-01 -2.66577537e-03 1.28152929e+02] [ 2.69355769e-03 -2.60249521e-05 9.99996372e-01 6.14234795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.704012739 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:180.47, Y:128.18, Z:0.61 [[-1.52559435e-01 -9.88294222e-01 3.85768124e-04 1.80465959e+02] [ 9.88290627e-01 -1.52559921e-01 -2.66591679e-03 1.28179840e+02] [ 2.69356291e-03 -2.54597385e-05 9.99996372e-01 6.13070592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.734012739 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:180.47, Y:128.17, Z:0.61 [[-1.52323250e-01 -9.88330653e-01 3.85522206e-04 1.80466861e+02] [ 9.88327057e-01 -1.52323736e-01 -2.66595235e-03 1.28165872e+02] [ 2.69356661e-03 -2.50644997e-05 9.99996372e-01 6.12900090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.764012739 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:180.47, Y:128.17, Z:0.61 [[-1.52490132e-01 -9.88304919e-01 3.84536831e-04 1.80467640e+02] [ 9.88301323e-01 -1.52490614e-01 -2.66609447e-03 1.28165260e+02] [ 2.69355254e-03 -2.65148391e-05 9.99996372e-01 6.12415035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.794012739 meters Centerline goodness : 0.994093 Centerline is valid? [True, True] Translation: X:180.47, Y:128.18, Z:0.61 [[-1.52687257e-01 -9.88274483e-01 3.83558311e-04 1.80467730e+02] [ 9.88270887e-01 -1.52687736e-01 -2.66623524e-03 1.28175480e+02] [ 2.69353690e-03 -2.80406336e-05 9.99996372e-01 6.12319637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.824012739 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:180.47, Y:128.16, Z:0.61 [[-1.52788523e-01 -9.88258833e-01 3.83188656e-04 1.80470704e+02] [ 9.88255236e-01 -1.52789001e-01 -2.66628837e-03 1.28158833e+02] [ 2.69353004e-03 -2.86900654e-05 9.99996372e-01 6.12862543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.854012739 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:180.47, Y:128.16, Z:0.61 [[-1.52653018e-01 -9.88279773e-01 3.82212859e-04 1.80470382e+02] [ 9.88276177e-01 -1.52653493e-01 -2.66642824e-03 1.28161325e+02] [ 2.69352322e-03 -2.93064536e-05 9.99996372e-01 6.12869271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.884012739 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:180.47, Y:128.16, Z:0.62 [[-1.53716799e-01 -9.88114872e-01 3.81847246e-04 1.80469742e+02] [ 9.88111275e-01 -1.53717269e-01 -2.66648060e-03 1.28156984e+02] [ 2.69348565e-03 -3.25752916e-05 9.99996372e-01 6.16810227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.914012739 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:180.47, Y:128.16, Z:0.62 [[-1.53799097e-01 -9.88102066e-01 3.80880139e-04 1.80469775e+02] [ 9.88098468e-01 -1.53799565e-01 -2.66661873e-03 1.28159011e+02] [ 2.69347068e-03 -3.37764723e-05 9.99996372e-01 6.16146041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.944012739 meters Centerline goodness : 0.994376 Centerline is valid? [True, True] Translation: X:180.47, Y:128.17, Z:0.61 [[-1.53682481e-01 -9.88120210e-01 3.80516212e-04 1.80470919e+02] [ 9.88116613e-01 -1.53682948e-01 -2.66667066e-03 1.28165853e+02] [ 2.69347003e-03 -3.38261720e-05 9.99996372e-01 6.12193393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.974012739 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:180.47, Y:128.17, Z:0.61 [[-1.53538646e-01 -9.88142570e-01 3.80274322e-04 1.80470313e+02] [ 9.88138973e-01 -1.53539114e-01 -2.66670515e-03 1.28169129e+02] [ 2.69347187e-03 -3.36784224e-05 9.99996372e-01 6.10414109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.004012739 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:180.47, Y:128.17, Z:0.61 [[-1.53661385e-01 -9.88123491e-01 3.79909114e-04 1.80469362e+02] [ 9.88119894e-01 -1.53661851e-01 -2.66675718e-03 1.28172677e+02] [ 2.69346295e-03 -3.43818493e-05 9.99996372e-01 6.09383023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.034012739 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:180.47, Y:128.16, Z:0.61 [[-1.56033580e-01 -9.87751678e-01 3.79543512e-04 1.80473753e+02] [ 9.87748079e-01 -1.56034036e-01 -2.66680921e-03 1.28158241e+02] [ 2.69336698e-03 -4.12184135e-05 9.99996372e-01 6.09739968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.064012739 meters Centerline goodness : 0.994660 Centerline is valid? [True, True] Translation: X:180.48, Y:128.16, Z:0.61 [[-1.57881727e-01 -9.87457957e-01 3.78579928e-04 1.80476003e+02] [ 9.87454357e-01 -1.57882174e-01 -2.66694600e-03 1.28164068e+02] [ 2.69326807e-03 -4.72316400e-05 9.99996372e-01 6.11084892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.094012739 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:180.48, Y:128.14, Z:0.62 [[-1.59712697e-01 -9.87163467e-01 3.78218280e-04 1.80483440e+02] [ 9.87159866e-01 -1.59713136e-01 -2.66699728e-03 1.28140435e+02] [ 2.69316871e-03 -5.25914223e-05 9.99996372e-01 6.15793879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.124012739 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:180.48, Y:128.15, Z:0.62 [[-1.59502154e-01 -9.87197508e-01 3.77267452e-04 1.80483283e+02] [ 9.87193907e-01 -1.59502591e-01 -2.66713178e-03 1.28149370e+02] [ 2.69316098e-03 -5.29771335e-05 9.99996372e-01 6.18449178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.154012739 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:180.49, Y:128.15, Z:0.62 [[-1.58268273e-01 -9.87396076e-01 3.77030881e-04 1.80485809e+02] [ 9.87392475e-01 -1.58268715e-01 -2.66716522e-03 1.28150561e+02] [ 2.69322067e-03 -4.98501799e-05 9.99996372e-01 6.20890158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.184012739 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:180.49, Y:128.16, Z:0.62 [[-1.56880516e-01 -9.87617518e-01 3.76673760e-04 1.80486933e+02] [ 9.87613917e-01 -1.56880961e-01 -2.66721566e-03 1.28157865e+02] [ 2.69328185e-03 -4.64259205e-05 9.99996372e-01 6.20854907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.214012739 meters Centerline goodness : 0.994302 Centerline is valid? [True, True] Translation: X:180.49, Y:128.17, Z:0.62 [[-1.54144818e-01 -9.88048194e-01 3.76555500e-04 1.80490869e+02] [ 9.88044594e-01 -1.54145273e-01 -2.66723235e-03 1.28166160e+02] [ 2.69339836e-03 -3.90864199e-05 9.99996372e-01 6.18214808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.244012739 meters Centerline goodness : 0.994527 Centerline is valid? [True, True] Translation: X:180.49, Y:128.19, Z:0.62 [[-1.52783293e-01 -9.88259643e-01 3.77509500e-04 1.80490709e+02] [ 9.88256045e-01 -1.52783756e-01 -2.66709732e-03 1.28185361e+02] [ 2.69346196e-03 -3.44118667e-05 9.99996372e-01 6.16760185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.274012739 meters Centerline goodness : 0.994249 Centerline is valid? [True, True] Translation: X:180.49, Y:128.19, Z:0.62 [[-1.51278163e-01 -9.88491160e-01 3.78473937e-04 1.80491568e+02] [ 9.88487563e-01 -1.51278634e-01 -2.66696045e-03 1.28190581e+02] [ 2.69352185e-03 -2.93360986e-05 9.99996372e-01 6.15702396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30401273900003 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:180.49, Y:128.19, Z:0.62 [[-1.48268221e-01 -9.88947112e-01 3.79448109e-04 1.80494247e+02] [ 9.88943517e-01 -1.48268705e-01 -2.66682184e-03 1.28192343e+02] [ 2.69360604e-03 -2.01521826e-05 9.99996372e-01 6.15581828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.334012739 meters Centerline goodness : 0.994672 Centerline is valid? [True, True] Translation: X:180.49, Y:128.20, Z:0.62 [[-1.48018318e-01 -9.88984546e-01 3.80425954e-04 1.80494320e+02] [ 9.88980951e-01 -1.48018806e-01 -2.66668235e-03 1.28203536e+02] [ 2.69361782e-03 -1.84838144e-05 9.99996372e-01 6.16057085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36401273900003 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:180.50, Y:128.20, Z:0.62 [[-1.48562432e-01 -9.88902957e-01 3.81410008e-04 1.80497722e+02] [ 9.88899362e-01 -1.48562920e-01 -2.66654159e-03 1.28196299e+02] [ 2.69361425e-03 -1.89717900e-05 9.99996372e-01 6.15603163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.394012739 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:180.50, Y:128.19, Z:0.62 [[-1.49371864e-01 -9.88781017e-01 3.82396703e-04 1.80499340e+02] [ 9.88777422e-01 -1.49372352e-01 -2.66640009e-03 1.28185424e+02] [ 2.69360528e-03 -2.01799253e-05 9.99996372e-01 6.15867643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42401273900003 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:180.50, Y:128.19, Z:0.62 [[-1.50005301e-01 -9.88685118e-01 3.83378922e-04 1.80498155e+02] [ 9.88681523e-01 -1.50005789e-01 -2.66625885e-03 1.28193013e+02] [ 2.69359951e-03 -2.09133045e-05 9.99996372e-01 6.15625888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.454012739 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:180.50, Y:128.22, Z:0.61 [[-1.49597889e-01 -9.88746845e-01 3.84361405e-04 1.80497209e+02] [ 9.88743251e-01 -1.49598382e-01 -2.66611721e-03 1.28216062e+02] [ 2.69361483e-03 -1.88107631e-05 9.99996372e-01 6.11896322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.484012739 meters Centerline goodness : 0.993491 Centerline is valid? [True, True] Translation: X:180.50, Y:128.20, Z:0.61 [[-1.49047377e-01 -9.88829981e-01 3.85356411e-04 1.80502041e+02] [ 9.88826387e-01 -1.49047874e-01 -2.66597339e-03 1.28201703e+02] [ 2.69363097e-03 -1.63057529e-05 9.99996372e-01 6.06181111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.514012739 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:180.50, Y:128.22, Z:0.61 [[-1.49094632e-01 -9.88822857e-01 3.86229725e-04 1.80500313e+02] [ 9.88819263e-01 -1.49095131e-01 -2.66584686e-03 1.28216440e+02] [ 2.69363528e-03 -1.55520649e-05 9.99996372e-01 6.05636513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.544012739 meters Centerline goodness : 0.993503 Centerline is valid? [True, True] Translation: X:180.50, Y:128.19, Z:0.61 [[-1.48643555e-01 -9.88890764e-01 3.87230306e-04 1.80503495e+02] [ 9.88887172e-01 -1.48644058e-01 -2.66570151e-03 1.28192275e+02] [ 2.69364709e-03 -1.33122668e-05 9.99996372e-01 6.07208185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.574012739 meters Centerline goodness : 0.993132 Centerline is valid? [True, True] Translation: X:180.50, Y:128.19, Z:0.61 [[-1.46135670e-01 -9.89264482e-01 3.87106059e-04 1.80502821e+02] [ 9.89260891e-01 -1.46136182e-01 -2.66571956e-03 1.28192497e+02] [ 2.69367188e-03 -6.60782765e-06 9.99996372e-01 6.11772405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.604012739 meters Centerline goodness : 0.992812 Centerline is valid? [True, True] Translation: X:180.50, Y:128.21, Z:0.61 [[-1.44615584e-01 -9.89487838e-01 3.87971046e-04 1.80500518e+02] [ 9.89484248e-01 -1.44616104e-01 -2.66559366e-03 1.28205110e+02] [ 2.69367937e-03 -1.59514471e-06 9.99996372e-01 6.13776765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.634012739 meters Centerline goodness : 0.992529 Centerline is valid? [True, True] Translation: X:180.50, Y:128.21, Z:0.61 [[-1.41365542e-01 -9.89957389e-01 3.88966982e-04 1.80498210e+02] [ 9.89953801e-01 -1.41366077e-01 -2.66544832e-03 1.28214769e+02] [ 2.69366700e-03 8.25679372e-06 9.99996372e-01 6.13307366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.664012739 meters Centerline goodness : 0.993019 Centerline is valid? [True, True] Translation: X:180.50, Y:128.21, Z:0.61 [[-1.40918595e-01 -9.90021110e-01 3.89972489e-04 1.80498795e+02] [ 9.90017522e-01 -1.40919134e-01 -2.66530120e-03 1.28214333e+02] [ 2.69365904e-03 1.04890959e-05 9.99996372e-01 6.13045891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.694012739 meters Centerline goodness : 0.992974 Centerline is valid? [True, True] Translation: X:180.50, Y:128.21, Z:0.61 [[-1.41134360e-01 -9.89990373e-01 3.90983403e-04 1.80501167e+02] [ 9.89986786e-01 -1.41134901e-01 -2.66515290e-03 1.28207411e+02] [ 2.69365712e-03 1.09237526e-05 9.99996372e-01 6.14782326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.724012739 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:180.51, Y:128.18, Z:0.62 [[-1.43462091e-01 -9.89655736e-01 3.91993101e-04 1.80506943e+02] [ 9.89652147e-01 -1.43462627e-01 -2.66500439e-03 1.28179043e+02] [ 2.69367323e-03 5.60971252e-06 9.99996372e-01 6.19003400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.754012739 meters Centerline goodness : 0.992858 Centerline is valid? [True, True] Translation: X:180.50, Y:128.22, Z:0.62 [[-1.46959254e-01 -9.89142469e-01 3.91743480e-04 1.80501447e+02] [ 9.89138879e-01 -1.46959776e-01 -2.66504108e-03 1.28221262e+02] [ 2.69367585e-03 -4.16374198e-06 9.99996372e-01 6.20343853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.784012739 meters Centerline goodness : 0.992789 Centerline is valid? [True, True] Translation: X:180.51, Y:128.18, Z:0.62 [[-1.47431331e-01 -9.89072216e-01 3.92745553e-04 1.80508129e+02] [ 9.89068626e-01 -1.47431854e-01 -2.66489339e-03 1.28178210e+02] [ 2.69367522e-03 -4.43647627e-06 9.99996372e-01 6.19711258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.814012739 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:180.50, Y:128.21, Z:0.62 [[-1.47413940e-01 -9.89074809e-01 3.91744670e-04 1.80504072e+02] [ 9.89071218e-01 -1.47414461e-01 -2.66504052e-03 1.28205431e+02] [ 2.69367327e-03 -5.40074536e-06 9.99996372e-01 6.19478247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.844012739 meters Centerline goodness : 0.993679 Centerline is valid? [True, True] Translation: X:180.50, Y:128.20, Z:0.62 [[-1.44389447e-01 -9.89520861e-01 3.92740723e-04 1.80502342e+02] [ 9.89517272e-01 -1.44389981e-01 -2.66489372e-03 1.28200913e+02] [ 2.69367576e-03 3.84119849e-06 9.99996372e-01 6.16990528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.874012739 meters Centerline goodness : 0.993452 Centerline is valid? [True, True] Translation: X:180.50, Y:128.20, Z:0.61 [[-1.42526145e-01 -9.89790959e-01 3.93747170e-04 1.80501653e+02] [ 9.89787372e-01 -1.42526689e-01 -2.66474501e-03 1.28203342e+02] [ 2.69366000e-03 9.93014238e-06 9.99996372e-01 6.14806415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.904012739 meters Centerline goodness : 0.992908 Centerline is valid? [True, True] Translation: X:180.50, Y:128.22, Z:0.61 [[-1.38590584e-01 -9.90349683e-01 3.94754558e-04 1.80499371e+02] [ 9.90346098e-01 -1.38591144e-01 -2.66459577e-03 1.28220822e+02] [ 2.69359106e-03 2.16557526e-05 9.99996372e-01 6.11617040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.934012739 meters Centerline goodness : 0.992962 Centerline is valid? [True, True] Translation: X:180.50, Y:128.20, Z:0.61 [[-1.36547545e-01 -9.90633440e-01 3.95771063e-04 1.80501869e+02] [ 9.90629857e-01 -1.36548116e-01 -2.66444478e-03 1.28202038e+02] [ 2.69352989e-03 2.82392389e-05 9.99996372e-01 6.12039620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.964012739 meters Centerline goodness : 0.992896 Centerline is valid? [True, True] Translation: X:180.50, Y:128.20, Z:0.61 [[-1.34670838e-01 -9.90890311e-01 3.96660577e-04 1.80501127e+02] [ 9.90886729e-01 -1.34671418e-01 -2.66431235e-03 1.28200532e+02] [ 2.69346013e-03 3.42405237e-05 9.99996372e-01 6.12450372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.994012739 meters Centerline goodness : 0.993918 Centerline is valid? [True, True] Translation: X:180.50, Y:128.19, Z:0.61 [[-1.31763660e-01 -9.91281080e-01 3.97672276e-04 1.80500710e+02] [ 9.91277501e-01 -1.31764253e-01 -2.66416133e-03 1.28193797e+02] [ 2.69333172e-03 4.31639316e-05 9.99996372e-01 6.12720303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.024012739 meters Centerline goodness : 0.993501 Centerline is valid? [True, True] Translation: X:180.50, Y:128.20, Z:0.61 [[-1.31238422e-01 -9.91350754e-01 3.98682757e-04 1.80498236e+02] [ 9.91347176e-01 -1.31239020e-01 -2.66401011e-03 1.28201358e+02] [ 2.69329117e-03 4.56125408e-05 9.99996372e-01 6.14118889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05401273900003 meters Centerline goodness : 0.993414 Centerline is valid? [True, True] Translation: X:180.50, Y:128.19, Z:0.62 [[-1.29362899e-01 -9.91597237e-01 3.99695349e-04 1.80496429e+02] [ 9.91593660e-01 -1.29363506e-01 -2.66385818e-03 1.28192605e+02] [ 2.69318040e-03 5.17309586e-05 9.99996372e-01 6.16765940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.084012739 meters Centerline goodness : 0.993389 Centerline is valid? [True, True] Translation: X:180.50, Y:128.18, Z:0.62 [[-1.28432555e-01 -9.91718165e-01 3.99821660e-04 1.80497144e+02] [ 9.91714589e-01 -1.28433166e-01 -2.66383922e-03 1.28175228e+02] [ 2.69312810e-03 5.43852956e-05 9.99996372e-01 6.17088924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11401273900003 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:180.50, Y:128.17, Z:0.62 [[-1.27445493e-01 -9.91845495e-01 3.99443039e-04 1.80495042e+02] [ 9.91841920e-01 -1.27446106e-01 -2.66389599e-03 1.28170619e+02] [ 2.69308070e-03 5.66828135e-05 9.99996372e-01 6.17154484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.144012739 meters Centerline goodness : 0.993296 Centerline is valid? [True, True] Translation: X:180.49, Y:128.18, Z:0.62 [[-1.26472778e-01 -9.91969998e-01 3.99319046e-04 1.80488058e+02] [ 9.91966423e-01 -1.26473395e-01 -2.66391458e-03 1.28178349e+02] [ 2.69302657e-03 5.91984074e-05 9.99996372e-01 6.15877747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17401273900003 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:180.48, Y:128.19, Z:0.62 [[-1.26996901e-01 -9.91903033e-01 3.99443249e-04 1.80484806e+02] [ 9.91899458e-01 -1.26997516e-01 -2.66389595e-03 1.28186929e+02] [ 2.69305478e-03 5.79010108e-05 9.99996372e-01 6.15202785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.204012739 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:180.48, Y:128.20, Z:0.61 [[-1.29131927e-01 -9.91627342e-01 3.99318351e-04 1.80478696e+02] [ 9.91623765e-01 -1.29132534e-01 -2.66391468e-03 1.28196220e+02] [ 2.69317562e-03 5.19771310e-05 9.99996372e-01 6.14955245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.234012739 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:180.48, Y:128.20, Z:0.62 [[-1.29671177e-01 -9.91556971e-01 3.99065947e-04 1.80475127e+02] [ 9.91553394e-01 -1.29671781e-01 -2.66395249e-03 1.28200015e+02] [ 2.69320825e-03 5.02573396e-05 9.99996372e-01 6.15866818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.264012739 meters Centerline goodness : 0.993806 Centerline is valid? [True, True] Translation: X:180.47, Y:128.21, Z:0.62 [[-1.29710852e-01 -9.91551782e-01 3.98684065e-04 1.80470095e+02] [ 9.91548204e-01 -1.29711455e-01 -2.66400964e-03 1.28213097e+02] [ 2.69321739e-03 4.97635084e-05 9.99996372e-01 6.17016438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.294012739 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:180.47, Y:128.19, Z:0.62 [[-1.27667193e-01 -9.91816984e-01 3.98429489e-04 1.80466425e+02] [ 9.91813407e-01 -1.27667802e-01 -2.66404771e-03 1.28191514e+02] [ 2.69311438e-03 5.50562173e-05 9.99996372e-01 6.17766505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.324012739 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:180.46, Y:128.20, Z:0.62 [[-1.25868590e-01 -9.92046844e-01 3.97416876e-04 1.80461393e+02] [ 9.92043268e-01 -1.25869203e-01 -2.66419876e-03 1.28198448e+02] [ 2.69303252e-03 5.89157952e-05 9.99996372e-01 6.16576074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.354012739 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:180.45, Y:128.21, Z:0.61 [[-1.22586457e-01 -9.92457759e-01 3.96410840e-04 1.80450611e+02] [ 9.92454185e-01 -1.22587080e-01 -2.66434844e-03 1.28209522e+02] [ 2.69284813e-03 6.68065606e-05 9.99996372e-01 6.11560133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.384012739 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:180.45, Y:128.20, Z:0.61 [[-1.20956499e-01 -9.92657730e-01 3.95399277e-04 1.80447951e+02] [ 9.92654156e-01 -1.20957125e-01 -2.66449856e-03 1.28197628e+02] [ 2.69276145e-03 7.02063180e-05 9.99996372e-01 6.11830217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.414012739 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:180.44, Y:128.20, Z:0.61 [[-1.20272157e-01 -9.92740879e-01 3.94389153e-04 1.80443280e+02] [ 9.92737305e-01 -1.20272782e-01 -2.66464806e-03 1.28201407e+02] [ 2.69273934e-03 7.10418559e-05 9.99996372e-01 6.14933266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.444012739 meters Centerline goodness : 0.993828 Centerline is valid? [True, True] Translation: X:180.43, Y:128.21, Z:0.62 [[-1.21799970e-01 -9.92554589e-01 3.93383280e-04 1.80434101e+02] [ 9.92551014e-01 -1.21800587e-01 -2.66479655e-03 1.28211434e+02] [ 2.69287036e-03 6.58808338e-05 9.99996372e-01 6.20144505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.474012739 meters Centerline goodness : 0.993903 Centerline is valid? [True, True] Translation: X:180.43, Y:128.21, Z:0.62 [[-1.23406931e-01 -9.92356073e-01 3.92373378e-04 1.80430496e+02] [ 9.92352496e-01 -1.23407540e-01 -2.66494524e-03 1.28208916e+02] [ 2.69299643e-03 6.04999868e-05 9.99996372e-01 6.19178320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.504012739 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:180.43, Y:128.20, Z:0.61 [[-1.28771372e-01 -9.91674231e-01 3.91361924e-04 1.80425582e+02] [ 9.91670651e-01 -1.28771959e-01 -2.66509377e-03 1.28200341e+02] [ 2.69330126e-03 4.49143524e-05 9.99996372e-01 6.11814053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.534012739 meters Centerline goodness : 0.994068 Centerline is valid? [True, True] Translation: X:180.42, Y:128.20, Z:0.61 [[-1.32280255e-01 -9.91212279e-01 3.90355883e-04 1.80423884e+02] [ 9.91208696e-01 -1.32280826e-01 -2.66524112e-03 1.28195481e+02] [ 2.69345632e-03 3.43653714e-05 9.99996372e-01 6.09675000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.564012739 meters Centerline goodness : 0.993961 Centerline is valid? [True, True] Translation: X:180.42, Y:128.18, Z:0.61 [[-1.36024437e-01 -9.90705406e-01 3.89356334e-04 1.80423314e+02] [ 9.90701821e-01 -1.36024992e-01 -2.66538713e-03 1.28184255e+02] [ 2.69357563e-03 2.31782465e-05 9.99996372e-01 6.10381369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.594012739 meters Centerline goodness : 0.994536 Centerline is valid? [True, True] Translation: X:180.42, Y:128.16, Z:0.61 [[-1.43374445e-01 -9.89668438e-01 3.88363840e-04 1.80421554e+02] [ 9.89664849e-01 -1.43374971e-01 -2.66553174e-03 1.28160567e+02] [ 2.69367429e-03 2.18090885e-06 9.99996372e-01 6.13736639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.624012739 meters Centerline goodness : 0.994088 Centerline is valid? [True, True] Translation: X:180.42, Y:128.15, Z:0.62 [[-1.46676913e-01 -9.89184378e-01 3.87385212e-04 1.80421961e+02] [ 9.89180786e-01 -1.46677425e-01 -2.66567396e-03 1.28147373e+02] [ 2.69366370e-03 -7.79881889e-06 9.99996372e-01 6.15504692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.654012739 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:180.42, Y:128.15, Z:0.61 [[-1.53077914e-01 -9.88214047e-01 3.86420373e-04 1.80422841e+02] [ 9.88210452e-01 -1.53078399e-01 -2.66581381e-03 1.28147227e+02] [ 2.69354727e-03 -2.62125659e-05 9.99996372e-01 6.14698831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.684012739 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:180.42, Y:128.14, Z:0.61 [[-1.56022324e-01 -9.87753454e-01 3.85461506e-04 1.80424746e+02] [ 9.87749857e-01 -1.56022796e-01 -2.66595245e-03 1.28141493e+02] [ 2.69344452e-03 -3.52085507e-05 9.99996372e-01 6.13613105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.714012739 meters Centerline goodness : 0.994200 Centerline is valid? [True, True] Translation: X:180.42, Y:128.14, Z:0.61 [[-1.55669473e-01 -9.87809125e-01 3.84506469e-04 1.80424309e+02] [ 9.87805528e-01 -1.55669943e-01 -2.66609019e-03 1.28144008e+02] [ 2.69344432e-03 -3.52112375e-05 9.99996372e-01 6.13619889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.744012739 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:180.43, Y:128.13, Z:0.61 [[-1.61341845e-01 -9.86898507e-01 3.83554046e-04 1.80428192e+02] [ 9.86894906e-01 -1.61342292e-01 -2.66622720e-03 1.28132801e+02] [ 2.69317913e-03 -5.16464807e-05 9.99996372e-01 6.12210117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.774012739 meters Centerline goodness : 0.993818 Centerline is valid? [True, True] Translation: X:180.43, Y:128.13, Z:0.61 [[-1.62921863e-01 -9.86638901e-01 3.82605992e-04 1.80430628e+02] [ 9.86635299e-01 -1.62922303e-01 -2.66636324e-03 1.28130149e+02] [ 2.69307275e-03 -5.69162901e-05 9.99996372e-01 6.11652932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80401273900003 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:180.43, Y:128.14, Z:0.61 [[-1.63763795e-01 -9.86499505e-01 3.81664285e-04 1.80431468e+02] [ 9.86495903e-01 -1.63764229e-01 -2.66649803e-03 1.28141618e+02] [ 2.69300194e-03 -6.01655829e-05 9.99996372e-01 6.11086948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.834012739 meters Centerline goodness : 0.994540 Centerline is valid? [True, True] Translation: X:180.44, Y:128.13, Z:0.61 [[-1.64582348e-01 -9.86363273e-01 3.80721658e-04 1.80437239e+02] [ 9.86359670e-01 -1.64582776e-01 -2.66663261e-03 1.28134561e+02] [ 2.69292870e-03 -6.33521686e-05 9.99996372e-01 6.13062473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86401273900003 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:180.44, Y:128.13, Z:0.61 [[-1.64607189e-01 -9.86359128e-01 3.79779565e-04 1.80441310e+02] [ 9.86355525e-01 -1.64607615e-01 -2.66676678e-03 1.28125819e+02] [ 2.69290436e-03 -6.43713117e-05 9.99996372e-01 6.13099419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.894012739 meters Centerline goodness : 0.991942 Centerline is valid? [True, True] Translation: X:180.45, Y:128.13, Z:0.62 [[-1.65522302e-01 -9.86205974e-01 3.78844446e-04 1.80447591e+02] [ 9.86202371e-01 -1.65522722e-01 -2.66689961e-03 1.28133810e+02] [ 2.69281970e-03 -6.78140729e-05 9.99996372e-01 6.17466164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92401273900003 meters Centerline goodness : 0.990530 Centerline is valid? [True, True] Translation: X:180.45, Y:128.14, Z:0.62 [[-1.65808679e-01 -9.86157867e-01 3.77911415e-04 1.80450187e+02] [ 9.86154263e-01 -1.65809095e-01 -2.66703182e-03 1.28136109e+02] [ 2.69277556e-03 -6.95380688e-05 9.99996372e-01 6.18960501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.954012739 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:180.45, Y:128.14, Z:0.61 [[-1.65968718e-01 -9.86130946e-01 3.76977063e-04 1.80454493e+02] [ 9.86127342e-01 -1.65969131e-01 -2.66716388e-03 1.28136755e+02] [ 2.69273940e-03 -7.09183809e-05 9.99996372e-01 6.10495873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.984012739 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:180.46, Y:128.15, Z:0.61 [[-1.65175558e-01 -9.86264110e-01 3.76043654e-04 1.80456176e+02] [ 9.86260505e-01 -1.65175971e-01 -2.66729548e-03 1.28145387e+02] [ 2.69277118e-03 -6.96950136e-05 9.99996372e-01 6.12311003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.014012739 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:180.46, Y:128.16, Z:0.62 [[-1.64191962e-01 -9.86428334e-01 3.75109210e-04 1.80458490e+02] [ 9.86424730e-01 -1.64192377e-01 -2.66742689e-03 1.28163957e+02] [ 2.69281553e-03 -6.79530538e-05 9.99996372e-01 6.15519788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.044012739 meters Centerline goodness : 0.994099 Centerline is valid? [True, True] Translation: X:180.46, Y:128.16, Z:0.62 [[-1.63177093e-01 -9.86596724e-01 3.74754238e-04 1.80460639e+02] [ 9.86593120e-01 -1.63177510e-01 -2.66747676e-03 1.28161234e+02] [ 2.69287529e-03 -6.55411501e-05 9.99996372e-01 6.15213827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.074012739 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:180.46, Y:128.18, Z:0.62 [[-1.62112884e-01 -9.86772149e-01 3.73809963e-04 1.80459807e+02] [ 9.86768545e-01 -1.62113302e-01 -2.66760908e-03 1.28176419e+02] [ 2.69292191e-03 -6.35898861e-05 9.99996372e-01 6.15965431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.104012739 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:180.46, Y:128.20, Z:0.62 [[-1.58605141e-01 -9.87342023e-01 3.73452783e-04 1.80459374e+02] [ 9.87338420e-01 -1.58605572e-01 -2.66765908e-03 1.28197840e+02] [ 2.69312360e-03 -5.43801644e-05 9.99996372e-01 6.16899877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.134012739 meters Centerline goodness : 0.993873 Centerline is valid? [True, True] Translation: X:180.46, Y:128.18, Z:0.62 [[-1.55731500e-01 -9.87799353e-01 3.73091851e-04 1.80462360e+02] [ 9.87795751e-01 -1.55731940e-01 -2.66770956e-03 1.28180260e+02] [ 2.69326409e-03 -4.69078651e-05 9.99996372e-01 6.16738873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.164012739 meters Centerline goodness : 0.994398 Centerline is valid? [True, True] Translation: X:180.46, Y:128.21, Z:0.62 [[-1.55759802e-01 -9.87794890e-01 3.72135588e-04 1.80458565e+02] [ 9.87791289e-01 -1.55760239e-01 -2.66784295e-03 1.28208746e+02] [ 2.69324556e-03 -4.79503974e-05 9.99996372e-01 6.16604169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.194012739 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:180.46, Y:128.18, Z:0.62 [[-1.56694500e-01 -9.87647050e-01 3.71895543e-04 1.80462684e+02] [ 9.87643448e-01 -1.56694934e-01 -2.66787641e-03 1.28183957e+02] [ 2.69319441e-03 -5.07413646e-05 9.99996372e-01 6.17133462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.224012739 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:180.46, Y:128.19, Z:0.62 [[-1.58563899e-01 -9.87348648e-01 3.70937140e-04 1.80462875e+02] [ 9.87345045e-01 -1.58564323e-01 -2.66800966e-03 1.28190207e+02] [ 2.69307312e-03 -5.68070659e-05 9.99996372e-01 6.16790398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.254012739 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:180.47, Y:128.17, Z:0.62 [[-1.61872323e-01 -9.86811641e-01 3.70578631e-04 1.80467755e+02] [ 9.86808036e-01 -1.61872733e-01 -2.66805945e-03 1.28174752e+02] [ 2.69285870e-03 -6.61950094e-05 9.99996372e-01 6.15799434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.284012739 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:180.47, Y:128.16, Z:0.62 [[-1.63811170e-01 -9.86491644e-01 3.69632845e-04 1.80473644e+02] [ 9.86488038e-01 -1.63811571e-01 -2.66819047e-03 1.28160148e+02] [ 2.69269774e-03 -7.24410227e-05 9.99996372e-01 6.15341865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.314012739 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:180.47, Y:128.18, Z:0.62 [[-1.64090778e-01 -9.86445174e-01 3.68698374e-04 1.80474559e+02] [ 9.86441568e-01 -1.64091176e-01 -2.66831959e-03 1.28175643e+02] [ 2.69265114e-03 -7.41472371e-05 9.99996372e-01 6.15719195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.344012739 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:180.48, Y:128.18, Z:0.62 [[-1.64117070e-01 -9.86440800e-01 3.68464711e-04 1.80475984e+02] [ 9.86437194e-01 -1.64117467e-01 -2.66835186e-03 1.28181926e+02] [ 2.69264264e-03 -7.44547941e-05 9.99996372e-01 6.15144899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.374012739 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:180.48, Y:128.17, Z:0.62 [[-1.64170763e-01 -9.86431865e-01 3.68110633e-04 1.80480790e+02] [ 9.86428259e-01 -1.64171159e-01 -2.66840071e-03 1.28171332e+02] [ 2.69262864e-03 -7.49586500e-05 9.99996372e-01 6.15709748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.404012739 meters Centerline goodness : 0.994287 Centerline is valid? [True, True] Translation: X:180.48, Y:128.19, Z:0.62 [[-1.64326791e-01 -9.86405885e-01 3.67757741e-04 1.80480622e+02] [ 9.86402279e-01 -1.64327185e-01 -2.66844934e-03 1.28188944e+02] [ 2.69260673e-03 -7.57406429e-05 9.99996372e-01 6.15590541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.434012739 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:180.49, Y:128.18, Z:0.61 [[-1.63231636e-01 -9.86587704e-01 3.68695729e-04 1.80485528e+02] [ 9.86584098e-01 -1.63232037e-01 -2.66831973e-03 1.28175917e+02] [ 2.69271439e-03 -7.18048534e-05 9.99996372e-01 6.14870250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.464012739 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:180.49, Y:128.20, Z:0.61 [[-1.61237380e-01 -9.86915585e-01 3.68341656e-04 1.80489384e+02] [ 9.86911980e-01 -1.61237787e-01 -2.66836861e-03 1.28200270e+02] [ 2.69284516e-03 -6.67199706e-05 9.99996372e-01 6.12257731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.494012739 meters Centerline goodness : 0.993654 Centerline is valid? [True, True] Translation: X:180.49, Y:128.20, Z:0.61 [[-1.60563231e-01 -9.87025487e-01 3.69284071e-04 1.80492747e+02] [ 9.87021883e-01 -1.60563643e-01 -2.66823818e-03 1.28203049e+02] [ 2.69291269e-03 -6.39294840e-05 9.99996372e-01 6.11309793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.524012739 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:180.50, Y:128.21, Z:0.61 [[-1.60496806e-01 -9.87036290e-01 3.70236370e-04 1.80499205e+02] [ 9.87032686e-01 -1.60497221e-01 -2.66810604e-03 1.28206235e+02] [ 2.69293939e-03 -6.27870984e-05 9.99996372e-01 6.13208481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55401273900003 meters Centerline goodness : 0.994264 Centerline is valid? [True, True] Translation: X:180.50, Y:128.23, Z:0.61 [[-1.60648485e-01 -9.87011614e-01 3.71191879e-04 1.80499008e+02] [ 9.87008010e-01 -1.60648902e-01 -2.66797310e-03 1.28229152e+02] [ 2.69295200e-03 -6.22364796e-05 9.99996372e-01 6.14615827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.584012739 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:180.51, Y:128.21, Z:0.62 [[-1.58514908e-01 -9.87356514e-01 3.72157244e-04 1.80508132e+02] [ 9.87352911e-01 -1.58515335e-01 -2.66783843e-03 1.28207579e+02] [ 2.69310028e-03 -5.54416240e-05 9.99996372e-01 6.18986307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61401273900003 meters Centerline goodness : 0.994379 Centerline is valid? [True, True] Translation: X:180.51, Y:128.23, Z:0.62 [[-1.56525987e-01 -9.87673770e-01 3.73124231e-04 1.80507388e+02] [ 9.87670169e-01 -1.56526424e-01 -2.66770318e-03 1.28233397e+02] [ 2.69322426e-03 -4.90411999e-05 9.99996372e-01 6.20149626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.644012739 meters Centerline goodness : 0.994901 Centerline is valid? [True, True] Translation: X:180.51, Y:128.23, Z:0.62 [[-1.54809396e-01 -9.87944285e-01 3.74093911e-04 1.80511192e+02] [ 9.87940685e-01 -1.54809842e-01 -2.66756719e-03 1.28226199e+02] [ 2.69332119e-03 -4.33818710e-05 9.99996372e-01 6.19759190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67401273900003 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:180.51, Y:128.26, Z:0.62 [[-1.52910234e-01 -9.88240011e-01 3.75071403e-04 1.80513619e+02] [ 9.88236412e-01 -1.52910689e-01 -2.66742975e-03 1.28255913e+02] [ 2.69341323e-03 -3.72180884e-05 9.99996372e-01 6.19100976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.704012739 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:180.52, Y:128.25, Z:0.62 [[-1.53384023e-01 -9.88166585e-01 3.76057790e-04 1.80519162e+02] [ 9.88162986e-01 -1.53384480e-01 -2.66729068e-03 1.28246319e+02] [ 2.69340895e-03 -3.75133871e-05 9.99996372e-01 6.19627798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.734012739 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:180.53, Y:128.24, Z:0.62 [[-1.54194578e-01 -9.88040429e-01 3.77052586e-04 1.80528205e+02] [ 9.88036830e-01 -1.54195034e-01 -2.66715005e-03 1.28242688e+02] [ 2.69339171e-03 -3.87182345e-05 9.99996372e-01 6.19250222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.764012739 meters Centerline goodness : 0.994658 Centerline is valid? [True, True] Translation: X:180.53, Y:128.24, Z:0.62 [[-1.54124677e-01 -9.88051335e-01 3.78043799e-04 1.80532279e+02] [ 9.88047736e-01 -1.54125137e-01 -2.66700954e-03 1.28242947e+02] [ 2.69340839e-03 -3.75266652e-05 9.99996372e-01 6.18893886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.794012739 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:180.54, Y:128.24, Z:0.62 [[-1.53777269e-01 -9.88105464e-01 3.79034960e-04 1.80537202e+02] [ 9.88101866e-01 -1.53777732e-01 -2.66686867e-03 1.28235165e+02] [ 2.69343464e-03 -3.55786296e-05 9.99996372e-01 6.18301375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.824012739 meters Centerline goodness : 0.994507 Centerline is valid? [True, True] Translation: X:180.54, Y:128.24, Z:0.62 [[-1.51084567e-01 -9.88520768e-01 3.80024634e-04 1.80543510e+02] [ 9.88517172e-01 -1.51085043e-01 -2.66672764e-03 1.28238662e+02] [ 2.69353169e-03 -2.72405140e-05 9.99996372e-01 6.18382812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.854012739 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:180.55, Y:128.23, Z:0.62 [[-1.49461482e-01 -9.88767475e-01 3.81013934e-04 1.80547037e+02] [ 9.88763880e-01 -1.49461966e-01 -2.66658628e-03 1.28230471e+02] [ 2.69358088e-03 -2.18191202e-05 9.99996372e-01 6.18086937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.884012739 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:180.55, Y:128.28, Z:0.61 [[-1.44381446e-01 -9.89522032e-01 3.82002713e-04 1.80545110e+02] [ 9.89518440e-01 -1.44381951e-01 -2.66644463e-03 1.28275612e+02] [ 2.69366000e-03 -6.98640253e-06 9.99996372e-01 6.12939518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.914012739 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:180.55, Y:128.28, Z:0.61 [[-1.41468860e-01 -9.89942632e-01 3.83006458e-04 1.80547541e+02] [ 9.89939041e-01 -1.41469379e-01 -2.66630044e-03 1.28276811e+02] [ 2.69366816e-03 1.95456103e-06 9.99996372e-01 6.11246381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.944012739 meters Centerline goodness : 0.993991 Centerline is valid? [True, True] Translation: X:180.55, Y:128.27, Z:0.61 [[-1.38542517e-01 -9.90356412e-01 3.84028520e-04 1.80551369e+02] [ 9.90352824e-01 -1.38543049e-01 -2.66615322e-03 1.28267090e+02] [ 2.69364642e-03 1.09481499e-05 9.99996372e-01 6.10569548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.974012739 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:180.55, Y:128.27, Z:0.61 [[-1.32991633e-01 -9.91117086e-01 3.85048998e-04 1.80553204e+02] [ 9.91113500e-01 -1.32992188e-01 -2.66600584e-03 1.28269444e+02] [ 2.69353244e-03 2.70707901e-05 9.99996372e-01 6.13533439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.004012739 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:180.56, Y:128.24, Z:0.61 [[-1.28125250e-01 -9.91757920e-01 3.86068240e-04 1.80555750e+02] [ 9.91754338e-01 -1.28125825e-01 -2.66585823e-03 1.28235870e+02] [ 2.69335133e-03 4.13210988e-05 9.99996372e-01 6.14225055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.034012739 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:180.56, Y:128.23, Z:0.61 [[-1.25285882e-01 -9.92120607e-01 3.87077538e-04 1.80555155e+02] [ 9.92117027e-01 -1.25286470e-01 -2.66571168e-03 1.28226340e+02] [ 2.69320306e-03 5.00501779e-05 9.99996372e-01 6.13443619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.064012739 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:180.55, Y:128.21, Z:0.61 [[-1.22152302e-01 -9.92511292e-01 3.88073518e-04 1.80554273e+02] [ 9.92507714e-01 -1.22152904e-01 -2.66556667e-03 1.28214735e+02] [ 2.69300933e-03 5.95608537e-05 9.99996372e-01 6.13381359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.094012739 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:180.55, Y:128.20, Z:0.61 [[-1.14991918e-01 -9.93366351e-01 3.89063671e-04 1.80547153e+02] [ 9.93362778e-01 -1.14992548e-01 -2.66542214e-03 1.28204203e+02] [ 2.69248009e-03 7.99793649e-05 9.99996372e-01 6.14535786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.124012739 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:180.54, Y:128.19, Z:0.62 [[-1.12133314e-01 -9.93693095e-01 3.90048211e-04 1.80544126e+02] [ 9.93689525e-01 -1.12133957e-01 -2.66527806e-03 1.28185982e+02] [ 2.69220606e-03 8.87203597e-05 9.99996372e-01 6.15449010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.154012739 meters Centerline goodness : 0.994124 Centerline is valid? [True, True] Translation: X:180.54, Y:128.18, Z:0.62 [[-1.07450099e-01 -9.94210402e-01 3.91025175e-04 1.80535256e+02] [ 9.94206835e-01 -1.07450761e-01 -2.66513472e-03 1.28176659e+02] [ 2.69172062e-03 1.02390913e-04 9.99996372e-01 6.15381420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.184012739 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:180.53, Y:128.17, Z:0.62 [[-1.07204050e-01 -9.94236963e-01 3.91995295e-04 1.80532607e+02] [ 9.94233396e-01 -1.07204716e-01 -2.66499203e-03 1.28166342e+02] [ 2.69165732e-03 1.04036874e-04 9.99996372e-01 6.15266336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.214012739 meters Centerline goodness : 0.993668 Centerline is valid? [True, True] Translation: X:180.52, Y:128.19, Z:0.61 [[-1.10025142e-01 -9.93928727e-01 3.92960941e-04 1.80521072e+02] [ 9.93925159e-01 -1.10025800e-01 -2.66484963e-03 1.28189109e+02] [ 2.69190644e-03 9.73733081e-05 9.99996372e-01 6.13552902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.244012739 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:180.52, Y:128.19, Z:0.61 [[-1.13563933e-01 -9.93530613e-01 3.93932956e-04 1.80516654e+02] [ 9.93527043e-01 -1.13564581e-01 -2.66470594e-03 1.28192043e+02] [ 2.69220375e-03 8.87685583e-05 9.99996372e-01 6.13252056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.274012739 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:180.51, Y:128.20, Z:0.61 [[-1.17847694e-01 -9.93031603e-01 3.94916278e-04 1.80512294e+02] [ 9.93028031e-01 -1.17848330e-01 -2.66456020e-03 1.28196712e+02] [ 2.69253271e-03 7.81506585e-05 9.99996372e-01 6.12447949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30401273900003 meters Centerline goodness : 0.993825 Centerline is valid? [True, True] Translation: X:180.51, Y:128.20, Z:0.61 [[-1.25665752e-01 -9.92072559e-01 3.95904304e-04 1.80505767e+02] [ 9.92068983e-01 -1.25666362e-01 -2.66441339e-03 1.28198164e+02] [ 2.69304326e-03 5.79388682e-05 9.99996372e-01 6.10559023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.334012739 meters Centerline goodness : 0.993989 Centerline is valid? [True, True] Translation: X:180.50, Y:128.22, Z:0.61 [[-1.30018045e-01 -9.91511548e-01 3.96896904e-04 1.80499189e+02] [ 9.91507970e-01 -1.30018642e-01 -2.66426552e-03 1.28216316e+02] [ 2.69325403e-03 4.71238506e-05 9.99996372e-01 6.12658693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36401273900003 meters Centerline goodness : 0.994544 Centerline is valid? [True, True] Translation: X:180.50, Y:128.22, Z:0.61 [[-1.30749073e-01 -9.91415413e-01 3.97898685e-04 1.80496945e+02] [ 9.91411835e-01 -1.30749670e-01 -2.66411590e-03 1.28219842e+02] [ 2.69327069e-03 4.61507815e-05 9.99996372e-01 6.14866539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.394012739 meters Centerline goodness : 0.994372 Centerline is valid? [True, True] Translation: X:180.49, Y:128.22, Z:0.62 [[-1.30893781e-01 -9.91396318e-01 3.98910646e-04 1.80494270e+02] [ 9.91392740e-01 -1.30894381e-01 -2.66396436e-03 1.28220871e+02] [ 2.69325962e-03 4.67807490e-05 9.99996372e-01 6.15455816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42401273900003 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:180.49, Y:128.21, Z:0.62 [[-1.30671431e-01 -9.91425649e-01 3.99926233e-04 1.80489959e+02] [ 9.91422071e-01 -1.30672034e-01 -2.66381189e-03 1.28214246e+02] [ 2.69323061e-03 4.84115821e-05 9.99996372e-01 6.17205070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.454012739 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:180.49, Y:128.22, Z:0.62 [[-1.31623722e-01 -9.91299670e-01 3.99672461e-04 1.80487042e+02] [ 9.91296092e-01 -1.31624321e-01 -2.66384997e-03 1.28220106e+02] [ 2.69328021e-03 4.55679021e-05 9.99996372e-01 6.17242372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.484012739 meters Centerline goodness : 0.993672 Centerline is valid? [True, True] Translation: X:180.48, Y:128.23, Z:0.62 [[-1.35616790e-01 -9.90761286e-01 4.00687171e-04 1.80482608e+02] [ 9.90757706e-01 -1.35617377e-01 -2.66369733e-03 1.28226735e+02] [ 2.69342833e-03 3.57418213e-05 9.99996372e-01 6.15969157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.514012739 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:180.48, Y:128.23, Z:0.62 [[-1.38130183e-01 -9.90414000e-01 4.00814325e-04 1.80480932e+02] [ 9.90410419e-01 -1.38130762e-01 -2.66367819e-03 1.28226844e+02] [ 2.69350896e-03 2.90363258e-05 9.99996372e-01 6.15883967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.544012739 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:180.48, Y:128.20, Z:0.62 [[-1.40257310e-01 -9.90115007e-01 4.00558236e-04 1.80482506e+02] [ 9.90111424e-01 -1.40257880e-01 -2.66371670e-03 1.28204456e+02] [ 2.69356733e-03 2.29915472e-05 9.99996372e-01 6.15606229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.574012739 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:180.48, Y:128.19, Z:0.61 [[-1.44819552e-01 -9.89458002e-01 3.99545412e-04 1.80482101e+02] [ 9.89454416e-01 -1.44820103e-01 -2.66386861e-03 1.28192156e+02] [ 2.69364832e-03 9.55171194e-06 9.99996372e-01 6.12210744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.604012739 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:180.48, Y:128.20, Z:0.61 [[-1.46599251e-01 -9.89195886e-01 3.99295275e-04 1.80481038e+02] [ 9.89192299e-01 -1.46599794e-01 -2.66390611e-03 1.28195071e+02] [ 2.69366157e-03 4.45317262e-06 9.99996372e-01 6.10679940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.634012739 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:180.48, Y:128.19, Z:0.61 [[-1.49072827e-01 -9.88826139e-01 3.98920040e-04 1.80480674e+02] [ 9.88822550e-01 -1.49073361e-01 -2.66396230e-03 1.28186368e+02] [ 2.69366390e-03 -2.66326022e-06 9.99996372e-01 6.13761886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.664012739 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:180.48, Y:128.19, Z:0.61 [[-1.48934686e-01 -9.88846955e-01 3.98546341e-04 1.80480337e+02] [ 9.88843367e-01 -1.48935219e-01 -2.66401820e-03 1.28188857e+02] [ 2.69366388e-03 -2.66480880e-06 9.99996372e-01 6.13768639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.694012739 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:180.48, Y:128.18, Z:0.62 [[-1.49499781e-01 -9.88761679e-01 3.98174165e-04 1.80481851e+02] [ 9.88758090e-01 -1.49500311e-01 -2.66407383e-03 1.28175070e+02] [ 2.69366127e-03 -4.58052674e-06 9.99996372e-01 6.15260238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.724012739 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:180.48, Y:128.18, Z:0.62 [[-1.50456115e-01 -9.88616609e-01 3.97193261e-04 1.80480338e+02] [ 9.88613019e-01 -1.50456639e-01 -2.66422007e-03 1.28183040e+02] [ 2.69365257e-03 -8.17777140e-06 9.99996372e-01 6.16851690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.754012739 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:180.48, Y:128.17, Z:0.62 [[-1.52854769e-01 -9.88248583e-01 3.96824734e-04 1.80484368e+02] [ 9.88244992e-01 -1.52855283e-01 -2.66427496e-03 1.28168282e+02] [ 2.69362271e-03 -1.50870755e-05 9.99996372e-01 6.19622033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.784012739 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:180.48, Y:128.18, Z:0.62 [[-1.54460255e-01 -9.87998924e-01 3.95851684e-04 1.80483653e+02] [ 9.87995331e-01 -1.54460761e-01 -2.66441952e-03 1.28181204e+02] [ 2.69358717e-03 -2.04473022e-05 9.99996372e-01 6.21212948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.814012739 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:180.49, Y:128.16, Z:0.62 [[-1.57547382e-01 -9.87511350e-01 3.95730598e-04 1.80487412e+02] [ 9.87507756e-01 -1.57547877e-01 -2.66443751e-03 1.28164381e+02] [ 2.69350879e-03 -2.89881201e-05 9.99996372e-01 6.22073054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.844012739 meters Centerline goodness : 0.992507 Centerline is valid? [True, True] Translation: X:180.49, Y:128.16, Z:0.62 [[-1.58942993e-01 -9.87287683e-01 3.94761795e-04 1.80489947e+02] [ 9.87284088e-01 -1.58943479e-01 -2.66458104e-03 1.28155475e+02] [ 2.69345285e-03 -3.37744453e-05 9.99996372e-01 6.21394076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.874012739 meters Centerline goodness : 0.992406 Centerline is valid? [True, True] Translation: X:180.49, Y:128.18, Z:0.62 [[-1.60773745e-01 -9.86991209e-01 3.94400277e-04 1.80487213e+02] [ 9.86987613e-01 -1.60774224e-01 -2.66463455e-03 1.28179875e+02] [ 2.69338027e-03 -3.91350868e-05 9.99996372e-01 6.20699355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.904012739 meters Centerline goodness : 0.991907 Centerline is valid? [True, True] Translation: X:180.49, Y:128.17, Z:0.62 [[-1.61110209e-01 -9.86936343e-01 3.95364431e-04 1.80489749e+02] [ 9.86932747e-01 -1.61110690e-01 -2.66449148e-03 1.28169927e+02] [ 2.69338091e-03 -3.90786757e-05 9.99996372e-01 6.17423146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.934012739 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:180.49, Y:128.18, Z:0.62 [[-1.59123084e-01 -9.87258673e-01 3.94999139e-04 1.80489515e+02] [ 9.87255078e-01 -1.59123570e-01 -2.66454563e-03 1.28178565e+02] [ 2.69344946e-03 -3.40258116e-05 9.99996372e-01 6.15815035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.964012739 meters Centerline goodness : 0.991898 Centerline is valid? [True, True] Translation: X:180.49, Y:128.18, Z:0.62 [[-1.57987871e-01 -9.87440973e-01 3.95845269e-04 1.80489647e+02] [ 9.87437379e-01 -1.57988364e-01 -2.66441993e-03 1.28180119e+02] [ 2.69349635e-03 -3.00736170e-05 9.99996372e-01 6.15691289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.994012739 meters Centerline goodness : 0.990321 Centerline is valid? [True, True] Translation: X:180.49, Y:128.17, Z:0.62 [[-1.57605890e-01 -9.87502014e-01 3.95602190e-04 1.80491634e+02] [ 9.87498420e-01 -1.57606383e-01 -2.66445602e-03 1.28171604e+02] [ 2.69350511e-03 -2.92774233e-05 9.99996372e-01 6.19657955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.024012739 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:180.49, Y:128.18, Z:0.62 [[-1.59351064e-01 -9.87221901e-01 3.95237346e-04 1.80492163e+02] [ 9.87218306e-01 -1.59351551e-01 -2.66451014e-03 1.28181837e+02] [ 2.69344445e-03 -3.44069822e-05 9.99996372e-01 6.16706742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05401273900003 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:180.49, Y:128.18, Z:0.62 [[-1.60689651e-01 -9.87004903e-01 3.96205555e-04 1.80493861e+02] [ 9.87001308e-01 -1.60690135e-01 -2.66436616e-03 1.28184303e+02] [ 2.69340879e-03 -3.70806675e-05 9.99996372e-01 6.16317040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.084012739 meters Centerline goodness : 0.992027 Centerline is valid? [True, True] Translation: X:180.50, Y:128.16, Z:0.62 [[-1.62611113e-01 -9.86690158e-01 3.97056540e-04 1.80501474e+02] [ 9.86686562e-01 -1.62611592e-01 -2.66423933e-03 1.28164835e+02] [ 2.69334473e-03 -4.14645711e-05 9.99996372e-01 6.16873169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11401273900003 meters Centerline goodness : 0.991642 Centerline is valid? [True, True] Translation: X:180.50, Y:128.17, Z:0.62 [[-1.63328475e-01 -9.86571666e-01 3.96691919e-04 1.80503206e+02] [ 9.86568069e-01 -1.63328951e-01 -2.66429362e-03 1.28170827e+02] [ 2.69330787e-03 -4.37914341e-05 9.99996372e-01 6.16948163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.144012739 meters Centerline goodness : 0.991607 Centerline is valid? [True, True] Translation: X:180.51, Y:128.16, Z:0.62 [[-1.63338190e-01 -9.86570057e-01 3.97653983e-04 1.80506719e+02] [ 9.86566461e-01 -1.63338668e-01 -2.66415002e-03 1.28157610e+02] [ 2.69332291e-03 -4.28453595e-05 9.99996372e-01 6.16524893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17401273900003 meters Centerline goodness : 0.988083 Centerline is valid? [True, True] Translation: X:180.51, Y:128.18, Z:0.62 [[-1.61514869e-01 -9.86870199e-01 3.97773782e-04 1.80506016e+02] [ 9.86866603e-01 -1.61515355e-01 -2.66413214e-03 1.28184196e+02] [ 2.69339918e-03 -3.77472927e-05 9.99996372e-01 6.20419864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.204012739 meters Centerline goodness : 0.990111 Centerline is valid? [True, True] Translation: X:180.51, Y:128.18, Z:0.61 [[-1.60521473e-01 -9.87032268e-01 3.98739870e-04 1.80507166e+02] [ 9.87028673e-01 -1.60521964e-01 -2.66398754e-03 1.28179342e+02] [ 2.69344817e-03 -3.40595179e-05 9.99996372e-01 6.11959306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.234012739 meters Centerline goodness : 0.990653 Centerline is valid? [True, True] Translation: X:180.51, Y:128.19, Z:0.61 [[-1.56667832e-01 -9.87651270e-01 3.99714653e-04 1.80507997e+02] [ 9.87647678e-01 -1.56668341e-01 -2.66384127e-03 1.28191524e+02] [ 2.69356884e-03 -2.25609878e-05 9.99996372e-01 6.13670581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.264012739 meters Centerline goodness : 0.990330 Centerline is valid? [True, True] Translation: X:180.50, Y:128.22, Z:0.61 [[-1.55564164e-01 -9.87825709e-01 4.00693430e-04 1.80504877e+02] [ 9.87822117e-01 -1.55564679e-01 -2.66369403e-03 1.28218049e+02] [ 2.69359919e-03 -1.85615022e-05 9.99996372e-01 6.14359405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.294012739 meters Centerline goodness : 0.990502 Centerline is valid? [True, True] Translation: X:180.50, Y:128.23, Z:0.62 [[-1.55414210e-01 -9.87849311e-01 4.01687529e-04 1.80504590e+02] [ 9.87845721e-01 -1.55414728e-01 -2.66354411e-03 1.28226000e+02] [ 2.69360838e-03 -1.71472975e-05 9.99996372e-01 6.15423175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.324012739 meters Centerline goodness : 0.990556 Centerline is valid? [True, True] Translation: X:180.51, Y:128.21, Z:0.62 [[-1.56899107e-01 -9.87614554e-01 4.02695949e-04 1.80508929e+02] [ 9.87610963e-01 -1.56899622e-01 -2.66339164e-03 1.28206377e+02] [ 2.69358719e-03 -2.01768360e-05 9.99996372e-01 6.15619842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.354012739 meters Centerline goodness : 0.990719 Centerline is valid? [True, True] Translation: X:180.51, Y:128.20, Z:0.62 [[-1.58677150e-01 -9.87330441e-01 4.03701826e-04 1.80511880e+02] [ 9.87326849e-01 -1.58677662e-01 -2.66323917e-03 1.28200875e+02] [ 2.69355556e-03 -2.40095496e-05 9.99996372e-01 6.16425289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.384012739 meters Centerline goodness : 0.990233 Centerline is valid? [True, True] Translation: X:180.52, Y:128.18, Z:0.62 [[-1.62912484e-01 -9.86640441e-01 4.04699965e-04 1.80518224e+02] [ 9.86636847e-01 -1.62912983e-01 -2.66308749e-03 1.28179281e+02] [ 2.69344069e-03 -3.45582998e-05 9.99996372e-01 6.18576866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.414012739 meters Centerline goodness : 0.990843 Centerline is valid? [True, True] Translation: X:180.52, Y:128.18, Z:0.62 [[-1.66615877e-01 -9.86021798e-01 4.05069907e-04 1.80524828e+02] [ 9.86018203e-01 -1.66616363e-01 -2.66303121e-03 1.28179182e+02] [ 2.69329810e-03 -4.42969797e-05 9.99996372e-01 6.21510497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.444012739 meters Centerline goodness : 0.990823 Centerline is valid? [True, True] Translation: X:180.53, Y:128.17, Z:0.62 [[-1.68100770e-01 -9.85769733e-01 4.06053244e-04 1.80531138e+02] [ 9.85766137e-01 -1.68101254e-01 -2.66288127e-03 1.28168069e+02] [ 2.69324582e-03 -4.73588539e-05 9.99996372e-01 6.23325402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.474012739 meters Centerline goodness : 0.990990 Centerline is valid? [True, True] Translation: X:180.53, Y:128.19, Z:0.62 [[-1.69654571e-01 -9.85503506e-01 4.07033702e-04 1.80531348e+02] [ 9.85499910e-01 -1.69655052e-01 -2.66273139e-03 1.28189641e+02] [ 2.69318645e-03 -5.06128756e-05 9.99996372e-01 6.24017723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.504012739 meters Centerline goodness : 0.990253 Centerline is valid? [True, True] Translation: X:180.54, Y:128.16, Z:0.62 [[-1.71365685e-01 -9.85207407e-01 4.08018984e-04 1.80540056e+02] [ 9.85203811e-01 -1.71366162e-01 -2.66258041e-03 1.28160392e+02] [ 2.69311459e-03 -5.42930564e-05 9.99996372e-01 6.19962842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.534012739 meters Centerline goodness : 0.990082 Centerline is valid? [True, True] Translation: X:180.54, Y:128.17, Z:0.62 [[-1.71551948e-01 -9.85174991e-01 4.09003255e-04 1.80542319e+02] [ 9.85171394e-01 -1.71552427e-01 -2.66242920e-03 1.28165601e+02] [ 2.69312416e-03 -5.38066079e-05 9.99996372e-01 6.17498691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.564012739 meters Centerline goodness : 0.990717 Centerline is valid? [True, True] Translation: X:180.55, Y:128.17, Z:0.62 [[-1.71325566e-01 -9.85214384e-01 4.09980111e-04 1.80549190e+02] [ 9.85210788e-01 -1.71326048e-01 -2.66227877e-03 1.28165076e+02] [ 2.69315561e-03 -5.21995879e-05 9.99996372e-01 6.16349129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.594012739 meters Centerline goodness : 0.990973 Centerline is valid? [True, True] Translation: X:180.55, Y:128.16, Z:0.62 [[-1.71115305e-01 -9.85250924e-01 4.10959716e-04 1.80552086e+02] [ 9.85247329e-01 -1.71115791e-01 -2.66212755e-03 1.28162170e+02] [ 2.69318532e-03 -5.06338032e-05 9.99996372e-01 6.17439532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.624012739 meters Centerline goodness : 0.989145 Centerline is valid? [True, True] Translation: X:180.55, Y:128.19, Z:0.63 [[-1.68662127e-01 -9.85673839e-01 4.11939580e-04 1.80552873e+02] [ 9.85670246e-01 -1.68662624e-01 -2.66197591e-03 1.28186120e+02] [ 2.69331883e-03 -4.29379318e-05 9.99996372e-01 6.25269059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.654012739 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:180.56, Y:128.17, Z:0.62 [[-1.67717421e-01 -9.85835025e-01 4.12928075e-04 1.80556782e+02] [ 9.85831432e-01 -1.67717925e-01 -2.66182257e-03 1.28171058e+02] [ 2.69337336e-03 -3.93565403e-05 9.99996372e-01 6.18264839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.684012739 meters Centerline goodness : 0.991536 Centerline is valid? [True, True] Translation: X:180.56, Y:128.17, Z:0.62 [[-1.66295531e-01 -9.86075872e-01 4.13921150e-04 1.80559265e+02] [ 9.86072280e-01 -1.66296043e-01 -2.66166813e-03 1.28170826e+02] [ 2.69344017e-03 -3.44673434e-05 9.99996372e-01 6.17477940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.714012739 meters Centerline goodness : 0.991643 Centerline is valid? [True, True] Translation: X:180.56, Y:128.18, Z:0.62 [[-1.63562781e-01 -9.86532840e-01 4.14910321e-04 1.80560769e+02] [ 9.86529250e-01 -1.63563305e-01 -2.66151393e-03 1.28183350e+02] [ 2.69353500e-03 -2.60034516e-05 9.99996372e-01 6.16796139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.744012739 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:180.56, Y:128.19, Z:0.62 [[-1.62600370e-01 -9.86691921e-01 4.15905053e-04 1.80560210e+02] [ 9.86688332e-01 -1.62600900e-01 -2.66135848e-03 1.28193515e+02] [ 2.69356744e-03 -2.23692091e-05 9.99996372e-01 6.15589367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.774012739 meters Centerline goodness : 0.991476 Centerline is valid? [True, True] Translation: X:180.56, Y:128.19, Z:0.62 [[-1.61628451e-01 -9.86851595e-01 4.16909676e-04 1.80564772e+02] [ 9.86848007e-01 -1.61628988e-01 -2.66120109e-03 1.28189331e+02] [ 2.69359523e-03 -1.86993283e-05 9.99996372e-01 6.15505621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80401273900003 meters Centerline goodness : 0.991136 Centerline is valid? [True, True] Translation: X:180.57, Y:128.18, Z:0.62 [[-1.61908500e-01 -9.86805687e-01 4.17917874e-04 1.80567141e+02] [ 9.86802099e-01 -1.61909039e-01 -2.66104275e-03 1.28183505e+02] [ 2.69359680e-03 -1.84432060e-05 9.99996372e-01 6.15666701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.834012739 meters Centerline goodness : 0.991352 Centerline is valid? [True, True] Translation: X:180.57, Y:128.19, Z:0.62 [[-1.62182955e-01 -9.86760616e-01 4.18923858e-04 1.80566478e+02] [ 9.86757029e-01 -1.62183495e-01 -2.66088437e-03 1.28193504e+02] [ 2.69359844e-03 -1.81740292e-05 9.99996372e-01 6.18203656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86401273900003 meters Centerline goodness : 0.990973 Centerline is valid? [True, True] Translation: X:180.57, Y:128.19, Z:0.62 [[-1.61568352e-01 -9.86861435e-01 4.19933093e-04 1.80566584e+02] [ 9.86857848e-01 -1.61568897e-01 -2.66072509e-03 1.28194441e+02] [ 2.69361510e-03 -1.54746995e-05 9.99996372e-01 6.19409608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.894012739 meters Centerline goodness : 0.991177 Centerline is valid? [True, True] Translation: X:180.57, Y:128.19, Z:0.62 [[-1.59101037e-01 -9.87262216e-01 4.20948118e-04 1.80569015e+02] [ 9.87258631e-01 -1.59101594e-01 -2.66056449e-03 1.28186936e+02] [ 2.69364831e-03 -7.71390755e-06 9.99996372e-01 6.19498033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92401273900003 meters Centerline goodness : 0.991309 Centerline is valid? [True, True] Translation: X:180.57, Y:128.19, Z:0.62 [[-1.58090970e-01 -9.87424461e-01 4.21962406e-04 1.80569563e+02] [ 9.87420878e-01 -1.58091533e-01 -2.66040362e-03 1.28187207e+02] [ 2.69365629e-03 -3.93130034e-06 9.99996372e-01 6.17519018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.954012739 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:180.57, Y:128.19, Z:0.62 [[-1.57337331e-01 -9.87544827e-01 4.22975463e-04 1.80569871e+02] [ 9.87541244e-01 -1.57337900e-01 -2.66024254e-03 1.28186687e+02] [ 2.69365883e-03 -8.49747798e-07 9.99996372e-01 6.15171050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.984012739 meters Centerline goodness : 0.990742 Centerline is valid? [True, True] Translation: X:180.57, Y:128.18, Z:0.61 [[-1.55810370e-01 -9.87786894e-01 4.23990304e-04 1.80570018e+02] [ 9.87783313e-01 -1.55810947e-01 -2.66008079e-03 1.28178107e+02] [ 2.69365527e-03 4.34237492e-06 9.99996372e-01 6.14702887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.014012739 meters Centerline goodness : 0.990380 Centerline is valid? [True, True] Translation: X:180.57, Y:128.18, Z:0.62 [[-1.55097386e-01 -9.87899094e-01 4.25003575e-04 1.80569400e+02] [ 9.87895513e-01 -1.55097968e-01 -2.65991889e-03 1.28176719e+02] [ 2.69364865e-03 7.31265826e-06 9.99996372e-01 6.16703062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.044012739 meters Centerline goodness : 0.991219 Centerline is valid? [True, True] Translation: X:180.57, Y:128.17, Z:0.62 [[-1.51861138e-01 -9.88401747e-01 4.26014945e-04 1.80568712e+02] [ 9.88398168e-01 -1.51861734e-01 -2.65975689e-03 1.28165320e+02] [ 2.69360373e-03 1.71586835e-05 9.99996372e-01 6.23072740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.074012739 meters Centerline goodness : 0.990770 Centerline is valid? [True, True] Translation: X:180.57, Y:128.15, Z:0.63 [[-1.50317607e-01 -9.88637666e-01 4.27023417e-04 1.80569061e+02] [ 9.88634089e-01 -1.50318212e-01 -2.65959497e-03 1.28153493e+02] [ 2.69356516e-03 2.23859542e-05 9.99996372e-01 6.25765997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.104012739 meters Centerline goodness : 0.990489 Centerline is valid? [True, True] Translation: X:180.57, Y:128.15, Z:0.62 [[-1.47882074e-01 -9.89004909e-01 4.28025566e-04 1.80566831e+02] [ 9.89001333e-01 -1.47882690e-01 -2.65943368e-03 1.28151396e+02] [ 2.69349054e-03 3.00352874e-05 9.99996372e-01 6.22179189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.134012739 meters Centerline goodness : 0.990759 Centerline is valid? [True, True] Translation: X:180.57, Y:128.14, Z:0.62 [[-1.48064837e-01 -9.88977563e-01 4.29024540e-04 1.80567313e+02] [ 9.88973988e-01 -1.48065455e-01 -2.65927252e-03 1.28142692e+02] [ 2.69348457e-03 3.05493592e-05 9.99996372e-01 6.18255057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.164012739 meters Centerline goodness : 0.990583 Centerline is valid? [True, True] Translation: X:180.57, Y:128.14, Z:0.62 [[-1.49635518e-01 -9.88741132e-01 4.30021666e-04 1.80566153e+02] [ 9.88737557e-01 -1.49636134e-01 -2.65911127e-03 1.28141420e+02] [ 2.69351946e-03 2.72810787e-05 9.99996372e-01 6.15900649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.194012739 meters Centerline goodness : 0.990775 Centerline is valid? [True, True] Translation: X:180.56, Y:128.16, Z:0.62 [[-1.54777741e-01 -9.87949222e-01 4.31016949e-04 1.80559640e+02] [ 9.87945644e-01 -1.54778340e-01 -2.65894993e-03 1.28163811e+02] [ 2.69361960e-03 1.42750536e-05 9.99996372e-01 6.15688727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.224012739 meters Centerline goodness : 0.990821 Centerline is valid? [True, True] Translation: X:180.56, Y:128.15, Z:0.62 [[-1.57282081e-01 -9.87553624e-01 4.32021808e-04 1.80562735e+02] [ 9.87550045e-01 -1.57282674e-01 -2.65878665e-03 1.28148750e+02] [ 2.69364394e-03 8.46365861e-06 9.99996372e-01 6.15630956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.254012739 meters Centerline goodness : 0.990855 Centerline is valid? [True, True] Translation: X:180.56, Y:128.16, Z:0.62 [[-1.60403440e-01 -9.87051442e-01 4.33031404e-04 1.80563493e+02] [ 9.87047861e-01 -1.60404025e-01 -2.65862221e-03 1.28157147e+02] [ 2.69365687e-03 9.70572753e-07 9.99996372e-01 6.15601232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.284012739 meters Centerline goodness : 0.988354 Centerline is valid? [True, True] Translation: X:180.56, Y:128.16, Z:0.62 [[-1.61688697e-01 -9.86841718e-01 4.34040113e-04 1.80563876e+02] [ 9.86838137e-01 -1.61689280e-01 -2.65845752e-03 1.28155040e+02] [ 2.69365642e-03 -1.51519621e-06 9.99996372e-01 6.23837009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.314012739 meters Centerline goodness : 0.990565 Centerline is valid? [True, True] Translation: X:180.56, Y:128.16, Z:0.61 [[-1.64091503e-01 -9.86445026e-01 4.35052764e-04 1.80559280e+02] [ 9.86441444e-01 -1.64092079e-01 -2.65829179e-03 1.28162925e+02] [ 2.69364743e-03 -7.04901728e-06 9.99996372e-01 6.12993514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.344012739 meters Centerline goodness : 0.990687 Centerline is valid? [True, True] Translation: X:180.56, Y:128.16, Z:0.61 [[-1.65056564e-01 -9.86284006e-01 4.36069546e-04 1.80561557e+02] [ 9.86280424e-01 -1.65057140e-01 -2.65812499e-03 1.28156895e+02] [ 2.69364255e-03 -8.65411991e-06 9.99996372e-01 6.12628967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.374012739 meters Centerline goodness : 0.991043 Centerline is valid? [True, True] Translation: X:180.57, Y:128.14, Z:0.62 [[-1.67580265e-01 -9.85858339e-01 4.37088807e-04 1.80567884e+02] [ 9.85854756e-01 -1.67580834e-01 -2.65795737e-03 1.28137089e+02] [ 2.69361715e-03 -1.45151220e-05 9.99996372e-01 6.15921684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.404012739 meters Centerline goodness : 0.991646 Centerline is valid? [True, True] Translation: X:180.57, Y:128.11, Z:0.62 [[-1.69602948e-01 -9.85512379e-01 4.38099921e-04 1.80572165e+02] [ 9.85508795e-01 -1.69603513e-01 -2.65779071e-03 1.28114916e+02] [ 2.69358893e-03 -1.90178136e-05 9.99996372e-01 6.17007499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.434012739 meters Centerline goodness : 0.991489 Centerline is valid? [True, True] Translation: X:180.57, Y:128.13, Z:0.62 [[-1.74310367e-01 -9.84690664e-01 4.39097143e-04 1.80571972e+02] [ 9.84687078e-01 -1.74310917e-01 -2.65762594e-03 1.28127995e+02] [ 2.69347888e-03 -3.08784707e-05 9.99996372e-01 6.15055153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.464012739 meters Centerline goodness : 0.991198 Centerline is valid? [True, True] Translation: X:180.57, Y:128.13, Z:0.61 [[-1.76465263e-01 -9.84306770e-01 4.40092846e-04 1.80574306e+02] [ 9.84303183e-01 -1.76465809e-01 -2.65746105e-03 1.28132546e+02] [ 2.69341824e-03 -3.57647744e-05 9.99996372e-01 6.13977989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.494012739 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:180.58, Y:128.12, Z:0.61 [[-1.78141711e-01 -9.84004744e-01 4.41096479e-04 1.80578644e+02] [ 9.84001157e-01 -1.78142253e-01 -2.65729445e-03 1.28122971e+02] [ 2.69336827e-03 -3.93355354e-05 9.99996372e-01 6.13434528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.524012739 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:180.58, Y:128.12, Z:0.61 [[-1.78512132e-01 -9.83937612e-01 4.42099564e-04 1.80579127e+02] [ 9.83934025e-01 -1.78512675e-01 -2.65712756e-03 1.28120520e+02] [ 2.69336812e-03 -3.93327010e-05 9.99996372e-01 6.13427750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55401273900003 meters Centerline goodness : 0.991388 Centerline is valid? [True, True] Translation: X:180.59, Y:128.10, Z:0.62 [[-1.79681774e-01 -9.83724689e-01 4.43099793e-04 1.80586546e+02] [ 9.83721102e-01 -1.79682316e-01 -2.65696075e-03 1.28101191e+02] [ 2.69333508e-03 -4.15208048e-05 9.99996372e-01 6.17361210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.584012739 meters Centerline goodness : 0.991674 Centerline is valid? [True, True] Translation: X:180.59, Y:128.10, Z:0.62 [[-1.80155658e-01 -9.83638014e-01 4.44093468e-04 1.80589519e+02] [ 9.83634426e-01 -1.80156201e-01 -2.65679465e-03 1.28099857e+02] [ 2.69333040e-03 -4.18109658e-05 9.99996372e-01 6.19621410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61401273900003 meters Centerline goodness : 0.991461 Centerline is valid? [True, True] Translation: X:180.60, Y:128.11, Z:0.62 [[-1.80833776e-01 -9.83513573e-01 4.45081144e-04 1.80595611e+02] [ 9.83509986e-01 -1.80834318e-01 -2.65662918e-03 1.28107932e+02] [ 2.69331680e-03 -4.26665354e-05 9.99996372e-01 6.17040734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.644012739 meters Centerline goodness : 0.991301 Centerline is valid? [True, True] Translation: X:180.60, Y:128.11, Z:0.61 [[-1.80800735e-01 -9.83519647e-01 4.46072278e-04 1.80599432e+02] [ 9.83516060e-01 -1.80801280e-01 -2.65646275e-03 1.28105832e+02] [ 2.69333374e-03 -4.15711671e-05 9.99996372e-01 6.11901415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67401273900003 meters Centerline goodness : 0.991642 Centerline is valid? [True, True] Translation: X:180.60, Y:128.12, Z:0.61 [[-1.78744762e-01 -9.83895376e-01 4.47066567e-04 1.80602002e+02] [ 9.83891791e-01 -1.78745318e-01 -2.65629541e-03 1.28120097e+02] [ 2.69342782e-03 -3.49337656e-05 9.99996372e-01 6.10645304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.704012739 meters Centerline goodness : 0.991323 Centerline is valid? [True, True] Translation: X:180.60, Y:128.12, Z:0.61 [[-1.76695196e-01 -9.84265517e-01 4.48066482e-04 1.80603648e+02] [ 9.84261933e-01 -1.76695762e-01 -2.65612673e-03 1.28122109e+02] [ 2.69350539e-03 -2.83100517e-05 9.99996372e-01 6.14347530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.734012739 meters Centerline goodness : 0.991927 Centerline is valid? [True, True] Translation: X:180.61, Y:128.12, Z:0.62 [[-1.69865707e-01 -9.85467118e-01 4.49073908e-04 1.80607753e+02] [ 9.85463539e-01 -1.69866300e-01 -2.65595639e-03 1.28116669e+02] [ 2.69364021e-03 -8.60994790e-06 9.99996372e-01 6.18150143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.764012739 meters Centerline goodness : 0.991587 Centerline is valid? [True, True] Translation: X:180.61, Y:128.11, Z:0.62 [[-1.66724158e-01 -9.86003475e-01 4.50081269e-04 1.80608907e+02] [ 9.85999898e-01 -1.66724766e-01 -2.65578567e-03 1.28112589e+02] [ 2.69365359e-03 9.96454755e-07 9.99996372e-01 6.17508786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.794012739 meters Centerline goodness : 0.989979 Centerline is valid? [True, True] Translation: X:180.61, Y:128.13, Z:0.62 [[-1.64032103e-01 -9.86454898e-01 4.51086744e-04 1.80607170e+02] [ 9.86451324e-01 -1.64032723e-01 -2.65561488e-03 1.28125440e+02] [ 2.69363729e-03 9.36902274e-06 9.99996372e-01 6.23021498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.824012739 meters Centerline goodness : 0.991666 Centerline is valid? [True, True] Translation: X:180.61, Y:128.09, Z:0.62 [[-1.60413479e-01 -9.87049802e-01 4.52097300e-04 1.80611307e+02] [ 9.87046230e-01 -1.60414114e-01 -2.65544283e-03 1.28093429e+02] [ 2.69357711e-03 2.02721146e-05 9.99996372e-01 6.18091715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.854012739 meters Centerline goodness : 0.991631 Centerline is valid? [True, True] Translation: X:180.61, Y:128.09, Z:0.62 [[-1.60948779e-01 -9.86962657e-01 4.53102313e-04 1.80613215e+02] [ 9.86959085e-01 -1.60949415e-01 -2.65527133e-03 1.28086898e+02] [ 2.69358020e-03 1.98307658e-05 9.99996372e-01 6.16061861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.884012739 meters Centerline goodness : 0.991652 Centerline is valid? [True, True] Translation: X:180.61, Y:128.09, Z:0.62 [[-1.62200925e-01 -9.86757647e-01 4.54095031e-04 1.80613523e+02] [ 9.86754075e-01 -1.62201560e-01 -2.65510155e-03 1.28085848e+02] [ 2.69359668e-03 1.74201933e-05 9.99996372e-01 6.16081078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.914012739 meters Centerline goodness : 0.992240 Centerline is valid? [True, True] Translation: X:180.61, Y:128.11, Z:0.62 [[-1.63877453e-01 -9.86480600e-01 4.55086563e-04 1.80609752e+02] [ 9.86477027e-01 -1.63878084e-01 -2.65493159e-03 1.28106595e+02] [ 2.69361722e-03 1.38490133e-05 9.99996372e-01 6.17252803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.944012739 meters Centerline goodness : 0.991881 Centerline is valid? [True, True] Translation: X:180.61, Y:128.10, Z:0.62 [[-1.66817730e-01 -9.85987646e-01 4.56086951e-04 1.80609128e+02] [ 9.85984072e-01 -1.66818353e-01 -2.65475972e-03 1.28103776e+02] [ 2.69364396e-03 6.83347849e-06 9.99996372e-01 6.19493497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.974012739 meters Centerline goodness : 0.991434 Centerline is valid? [True, True] Translation: X:180.61, Y:128.10, Z:0.62 [[-1.67477194e-01 -9.85875844e-01 4.57096019e-04 1.80609678e+02] [ 9.85872270e-01 -1.67477818e-01 -2.65458597e-03 1.28097346e+02] [ 2.69364563e-03 6.05567993e-06 9.99996372e-01 6.21090034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.004012739 meters Centerline goodness : 0.992412 Centerline is valid? [True, True] Translation: X:180.61, Y:128.09, Z:0.62 [[-1.65834856e-01 -9.86153432e-01 4.58103527e-04 1.80607614e+02] [ 9.86149859e-01 -1.65835488e-01 -2.65441209e-03 1.28088757e+02] [ 2.69362742e-03 1.15646818e-05 9.99996372e-01 6.21831664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.034012739 meters Centerline goodness : 0.991761 Centerline is valid? [True, True] Translation: X:180.61, Y:128.09, Z:0.62 [[-1.64324894e-01 -9.86406163e-01 4.59107331e-04 1.80606023e+02] [ 9.86402592e-01 -1.64325535e-01 -2.65423846e-03 1.28086590e+02] [ 2.69360024e-03 1.67072071e-05 9.99996372e-01 6.21141946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.064012739 meters Centerline goodness : 0.991995 Centerline is valid? [True, True] Translation: X:180.60, Y:128.08, Z:0.62 [[-1.62997499e-01 -9.86626375e-01 4.60109260e-04 1.80604846e+02] [ 9.86622805e-01 -1.62998147e-01 -2.65406477e-03 1.28082043e+02] [ 2.69356726e-03 2.13483700e-05 9.99996372e-01 6.19830475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.094012739 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:180.61, Y:128.06, Z:0.62 [[-1.61346367e-01 -9.86897734e-01 4.61110792e-04 1.80606864e+02] [ 9.86894166e-01 -1.61347024e-01 -2.65389075e-03 1.28060014e+02] [ 2.69351762e-03 2.68719187e-05 9.99996372e-01 6.17905096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.124012739 meters Centerline goodness : 0.991879 Centerline is valid? [True, True] Translation: X:180.61, Y:128.06, Z:0.62 [[-1.60960595e-01 -9.86960725e-01 4.62104767e-04 1.80605606e+02] [ 9.86957158e-01 -1.60961256e-01 -2.65371767e-03 1.28062572e+02] [ 2.69349608e-03 2.89336337e-05 9.99996372e-01 6.17980047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.154012739 meters Centerline goodness : 0.992594 Centerline is valid? [True, True] Translation: X:180.61, Y:128.05, Z:0.62 [[-1.60511999e-01 -9.87033780e-01 4.63093373e-04 1.80606893e+02] [ 9.87030214e-01 -1.60512664e-01 -2.65354514e-03 1.28049083e+02] [ 2.69347104e-03 3.11613159e-05 9.99996372e-01 6.17328112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.184012739 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:180.60, Y:128.06, Z:0.62 [[-1.60730922e-01 -9.86998154e-01 4.64079839e-04 1.80603536e+02] [ 9.86994588e-01 -1.60731589e-01 -2.65337260e-03 1.28056976e+02] [ 2.69346615e-03 3.15652639e-05 9.99996372e-01 6.16718150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.214012739 meters Centerline goodness : 0.992321 Centerline is valid? [True, True] Translation: X:180.61, Y:128.06, Z:0.62 [[-1.63050154e-01 -9.86617672e-01 4.65066240e-04 1.80605295e+02] [ 9.86614105e-01 -1.63050815e-01 -2.65319970e-03 1.28057826e+02] [ 2.69352314e-03 2.62362935e-05 9.99996372e-01 6.19144679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.244012739 meters Centerline goodness : 0.989925 Centerline is valid? [True, True] Translation: X:180.61, Y:128.06, Z:0.63 [[-1.65249874e-01 -9.86251622e-01 4.66057534e-04 1.80607239e+02] [ 9.86248054e-01 -1.65250530e-01 -2.65302556e-03 1.28057757e+02] [ 2.69356702e-03 2.12361955e-05 9.99996372e-01 6.26842458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.274012739 meters Centerline goodness : 0.992819 Centerline is valid? [True, True] Translation: X:180.61, Y:128.06, Z:0.62 [[-1.67404438e-01 -9.85888196e-01 4.67050533e-04 1.80606556e+02] [ 9.85884627e-01 -1.67405089e-01 -2.65285074e-03 1.28063056e+02] [ 2.69360086e-03 1.63589531e-05 9.99996372e-01 6.17952673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30401273900003 meters Centerline goodness : 0.992417 Centerline is valid? [True, True] Translation: X:180.61, Y:128.07, Z:0.62 [[-1.71039741e-01 -9.85264019e-01 4.68047030e-04 1.80606541e+02] [ 9.85260448e-01 -1.71040382e-01 -2.65267491e-03 1.28067618e+02] [ 2.69364009e-03 7.43539566e-06 9.99996372e-01 6.15396727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.334012739 meters Centerline goodness : 0.991798 Centerline is valid? [True, True] Translation: X:180.61, Y:128.08, Z:0.62 [[-1.72509847e-01 -9.85007682e-01 4.69048850e-04 1.80605669e+02] [ 9.85004110e-01 -1.72510485e-01 -2.65249776e-03 1.28081945e+02] [ 2.69364651e-03 4.43306180e-06 9.99996372e-01 6.16027278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36401273900003 meters Centerline goodness : 0.991950 Centerline is valid? [True, True] Translation: X:180.62, Y:128.05, Z:0.62 [[-1.74121448e-01 -9.84724073e-01 4.70059226e-04 1.80615407e+02] [ 9.84720501e-01 -1.74122082e-01 -2.65231869e-03 1.28048346e+02] [ 2.69364976e-03 1.05138577e-06 9.99996372e-01 6.20432064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.394012739 meters Centerline goodness : 0.992430 Centerline is valid? [True, True] Translation: X:180.61, Y:128.06, Z:0.62 [[-1.74590964e-01 -9.84640936e-01 4.71063718e-04 1.80614721e+02] [ 9.84637365e-01 -1.74591599e-01 -2.65214028e-03 1.28056275e+02] [ 2.69364965e-03 7.87211010e-07 9.99996372e-01 6.20979338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42401273900003 meters Centerline goodness : 0.992171 Centerline is valid? [True, True] Translation: X:180.61, Y:128.08, Z:0.62 [[-1.74447390e-01 -9.84666383e-01 4.72060274e-04 1.80611167e+02] [ 9.84662812e-01 -1.74448029e-01 -2.65196289e-03 1.28079641e+02] [ 2.69364869e-03 2.19219297e-06 9.99996372e-01 6.20498029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.454012739 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:180.62, Y:128.06, Z:0.62 [[-1.73011009e-01 -9.84919777e-01 4.73070110e-04 1.80616650e+02] [ 9.84916207e-01 -1.73011655e-01 -2.65178274e-03 1.28060106e+02] [ 2.69363990e-03 7.14681190e-06 9.99996372e-01 6.17164090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.484012739 meters Centerline goodness : 0.992329 Centerline is valid? [True, True] Translation: X:180.62, Y:128.06, Z:0.62 [[-1.71659583e-01 -9.85156212e-01 4.74082885e-04 1.80617457e+02] [ 9.85152644e-01 -1.71660237e-01 -2.65160166e-03 1.28063324e+02] [ 2.69362303e-03 1.18711719e-05 9.99996372e-01 6.15821476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.514012739 meters Centerline goodness : 0.992053 Centerline is valid? [True, True] Translation: X:180.62, Y:128.05, Z:0.62 [[-1.70729556e-01 -9.85317813e-01 4.75091085e-04 1.80618911e+02] [ 9.85314246e-01 -1.70730217e-01 -2.65142101e-03 1.28052232e+02] [ 2.69360475e-03 1.54380819e-05 9.99996372e-01 6.15262491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.544012739 meters Centerline goodness : 0.992250 Centerline is valid? [True, True] Translation: X:180.62, Y:128.03, Z:0.62 [[-1.69604346e-01 -9.85512120e-01 4.76098212e-04 1.80623206e+02] [ 9.85508554e-01 -1.69605013e-01 -2.65124015e-03 1.28028946e+02] [ 2.69357795e-03 1.95370095e-05 9.99996372e-01 6.15902657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.574012739 meters Centerline goodness : 0.992373 Centerline is valid? [True, True] Translation: X:180.63, Y:128.02, Z:0.62 [[-1.65925515e-01 -9.86138173e-01 4.77094429e-04 1.80625134e+02] [ 9.86134610e-01 -1.65926198e-01 -2.65106087e-03 1.28024585e+02] [ 2.69347479e-03 3.06006892e-05 9.99996372e-01 6.18870443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.604012739 meters Centerline goodness : 0.992997 Centerline is valid? [True, True] Translation: X:180.63, Y:128.02, Z:0.62 [[-1.64682755e-01 -9.86346471e-01 4.78082365e-04 1.80625369e+02] [ 9.86342910e-01 -1.64683445e-01 -2.65088270e-03 1.28021537e+02] [ 2.69342104e-03 3.49984858e-05 9.99996372e-01 6.19655791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.634012739 meters Centerline goodness : 0.992827 Centerline is valid? [True, True] Translation: X:180.63, Y:128.01, Z:0.62 [[-1.61343996e-01 -9.86898113e-01 4.79069270e-04 1.80625598e+02] [ 9.86894554e-01 -1.61344701e-01 -2.65070433e-03 1.28009020e+02] [ 2.69327039e-03 4.51156236e-05 9.99996372e-01 6.18913540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.664012739 meters Centerline goodness : 0.992226 Centerline is valid? [True, True] Translation: X:180.63, Y:127.99, Z:0.62 [[-1.59940641e-01 -9.87126517e-01 4.80052612e-04 1.80629407e+02] [ 9.87122960e-01 -1.59941354e-01 -2.65052623e-03 1.27985398e+02] [ 2.69318499e-03 4.99440910e-05 9.99996372e-01 6.18440019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.694012739 meters Centerline goodness : 0.992540 Centerline is valid? [True, True] Translation: X:180.63, Y:127.99, Z:0.62 [[-1.59104791e-01 -9.87261583e-01 4.81024779e-04 1.80628340e+02] [ 9.87258027e-01 -1.59105509e-01 -2.65034979e-03 1.27991149e+02] [ 2.69312222e-03 5.32122255e-05 9.99996372e-01 6.18104118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.724012739 meters Centerline goodness : 0.992562 Centerline is valid? [True, True] Translation: X:180.63, Y:127.98, Z:0.62 [[-1.57661205e-01 -9.87493145e-01 4.81992561e-04 1.80630646e+02] [ 9.87489591e-01 -1.57661931e-01 -2.65017378e-03 1.27976505e+02] [ 2.69302032e-03 5.81330453e-05 9.99996372e-01 6.17295886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.754012739 meters Centerline goodness : 0.992396 Centerline is valid? [True, True] Translation: X:180.63, Y:127.98, Z:0.62 [[-1.55024142e-01 -9.87910564e-01 4.82958902e-04 1.80629496e+02] [ 9.87907012e-01 -1.55024880e-01 -2.64999766e-03 1.27976946e+02] [ 2.69283133e-03 6.63048709e-05 9.99996372e-01 6.17291336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.784012739 meters Centerline goodness : 0.992726 Centerline is valid? [True, True] Translation: X:180.63, Y:127.98, Z:0.62 [[-1.54250708e-01 -9.88031621e-01 4.83922131e-04 1.80629252e+02] [ 9.88028071e-01 -1.54251451e-01 -2.64982175e-03 1.27975958e+02] [ 2.69275337e-03 6.93917682e-05 9.99996372e-01 6.17919396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.814012739 meters Centerline goodness : 0.993037 Centerline is valid? [True, True] Translation: X:180.63, Y:127.96, Z:0.62 [[-1.53583092e-01 -9.88135618e-01 4.84886971e-04 1.80631668e+02] [ 9.88132068e-01 -1.53583841e-01 -2.64964519e-03 1.27959383e+02] [ 2.69267958e-03 7.21916635e-05 9.99996372e-01 6.19204394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.844012739 meters Centerline goodness : 0.993127 Centerline is valid? [True, True] Translation: X:180.63, Y:127.96, Z:0.62 [[-1.53414782e-01 -9.88161763e-01 4.85847349e-04 1.80628253e+02] [ 9.88158213e-01 -1.53415533e-01 -2.64946908e-03 1.27961534e+02] [ 2.69264056e-03 7.36263285e-05 9.99996372e-01 6.21449571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.874012739 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:180.63, Y:127.96, Z:0.62 [[-1.54346780e-01 -9.88016616e-01 4.86804792e-04 1.80626393e+02] [ 9.88013067e-01 -1.54347531e-01 -2.64929315e-03 1.27961809e+02] [ 2.69268277e-03 7.20596273e-05 9.99996372e-01 6.20384786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.904012739 meters Centerline goodness : 0.992967 Centerline is valid? [True, True] Translation: X:180.62, Y:127.96, Z:0.62 [[-1.56317224e-01 -9.87706782e-01 4.87764737e-04 1.80624712e+02] [ 9.87703232e-01 -1.56317971e-01 -2.64911640e-03 1.27958993e+02] [ 2.69279663e-03 6.76642856e-05 9.99996372e-01 6.16932620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.934012739 meters Centerline goodness : 0.993049 Centerline is valid? [True, True] Translation: X:180.62, Y:127.98, Z:0.62 [[-1.57947235e-01 -9.87447433e-01 4.88725672e-04 1.80619535e+02] [ 9.87443882e-01 -1.57947978e-01 -2.64893911e-03 1.27980794e+02] [ 2.69288135e-03 6.41965667e-05 9.99996372e-01 6.17995234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.964012739 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:180.62, Y:127.96, Z:0.62 [[-1.60810546e-01 -9.86985171e-01 4.89694937e-04 1.80618338e+02] [ 9.86981619e-01 -1.60811282e-01 -2.64875991e-03 1.27963556e+02] [ 2.69303523e-03 5.73713734e-05 9.99996372e-01 6.20480588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.994012739 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:180.62, Y:127.97, Z:0.62 [[-1.61944263e-01 -9.86799785e-01 4.90667847e-04 1.80615522e+02] [ 9.86796232e-01 -1.61944997e-01 -2.64857967e-03 1.27966947e+02] [ 2.69307905e-03 5.52668990e-05 9.99996372e-01 6.20729117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.024012739 meters Centerline goodness : 0.992932 Centerline is valid? [True, True] Translation: X:180.61, Y:127.97, Z:0.62 [[-1.62805901e-01 -9.86657994e-01 4.91637911e-04 1.80613417e+02] [ 9.86654441e-01 -1.62806634e-01 -2.64839960e-03 1.27967215e+02] [ 2.69310655e-03 5.39016462e-05 9.99996372e-01 6.20805977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05401273900003 meters Centerline goodness : 0.993196 Centerline is valid? [True, True] Translation: X:180.61, Y:127.98, Z:0.62 [[-1.65074959e-01 -9.86280901e-01 4.92611001e-04 1.80608172e+02] [ 9.86277347e-01 -1.65075687e-01 -2.64821858e-03 1.27976987e+02] [ 2.69320551e-03 4.86964958e-05 9.99996372e-01 6.18698219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.084012739 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:180.61, Y:127.98, Z:0.62 [[-1.67327182e-01 -9.85901299e-01 4.93589951e-04 1.80606918e+02] [ 9.85897743e-01 -1.67327904e-01 -2.64803611e-03 1.27975264e+02] [ 2.69329361e-03 4.35407992e-05 9.99996372e-01 6.18050153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11401273900003 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:180.60, Y:127.98, Z:0.62 [[-1.72265593e-01 -9.85050415e-01 4.94573577e-04 1.80603329e+02] [ 9.85046857e-01 -1.72266300e-01 -2.64785239e-03 1.27983862e+02] [ 2.69346645e-03 3.10442858e-05 9.99996372e-01 6.16338521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.144012739 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:180.60, Y:127.98, Z:0.62 [[-1.74552505e-01 -9.84647743e-01 4.95561429e-04 1.80603596e+02] [ 9.84644184e-01 -1.74553206e-01 -2.64766749e-03 1.27981520e+02] [ 2.69352165e-03 2.57946870e-05 9.99996372e-01 6.15268397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17401273900003 meters Centerline goodness : 0.994145 Centerline is valid? [True, True] Translation: X:180.60, Y:128.01, Z:0.61 [[-1.77615737e-01 -9.84099793e-01 4.96553393e-04 1.80598285e+02] [ 9.84096232e-01 -1.77616430e-01 -2.64748144e-03 1.28006927e+02] [ 2.69358198e-03 1.84219556e-05 9.99996372e-01 6.14960026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.204012739 meters Centerline goodness : 0.994212 Centerline is valid? [True, True] Translation: X:180.60, Y:127.99, Z:0.61 [[-1.79177005e-01 -9.83816728e-01 4.97555717e-04 1.80599926e+02] [ 9.83813166e-01 -1.79177695e-01 -2.64729305e-03 1.27993054e+02] [ 2.69360208e-03 1.51678251e-05 9.99996372e-01 6.14124153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.234012739 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:180.60, Y:128.00, Z:0.62 [[-1.82078233e-01 -9.83283921e-01 4.98564106e-04 1.80597494e+02] [ 9.83280358e-01 -1.82078915e-01 -2.64710313e-03 1.28001375e+02] [ 2.69363196e-03 8.24843263e-06 9.99996372e-01 6.15634815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.264012739 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:180.60, Y:128.01, Z:0.62 [[-1.83820228e-01 -9.82959752e-01 4.99572087e-04 1.80596766e+02] [ 9.82956188e-01 -1.83820907e-01 -2.64691289e-03 1.28012231e+02] [ 2.69364063e-03 4.50134331e-06 9.99996372e-01 6.17794679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.294012739 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:180.60, Y:127.99, Z:0.62 [[-1.85556161e-01 -9.82633533e-01 5.00589243e-04 1.80603288e+02] [ 9.82629969e-01 -1.85556836e-01 -2.64672051e-03 1.27991641e+02] [ 2.69364408e-03 7.78695629e-07 9.99996372e-01 6.18121681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.324012739 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:180.61, Y:128.00, Z:0.62 [[-1.89187277e-01 -9.81940896e-01 5.01604121e-04 1.80606934e+02] [ 9.81937329e-01 -1.89187942e-01 -2.64652815e-03 1.27999658e+02] [ 2.69363168e-03 -8.14564357e-06 9.99996372e-01 6.15082384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.354012739 meters Centerline goodness : 0.994333 Centerline is valid? [True, True] Translation: X:180.61, Y:127.99, Z:0.61 [[-1.90898658e-01 -9.81609622e-01 5.02615561e-04 1.80612196e+02] [ 9.81606055e-01 -1.90899319e-01 -2.64633605e-03 1.27985603e+02] [ 2.69361790e-03 -1.18115222e-05 9.99996372e-01 6.13784384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.384012739 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:180.61, Y:128.00, Z:0.62 [[-1.91315026e-01 -9.81528556e-01 5.03625914e-04 1.80612601e+02] [ 9.81524990e-01 -1.91315689e-01 -2.64614376e-03 1.28002603e+02] [ 2.69361720e-03 -1.19256432e-05 9.99996372e-01 6.15007392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.414012739 meters Centerline goodness : 0.993745 Centerline is valid? [True, True] Translation: X:180.62, Y:127.99, Z:0.62 [[-1.90452429e-01 -9.81696296e-01 5.04638716e-04 1.80615501e+02] [ 9.81692730e-01 -1.90453097e-01 -2.64595060e-03 1.27992887e+02] [ 2.69362991e-03 -8.52755742e-06 9.99996372e-01 6.16690660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.444012739 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:180.62, Y:127.98, Z:0.62 [[-1.86305916e-01 -9.82491654e-01 5.05655843e-04 1.80617288e+02] [ 9.82488092e-01 -1.86306602e-01 -2.64575620e-03 1.27980476e+02] [ 2.69364041e-03 3.88081164e-06 9.99996372e-01 6.17375482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.474012739 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:180.62, Y:127.98, Z:0.62 [[-1.86679798e-01 -9.82420682e-01 5.06666312e-04 1.80617829e+02] [ 9.82417120e-01 -1.86680486e-01 -2.64556268e-03 1.27978041e+02] [ 2.69364021e-03 3.88455034e-06 9.99996372e-01 6.17368704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.504012739 meters Centerline goodness : 0.994214 Centerline is valid? [True, True] Translation: X:180.62, Y:127.97, Z:0.62 [[-1.84136613e-01 -9.82900529e-01 5.07673035e-04 1.80618601e+02] [ 9.82896969e-01 -1.84137312e-01 -2.64536948e-03 1.27973474e+02] [ 2.69361661e-03 1.18809113e-05 9.99996372e-01 6.16672082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.534012739 meters Centerline goodness : 0.994328 Centerline is valid? [True, True] Translation: X:180.62, Y:127.96, Z:0.62 [[-1.81889347e-01 -9.83318873e-01 5.08678860e-04 1.80622360e+02] [ 9.83315316e-01 -1.81890057e-01 -2.64517606e-03 1.27957891e+02] [ 2.69357517e-03 1.90623682e-05 9.99996372e-01 6.16930293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.564012739 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:180.63, Y:127.95, Z:0.62 [[-1.79811892e-01 -9.83700881e-01 5.09678833e-04 1.80626760e+02] [ 9.83697326e-01 -1.79812613e-01 -2.64498337e-03 1.27948385e+02] [ 2.69351915e-03 2.57702411e-05 9.99996372e-01 6.20616022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.594012739 meters Centerline goodness : 0.994604 Centerline is valid? [True, True] Translation: X:180.63, Y:127.94, Z:0.62 [[-1.80396929e-01 -9.83593761e-01 5.10671240e-04 1.80630003e+02] [ 9.83590206e-01 -1.80397651e-01 -2.64479175e-03 1.27936430e+02] [ 2.69352455e-03 2.51789196e-05 9.99996372e-01 6.21716836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.624012739 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:180.63, Y:127.94, Z:0.62 [[-1.82464419e-01 -9.83212324e-01 5.11657626e-04 1.80629692e+02] [ 9.83208768e-01 -1.82465135e-01 -2.64460091e-03 1.27941311e+02] [ 2.69356388e-03 2.05206966e-05 9.99996372e-01 6.19379221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.654012739 meters Centerline goodness : 0.991972 Centerline is valid? [True, True] Translation: X:180.63, Y:127.95, Z:0.63 [[-1.83123117e-01 -9.83089854e-01 5.12642828e-04 1.80629315e+02] [ 9.83086298e-01 -1.83123833e-01 -2.64440992e-03 1.27946187e+02] [ 2.69356968e-03 1.97195542e-05 9.99996372e-01 6.26308301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.684012739 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:180.63, Y:127.94, Z:0.62 [[-1.81312080e-01 -9.83425475e-01 5.13633245e-04 1.80626099e+02] [ 9.83421921e-01 -1.81312806e-01 -2.64421753e-03 1.27941386e+02] [ 2.69351917e-03 2.56896105e-05 9.99996372e-01 6.15985529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.714012739 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:180.62, Y:127.94, Z:0.62 [[-1.79412276e-01 -9.83773841e-01 5.14625363e-04 1.80623245e+02] [ 9.83770289e-01 -1.79413011e-01 -2.64402443e-03 1.27944631e+02] [ 2.69345255e-03 3.19027018e-05 9.99996372e-01 6.15674359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.744012739 meters Centerline goodness : 0.994407 Centerline is valid? [True, True] Translation: X:180.63, Y:127.92, Z:0.62 [[-1.77734920e-01 -9.84078265e-01 5.15619190e-04 1.80625391e+02] [ 9.84074715e-01 -1.77735664e-01 -2.64383060e-03 1.27924134e+02] [ 2.69338015e-03 3.75067860e-05 9.99996372e-01 6.16744613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.774012739 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:180.63, Y:127.91, Z:0.62 [[-1.76771577e-01 -9.84251768e-01 5.16608741e-04 1.80626376e+02] [ 9.84248218e-01 -1.76772328e-01 -2.64363723e-03 1.27912872e+02] [ 2.69332675e-03 4.11513094e-05 9.99996372e-01 6.20861270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80401273900003 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:180.62, Y:127.93, Z:0.63 [[-1.77949467e-01 -9.84039491e-01 5.17588991e-04 1.80622757e+02] [ 9.84035941e-01 -1.77950215e-01 -2.64344530e-03 1.27928807e+02] [ 2.69335964e-03 3.89264896e-05 9.99996372e-01 6.31815443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.834012739 meters Centerline goodness : 0.994511 Centerline is valid? [True, True] Translation: X:180.62, Y:127.92, Z:0.62 [[-1.82853023e-01 -9.83140124e-01 5.18572653e-04 1.80623395e+02] [ 9.83136571e-01 -1.82853756e-01 -2.64325231e-03 1.27915398e+02] [ 2.69351037e-03 2.65010643e-05 9.99996372e-01 6.23226172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86401273900003 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:180.62, Y:127.93, Z:0.62 [[-1.85836297e-01 -9.82580582e-01 5.19559107e-04 1.80620613e+02] [ 9.82577028e-01 -1.85837023e-01 -2.64305840e-03 1.27934431e+02] [ 2.69357118e-03 1.93306562e-05 9.99996372e-01 6.20563815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.894012739 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:180.62, Y:127.95, Z:0.62 [[-1.89346763e-01 -9.81910145e-01 5.20549341e-04 1.80618275e+02] [ 9.81906588e-01 -1.89347479e-01 -2.64286336e-03 1.27953171e+02] [ 2.69361905e-03 1.07132036e-05 9.99996372e-01 6.18063007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92401273900003 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:180.62, Y:127.96, Z:0.61 [[-1.95003283e-01 -9.80802451e-01 5.21555035e-04 1.80619845e+02] [ 9.80798891e-01 -1.95003980e-01 -2.64266488e-03 1.27955050e+02] [ 2.69363750e-03 -3.78772690e-06 9.99996372e-01 6.14149026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.954012739 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:180.62, Y:127.95, Z:0.61 [[-1.97228754e-01 -9.80357356e-01 5.22569872e-04 1.80622246e+02] [ 9.80353795e-01 -1.97229446e-01 -2.64246419e-03 1.27946506e+02] [ 2.69362537e-03 -8.86656162e-06 9.99996372e-01 6.13965747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.984012739 meters Centerline goodness : 0.994676 Centerline is valid? [True, True] Translation: X:180.63, Y:127.95, Z:0.61 [[-1.98223962e-01 -9.80156613e-01 5.23583795e-04 1.80625060e+02] [ 9.80153052e-01 -1.98224653e-01 -2.64226327e-03 1.27945812e+02] [ 2.69361903e-03 -1.05676399e-05 9.99996372e-01 6.13455724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.014012739 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:180.63, Y:127.93, Z:0.61 [[-1.97202473e-01 -9.80362642e-01 5.24595786e-04 1.80628759e+02] [ 9.80359082e-01 -1.97203171e-01 -2.64206233e-03 1.27930292e+02] [ 2.69363116e-03 -6.72898405e-06 9.99996372e-01 6.13273737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.044012739 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:180.62, Y:127.94, Z:0.62 [[-1.92897382e-01 -9.81218795e-01 5.25603005e-04 1.80624430e+02] [ 9.81215239e-01 -1.92898098e-01 -2.64186195e-03 1.27941102e+02] [ 2.69363241e-03 6.12142366e-06 9.99996372e-01 6.16804830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.074012739 meters Centerline goodness : 0.994242 Centerline is valid? [True, True] Translation: X:180.63, Y:127.92, Z:0.62 [[-1.90467585e-01 -9.81693344e-01 5.26610482e-04 1.80627276e+02] [ 9.81689790e-01 -1.90468312e-01 -2.64166111e-03 1.27919236e+02] [ 2.69360374e-03 1.38173232e-05 9.99996372e-01 6.20475957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.104012739 meters Centerline goodness : 0.994573 Centerline is valid? [True, True] Translation: X:180.63, Y:127.90, Z:0.62 [[-1.88034820e-01 -9.82162221e-01 5.27615717e-04 1.80629859e+02] [ 9.82158669e-01 -1.88035559e-01 -2.64146032e-03 1.27902151e+02] [ 2.69355305e-03 2.15158349e-05 9.99996372e-01 6.23989006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.134012739 meters Centerline goodness : 0.994569 Centerline is valid? [True, True] Translation: X:180.63, Y:127.90, Z:0.62 [[-1.83872481e-01 -9.82949964e-01 5.28608578e-04 1.80628668e+02] [ 9.82946416e-01 -1.83873238e-01 -2.64126161e-03 1.27896674e+02] [ 2.69342498e-03 3.39385811e-05 9.99996372e-01 6.23009361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.164012739 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:180.63, Y:127.88, Z:0.62 [[-1.82579530e-01 -9.83190945e-01 5.29595402e-04 1.80629160e+02] [ 9.83187399e-01 -1.82580294e-01 -2.64106373e-03 1.27879949e+02] [ 2.69336363e-03 3.84873503e-05 9.99996372e-01 6.20442218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.194012739 meters Centerline goodness : 0.994130 Centerline is valid? [True, True] Translation: X:180.62, Y:127.87, Z:0.62 [[-1.80618032e-01 -9.83553174e-01 5.30576115e-04 1.80624047e+02] [ 9.83549629e-01 -1.80618805e-01 -2.64086669e-03 1.27873957e+02] [ 2.69326484e-03 4.48597970e-05 9.99996372e-01 6.16061093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.224012739 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:180.62, Y:127.87, Z:0.62 [[-1.80819246e-01 -9.83516201e-01 5.31551251e-04 1.80621427e+02] [ 9.83512657e-01 -1.80820021e-01 -2.64067041e-03 1.27874631e+02] [ 2.69325723e-03 4.53033523e-05 9.99996372e-01 6.16215972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.254012739 meters Centerline goodness : 0.994004 Centerline is valid? [True, True] Translation: X:180.62, Y:127.88, Z:0.62 [[-1.82045641e-01 -9.83289937e-01 5.32526629e-04 1.80618171e+02] [ 9.83286393e-01 -1.82046415e-01 -2.64047369e-03 1.27881969e+02] [ 2.69329578e-03 4.29394624e-05 9.99996372e-01 6.16617885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.284012739 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:180.61, Y:127.88, Z:0.62 [[-1.85751811e-01 -9.82596550e-01 5.33506804e-04 1.80614254e+02] [ 9.82593003e-01 -1.85752574e-01 -2.64027563e-03 1.27883027e+02] [ 2.69342599e-03 3.37840731e-05 9.99996372e-01 6.15653215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.314012739 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:180.61, Y:127.90, Z:0.61 [[-1.87993926e-01 -9.82170045e-01 5.34492145e-04 1.80607523e+02] [ 9.82166498e-01 -1.87994684e-01 -2.64007615e-03 1.27899089e+02] [ 2.69348539e-03 2.86419972e-05 9.99996372e-01 6.14786623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.344012739 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:180.61, Y:127.89, Z:0.62 [[-1.88855011e-01 -9.82004836e-01 5.35485614e-04 1.80608212e+02] [ 9.82001288e-01 -1.88855768e-01 -2.63987463e-03 1.27886208e+02] [ 2.69349920e-03 2.72940107e-05 9.99996372e-01 6.17009989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.374012739 meters Centerline goodness : 0.994322 Centerline is valid? [True, True] Translation: X:180.61, Y:127.88, Z:0.62 [[-1.89048682e-01 -9.81967570e-01 5.36482591e-04 1.80608250e+02] [ 9.81964022e-01 -1.89049441e-01 -2.63967200e-03 1.27877166e+02] [ 2.69349404e-03 2.77800893e-05 9.99996372e-01 6.18883706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.404012739 meters Centerline goodness : 0.994082 Centerline is valid? [True, True] Translation: X:180.60, Y:127.89, Z:0.62 [[-1.89044423e-01 -9.81968389e-01 5.37473325e-04 1.80600981e+02] [ 9.81964842e-01 -1.89045185e-01 -2.63947026e-03 1.27887490e+02] [ 2.69348311e-03 2.88027759e-05 9.99996372e-01 6.18123127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.434012739 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:180.60, Y:127.89, Z:0.62 [[-1.89035528e-01 -9.81970101e-01 5.38466893e-04 1.80597574e+02] [ 9.81966555e-01 -1.89036292e-01 -2.63926755e-03 1.27891795e+02] [ 2.69347161e-03 2.98411454e-05 9.99996372e-01 6.18130080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.464012739 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:180.60, Y:127.87, Z:0.62 [[-1.86866928e-01 -9.82385088e-01 5.39467912e-04 1.80596521e+02] [ 9.82381544e-01 -1.86867703e-01 -2.63906293e-03 1.27874510e+02] [ 2.69338520e-03 3.68097385e-05 9.99996372e-01 6.21074056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.494012739 meters Centerline goodness : 0.994706 Centerline is valid? [True, True] Translation: X:180.59, Y:127.88, Z:0.62 [[-1.86374768e-01 -9.82478577e-01 5.40466712e-04 1.80593173e+02] [ 9.82475034e-01 -1.86375548e-01 -2.63885836e-03 1.27878668e+02] [ 2.69335159e-03 3.91784356e-05 9.99996372e-01 6.22145333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.524012739 meters Centerline goodness : 0.994849 Centerline is valid? [True, True] Translation: X:180.59, Y:127.86, Z:0.62 [[-1.86603017e-01 -9.82435250e-01 5.41462823e-04 1.80591666e+02] [ 9.82431708e-01 -1.86603798e-01 -2.63865396e-03 1.27862401e+02] [ 2.69334568e-03 3.95694561e-05 9.99996372e-01 6.22869461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55401273900003 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:180.59, Y:127.87, Z:0.62 [[-1.87229934e-01 -9.82315966e-01 5.42456737e-04 1.80586864e+02] [ 9.82312424e-01 -1.87230716e-01 -2.63844961e-03 1.27872292e+02] [ 2.69335574e-03 3.88652452e-05 9.99996372e-01 6.22967580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.584012739 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:180.58, Y:127.88, Z:0.62 [[-1.87555230e-01 -9.82253908e-01 5.43450574e-04 1.80582944e+02] [ 9.82250366e-01 -1.87556013e-01 -2.63824489e-03 1.27875644e+02] [ 2.69335378e-03 3.89878988e-05 9.99996372e-01 6.23084561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61401273900003 meters Centerline goodness : 0.995244 Centerline is valid? [True, True] Translation: X:180.58, Y:127.87, Z:0.62 [[-1.86001105e-01 -9.82549384e-01 5.44451536e-04 1.80575732e+02] [ 9.82545844e-01 -1.86001897e-01 -2.63803831e-03 1.27866815e+02] [ 2.69327193e-03 4.42705530e-05 9.99996372e-01 6.21937382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.644012739 meters Centerline goodness : 0.994846 Centerline is valid? [True, True] Translation: X:180.57, Y:127.86, Z:0.62 [[-1.83985473e-01 -9.82928811e-01 5.45453236e-04 1.80572381e+02] [ 9.82925273e-01 -1.83986275e-01 -2.63783118e-03 1.27856529e+02] [ 2.69315617e-03 5.08171549e-05 9.99996372e-01 6.21345197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67401273900003 meters Centerline goodness : 0.994999 Centerline is valid? [True, True] Translation: X:180.56, Y:127.86, Z:0.62 [[-1.78908046e-01 -9.83865648e-01 5.46450427e-04 1.80560240e+02] [ 9.83862114e-01 -1.78908869e-01 -2.63762458e-03 1.27858797e+02] [ 2.69283305e-03 6.57396118e-05 9.99996372e-01 6.19402817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.704012739 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:180.56, Y:127.85, Z:0.62 [[-1.76975848e-01 -9.84215042e-01 5.47321709e-04 1.80556260e+02] [ 9.84211511e-01 -1.76976680e-01 -2.63744377e-03 1.27848027e+02] [ 2.69267501e-03 7.19164775e-05 9.99996372e-01 6.18395972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.734012739 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:180.55, Y:127.83, Z:0.62 [[-1.75715441e-01 -9.84440849e-01 5.46946570e-04 1.80552846e+02] [ 9.84437318e-01 -1.75716276e-01 -2.63752157e-03 1.27833780e+02] [ 2.69259138e-03 7.49813496e-05 9.99996372e-01 6.17445671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.764012739 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:180.54, Y:127.85, Z:0.62 [[-1.77139790e-01 -9.84185550e-01 5.45962359e-04 1.80538019e+02] [ 9.84182018e-01 -1.77140618e-01 -2.63772528e-03 1.27846358e+02] [ 2.69272322e-03 7.00802337e-05 9.99996372e-01 6.18038462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.794012739 meters Centerline goodness : 0.995194 Centerline is valid? [True, True] Translation: X:180.53, Y:127.86, Z:0.62 [[-1.84283586e-01 -9.82872964e-01 5.45591416e-04 1.80525024e+02] [ 9.82869425e-01 -1.84284387e-01 -2.63780201e-03 1.27861946e+02] [ 2.69316825e-03 5.01415086e-05 9.99996372e-01 6.21204403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.824012739 meters Centerline goodness : 0.995281 Centerline is valid? [True, True] Translation: X:180.52, Y:127.85, Z:0.62 [[-1.88572196e-01 -9.82059179e-01 5.44598253e-04 1.80524099e+02] [ 9.82055636e-01 -1.88572979e-01 -2.63800704e-03 1.27848457e+02] [ 2.69337554e-03 3.73710029e-05 9.99996372e-01 6.21125616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.854012739 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:180.52, Y:127.85, Z:0.62 [[-1.92703033e-01 -9.81256972e-01 5.43605012e-04 1.80522036e+02] [ 9.81253426e-01 -1.92703798e-01 -2.63821169e-03 1.27845393e+02] [ 2.69351837e-03 2.50228851e-05 9.99996372e-01 6.20168509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.884012739 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:180.52, Y:127.81, Z:0.62 [[-2.00167178e-01 -9.79761607e-01 5.42619110e-04 1.80523994e+02] [ 9.79758055e-01 -2.00167913e-01 -2.63841446e-03 1.27814212e+02] [ 2.69363212e-03 3.51146776e-06 9.99996372e-01 6.17240680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.914012739 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:180.52, Y:127.83, Z:0.62 [[-2.02582720e-01 -9.79265004e-01 5.41646695e-04 1.80517710e+02] [ 9.79261449e-01 -2.02583444e-01 -2.63861407e-03 1.27831919e+02] [ 2.69363107e-03 -4.12388874e-06 9.99996372e-01 6.17055735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.944012739 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:180.52, Y:127.82, Z:0.62 [[-2.05739130e-01 -9.78606723e-01 5.40679933e-04 1.80516445e+02] [ 9.78603165e-01 -2.05739840e-01 -2.63881216e-03 1.27821968e+02] [ 2.69359872e-03 -1.37958220e-05 9.99996372e-01 6.16793527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.974012739 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:180.52, Y:127.80, Z:0.62 [[-2.07475083e-01 -9.78240154e-01 5.39711715e-04 1.80522071e+02] [ 9.78236594e-01 -2.07475784e-01 -2.63901017e-03 1.27796500e+02] [ 2.69356282e-03 -1.95631030e-05 9.99996372e-01 6.16431526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.004012739 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:180.53, Y:127.79, Z:0.62 [[-2.13249410e-01 -9.76997645e-01 5.38757110e-04 1.80526586e+02] [ 9.76994081e-01 -2.13250087e-01 -2.63920504e-03 1.27789301e+02] [ 2.69338711e-03 -3.64464082e-05 9.99996372e-01 6.19536421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.034012739 meters Centerline goodness : 0.995658 Centerline is valid? [True, True] Translation: X:180.53, Y:127.78, Z:0.62 [[-2.16073157e-01 -9.76377028e-01 5.37815153e-04 1.80529942e+02] [ 9.76373462e-01 -2.16073822e-01 -2.63939698e-03 1.27783756e+02] [ 2.69325435e-03 -4.51943946e-05 9.99996372e-01 6.21736925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.064012739 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:180.54, Y:127.78, Z:0.63 [[-2.22801261e-01 -9.74863739e-01 5.36879216e-04 1.80537686e+02] [ 9.74860168e-01 -2.22801899e-01 -2.63958734e-03 1.27776479e+02] [ 2.69285569e-03 -6.47212266e-05 9.99996372e-01 6.32469935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.094012739 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:180.54, Y:127.78, Z:0.62 [[-2.25431880e-01 -9.74258785e-01 5.35949508e-04 1.80540456e+02] [ 9.74255211e-01 -2.25432506e-01 -2.63977610e-03 1.27776047e+02] [ 2.69264549e-03 -7.29380883e-05 9.99996372e-01 6.22699252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.124012739 meters Centerline goodness : 0.995703 Centerline is valid? [True, True] Translation: X:180.55, Y:127.75, Z:0.62 [[-2.27183368e-01 -9.73851853e-01 5.35024401e-04 1.80548427e+02] [ 9.73848278e-01 -2.27183984e-01 -2.63996358e-03 1.27751535e+02] [ 2.69248240e-03 -7.87232269e-05 9.99996372e-01 6.21796391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.154012739 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:180.55, Y:127.77, Z:0.62 [[-2.28621952e-01 -9.73515135e-01 5.34108703e-04 1.80551815e+02] [ 9.73511558e-01 -2.28622561e-01 -2.64014883e-03 1.27772053e+02] [ 2.69233414e-03 -8.36349850e-05 9.99996372e-01 6.16872429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.184012739 meters Centerline goodness : 0.995742 Centerline is valid? [True, True] Translation: X:180.55, Y:127.78, Z:0.61 [[-2.28525685e-01 -9.73537738e-01 5.33764583e-04 1.80553799e+02] [ 9.73534161e-01 -2.28526293e-01 -2.64021840e-03 1.27782362e+02] [ 2.69233149e-03 -8.37196634e-05 9.99996372e-01 6.13959919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.214012739 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:180.56, Y:127.77, Z:0.61 [[-2.27512425e-01 -9.73775031e-01 5.33534181e-04 1.80559446e+02] [ 9.73771455e-01 -2.27513036e-01 -2.64026496e-03 1.27772015e+02] [ 2.69241008e-03 -8.11527279e-05 9.99996372e-01 6.12899614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.244012739 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:180.56, Y:127.80, Z:0.62 [[-2.25606395e-01 -9.74218390e-01 5.32616023e-04 1.80560270e+02] [ 9.74214814e-01 -2.25607011e-01 -2.64045017e-03 1.27804879e+02] [ 2.69253702e-03 -7.68200244e-05 9.99996372e-01 6.17702732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.274012739 meters Centerline goodness : 0.996163 Centerline is valid? [True, True] Translation: X:180.57, Y:127.79, Z:0.62 [[-2.23250048e-01 -9.74761064e-01 5.33541043e-04 1.80568447e+02] [ 9.74757491e-01 -2.23250675e-01 -2.64026324e-03 1.27785179e+02] [ 2.69273920e-03 -6.93657662e-05 9.99996372e-01 6.18275350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30401273900003 meters Centerline goodness : 0.996055 Centerline is valid? [True, True] Translation: X:180.57, Y:127.82, Z:0.62 [[-2.19087661e-01 -9.75705034e-01 5.32612944e-04 1.80569161e+02] [ 9.75701463e-01 -2.19088300e-01 -2.64045045e-03 1.27819515e+02] [ 2.69299006e-03 -5.88188836e-05 9.99996372e-01 6.16103204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.334012739 meters Centerline goodness : 0.996055 Centerline is valid? [True, True] Translation: X:180.57, Y:127.82, Z:0.62 [[-2.19131162e-01 -9.75695265e-01 5.33545478e-04 1.80569314e+02] [ 9.75691694e-01 -2.19131804e-01 -2.64026200e-03 1.27818693e+02] [ 2.69300791e-03 -5.79877879e-05 9.99996372e-01 6.16100971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36401273900003 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:180.57, Y:127.83, Z:0.61 [[-2.17566276e-01 -9.76045404e-01 5.33663192e-04 1.80569396e+02] [ 9.76041834e-01 -2.17566924e-01 -2.64023821e-03 1.27833074e+02] [ 2.69309983e-03 -5.35491950e-05 9.99996372e-01 6.13592603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.394012739 meters Centerline goodness : 0.994871 Centerline is valid? [True, True] Translation: X:180.58, Y:127.83, Z:0.61 [[-2.13880862e-01 -9.76859607e-01 5.34612677e-04 1.80575854e+02] [ 9.76856040e-01 -2.13881526e-01 -2.64004594e-03 1.27833124e+02] [ 2.69329801e-03 -4.24156770e-05 9.99996372e-01 6.10933514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42401273900003 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:180.58, Y:127.85, Z:0.61 [[-2.12101506e-01 -9.77247494e-01 5.35567916e-04 1.80577263e+02] [ 9.77243929e-01 -2.12102179e-01 -2.63985214e-03 1.27846229e+02] [ 2.69338401e-03 -3.65361191e-05 9.99996372e-01 6.11688072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.454012739 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:180.58, Y:127.86, Z:0.62 [[-2.07037226e-01 -9.78332918e-01 5.36528507e-04 1.80578206e+02] [ 9.78329358e-01 -2.07037920e-01 -2.63965689e-03 1.27863324e+02] [ 2.69354498e-03 -2.16056517e-05 9.99996372e-01 6.15841469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.484012739 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:180.58, Y:127.86, Z:0.62 [[-2.04179092e-01 -9.78933404e-01 5.37500396e-04 1.80580322e+02] [ 9.78929846e-01 -2.04179799e-01 -2.63945898e-03 1.27855184e+02] [ 2.69360128e-03 -1.27471570e-05 9.99996372e-01 6.18134146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.514012739 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:180.58, Y:127.88, Z:0.62 [[-2.01497316e-01 -9.79488919e-01 5.38476732e-04 1.80576064e+02] [ 9.79485363e-01 -2.01498035e-01 -2.63925978e-03 1.27875917e+02] [ 2.69362771e-03 -4.37368310e-06 9.99996372e-01 6.18888095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.544012739 meters Centerline goodness : 0.995799 Centerline is valid? [True, True] Translation: X:180.58, Y:127.87, Z:0.62 [[-1.97471788e-01 -9.80308422e-01 5.39459301e-04 1.80579301e+02] [ 9.80304870e-01 -1.97472525e-01 -2.63905893e-03 1.27869216e+02] [ 2.69362008e-03 7.69489345e-06 9.99996372e-01 6.19182761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.574012739 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:180.57, Y:127.90, Z:0.62 [[-1.95860565e-01 -9.80631606e-01 5.40448357e-04 1.80573937e+02] [ 9.80628056e-01 -1.95861310e-01 -2.63885637e-03 1.27896233e+02] [ 2.69359888e-03 1.31309224e-05 9.99996372e-01 6.21864636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.604012739 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:180.57, Y:127.89, Z:0.62 [[-1.96161447e-01 -9.80571463e-01 5.41446749e-04 1.80574540e+02] [ 9.80567913e-01 -1.96162193e-01 -2.63865150e-03 1.27887403e+02] [ 2.69359774e-03 1.33236133e-05 9.99996372e-01 6.22416919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.634012739 meters Centerline goodness : 0.994882 Centerline is valid? [True, True] Translation: X:180.58, Y:127.87, Z:0.62 [[-1.96401474e-01 -9.80523415e-01 5.42453335e-04 1.80576421e+02] [ 9.80519865e-01 -1.96402222e-01 -2.63844455e-03 1.27871329e+02] [ 2.69359570e-03 1.36918740e-05 9.99996372e-01 6.20798558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.664012739 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:180.57, Y:127.89, Z:0.62 [[-1.97124131e-01 -9.80378387e-01 5.43452893e-04 1.80570413e+02] [ 9.80374837e-01 -1.97124880e-01 -2.63823865e-03 1.27890157e+02] [ 2.69360024e-03 1.27270405e-05 9.99996372e-01 6.16457209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.694012739 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:180.57, Y:127.88, Z:0.62 [[-1.98931154e-01 -9.80013316e-01 5.44455335e-04 1.80572956e+02] [ 9.80009765e-01 -1.98931899e-01 -2.63803176e-03 1.27875345e+02] [ 2.69361578e-03 8.78484419e-06 9.99996372e-01 6.15819050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.724012739 meters Centerline goodness : 0.995750 Centerline is valid? [True, True] Translation: X:180.58, Y:127.85, Z:0.62 [[-2.02810200e-01 -9.79217915e-01 5.45461350e-04 1.80579252e+02] [ 9.79214362e-01 -2.02810934e-01 -2.63782373e-03 1.27846951e+02] [ 2.69362978e-03 -8.53971402e-07 9.99996372e-01 6.18609623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.754012739 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:180.57, Y:127.88, Z:0.62 [[-2.05274236e-01 -9.78704343e-01 5.45087980e-04 1.80572896e+02] [ 9.78700788e-01 -2.05274959e-01 -2.63790088e-03 1.27880423e+02] [ 2.69361796e-03 -8.01505203e-06 9.99996372e-01 6.18821692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.784012739 meters Centerline goodness : 0.995453 Centerline is valid? [True, True] Translation: X:180.58, Y:127.86, Z:0.62 [[-2.06899815e-01 -9.78361982e-01 5.46079826e-04 1.80579011e+02] [ 9.78358427e-01 -2.06900535e-01 -2.63769554e-03 1.27856189e+02] [ 2.69360524e-03 -1.14769194e-05 9.99996372e-01 6.19492925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.814012739 meters Centerline goodness : 0.995099 Centerline is valid? [True, True] Translation: X:180.58, Y:127.86, Z:0.62 [[-2.06470845e-01 -9.78452601e-01 5.45955797e-04 1.80577557e+02] [ 9.78449046e-01 -2.06471567e-01 -2.63772121e-03 1.27862728e+02] [ 2.69360953e-03 -1.04225989e-05 9.99996372e-01 6.19443657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.844012739 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:180.58, Y:127.87, Z:0.62 [[-2.05163941e-01 -9.78727469e-01 5.46945473e-04 1.80575087e+02] [ 9.78723915e-01 -2.05164670e-01 -2.63751598e-03 1.27870565e+02] [ 2.69362323e-03 -5.81455789e-06 9.99996372e-01 6.18916341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.874012739 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:180.58, Y:127.85, Z:0.62 [[-2.01605242e-01 -9.79466705e-01 5.47942215e-04 1.80575385e+02] [ 9.79463154e-01 -2.01605987e-01 -2.63730889e-03 1.27853587e+02] [ 2.69362468e-03 4.99391356e-06 9.99996372e-01 6.15890713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.904012739 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:180.57, Y:127.86, Z:0.61 [[-1.98385961e-01 -9.80123823e-01 5.48811825e-04 1.80570324e+02] [ 9.80120276e-01 -1.98386720e-01 -2.63712792e-03 1.27863382e+02] [ 2.69358887e-03 1.47324406e-05 9.99996372e-01 6.14982911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.934012739 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:180.57, Y:127.86, Z:0.62 [[-1.97886122e-01 -9.80224862e-01 5.49806297e-04 1.80570177e+02] [ 9.80221316e-01 -1.97886885e-01 -2.63692057e-03 1.27862174e+02] [ 2.69357455e-03 1.71218677e-05 9.99996372e-01 6.16888044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.964012739 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:180.57, Y:127.86, Z:0.62 [[-1.98465701e-01 -9.80107679e-01 5.50805760e-04 1.80571367e+02] [ 9.80104132e-01 -1.98466465e-01 -2.63671178e-03 1.27856980e+02] [ 2.69357793e-03 1.65501487e-05 9.99996372e-01 6.17744163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.994012739 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:180.57, Y:127.86, Z:0.62 [[-2.01436801e-01 -9.79501358e-01 5.51804660e-04 1.80571310e+02] [ 9.79497810e-01 -2.01437557e-01 -2.63650272e-03 1.27863297e+02] [ 2.69361217e-03 9.40278284e-06 9.99996372e-01 6.15736884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.024012739 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:180.58, Y:127.83, Z:0.62 [[-2.03023544e-01 -9.79173700e-01 5.52805777e-04 1.80577607e+02] [ 9.79170151e-01 -2.03024296e-01 -2.63629279e-03 1.27833418e+02] [ 2.69362157e-03 6.06141105e-06 9.99996372e-01 6.16718414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05401273900003 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:180.58, Y:127.83, Z:0.62 [[-2.04080450e-01 -9.78953965e-01 5.52431891e-04 1.80575801e+02] [ 9.78950415e-01 -2.04081198e-01 -2.63637114e-03 1.27834849e+02] [ 2.69362694e-03 2.77162112e-06 9.99996372e-01 6.24146512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.084012739 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:180.57, Y:127.84, Z:0.63 [[-2.04014427e-01 -9.78967726e-01 5.53413702e-04 1.80574142e+02] [ 9.78964176e-01 -2.04015177e-01 -2.63616502e-03 1.27840192e+02] [ 2.69362527e-03 3.95649307e-06 9.99996372e-01 6.26041524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11401273900003 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:180.58, Y:127.83, Z:0.63 [[-2.02533641e-01 -9.79275149e-01 5.54399907e-04 1.80575524e+02] [ 9.79271601e-01 -2.02534399e-01 -2.63595760e-03 1.27833458e+02] [ 2.69361283e-03 9.03799393e-06 9.99996372e-01 6.28231883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.144012739 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:180.57, Y:127.84, Z:0.63 [[-2.02115198e-01 -9.79361597e-01 5.55387475e-04 1.80574035e+02] [ 9.79358051e-01 -2.02115960e-01 -2.63574951e-03 1.27835759e+02] [ 2.69360452e-03 1.11981619e-05 9.99996372e-01 6.28412368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17401273900003 meters Centerline goodness : 0.995797 Centerline is valid? [True, True] Translation: X:180.57, Y:127.85, Z:0.63 [[-2.01929737e-01 -9.79399853e-01 5.56374965e-04 1.80570020e+02] [ 9.79396307e-01 -2.01930503e-01 -2.63554105e-03 1.27846346e+02] [ 2.69359759e-03 1.27174753e-05 9.99996372e-01 6.27680885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.204012739 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:180.57, Y:127.84, Z:0.62 [[-2.01194756e-01 -9.79551101e-01 5.57369165e-04 1.80569255e+02] [ 9.79547556e-01 -2.01195527e-01 -2.63533077e-03 1.27837009e+02] [ 2.69358134e-03 1.57548718e-05 9.99996372e-01 6.24881222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.234012739 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:180.57, Y:127.85, Z:0.62 [[-2.01626001e-01 -9.79462427e-01 5.57120195e-04 1.80566141e+02] [ 9.79458881e-01 -2.01626771e-01 -2.63538341e-03 1.27851674e+02] [ 2.69358937e-03 1.43145048e-05 9.99996372e-01 6.23499858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.264012739 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:180.57, Y:127.84, Z:0.62 [[-2.01776011e-01 -9.79431534e-01 5.58117930e-04 1.80567609e+02] [ 9.79427989e-01 -2.01776783e-01 -2.63517209e-03 1.27839169e+02] [ 2.69358588e-03 1.49218086e-05 9.99996372e-01 6.23737747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.294012739 meters Centerline goodness : 0.994403 Centerline is valid? [True, True] Translation: X:180.56, Y:127.85, Z:0.63 [[-2.02439820e-01 -9.79294546e-01 5.57741484e-04 1.80564418e+02] [ 9.79291001e-01 -2.02440587e-01 -2.63525176e-03 1.27846718e+02] [ 2.69359719e-03 1.27113245e-05 9.99996372e-01 6.26659181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.324012739 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:180.56, Y:127.84, Z:0.63 [[-2.02796799e-01 -9.79220683e-01 5.58738509e-04 1.80563478e+02] [ 9.79217138e-01 -2.02797569e-01 -2.63504035e-03 1.27838853e+02] [ 2.69359682e-03 1.27485741e-05 9.99996372e-01 6.27162553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.354012739 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:180.56, Y:127.85, Z:0.63 [[-2.02897728e-01 -9.79199776e-01 5.58362558e-04 1.80561915e+02] [ 9.79196230e-01 -2.02898496e-01 -2.63512001e-03 1.27845238e+02] [ 2.69359985e-03 1.20866482e-05 9.99996372e-01 6.28276141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.384012739 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:180.56, Y:127.83, Z:0.62 [[-2.02470285e-01 -9.79288248e-01 5.58362558e-04 1.80564810e+02] [ 9.79284702e-01 -2.02471055e-01 -2.63512001e-03 1.27829533e+02] [ 2.69359432e-03 1.32624098e-05 9.99996372e-01 6.23906638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.414012739 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:180.56, Y:127.85, Z:0.62 [[-2.02874349e-01 -9.79204620e-01 5.57988838e-04 1.80560540e+02] [ 9.79201074e-01 -2.02875116e-01 -2.63519915e-03 1.27848810e+02] [ 2.69360123e-03 1.17689570e-05 9.99996372e-01 6.21831955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.444012739 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:180.56, Y:127.84, Z:0.62 [[-2.03116320e-01 -9.79154456e-01 5.58981775e-04 1.80562085e+02] [ 9.79150910e-01 -2.03117089e-01 -2.63498851e-03 1.27842064e+02] [ 2.69359949e-03 1.21183456e-05 9.99996372e-01 6.20823356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.474012739 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:180.57, Y:127.83, Z:0.62 [[-2.05195375e-01 -9.78720872e-01 5.58605623e-04 1.80566116e+02] [ 9.78717325e-01 -2.05196136e-01 -2.63506825e-03 1.27830864e+02] [ 2.69362001e-03 6.01318317e-06 9.99996372e-01 6.20469179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.504012739 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:180.57, Y:127.83, Z:0.62 [[-2.06873675e-01 -9.78367503e-01 5.58232643e-04 1.80566596e+02] [ 9.78363954e-01 -2.06874428e-01 -2.63514726e-03 1.27834337e+02] [ 2.69362650e-03 1.01209948e-06 9.99996372e-01 6.20348119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.534012739 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:180.57, Y:127.82, Z:0.62 [[-2.09993492e-01 -9.77702624e-01 5.58355505e-04 1.80573550e+02] [ 9.77699073e-01 -2.09994234e-01 -2.63512123e-03 1.27818413e+02] [ 2.69361637e-03 -7.45464759e-06 9.99996372e-01 6.21084659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.564012739 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:180.58, Y:127.81, Z:0.62 [[-2.11436428e-01 -9.77391593e-01 5.57985848e-04 1.80576937e+02] [ 9.77388040e-01 -2.11437164e-01 -2.63519950e-03 1.27811330e+02] [ 2.69360078e-03 -1.18084751e-05 9.99996372e-01 6.20367753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.594012739 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:180.58, Y:127.81, Z:0.62 [[-2.14672035e-01 -9.76686033e-01 5.57864960e-04 1.80582224e+02] [ 9.76682478e-01 -2.14672759e-01 -2.63522509e-03 1.27813252e+02] [ 2.69354595e-03 -2.08522010e-05 9.99996372e-01 6.19379471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.624012739 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:180.58, Y:127.83, Z:0.62 [[-2.16591888e-01 -9.76262077e-01 5.58833511e-04 1.80582748e+02] [ 9.76258521e-01 -2.16592607e-01 -2.63501968e-03 1.27829192e+02] [ 2.69350899e-03 -2.51579093e-05 9.99996372e-01 6.21542872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.654012739 meters Centerline goodness : 0.994879 Centerline is valid? [True, True] Translation: X:180.59, Y:127.81, Z:0.62 [[-2.18597132e-01 -9.75815034e-01 5.59809611e-04 1.80590631e+02] [ 9.75811477e-01 -2.18597847e-01 -2.63481229e-03 1.27809639e+02] [ 2.69346262e-03 -2.96937674e-05 9.99996372e-01 6.23614187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.684012739 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:180.60, Y:127.80, Z:0.63 [[-2.21416906e-01 -9.75179081e-01 5.60785633e-04 1.80601393e+02] [ 9.75175522e-01 -2.21417613e-01 -2.63460454e-03 1.27797757e+02] [ 2.69337905e-03 -3.64815640e-05 9.99996372e-01 6.25042765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.714012739 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:180.60, Y:127.82, Z:0.62 [[-2.22519709e-01 -9.74928030e-01 5.61751330e-04 1.80601474e+02] [ 9.74924471e-01 -2.22520415e-01 -2.63439862e-03 1.27819493e+02] [ 2.69335019e-03 -3.85404952e-05 9.99996372e-01 6.24524347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.744012739 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:180.61, Y:127.80, Z:0.63 [[-2.22811988e-01 -9.74861273e-01 5.62720967e-04 1.80614971e+02] [ 9.74857715e-01 -2.22812695e-01 -2.63419148e-03 1.27797839e+02] [ 2.69335264e-03 -3.83565656e-05 9.99996372e-01 6.26565464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.774012739 meters Centerline goodness : 0.994238 Centerline is valid? [True, True] Translation: X:180.61, Y:127.82, Z:0.63 [[-2.22316293e-01 -9.74974435e-01 5.63691609e-04 1.80614815e+02] [ 9.74970877e-01 -2.22317004e-01 -2.63398376e-03 1.27819658e+02] [ 2.69338506e-03 -3.59946013e-05 9.99996372e-01 6.27359371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80401273900003 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:180.62, Y:127.80, Z:0.63 [[-2.21277092e-01 -9.75210813e-01 5.64662800e-04 1.80624057e+02] [ 9.75207257e-01 -2.21277811e-01 -2.63377554e-03 1.27797943e+02] [ 2.69343374e-03 -3.21309342e-05 9.99996372e-01 6.26772674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.834012739 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:180.62, Y:127.85, Z:0.62 [[-2.17378288e-01 -9.76087271e-01 5.65634998e-04 1.80622956e+02] [ 9.76083718e-01 -2.17379023e-01 -2.63356673e-03 1.27845017e+02] [ 2.69354815e-03 -2.03731152e-05 9.99996372e-01 6.23763989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86401273900003 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:180.63, Y:127.83, Z:0.62 [[-2.11265666e-01 -9.77428513e-01 5.66616722e-04 1.80630836e+02] [ 9.77424965e-01 -2.11266426e-01 -2.63335550e-03 1.27834200e+02] [ 2.69362384e-03 -2.51227357e-06 9.99996372e-01 6.23426879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.894012739 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:180.63, Y:127.86, Z:0.63 [[-2.08673704e-01 -9.77985155e-01 5.67612218e-04 1.80627318e+02] [ 9.77981610e-01 -2.08674476e-01 -2.63314090e-03 1.27856730e+02] [ 2.69361890e-03 5.64704408e-06 9.99996372e-01 6.25519903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92401273900003 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:180.63, Y:127.84, Z:0.63 [[-2.07025486e-01 -9.78335385e-01 5.68613385e-04 1.80631934e+02] [ 9.78331842e-01 -2.07026267e-01 -2.63292469e-03 1.27843565e+02] [ 2.69360130e-03 1.12100651e-05 9.99996372e-01 6.28170061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.954012739 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:180.64, Y:127.84, Z:0.63 [[-2.06520150e-01 -9.78442182e-01 5.69619615e-04 1.80636923e+02] [ 9.78438640e-01 -2.06520935e-01 -2.63270698e-03 1.27836418e+02] [ 2.69358994e-03 1.36308027e-05 9.99996372e-01 6.31807180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.984012739 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:180.64, Y:127.83, Z:0.63 [[-2.07683017e-01 -9.78196013e-01 5.70619620e-04 1.80639435e+02] [ 9.78192470e-01 -2.07683801e-01 -2.63249022e-03 1.27833539e+02] [ 2.69359989e-03 1.14523048e-05 9.99996372e-01 6.27798272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.014012739 meters Centerline goodness : 0.993473 Centerline is valid? [True, True] Translation: X:180.64, Y:127.84, Z:0.62 [[-2.08576640e-01 -9.78005858e-01 5.71617401e-04 1.80639144e+02] [ 9.78002316e-01 -2.08577423e-01 -2.63227354e-03 1.27835631e+02] [ 2.69360543e-03 1.00123719e-05 9.99996372e-01 6.24551555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.044012739 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:180.64, Y:127.82, Z:0.62 [[-2.09270340e-01 -9.77857657e-01 5.72616092e-04 1.80641644e+02] [ 9.77854115e-01 -2.09271123e-01 -2.63205627e-03 1.27824241e+02] [ 2.69360839e-03 9.12369074e-06 9.99996372e-01 6.22392611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.074012739 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:180.64, Y:127.83, Z:0.62 [[-2.10827362e-01 -9.77523143e-01 5.73613225e-04 1.80641001e+02] [ 9.77519600e-01 -2.10828143e-01 -2.63183895e-03 1.27830576e+02] [ 2.69361729e-03 5.85450766e-06 9.99996372e-01 6.23638243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.104012739 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:180.64, Y:127.83, Z:0.63 [[-2.11833532e-01 -9.77305594e-01 5.74609946e-04 1.80642157e+02] [ 9.77302051e-01 -2.11834312e-01 -2.63162131e-03 1.27828703e+02] [ 2.69362033e-03 4.10184028e-06 9.99996372e-01 6.25598268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.134012739 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:180.64, Y:127.84, Z:0.63 [[-2.12634964e-01 -9.77131537e-01 5.75610202e-04 1.80641142e+02] [ 9.77127994e-01 -2.12635743e-01 -2.63140251e-03 1.27838129e+02] [ 2.69362168e-03 2.91666475e-06 9.99996372e-01 6.27547650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.164012739 meters Centerline goodness : 0.992583 Centerline is valid? [True, True] Translation: X:180.65, Y:127.82, Z:0.63 [[-2.12035253e-01 -9.77261848e-01 5.76614843e-04 1.80646750e+02] [ 9.77258306e-01 -2.12036037e-01 -2.63118235e-03 1.27824098e+02] [ 2.69361725e-03 5.59822898e-06 9.99996372e-01 6.26951479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.194012739 meters Centerline goodness : 0.992428 Centerline is valid? [True, True] Translation: X:180.65, Y:127.83, Z:0.62 [[-2.10988767e-01 -9.77488315e-01 5.77618909e-04 1.80646952e+02] [ 9.77484775e-01 -2.10989558e-01 -2.63096191e-03 1.27833968e+02] [ 2.69360608e-03 9.51027932e-06 9.99996372e-01 6.23885896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.224012739 meters Centerline goodness : 0.992246 Centerline is valid? [True, True] Translation: X:180.65, Y:127.83, Z:0.62 [[-2.10341128e-01 -9.77627882e-01 5.78622891e-04 1.80649832e+02] [ 9.77624342e-01 -2.10341924e-01 -2.63074109e-03 1.27825272e+02] [ 2.69359449e-03 1.23227754e-05 9.99996372e-01 6.24192042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.254012739 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:180.65, Y:127.81, Z:0.63 [[-2.07707811e-01 -9.78190743e-01 5.79629114e-04 1.80653217e+02] [ 9.78187206e-01 -2.07708618e-01 -2.63051937e-03 1.27811473e+02] [ 2.69354366e-03 2.06063653e-05 9.99996372e-01 6.29734214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.284012739 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:180.65, Y:127.81, Z:0.63 [[-2.08077914e-01 -9.78112082e-01 5.80628286e-04 1.80653827e+02] [ 9.78108545e-01 -2.08078723e-01 -2.63029880e-03 1.27809052e+02] [ 2.69354343e-03 2.06103994e-05 9.99996372e-01 6.29727436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.314012739 meters Centerline goodness : 0.992376 Centerline is valid? [True, True] Translation: X:180.65, Y:127.81, Z:0.63 [[-2.06251044e-01 -9.78498937e-01 5.81623434e-04 1.80654323e+02] [ 9.78495402e-01 -2.06251862e-01 -2.63007873e-03 1.27806897e+02] [ 2.69349016e-03 2.66593716e-05 9.99996372e-01 6.31605996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.344012739 meters Centerline goodness : 0.991909 Centerline is valid? [True, True] Translation: X:180.66, Y:127.79, Z:0.63 [[-2.02048771e-01 -9.79375288e-01 5.82618498e-04 1.80658045e+02] [ 9.79371758e-01 -2.02049607e-01 -2.62985829e-03 1.27792887e+02] [ 2.69333606e-03 3.92404673e-05 9.99996372e-01 6.30645365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.374012739 meters Centerline goodness : 0.991614 Centerline is valid? [True, True] Translation: X:180.66, Y:127.76, Z:0.63 [[-2.00925051e-01 -9.79606443e-01 5.83609093e-04 1.80664960e+02] [ 9.79602914e-01 -2.00925894e-01 -2.62963844e-03 1.27763357e+02] [ 2.69327294e-03 4.33449305e-05 9.99996372e-01 6.30018969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.404012739 meters Centerline goodness : 0.992006 Centerline is valid? [True, True] Translation: X:180.66, Y:127.77, Z:0.63 [[-1.98804002e-01 -9.80039095e-01 5.84585556e-04 1.80660742e+02] [ 9.80035569e-01 -1.98804855e-01 -2.62942135e-03 1.27769074e+02] [ 2.69315416e-03 5.01751501e-05 9.99996372e-01 6.30294416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.434012739 meters Centerline goodness : 0.991888 Centerline is valid? [True, True] Translation: X:180.66, Y:127.75, Z:0.63 [[-1.98210916e-01 -9.80159217e-01 5.85555831e-04 1.80660989e+02] [ 9.80155692e-01 -1.98211774e-01 -2.62920525e-03 1.27753161e+02] [ 2.69310382e-03 5.27986988e-05 9.99996372e-01 6.29836955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.464012739 meters Centerline goodness : 0.991711 Centerline is valid? [True, True] Translation: X:180.66, Y:127.75, Z:0.63 [[-1.98222184e-01 -9.80156937e-01 5.86524320e-04 1.80657726e+02] [ 9.80153413e-01 -1.98223044e-01 -2.62898919e-03 1.27752854e+02] [ 2.69308463e-03 5.37598368e-05 9.99996372e-01 6.29564904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.494012739 meters Centerline goodness : 0.991529 Centerline is valid? [True, True] Translation: X:180.65, Y:127.76, Z:0.63 [[-1.99764107e-01 -9.79843843e-01 5.87489335e-04 1.80652411e+02] [ 9.79840318e-01 -1.99764964e-01 -2.62877352e-03 1.27756465e+02] [ 2.69314733e-03 5.05111419e-05 9.99996372e-01 6.30097868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.524012739 meters Centerline goodness : 0.991321 Centerline is valid? [True, True] Translation: X:180.65, Y:127.75, Z:0.63 [[-2.01730182e-01 -9.79440957e-01 5.88457665e-04 1.80651880e+02] [ 9.79437430e-01 -2.01731035e-01 -2.62855674e-03 1.27747999e+02] [ 2.69322630e-03 4.60982336e-05 9.99996372e-01 6.29907215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55401273900003 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:180.64, Y:127.76, Z:0.63 [[-2.06972510e-01 -9.78346581e-01 5.89426539e-04 1.80643966e+02] [ 9.78343051e-01 -2.06973346e-01 -2.62833946e-03 1.27759738e+02] [ 2.69342251e-03 3.26673437e-05 9.99996372e-01 6.30490073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.584012739 meters Centerline goodness : 0.991239 Centerline is valid? [True, True] Translation: X:180.64, Y:127.78, Z:0.63 [[-2.10225834e-01 -9.77652674e-01 5.90398755e-04 1.80638060e+02] [ 9.77649141e-01 -2.10226662e-01 -2.62812106e-03 1.27780322e+02] [ 2.69350714e-03 2.47038935e-05 9.99996372e-01 6.30859704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61401273900003 meters Centerline goodness : 0.991521 Centerline is valid? [True, True] Translation: X:180.63, Y:127.80, Z:0.63 [[-2.16290762e-01 -9.76328816e-01 5.91384822e-04 1.80633970e+02] [ 9.76325279e-01 -2.16291570e-01 -2.62789915e-03 1.27798972e+02] [ 2.69360522e-03 8.99364220e-06 9.99996372e-01 6.32179534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.644012739 meters Centerline goodness : 0.990944 Centerline is valid? [True, True] Translation: X:180.64, Y:127.78, Z:0.63 [[-2.18639895e-01 -9.75805434e-01 5.92386965e-04 1.80636921e+02] [ 9.75801896e-01 -2.18640698e-01 -2.62767323e-03 1.27783490e+02] [ 2.69361771e-03 3.53812475e-06 9.99996372e-01 6.33061561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67401273900003 meters Centerline goodness : 0.990486 Centerline is valid? [True, True] Translation: X:180.63, Y:127.79, Z:0.63 [[-2.19876574e-01 -9.75527519e-01 5.93392012e-04 1.80634258e+02] [ 9.75523981e-01 -2.19877375e-01 -2.62744624e-03 1.27787731e+02] [ 2.69361959e-03 1.15425916e-06 9.99996372e-01 6.32157532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.704012739 meters Centerline goodness : 0.990584 Centerline is valid? [True, True] Translation: X:180.64, Y:127.78, Z:0.63 [[-2.20123382e-01 -9.75471857e-01 5.94394650e-04 1.80636316e+02] [ 9.75468319e-01 -2.20124185e-01 -2.62721940e-03 1.27780465e+02] [ 2.69361923e-03 1.50072943e-06 9.99996372e-01 6.32333690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.734012739 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:180.64, Y:127.77, Z:0.63 [[-2.20540857e-01 -9.75377556e-01 5.95398361e-04 1.80639096e+02] [ 9.75374018e-01 -2.20541660e-01 -2.62699191e-03 1.27774780e+02] [ 2.69361909e-03 1.37704483e-06 9.99996372e-01 6.33125621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.764012739 meters Centerline goodness : 0.990828 Centerline is valid? [True, True] Translation: X:180.64, Y:127.76, Z:0.63 [[-2.20279817e-01 -9.75436542e-01 5.96398670e-04 1.80642760e+02] [ 9.75433005e-01 -2.20280624e-01 -2.62676480e-03 1.27764139e+02] [ 2.69361744e-03 3.12367812e-06 9.99996372e-01 6.34158797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.794012739 meters Centerline goodness : 0.990105 Centerline is valid? [True, True] Translation: X:180.64, Y:127.77, Z:0.63 [[-2.19517744e-01 -9.75608325e-01 5.97394607e-04 1.80640693e+02] [ 9.75604789e-01 -2.19518557e-01 -2.62653828e-03 1.27772566e+02] [ 2.69361181e-03 6.24928240e-06 9.99996372e-01 6.32375184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.824012739 meters Centerline goodness : 0.989769 Centerline is valid? [True, True] Translation: X:180.64, Y:127.78, Z:0.63 [[-2.16677720e-01 -9.76243006e-01 5.98391118e-04 1.80640074e+02] [ 9.76239474e-01 -2.16678546e-01 -2.62631123e-03 1.27776254e+02] [ 2.69357648e-03 1.51099021e-05 9.99996372e-01 6.29952402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.854012739 meters Centerline goodness : 0.989987 Centerline is valid? [True, True] Translation: X:180.64, Y:127.76, Z:0.63 [[-2.15462143e-01 -9.76512010e-01 5.99393812e-04 1.80644232e+02] [ 9.76508479e-01 -2.15462976e-01 -2.62608236e-03 1.27758164e+02] [ 2.69354814e-03 1.94918066e-05 9.99996372e-01 6.29630031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.884012739 meters Centerline goodness : 0.989766 Centerline is valid? [True, True] Translation: X:180.64, Y:127.76, Z:0.63 [[-2.13368114e-01 -9.76971692e-01 6.00393108e-04 1.80642138e+02] [ 9.76968164e-01 -2.13368958e-01 -2.62585388e-03 1.27759578e+02] [ 2.69349016e-03 2.62914612e-05 9.99996372e-01 6.29244731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.914012739 meters Centerline goodness : 0.989517 Centerline is valid? [True, True] Translation: X:180.64, Y:127.76, Z:0.63 [[-2.12562273e-01 -9.77147337e-01 6.01387887e-04 1.80641004e+02] [ 9.77143810e-01 -2.12563121e-01 -2.62562603e-03 1.27762989e+02] [ 2.69345637e-03 2.95334161e-05 9.99996372e-01 6.29271541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.944012739 meters Centerline goodness : 0.990084 Centerline is valid? [True, True] Translation: X:180.65, Y:127.74, Z:0.63 [[-2.11822688e-01 -9.77307928e-01 6.02386192e-04 1.80646339e+02] [ 9.77304402e-01 -2.11823542e-01 -2.62539697e-03 1.27740735e+02] [ 2.69342085e-03 3.25960341e-05 9.99996372e-01 6.28449692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.974012739 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:180.65, Y:127.72, Z:0.63 [[-2.10768895e-01 -9.77535733e-01 6.03379482e-04 1.80651883e+02] [ 9.77532208e-01 -2.10769756e-01 -2.62516867e-03 1.27722208e+02] [ 2.69337033e-03 3.65189765e-05 9.99996372e-01 6.29459713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.004012739 meters Centerline goodness : 0.990094 Centerline is valid? [True, True] Translation: X:180.65, Y:127.75, Z:0.63 [[-2.11646615e-01 -9.77346072e-01 6.04359494e-04 1.80645829e+02] [ 9.77342548e-01 -2.11647475e-01 -2.62494303e-03 1.27750640e+02] [ 2.69338893e-03 3.51059390e-05 9.99996372e-01 6.30771874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.034012739 meters Centerline goodness : 0.989743 Centerline is valid? [True, True] Translation: X:180.65, Y:127.76, Z:0.63 [[-2.14208915e-01 -9.76787681e-01 6.05344691e-04 1.80645110e+02] [ 9.76784155e-01 -2.14209768e-01 -2.62471582e-03 1.27755014e+02] [ 2.69346082e-03 2.90535764e-05 9.99996372e-01 6.32447598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.064012739 meters Centerline goodness : 0.989707 Centerline is valid? [True, True] Translation: X:180.65, Y:127.74, Z:0.63 [[-2.15640110e-01 -9.76472721e-01 6.06343466e-04 1.80649682e+02] [ 9.76469195e-01 -2.15640961e-01 -2.62448507e-03 1.27738356e+02] [ 2.69349056e-03 2.61314682e-05 9.99996372e-01 6.32100365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.094012739 meters Centerline goodness : 0.989885 Centerline is valid? [True, True] Translation: X:180.65, Y:127.74, Z:0.63 [[-2.16935445e-01 -9.76185763e-01 6.07339197e-04 1.80650887e+02] [ 9.76182236e-01 -2.16936294e-01 -2.62425462e-03 1.27736424e+02] [ 2.69351391e-03 2.35798915e-05 9.99996372e-01 6.28001533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.124012739 meters Centerline goodness : 0.989216 Centerline is valid? [True, True] Translation: X:180.65, Y:127.72, Z:0.63 [[-2.17050150e-01 -9.76160265e-01 6.08329786e-04 1.80653796e+02] [ 9.76156738e-01 -2.17051001e-01 -2.62402497e-03 1.27724829e+02] [ 2.69350750e-03 2.42802049e-05 9.99996372e-01 6.26259199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.154012739 meters Centerline goodness : 0.989053 Centerline is valid? [True, True] Translation: X:180.65, Y:127.73, Z:0.63 [[-2.16126564e-01 -9.76365166e-01 6.09317205e-04 1.80653447e+02] [ 9.76361641e-01 -2.16127421e-01 -2.62379567e-03 1.27729165e+02] [ 2.69347285e-03 2.78420036e-05 9.99996372e-01 6.28716526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.184012739 meters Centerline goodness : 0.989032 Centerline is valid? [True, True] Translation: X:180.65, Y:127.73, Z:0.63 [[-2.16193917e-01 -9.76350254e-01 6.10303414e-04 1.80653750e+02] [ 9.76346729e-01 -2.16194777e-01 -2.62356625e-03 1.27730592e+02] [ 2.69346398e-03 2.86686766e-05 9.99996372e-01 6.31758786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.214012739 meters Centerline goodness : 0.989004 Centerline is valid? [True, True] Translation: X:180.66, Y:127.72, Z:0.63 [[-2.16724014e-01 -9.76232722e-01 6.11293415e-04 1.80657621e+02] [ 9.76229198e-01 -2.16724874e-01 -2.62333556e-03 1.27717328e+02] [ 2.69346850e-03 2.82226680e-05 9.99996372e-01 6.34702517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.244012739 meters Centerline goodness : 0.989016 Centerline is valid? [True, True] Translation: X:180.66, Y:127.71, Z:0.64 [[-2.18226909e-01 -9.75897864e-01 6.12280574e-04 1.80660514e+02] [ 9.75894339e-01 -2.18227767e-01 -2.62310514e-03 1.27714579e+02] [ 2.69349932e-03 2.50890194e-05 9.99996372e-01 6.35928288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.274012739 meters Centerline goodness : 0.988930 Centerline is valid? [True, True] Translation: X:180.66, Y:127.72, Z:0.63 [[-2.19045691e-01 -9.75714410e-01 6.13263318e-04 1.80660270e+02] [ 9.75710885e-01 -2.19046548e-01 -2.62287536e-03 1.27720529e+02] [ 2.69351050e-03 2.38381507e-05 9.99996372e-01 6.33693769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30401273900003 meters Centerline goodness : 0.988889 Centerline is valid? [True, True] Translation: X:180.66, Y:127.71, Z:0.63 [[-2.18257188e-01 -9.75891092e-01 6.14248857e-04 1.80664596e+02] [ 9.75887568e-01 -2.18258051e-01 -2.62264454e-03 1.27713987e+02] [ 2.69348020e-03 2.70268006e-05 9.99996372e-01 6.31062054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.334012739 meters Centerline goodness : 0.989233 Centerline is valid? [True, True] Translation: X:180.66, Y:127.73, Z:0.63 [[-2.17336884e-01 -9.76096461e-01 6.15235281e-04 1.80662258e+02] [ 9.76092938e-01 -2.17337753e-01 -2.62241312e-03 1.27726215e+02] [ 2.69344201e-03 3.05797177e-05 9.99996372e-01 6.32639609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36401273900003 meters Centerline goodness : 0.988962 Centerline is valid? [True, True] Translation: X:180.67, Y:127.69, Z:0.64 [[-2.13858358e-01 -9.76864486e-01 6.16225173e-04 1.80669447e+02] [ 9.76860967e-01 -2.13859242e-01 -2.62218049e-03 1.27692633e+02] [ 2.69330044e-03 4.11911062e-05 9.99996372e-01 6.37691921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.394012739 meters Centerline goodness : 0.988676 Centerline is valid? [True, True] Translation: X:180.67, Y:127.69, Z:0.64 [[-2.11813470e-01 -9.77309917e-01 6.17209009e-04 1.80670177e+02] [ 9.77306401e-01 -2.11814364e-01 -2.62194889e-03 1.27686476e+02] [ 2.69319038e-03 4.78382227e-05 9.99996372e-01 6.38494629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42401273900003 meters Centerline goodness : 0.988658 Centerline is valid? [True, True] Translation: X:180.67, Y:127.69, Z:0.64 [[-2.09917865e-01 -9.77718829e-01 6.18180573e-04 1.80670063e+02] [ 9.77715315e-01 -2.09918769e-01 -2.62171980e-03 1.27687563e+02] [ 2.69307252e-03 5.40587887e-05 9.99996372e-01 6.37294550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.454012739 meters Centerline goodness : 0.989532 Centerline is valid? [True, True] Translation: X:180.67, Y:127.68, Z:0.63 [[-2.08306753e-01 -9.78063348e-01 6.19152052e-04 1.80672268e+02] [ 9.78059837e-01 -2.08307665e-01 -2.62149036e-03 1.27677175e+02] [ 2.69295775e-03 5.94936095e-05 9.99996372e-01 6.32391450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.484012739 meters Centerline goodness : 0.989204 Centerline is valid? [True, True] Translation: X:180.67, Y:127.68, Z:0.63 [[-2.09782599e-01 -9.77747859e-01 6.20121730e-04 1.80668143e+02] [ 9.77744347e-01 -2.09783508e-01 -2.62126096e-03 1.27682469e+02] [ 2.69302360e-03 5.64255795e-05 9.99996372e-01 6.28483358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.514012739 meters Centerline goodness : 0.988102 Centerline is valid? [True, True] Translation: X:180.67, Y:127.68, Z:0.63 [[-2.11411292e-01 -9.77396992e-01 6.21091637e-04 1.80668110e+02] [ 9.77393479e-01 -2.11412197e-01 -2.62103112e-03 1.27680085e+02] [ 2.69309428e-03 5.29353407e-05 9.99996372e-01 6.26824970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.544012739 meters Centerline goodness : 0.988381 Centerline is valid? [True, True] Translation: X:180.67, Y:127.68, Z:0.63 [[-2.13228003e-01 -9.77002268e-01 6.22064581e-04 1.80668177e+02] [ 9.76998754e-01 -2.13228904e-01 -2.62080019e-03 1.27681179e+02] [ 2.69316988e-03 4.89283319e-05 9.99996372e-01 6.26283806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.574012739 meters Centerline goodness : 0.989209 Centerline is valid? [True, True] Translation: X:180.67, Y:127.68, Z:0.63 [[-2.16501339e-01 -9.76282122e-01 6.23038535e-04 1.80670054e+02] [ 9.76278606e-01 -2.16502232e-01 -2.62056863e-03 1.27679284e+02] [ 2.69330354e-03 4.09025740e-05 9.99996372e-01 6.27468409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.604012739 meters Centerline goodness : 0.989148 Centerline is valid? [True, True] Translation: X:180.67, Y:127.69, Z:0.63 [[-2.17896026e-01 -9.75971789e-01 6.24013669e-04 1.80666565e+02] [ 9.75968272e-01 -2.17896916e-01 -2.62033641e-03 1.27689278e+02] [ 2.69334507e-03 3.80566526e-05 9.99996372e-01 6.26972226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.634012739 meters Centerline goodness : 0.989004 Centerline is valid? [True, True] Translation: X:180.67, Y:127.67, Z:0.63 [[-2.19173682e-01 -9.75685660e-01 6.24993301e-04 1.80667909e+02] [ 9.75682142e-01 -2.19174571e-01 -2.62010273e-03 1.27672100e+02] [ 2.69337930e-03 3.55372391e-05 9.99996372e-01 6.25033045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.664012739 meters Centerline goodness : 0.989030 Centerline is valid? [True, True] Translation: X:180.67, Y:127.68, Z:0.62 [[-2.19808191e-01 -9.75542909e-01 6.25972525e-04 1.80665373e+02] [ 9.75539392e-01 -2.19809080e-01 -2.61986876e-03 1.27680769e+02] [ 2.69338884e-03 3.47922429e-05 9.99996372e-01 6.24941604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.694012739 meters Centerline goodness : 0.989137 Centerline is valid? [True, True] Translation: X:180.66, Y:127.69, Z:0.63 [[-2.19461275e-01 -9.75621010e-01 6.26950556e-04 1.80662334e+02] [ 9.75617494e-01 -2.19462168e-01 -2.61963469e-03 1.27685369e+02] [ 2.69336257e-03 3.67555608e-05 9.99996372e-01 6.25541024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.724012739 meters Centerline goodness : 0.988864 Centerline is valid? [True, True] Translation: X:180.66, Y:127.69, Z:0.63 [[-2.19040879e-01 -9.75715481e-01 6.27935198e-04 1.80659702e+02] [ 9.75711965e-01 -2.19041775e-01 -2.61939865e-03 1.27687203e+02] [ 2.69333185e-03 3.89285053e-05 9.99996372e-01 6.28246560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.754012739 meters Centerline goodness : 0.989151 Centerline is valid? [True, True] Translation: X:180.66, Y:127.67, Z:0.63 [[-2.15943387e-01 -9.76405683e-01 6.28924428e-04 1.80660705e+02] [ 9.76402172e-01 -2.15944297e-01 -2.61916111e-03 1.27667770e+02] [ 2.69317644e-03 4.84926573e-05 9.99996372e-01 6.31356243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.784012739 meters Centerline goodness : 0.989042 Centerline is valid? [True, True] Translation: X:180.66, Y:127.65, Z:0.63 [[-2.14929162e-01 -9.76629438e-01 6.29909216e-04 1.80663056e+02] [ 9.76625928e-01 -2.14930078e-01 -2.61892425e-03 1.27648932e+02] [ 2.69310495e-03 5.23024796e-05 9.99996372e-01 6.31683318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.814012739 meters Centerline goodness : 0.989313 Centerline is valid? [True, True] Translation: X:180.65, Y:127.67, Z:0.63 [[-2.14127292e-01 -9.76805561e-01 6.30882471e-04 1.80652400e+02] [ 9.76802053e-01 -2.14128215e-01 -2.61868977e-03 1.27669566e+02] [ 2.69304047e-03 5.55143412e-05 9.99996372e-01 6.31150925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.844012739 meters Centerline goodness : 0.989529 Centerline is valid? [True, True] Translation: X:180.65, Y:127.65, Z:0.63 [[-2.14986722e-01 -9.76616767e-01 6.31858639e-04 1.80654002e+02] [ 9.76613259e-01 -2.14987644e-01 -2.61845422e-03 1.27654070e+02] [ 2.69306809e-03 5.41486356e-05 9.99996372e-01 6.31935928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.874012739 meters Centerline goodness : 0.989014 Centerline is valid? [True, True] Translation: X:180.65, Y:127.66, Z:0.63 [[-2.16941957e-01 -9.76184300e-01 6.32838996e-04 1.80652324e+02] [ 9.76180790e-01 -2.16942874e-01 -2.61821726e-03 1.27655841e+02] [ 2.69315249e-03 4.97640961e-05 9.99996372e-01 6.32836448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.904012739 meters Centerline goodness : 0.989202 Centerline is valid? [True, True] Translation: X:180.65, Y:127.66, Z:0.63 [[-2.23095821e-01 -9.74796314e-01 6.33816090e-04 1.80649208e+02] [ 9.74792799e-01 -2.23096719e-01 -2.61798070e-03 1.27662488e+02] [ 2.69340023e-03 3.37788057e-05 9.99996372e-01 6.34131111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.934012739 meters Centerline goodness : 0.989259 Centerline is valid? [True, True] Translation: X:180.64, Y:127.69, Z:0.63 [[-2.26487461e-01 -9.74013874e-01 6.34798347e-04 1.80641958e+02] [ 9.74010357e-01 -2.26488349e-01 -2.61774251e-03 1.27688320e+02] [ 2.69349195e-03 2.54143099e-05 9.99996372e-01 6.34628850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.964012739 meters Centerline goodness : 0.988525 Centerline is valid? [True, True] Translation: X:180.65, Y:127.68, Z:0.63 [[-2.31938164e-01 -9.72730324e-01 6.35794464e-04 1.80645615e+02] [ 9.72726803e-01 -2.31939036e-01 -2.61750055e-03 1.27675189e+02] [ 2.69358771e-03 1.13560438e-05 9.99996372e-01 6.31870669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.994012739 meters Centerline goodness : 0.988455 Centerline is valid? [True, True] Translation: X:180.66, Y:127.64, Z:0.63 [[-2.34112723e-01 -9.72209251e-01 6.36796954e-04 1.80655001e+02] [ 9.72205728e-01 -2.34113588e-01 -2.61725664e-03 1.27640039e+02] [ 2.69360393e-03 6.36456990e-06 9.99996372e-01 6.30825557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.024012739 meters Centerline goodness : 0.988064 Centerline is valid? [True, True] Translation: X:180.65, Y:127.66, Z:0.63 [[-2.36023421e-01 -9.71747158e-01 6.37165899e-04 1.80649985e+02] [ 9.71743633e-01 -2.36024282e-01 -2.61716681e-03 1.27658743e+02] [ 2.69361104e-03 1.44923964e-06 9.99996372e-01 6.31785302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05401273900003 meters Centerline goodness : 0.988807 Centerline is valid? [True, True] Translation: X:180.65, Y:127.66, Z:0.63 [[-2.36374562e-01 -9.71661803e-01 6.38147850e-04 1.80649428e+02] [ 9.71658279e-01 -2.36375423e-01 -2.61692736e-03 1.27656637e+02] [ 2.69361083e-03 1.48658276e-06 9.99996372e-01 6.30512629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.084012739 meters Centerline goodness : 0.988058 Centerline is valid? [True, True] Translation: X:180.65, Y:127.65, Z:0.62 [[-2.36168018e-01 -9.71712025e-01 6.39137930e-04 1.80649686e+02] [ 9.71708501e-01 -2.36168883e-01 -2.61668553e-03 1.27654396e+02] [ 2.69360928e-03 3.07832514e-06 9.99996372e-01 6.23707327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11401273900003 meters Centerline goodness : 0.988909 Centerline is valid? [True, True] Translation: X:180.65, Y:127.65, Z:0.62 [[-2.36411133e-01 -9.71652904e-01 6.40127919e-04 1.80650641e+02] [ 9.71649382e-01 -2.36412000e-01 -2.61644332e-03 1.27652118e+02] [ 2.69360867e-03 3.42356567e-06 9.99996372e-01 6.19434089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.144012739 meters Centerline goodness : 0.988909 Centerline is valid? [True, True] Translation: X:180.65, Y:127.65, Z:0.62 [[-2.36778883e-01 -9.71563353e-01 6.41118143e-04 1.80651311e+02] [ 9.71559831e-01 -2.36779751e-01 -2.61620066e-03 1.27649697e+02] [ 2.69360848e-03 3.42356546e-06 9.99996372e-01 6.19427311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17401273900003 meters Centerline goodness : 0.988157 Centerline is valid? [True, True] Translation: X:180.65, Y:127.65, Z:0.62 [[-2.36985658e-01 -9.71512937e-01 6.42108275e-04 1.80651394e+02] [ 9.71509415e-01 -2.36986527e-01 -2.61595763e-03 1.27649800e+02] [ 2.69360768e-03 3.86979644e-06 9.99996372e-01 6.17550835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.204012739 meters Centerline goodness : 0.989646 Centerline is valid? [True, True] Translation: X:180.65, Y:127.65, Z:0.62 [[-2.37551280e-01 -9.71374787e-01 6.43098971e-04 1.80650618e+02] [ 9.71371265e-01 -2.37552150e-01 -2.61571405e-03 1.27648856e+02] [ 2.69360822e-03 3.32163943e-06 9.99996372e-01 6.20467593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.234012739 meters Centerline goodness : 0.988744 Centerline is valid? [True, True] Translation: X:180.65, Y:127.66, Z:0.62 [[-2.38374148e-01 -9.71173183e-01 6.44091369e-04 1.80649007e+02] [ 9.71169661e-01 -2.38375018e-01 -2.61546966e-03 1.27656594e+02] [ 2.69360929e-03 2.06164357e-06 9.99996372e-01 6.23356041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.264012739 meters Centerline goodness : 0.989353 Centerline is valid? [True, True] Translation: X:180.65, Y:127.65, Z:0.63 [[-2.40081869e-01 -9.70752430e-01 6.45088099e-04 1.80653559e+02] [ 9.70748907e-01 -2.40082735e-01 -2.61522380e-03 1.27646262e+02] [ 2.69360938e-03 -1.64924970e-06 9.99996372e-01 6.25254316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.294012739 meters Centerline goodness : 0.988917 Centerline is valid? [True, True] Translation: X:180.66, Y:127.63, Z:0.62 [[-2.41480657e-01 -9.70405418e-01 6.46085400e-04 1.80658823e+02] [ 9.70401895e-01 -2.41481521e-01 -2.61497740e-03 1.27629390e+02] [ 2.69360592e-03 -4.50396311e-06 9.99996372e-01 6.23394678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.324012739 meters Centerline goodness : 0.989096 Centerline is valid? [True, True] Translation: X:180.66, Y:127.63, Z:0.62 [[-2.43006821e-01 -9.70024364e-01 6.47073937e-04 1.80661065e+02] [ 9.70020840e-01 -2.43007682e-01 -2.61473276e-03 1.27625011e+02] [ 2.69359842e-03 -7.72269253e-06 9.99996372e-01 6.21627826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.354012739 meters Centerline goodness : 0.988822 Centerline is valid? [True, True] Translation: X:180.66, Y:127.63, Z:0.62 [[-2.42969110e-01 -9.70033809e-01 6.48056411e-04 1.80660087e+02] [ 9.70030286e-01 -2.42969974e-01 -2.61448924e-03 1.27629437e+02] [ 2.69360120e-03 -6.60577816e-06 9.99996372e-01 6.23849664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.384012739 meters Centerline goodness : 0.988596 Centerline is valid? [True, True] Translation: X:180.66, Y:127.62, Z:0.63 [[-2.42563631e-01 -9.70135281e-01 6.49040235e-04 1.80663526e+02] [ 9.70131759e-01 -2.42564499e-01 -2.61424498e-03 1.27617489e+02] [ 2.69360541e-03 -4.46620951e-06 9.99996372e-01 6.26394673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.414012739 meters Centerline goodness : 0.989568 Centerline is valid? [True, True] Translation: X:180.66, Y:127.62, Z:0.63 [[-2.40366015e-01 -9.70682109e-01 6.50022848e-04 1.80664192e+02] [ 9.70678589e-01 -2.40366894e-01 -2.61400064e-03 1.27616936e+02] [ 2.69360762e-03 2.64634537e-06 9.99996372e-01 6.28175011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.444012739 meters Centerline goodness : 0.989571 Centerline is valid? [True, True] Translation: X:180.66, Y:127.62, Z:0.63 [[-2.38951721e-01 -9.71031231e-01 6.51002497e-04 1.80662852e+02] [ 9.71027713e-01 -2.38952608e-01 -2.61375664e-03 1.27621327e+02] [ 2.69359807e-03 7.57981836e-06 9.99996372e-01 6.28064966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.474012739 meters Centerline goodness : 0.989936 Centerline is valid? [True, True] Translation: X:180.66, Y:127.63, Z:0.62 [[-2.36127533e-01 -9.71721855e-01 6.51985249e-04 1.80658597e+02] [ 9.71718340e-01 -2.36128433e-01 -2.61351147e-03 1.27633592e+02] [ 2.69355847e-03 1.64240068e-05 9.99996372e-01 6.24893268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.504012739 meters Centerline goodness : 0.989949 Centerline is valid? [True, True] Translation: X:180.66, Y:127.64, Z:0.62 [[-2.35512521e-01 -9.71871095e-01 6.52976153e-04 1.80655471e+02] [ 9.71867582e-01 -2.35513426e-01 -2.61326387e-03 1.27644970e+02] [ 2.69354028e-03 1.91499917e-05 9.99996372e-01 6.22738314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.534012739 meters Centerline goodness : 0.989601 Centerline is valid? [True, True] Translation: X:180.66, Y:127.64, Z:0.62 [[-2.35145331e-01 -9.71960002e-01 6.53977843e-04 1.80657838e+02] [ 9.71956490e-01 -2.35146239e-01 -2.61301317e-03 1.27635287e+02] [ 2.69352472e-03 2.12001613e-05 9.99996372e-01 6.23646556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.564012739 meters Centerline goodness : 0.989724 Centerline is valid? [True, True] Translation: X:180.66, Y:127.63, Z:0.63 [[-2.34763153e-01 -9.72052382e-01 6.54981611e-04 1.80659996e+02] [ 9.72048871e-01 -2.34764066e-01 -2.61276154e-03 1.27629424e+02] [ 2.69350723e-03 2.32939963e-05 9.99996372e-01 6.30440767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.594012739 meters Centerline goodness : 0.990044 Centerline is valid? [True, True] Translation: X:180.66, Y:127.63, Z:0.63 [[-2.36321104e-01 -9.71674794e-01 6.55981279e-04 1.80661616e+02] [ 9.71671282e-01 -2.36322013e-01 -2.61251054e-03 1.27626357e+02] [ 2.69353345e-03 2.00067972e-05 9.99996372e-01 6.32391967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.624012739 meters Centerline goodness : 0.990276 Centerline is valid? [True, True] Translation: X:180.66, Y:127.63, Z:0.63 [[-2.38141813e-01 -9.71230171e-01 6.56979361e-04 1.80662740e+02] [ 9.71226658e-01 -2.38142719e-01 -2.61225952e-03 1.27626367e+02] [ 2.69356011e-03 1.59876511e-05 9.99996372e-01 6.29247027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.654012739 meters Centerline goodness : 0.990049 Centerline is valid? [True, True] Translation: X:180.67, Y:127.62, Z:0.62 [[-2.40369400e-01 -9.70681265e-01 6.57977680e-04 1.80665689e+02] [ 9.70677751e-01 -2.40370301e-01 -2.61200804e-03 1.27621319e+02] [ 2.69358556e-03 1.08374892e-05 9.99996372e-01 6.24270934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.684012739 meters Centerline goodness : 0.989653 Centerline is valid? [True, True] Translation: X:180.67, Y:127.63, Z:0.62 [[-2.44647057e-01 -9.69611976e-01 6.58975570e-04 1.80667615e+02] [ 9.69608458e-01 -2.44647945e-01 -2.61175626e-03 1.27631340e+02] [ 2.69360716e-03 -1.01975203e-08 9.99996372e-01 6.18485701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.714012739 meters Centerline goodness : 0.990383 Centerline is valid? [True, True] Translation: X:180.67, Y:127.63, Z:0.62 [[-2.45974473e-01 -9.69276082e-01 6.59976681e-04 1.80669335e+02] [ 9.69272564e-01 -2.45975358e-01 -2.61150326e-03 1.27630923e+02] [ 2.69360565e-03 -2.66584688e-06 9.99996372e-01 6.19337972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.744012739 meters Centerline goodness : 0.990346 Centerline is valid? [True, True] Translation: X:180.68, Y:127.61, Z:0.62 [[-2.45121565e-01 -9.69492126e-01 6.60982388e-04 1.80678127e+02] [ 9.69488609e-01 -2.45122456e-01 -2.61124869e-03 1.27607725e+02] [ 2.69360667e-03 7.41531660e-07 9.99996372e-01 6.23803020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.774012739 meters Centerline goodness : 0.989318 Centerline is valid? [True, True] Translation: X:180.68, Y:127.62, Z:0.63 [[-2.43570467e-01 -9.69882977e-01 6.61980654e-04 1.80678093e+02] [ 9.69879463e-01 -2.43571366e-01 -2.61099559e-03 1.27615987e+02] [ 2.69359971e-03 6.08002608e-06 9.99996372e-01 6.26071527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80401273900003 meters Centerline goodness : 0.989789 Centerline is valid? [True, True] Translation: X:180.68, Y:127.60, Z:0.63 [[-2.39442534e-01 -9.70910312e-01 6.62974530e-04 1.80684864e+02] [ 9.70906802e-01 -2.39443451e-01 -2.61074320e-03 1.27598830e+02] [ 2.69354241e-03 1.85635118e-05 9.99996372e-01 6.29442209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.834012739 meters Centerline goodness : 0.989530 Centerline is valid? [True, True] Translation: X:180.69, Y:127.59, Z:0.63 [[-2.37945727e-01 -9.71278225e-01 6.63966507e-04 1.80687429e+02] [ 9.71274717e-01 -2.37946653e-01 -2.61049090e-03 1.27587557e+02] [ 2.69350157e-03 2.37387252e-05 9.99996372e-01 6.29530944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86401273900003 meters Centerline goodness : 0.990241 Centerline is valid? [True, True] Translation: X:180.68, Y:127.60, Z:0.63 [[-2.37034441e-01 -9.71501020e-01 6.64949471e-04 1.80684361e+02] [ 9.71497514e-01 -2.37035372e-01 -2.61024049e-03 1.27597313e+02] [ 2.69346785e-03 2.72798620e-05 9.99996372e-01 6.28083669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.894012739 meters Centerline goodness : 0.989982 Centerline is valid? [True, True] Translation: X:180.69, Y:127.58, Z:0.62 [[-2.37128962e-01 -9.71477952e-01 6.65933787e-04 1.80689168e+02] [ 9.71474447e-01 -2.37129895e-01 -2.60998935e-03 1.27580261e+02] [ 2.69345991e-03 2.80335930e-05 9.99996372e-01 6.23795923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92401273900003 meters Centerline goodness : 0.989847 Centerline is valid? [True, True] Translation: X:180.68, Y:127.61, Z:0.62 [[-2.40072264e-01 -9.70754791e-01 6.66916885e-04 1.80680873e+02] [ 9.70751283e-01 -2.40073190e-01 -2.60973812e-03 1.27611226e+02] [ 2.69352464e-03 2.08846835e-05 9.99996372e-01 6.22555952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.954012739 meters Centerline goodness : 0.989986 Centerline is valid? [True, True] Translation: X:180.68, Y:127.60, Z:0.62 [[-2.41955937e-01 -9.70287008e-01 6.67907012e-04 1.80683166e+02] [ 9.70283499e-01 -2.41956858e-01 -2.60948469e-03 1.27598050e+02] [ 2.69355377e-03 1.66788396e-05 9.99996372e-01 6.23367571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.984012739 meters Centerline goodness : 0.989471 Centerline is valid? [True, True] Translation: X:180.68, Y:127.60, Z:0.62 [[-2.43864997e-01 -9.69808958e-01 6.68905424e-04 1.80680493e+02] [ 9.69805448e-01 -2.43865914e-01 -2.60922874e-03 1.27604570e+02] [ 2.69357663e-03 1.24085671e-05 9.99996372e-01 6.24513381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.014012739 meters Centerline goodness : 0.990263 Centerline is valid? [True, True] Translation: X:180.68, Y:127.60, Z:0.62 [[-2.46459594e-01 -9.69152836e-01 6.69903405e-04 1.80681180e+02] [ 9.69149324e-01 -2.46460505e-01 -2.60897248e-03 1.27595968e+02] [ 2.69359781e-03 6.23013214e-06 9.99996372e-01 6.24739638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.044012739 meters Centerline goodness : 0.990039 Centerline is valid? [True, True] Translation: X:180.68, Y:127.58, Z:0.63 [[-2.48219034e-01 -9.68703701e-01 6.70902288e-04 1.80683151e+02] [ 9.68700189e-01 -2.48219941e-01 -2.60871559e-03 1.27582850e+02] [ 2.69360378e-03 2.37030768e-06 9.99996372e-01 6.26949074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.074012739 meters Centerline goodness : 0.989885 Centerline is valid? [True, True] Translation: X:180.68, Y:127.60, Z:0.63 [[-2.48736687e-01 -9.68570911e-01 6.71895295e-04 1.80678899e+02] [ 9.68567398e-01 -2.48737595e-01 -2.60845981e-03 1.27595770e+02] [ 2.69360392e-03 1.95622509e-06 9.99996372e-01 6.29341932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.104012739 meters Centerline goodness : 0.990137 Centerline is valid? [True, True] Translation: X:180.69, Y:127.57, Z:0.63 [[-2.48689431e-01 -9.68583044e-01 6.72890013e-04 1.80685092e+02] [ 9.68579533e-01 -2.48690342e-01 -2.60820319e-03 1.27571374e+02] [ 2.69360263e-03 3.11492706e-06 9.99996372e-01 6.29903352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.134012739 meters Centerline goodness : 0.990398 Centerline is valid? [True, True] Translation: X:180.68, Y:127.58, Z:0.63 [[-2.47440689e-01 -9.68902808e-01 6.73882494e-04 1.80684823e+02] [ 9.68899298e-01 -2.47441607e-01 -2.60794673e-03 1.27580678e+02] [ 2.69359348e-03 7.61213900e-06 9.99996372e-01 6.28280662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.164012739 meters Centerline goodness : 0.990073 Centerline is valid? [True, True] Translation: X:180.68, Y:127.59, Z:0.63 [[-2.46727041e-01 -9.69084781e-01 6.74870957e-04 1.80684922e+02] [ 9.69081272e-01 -2.46727964e-01 -2.60769092e-03 1.27585915e+02] [ 2.69358312e-03 1.06169410e-05 9.99996372e-01 6.27906790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.194012739 meters Centerline goodness : 0.990312 Centerline is valid? [True, True] Translation: X:180.69, Y:127.57, Z:0.63 [[-2.45596605e-01 -9.69371885e-01 6.75866044e-04 1.80689986e+02] [ 9.69368378e-01 -2.45597535e-01 -2.60743298e-03 1.27570766e+02] [ 2.69356326e-03 1.47864816e-05 9.99996372e-01 6.28271262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.224012739 meters Centerline goodness : 0.990270 Centerline is valid? [True, True] Translation: X:180.70, Y:127.54, Z:0.63 [[-2.42769017e-01 -9.70083886e-01 6.76858892e-04 1.80698315e+02] [ 9.70080383e-01 -2.42769959e-01 -2.60717523e-03 1.27544813e+02] [ 2.69349968e-03 2.36661665e-05 9.99996372e-01 6.28710294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.254012739 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:180.70, Y:127.56, Z:0.63 [[-2.42136630e-01 -9.70241925e-01 6.77838201e-04 1.80695829e+02] [ 9.70238423e-01 -2.42137577e-01 -2.60692059e-03 1.27556364e+02] [ 2.69347375e-03 2.64337006e-05 9.99996372e-01 6.28547020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.284012739 meters Centerline goodness : 0.989930 Centerline is valid? [True, True] Translation: X:180.70, Y:127.55, Z:0.63 [[-2.40624987e-01 -9.70617924e-01 6.78813447e-04 1.80698533e+02] [ 9.70614425e-01 -2.40625943e-01 -2.60666662e-03 1.27550305e+02] [ 2.69341747e-03 3.16370000e-05 9.99996372e-01 6.27857215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.314012739 meters Centerline goodness : 0.989543 Centerline is valid? [True, True] Translation: X:180.70, Y:127.55, Z:0.63 [[-2.40246442e-01 -9.70711690e-01 6.79792564e-04 1.80699361e+02] [ 9.70708191e-01 -2.40247402e-01 -2.60641126e-03 1.27546077e+02] [ 2.69339227e-03 3.36991785e-05 9.99996372e-01 6.26677880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.344012739 meters Centerline goodness : 0.989341 Centerline is valid? [True, True] Translation: X:180.70, Y:127.54, Z:0.63 [[-2.39828509e-01 -9.70815030e-01 6.80769364e-04 1.80699527e+02] [ 9.70811533e-01 -2.39829472e-01 -2.60615610e-03 1.27544468e+02] [ 2.69336407e-03 3.58682187e-05 9.99996372e-01 6.25506839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.374012739 meters Centerline goodness : 0.989545 Centerline is valid? [True, True] Translation: X:180.70, Y:127.52, Z:0.62 [[-2.38595933e-01 -9.71118693e-01 6.81745748e-04 1.80703830e+02] [ 9.71115198e-01 -2.38596903e-01 -2.60590066e-03 1.27523943e+02] [ 2.69330127e-03 4.02963582e-05 9.99996372e-01 6.23839290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.404012739 meters Centerline goodness : 0.989979 Centerline is valid? [True, True] Translation: X:180.70, Y:127.54, Z:0.62 [[-2.38007696e-01 -9.71263029e-01 6.82715877e-04 1.80697432e+02] [ 9.71259534e-01 -2.38008671e-01 -2.60564647e-03 1.27543512e+02] [ 2.69326038e-03 4.29303908e-05 9.99996372e-01 6.23446058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.434012739 meters Centerline goodness : 0.989386 Centerline is valid? [True, True] Translation: X:180.70, Y:127.52, Z:0.62 [[-2.35103075e-01 -9.71970204e-01 6.83687638e-04 1.80700103e+02] [ 9.71966713e-01 -2.35104064e-01 -2.60539147e-03 1.27517319e+02] [ 2.69310062e-03 5.19860790e-05 9.99996372e-01 6.20989841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.464012739 meters Centerline goodness : 0.989438 Centerline is valid? [True, True] Translation: X:180.69, Y:127.53, Z:0.62 [[-2.33564726e-01 -9.72341015e-01 6.84658842e-04 1.80692289e+02] [ 9.72337527e-01 -2.33565722e-01 -2.60513623e-03 1.27534749e+02] [ 2.69299364e-03 5.72515558e-05 9.99996372e-01 6.19680116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.494012739 meters Centerline goodness : 0.989735 Centerline is valid? [True, True] Translation: X:180.69, Y:127.52, Z:0.62 [[-2.30514904e-01 -9.73068553e-01 6.85629317e-04 1.80688159e+02] [ 9.73065069e-01 -2.30515914e-01 -2.60488079e-03 1.27523457e+02] [ 2.69277605e-03 6.66980921e-05 9.99996372e-01 6.21016138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.524012739 meters Centerline goodness : 0.990149 Centerline is valid? [True, True] Translation: X:180.69, Y:127.51, Z:0.62 [[-2.30876839e-01 -9.72982741e-01 6.86604584e-04 1.80687532e+02] [ 9.72979257e-01 -2.30877850e-01 -2.60462370e-03 1.27511344e+02] [ 2.69277570e-03 6.67047312e-05 9.99996372e-01 6.22851929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55401273900003 meters Centerline goodness : 0.990292 Centerline is valid? [True, True] Translation: X:180.68, Y:127.52, Z:0.63 [[-2.33190955e-01 -9.72430720e-01 6.87574237e-04 1.80677443e+02] [ 9.72427235e-01 -2.33191961e-01 -2.60436770e-03 1.27523676e+02] [ 2.69290395e-03 6.13009215e-05 9.99996372e-01 6.26644300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.584012739 meters Centerline goodness : 0.990391 Centerline is valid? [True, True] Translation: X:180.68, Y:127.52, Z:0.63 [[-2.34448911e-01 -9.72128198e-01 6.88546472e-04 1.80675491e+02] [ 9.72124712e-01 -2.34449915e-01 -2.60411064e-03 1.27521829e+02] [ 2.69295904e-03 5.88221372e-05 9.99996372e-01 6.26685449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61401273900003 meters Centerline goodness : 0.990819 Centerline is valid? [True, True] Translation: X:180.67, Y:127.51, Z:0.63 [[-2.35776937e-01 -9.71806957e-01 6.89524948e-04 1.80674793e+02] [ 9.71803470e-01 -2.35777938e-01 -2.60385153e-03 1.27514396e+02] [ 2.69301580e-03 5.61546007e-05 9.99996372e-01 6.25940561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.644012739 meters Centerline goodness : 0.990341 Centerline is valid? [True, True] Translation: X:180.66, Y:127.54, Z:0.62 [[-2.40784766e-01 -9.70578291e-01 6.90502216e-04 1.80661036e+02] [ 9.70574800e-01 -2.40785753e-01 -2.60359235e-03 1.27539525e+02] [ 2.69325331e-03 4.32786756e-05 9.99996372e-01 6.23672295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67401273900003 meters Centerline goodness : 0.990063 Centerline is valid? [True, True] Translation: X:180.66, Y:127.53, Z:0.62 [[-2.46585733e-01 -9.69120735e-01 6.91488548e-04 1.80658616e+02] [ 9.69117238e-01 -2.46586701e-01 -2.60333036e-03 1.27533155e+02] [ 2.69345331e-03 2.81893466e-05 9.99996372e-01 6.23448839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.704012739 meters Centerline goodness : 0.989861 Centerline is valid? [True, True] Translation: X:180.66, Y:127.54, Z:0.62 [[-2.49255890e-01 -9.68437412e-01 6.92484602e-04 1.80657064e+02] [ 9.68433914e-01 -2.49256851e-01 -2.60306538e-03 1.27539422e+02] [ 2.69351243e-03 2.17961943e-05 9.99996372e-01 6.24368000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.734012739 meters Centerline goodness : 0.990604 Centerline is valid? [True, True] Translation: X:180.66, Y:127.53, Z:0.63 [[-2.51617290e-01 -9.67826564e-01 6.93482711e-04 1.80660636e+02] [ 9.67823065e-01 -2.51618245e-01 -2.60279945e-03 1.27526252e+02] [ 2.69355135e-03 1.62592200e-05 9.99996372e-01 6.27060210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.764012739 meters Centerline goodness : 0.990569 Centerline is valid? [True, True] Translation: X:180.67, Y:127.51, Z:0.63 [[-2.56044436e-01 -9.66664764e-01 6.93358678e-04 1.80665038e+02] [ 9.66661260e-01 -2.56045375e-01 -2.60283249e-03 1.27509521e+02] [ 2.69359774e-03 3.80219597e-06 9.99996372e-01 6.29490252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.794012739 meters Centerline goodness : 0.990190 Centerline is valid? [True, True] Translation: X:180.67, Y:127.48, Z:0.63 [[-2.57667339e-01 -9.66233441e-01 6.93112368e-04 1.80674598e+02] [ 9.66229935e-01 -2.57668271e-01 -2.60289808e-03 1.27480424e+02] [ 2.69360023e-03 -9.75903225e-07 9.99996372e-01 6.27520200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.824012739 meters Centerline goodness : 0.990427 Centerline is valid? [True, True] Translation: X:180.67, Y:127.50, Z:0.63 [[-2.60766421e-01 -9.65401675e-01 6.92748275e-04 1.80673143e+02] [ 9.65398166e-01 -2.60767341e-01 -2.60299498e-03 1.27504711e+02] [ 2.69358184e-03 -9.99576959e-06 9.99996372e-01 6.25267095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.854012739 meters Centerline goodness : 0.991253 Centerline is valid? [True, True] Translation: X:180.68, Y:127.49, Z:0.63 [[-2.61752802e-01 -9.65134700e-01 6.93711724e-04 1.80678103e+02] [ 9.65131191e-01 -2.61753721e-01 -2.60273819e-03 1.27493786e+02] [ 2.69357456e-03 -1.17511923e-05 9.99996372e-01 6.25355841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.884012739 meters Centerline goodness : 0.990994 Centerline is valid? [True, True] Translation: X:180.68, Y:127.49, Z:0.62 [[-2.62230271e-01 -9.65005079e-01 6.94680989e-04 1.80683929e+02] [ 9.65001570e-01 -2.62231190e-01 -2.60247946e-03 1.27488458e+02] [ 2.69357292e-03 -1.20806479e-05 9.99996372e-01 6.23607260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.914012739 meters Centerline goodness : 0.991097 Centerline is valid? [True, True] Translation: X:180.69, Y:127.49, Z:0.62 [[-2.62402934e-01 -9.64958142e-01 6.95645640e-04 1.80686973e+02] [ 9.64954634e-01 -2.62403856e-01 -2.60222158e-03 1.27488720e+02] [ 2.69357500e-03 -1.15640943e-05 9.99996372e-01 6.22769181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.944012739 meters Centerline goodness : 0.990742 Centerline is valid? [True, True] Translation: X:180.69, Y:127.50, Z:0.62 [[-2.62605187e-01 -9.64903120e-01 6.96609570e-04 1.80685855e+02] [ 9.64899611e-01 -2.62606111e-01 -2.60196351e-03 1.27504152e+02] [ 2.69357664e-03 -1.11308123e-05 9.99996372e-01 6.23450271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.974012739 meters Centerline goodness : 0.990381 Centerline is valid? [True, True] Translation: X:180.69, Y:127.49, Z:0.63 [[-2.63133601e-01 -9.64759152e-01 6.97579956e-04 1.80693718e+02] [ 9.64755644e-01 -2.63134525e-01 -2.60170333e-03 1.27490200e+02] [ 2.69357447e-03 -1.16013661e-05 9.99996372e-01 6.26294213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.004012739 meters Centerline goodness : 0.990137 Centerline is valid? [True, True] Translation: X:180.69, Y:127.51, Z:0.63 [[-2.62765409e-01 -9.64859499e-01 6.98551976e-04 1.80690759e+02] [ 9.64855992e-01 -2.62766338e-01 -2.60144232e-03 1.27510880e+02] [ 2.69358228e-03 -9.56699606e-06 9.99996372e-01 6.25980288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.034012739 meters Centerline goodness : 0.990386 Centerline is valid? [True, True] Translation: X:180.69, Y:127.51, Z:0.63 [[-2.61882980e-01 -9.65099381e-01 6.99527378e-04 1.80692288e+02] [ 9.65095876e-01 -2.61883914e-01 -2.60118001e-03 1.27507770e+02] [ 2.69359218e-03 -6.09378353e-06 9.99996372e-01 6.25322374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.064012739 meters Centerline goodness : 0.990684 Centerline is valid? [True, True] Translation: X:180.69, Y:127.52, Z:0.62 [[-2.60558060e-01 -9.65457926e-01 7.00510690e-04 1.80690413e+02] [ 9.65454423e-01 -2.60559001e-01 -2.60091517e-03 1.27516047e+02] [ 2.69359853e-03 -1.37826604e-06 9.99996372e-01 6.24634762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.094012739 meters Centerline goodness : 0.990684 Centerline is valid? [True, True] Translation: X:180.69, Y:127.51, Z:0.62 [[-2.60925822e-01 -9.65358598e-01 7.01497465e-04 1.80691138e+02] [ 9.65355095e-01 -2.60926765e-01 -2.60064900e-03 1.27513642e+02] [ 2.69359833e-03 -1.38232433e-06 9.99996372e-01 6.24627985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.124012739 meters Centerline goodness : 0.990276 Centerline is valid? [True, True] Translation: X:180.69, Y:127.51, Z:0.63 [[-2.56451804e-01 -9.66556764e-01 7.02488056e-04 1.80691055e+02] [ 9.66553266e-01 -2.56452766e-01 -2.60038139e-03 1.27511603e+02] [ 2.69357123e-03 1.21196249e-05 9.99996372e-01 6.25531286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.154012739 meters Centerline goodness : 0.989834 Centerline is valid? [True, True] Translation: X:180.69, Y:127.51, Z:0.63 [[-2.53922166e-01 -9.67224399e-01 7.03478545e-04 1.80690498e+02] [ 9.67220905e-01 -2.53923140e-01 -2.60011341e-03 1.27508304e+02] [ 2.69352261e-03 2.01927256e-05 9.99996372e-01 6.26109813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.184012739 meters Centerline goodness : 0.990525 Centerline is valid? [True, True] Translation: X:180.68, Y:127.51, Z:0.63 [[-2.48826405e-01 -9.68547843e-01 7.04468931e-04 1.80684667e+02] [ 9.68544354e-01 -2.48827400e-01 -2.59984505e-03 1.27511012e+02] [ 2.69336548e-03 3.53993088e-05 9.99996372e-01 6.25569489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.214012739 meters Centerline goodness : 0.990664 Centerline is valid? [True, True] Translation: X:180.69, Y:127.50, Z:0.63 [[-2.46588489e-01 -9.69120023e-01 7.05461836e-04 1.80685585e+02] [ 9.69116538e-01 -2.46589494e-01 -2.59957560e-03 1.27500374e+02] [ 2.69326024e-03 4.26493142e-05 9.99996372e-01 6.25593456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.244012739 meters Centerline goodness : 0.991242 Centerline is valid? [True, True] Translation: X:180.69, Y:127.47, Z:0.63 [[-2.41546165e-01 -9.70389072e-01 7.06453821e-04 1.80689619e+02] [ 9.70385592e-01 -2.41547191e-01 -2.59930599e-03 1.27470823e+02] [ 2.69298006e-03 5.76802166e-05 9.99996372e-01 6.27324727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.274012739 meters Centerline goodness : 0.990962 Centerline is valid? [True, True] Translation: X:180.69, Y:127.46, Z:0.63 [[-2.39169443e-01 -9.70977588e-01 7.07433212e-04 1.80690656e+02] [ 9.70974112e-01 -2.39170480e-01 -2.59903941e-03 1.27455573e+02] [ 2.69280616e-03 6.52885272e-05 9.99996372e-01 6.26695680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30401273900003 meters Centerline goodness : 0.990525 Centerline is valid? [True, True] Translation: X:180.69, Y:127.45, Z:0.63 [[-2.36770771e-01 -9.71565284e-01 7.08399066e-04 1.80686717e+02] [ 9.71561811e-01 -2.36771819e-01 -2.59877613e-03 1.27453567e+02] [ 2.69260960e-03 7.29392521e-05 9.99996372e-01 6.25944230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.334012739 meters Centerline goodness : 0.990899 Centerline is valid? [True, True] Translation: X:180.68, Y:127.44, Z:0.62 [[-2.30355949e-01 -9.73106178e-01 7.09360951e-04 1.80679251e+02] [ 9.73102713e-01 -2.30357023e-01 -2.59851354e-03 1.27440844e+02] [ 2.69203586e-03 9.16980126e-05 9.99996372e-01 6.24722682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36401273900003 meters Centerline goodness : 0.990862 Centerline is valid? [True, True] Translation: X:180.67, Y:127.42, Z:0.62 [[-2.24259088e-01 -9.74529301e-01 7.09121119e-04 1.80672677e+02] [ 9.74525843e-01 -2.24260183e-01 -2.59857899e-03 1.27422351e+02] [ 2.69141900e-03 1.08301901e-04 9.99996372e-01 6.24384865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.394012739 meters Centerline goodness : 0.990838 Centerline is valid? [True, True] Translation: X:180.67, Y:127.43, Z:0.63 [[-2.22560186e-01 -9.74918695e-01 7.08763609e-04 1.80665952e+02] [ 9.74915238e-01 -2.22561286e-01 -2.59867650e-03 1.27427211e+02] [ 2.69124164e-03 1.12622517e-04 9.99996372e-01 6.25246515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42401273900003 meters Centerline goodness : 0.990846 Centerline is valid? [True, True] Translation: X:180.66, Y:127.43, Z:0.63 [[-2.21973894e-01 -9.75052352e-01 7.08407955e-04 1.80660772e+02] [ 9.75048895e-01 -2.21974995e-01 -2.59877345e-03 1.27426675e+02] [ 2.69118901e-03 1.13872531e-04 9.99996372e-01 6.26795281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.454012739 meters Centerline goodness : 0.990797 Centerline is valid? [True, True] Translation: X:180.64, Y:127.45, Z:0.63 [[-2.22523189e-01 -9.74927140e-01 7.08052233e-04 1.80643788e+02] [ 9.74923683e-01 -2.22524287e-01 -2.59887036e-03 1.27448619e+02] [ 2.69126807e-03 1.11987971e-04 9.99996372e-01 6.29338835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.484012739 meters Centerline goodness : 0.990819 Centerline is valid? [True, True] Translation: X:180.64, Y:127.43, Z:0.63 [[-2.23600317e-01 -9.74680664e-01 7.07693618e-04 1.80643729e+02] [ 9.74677205e-01 -2.23601410e-01 -2.59896801e-03 1.27430397e+02] [ 2.69140516e-03 1.08642767e-04 9.99996372e-01 6.29497931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.514012739 meters Centerline goodness : 0.990608 Centerline is valid? [True, True] Translation: X:180.62, Y:127.47, Z:0.63 [[-2.29452616e-01 -9.73319576e-01 7.06741969e-04 1.80622970e+02] [ 9.73316110e-01 -2.29453687e-01 -2.59922677e-03 1.27470487e+02] [ 2.69204285e-03 9.14839602e-05 9.99996372e-01 6.29030841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.544012739 meters Centerline goodness : 0.990745 Centerline is valid? [True, True] Translation: X:180.62, Y:127.48, Z:0.63 [[-2.32755641e-01 -9.72534993e-01 7.06380321e-04 1.80615137e+02] [ 9.72531523e-01 -2.32756698e-01 -2.59932505e-03 1.27484021e+02] [ 2.69234932e-03 8.19695611e-05 9.99996372e-01 6.28698080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.574012739 meters Centerline goodness : 0.990405 Centerline is valid? [True, True] Translation: X:180.61, Y:127.48, Z:0.63 [[-2.35894401e-01 -9.71778439e-01 7.05402586e-04 1.80612892e+02] [ 9.71774964e-01 -2.35895445e-01 -2.59959036e-03 1.27482741e+02] [ 2.69262712e-03 7.22637611e-05 9.99996372e-01 6.26964065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.604012739 meters Centerline goodness : 0.991478 Centerline is valid? [True, True] Translation: X:180.61, Y:127.50, Z:0.62 [[-2.42460109e-01 -9.70161120e-01 7.04421549e-04 1.80605448e+02] [ 9.70157638e-01 -2.42461126e-01 -2.59985617e-03 1.27499548e+02] [ 2.69307422e-03 5.30385369e-05 9.99996372e-01 6.24353908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.634012739 meters Centerline goodness : 0.991625 Centerline is valid? [True, True] Translation: X:180.60, Y:127.50, Z:0.62 [[-2.44819637e-01 -9.69568384e-01 7.03436212e-04 1.80604460e+02] [ 9.69564898e-01 -2.44820643e-01 -2.60012274e-03 1.27497033e+02] [ 2.69321251e-03 4.54659547e-05 9.99996372e-01 6.24857912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.664012739 meters Centerline goodness : 0.990577 Centerline is valid? [True, True] Translation: X:180.61, Y:127.47, Z:0.63 [[-2.48947033e-01 -9.68516846e-01 7.02446865e-04 1.80606768e+02] [ 9.68513356e-01 -2.48948022e-01 -2.60039000e-03 1.27474512e+02] [ 2.69339427e-03 3.29697960e-05 9.99996372e-01 6.28630272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.694012739 meters Centerline goodness : 0.990231 Centerline is valid? [True, True] Translation: X:180.61, Y:127.47, Z:0.63 [[-2.50735276e-01 -9.68055437e-01 7.01467765e-04 1.80608030e+02] [ 9.68051944e-01 -2.50736256e-01 -2.60065409e-03 1.27466860e+02] [ 2.69346073e-03 2.69815141e-05 9.99996372e-01 6.29462760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.724012739 meters Centerline goodness : 0.990744 Centerline is valid? [True, True] Translation: X:180.57, Y:127.60, Z:0.63 [[-2.53509145e-01 -9.67332736e-01 7.00500735e-04 1.80571890e+02] [ 9.67329240e-01 -2.53510112e-01 -2.60091453e-03 1.27602654e+02] [ 2.69353379e-03 1.82592236e-05 9.99996372e-01 6.29192137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.754012739 meters Centerline goodness : 0.990567 Centerline is valid? [True, True] Translation: X:180.61, Y:127.45, Z:0.63 [[-2.56836639e-01 -9.66454575e-01 7.03542532e-04 1.80612789e+02] [ 9.66451078e-01 -2.56837602e-01 -2.60009425e-03 1.27451679e+02] [ 2.69356916e-03 1.21399694e-05 9.99996372e-01 6.29503353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.784012739 meters Centerline goodness : 0.990085 Centerline is valid? [True, True] Translation: X:180.62, Y:127.43, Z:0.63 [[-2.58432097e-01 -9.66029172e-01 7.00518100e-04 1.80618125e+02] [ 9.66025670e-01 -2.58433046e-01 -2.60090884e-03 1.27431728e+02] [ 2.69359084e-03 4.56014126e-06 9.99996372e-01 6.29704321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.814012739 meters Centerline goodness : 0.991238 Centerline is valid? [True, True] Translation: X:180.62, Y:127.45, Z:0.63 [[-2.61009164e-01 -9.65336069e-01 6.99573095e-04 1.80617462e+02] [ 9.65332565e-01 -2.61010101e-01 -2.60116300e-03 1.27446755e+02] [ 2.69359211e-03 -3.60668882e-06 9.99996372e-01 6.29803368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.844012739 meters Centerline goodness : 0.990273 Centerline is valid? [True, True] Translation: X:180.62, Y:127.45, Z:0.63 [[-2.61593939e-01 -9.65177768e-01 6.98631563e-04 1.80617489e+02] [ 9.65174262e-01 -2.61594872e-01 -2.60141585e-03 1.27453926e+02] [ 2.69358718e-03 -6.21341619e-06 9.99996372e-01 6.30274327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.874012739 meters Centerline goodness : 0.990648 Centerline is valid? [True, True] Translation: X:180.62, Y:127.44, Z:0.63 [[-2.62149893e-01 -9.65026915e-01 6.97684431e-04 1.80620834e+02] [ 9.65023408e-01 -2.62150822e-01 -2.60166984e-03 1.27444703e+02] [ 2.69357997e-03 -8.74566475e-06 9.99996372e-01 6.29013293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.904012739 meters Centerline goodness : 0.990297 Centerline is valid? [True, True] Translation: X:180.62, Y:127.47, Z:0.62 [[-2.62214019e-01 -9.65009494e-01 6.96739749e-04 1.80616021e+02] [ 9.65005986e-01 -2.62214945e-01 -2.60192281e-03 1.27466980e+02] [ 2.69357579e-03 -9.90260861e-06 9.99996372e-01 6.24181576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.934012739 meters Centerline goodness : 0.990663 Centerline is valid? [True, True] Translation: X:180.62, Y:127.47, Z:0.62 [[-2.61065599e-01 -9.65320812e-01 6.95792432e-04 1.80617692e+02] [ 9.65317304e-01 -2.61066526e-01 -2.60217611e-03 1.27468510e+02] [ 2.69358287e-03 -7.67818938e-06 9.99996372e-01 6.21999971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.964012739 meters Centerline goodness : 0.990814 Centerline is valid? [True, True] Translation: X:180.62, Y:127.46, Z:0.62 [[-2.58465122e-01 -9.66020340e-01 6.94838999e-04 1.80624868e+02] [ 9.66016835e-01 -2.58466056e-01 -2.60243067e-03 1.27462700e+02] [ 2.69359326e-03 -1.41139124e-06 9.99996372e-01 6.19716845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.994012739 meters Centerline goodness : 0.990739 Centerline is valid? [True, True] Translation: X:180.61, Y:127.54, Z:0.62 [[-2.58293502e-01 -9.66066243e-01 6.93889101e-04 1.80605957e+02] [ 9.66062737e-01 -2.58294434e-01 -2.60268392e-03 1.27541772e+02] [ 2.69359277e-03 -1.91593979e-06 9.99996372e-01 6.19381646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.024012739 meters Centerline goodness : 0.990285 Centerline is valid? [True, True] Translation: X:180.62, Y:127.49, Z:0.62 [[-2.56890147e-01 -9.66440359e-01 6.96330868e-04 1.80621123e+02] [ 9.66436856e-01 -2.56891090e-01 -2.60203212e-03 1.27490860e+02] [ 2.69359005e-03 4.52340223e-06 9.99996372e-01 6.19006237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05401273900003 meters Centerline goodness : 0.990135 Centerline is valid? [True, True] Translation: X:180.63, Y:127.49, Z:0.62 [[-2.55867426e-01 -9.66711632e-01 6.93858301e-04 1.80625966e+02] [ 9.66708128e-01 -2.55868367e-01 -2.60269129e-03 1.27493012e+02] [ 2.69358833e-03 4.81453928e-06 9.99996372e-01 6.20354892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.084012739 meters Centerline goodness : 0.990481 Centerline is valid? [True, True] Translation: X:180.63, Y:127.49, Z:0.62 [[-2.55450694e-01 -9.66821836e-01 6.92893482e-04 1.80631455e+02] [ 9.66818332e-01 -2.55451634e-01 -2.60294812e-03 1.27485228e+02] [ 2.69358785e-03 4.97721593e-06 9.99996372e-01 6.20952973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11401273900003 meters Centerline goodness : 0.989983 Centerline is valid? [True, True] Translation: X:180.63, Y:127.51, Z:0.62 [[-2.54772069e-01 -9.67000886e-01 6.91933046e-04 1.80628926e+02] [ 9.66997382e-01 -2.54773008e-01 -2.60320341e-03 1.27508285e+02] [ 2.69358586e-03 5.87392727e-06 9.99996372e-01 6.22914786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.144012739 meters Centerline goodness : 0.989323 Centerline is valid? [True, True] Translation: X:180.63, Y:127.52, Z:0.62 [[-2.53867883e-01 -9.67238657e-01 6.91569557e-04 1.80625986e+02] [ 9.67235154e-01 -2.53868824e-01 -2.60329997e-03 1.27520535e+02] [ 2.69358031e-03 8.01613682e-06 9.99996372e-01 6.24268423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17401273900003 meters Centerline goodness : 0.989722 Centerline is valid? [True, True] Translation: X:180.62, Y:127.53, Z:0.62 [[-2.50980596e-01 -9.67991871e-01 6.91201935e-04 1.80623365e+02] [ 9.67988371e-01 -2.50981547e-01 -2.60339757e-03 1.27529801e+02] [ 2.69354662e-03 1.56731618e-05 9.99996372e-01 6.24750764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.204012739 meters Centerline goodness : 0.989674 Centerline is valid? [True, True] Translation: X:180.63, Y:127.52, Z:0.63 [[-2.48624437e-01 -9.68599717e-01 6.90831898e-04 1.80625283e+02] [ 9.68596218e-01 -2.48625396e-01 -2.60349576e-03 1.27522781e+02] [ 2.69350361e-03 2.18444962e-05 9.99996372e-01 6.25800341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.234012739 meters Centerline goodness : 0.989657 Centerline is valid? [True, True] Translation: X:180.62, Y:127.54, Z:0.63 [[-2.46799450e-01 -9.69066332e-01 6.89852597e-04 1.80619713e+02] [ 9.69062834e-01 -2.46800413e-01 -2.60375522e-03 1.27543105e+02] [ 2.69346743e-03 2.59051565e-05 9.99996372e-01 6.26629936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.264012739 meters Centerline goodness : 0.989207 Centerline is valid? [True, True] Translation: X:180.62, Y:127.55, Z:0.63 [[-2.44424293e-01 -9.69668134e-01 6.89481984e-04 1.80615495e+02] [ 9.69664638e-01 -2.44425264e-01 -2.60385336e-03 1.27552014e+02] [ 2.69340044e-03 3.21212824e-05 9.99996372e-01 6.27616480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.294012739 meters Centerline goodness : 0.989199 Centerline is valid? [True, True] Translation: X:180.62, Y:127.54, Z:0.63 [[-2.43663415e-01 -9.69859611e-01 6.89107760e-04 1.80616793e+02] [ 9.69856116e-01 -2.43664387e-01 -2.60395239e-03 1.27542049e+02] [ 2.69337927e-03 3.38474438e-05 9.99996372e-01 6.26998807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.324012739 meters Centerline goodness : 0.989624 Centerline is valid? [True, True] Translation: X:180.62, Y:127.53, Z:0.63 [[-2.43191527e-01 -9.69978045e-01 6.88117946e-04 1.80616823e+02] [ 9.69974550e-01 -2.43192498e-01 -2.60421393e-03 1.27532933e+02] [ 2.69337546e-03 3.41341333e-05 9.99996372e-01 6.26660265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.354012739 meters Centerline goodness : 0.989524 Centerline is valid? [True, True] Translation: X:180.61, Y:127.55, Z:0.63 [[-2.43744587e-01 -9.69839216e-01 6.87136289e-04 1.80610848e+02] [ 9.69835719e-01 -2.43745553e-01 -2.60447292e-03 1.27551464e+02] [ 2.69340639e-03 3.15831406e-05 9.99996372e-01 6.27403788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.384012739 meters Centerline goodness : 0.989639 Centerline is valid? [True, True] Translation: X:180.61, Y:127.54, Z:0.63 [[-2.44901485e-01 -9.69547725e-01 6.86765165e-04 1.80611237e+02] [ 9.69544227e-01 -2.44902446e-01 -2.60457078e-03 1.27539108e+02] [ 2.69344614e-03 2.79859510e-05 9.99996372e-01 6.27414841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.414012739 meters Centerline goodness : 0.989149 Centerline is valid? [True, True] Translation: X:180.61, Y:127.54, Z:0.63 [[-2.45187340e-01 -9.69475476e-01 6.85780954e-04 1.80607911e+02] [ 9.69471977e-01 -2.45188298e-01 -2.60482989e-03 1.27544220e+02] [ 2.69346416e-03 2.61741028e-05 9.99996372e-01 6.26238124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.444012739 meters Centerline goodness : 0.988955 Centerline is valid? [True, True] Translation: X:180.61, Y:127.55, Z:0.62 [[-2.44997604e-01 -9.69523442e-01 6.84800507e-04 1.80606289e+02] [ 9.69519943e-01 -2.44998560e-01 -2.60508762e-03 1.27546244e+02] [ 2.69346866e-03 2.56875214e-05 9.99996372e-01 6.24379274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.474012739 meters Centerline goodness : 0.989843 Centerline is valid? [True, True] Translation: X:180.60, Y:127.55, Z:0.62 [[-2.44939321e-01 -9.69538169e-01 6.83818844e-04 1.80603253e+02] [ 9.69534669e-01 -2.44940274e-01 -2.60534528e-03 1.27549613e+02] [ 2.69347647e-03 2.48345738e-05 9.99996372e-01 6.23577465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.504012739 meters Centerline goodness : 0.989087 Centerline is valid? [True, True] Translation: X:180.60, Y:127.54, Z:0.63 [[-2.44444241e-01 -9.69663110e-01 6.82836761e-04 1.80604694e+02] [ 9.69659609e-01 -2.44445194e-01 -2.60560265e-03 1.27538229e+02] [ 2.69347293e-03 2.51946650e-05 9.99996372e-01 6.25518752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.534012739 meters Centerline goodness : 0.989404 Centerline is valid? [True, True] Translation: X:180.60, Y:127.55, Z:0.63 [[-2.44251579e-01 -9.69711659e-01 6.81858747e-04 1.80597497e+02] [ 9.69708158e-01 -2.44252530e-01 -2.60585856e-03 1.27554944e+02] [ 2.69347715e-03 2.47189205e-05 9.99996372e-01 6.26869958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.564012739 meters Centerline goodness : 0.989992 Centerline is valid? [True, True] Translation: X:180.61, Y:127.53, Z:0.63 [[-2.44287311e-01 -9.69702659e-01 6.80879994e-04 1.80605258e+02] [ 9.69699157e-01 -2.44288259e-01 -2.60611427e-03 1.27525071e+02] [ 2.69348692e-03 2.36081092e-05 9.99996372e-01 6.26655125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.594012739 meters Centerline goodness : 0.989603 Centerline is valid? [True, True] Translation: X:180.60, Y:127.54, Z:0.63 [[-2.43850868e-01 -9.69812504e-01 6.79907483e-04 1.80602160e+02] [ 9.69809002e-01 -2.43851814e-01 -2.60636796e-03 1.27536273e+02] [ 2.69348491e-03 2.38153081e-05 9.99996372e-01 6.26958775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.624012739 meters Centerline goodness : 0.989675 Centerline is valid? [True, True] Translation: X:180.59, Y:127.56, Z:0.63 [[-2.42800689e-01 -9.70075958e-01 6.78943467e-04 1.80594917e+02] [ 9.70072456e-01 -2.42801637e-01 -2.60661906e-03 1.27559715e+02] [ 2.69346707e-03 2.57354535e-05 9.99996372e-01 6.27256579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.654012739 meters Centerline goodness : 0.989836 Centerline is valid? [True, True] Translation: X:180.59, Y:127.56, Z:0.62 [[-2.41360889e-01 -9.70435192e-01 6.77968566e-04 1.80594367e+02] [ 9.70431691e-01 -2.41361839e-01 -2.60687260e-03 1.27556613e+02] [ 2.69343665e-03 2.87250938e-05 9.99996372e-01 6.24209682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.684012739 meters Centerline goodness : 0.989560 Centerline is valid? [True, True] Translation: X:180.59, Y:127.55, Z:0.62 [[-2.40711024e-01 -9.70596592e-01 6.76987674e-04 1.80594742e+02] [ 9.70593091e-01 -2.40711975e-01 -2.60712731e-03 1.27553367e+02] [ 2.69342792e-03 2.95152734e-05 9.99996372e-01 6.22914993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.714012739 meters Centerline goodness : 0.989605 Centerline is valid? [True, True] Translation: X:180.59, Y:127.55, Z:0.62 [[-2.40695724e-01 -9.70600387e-01 6.76010518e-04 1.80593295e+02] [ 9.70596885e-01 -2.40696672e-01 -2.60738065e-03 1.27554438e+02] [ 2.69343815e-03 2.85483284e-05 9.99996372e-01 6.22228345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.744012739 meters Centerline goodness : 0.989356 Centerline is valid? [True, True] Translation: X:180.59, Y:127.56, Z:0.62 [[-2.41681967e-01 -9.70355281e-01 6.75035799e-04 1.80591340e+02] [ 9.70351777e-01 -2.41682909e-01 -2.60763298e-03 1.27555287e+02] [ 2.69347505e-03 2.48043197e-05 9.99996372e-01 6.20980779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.774012739 meters Centerline goodness : 0.989364 Centerline is valid? [True, True] Translation: X:180.59, Y:127.57, Z:0.62 [[-2.41606620e-01 -9.70374045e-01 6.74061940e-04 1.80589164e+02] [ 9.70370541e-01 -2.41607559e-01 -2.60788469e-03 1.27565464e+02] [ 2.69348208e-03 2.40076440e-05 9.99996372e-01 6.19490090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80401273900003 meters Centerline goodness : 0.989363 Centerline is valid? [True, True] Translation: X:180.59, Y:127.58, Z:0.62 [[-2.41133030e-01 -9.70491839e-01 6.73085610e-04 1.80588847e+02] [ 9.70488334e-01 -2.41133968e-01 -2.60813666e-03 1.27575151e+02] [ 2.69347914e-03 2.43138380e-05 9.99996372e-01 6.19024819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.834012739 meters Centerline goodness : 0.989354 Centerline is valid? [True, True] Translation: X:180.59, Y:127.55, Z:0.62 [[-2.41012219e-01 -9.70521849e-01 6.72103920e-04 1.80594159e+02] [ 9.70518344e-01 -2.41013155e-01 -2.60838961e-03 1.27553640e+02] [ 2.69348499e-03 2.36354145e-05 9.99996372e-01 6.19775876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86401273900003 meters Centerline goodness : 0.989424 Centerline is valid? [True, True] Translation: X:180.59, Y:127.56, Z:0.62 [[-2.40918642e-01 -9.70545083e-01 6.71128357e-04 1.80591725e+02] [ 9.70541577e-01 -2.40919576e-01 -2.60864059e-03 1.27558216e+02] [ 2.69349126e-03 2.28878256e-05 9.99996372e-01 6.20219715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.894012739 meters Centerline goodness : 0.989636 Centerline is valid? [True, True] Translation: X:180.59, Y:127.57, Z:0.62 [[-2.40637674e-01 -9.70614785e-01 6.70160395e-04 1.80587949e+02] [ 9.70611279e-01 -2.40638606e-01 -2.60888924e-03 1.27570308e+02] [ 2.69349293e-03 2.26682010e-05 9.99996372e-01 6.22182020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92401273900003 meters Centerline goodness : 0.989713 Centerline is valid? [True, True] Translation: X:180.59, Y:127.57, Z:0.62 [[-2.40626725e-01 -9.70617500e-01 6.69188119e-04 1.80588190e+02] [ 9.70613994e-01 -2.40627654e-01 -2.60913861e-03 1.27571379e+02] [ 2.69350076e-03 2.16948756e-05 9.99996372e-01 6.24191187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.954012739 meters Centerline goodness : 0.989713 Centerline is valid? [True, True] Translation: X:180.59, Y:127.57, Z:0.62 [[-2.40264135e-01 -9.70707319e-01 6.68212744e-04 1.80587487e+02] [ 9.70703812e-01 -2.40265063e-01 -2.60938838e-03 1.27573826e+02] [ 2.69350058e-03 2.16942168e-05 9.99996372e-01 6.24197971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.984012739 meters Centerline goodness : 0.989609 Centerline is valid? [True, True] Translation: X:180.59, Y:127.57, Z:0.62 [[-2.39827830e-01 -9.70815207e-01 6.67237913e-04 1.80588960e+02] [ 9.70811700e-01 -2.39828757e-01 -2.60963763e-03 1.27573668e+02] [ 2.69349873e-03 2.18986438e-05 9.99996372e-01 6.22716588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.014012739 meters Centerline goodness : 0.989128 Centerline is valid? [True, True] Translation: X:180.59, Y:127.57, Z:0.62 [[-2.39450040e-01 -9.70908458e-01 6.66264089e-04 1.80589846e+02] [ 9.70904951e-01 -2.39450966e-01 -2.60988623e-03 1.27570451e+02] [ 2.69349819e-03 2.19417400e-05 9.99996372e-01 6.21596024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.044012739 meters Centerline goodness : 0.989549 Centerline is valid? [True, True] Translation: X:180.59, Y:127.57, Z:0.62 [[-2.38748280e-01 -9.71081261e-01 6.65293170e-04 1.80590724e+02] [ 9.71077754e-01 -2.38749206e-01 -2.61013371e-03 1.27568716e+02] [ 2.69349015e-03 2.28864638e-05 9.99996372e-01 6.21017329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.074012739 meters Centerline goodness : 0.989471 Centerline is valid? [True, True] Translation: X:180.59, Y:127.57, Z:0.62 [[-2.37607021e-01 -9.71361139e-01 6.64325596e-04 1.80591804e+02] [ 9.71357632e-01 -2.37607949e-01 -2.61037995e-03 1.27567419e+02] [ 2.69347068e-03 2.50531340e-05 9.99996372e-01 6.24744942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.104012739 meters Centerline goodness : 0.989607 Centerline is valid? [True, True] Translation: X:180.59, Y:127.58, Z:0.63 [[-2.36752785e-01 -9.71569698e-01 6.63360722e-04 1.80589981e+02] [ 9.71566191e-01 -2.36753713e-01 -2.61062512e-03 1.27576042e+02] [ 2.69345738e-03 2.64260802e-05 9.99996372e-01 6.26150420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.134012739 meters Centerline goodness : 0.990394 Centerline is valid? [True, True] Translation: X:180.59, Y:127.57, Z:0.63 [[-2.36012045e-01 -9.71749904e-01 6.62395133e-04 1.80591926e+02] [ 9.71746397e-01 -2.36012973e-01 -2.61087010e-03 1.27567877e+02] [ 2.69344661e-03 2.74832932e-05 9.99996372e-01 6.25611677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.164012739 meters Centerline goodness : 0.989802 Centerline is valid? [True, True] Translation: X:180.59, Y:127.58, Z:0.62 [[-2.35980423e-01 -9.71757584e-01 6.61431157e-04 1.80589690e+02] [ 9.71754076e-01 -2.35981349e-01 -2.61111429e-03 1.27580196e+02] [ 2.69345553e-03 2.65765682e-05 9.99996372e-01 6.23227387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.194012739 meters Centerline goodness : 0.989807 Centerline is valid? [True, True] Translation: X:180.59, Y:127.58, Z:0.62 [[-2.36040524e-01 -9.71742988e-01 6.60467401e-04 1.80589461e+02] [ 9.71739480e-01 -2.36041447e-01 -2.61135804e-03 1.27583107e+02] [ 2.69346655e-03 2.54159272e-05 9.99996372e-01 6.22675152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.224012739 meters Centerline goodness : 0.989752 Centerline is valid? [True, True] Translation: X:180.59, Y:127.59, Z:0.62 [[-2.37021693e-01 -9.71504134e-01 6.59500146e-04 1.80587876e+02] [ 9.71500624e-01 -2.37022610e-01 -2.61160230e-03 1.27589961e+02] [ 2.69349887e-03 2.16984042e-05 9.99996372e-01 6.22365551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.254012739 meters Centerline goodness : 0.989630 Centerline is valid? [True, True] Translation: X:180.59, Y:127.59, Z:0.62 [[-2.38099053e-01 -9.71240654e-01 6.58531087e-04 1.80588560e+02] [ 9.71237142e-01 -2.38099963e-01 -2.61184663e-03 1.27588642e+02] [ 2.69352786e-03 1.77116415e-05 9.99996372e-01 6.23413164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.284012739 meters Centerline goodness : 0.989821 Centerline is valid? [True, True] Translation: X:180.59, Y:127.58, Z:0.62 [[-2.40085651e-01 -9.70751486e-01 6.57561623e-04 1.80592783e+02] [ 9.70747972e-01 -2.40086551e-01 -2.61209068e-03 1.27581240e+02] [ 2.69356261e-03 1.12011207e-05 9.99996372e-01 6.23438568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.314012739 meters Centerline goodness : 0.989634 Centerline is valid? [True, True] Translation: X:180.58, Y:127.65, Z:0.63 [[-2.48333668e-01 -9.68674330e-01 6.56597196e-04 1.80580491e+02] [ 9.68670808e-01 -2.48334535e-01 -2.61233308e-03 1.27654016e+02] [ 2.69355576e-03 -1.27037192e-05 9.99996372e-01 6.25066192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.344012739 meters Centerline goodness : 0.989913 Centerline is valid? [True, True] Translation: X:180.61, Y:127.56, Z:0.63 [[-2.51110241e-01 -9.67958269e-01 6.60296756e-04 1.80605110e+02] [ 9.67954747e-01 -2.51111109e-01 -2.61140210e-03 1.27564528e+02] [ 2.69353611e-03 -1.66124328e-05 9.99996372e-01 6.25379532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.374012739 meters Centerline goodness : 0.990028 Centerline is valid? [True, True] Translation: X:180.62, Y:127.54, Z:0.63 [[-2.56715159e-01 -9.66486884e-01 6.56623362e-04 1.80615042e+02] [ 9.66483354e-01 -2.56715996e-01 -2.61232543e-03 1.27544729e+02] [ 2.69334399e-03 -3.60079898e-05 9.99996372e-01 6.25994121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.404012739 meters Centerline goodness : 0.990186 Centerline is valid? [True, True] Translation: X:180.62, Y:127.55, Z:0.63 [[-2.58849435e-01 -9.65917460e-01 6.55682969e-04 1.80615975e+02] [ 9.65913928e-01 -2.58850262e-01 -2.61256144e-03 1.27554066e+02] [ 2.69324242e-03 -4.29267428e-05 9.99996372e-01 6.25833869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.434012739 meters Centerline goodness : 0.990107 Centerline is valid? [True, True] Translation: X:180.62, Y:127.55, Z:0.63 [[-2.60363604e-01 -9.65510416e-01 6.55330331e-04 1.80619760e+02] [ 9.65506883e-01 -2.60364425e-01 -2.61264990e-03 1.27551417e+02] [ 2.69316539e-03 -4.75129989e-05 9.99996372e-01 6.25065039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.464012739 meters Centerline goodness : 0.989567 Centerline is valid? [True, True] Translation: X:180.63, Y:127.54, Z:0.62 [[-2.63390409e-01 -9.64689102e-01 6.54395660e-04 1.80626981e+02] [ 9.64685565e-01 -2.63391216e-01 -2.61288398e-03 1.27543448e+02] [ 2.69298277e-03 -5.69225349e-05 9.99996372e-01 6.22939495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.494012739 meters Centerline goodness : 0.990055 Centerline is valid? [True, True] Translation: X:180.63, Y:127.55, Z:0.62 [[-2.64958557e-01 -9.64259579e-01 6.53466539e-04 1.80627305e+02] [ 9.64256041e-01 -2.64959355e-01 -2.61311633e-03 1.27553943e+02] [ 2.69286453e-03 -6.22584743e-05 9.99996372e-01 6.22913773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.524012739 meters Centerline goodness : 0.989809 Centerline is valid? [True, True] Translation: X:180.63, Y:127.56, Z:0.63 [[-2.68339681e-01 -9.63324135e-01 6.53234210e-04 1.80632834e+02] [ 9.63320593e-01 -2.68340466e-01 -2.61317441e-03 1.27559644e+02] [ 2.69262315e-03 -7.19444197e-05 9.99996372e-01 6.25830107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55401273900003 meters Centerline goodness : 0.989772 Centerline is valid? [True, True] Translation: X:180.60, Y:127.72, Z:0.63 [[-2.68501703e-01 -9.63278985e-01 6.57353855e-04 1.80595830e+02] [ 9.63275446e-01 -2.68502499e-01 -2.61214510e-03 1.27718918e+02] [ 2.69272564e-03 -6.81525795e-05 9.99996372e-01 6.27642867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.584012739 meters Centerline goodness : 0.989932 Centerline is valid? [True, True] Translation: X:180.64, Y:127.57, Z:0.63 [[-2.67309145e-01 -9.63610601e-01 6.56625069e-04 1.80637257e+02] [ 9.63607062e-01 -2.67309944e-01 -2.61232729e-03 1.27565222e+02] [ 2.69278868e-03 -6.55704209e-05 9.99996372e-01 6.26997411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61401273900003 meters Centerline goodness : 0.989909 Centerline is valid? [True, True] Translation: X:180.63, Y:127.61, Z:0.63 [[-2.67826806e-01 -9.63466853e-01 6.52572752e-04 1.80633410e+02] [ 9.63463311e-01 -2.67827592e-01 -2.61333919e-03 1.27609405e+02] [ 2.69264267e-03 -7.11923834e-05 9.99996372e-01 6.26853894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.644012739 meters Centerline goodness : 0.990012 Centerline is valid? [True, True] Translation: X:180.64, Y:127.59, Z:0.63 [[-2.67830157e-01 -9.63465919e-01 6.55251791e-04 1.80640894e+02] [ 9.63462379e-01 -2.67830949e-01 -2.61266938e-03 1.27590218e+02] [ 2.69271462e-03 -6.84412003e-05 9.99996372e-01 6.25490471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67401273900003 meters Centerline goodness : 0.990249 Centerline is valid? [True, True] Translation: X:180.65, Y:127.55, Z:0.62 [[-2.66342592e-01 -9.63878205e-01 6.55620030e-04 1.80652939e+02] [ 9.63874666e-01 -2.66343391e-01 -2.61257735e-03 1.27551737e+02] [ 2.69282643e-03 -6.39050866e-05 9.99996372e-01 6.23605585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.704012739 meters Centerline goodness : 0.990052 Centerline is valid? [True, True] Translation: X:180.65, Y:127.58, Z:0.62 [[-2.66003247e-01 -9.63971912e-01 6.52386538e-04 1.80648027e+02] [ 9.63968372e-01 -2.66004039e-01 -2.61338454e-03 1.27578418e+02] [ 2.69276674e-03 -6.62887840e-05 9.99996372e-01 6.23267284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.734012739 meters Centerline goodness : 0.990588 Centerline is valid? [True, True] Translation: X:180.63, Y:127.67, Z:0.62 [[-2.65702179e-01 -9.64054939e-01 6.53319940e-04 1.80627842e+02] [ 9.64051399e-01 -2.65702975e-01 -2.61315118e-03 1.27670891e+02] [ 2.69281035e-03 -6.44859608e-05 9.99996372e-01 6.23246802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.764012739 meters Centerline goodness : 0.990209 Centerline is valid? [True, True] Translation: X:180.66, Y:127.56, Z:0.62 [[-2.64903805e-01 -9.64274622e-01 6.54546833e-04 1.80660492e+02] [ 9.64271084e-01 -2.64904607e-01 -2.61284396e-03 1.27564296e+02] [ 2.69289160e-03 -6.09917238e-05 9.99996372e-01 6.22706051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.794012739 meters Centerline goodness : 0.990532 Centerline is valid? [True, True] Translation: X:180.66, Y:127.57, Z:0.62 [[-2.64268520e-01 -9.64448922e-01 6.53328042e-04 1.80661916e+02] [ 9.64445383e-01 -2.64269321e-01 -2.61314868e-03 1.27569975e+02] [ 2.69290298e-03 -6.04737220e-05 9.99996372e-01 6.24036007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.824012739 meters Centerline goodness : 0.990592 Centerline is valid? [True, True] Translation: X:180.65, Y:127.61, Z:0.62 [[-2.63063060e-01 -9.64778419e-01 6.54262661e-04 1.80652470e+02] [ 9.64774883e-01 -2.63063868e-01 -2.61291466e-03 1.27613395e+02] [ 2.69299654e-03 -5.61451437e-05 9.99996372e-01 6.24328634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.854012739 meters Centerline goodness : 0.990578 Centerline is valid? [True, True] Translation: X:180.66, Y:127.60, Z:0.62 [[-2.61513407e-01 -9.65199621e-01 6.55215088e-04 1.80657842e+02] [ 9.65196086e-01 -2.61514223e-01 -2.61267580e-03 1.27598050e+02] [ 2.69310176e-03 -5.08387128e-05 9.99996372e-01 6.23736747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.884012739 meters Centerline goodness : 0.990046 Centerline is valid? [True, True] Translation: X:180.66, Y:127.59, Z:0.62 [[-2.59557720e-01 -9.65727373e-01 6.56178409e-04 1.80659872e+02] [ 9.65723841e-01 -2.59558545e-01 -2.61243384e-03 1.27593694e+02] [ 2.69321558e-03 -4.43902365e-05 9.99996372e-01 6.23985836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.914012739 meters Centerline goodness : 0.990093 Centerline is valid? [True, True] Translation: X:180.66, Y:127.58, Z:0.62 [[-2.55154955e-01 -9.66899952e-01 6.57136273e-04 1.80662516e+02] [ 9.66896424e-01 -2.55155799e-01 -2.61219288e-03 1.27582434e+02] [ 2.69340130e-03 -3.11312429e-05 9.99996372e-01 6.20080869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.944012739 meters Centerline goodness : 0.990385 Centerline is valid? [True, True] Translation: X:180.66, Y:127.60, Z:0.62 [[-2.50209322e-01 -9.68191542e-01 6.58090402e-04 1.80656896e+02] [ 9.68188019e-01 -2.50210187e-01 -2.61195248e-03 1.27604651e+02] [ 2.69353122e-03 -1.63796176e-05 9.99996372e-01 6.19788325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.974012739 meters Centerline goodness : 0.990039 Centerline is valid? [True, True] Translation: X:180.66, Y:127.61, Z:0.62 [[-2.48121636e-01 -9.68728662e-01 6.59049769e-04 1.80655041e+02] [ 9.68725141e-01 -2.48122511e-01 -2.61171039e-03 1.27610318e+02] [ 2.69356379e-03 -9.58377366e-06 9.99996372e-01 6.22684824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.004012739 meters Centerline goodness : 0.990375 Centerline is valid? [True, True] Translation: X:180.65, Y:127.61, Z:0.63 [[-2.46460246e-01 -9.69152677e-01 6.60020654e-04 1.80653400e+02] [ 9.69149159e-01 -2.46461129e-01 -2.61146501e-03 1.27609674e+02] [ 2.69357774e-03 -3.96384616e-06 9.99996372e-01 6.25529814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.034012739 meters Centerline goodness : 0.990456 Centerline is valid? [True, True] Translation: X:180.65, Y:127.60, Z:0.63 [[-2.44751458e-01 -9.69585626e-01 6.60995224e-04 1.80653110e+02] [ 9.69582110e-01 -2.44752351e-01 -2.61121831e-03 1.27603211e+02] [ 2.69357987e-03 1.78965464e-06 9.99996372e-01 6.26054057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.064012739 meters Centerline goodness : 0.990190 Centerline is valid? [True, True] Translation: X:180.65, Y:127.61, Z:0.62 [[-2.41809290e-01 -9.70323569e-01 6.61969384e-04 1.80648977e+02] [ 9.70320056e-01 -2.41810196e-01 -2.61097133e-03 1.27608473e+02] [ 2.69355796e-03 1.09650465e-05 9.99996372e-01 6.24329185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.094012739 meters Centerline goodness : 0.990368 Centerline is valid? [True, True] Translation: X:180.65, Y:127.62, Z:0.62 [[-2.41618166e-01 -9.70371178e-01 6.62945191e-04 1.80645426e+02] [ 9.70367666e-01 -2.41619075e-01 -2.61072354e-03 1.27616283e+02] [ 2.69355108e-03 1.25023439e-05 9.99996372e-01 6.23644605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.124012739 meters Centerline goodness : 0.990218 Centerline is valid? [True, True] Translation: X:180.64, Y:127.62, Z:0.63 [[-2.43393402e-01 -9.69927426e-01 6.63927596e-04 1.80641997e+02] [ 9.69923913e-01 -2.43394308e-01 -2.61047368e-03 1.27615917e+02] [ 2.69356621e-03 8.58718029e-06 9.99996372e-01 6.25290913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.154012739 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:180.65, Y:127.59, Z:0.63 [[-2.44463438e-01 -9.69658283e-01 6.64914753e-04 1.80646059e+02] [ 9.69654770e-01 -2.44464342e-01 -2.61022222e-03 1.27594288e+02] [ 2.69357154e-03 6.63386561e-06 9.99996372e-01 6.26522167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.184012739 meters Centerline goodness : 0.990715 Centerline is valid? [True, True] Translation: X:180.64, Y:127.60, Z:0.63 [[-2.46571126e-01 -9.69124470e-01 6.64669517e-04 1.80642922e+02] [ 9.69120954e-01 -2.46572022e-01 -2.61028466e-03 1.27602533e+02] [ 2.69357965e-03 5.24328163e-07 9.99996372e-01 6.27033263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.214012739 meters Centerline goodness : 0.990759 Centerline is valid? [True, True] Translation: X:180.64, Y:127.60, Z:0.62 [[-2.50847336e-01 -9.68026431e-01 6.65645067e-04 1.80641631e+02] [ 9.68022912e-01 -2.50848219e-01 -2.61003587e-03 1.27603500e+02] [ 2.69355958e-03 -1.03608686e-05 9.99996372e-01 6.23119991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.244012739 meters Centerline goodness : 0.990537 Centerline is valid? [True, True] Translation: X:180.65, Y:127.58, Z:0.62 [[-2.52376680e-01 -9.67628837e-01 6.66625773e-04 1.80647394e+02] [ 9.67625318e-01 -2.52377560e-01 -2.60978536e-03 1.27582518e+02] [ 2.69354496e-03 -1.36049891e-05 9.99996372e-01 6.21541611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.274012739 meters Centerline goodness : 0.990694 Centerline is valid? [True, True] Translation: X:180.65, Y:127.58, Z:0.63 [[-2.55688580e-01 -9.66758970e-01 6.66382024e-04 1.80652004e+02] [ 9.66755448e-01 -2.55689447e-01 -2.60984760e-03 1.27575184e+02] [ 2.69348043e-03 -2.30797740e-05 9.99996372e-01 6.25503192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30401273900003 meters Centerline goodness : 0.990666 Centerline is valid? [True, True] Translation: X:180.66, Y:127.55, Z:0.63 [[-2.57068767e-01 -9.66392883e-01 6.67345687e-04 1.80659776e+02] [ 9.66389360e-01 -2.57069632e-01 -2.60960116e-03 1.27550086e+02] [ 2.69345430e-03 -2.59311815e-05 9.99996372e-01 6.28233266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.334012739 meters Centerline goodness : 0.991549 Centerline is valid? [True, True] Translation: X:180.66, Y:127.56, Z:0.63 [[-2.58945036e-01 -9.65891828e-01 6.67107225e-04 1.80657529e+02] [ 9.65888303e-01 -2.58945893e-01 -2.60966212e-03 1.27562649e+02] [ 2.69339599e-03 -3.14079865e-05 9.99996372e-01 6.29973574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36401273900003 meters Centerline goodness : 0.991216 Centerline is valid? [True, True] Translation: X:180.66, Y:127.57, Z:0.63 [[-2.62721297e-01 -9.64871532e-01 6.68055466e-04 1.80658649e+02] [ 9.64868005e-01 -2.62722143e-01 -2.60941936e-03 1.27572145e+02] [ 2.69326742e-03 -4.09646937e-05 9.99996372e-01 6.26785833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.394012739 meters Centerline goodness : 0.990926 Centerline is valid? [True, True] Translation: X:180.66, Y:127.56, Z:0.62 [[-2.64832750e-01 -9.64294129e-01 6.69012530e-04 1.80664602e+02] [ 9.64290600e-01 -2.64833591e-01 -2.60917396e-03 1.27559730e+02] [ 2.69318812e-03 -4.58722205e-05 9.99996372e-01 6.24059285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42401273900003 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:180.67, Y:127.55, Z:0.62 [[-2.66715704e-01 -9.63775017e-01 6.69969503e-04 1.80669980e+02] [ 9.63771488e-01 -2.66716541e-01 -2.60892821e-03 1.27550055e+02] [ 2.69311178e-03 -5.01446196e-05 9.99996372e-01 6.22234700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.454012739 meters Centerline goodness : 0.990490 Centerline is valid? [True, True] Translation: X:180.68, Y:127.54, Z:0.62 [[-2.68346957e-01 -9.63322096e-01 6.70920033e-04 1.80676276e+02] [ 9.63318565e-01 -2.68347790e-01 -2.60868374e-03 1.27539625e+02] [ 2.69304260e-03 -5.37226197e-05 9.99996372e-01 6.22120838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.484012739 meters Centerline goodness : 0.990978 Centerline is valid? [True, True] Translation: X:180.68, Y:127.54, Z:0.62 [[-2.68596878e-01 -9.63252441e-01 6.71864940e-04 1.80676957e+02] [ 9.63248911e-01 -2.68597713e-01 -2.60844036e-03 1.27543521e+02] [ 2.69304793e-03 -5.34457671e-05 9.99996372e-01 6.22934683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.514012739 meters Centerline goodness : 0.991402 Centerline is valid? [True, True] Translation: X:180.68, Y:127.54, Z:0.62 [[-2.68035550e-01 -9.63408787e-01 6.72808724e-04 1.80681727e+02] [ 9.63405258e-01 -2.68036389e-01 -2.60819690e-03 1.27538596e+02] [ 2.69309704e-03 -5.09020287e-05 9.99996372e-01 6.22130210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.544012739 meters Centerline goodness : 0.990587 Centerline is valid? [True, True] Translation: X:180.68, Y:127.55, Z:0.62 [[-2.67859291e-01 -9.63457807e-01 6.73753155e-04 1.80680730e+02] [ 9.63454279e-01 -2.67860134e-01 -2.60795291e-03 1.27547528e+02] [ 2.69312421e-03 -4.94340598e-05 9.99996372e-01 6.21871426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.574012739 meters Centerline goodness : 0.990910 Centerline is valid? [True, True] Translation: X:180.68, Y:127.56, Z:0.62 [[-2.67440265e-01 -9.63574206e-01 6.74700034e-04 1.80678310e+02] [ 9.63570678e-01 -2.67441112e-01 -2.60770792e-03 1.27560099e+02] [ 2.69316262e-03 -4.72849290e-05 9.99996372e-01 6.22477130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.604012739 meters Centerline goodness : 0.991050 Centerline is valid? [True, True] Translation: X:180.68, Y:127.55, Z:0.63 [[-2.66020021e-01 -9.63967267e-01 6.75655856e-04 1.80683986e+02] [ 9.63963742e-01 -2.66020876e-01 -2.60746025e-03 1.27545912e+02] [ 2.69324489e-03 -4.23288826e-05 9.99996372e-01 6.27430997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.634012739 meters Centerline goodness : 0.991055 Centerline is valid? [True, True] Translation: X:180.69, Y:127.55, Z:0.63 [[-2.65787437e-01 -9.64031421e-01 6.76612507e-04 1.80685913e+02] [ 9.64027896e-01 -2.65788295e-01 -2.60721198e-03 1.27545386e+02] [ 2.69326996e-03 -4.06908589e-05 9.99996372e-01 6.29921019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.664012739 meters Centerline goodness : 0.990487 Centerline is valid? [True, True] Translation: X:180.68, Y:127.57, Z:0.63 [[-2.66123211e-01 -9.63938783e-01 6.77565117e-04 1.80684403e+02] [ 9.63935259e-01 -2.66124071e-01 -2.60696439e-03 1.27567900e+02] [ 2.69327047e-03 -4.06448286e-05 9.99996372e-01 6.29335216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.694012739 meters Centerline goodness : 0.991114 Centerline is valid? [True, True] Translation: X:180.69, Y:127.55, Z:0.63 [[-2.66811739e-01 -9.63748430e-01 6.78526639e-04 1.80691533e+02] [ 9.63744905e-01 -2.66812598e-01 -2.60671411e-03 1.27546986e+02] [ 2.69325608e-03 -4.15753321e-05 9.99996372e-01 6.27834491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.724012739 meters Centerline goodness : 0.990143 Centerline is valid? [True, True] Translation: X:180.69, Y:127.56, Z:0.63 [[-2.67629002e-01 -9.63521798e-01 6.79489765e-04 1.80689028e+02] [ 9.63518274e-01 -2.67629862e-01 -2.60646303e-03 1.27560780e+02] [ 2.69323569e-03 -4.28642943e-05 9.99996372e-01 6.27262211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.754012739 meters Centerline goodness : 0.990803 Centerline is valid? [True, True] Translation: X:180.70, Y:127.54, Z:0.63 [[-2.68961340e-01 -9.63150733e-01 6.80451866e-04 1.80696731e+02] [ 9.63147208e-01 -2.68962197e-01 -2.60621183e-03 1.27544343e+02] [ 2.69319067e-03 -4.55949124e-05 9.99996372e-01 6.26584140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.784012739 meters Centerline goodness : 0.990473 Centerline is valid? [True, True] Translation: X:180.70, Y:127.55, Z:0.63 [[-2.70356975e-01 -9.62759909e-01 6.81414184e-04 1.80697209e+02] [ 9.62756383e-01 -2.70357830e-01 -2.60596020e-03 1.27553540e+02] [ 2.69313967e-03 -4.85036640e-05 9.99996372e-01 6.25764465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.814012739 meters Centerline goodness : 0.990846 Centerline is valid? [True, True] Translation: X:180.71, Y:127.54, Z:0.63 [[-2.72284077e-01 -9.62216668e-01 6.82375025e-04 1.80706681e+02] [ 9.62213141e-01 -2.72284927e-01 -2.60570858e-03 1.27535891e+02] [ 2.69305666e-03 -5.29027402e-05 9.99996372e-01 6.25054559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.844012739 meters Centerline goodness : 0.990900 Centerline is valid? [True, True] Translation: X:180.71, Y:127.54, Z:0.63 [[-2.73024270e-01 -9.62006903e-01 6.83333776e-04 1.80706884e+02] [ 9.62003376e-01 -2.73025120e-01 -2.60545713e-03 1.27541397e+02] [ 2.69303503e-03 -5.39836313e-05 9.99996372e-01 6.25353153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.874012739 meters Centerline goodness : 0.990522 Centerline is valid? [True, True] Translation: X:180.71, Y:127.53, Z:0.63 [[-2.73437866e-01 -9.61889425e-01 6.84289385e-04 1.80710975e+02] [ 9.61885898e-01 -2.73438717e-01 -2.60520613e-03 1.27530149e+02] [ 2.69303143e-03 -5.41536961e-05 9.99996372e-01 6.26400890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.904012739 meters Centerline goodness : 0.990522 Centerline is valid? [True, True] Translation: X:180.71, Y:127.53, Z:0.63 [[-2.73789331e-01 -9.61789443e-01 6.85244288e-04 1.80711683e+02] [ 9.61785917e-01 -2.73790183e-01 -2.60495494e-03 1.27527747e+02] [ 2.69303132e-03 -5.41505629e-05 9.99996372e-01 6.26394113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.934012739 meters Centerline goodness : 0.990236 Centerline is valid? [True, True] Translation: X:180.71, Y:127.53, Z:0.63 [[-2.74135357e-01 -9.61690873e-01 6.86196073e-04 1.80713708e+02] [ 9.61687347e-01 -2.74136211e-01 -2.60470419e-03 1.27532342e+02] [ 2.69303144e-03 -5.41354337e-05 9.99996372e-01 6.28002799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.964012739 meters Centerline goodness : 0.990314 Centerline is valid? [True, True] Translation: X:180.72, Y:127.52, Z:0.63 [[-2.74881214e-01 -9.61477949e-01 6.87149735e-04 1.80718729e+02] [ 9.61474423e-01 -2.74882067e-01 -2.60445258e-03 1.27521542e+02] [ 2.69300887e-03 -5.52381924e-05 9.99996372e-01 6.26591351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.994012739 meters Centerline goodness : 0.989925 Centerline is valid? [True, True] Translation: X:180.72, Y:127.53, Z:0.62 [[-2.75667993e-01 -9.61252664e-01 6.88102694e-04 1.80719706e+02] [ 9.61249138e-01 -2.75668846e-01 -2.60420078e-03 1.27528051e+02] [ 2.69298342e-03 -5.64566817e-05 9.99996372e-01 6.24704864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.024012739 meters Centerline goodness : 0.990179 Centerline is valid? [True, True] Translation: X:180.72, Y:127.54, Z:0.62 [[-2.76381060e-01 -9.61047884e-01 6.89055256e-04 1.80721666e+02] [ 9.61044358e-01 -2.76381913e-01 -2.60394872e-03 1.27539283e+02] [ 2.69296181e-03 -5.74694398e-05 9.99996372e-01 6.22096595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05401273900003 meters Centerline goodness : 0.990730 Centerline is valid? [True, True] Translation: X:180.73, Y:127.54, Z:0.62 [[-2.76223682e-01 -9.61093128e-01 6.90014736e-04 1.80725548e+02] [ 9.61089603e-01 -2.76224538e-01 -2.60369444e-03 1.27535288e+02] [ 2.69299184e-03 -5.60360767e-05 9.99996372e-01 6.22948404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.084012739 meters Centerline goodness : 0.990400 Centerline is valid? [True, True] Translation: X:180.73, Y:127.54, Z:0.63 [[-2.73539080e-01 -9.61860642e-01 6.90977821e-04 1.80727989e+02] [ 9.61857120e-01 -2.73539949e-01 -2.60343883e-03 1.27544343e+02] [ 2.69315538e-03 -4.75203258e-05 9.99996372e-01 6.25296422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11401273900003 meters Centerline goodness : 0.990201 Centerline is valid? [True, True] Translation: X:180.73, Y:127.55, Z:0.63 [[-2.71851573e-01 -9.62338944e-01 6.91943599e-04 1.80727916e+02] [ 9.62335424e-01 -2.71852450e-01 -2.60318212e-03 1.27549968e+02] [ 2.69325010e-03 -4.17973166e-05 9.99996372e-01 6.25226814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.144012739 meters Centerline goodness : 0.990169 Centerline is valid? [True, True] Translation: X:180.73, Y:127.54, Z:0.62 [[-2.68718342e-01 -9.63218549e-01 6.92915708e-04 1.80732175e+02] [ 9.63215032e-01 -2.68719234e-01 -2.60292334e-03 1.27540675e+02] [ 2.69338382e-03 -3.20264194e-05 9.99996372e-01 6.22484595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17401273900003 meters Centerline goodness : 0.990531 Centerline is valid? [True, True] Translation: X:180.73, Y:127.55, Z:0.62 [[-2.67973969e-01 -9.63425903e-01 6.93887720e-04 1.80730535e+02] [ 9.63422388e-01 -2.67974866e-01 -2.60266419e-03 1.27553369e+02] [ 2.69341857e-03 -2.89392900e-05 9.99996372e-01 6.20844015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.204012739 meters Centerline goodness : 0.990084 Centerline is valid? [True, True] Translation: X:180.73, Y:127.55, Z:0.62 [[-2.67732912e-01 -9.63492919e-01 6.94862475e-04 1.80732707e+02] [ 9.63489405e-01 -2.67733813e-01 -2.60240393e-03 1.27553621e+02] [ 2.69343593e-03 -2.72565501e-05 9.99996372e-01 6.20241401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.234012739 meters Centerline goodness : 0.990109 Centerline is valid? [True, True] Translation: X:180.74, Y:127.54, Z:0.62 [[-2.68414455e-01 -9.63303273e-01 6.95843034e-04 1.80740473e+02] [ 9.63299759e-01 -2.68415355e-01 -2.60214171e-03 1.27540588e+02] [ 2.69342659e-03 -2.81470223e-05 9.99996372e-01 6.20202717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.264012739 meters Centerline goodness : 0.989638 Centerline is valid? [True, True] Translation: X:180.74, Y:127.57, Z:0.62 [[-2.69878469e-01 -9.62894141e-01 6.96819980e-04 1.80735295e+02] [ 9.62890626e-01 -2.69879367e-01 -2.60188007e-03 1.27566507e+02] [ 2.69339241e-03 -3.12299839e-05 9.99996372e-01 6.21015474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.294012739 meters Centerline goodness : 0.989622 Centerline is valid? [True, True] Translation: X:180.75, Y:127.54, Z:0.62 [[-2.72344900e-01 -9.62199443e-01 6.97802908e-04 1.80746219e+02] [ 9.62195927e-01 -2.72345791e-01 -2.60161643e-03 1.27541492e+02] [ 2.69331757e-03 -3.71138507e-05 9.99996372e-01 6.19717584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.324012739 meters Centerline goodness : 0.990435 Centerline is valid? [True, True] Translation: X:180.75, Y:127.53, Z:0.62 [[-2.73179818e-01 -9.61962733e-01 6.98787187e-04 1.80750083e+02] [ 9.61959216e-01 -2.73180709e-01 -2.60135203e-03 1.27532832e+02] [ 2.69329889e-03 -3.84321003e-05 9.99996372e-01 6.19939545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.354012739 meters Centerline goodness : 0.990343 Centerline is valid? [True, True] Translation: X:180.75, Y:127.55, Z:0.62 [[-2.72310014e-01 -9.62209315e-01 6.99760346e-04 1.80748829e+02] [ 9.62205800e-01 -2.72310911e-01 -2.60109023e-03 1.27548048e+02] [ 2.69334562e-03 -3.49894536e-05 9.99996372e-01 6.21243595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.384012739 meters Centerline goodness : 0.990493 Centerline is valid? [True, True] Translation: X:180.75, Y:127.55, Z:0.62 [[-2.71525508e-01 -9.62430988e-01 7.00736896e-04 1.80750165e+02] [ 9.62427475e-01 -2.71526411e-01 -2.60082712e-03 1.27547045e+02] [ 2.69338519e-03 -3.17824628e-05 9.99996372e-01 6.21978533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.414012739 meters Centerline goodness : 0.990142 Centerline is valid? [True, True] Translation: X:180.75, Y:127.55, Z:0.63 [[-2.70686620e-01 -9.62667264e-01 7.01720075e-04 1.80750487e+02] [ 9.62663752e-01 -2.70687528e-01 -2.60056182e-03 1.27546952e+02] [ 2.69342261e-03 -2.84168083e-05 9.99996372e-01 6.25379164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.444012739 meters Centerline goodness : 0.990583 Centerline is valid? [True, True] Translation: X:180.75, Y:127.54, Z:0.63 [[-2.68421072e-01 -9.63301425e-01 7.02704606e-04 1.80752032e+02] [ 9.63297915e-01 -2.68421991e-01 -2.60029576e-03 1.27540263e+02] [ 2.69348998e-03 -2.10602932e-05 9.99996372e-01 6.27890694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.474012739 meters Centerline goodness : 0.990789 Centerline is valid? [True, True] Translation: X:180.75, Y:127.55, Z:0.63 [[-2.67763685e-01 -9.63484361e-01 7.03687908e-04 1.80751225e+02] [ 9.63480853e-01 -2.67764609e-01 -2.60002963e-03 1.27547040e+02] [ 2.69351061e-03 -1.82036901e-05 9.99996372e-01 6.28732227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.504012739 meters Centerline goodness : 0.991129 Centerline is valid? [True, True] Translation: X:180.76, Y:127.53, Z:0.63 [[-2.69336798e-01 -9.63045790e-01 7.04672888e-04 1.80758054e+02] [ 9.63042281e-01 -2.69337719e-01 -2.59976265e-03 1.27531569e+02] [ 2.69348547e-03 -2.15819622e-05 9.99996372e-01 6.29372623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.534012739 meters Centerline goodness : 0.991141 Centerline is valid? [True, True] Translation: X:180.76, Y:127.53, Z:0.63 [[-2.71643211e-01 -9.62397770e-01 7.05655989e-04 1.80757466e+02] [ 9.62394260e-01 -2.71644126e-01 -2.59949578e-03 1.27534863e+02] [ 2.69343625e-03 -2.70161078e-05 9.99996372e-01 6.29268747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.564012739 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:180.76, Y:127.54, Z:0.63 [[-2.74520139e-01 -9.61581091e-01 7.06636247e-04 1.80756967e+02] [ 9.61577578e-01 -2.74521046e-01 -2.59922929e-03 1.27535969e+02] [ 2.69335625e-03 -3.40552138e-05 9.99996372e-01 6.29356512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.594012739 meters Centerline goodness : 0.990848 Centerline is valid? [True, True] Translation: X:180.76, Y:127.51, Z:0.63 [[-2.77289701e-01 -9.60786095e-01 7.07619621e-04 1.80763735e+02] [ 9.60782581e-01 -2.77290601e-01 -2.59896154e-03 1.27513515e+02] [ 2.69326238e-03 -4.07966640e-05 9.99996372e-01 6.29487886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.624012739 meters Centerline goodness : 0.991564 Centerline is valid? [True, True] Translation: X:180.77, Y:127.51, Z:0.63 [[-2.81058038e-01 -9.59690511e-01 7.08596802e-04 1.80768323e+02] [ 9.59686994e-01 -2.81058926e-01 -2.59869509e-03 1.27510522e+02] [ 2.69310048e-03 -5.03530079e-05 9.99996372e-01 6.30000024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.654012739 meters Centerline goodness : 0.990868 Centerline is valid? [True, True] Translation: X:180.77, Y:127.52, Z:0.63 [[-2.81664381e-01 -9.59512727e-01 7.09566283e-04 1.80770219e+02] [ 9.59509210e-01 -2.81665271e-01 -2.59843035e-03 1.27517929e+02] [ 2.69308717e-03 -5.10498935e-05 9.99996372e-01 6.27728028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.684012739 meters Centerline goodness : 0.991008 Centerline is valid? [True, True] Translation: X:180.77, Y:127.51, Z:0.63 [[-2.80810206e-01 -9.59763056e-01 7.10538030e-04 1.80772638e+02] [ 9.59759540e-01 -2.80811101e-01 -2.59816460e-03 1.27512735e+02] [ 2.69314936e-03 -4.76454822e-05 9.99996372e-01 6.26165277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.714012739 meters Centerline goodness : 0.990710 Centerline is valid? [True, True] Translation: X:180.78, Y:127.50, Z:0.62 [[-2.79093598e-01 -9.60263640e-01 7.11511735e-04 1.80776414e+02] [ 9.60260126e-01 -2.79094501e-01 -2.59789792e-03 1.27502646e+02] [ 2.69324593e-03 -4.18203282e-05 9.99996372e-01 6.23932931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.744012739 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:180.77, Y:127.53, Z:0.62 [[-2.77053166e-01 -9.60854326e-01 7.12481551e-04 1.80770061e+02] [ 9.60850815e-01 -2.77054080e-01 -2.59763192e-03 1.27528750e+02] [ 2.69334179e-03 -3.50936678e-05 9.99996372e-01 6.21293526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.774012739 meters Centerline goodness : 0.991352 Centerline is valid? [True, True] Translation: X:180.77, Y:127.54, Z:0.62 [[-2.72674277e-01 -9.62106143e-01 7.13458552e-04 1.80769209e+02] [ 9.62102637e-01 -2.72675209e-01 -2.59736355e-03 1.27535982e+02] [ 2.69348189e-03 -2.18138732e-05 9.99996372e-01 6.20902028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80401273900003 meters Centerline goodness : 0.991394 Centerline is valid? [True, True] Translation: X:180.77, Y:127.53, Z:0.62 [[-2.71114645e-01 -9.62546798e-01 7.14449362e-04 1.80772896e+02] [ 9.62543295e-01 -2.71115586e-01 -2.59709098e-03 1.27525977e+02] [ 2.69351997e-03 -1.64209560e-05 9.99996372e-01 6.24062467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.834012739 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:180.76, Y:127.59, Z:0.63 [[-2.68526056e-01 -9.63272155e-01 7.15440398e-04 1.80758987e+02] [ 9.63268655e-01 -2.68527009e-01 -2.59681795e-03 1.27590317e+02] [ 2.69355749e-03 -8.15197150e-06 9.99996372e-01 6.27398409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86401273900003 meters Centerline goodness : 0.992029 Centerline is valid? [True, True] Translation: X:180.78, Y:127.53, Z:0.63 [[-2.68123112e-01 -9.63384392e-01 7.14253051e-04 1.80775791e+02] [ 9.63380891e-01 -2.68124063e-01 -2.59714526e-03 1.27532345e+02] [ 2.69355764e-03 -8.25692800e-06 9.99996372e-01 6.26258178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.894012739 meters Centerline goodness : 0.992126 Centerline is valid? [True, True] Translation: X:180.78, Y:127.52, Z:0.62 [[-2.65666183e-01 -9.64064814e-01 7.16712858e-04 1.80775562e+02] [ 9.64061317e-01 -2.65667150e-01 -2.59646627e-03 1.27524091e+02] [ 2.69356884e-03 1.16185759e-06 9.99996372e-01 6.22760066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92401273900003 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:180.78, Y:127.50, Z:0.62 [[-2.64703541e-01 -9.64329570e-01 7.17705949e-04 1.80781456e+02] [ 9.64326076e-01 -2.64704514e-01 -2.59619174e-03 1.27497748e+02] [ 2.69356447e-03 4.88141530e-06 9.99996372e-01 6.21129946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.954012739 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:180.78, Y:127.51, Z:0.62 [[-2.63722739e-01 -9.64598259e-01 7.18688172e-04 1.80776187e+02] [ 9.64594766e-01 -2.63723718e-01 -2.59591981e-03 1.27513233e+02] [ 2.69355484e-03 8.63976819e-06 9.99996372e-01 6.22668038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.984012739 meters Centerline goodness : 0.991615 Centerline is valid? [True, True] Translation: X:180.78, Y:127.49, Z:0.63 [[-2.63452244e-01 -9.64672171e-01 7.19668048e-04 1.80782563e+02] [ 9.64668679e-01 -2.63453227e-01 -2.59564813e-03 1.27487916e+02] [ 2.69354838e-03 1.04119024e-05 9.99996372e-01 6.25108021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.014012739 meters Centerline goodness : 0.992223 Centerline is valid? [True, True] Translation: X:180.78, Y:127.50, Z:0.63 [[-2.62846644e-01 -9.64837356e-01 7.20646059e-04 1.80776578e+02] [ 9.64833865e-01 -2.62847631e-01 -2.59537657e-03 1.27503716e+02] [ 2.69353637e-03 1.31177030e-05 9.99996372e-01 6.27058195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.044012739 meters Centerline goodness : 0.992297 Centerline is valid? [True, True] Translation: X:180.78, Y:127.47, Z:0.62 [[-2.61617186e-01 -9.65171450e-01 7.21622680e-04 1.80781348e+02] [ 9.65167961e-01 -2.61618181e-01 -2.59510500e-03 1.27468400e+02] [ 2.69351086e-03 1.75630232e-05 9.99996372e-01 6.24339531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.074012739 meters Centerline goodness : 0.992119 Centerline is valid? [True, True] Translation: X:180.78, Y:127.47, Z:0.62 [[-2.61984247e-01 -9.65071879e-01 7.22594600e-04 1.80777210e+02] [ 9.65068391e-01 -2.61985243e-01 -2.59483434e-03 1.27474323e+02] [ 2.69351078e-03 1.75474872e-05 9.99996372e-01 6.22868417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.104012739 meters Centerline goodness : 0.991220 Centerline is valid? [True, True] Translation: X:180.77, Y:127.49, Z:0.62 [[-2.64436366e-01 -9.64402864e-01 7.23558118e-04 1.80770176e+02] [ 9.64399374e-01 -2.64437356e-01 -2.59456564e-03 1.27485122e+02] [ 2.69354233e-03 1.17014864e-05 9.99996372e-01 6.24884676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.134012739 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:180.77, Y:127.48, Z:0.63 [[-2.66225177e-01 -9.63910593e-01 7.24529835e-04 1.80771472e+02] [ 9.63907101e-01 -2.66226163e-01 -2.59429426e-03 1.27476007e+02] [ 2.69355652e-03 7.71300530e-06 9.99996372e-01 6.26775364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.164012739 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:180.77, Y:127.48, Z:0.63 [[-2.68353979e-01 -9.63320100e-01 7.25504298e-04 1.80769253e+02] [ 9.63316608e-01 -2.68354959e-01 -2.59402172e-03 1.27479748e+02] [ 2.69356594e-03 2.77429024e-06 9.99996372e-01 6.28388363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.194012739 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:180.76, Y:127.50, Z:0.63 [[-2.71728006e-01 -9.62373817e-01 7.26478658e-04 1.80763463e+02] [ 9.62370321e-01 -2.71728977e-01 -2.59374881e-03 1.27496604e+02] [ 2.69356125e-03 -5.65269265e-06 9.99996372e-01 6.26194161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.224012739 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:180.76, Y:127.50, Z:0.62 [[-2.73087183e-01 -9.61989013e-01 7.27462384e-04 1.80763216e+02] [ 9.61985517e-01 -2.73088152e-01 -2.59347288e-03 1.27496827e+02] [ 2.69355377e-03 -8.43592684e-06 9.99996372e-01 6.24573163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.254012739 meters Centerline goodness : 0.992520 Centerline is valid? [True, True] Translation: X:180.77, Y:127.49, Z:0.63 [[-2.74781250e-01 -9.61506492e-01 7.28454328e-04 1.80765157e+02] [ 9.61502995e-01 -2.74782215e-01 -2.59319423e-03 1.27491533e+02] [ 2.69353938e-03 -1.21501347e-05 9.99996372e-01 6.26340746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.284012739 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:180.77, Y:127.49, Z:0.63 [[-2.75965117e-01 -9.61167375e-01 7.29446166e-04 1.80766813e+02] [ 9.61163877e-01 -2.75966081e-01 -2.59291521e-03 1.27487207e+02] [ 2.69352790e-03 -1.44368442e-05 9.99996372e-01 6.28169453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.314012739 meters Centerline goodness : 0.992877 Centerline is valid? [True, True] Translation: X:180.77, Y:127.49, Z:0.63 [[-2.77225085e-01 -9.60804725e-01 7.30436089e-04 1.80767280e+02] [ 9.60801227e-01 -2.77226047e-01 -2.59263631e-03 1.27490435e+02] [ 2.69351313e-03 -1.69399303e-05 9.99996372e-01 6.30666209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.344012739 meters Centerline goodness : 0.992813 Centerline is valid? [True, True] Translation: X:180.74, Y:127.58, Z:0.63 [[-2.78638531e-01 -9.60395770e-01 7.31426898e-04 1.80743864e+02] [ 9.60392271e-01 -2.78639490e-01 -2.59235676e-03 1.27578267e+02] [ 2.69349288e-03 -1.98737384e-05 9.99996372e-01 6.28886718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.374012739 meters Centerline goodness : 0.992885 Centerline is valid? [True, True] Translation: X:180.77, Y:127.49, Z:0.63 [[-2.78013491e-01 -9.60576889e-01 7.35000364e-04 1.80770228e+02] [ 9.60573393e-01 -2.78014462e-01 -2.59134736e-03 1.27491620e+02] [ 2.69352911e-03 -1.44077308e-05 9.99996372e-01 6.26323606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.404012739 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:180.77, Y:127.49, Z:0.62 [[-2.77555273e-01 -9.60709391e-01 7.32709846e-04 1.80773889e+02] [ 9.60705894e-01 -2.77556240e-01 -2.59199485e-03 1.27488036e+02] [ 2.69352198e-03 -1.55031699e-05 9.99996372e-01 6.24739597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.434012739 meters Centerline goodness : 0.993003 Centerline is valid? [True, True] Translation: X:180.78, Y:127.49, Z:0.62 [[-2.77649116e-01 -9.60682273e-01 7.33705193e-04 1.80775571e+02] [ 9.60678777e-01 -2.77650085e-01 -2.59171307e-03 1.27485962e+02] [ 2.69352611e-03 -1.47318335e-05 9.99996372e-01 6.24580673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.464012739 meters Centerline goodness : 0.992527 Centerline is valid? [True, True] Translation: X:180.78, Y:127.49, Z:0.62 [[-2.77336093e-01 -9.60772685e-01 7.34699609e-04 1.80775127e+02] [ 9.60769190e-01 -2.77337066e-01 -2.59143114e-03 1.27492369e+02] [ 2.69353569e-03 -1.28206395e-05 9.99996372e-01 6.23908580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.494012739 meters Centerline goodness : 0.992797 Centerline is valid? [True, True] Translation: X:180.78, Y:127.47, Z:0.62 [[-2.77046579e-01 -9.60856208e-01 7.35696903e-04 1.80780802e+02] [ 9.60852714e-01 -2.77047556e-01 -2.59114798e-03 1.27474313e+02] [ 2.69354365e-03 -1.09723192e-05 9.99996372e-01 6.22197110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.524012739 meters Centerline goodness : 0.992464 Centerline is valid? [True, True] Translation: X:180.76, Y:127.55, Z:0.62 [[-2.75321191e-01 -9.61352016e-01 7.36691590e-04 1.80758852e+02] [ 9.61348525e-01 -2.75322177e-01 -2.59086515e-03 1.27552852e+02] [ 2.69356097e-03 -5.10270469e-06 9.99996372e-01 6.23775724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55401273900003 meters Centerline goodness : 0.992340 Centerline is valid? [True, True] Translation: X:180.78, Y:127.48, Z:0.62 [[-2.74292294e-01 -9.61646088e-01 7.33655111e-04 1.80778808e+02] [ 9.61642596e-01 -2.74293276e-01 -2.59172938e-03 1.27481461e+02] [ 2.69356308e-03 -5.37739249e-06 9.99996372e-01 6.23989522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.584012739 meters Centerline goodness : 0.992828 Centerline is valid? [True, True] Translation: X:180.78, Y:127.46, Z:0.62 [[-2.74053340e-01 -9.61714210e-01 7.38047057e-04 1.80784956e+02] [ 9.61710721e-01 -2.74054334e-01 -2.59047808e-03 1.27457197e+02] [ 2.69356458e-03 -1.41403197e-07 9.99996372e-01 6.24282628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61401273900003 meters Centerline goodness : 0.991730 Centerline is valid? [True, True] Translation: X:180.79, Y:127.45, Z:0.62 [[-2.74146100e-01 -9.61687772e-01 7.39036378e-04 1.80786891e+02] [ 9.61684283e-01 -2.74147096e-01 -2.59019581e-03 1.27450327e+02] [ 2.69356431e-03 6.27591136e-07 9.99996372e-01 6.22632681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.644012739 meters Centerline goodness : 0.992154 Centerline is valid? [True, True] Translation: X:180.78, Y:127.46, Z:0.62 [[-2.74443413e-01 -9.61602967e-01 7.40015856e-04 1.80783603e+02] [ 9.61599479e-01 -2.74444411e-01 -2.58991594e-03 1.27461645e+02] [ 2.69356407e-03 8.13490394e-07 9.99996372e-01 6.21796887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67401273900003 meters Centerline goodness : 0.991772 Centerline is valid? [True, True] Translation: X:180.79, Y:127.44, Z:0.62 [[-2.74686983e-01 -9.61533417e-01 7.40998451e-04 1.80789552e+02] [ 9.61529930e-01 -2.74687982e-01 -2.58963478e-03 1.27439805e+02] [ 2.69356375e-03 1.15322394e-06 9.99996372e-01 6.23016677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.704012739 meters Centerline goodness : 0.992436 Centerline is valid? [True, True] Translation: X:180.78, Y:127.46, Z:0.63 [[-2.73498683e-01 -9.61872091e-01 7.41978838e-04 1.80782290e+02] [ 9.61868606e-01 -2.73499689e-01 -2.58935385e-03 1.27461771e+02] [ 2.69355819e-03 5.50128322e-06 9.99996372e-01 6.27511301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.734012739 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:180.78, Y:127.46, Z:0.63 [[-2.72676436e-01 -9.62105508e-01 7.42961220e-04 1.80783341e+02] [ 9.62102025e-01 -2.72677448e-01 -2.58907195e-03 1.27456505e+02] [ 2.69354915e-03 8.82558210e-06 9.99996372e-01 6.29164531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.764012739 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:180.78, Y:127.45, Z:0.63 [[-2.73044536e-01 -9.62001106e-01 7.44505250e-04 1.80784097e+02] [ 9.61997623e-01 -2.73045551e-01 -2.58862827e-03 1.27454138e+02] [ 2.69354710e-03 9.40147713e-06 9.99996372e-01 6.29157707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.794012739 meters Centerline goodness : 0.992502 Centerline is valid? [True, True] Translation: X:180.79, Y:127.42, Z:0.63 [[-2.71575644e-01 -9.62416809e-01 7.45509637e-04 1.80791331e+02] [ 9.62413328e-01 -2.71576667e-01 -2.58833923e-03 1.27423102e+02] [ 2.69352421e-03 1.45585167e-05 9.99996372e-01 6.28608102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.824012739 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:180.79, Y:127.42, Z:0.63 [[-2.71773848e-01 -9.62360857e-01 7.45930563e-04 1.80791787e+02] [ 9.62357377e-01 -2.71774872e-01 -2.58821792e-03 1.27417714e+02] [ 2.69352480e-03 1.44418343e-05 9.99996372e-01 6.27312639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.854012739 meters Centerline goodness : 0.992265 Centerline is valid? [True, True] Translation: X:180.78, Y:127.44, Z:0.63 [[-2.72253316e-01 -9.62225324e-01 7.46897853e-04 1.80783747e+02] [ 9.62221844e-01 -2.72254340e-01 -2.58793876e-03 1.27442922e+02] [ 2.69352639e-03 1.41065223e-05 9.99996372e-01 6.26455098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.884012739 meters Centerline goodness : 0.991886 Centerline is valid? [True, True] Translation: X:180.79, Y:127.42, Z:0.63 [[-2.73362488e-01 -9.61910802e-01 7.47874068e-04 1.80789550e+02] [ 9.61907322e-01 -2.73363511e-01 -2.58765661e-03 1.27424984e+02] [ 2.69353633e-03 1.20172922e-05 9.99996372e-01 6.27502806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.914012739 meters Centerline goodness : 0.992274 Centerline is valid? [True, True] Translation: X:180.79, Y:127.42, Z:0.63 [[-2.73761054e-01 -9.61797445e-01 7.48854829e-04 1.80790948e+02] [ 9.61793964e-01 -2.73762078e-01 -2.58737275e-03 1.27422257e+02] [ 2.69353656e-03 1.19221610e-05 9.99996372e-01 6.28755801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.944012739 meters Centerline goodness : 0.992551 Centerline is valid? [True, True] Translation: X:180.80, Y:127.41, Z:0.63 [[-2.73004670e-01 -9.62012416e-01 7.49829396e-04 1.80796111e+02] [ 9.62008937e-01 -2.73005699e-01 -2.58709029e-03 1.27407521e+02] [ 2.69352068e-03 1.50548504e-05 9.99996372e-01 6.31017955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.974012739 meters Centerline goodness : 0.992299 Centerline is valid? [True, True] Translation: X:180.79, Y:127.42, Z:0.63 [[-2.72524553e-01 -9.62148536e-01 7.50798945e-04 1.80792041e+02] [ 9.62145058e-01 -2.72525587e-01 -2.58680889e-03 1.27424100e+02] [ 2.69350631e-03 1.74085583e-05 9.99996372e-01 6.31888511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.004012739 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:180.80, Y:127.41, Z:0.63 [[-2.71853264e-01 -9.62338422e-01 7.51770911e-04 1.80797287e+02] [ 9.62334946e-01 -2.71854303e-01 -2.58652639e-03 1.27406887e+02] [ 2.69348588e-03 2.02997772e-05 9.99996372e-01 6.32259935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.034012739 meters Centerline goodness : 0.992137 Centerline is valid? [True, True] Translation: X:180.80, Y:127.41, Z:0.63 [[-2.71675215e-01 -9.62388701e-01 7.52744197e-04 1.80796394e+02] [ 9.62385226e-01 -2.71676257e-01 -2.58624311e-03 1.27410185e+02] [ 2.69347387e-03 2.18117438e-05 9.99996372e-01 6.31144672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.064012739 meters Centerline goodness : 0.992335 Centerline is valid? [True, True] Translation: X:180.80, Y:127.40, Z:0.63 [[-2.71897482e-01 -9.62325928e-01 7.53713892e-04 1.80800028e+02] [ 9.62322454e-01 -2.71898525e-01 -2.58596047e-03 1.27397642e+02] [ 2.69347051e-03 2.21996615e-05 9.99996372e-01 6.29515150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.094012739 meters Centerline goodness : 0.992160 Centerline is valid? [True, True] Translation: X:180.80, Y:127.40, Z:0.63 [[-2.71899982e-01 -9.62325221e-01 7.54682065e-04 1.80799728e+02] [ 9.62321747e-01 -2.71901028e-01 -2.58567789e-03 1.27403141e+02] [ 2.69346188e-03 2.32011910e-05 9.99996372e-01 6.27202419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.124012739 meters Centerline goodness : 0.991596 Centerline is valid? [True, True] Translation: X:180.80, Y:127.39, Z:0.63 [[-2.71963844e-01 -9.62307174e-01 7.55649037e-04 1.80804986e+02] [ 9.62303701e-01 -2.71964893e-01 -2.58539527e-03 1.27390300e+02] [ 2.69345443e-03 2.40298284e-05 9.99996372e-01 6.27372037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.154012739 meters Centerline goodness : 0.992208 Centerline is valid? [True, True] Translation: X:180.80, Y:127.40, Z:0.63 [[-2.71674761e-01 -9.62388826e-01 7.56614494e-04 1.80803905e+02] [ 9.62385354e-01 -2.71675813e-01 -2.58511270e-03 1.27400753e+02] [ 2.69343743e-03 2.58448323e-05 9.99996372e-01 6.26410503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.184012739 meters Centerline goodness : 0.992409 Centerline is valid? [True, True] Translation: X:180.80, Y:127.42, Z:0.63 [[-2.72122231e-01 -9.62262395e-01 7.57580622e-04 1.80798258e+02] [ 9.62258924e-01 -2.72123284e-01 -2.58482954e-03 1.27418659e+02] [ 2.69343959e-03 2.55991335e-05 9.99996372e-01 6.26229632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.214012739 meters Centerline goodness : 0.992081 Centerline is valid? [True, True] Translation: X:180.80, Y:127.41, Z:0.63 [[-2.72626468e-01 -9.62119657e-01 7.58558540e-04 1.80800321e+02] [ 9.62116185e-01 -2.72627522e-01 -2.58454252e-03 1.27409641e+02] [ 2.69344310e-03 2.52067494e-05 9.99996372e-01 6.25954640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.244012739 meters Centerline goodness : 0.992529 Centerline is valid? [True, True] Translation: X:180.81, Y:127.39, Z:0.63 [[-2.72695418e-01 -9.62100115e-01 7.59541678e-04 1.80808737e+02] [ 9.62096645e-01 -2.72696475e-01 -2.58425357e-03 1.27385229e+02] [ 2.69343499e-03 2.60383923e-05 9.99996372e-01 6.26206150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.274012739 meters Centerline goodness : 0.992277 Centerline is valid? [True, True] Translation: X:180.81, Y:127.40, Z:0.63 [[-2.72849460e-01 -9.62056440e-01 7.60513640e-04 1.80806435e+02] [ 9.62052970e-01 -2.72850519e-01 -2.58396750e-03 1.27397235e+02] [ 2.69342911e-03 2.66202696e-05 9.99996372e-01 6.27815620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30401273900003 meters Centerline goodness : 0.992378 Centerline is valid? [True, True] Translation: X:180.81, Y:127.38, Z:0.63 [[-2.73712802e-01 -9.61811168e-01 7.61482798e-04 1.80810842e+02] [ 9.61807698e-01 -2.73713860e-01 -2.58368186e-03 1.27384446e+02] [ 2.69344246e-03 2.52132163e-05 9.99996372e-01 6.30485486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.334012739 meters Centerline goodness : 0.993069 Centerline is valid? [True, True] Translation: X:180.81, Y:127.38, Z:0.63 [[-2.74239485e-01 -9.61661127e-01 7.62452804e-04 1.80812223e+02] [ 9.61657658e-01 -2.74240543e-01 -2.58339558e-03 1.27379962e+02] [ 2.69344658e-03 2.47495052e-05 9.99996372e-01 6.31129827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36401273900003 meters Centerline goodness : 0.992503 Centerline is valid? [True, True] Translation: X:180.81, Y:127.38, Z:0.63 [[-2.75089843e-01 -9.61418221e-01 7.63418289e-04 1.80812102e+02] [ 9.61414751e-01 -2.75090901e-01 -2.58311024e-03 1.27380445e+02] [ 2.69345867e-03 2.33742155e-05 9.99996372e-01 6.31752430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.394012739 meters Centerline goodness : 0.992439 Centerline is valid? [True, True] Translation: X:180.81, Y:127.38, Z:0.63 [[-2.77389335e-01 -9.60757291e-01 7.64383983e-04 1.80813962e+02] [ 9.60753820e-01 -2.77390387e-01 -2.58282444e-03 1.27377283e+02] [ 2.69350018e-03 1.79368786e-05 9.99996372e-01 6.32022488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42401273900003 meters Centerline goodness : 0.992827 Centerline is valid? [True, True] Translation: X:180.81, Y:127.39, Z:0.63 [[-2.79137534e-01 -9.60250827e-01 7.65350202e-04 1.80808404e+02] [ 9.60247355e-01 -2.79138583e-01 -2.58253810e-03 1.27393138e+02] [ 2.69352311e-03 1.40421913e-05 9.99996372e-01 6.29526395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.454012739 meters Centerline goodness : 0.992485 Centerline is valid? [True, True] Translation: X:180.81, Y:127.38, Z:0.63 [[-2.79752117e-01 -9.60071959e-01 7.66322625e-04 1.80812739e+02] [ 9.60068486e-01 -2.79753166e-01 -2.58224951e-03 1.27375512e+02] [ 2.69352653e-03 1.33324348e-05 9.99996372e-01 6.28679589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.484012739 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:180.81, Y:127.39, Z:0.63 [[-2.80314014e-01 -9.59908050e-01 7.67296370e-04 1.80808033e+02] [ 9.59904578e-01 -2.80315064e-01 -2.58196014e-03 1.27387112e+02] [ 2.69352906e-03 1.27716860e-05 9.99996372e-01 6.27816426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.514012739 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:180.80, Y:127.39, Z:0.63 [[-2.81137296e-01 -9.59667250e-01 7.68269684e-04 1.80803330e+02] [ 9.59663777e-01 -2.81138346e-01 -2.58167050e-03 1.27393180e+02] [ 2.69353469e-03 1.14767245e-05 9.99996372e-01 6.26499353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.544012739 meters Centerline goodness : 0.992546 Centerline is valid? [True, True] Translation: X:180.81, Y:127.38, Z:0.63 [[-2.82179806e-01 -9.59361228e-01 7.69251728e-04 1.80806069e+02] [ 9.59357755e-01 -2.82180854e-01 -2.58137785e-03 1.27378031e+02] [ 2.69354193e-03 9.57491228e-06 9.99996372e-01 6.26527083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.574012739 meters Centerline goodness : 0.992562 Centerline is valid? [True, True] Translation: X:180.80, Y:127.37, Z:0.63 [[-2.85457854e-01 -9.58390954e-01 7.70232205e-04 1.80803940e+02] [ 9.58387478e-01 -2.85458893e-01 -2.58108526e-03 1.27373647e+02] [ 2.69355839e-03 1.38984238e-06 9.99996372e-01 6.26114867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.604012739 meters Centerline goodness : 0.992177 Centerline is valid? [True, True] Translation: X:180.80, Y:127.39, Z:0.63 [[-2.87518647e-01 -9.57774730e-01 7.71207588e-04 1.80798905e+02] [ 9.57771253e-01 -2.87519681e-01 -2.58079379e-03 1.27387192e+02] [ 2.69355643e-03 -3.38588076e-06 9.99996372e-01 6.25071977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.634012739 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:180.80, Y:127.38, Z:0.62 [[-2.89658413e-01 -9.57129776e-01 7.72188495e-04 1.80798641e+02] [ 9.57126297e-01 -2.89659442e-01 -2.58050026e-03 1.27384802e+02] [ 2.69354533e-03 -8.38169609e-06 9.99996372e-01 6.24350680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.664012739 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:180.80, Y:127.36, Z:0.62 [[-2.93135025e-01 -9.56070740e-01 7.73175471e-04 1.80802508e+02] [ 9.56067258e-01 -2.93136044e-01 -2.58020451e-03 1.27362767e+02] [ 2.69350363e-03 -1.71405612e-05 9.99996372e-01 6.23616850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.694012739 meters Centerline goodness : 0.992654 Centerline is valid? [True, True] Translation: X:180.80, Y:127.36, Z:0.62 [[-2.94029126e-01 -9.55796147e-01 7.74155501e-04 1.80802697e+02] [ 9.55792665e-01 -2.94030145e-01 -2.57991043e-03 1.27356894e+02] [ 2.69349350e-03 -1.86366588e-05 9.99996372e-01 6.22231178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.724012739 meters Centerline goodness : 0.992223 Centerline is valid? [True, True] Translation: X:180.80, Y:127.37, Z:0.62 [[-2.93227895e-01 -9.56042259e-01 7.75127254e-04 1.80796555e+02] [ 9.56038779e-01 -2.93228919e-01 -2.57961844e-03 1.27366748e+02] [ 2.69351396e-03 -1.53643709e-05 9.99996372e-01 6.22188435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.754012739 meters Centerline goodness : 0.992790 Centerline is valid? [True, True] Translation: X:180.79, Y:127.37, Z:0.62 [[-2.91920482e-01 -9.56442277e-01 7.76102726e-04 1.80793584e+02] [ 9.56438799e-01 -2.91921513e-01 -2.57932492e-03 1.27369766e+02] [ 2.69353649e-03 -1.06630144e-05 9.99996372e-01 6.24010565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.784012739 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:180.79, Y:127.35, Z:0.63 [[-2.87155409e-01 -9.57883692e-01 7.77085183e-04 1.80793659e+02] [ 9.57880220e-01 -2.87156461e-01 -2.57902890e-03 1.27352832e+02] [ 2.69355475e-03 3.77242746e-06 9.99996372e-01 6.28921483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.814012739 meters Centerline goodness : 0.993733 Centerline is valid? [True, True] Translation: X:180.78, Y:127.40, Z:0.63 [[-2.84774879e-01 -9.58594107e-01 7.78064767e-04 1.80775721e+02] [ 9.58590639e-01 -2.84775942e-01 -2.57873334e-03 1.27403795e+02] [ 2.69353271e-03 1.14871281e-05 9.99996372e-01 6.29314271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.844012739 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:180.79, Y:127.35, Z:0.63 [[-2.83255540e-01 -9.59044155e-01 7.79059665e-04 1.80788481e+02] [ 9.59040689e-01 -2.83256611e-01 -2.57843273e-03 1.27352429e+02] [ 2.69350464e-03 1.67945607e-05 9.99996372e-01 6.29273082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.874012739 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:180.79, Y:127.32, Z:0.63 [[-2.81143085e-01 -9.59665545e-01 7.80056775e-04 1.80791848e+02] [ 9.59662082e-01 -2.81144166e-01 -2.57813104e-03 1.27324450e+02] [ 2.69345194e-03 2.37671944e-05 9.99996372e-01 6.25865701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.904012739 meters Centerline goodness : 0.993511 Centerline is valid? [True, True] Translation: X:180.79, Y:127.32, Z:0.63 [[-2.81229153e-01 -9.59640325e-01 7.81026431e-04 1.80789662e+02] [ 9.59636863e-01 -2.81230236e-01 -2.57783726e-03 1.27324716e+02] [ 2.69344483e-03 2.45387668e-05 9.99996372e-01 6.25634477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.934012739 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:180.78, Y:127.35, Z:0.63 [[-2.82536801e-01 -9.59256141e-01 7.81988434e-04 1.80778842e+02] [ 9.59252679e-01 -2.82537883e-01 -2.57754540e-03 1.27349868e+02] [ 2.69346761e-03 2.18730678e-05 9.99996372e-01 6.27835178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.964012739 meters Centerline goodness : 0.993534 Centerline is valid? [True, True] Translation: X:180.78, Y:127.34, Z:0.63 [[-2.83813927e-01 -9.58879055e-01 7.82961834e-04 1.80781936e+02] [ 9.58875592e-01 -2.83815006e-01 -2.57724968e-03 1.27337369e+02] [ 2.69348706e-03 1.93036392e-05 9.99996372e-01 6.28541576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.994012739 meters Centerline goodness : 0.993211 Centerline is valid? [True, True] Translation: X:180.78, Y:127.33, Z:0.63 [[-2.85495707e-01 -9.58379667e-01 7.83942194e-04 1.80783102e+02] [ 9.58376203e-01 -2.85496783e-01 -2.57695144e-03 1.27330184e+02] [ 2.69351084e-03 1.56029677e-05 9.99996372e-01 6.29059375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.024012739 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:180.78, Y:127.34, Z:0.63 [[-2.87987995e-01 -9.57633698e-01 7.84917128e-04 1.80777102e+02] [ 9.57630231e-01 -2.87989065e-01 -2.57665445e-03 1.27341188e+02] [ 2.69353868e-03 9.61481968e-06 9.99996372e-01 6.28993840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05401273900003 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:180.78, Y:127.33, Z:0.63 [[-2.89037877e-01 -9.57317339e-01 7.85895483e-04 1.80778230e+02] [ 9.57313872e-01 -2.89038946e-01 -2.57635601e-03 1.27329541e+02] [ 2.69354469e-03 7.68417514e-06 9.99996372e-01 6.27583504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.084012739 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:180.78, Y:127.31, Z:0.63 [[-2.89444116e-01 -9.57194591e-01 7.86875829e-04 1.80781504e+02] [ 9.57191124e-01 -2.89445186e-01 -2.57605656e-03 1.27314484e+02] [ 2.69354483e-03 7.56614497e-06 9.99996372e-01 6.26006863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11401273900003 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:180.78, Y:127.33, Z:0.62 [[-2.89802349e-01 -9.57086191e-01 7.87848197e-04 1.80775564e+02] [ 9.57082725e-01 -2.89803420e-01 -2.57575914e-03 1.27330739e+02] [ 2.69354461e-03 7.57484825e-06 9.99996372e-01 6.24771521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.144012739 meters Centerline goodness : 0.993359 Centerline is valid? [True, True] Translation: X:180.78, Y:127.32, Z:0.63 [[-2.91480016e-01 -9.56576593e-01 7.88823001e-04 1.80777424e+02] [ 9.56573126e-01 -2.91481083e-01 -2.57546058e-03 1.27322335e+02] [ 2.69355229e-03 3.87159390e-06 9.99996372e-01 6.25340169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17401273900003 meters Centerline goodness : 0.993456 Centerline is valid? [True, True] Translation: X:180.78, Y:127.33, Z:0.63 [[-2.92853489e-01 -9.56157001e-01 7.89802203e-04 1.80775738e+02] [ 9.56153533e-01 -2.92854554e-01 -2.57516025e-03 1.27331804e+02] [ 2.69355468e-03 1.02750040e-06 9.99996372e-01 6.25560058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.204012739 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:180.78, Y:127.33, Z:0.63 [[-2.95677828e-01 -9.55287390e-01 7.90783549e-04 1.80778564e+02] [ 9.55283919e-01 -2.95678886e-01 -2.57485887e-03 1.27325852e+02] [ 2.69354820e-03 -5.90586887e-06 9.99996372e-01 6.25298939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.234012739 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:180.78, Y:127.32, Z:0.63 [[-2.97067216e-01 -9.54856242e-01 7.91767554e-04 1.80778755e+02] [ 9.54852771e-01 -2.97068271e-01 -2.57455625e-03 1.27323663e+02] [ 2.69354012e-03 -8.79481462e-06 9.99996372e-01 6.25564875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.264012739 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:180.78, Y:127.31, Z:0.63 [[-2.98639561e-01 -9.54365645e-01 7.92750458e-04 1.80781615e+02] [ 9.54362173e-01 -2.98640613e-01 -2.57425356e-03 1.27311683e+02] [ 2.69352664e-03 -1.22029024e-05 9.99996372e-01 6.25713291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.294012739 meters Centerline goodness : 0.993531 Centerline is valid? [True, True] Translation: X:180.79, Y:127.30, Z:0.63 [[-3.00362252e-01 -9.53824873e-01 7.93729677e-04 1.80785661e+02] [ 9.53821400e-01 -3.00363300e-01 -2.57395160e-03 1.27299967e+02] [ 2.69350632e-03 -1.60415469e-05 9.99996372e-01 6.26285678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.324012739 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:180.79, Y:127.30, Z:0.63 [[-3.01003549e-01 -9.53622688e-01 7.94702039e-04 1.80785351e+02] [ 9.53619216e-01 -3.01004598e-01 -2.57365135e-03 1.27303968e+02] [ 2.69350129e-03 -1.68350550e-05 9.99996372e-01 6.25316669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.354012739 meters Centerline goodness : 0.994064 Centerline is valid? [True, True] Translation: X:180.79, Y:127.29, Z:0.62 [[-3.01022394e-01 -9.53616739e-01 7.95672857e-04 1.80789301e+02] [ 9.53613267e-01 -3.01023445e-01 -2.57335117e-03 1.27292627e+02] [ 2.69350694e-03 -1.58721374e-05 9.99996372e-01 6.24118188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.384012739 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:180.79, Y:127.28, Z:0.62 [[-3.00649499e-01 -9.53734368e-01 7.96642455e-04 1.80791610e+02] [ 9.53730897e-01 -3.00650554e-01 -2.57305098e-03 1.27283018e+02] [ 2.69351814e-03 -1.38039629e-05 9.99996372e-01 6.24404181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.414012739 meters Centerline goodness : 0.993765 Centerline is valid? [True, True] Translation: X:180.79, Y:127.30, Z:0.62 [[-3.00131312e-01 -9.53897562e-01 7.97606103e-04 1.80787270e+02] [ 9.53894093e-01 -3.00132372e-01 -2.57275223e-03 1.27295178e+02] [ 2.69352949e-03 -1.13317515e-05 9.99996372e-01 6.24932783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.444012739 meters Centerline goodness : 0.994254 Centerline is valid? [True, True] Translation: X:180.79, Y:127.27, Z:0.62 [[-3.00035565e-01 -9.53927682e-01 7.98572463e-04 1.80794160e+02] [ 9.53924213e-01 -3.00036628e-01 -2.57245224e-03 1.27272536e+02] [ 2.69353439e-03 -1.00495523e-05 9.99996372e-01 6.22765764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.474012739 meters Centerline goodness : 0.993856 Centerline is valid? [True, True] Translation: X:180.79, Y:127.29, Z:0.62 [[-3.00964261e-01 -9.53635084e-01 7.99536519e-04 1.80788211e+02] [ 9.53631616e-01 -3.00965323e-01 -2.57215257e-03 1.27292469e+02] [ 2.69352770e-03 -1.16626955e-05 9.99996372e-01 6.22445013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.504012739 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:180.79, Y:127.28, Z:0.62 [[-3.04054966e-01 -9.52654154e-01 8.00501556e-04 1.80793862e+02] [ 9.52650683e-01 -3.04056019e-01 -2.57185219e-03 1.27276823e+02] [ 2.69348299e-03 -1.93860767e-05 9.99996372e-01 6.22926495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.534012739 meters Centerline goodness : 0.994075 Centerline is valid? [True, True] Translation: X:180.79, Y:127.28, Z:0.62 [[-3.05706135e-01 -9.52125578e-01 8.01469632e-04 1.80794785e+02] [ 9.52122106e-01 -3.05707185e-01 -2.57155048e-03 1.27279492e+02] [ 2.69345401e-03 -2.30418038e-05 9.99996372e-01 6.23329017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.564012739 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:180.80, Y:127.27, Z:0.62 [[-3.08598896e-01 -9.51191925e-01 8.02434127e-04 1.80800444e+02] [ 9.51188450e-01 -3.08599938e-01 -2.57124948e-03 1.27271982e+02] [ 2.69338286e-03 -3.02186782e-05 9.99996372e-01 6.20919650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.594012739 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:180.81, Y:127.25, Z:0.62 [[-3.10029296e-01 -9.50726664e-01 8.03398192e-04 1.80806169e+02] [ 9.50723189e-01 -3.10030335e-01 -2.57094822e-03 1.27253473e+02] [ 2.69334683e-03 -3.32599730e-05 9.99996372e-01 6.20421010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.624012739 meters Centerline goodness : 0.994060 Centerline is valid? [True, True] Translation: X:180.81, Y:127.25, Z:0.62 [[-3.08731610e-01 -9.51148856e-01 8.04354214e-04 1.80805343e+02] [ 9.51145382e-01 -3.08732657e-01 -2.57064908e-03 1.27254062e+02] [ 2.69340034e-03 -2.85828322e-05 9.99996372e-01 6.22061603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.654012739 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:180.80, Y:127.26, Z:0.62 [[-3.07251035e-01 -9.51628159e-01 8.05305366e-04 1.80803959e+02] [ 9.51624688e-01 -3.07252090e-01 -2.57035108e-03 1.27258395e+02] [ 2.69345022e-03 -2.33945606e-05 9.99996372e-01 6.23442130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.684012739 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:180.80, Y:127.28, Z:0.63 [[-3.05573901e-01 -9.52168022e-01 8.06259781e-04 1.80797636e+02] [ 9.52164553e-01 -3.05574964e-01 -2.57005166e-03 1.27277545e+02] [ 2.69349381e-03 -1.76487268e-05 9.99996372e-01 6.25010354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.714012739 meters Centerline goodness : 0.994137 Centerline is valid? [True, True] Translation: X:180.80, Y:127.28, Z:0.63 [[-3.05934270e-01 -9.52052294e-01 8.07224346e-04 1.80798457e+02] [ 9.52048826e-01 -3.05935335e-01 -2.56974867e-03 1.27275180e+02] [ 2.69349357e-03 -1.76571924e-05 9.99996372e-01 6.25003577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.744012739 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:180.79, Y:127.29, Z:0.63 [[-3.02871295e-01 -9.53031125e-01 8.08196872e-04 1.80793084e+02] [ 9.53027661e-01 -3.02872374e-01 -2.56944277e-03 1.27286540e+02] [ 2.69353944e-03 -7.97648412e-06 9.99996372e-01 6.25394890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.774012739 meters Centerline goodness : 0.994550 Centerline is valid? [True, True] Translation: X:180.80, Y:127.28, Z:0.63 [[-3.02418107e-01 -9.53175028e-01 8.09174583e-04 1.80795737e+02] [ 9.53171565e-01 -3.02419190e-01 -2.56913483e-03 1.27275832e+02] [ 2.69354508e-03 -5.67068822e-06 9.99996372e-01 6.25588322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80401273900003 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:180.80, Y:127.27, Z:0.63 [[-3.03828324e-01 -9.52726453e-01 8.10154283e-04 1.80799374e+02] [ 9.52722989e-01 -3.03829404e-01 -2.56882585e-03 1.27266137e+02] [ 2.69353703e-03 -8.62944211e-06 9.99996372e-01 6.27136240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.834012739 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:180.80, Y:127.26, Z:0.63 [[-3.05412071e-01 -9.52219937e-01 8.11128220e-04 1.80803129e+02] [ 9.52216473e-01 -3.05413148e-01 -2.56851829e-03 1.27257792e+02] [ 2.69352354e-03 -1.20868375e-05 9.99996372e-01 6.27685735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86401273900003 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:180.80, Y:127.26, Z:0.63 [[-3.07175260e-01 -9.51652615e-01 8.12096780e-04 1.80803125e+02] [ 9.51649150e-01 -3.07176333e-01 -2.56821202e-03 1.27261548e+02] [ 2.69350259e-03 -1.60599849e-05 9.99996372e-01 6.27439273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.894012739 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:180.80, Y:127.27, Z:0.63 [[-3.10502261e-01 -9.50572294e-01 8.13065224e-04 1.80800658e+02] [ 9.50568825e-01 -3.10503324e-01 -2.56790538e-03 1.27274957e+02] [ 2.69343916e-03 -2.44659711e-05 9.99996372e-01 6.25039010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92401273900003 meters Centerline goodness : 0.994448 Centerline is valid? [True, True] Translation: X:180.81, Y:127.25, Z:0.62 [[-3.11792326e-01 -9.50149927e-01 8.14041225e-04 1.80811540e+02] [ 9.50146458e-01 -3.11793387e-01 -2.56759595e-03 1.27247382e+02] [ 2.69341377e-03 -2.70983258e-05 9.99996372e-01 6.22907789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.954012739 meters Centerline goodness : 0.994437 Centerline is valid? [True, True] Translation: X:180.81, Y:127.25, Z:0.62 [[-3.11514471e-01 -9.50241059e-01 8.15013258e-04 1.80812404e+02] [ 9.50237591e-01 -3.11515536e-01 -2.56728736e-03 1.27249099e+02] [ 2.69343116e-03 -2.52909312e-05 9.99996372e-01 6.22900432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.984012739 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:180.81, Y:127.25, Z:0.62 [[-3.10154665e-01 -9.50685762e-01 8.15977100e-04 1.80813617e+02] [ 9.50682297e-01 -3.10155737e-01 -2.56698098e-03 1.27250151e+02] [ 2.69347225e-03 -2.04261433e-05 9.99996372e-01 6.23403643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.014012739 meters Centerline goodness : 0.994497 Centerline is valid? [True, True] Translation: X:180.81, Y:127.27, Z:0.63 [[-3.04778842e-01 -9.52422800e-01 8.16943339e-04 1.80809273e+02] [ 9.52419342e-01 -3.04779937e-01 -2.56667344e-03 1.27265364e+02] [ 2.69354624e-03 -4.19512084e-06 9.99996372e-01 6.25744373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.044012739 meters Centerline goodness : 0.994525 Centerline is valid? [True, True] Translation: X:180.81, Y:127.25, Z:0.63 [[-3.01816071e-01 -9.53365822e-01 8.17916782e-04 1.80811860e+02] [ 9.53362368e-01 -3.01817180e-01 -2.56636320e-03 1.27254411e+02] [ 2.69354430e-03 5.20142140e-06 9.99996372e-01 6.26653159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.074012739 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:180.81, Y:127.25, Z:0.63 [[-2.96897872e-01 -9.54908887e-01 8.18893644e-04 1.80811410e+02] [ 9.54905440e-01 -2.96899001e-01 -2.56605146e-03 1.27247020e+02] [ 2.69347404e-03 2.01107778e-05 9.99996372e-01 6.25405191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.104012739 meters Centerline goodness : 0.994094 Centerline is valid? [True, True] Translation: X:180.81, Y:127.23, Z:0.62 [[-2.95100345e-01 -9.55465915e-01 8.19865735e-04 1.80814137e+02] [ 9.55462470e-01 -2.95101483e-01 -2.56574083e-03 1.27232669e+02] [ 2.69342150e-03 2.61999349e-05 9.99996372e-01 6.24631788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.134012739 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:180.81, Y:127.24, Z:0.62 [[-2.93278672e-01 -9.56026645e-01 8.20831825e-04 1.80811272e+02] [ 9.56023204e-01 -2.93279819e-01 -2.56543172e-03 1.27235106e+02] [ 2.69335449e-03 3.23478618e-05 9.99996372e-01 6.23988096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.164012739 meters Centerline goodness : 0.994513 Centerline is valid? [True, True] Translation: X:180.81, Y:127.22, Z:0.62 [[-2.90697070e-01 -9.56814788e-01 8.21795748e-04 1.80812140e+02] [ 9.56811350e-01 -2.90698229e-01 -2.56512291e-03 1.27218682e+02] [ 2.69324210e-03 4.06297862e-05 9.99996372e-01 6.22269914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.194012739 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:180.81, Y:127.22, Z:0.62 [[-2.90808910e-01 -9.56780801e-01 8.22756738e-04 1.80809366e+02] [ 9.56777364e-01 -2.90810071e-01 -2.56481463e-03 1.27220059e+02] [ 2.69323135e-03 4.13240743e-05 9.99996372e-01 6.21608262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.224012739 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:180.81, Y:127.21, Z:0.62 [[-2.93019561e-01 -9.56106092e-01 8.23714957e-04 1.80808295e+02] [ 9.56102653e-01 -2.93020717e-01 -2.56450686e-03 1.27211606e+02] [ 2.69330617e-03 3.61053811e-05 9.99996372e-01 6.21493438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.254012739 meters Centerline goodness : 0.994127 Centerline is valid? [True, True] Translation: X:180.80, Y:127.24, Z:0.62 [[-2.94992349e-01 -9.55499259e-01 8.24672603e-04 1.80795545e+02] [ 9.55495819e-01 -2.94993500e-01 -2.56419887e-03 1.27244331e+02] [ 2.69336318e-03 3.15521782e-05 9.99996372e-01 6.21299065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.284012739 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:180.79, Y:127.24, Z:0.62 [[-2.98444845e-01 -9.54426526e-01 8.25641276e-04 1.80790442e+02] [ 9.54423082e-01 -2.98445986e-01 -2.56388693e-03 1.27242712e+02] [ 2.69345102e-03 2.28322553e-05 9.99996372e-01 6.21641102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.314012739 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:180.79, Y:127.24, Z:0.62 [[-2.99624449e-01 -9.54056868e-01 8.26624013e-04 1.80788017e+02] [ 9.54053424e-01 -2.99625588e-01 -2.56357004e-03 1.27242978e+02] [ 2.69346931e-03 2.05352076e-05 9.99996372e-01 6.21961101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.344012739 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:180.79, Y:127.23, Z:0.62 [[-3.00800271e-01 -9.53686800e-01 8.27609091e-04 1.80788537e+02] [ 9.53683355e-01 -3.00801409e-01 -2.56325199e-03 1.27233645e+02] [ 2.69348557e-03 1.82501207e-05 9.99996372e-01 6.22365523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.374012739 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:180.79, Y:127.22, Z:0.62 [[-3.02652415e-01 -9.53100639e-01 8.28592572e-04 1.80790462e+02] [ 9.53097194e-01 -3.02653549e-01 -2.56293403e-03 1.27216065e+02] [ 2.69351055e-03 1.40510802e-05 9.99996372e-01 6.23972293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.404012739 meters Centerline goodness : 0.994900 Centerline is valid? [True, True] Translation: X:180.79, Y:127.22, Z:0.63 [[-3.03664173e-01 -9.52778769e-01 8.29568452e-04 1.80787350e+02] [ 9.52775322e-01 -3.03665306e-01 -2.56261812e-03 1.27220616e+02] [ 2.69351929e-03 1.22170373e-05 9.99996372e-01 6.25538797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.434012739 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:180.78, Y:127.23, Z:0.63 [[-3.05130816e-01 -9.52310084e-01 8.30541795e-04 1.80781359e+02] [ 9.52306637e-01 -3.05131946e-01 -2.56230262e-03 1.27226819e+02] [ 2.69353146e-03 9.09297297e-06 9.99996372e-01 6.26161422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.464012739 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:180.79, Y:127.20, Z:0.62 [[-3.06206384e-01 -9.51964789e-01 8.31521322e-04 1.80789131e+02] [ 9.51961341e-01 -3.06207513e-01 -2.56198470e-03 1.27195433e+02] [ 2.69353730e-03 7.08008075e-06 9.99996372e-01 6.23992443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.494012739 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:180.78, Y:127.21, Z:0.62 [[-3.08158980e-01 -9.51334511e-01 8.31884929e-04 1.80782892e+02] [ 9.51331061e-01 -3.08160103e-01 -2.56186663e-03 1.27206879e+02] [ 2.69354589e-03 1.93576222e-06 9.99996372e-01 6.21780790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.524012739 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:180.79, Y:127.18, Z:0.62 [[-3.12419031e-01 -9.49944028e-01 8.32852400e-04 1.80786964e+02] [ 9.49940574e-01 -3.12420141e-01 -2.56155208e-03 1.27178536e+02] [ 2.69353096e-03 -9.11732929e-06 9.99996372e-01 6.19009842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55401273900003 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:180.79, Y:127.18, Z:0.62 [[-3.15099986e-01 -9.49058115e-01 8.32732448e-04 1.80785311e+02] [ 9.49054658e-01 -3.15101086e-01 -2.56159107e-03 1.27177859e+02] [ 2.69349369e-03 -1.68487015e-05 9.99996372e-01 6.20217171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.584012739 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:180.79, Y:127.16, Z:0.62 [[-3.19498480e-01 -9.47586422e-01 8.33686059e-04 1.80789082e+02] [ 9.47582960e-01 -3.19499567e-01 -2.56128067e-03 1.27157339e+02] [ 2.69339712e-03 -2.83385789e-05 9.99996372e-01 6.24042172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61401273900003 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:180.79, Y:127.15, Z:0.62 [[-3.22015294e-01 -9.46734100e-01 8.33804149e-04 1.80790288e+02] [ 9.46730636e-01 -3.22016372e-01 -2.56124223e-03 1.27150856e+02] [ 2.69331394e-03 -3.53712383e-05 9.99996372e-01 6.24657829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.644012739 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:180.80, Y:127.13, Z:0.62 [[-3.27161728e-01 -9.44967993e-01 8.34743820e-04 1.80796595e+02] [ 9.44964524e-01 -3.27162789e-01 -2.56093594e-03 1.27126176e+02] [ 2.69309961e-03 -4.90369319e-05 9.99996372e-01 6.23669043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67401273900003 meters Centerline goodness : 0.995715 Centerline is valid? [True, True] Translation: X:180.80, Y:127.12, Z:0.62 [[-3.29863449e-01 -9.44028288e-01 8.34393514e-04 1.80799883e+02] [ 9.44024816e-01 -3.29864499e-01 -2.56105007e-03 1.27117559e+02] [ 2.69294051e-03 -5.71086255e-05 9.99996372e-01 6.23397919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.704012739 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:180.80, Y:127.12, Z:0.62 [[-3.32743144e-01 -9.43017127e-01 8.35311617e-04 1.80800079e+02] [ 9.43013653e-01 -3.32744186e-01 -2.56075059e-03 1.27120024e+02] [ 2.69277675e-03 -6.43619430e-05 9.99996372e-01 6.24235648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.734012739 meters Centerline goodness : 0.995641 Centerline is valid? [True, True] Translation: X:180.80, Y:127.11, Z:0.63 [[-3.35066761e-01 -9.42194017e-01 8.36229037e-04 1.80803633e+02] [ 9.42190541e-01 -3.35067797e-01 -2.56045096e-03 1.27114220e+02] [ 2.69263500e-03 -7.00349230e-05 9.99996372e-01 6.25212883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.764012739 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:180.81, Y:127.11, Z:0.63 [[-3.37967124e-01 -9.41157544e-01 8.37146637e-04 1.80808205e+02] [ 9.41154065e-01 -3.37968152e-01 -2.56015092e-03 1.27108758e+02] [ 2.69243425e-03 -7.73628811e-05 9.99996372e-01 6.26506593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.794012739 meters Centerline goodness : 0.996000 Centerline is valid? [True, True] Translation: X:180.82, Y:127.09, Z:0.62 [[-3.38551545e-01 -9.40947474e-01 8.38061571e-04 1.80817263e+02] [ 9.40943995e-01 -3.38552573e-01 -2.55985138e-03 1.27092230e+02] [ 2.69241359e-03 -7.80726363e-05 9.99996372e-01 6.24842134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.824012739 meters Centerline goodness : 0.995802 Centerline is valid? [True, True] Translation: X:180.81, Y:127.12, Z:0.62 [[-3.38255430e-01 -9.41053962e-01 8.38970197e-04 1.80810241e+02] [ 9.41050485e-01 -3.38256462e-01 -2.55955355e-03 1.27122506e+02] [ 2.69246510e-03 -7.62695764e-05 9.99996372e-01 6.24487957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.854012739 meters Centerline goodness : 0.995706 Centerline is valid? [True, True] Translation: X:180.82, Y:127.12, Z:0.62 [[-3.37782513e-01 -9.41223814e-01 8.39884061e-04 1.80815075e+02] [ 9.41220338e-01 -3.37783549e-01 -2.55925364e-03 1.27116791e+02] [ 2.69252949e-03 -7.39551666e-05 9.99996372e-01 6.24947536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.884012739 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:180.82, Y:127.10, Z:0.63 [[-3.35796331e-01 -9.41934243e-01 8.40806836e-04 1.80824364e+02] [ 9.41930769e-01 -3.35797377e-01 -2.55895044e-03 1.27103447e+02] [ 2.69270378e-03 -6.73043393e-05 9.99996372e-01 6.26415941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.914012739 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:180.83, Y:127.11, Z:0.63 [[-3.35094935e-01 -9.42183993e-01 8.41724186e-04 1.80825982e+02] [ 9.42180521e-01 -3.35095986e-01 -2.55864866e-03 1.27105571e+02] [ 2.69277621e-03 -6.43340740e-05 9.99996372e-01 6.25866109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.944012739 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:180.82, Y:127.12, Z:0.62 [[-3.34471639e-01 -9.42405440e-01 8.42638583e-04 1.80823812e+02] [ 9.42401969e-01 -3.34472695e-01 -2.55834749e-03 1.27120647e+02] [ 2.69284018e-03 -6.15904169e-05 9.99996372e-01 6.24180036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.974012739 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:180.83, Y:127.12, Z:0.62 [[-3.33567811e-01 -9.42725731e-01 8.43559445e-04 1.80831934e+02] [ 9.42722262e-01 -3.33568872e-01 -2.55804382e-03 1.27118425e+02] [ 2.69291890e-03 -5.80388065e-05 9.99996372e-01 6.20414553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.004012739 meters Centerline goodness : 0.996024 Centerline is valid? [True, True] Translation: X:180.84, Y:127.11, Z:0.62 [[-3.33912660e-01 -9.42603640e-01 8.44484971e-04 1.80837896e+02] [ 9.42600172e-01 -3.33913722e-01 -2.55773824e-03 1.27112508e+02] [ 2.69291849e-03 -5.80494985e-05 9.99996372e-01 6.19759004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.034012739 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:180.84, Y:127.12, Z:0.62 [[-3.34828386e-01 -9.42278747e-01 8.45408206e-04 1.80841780e+02] [ 9.42275279e-01 -3.34829448e-01 -2.55743304e-03 1.27122277e+02] [ 2.69288237e-03 -5.96939238e-05 9.99996372e-01 6.21642889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.064012739 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:180.84, Y:127.13, Z:0.62 [[-3.35593829e-01 -9.42006404e-01 8.46333218e-04 1.80842208e+02] [ 9.42002935e-01 -3.35594891e-01 -2.55712689e-03 1.27132029e+02] [ 2.69285501e-03 -6.09076303e-05 9.99996372e-01 6.23918187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.094012739 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:180.85, Y:127.13, Z:0.63 [[-3.35631137e-01 -9.41993112e-01 8.47265283e-04 1.80847278e+02] [ 9.41989643e-01 -3.35632201e-01 -2.55681803e-03 1.27128539e+02] [ 2.69287448e-03 -6.00326203e-05 9.99996372e-01 6.25002803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.124012739 meters Centerline goodness : 0.995013 Centerline is valid? [True, True] Translation: X:180.85, Y:127.12, Z:0.62 [[-3.35886129e-01 -9.41902218e-01 8.48200053e-04 1.80853646e+02] [ 9.41898751e-01 -3.35887195e-01 -2.55650789e-03 1.27121875e+02] [ 2.69287999e-03 -5.97769695e-05 9.99996372e-01 6.24692261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.154012739 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:180.86, Y:127.13, Z:0.62 [[-3.35489234e-01 -9.42043658e-01 8.49132189e-04 1.80859575e+02] [ 9.42040191e-01 -3.35490303e-01 -2.55619825e-03 1.27131000e+02] [ 2.69292596e-03 -5.76603407e-05 9.99996372e-01 6.20132861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.184012739 meters Centerline goodness : 0.995885 Centerline is valid? [True, True] Translation: X:180.86, Y:127.15, Z:0.62 [[-3.34918416e-01 -9.42246747e-01 8.50065540e-04 1.80857628e+02] [ 9.42243282e-01 -3.34919490e-01 -2.55588782e-03 1.27148505e+02] [ 2.69298050e-03 -5.50453564e-05 9.99996372e-01 6.18563061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.214012739 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:180.86, Y:127.15, Z:0.62 [[-3.31945263e-01 -9.43298266e-01 8.51008198e-04 1.80862556e+02] [ 9.43294805e-01 -3.31946351e-01 -2.55557392e-03 1.27152894e+02] [ 2.69315751e-03 -4.55590449e-05 9.99996372e-01 6.17613903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.244012739 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:180.86, Y:127.17, Z:0.62 [[-3.30533361e-01 -9.43793924e-01 8.51958804e-04 1.80861013e+02] [ 9.43790466e-01 -3.30534457e-01 -2.55525697e-03 1.27167491e+02] [ 2.69323775e-03 -4.05270784e-05 9.99996372e-01 6.18089572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.274012739 meters Centerline goodness : 0.995986 Centerline is valid? [True, True] Translation: X:180.87, Y:127.14, Z:0.62 [[-3.29497131e-01 -9.44156191e-01 8.52916866e-04 1.80872483e+02] [ 9.44152735e-01 -3.29498233e-01 -2.55493714e-03 1.27144863e+02] [ 2.69329432e-03 -3.65606658e-05 9.99996372e-01 6.19045256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30401273900003 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:180.87, Y:127.18, Z:0.62 [[-3.28984912e-01 -9.44334792e-01 8.53872639e-04 1.80868865e+02] [ 9.44331337e-01 -3.28986019e-01 -2.55461768e-03 1.27181666e+02] [ 2.69332651e-03 -3.40919821e-05 9.99996372e-01 6.22366652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.334012739 meters Centerline goodness : 0.995250 Centerline is valid? [True, True] Translation: X:180.87, Y:127.18, Z:0.62 [[-3.29746231e-01 -9.44069220e-01 8.54833903e-04 1.80874912e+02] [ 9.44065765e-01 -3.29747337e-01 -2.55429598e-03 1.27175999e+02] [ 2.69331141e-03 -3.52500471e-05 9.99996372e-01 6.23767071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36401273900003 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:180.88, Y:127.16, Z:0.62 [[-3.30672253e-01 -9.43745267e-01 8.55806814e-04 1.80884129e+02] [ 9.43741812e-01 -3.30673358e-01 -2.55396996e-03 1.27161545e+02] [ 2.69328958e-03 -3.68663296e-05 9.99996372e-01 6.24227110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.394012739 meters Centerline goodness : 0.995709 Centerline is valid? [True, True] Translation: X:180.89, Y:127.16, Z:0.62 [[-3.32044629e-01 -9.43263288e-01 8.56773041e-04 1.80893177e+02] [ 9.43259832e-01 -3.32045732e-01 -2.55364579e-03 1.27163478e+02] [ 2.69324815e-03 -3.97647730e-05 9.99996372e-01 6.22485442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42401273900003 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:180.90, Y:127.17, Z:0.62 [[-3.32305757e-01 -9.43171325e-01 8.57734888e-04 1.80895541e+02] [ 9.43167870e-01 -3.32306862e-01 -2.55332267e-03 1.27173264e+02] [ 2.69325192e-03 -3.94958375e-05 9.99996372e-01 6.21463954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.454012739 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:180.91, Y:127.17, Z:0.62 [[-3.30702800e-01 -9.43734560e-01 8.58700871e-04 1.80906693e+02] [ 9.43731108e-01 -3.30703914e-01 -2.55299777e-03 1.27165993e+02] [ 2.69332796e-03 -3.39007865e-05 9.99996372e-01 6.22330980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.484012739 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:180.91, Y:127.18, Z:0.62 [[-3.28638142e-01 -9.44455522e-01 8.59667689e-04 1.80905684e+02] [ 9.44452073e-01 -3.28639265e-01 -2.55267217e-03 1.27178512e+02] [ 2.69340588e-03 -2.69905074e-05 9.99996372e-01 6.22966050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.514012739 meters Centerline goodness : 0.996131 Centerline is valid? [True, True] Translation: X:180.90, Y:127.19, Z:0.62 [[-3.25419296e-01 -9.45569427e-01 8.60636927e-04 1.80904909e+02] [ 9.45565982e-01 -3.25420434e-01 -2.55234535e-03 1.27187817e+02] [ 2.69348857e-03 -1.67934244e-05 9.99996372e-01 6.22578059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.544012739 meters Centerline goodness : 0.996377 Centerline is valid? [True, True] Translation: X:180.92, Y:127.16, Z:0.62 [[-3.16145991e-01 -9.48710161e-01 8.61615234e-04 1.80916114e+02] [ 9.48706729e-01 -3.16147165e-01 -2.55201505e-03 1.27160419e+02] [ 2.69351982e-03 1.06108438e-05 9.99996372e-01 6.19829844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.574012739 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:180.92, Y:127.14, Z:0.62 [[-3.11511179e-01 -9.50242096e-01 8.62587749e-04 1.80923919e+02] [ 9.50238671e-01 -3.11512372e-01 -2.55168629e-03 1.27135672e+02] [ 2.69342649e-03 2.47854304e-05 9.99996372e-01 6.20143147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.604012739 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:180.92, Y:127.13, Z:0.62 [[-3.11863809e-01 -9.50126423e-01 8.63542760e-04 1.80924782e+02] [ 9.50122997e-01 -3.11865004e-01 -2.55136306e-03 1.27133351e+02] [ 2.69342622e-03 2.47940343e-05 9.99996372e-01 6.20136369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.634012739 meters Centerline goodness : 0.996111 Centerline is valid? [True, True] Translation: X:180.93, Y:127.10, Z:0.62 [[-3.03133121e-01 -9.52947828e-01 8.64489501e-04 1.80934096e+02] [ 9.52944415e-01 -3.03134350e-01 -2.55104223e-03 1.27098892e+02] [ 2.69306661e-03 5.05050492e-05 9.99996372e-01 6.21171573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.664012739 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:180.94, Y:127.09, Z:0.62 [[-3.00330072e-01 -9.53834943e-01 8.65425125e-04 1.80937224e+02] [ 9.53831535e-01 -3.00331313e-01 -2.55072478e-03 1.27087139e+02] [ 2.69288469e-03 5.94104178e-05 9.99996372e-01 6.21441539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.694012739 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:180.94, Y:127.09, Z:0.62 [[-2.98694582e-01 -9.54348362e-01 8.66346833e-04 1.80935997e+02] [ 9.54344956e-01 -2.98695831e-01 -2.55041169e-03 1.27087346e+02] [ 2.69275541e-03 6.49995771e-05 9.99996372e-01 6.20972474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.724012739 meters Centerline goodness : 0.996364 Centerline is valid? [True, True] Translation: X:180.94, Y:127.06, Z:0.62 [[-2.97424530e-01 -9.54744938e-01 8.67266416e-04 1.80942799e+02] [ 9.54741535e-01 -2.97425786e-01 -2.55009895e-03 1.27056559e+02] [ 2.69264146e-03 6.95532895e-05 9.99996372e-01 6.20593167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.754012739 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:180.94, Y:127.05, Z:0.62 [[-2.97461601e-01 -9.54733388e-01 8.68177754e-04 1.80942473e+02] [ 9.54729986e-01 -2.97462860e-01 -2.54978865e-03 1.27049284e+02] [ 2.69261899e-03 7.04111216e-05 9.99996372e-01 6.20875417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.784012739 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:180.93, Y:127.08, Z:0.62 [[-2.97775842e-01 -9.54635424e-01 8.69078910e-04 1.80928921e+02] [ 9.54632022e-01 -2.97777102e-01 -2.54948146e-03 1.27079613e+02] [ 2.69261711e-03 7.04765690e-05 9.99996372e-01 6.20787805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.814012739 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:180.93, Y:127.06, Z:0.62 [[-2.98969396e-01 -9.54262303e-01 8.69989458e-04 1.80929181e+02] [ 9.54258901e-01 -2.98970654e-01 -2.54917070e-03 1.27062181e+02] [ 2.69267882e-03 6.80711586e-05 9.99996372e-01 6.20651542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.844012739 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:180.92, Y:127.08, Z:0.62 [[-2.99730093e-01 -9.54023644e-01 8.70906725e-04 1.80920396e+02] [ 9.54020241e-01 -2.99731351e-01 -2.54885729e-03 1.27079559e+02] [ 2.69270816e-03 6.68934131e-05 9.99996372e-01 6.21103363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.874012739 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:180.92, Y:127.05, Z:0.62 [[-3.01015885e-01 -9.53618727e-01 8.71826170e-04 1.80922223e+02] [ 9.53615324e-01 -3.01017141e-01 -2.54854275e-03 1.27054323e+02] [ 2.69277272e-03 6.42349430e-05 9.99996372e-01 6.21799051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.904012739 meters Centerline goodness : 0.995424 Centerline is valid? [True, True] Translation: X:180.91, Y:127.07, Z:0.62 [[-3.02032984e-01 -9.53297076e-01 8.72745503e-04 1.80914980e+02] [ 9.53293672e-01 -3.02034238e-01 -2.54822789e-03 1.27067915e+02] [ 2.69281722e-03 6.23338920e-05 9.99996372e-01 6.22967612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.934012739 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:180.92, Y:127.06, Z:0.62 [[-3.03212185e-01 -9.52922666e-01 8.73663429e-04 1.80917671e+02] [ 9.52919262e-01 -3.03213438e-01 -2.54791314e-03 1.27055932e+02] [ 2.69287067e-03 5.99724004e-05 9.99996372e-01 6.24006233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.964012739 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:180.91, Y:127.07, Z:0.62 [[-3.07026492e-01 -9.51700567e-01 8.74583695e-04 1.80909377e+02] [ 9.51697158e-01 -3.07027734e-01 -2.54759721e-03 1.27072407e+02] [ 2.69307116e-03 5.01589810e-05 9.99996372e-01 6.24683098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.994012739 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:180.91, Y:127.07, Z:0.62 [[-3.10195074e-01 -9.50672525e-01 8.75507459e-04 1.80908039e+02] [ 9.50669113e-01 -3.10196307e-01 -2.54727971e-03 1.27070683e+02] [ 2.69320802e-03 4.21642801e-05 9.99996372e-01 6.23290406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.024012739 meters Centerline goodness : 0.995719 Centerline is valid? [True, True] Translation: X:180.90, Y:127.09, Z:0.62 [[-3.13819540e-01 -9.49482242e-01 8.76438143e-04 1.80901947e+02] [ 9.49478827e-01 -3.13820762e-01 -2.54695946e-03 1.27086602e+02] [ 2.69333726e-03 3.28738147e-05 9.99996372e-01 6.22062540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05401273900003 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:180.90, Y:127.12, Z:0.62 [[-3.21652682e-01 -9.46857319e-01 8.77375552e-04 1.80895477e+02] [ 9.46853894e-01 -3.21653878e-01 -2.54663650e-03 1.27115435e+02] [ 2.69351265e-03 1.16139999e-05 9.99996372e-01 6.21402128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.084012739 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:180.90, Y:127.11, Z:0.62 [[-3.25702987e-01 -9.45471730e-01 8.78329920e-04 1.80899821e+02] [ 9.45468301e-01 -3.25704172e-01 -2.54630729e-03 1.27108794e+02] [ 2.69353728e-03 1.09320546e-06 9.99996372e-01 6.21329988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11401273900003 meters Centerline goodness : 0.995915 Centerline is valid? [True, True] Translation: X:180.90, Y:127.11, Z:0.62 [[-3.30947475e-01 -9.43648767e-01 8.79293564e-04 1.80901474e+02] [ 9.43645333e-01 -3.30948643e-01 -2.54597448e-03 1.27109171e+02] [ 2.69350669e-03 -1.28425586e-05 9.99996372e-01 6.17668026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.144012739 meters Centerline goodness : 0.996001 Centerline is valid? [True, True] Translation: X:180.90, Y:127.12, Z:0.62 [[-3.32203897e-01 -9.43207186e-01 8.80255979e-04 1.80896954e+02] [ 9.43203751e-01 -3.32205063e-01 -2.54564169e-03 1.27123758e+02] [ 2.69349303e-03 -1.54113483e-05 9.99996372e-01 6.16141031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17401273900003 meters Centerline goodness : 0.995724 Centerline is valid? [True, True] Translation: X:180.90, Y:127.12, Z:0.62 [[-3.32570843e-01 -9.43077864e-01 8.81225267e-04 1.80898875e+02] [ 9.43074429e-01 -3.32572010e-01 -2.54530611e-03 1.27120549e+02] [ 2.69349271e-03 -1.54335822e-05 9.99996372e-01 6.17538170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.204012739 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:180.90, Y:127.12, Z:0.62 [[-3.32580860e-01 -9.43074331e-01 8.82200068e-04 1.80901207e+02] [ 9.43070897e-01 -3.32582030e-01 -2.54496820e-03 1.27115248e+02] [ 2.69349807e-03 -1.44305028e-05 9.99996372e-01 6.19078785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.234012739 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:180.90, Y:127.12, Z:0.62 [[-3.31813303e-01 -9.43344662e-01 8.83173436e-04 1.80899953e+02] [ 9.43341230e-01 -3.31814479e-01 -2.54463037e-03 1.27118509e+02] [ 2.69351321e-03 -1.12082922e-05 9.99996372e-01 6.20339552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.264012739 meters Centerline goodness : 0.995860 Centerline is valid? [True, True] Translation: X:180.90, Y:127.11, Z:0.62 [[-3.32377715e-01 -9.43145945e-01 8.84147652e-04 1.80902773e+02] [ 9.43142513e-01 -3.32378890e-01 -2.54429183e-03 1.27112250e+02] [ 2.69351053e-03 -1.17886638e-05 9.99996372e-01 6.20763869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.294012739 meters Centerline goodness : 0.995388 Centerline is valid? [True, True] Translation: X:180.91, Y:127.10, Z:0.62 [[-3.34793938e-01 -9.42290951e-01 8.85122064e-04 1.80912163e+02] [ 9.42287517e-01 -3.34795107e-01 -2.54395280e-03 1.27099271e+02] [ 2.69347824e-03 -1.76605014e-05 9.99996372e-01 6.20542131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.324012739 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:180.91, Y:127.11, Z:0.62 [[-3.35870007e-01 -9.41907933e-01 8.86090386e-04 1.80910630e+02] [ 9.41904498e-01 -3.35871175e-01 -2.54361547e-03 1.27108175e+02] [ 2.69346381e-03 -1.97116253e-05 9.99996372e-01 6.19454234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.354012739 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:180.91, Y:127.11, Z:0.62 [[-3.36181078e-01 -9.41796950e-01 8.87058257e-04 1.80910633e+02] [ 9.41793517e-01 -3.36182248e-01 -2.54327789e-03 1.27109571e+02] [ 2.69346460e-03 -1.95761897e-05 9.99996372e-01 6.17352290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.384012739 meters Centerline goodness : 0.995527 Centerline is valid? [True, True] Translation: X:180.91, Y:127.11, Z:0.62 [[-3.33814844e-01 -9.42638245e-01 8.88031303e-04 1.80913824e+02] [ 9.42634815e-01 -3.33816025e-01 -2.54293809e-03 1.27105836e+02] [ 2.69350978e-03 -1.17812588e-05 9.99996372e-01 6.15021004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.414012739 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:180.92, Y:127.10, Z:0.62 [[-3.31878724e-01 -9.43321643e-01 8.89004545e-04 1.80916173e+02] [ 9.43318216e-01 -3.31879915e-01 -2.54259780e-03 1.27103313e+02] [ 2.69353029e-03 -5.21993378e-06 9.99996372e-01 6.15279173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.444012739 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:180.93, Y:127.08, Z:0.62 [[-3.29385996e-01 -9.44194934e-01 8.89977005e-04 1.80926743e+02] [ 9.44191512e-01 -3.29387198e-01 -2.54225737e-03 1.27075813e+02] [ 2.69353356e-03 2.92475696e-06 9.99996372e-01 6.15155663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.474012739 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:180.93, Y:127.07, Z:0.62 [[-3.23833680e-01 -9.46113605e-01 8.90939433e-04 1.80930213e+02] [ 9.46110191e-01 -3.23834905e-01 -2.54192004e-03 1.27065445e+02] [ 2.69346242e-03 1.97675566e-05 9.99996372e-01 6.15538036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.504012739 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:180.94, Y:127.04, Z:0.62 [[-3.21477113e-01 -9.46916929e-01 8.91889708e-04 1.80939598e+02] [ 9.46913519e-01 -3.21478349e-01 -2.54158657e-03 1.27040716e+02] [ 2.69339458e-03 2.74805094e-05 9.99996372e-01 6.16782212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.534012739 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:180.94, Y:127.06, Z:0.62 [[-3.18530973e-01 -9.47912033e-01 8.92828739e-04 1.80936752e+02] [ 9.47908627e-01 -3.18532222e-01 -2.54125666e-03 1.27057891e+02] [ 2.69328249e-03 3.68511097e-05 9.99996372e-01 6.17948169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.564012739 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:180.94, Y:127.05, Z:0.62 [[-3.17554737e-01 -9.48239522e-01 8.93766437e-04 1.80940919e+02] [ 9.48236118e-01 -3.17555992e-01 -2.54092683e-03 1.27047383e+02] [ 2.69322813e-03 4.06182669e-05 9.99996372e-01 6.18708510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.594012739 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:180.95, Y:127.03, Z:0.62 [[-3.15968154e-01 -9.48769374e-01 8.94707633e-04 1.80948709e+02] [ 9.48765974e-01 -3.15969417e-01 -2.54059537e-03 1.27025506e+02] [ 2.69313933e-03 4.61209291e-05 9.99996372e-01 6.18404903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.624012739 meters Centerline goodness : 0.995040 Centerline is valid? [True, True] Translation: X:180.96, Y:127.01, Z:0.62 [[-3.11563847e-01 -9.50224798e-01 8.95638823e-04 1.80955570e+02] [ 9.50221405e-01 -3.11565129e-01 -2.54026705e-03 1.27005551e+02] [ 2.69287457e-03 5.95998053e-05 9.99996372e-01 6.17063463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.654012739 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:180.96, Y:127.01, Z:0.62 [[-3.09565591e-01 -9.50877669e-01 8.96557328e-04 1.80955905e+02] [ 9.50874279e-01 -3.09566882e-01 -2.53994284e-03 1.27005584e+02] [ 2.69271938e-03 6.62343967e-05 9.99996372e-01 6.17444254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.684012739 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:180.96, Y:126.99, Z:0.62 [[-3.05302610e-01 -9.52254961e-01 8.97470409e-04 1.80960031e+02] [ 9.52251578e-01 -3.05303919e-01 -2.53962017e-03 1.26987036e+02] [ 2.69236713e-03 7.92649488e-05 9.99996372e-01 6.21727285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.714012739 meters Centerline goodness : 0.995039 Centerline is valid? [True, True] Translation: X:180.96, Y:126.97, Z:0.62 [[-3.03110755e-01 -9.52954911e-01 8.98379265e-04 1.80963320e+02] [ 9.52951532e-01 -3.03112074e-01 -2.53929862e-03 1.26971768e+02] [ 2.69214669e-03 8.64231743e-05 9.99996372e-01 6.22612425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.744012739 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:180.96, Y:126.97, Z:0.62 [[-2.97729234e-01 -9.54649933e-01 8.99278783e-04 1.80962901e+02] [ 9.54646562e-01 -2.97730574e-01 -2.53898002e-03 1.26967752e+02] [ 2.69157990e-03 1.02564822e-04 9.99996372e-01 6.19922532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.774012739 meters Centerline goodness : 0.995333 Centerline is valid? [True, True] Translation: X:180.97, Y:126.94, Z:0.62 [[-2.95696804e-01 -9.55281419e-01 9.00173923e-04 1.80970537e+02] [ 9.55278052e-01 -2.95698154e-01 -2.53866262e-03 1.26943647e+02] [ 2.69131700e-03 1.09241970e-04 9.99996372e-01 6.17835274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80401273900003 meters Centerline goodness : 0.995269 Centerline is valid? [True, True] Translation: X:180.97, Y:126.94, Z:0.62 [[-2.93750823e-01 -9.55881605e-01 9.01061751e-04 1.80971417e+02] [ 9.55878241e-01 -2.93752182e-01 -2.53834746e-03 1.26936776e+02] [ 2.69104850e-03 1.15663669e-04 9.99996372e-01 6.17821193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.834012739 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:180.97, Y:126.92, Z:0.62 [[-2.90112210e-01 -9.56992211e-01 9.01941585e-04 1.80972165e+02] [ 9.56988854e-01 -2.90113584e-01 -2.53803479e-03 1.26920523e+02] [ 2.69054503e-03 1.26833163e-04 9.99996372e-01 6.19779049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86401273900003 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:180.97, Y:126.92, Z:0.62 [[-2.89269429e-01 -9.57247294e-01 9.02816437e-04 1.80970277e+02] [ 9.57243939e-01 -2.89270808e-01 -2.53772355e-03 1.26919462e+02] [ 2.69038745e-03 1.30129719e-04 9.99996372e-01 6.20718163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.894012739 meters Centerline goodness : 0.995641 Centerline is valid? [True, True] Translation: X:180.97, Y:126.92, Z:0.62 [[-2.88383379e-01 -9.57514600e-01 9.03687928e-04 1.80965965e+02] [ 9.57511248e-01 -2.88384764e-01 -2.53741318e-03 1.26919602e+02] [ 2.69021999e-03 1.33543569e-04 9.99996372e-01 6.18709665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92401273900003 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:180.96, Y:126.92, Z:0.62 [[-2.88724653e-01 -9.57411749e-01 9.04561128e-04 1.80962121e+02] [ 9.57408396e-01 -2.88726039e-01 -2.53710185e-03 1.26922507e+02] [ 2.69022147e-03 1.33510568e-04 9.99996372e-01 6.18068853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.954012739 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:180.96, Y:126.91, Z:0.62 [[-2.89233081e-01 -9.57258275e-01 9.05437099e-04 1.80964796e+02] [ 9.57254923e-01 -2.89234467e-01 -2.53678920e-03 1.26907600e+02] [ 2.69024607e-03 1.33010766e-04 9.99996372e-01 6.17788386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.984012739 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:180.96, Y:126.91, Z:0.62 [[-2.90252491e-01 -9.56949670e-01 9.06311136e-04 1.80962618e+02] [ 9.56946317e-01 -2.90253876e-01 -2.53647690e-03 1.26909387e+02] [ 2.69034105e-03 1.31072368e-04 9.99996372e-01 6.17794761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.014012739 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:180.95, Y:126.94, Z:0.62 [[-2.93639723e-01 -9.55915734e-01 9.07183105e-04 1.80951292e+02] [ 9.55912377e-01 -2.93641099e-01 -2.53616499e-03 1.26938972e+02] [ 2.69074626e-03 1.22468771e-04 9.99996372e-01 6.19561932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.044012739 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:180.95, Y:126.94, Z:0.62 [[-2.97816020e-01 -9.54622854e-01 9.08066299e-04 1.80948704e+02] [ 9.54619493e-01 -2.97817384e-01 -2.53584873e-03 1.26938465e+02] [ 2.69121708e-03 1.11641414e-04 9.99996372e-01 6.20052476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.074012739 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:180.95, Y:126.93, Z:0.62 [[-2.99643539e-01 -9.54050797e-01 9.08960334e-04 1.80951370e+02] [ 9.54047434e-01 -2.99644898e-01 -2.53552823e-03 1.26927469e+02] [ 2.69138805e-03 1.07436623e-04 9.99996372e-01 6.20654243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.104012739 meters Centerline goodness : 0.995193 Centerline is valid? [True, True] Translation: X:180.95, Y:126.93, Z:0.62 [[-3.00338422e-01 -9.53832273e-01 9.09852479e-04 1.80950812e+02] [ 9.53828910e-01 -3.00339781e-01 -2.53520805e-03 1.26927163e+02] [ 2.69142815e-03 1.06423214e-04 9.99996372e-01 6.22000750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.134012739 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:180.95, Y:126.92, Z:0.62 [[-2.99912130e-01 -9.53966396e-01 9.10742741e-04 1.80953736e+02] [ 9.53963035e-01 -2.99913493e-01 -2.53488819e-03 1.26917219e+02] [ 2.69134219e-03 1.08571194e-04 9.99996372e-01 6.22312708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.164012739 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:180.95, Y:126.91, Z:0.62 [[-2.97766062e-01 -9.54638435e-01 9.11631129e-04 1.80953409e+02] [ 9.54635077e-01 -2.97767435e-01 -2.53456866e-03 1.26911828e+02] [ 2.69105072e-03 1.15566526e-04 9.99996372e-01 6.23856913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.194012739 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:180.95, Y:126.91, Z:0.62 [[-2.96543227e-01 -9.55018996e-01 9.12516441e-04 1.80952035e+02] [ 9.55015641e-01 -2.96544607e-01 -2.53424988e-03 1.26911661e+02] [ 2.69085860e-03 1.19952836e-04 9.99996372e-01 6.23958004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.224012739 meters Centerline goodness : 0.995034 Centerline is valid? [True, True] Translation: X:180.95, Y:126.92, Z:0.62 [[-2.97070174e-01 -9.54855213e-01 9.13401642e-04 1.80950548e+02] [ 9.54851858e-01 -2.97071554e-01 -2.53393079e-03 1.26916829e+02] [ 2.69088267e-03 1.19407994e-04 9.99996372e-01 6.23150408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.254012739 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:180.95, Y:126.91, Z:0.62 [[-2.98082405e-01 -9.54539703e-01 9.14289966e-04 1.80952039e+02] [ 9.54536347e-01 -2.98083784e-01 -2.53361023e-03 1.26912525e+02] [ 2.69096657e-03 1.17498374e-04 9.99996372e-01 6.21980316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.284012739 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:180.95, Y:126.92, Z:0.62 [[-3.00443867e-01 -9.53799059e-01 9.15179940e-04 1.80946589e+02] [ 9.53795701e-01 -3.00445240e-01 -2.53328871e-03 1.26923770e+02] [ 2.69120985e-03 1.11783634e-04 9.99996372e-01 6.21601989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.314012739 meters Centerline goodness : 0.995204 Centerline is valid? [True, True] Translation: X:180.94, Y:126.93, Z:0.62 [[-3.02217597e-01 -9.53238525e-01 9.16073749e-04 1.80944134e+02] [ 9.53235165e-01 -3.02218967e-01 -2.53296546e-03 1.26927804e+02] [ 2.69137512e-03 1.07726976e-04 9.99996372e-01 6.20548837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.344012739 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:180.95, Y:126.92, Z:0.62 [[-3.04071760e-01 -9.52648689e-01 9.16974067e-04 1.80945882e+02] [ 9.52645328e-01 -3.04073125e-01 -2.53263949e-03 1.26920490e+02] [ 2.69154286e-03 1.03446912e-04 9.99996372e-01 6.19014626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.374012739 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:180.94, Y:126.93, Z:0.61 [[-3.07581025e-01 -9.51521450e-01 9.17874828e-04 1.80941106e+02] [ 9.51518085e-01 -3.07582380e-01 -2.53231299e-03 1.26931398e+02] [ 2.69187226e-03 9.44830724e-05 9.99996372e-01 6.14955270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.404012739 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:180.94, Y:126.94, Z:0.61 [[-3.09432776e-01 -9.50920876e-01 9.18778261e-04 1.80938218e+02] [ 9.50917510e-01 -3.09434127e-01 -2.53198517e-03 1.26939116e+02] [ 2.69201890e-03 9.02031379e-05 9.99996372e-01 6.14605075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.434012739 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:180.88, Y:127.11, Z:0.62 [[-3.12687834e-01 -9.49855501e-01 9.19689337e-04 1.80875618e+02] [ 9.49852131e-01 -3.12689176e-01 -2.53165419e-03 1.27109310e+02] [ 2.69228256e-03 8.19514110e-05 9.99996372e-01 6.19721795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.464012739 meters Centerline goodness : 0.995612 Centerline is valid? [True, True] Translation: X:180.93, Y:126.95, Z:0.62 [[-3.13909447e-01 -9.49452480e-01 9.20665719e-04 1.80930931e+02] [ 9.49449109e-01 -3.13910787e-01 -2.53129907e-03 1.26954175e+02] [ 2.69235508e-03 7.95265542e-05 9.99996372e-01 6.20929913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.494012739 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:180.94, Y:126.94, Z:0.62 [[-3.16030398e-01 -9.48748619e-01 9.19683881e-04 1.80935952e+02] [ 9.48745244e-01 -3.16031728e-01 -2.53165575e-03 1.26939418e+02] [ 2.69255418e-03 7.24655348e-05 9.99996372e-01 6.20601430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.524012739 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:180.94, Y:126.94, Z:0.62 [[-3.16373951e-01 -9.48634110e-01 9.20604620e-04 1.80936875e+02] [ 9.48630736e-01 -3.16375282e-01 -2.53132089e-03 1.26937097e+02] [ 2.69255388e-03 7.24698474e-05 9.99996372e-01 6.20594652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55401273900003 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:180.93, Y:126.95, Z:0.62 [[-3.18728915e-01 -9.47845467e-01 9.21521179e-04 1.80934517e+02] [ 9.47842090e-01 -3.18730241e-01 -2.53098717e-03 1.26945120e+02] [ 2.69270139e-03 6.67577640e-05 9.99996372e-01 6.19837834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.584012739 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:180.93, Y:126.95, Z:0.62 [[-3.22799863e-01 -9.46466797e-01 9.22441089e-04 1.80933256e+02] [ 9.46463415e-01 -3.22801176e-01 -2.53065186e-03 1.26950547e+02] [ 2.69294303e-03 5.61626718e-05 9.99996372e-01 6.20703602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61401273900003 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:180.93, Y:126.97, Z:0.62 [[-3.24727858e-01 -9.45807045e-01 9.23367011e-04 1.80927177e+02] [ 9.45803661e-01 -3.24729167e-01 -2.53031397e-03 1.26966443e+02] [ 2.69303298e-03 5.16604645e-05 9.99996372e-01 6.22174316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.644012739 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:180.89, Y:127.07, Z:0.62 [[-3.28515361e-01 -9.44498175e-01 9.24301872e-04 1.80888700e+02] [ 9.44494788e-01 -3.28516659e-01 -2.52997243e-03 1.27072635e+02] [ 2.69320290e-03 4.18634953e-05 9.99996372e-01 6.24301236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67401273900003 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:180.93, Y:126.97, Z:0.62 [[-3.29900925e-01 -9.44015107e-01 9.26264033e-04 1.80925666e+02] [ 9.44011719e-01 -3.29902223e-01 -2.52925480e-03 1.26972991e+02] [ 2.69323130e-03 4.00006051e-05 9.99996372e-01 6.23243759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.704012739 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:180.92, Y:126.98, Z:0.62 [[-3.31402272e-01 -9.43489098e-01 9.25401824e-04 1.80923639e+02] [ 9.43485707e-01 -3.31403563e-01 -2.52957022e-03 1.26977957e+02] [ 2.69330339e-03 3.47980756e-05 9.99996372e-01 6.21810645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.734012739 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:180.93, Y:126.96, Z:0.62 [[-3.32319886e-01 -9.43166282e-01 9.26352256e-04 1.80926901e+02] [ 9.43162891e-01 -3.32321176e-01 -2.52922212e-03 1.26962372e+02] [ 2.69332349e-03 3.31902673e-05 9.99996372e-01 6.21902170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.764012739 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:180.90, Y:127.03, Z:0.62 [[-3.32499547e-01 -9.43102959e-01 9.27300545e-04 1.80900340e+02] [ 9.43099569e-01 -3.32500839e-01 -2.52887439e-03 1.27031449e+02] [ 2.69331713e-03 3.36871542e-05 9.99996372e-01 6.24558842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.794012739 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:180.93, Y:126.95, Z:0.63 [[-3.29925168e-01 -9.44006630e-01 9.30245876e-04 1.80929269e+02] [ 9.44003247e-01 -3.29926477e-01 -2.52779334e-03 1.26948684e+02] [ 2.69316642e-03 4.41724843e-05 9.99996372e-01 6.27466225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.824012739 meters Centerline goodness : 0.995473 Centerline is valid? [True, True] Translation: X:180.93, Y:126.96, Z:0.63 [[-3.29032501e-01 -9.44318141e-01 9.28523865e-04 1.80926188e+02] [ 9.44314757e-01 -3.29033808e-01 -2.52842572e-03 1.26955282e+02] [ 2.69315402e-03 4.48845500e-05 9.99996372e-01 6.26660287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.854012739 meters Centerline goodness : 0.995646 Centerline is valid? [True, True] Translation: X:180.93, Y:126.95, Z:0.62 [[-3.28691777e-01 -9.44436791e-01 9.29464361e-04 1.80925818e+02] [ 9.44433409e-01 -3.28693087e-01 -2.52807994e-03 1.26953053e+02] [ 2.69312022e-03 4.68581069e-05 9.99996372e-01 6.24384483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.884012739 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:180.92, Y:126.95, Z:0.62 [[-3.29828984e-01 -9.44040241e-01 9.30408080e-04 1.80924501e+02] [ 9.44036858e-01 -3.29830293e-01 -2.52773258e-03 1.26953999e+02] [ 2.69315804e-03 4.46200537e-05 9.99996372e-01 6.18683916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.914012739 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:180.92, Y:126.96, Z:0.62 [[-3.32152710e-01 -9.43225164e-01 9.31353355e-04 1.80924258e+02] [ 9.43221779e-01 -3.32154013e-01 -2.52738424e-03 1.26956190e+02] [ 2.69324517e-03 3.89952436e-05 9.99996372e-01 6.17956633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.944012739 meters Centerline goodness : 0.995272 Centerline is valid? [True, True] Translation: X:180.93, Y:126.95, Z:0.62 [[-3.35168430e-01 -9.42157765e-01 9.32301264e-04 1.80928565e+02] [ 9.42154377e-01 -3.35169725e-01 -2.52703453e-03 1.26947425e+02] [ 2.69334436e-03 3.13895214e-05 9.99996372e-01 6.17472319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.974012739 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:180.92, Y:126.97, Z:0.62 [[-3.40721571e-01 -9.40163784e-01 9.33248278e-04 1.80921706e+02] [ 9.40160389e-01 -3.40722848e-01 -2.52668474e-03 1.26971119e+02] [ 2.69347650e-03 1.65070708e-05 9.99996372e-01 6.18095359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.004012739 meters Centerline goodness : 0.995707 Centerline is valid? [True, True] Translation: X:180.92, Y:126.97, Z:0.62 [[-3.42696961e-01 -9.39445539e-01 9.34201672e-04 1.80922471e+02] [ 9.39442142e-01 -3.42698234e-01 -2.52633219e-03 1.26970520e+02] [ 2.69350077e-03 1.18620562e-05 9.99996372e-01 6.17757580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.034012739 meters Centerline goodness : 0.995486 Centerline is valid? [True, True] Translation: X:180.93, Y:126.96, Z:0.62 [[-3.43345691e-01 -9.39208636e-01 9.35165030e-04 1.80926308e+02] [ 9.39205239e-01 -3.43346965e-01 -2.52597554e-03 1.26961268e+02] [ 2.69350411e-03 1.10290795e-05 9.99996372e-01 6.17760837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.064012739 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:180.93, Y:126.96, Z:0.62 [[-3.42753147e-01 -9.39425039e-01 9.36126180e-04 1.80926586e+02] [ 9.39421644e-01 -3.42754425e-01 -2.52561928e-03 1.26960161e+02] [ 2.69349138e-03 1.37532384e-05 9.99996372e-01 6.17346388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.094012739 meters Centerline goodness : 0.995466 Centerline is valid? [True, True] Translation: X:180.93, Y:126.95, Z:0.62 [[-3.42250272e-01 -9.39608362e-01 9.37085134e-04 1.80929017e+02] [ 9.39604968e-01 -3.42251555e-01 -2.52526343e-03 1.26951550e+02] [ 2.69347748e-03 1.62177510e-05 9.99996372e-01 6.19127600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.124012739 meters Centerline goodness : 0.995379 Centerline is valid? [True, True] Translation: X:180.93, Y:126.95, Z:0.62 [[-3.42775711e-01 -9.39416804e-01 9.38042218e-04 1.80929178e+02] [ 9.39413411e-01 -3.42776995e-01 -2.52490786e-03 1.26950699e+02] [ 2.69348016e-03 1.57323518e-05 9.99996372e-01 6.22777351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.154012739 meters Centerline goodness : 0.995759 Centerline is valid? [True, True] Translation: X:180.93, Y:126.96, Z:0.62 [[-3.44545833e-01 -9.38769028e-01 9.38997437e-04 1.80926514e+02] [ 9.38765633e-01 -3.44547112e-01 -2.52455257e-03 1.26962508e+02] [ 2.69350062e-03 1.16744565e-05 9.99996372e-01 6.23813869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.184012739 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:180.93, Y:126.96, Z:0.62 [[-3.50143227e-01 -9.36695702e-01 9.39958366e-04 1.80932304e+02] [ 9.36692300e-01 -3.50144488e-01 -2.52419474e-03 1.26962074e+02] [ 2.69352360e-03 -3.37792703e-06 9.99996372e-01 6.23494134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.214012739 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:180.94, Y:126.95, Z:0.62 [[-3.53757032e-01 -9.35336879e-01 9.40924102e-04 1.80939048e+02] [ 9.35333474e-01 -3.53758283e-01 -2.52383470e-03 1.26951467e+02] [ 2.69349536e-03 -1.27464619e-05 9.99996372e-01 6.23364111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.244012739 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:180.94, Y:126.95, Z:0.62 [[-3.57330716e-01 -9.33977447e-01 9.41886185e-04 1.80940361e+02] [ 9.33974039e-01 -3.57331957e-01 -2.52347560e-03 1.26954094e+02] [ 2.69343533e-03 -2.20180990e-05 9.99996372e-01 6.23407096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.274012739 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:180.96, Y:126.92, Z:0.63 [[-3.62873798e-01 -9.31837817e-01 9.42846384e-04 1.80958407e+02] [ 9.31834402e-01 -3.62875021e-01 -2.52311679e-03 1.26921686e+02] [ 2.69327104e-03 -3.69962766e-05 9.99996372e-01 6.25359671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30401273900003 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:180.96, Y:126.92, Z:0.63 [[-3.64428032e-01 -9.31231077e-01 9.43796092e-04 1.80962160e+02] [ 9.31227661e-01 -3.64429252e-01 -2.52276149e-03 1.26920794e+02] [ 2.69322081e-03 -4.04759798e-05 9.99996372e-01 6.26684276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.334012739 meters Centerline goodness : 0.994944 Centerline is valid? [True, True] Translation: X:180.96, Y:126.94, Z:0.62 [[-3.64918722e-01 -9.31038900e-01 9.44734479e-04 1.80960274e+02] [ 9.31035484e-01 -3.64919943e-01 -2.52241003e-03 1.26940753e+02] [ 2.69321431e-03 -4.08933226e-05 9.99996372e-01 6.24536451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36401273900003 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:180.96, Y:126.93, Z:0.62 [[-3.64707179e-01 -9.31121786e-01 9.45680210e-04 1.80964741e+02] [ 9.31118371e-01 -3.64708403e-01 -2.52205542e-03 1.26934341e+02] [ 2.69323826e-03 -3.92714996e-05 9.99996372e-01 6.23015021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.394012739 meters Centerline goodness : 0.995500 Centerline is valid? [True, True] Translation: X:180.97, Y:126.94, Z:0.62 [[-3.62393627e-01 -9.32024658e-01 9.46631228e-04 1.80965750e+02] [ 9.32021247e-01 -3.62394862e-01 -2.52169841e-03 1.26943719e+02] [ 2.69333939e-03 -3.15670149e-05 9.99996372e-01 6.24026691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42401273900003 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:180.97, Y:126.94, Z:0.62 [[-3.61453877e-01 -9.32389509e-01 9.47584141e-04 1.80968774e+02] [ 9.32386100e-01 -3.61455118e-01 -2.52134028e-03 1.26942182e+02] [ 2.69338037e-03 -2.78339384e-05 9.99996372e-01 6.24400469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.454012739 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:180.97, Y:126.95, Z:0.62 [[-3.60773043e-01 -9.32653157e-01 9.48540687e-04 1.80968355e+02] [ 9.32649751e-01 -3.60774289e-01 -2.52098037e-03 1.26947835e+02] [ 2.69340940e-03 -2.48455244e-05 9.99996372e-01 6.24424114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.484012739 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:180.96, Y:126.99, Z:0.62 [[-3.60412499e-01 -9.32792544e-01 9.49499935e-04 1.80955177e+02] [ 9.32789138e-01 -3.60413749e-01 -2.52061903e-03 1.26987142e+02] [ 2.69342747e-03 -2.27793767e-05 9.99996372e-01 6.23348213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.514012739 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:180.98, Y:126.94, Z:0.62 [[-3.60646969e-01 -9.32701913e-01 9.50998071e-04 1.80977436e+02] [ 9.32698509e-01 -3.60648223e-01 -2.52005406e-03 1.26937203e+02] [ 2.69343501e-03 -2.18553778e-05 9.99996372e-01 6.20722241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.544012739 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:180.98, Y:126.93, Z:0.62 [[-3.61957042e-01 -9.32194291e-01 9.50723346e-04 1.80980955e+02] [ 9.32190884e-01 -3.61958290e-01 -2.52015770e-03 1.26934228e+02] [ 2.69339882e-03 -2.59331913e-05 9.99996372e-01 6.23345716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.574012739 meters Centerline goodness : 0.994972 Centerline is valid? [True, True] Translation: X:180.98, Y:126.93, Z:0.63 [[-3.61942745e-01 -9.32199841e-01 9.51678030e-04 1.80984589e+02] [ 9.32196436e-01 -3.61943995e-01 -2.51979714e-03 1.26928565e+02] [ 2.69340864e-03 -2.48714243e-05 9.99996372e-01 6.25822623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.604012739 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:180.98, Y:126.94, Z:0.63 [[-3.61501949e-01 -9.32370867e-01 9.52630853e-04 1.80980935e+02] [ 9.32367463e-01 -3.61503204e-01 -2.51943686e-03 1.26943581e+02] [ 2.69342864e-03 -2.25793245e-05 9.99996372e-01 6.27712647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.634012739 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:180.98, Y:126.94, Z:0.63 [[-3.60749225e-01 -9.32662365e-01 9.53588410e-04 1.80983757e+02] [ 9.32658963e-01 -3.60750485e-01 -2.51907438e-03 1.26939902e+02] [ 2.69345335e-03 -1.93813536e-05 9.99996372e-01 6.27895891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.664012739 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:180.99, Y:126.93, Z:0.63 [[-3.57562435e-01 -9.33888748e-01 9.54551070e-04 1.80986508e+02] [ 9.33885352e-01 -3.57563709e-01 -2.51870955e-03 1.26929266e+02] [ 2.69350733e-03 -9.15465640e-06 9.99996372e-01 6.25252593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.694012739 meters Centerline goodness : 0.995479 Centerline is valid? [True, True] Translation: X:180.98, Y:126.94, Z:0.62 [[-3.55608421e-01 -9.34634548e-01 9.55510091e-04 1.80981434e+02] [ 9.34631155e-01 -3.55609704e-01 -2.51834568e-03 1.26939650e+02] [ 2.69352153e-03 -2.49542814e-06 9.99996372e-01 6.23537671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.724012739 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:180.98, Y:126.93, Z:0.62 [[-3.52994787e-01 -9.35624800e-01 9.56470720e-04 1.80983233e+02] [ 9.35621411e-01 -3.52996083e-01 -2.51798078e-03 1.26929763e+02] [ 2.69351568e-03 6.06039783e-06 9.99996372e-01 6.22123825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.754012739 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:180.97, Y:126.97, Z:0.62 [[-3.53568954e-01 -9.35407974e-01 9.57433754e-04 1.80966478e+02] [ 9.35404586e-01 -3.53570251e-01 -2.51761454e-03 1.26971123e+02] [ 2.69351681e-03 5.43758371e-06 9.99996372e-01 6.22228939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.784012739 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:180.98, Y:126.92, Z:0.62 [[-3.54220352e-01 -9.35161494e-01 9.60252362e-04 1.80983686e+02] [ 9.35158108e-01 -3.54221653e-01 -2.51654161e-03 1.26921145e+02] [ 2.69351499e-03 6.57752719e-06 9.99996372e-01 6.20769383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.814012739 meters Centerline goodness : 0.995522 Centerline is valid? [True, True] Translation: X:180.98, Y:126.92, Z:0.62 [[-3.57128204e-01 -9.34054884e-01 9.58660193e-04 1.80980377e+02] [ 9.34051493e-01 -3.57129491e-01 -2.51714799e-03 1.26924713e+02] [ 2.69352020e-03 -3.50655729e-06 9.99996372e-01 6.20207015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.844012739 meters Centerline goodness : 0.995989 Centerline is valid? [True, True] Translation: X:180.98, Y:126.92, Z:0.62 [[-3.59154236e-01 -9.33277726e-01 9.59620044e-04 1.80981771e+02] [ 9.33274332e-01 -3.59155518e-01 -2.51678201e-03 1.26922070e+02] [ 2.69350943e-03 -8.32416535e-06 9.99996372e-01 6.21565219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.874012739 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:180.95, Y:126.99, Z:0.63 [[-3.63825142e-01 -9.31466770e-01 9.60581828e-04 1.80953697e+02] [ 9.31463371e-01 -3.63826410e-01 -2.51641487e-03 1.26993299e+02] [ 2.69344187e-03 -2.07882119e-05 9.99996372e-01 6.25445298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.904012739 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:180.98, Y:126.92, Z:0.63 [[-3.65426624e-01 -9.30839650e-01 9.63163873e-04 1.80981438e+02] [ 9.30836252e-01 -3.65427893e-01 -2.51542826e-03 1.26917528e+02] [ 2.69342730e-03 -2.26566072e-05 9.99996372e-01 6.26893620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.934012739 meters Centerline goodness : 0.995645 Centerline is valid? [True, True] Translation: X:180.98, Y:126.92, Z:0.63 [[-3.67721624e-01 -9.29935418e-01 9.61821106e-04 1.80980375e+02] [ 9.29932015e-01 -3.67722881e-01 -2.51594158e-03 1.26920304e+02] [ 2.69334682e-03 -3.07378852e-05 9.99996372e-01 6.26734580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.964012739 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:180.99, Y:126.89, Z:0.62 [[-3.68319586e-01 -9.29698745e-01 9.62784326e-04 1.80992517e+02] [ 9.29695342e-01 -3.68320843e-01 -2.51557293e-03 1.26890448e+02] [ 2.69333853e-03 -3.14386771e-05 9.99996373e-01 6.24502516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.994012739 meters Centerline goodness : 0.995665 Centerline is valid? [True, True] Translation: X:180.94, Y:127.03, Z:0.62 [[-3.68963195e-01 -9.29443507e-01 9.63738997e-04 1.80941203e+02] [ 9.29440104e-01 -3.68964453e-01 -2.51520713e-03 1.27028261e+02] [ 2.69332837e-03 -3.22811871e-05 9.99996373e-01 6.22061006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.024012739 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:180.99, Y:126.90, Z:0.62 [[-3.69158133e-01 -9.29366095e-01 9.66848317e-04 1.80992285e+02] [ 9.29362695e-01 -3.69159398e-01 -2.51401465e-03 1.26902407e+02] [ 2.69336112e-03 -2.95161963e-05 9.99996372e-01 6.21396045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05401273900003 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:180.99, Y:126.90, Z:0.62 [[-3.70312986e-01 -9.28906541e-01 9.64974588e-04 1.80994185e+02] [ 9.28903138e-01 -3.70314241e-01 -2.51473365e-03 1.26902249e+02] [ 2.69329637e-03 -3.48706053e-05 9.99996372e-01 6.23250094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.084012739 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:181.00, Y:126.90, Z:0.62 [[-3.71549380e-01 -9.28412691e-01 9.65929720e-04 1.81001305e+02] [ 9.28409287e-01 -3.71550633e-01 -2.51436673e-03 1.26897996e+02] [ 2.69326178e-03 -3.74332739e-05 9.99996373e-01 6.24222703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11401273900003 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:181.00, Y:126.91, Z:0.62 [[-3.71441529e-01 -9.28455845e-01 9.66883934e-04 1.81002014e+02] [ 9.28452442e-01 -3.71442786e-01 -2.51399974e-03 1.26906369e+02] [ 2.69327981e-03 -3.60981574e-05 9.99996373e-01 6.23899146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.144012739 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:180.98, Y:126.99, Z:0.62 [[-3.70637099e-01 -9.28777263e-01 9.67840204e-04 1.80975412e+02] [ 9.28773862e-01 -3.70638361e-01 -2.51363154e-03 1.26985249e+02] [ 2.69332253e-03 -3.27404149e-05 9.99996373e-01 6.23359269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17401273900003 meters Centerline goodness : 0.995765 Centerline is valid? [True, True] Translation: X:181.00, Y:126.92, Z:0.62 [[-3.69556316e-01 -9.29207830e-01 9.68980999e-04 1.81000647e+02] [ 9.29204431e-01 -3.69557585e-01 -2.51319178e-03 1.26924999e+02] [ 2.69337176e-03 -2.83844575e-05 9.99996373e-01 6.22071583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.204012739 meters Centerline goodness : 0.996100 Centerline is valid? [True, True] Translation: X:181.01, Y:126.90, Z:0.62 [[-3.66454932e-01 -9.30435297e-01 9.69828537e-04 1.81011483e+02] [ 9.30431904e-01 -3.66456215e-01 -2.51286468e-03 1.26900877e+02] [ 2.69345769e-03 -1.84922424e-05 9.99996373e-01 6.19423289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.234012739 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:181.02, Y:126.89, Z:0.62 [[-3.63540178e-01 -9.31578014e-01 9.70795556e-04 1.81021619e+02] [ 9.31574626e-01 -3.63541474e-01 -2.51249103e-03 1.26891375e+02] [ 2.69350585e-03 -9.02292995e-06 9.99996373e-01 6.19728083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.264012739 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:181.02, Y:126.89, Z:0.62 [[-3.62322263e-01 -9.32052377e-01 9.71750470e-04 1.81024760e+02] [ 9.32048992e-01 -3.62323566e-01 -2.51212165e-03 1.26890394e+02] [ 2.69351705e-03 -4.47855478e-06 9.99996373e-01 6.21029138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.294012739 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:181.02, Y:126.91, Z:0.62 [[-3.61353107e-01 -9.32428542e-01 9.72701791e-04 1.81019433e+02] [ 9.32425159e-01 -3.61354416e-01 -2.51175324e-03 1.26906801e+02] [ 2.69352050e-03 -6.58213865e-07 9.99996373e-01 6.21498094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.324012739 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:181.04, Y:126.87, Z:0.62 [[-3.60649474e-01 -9.32700922e-01 9.73659902e-04 1.81035678e+02] [ 9.32697540e-01 -3.60650788e-01 -2.51138178e-03 1.26867264e+02] [ 2.69351931e-03 2.40167792e-06 9.99996373e-01 6.20746151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.354012739 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:181.04, Y:126.86, Z:0.62 [[-3.57310930e-01 -9.33984983e-01 9.74610943e-04 1.81040706e+02] [ 9.33981608e-01 -3.57312259e-01 -2.51101265e-03 1.26864537e+02] [ 2.69348855e-03 1.30564298e-05 9.99996373e-01 6.22803926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.384012739 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:181.05, Y:126.84, Z:0.63 [[-3.55669270e-01 -9.34611373e-01 9.75547672e-04 1.81050466e+02] [ 9.34608001e-01 -3.55670608e-01 -2.51064867e-03 1.26841392e+02] [ 2.69345443e-03 1.87940794e-05 9.99996373e-01 6.25152265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.414012739 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:181.05, Y:126.84, Z:0.63 [[-3.56012067e-01 -9.34480848e-01 9.76475998e-04 1.81051431e+02] [ 9.34477476e-01 -3.56013406e-01 -2.51028756e-03 1.26839115e+02] [ 2.69345419e-03 1.88021620e-05 9.99996373e-01 6.25145487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.444012739 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:181.05, Y:126.83, Z:0.63 [[-3.50774004e-01 -9.36459632e-01 9.77396658e-04 1.81050360e+02] [ 9.36456269e-01 -3.50775364e-01 -2.50992904e-03 1.26828366e+02] [ 2.69329390e-03 3.48713672e-05 9.99996373e-01 6.27167043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.474012739 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:181.06, Y:126.81, Z:0.63 [[-3.47153137e-01 -9.37807946e-01 9.78314989e-04 1.81056292e+02] [ 9.37804589e-01 -3.47154512e-01 -2.50957105e-03 1.26805999e+02] [ 2.69312213e-03 4.62628251e-05 9.99996373e-01 6.27626564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.504012739 meters Centerline goodness : 0.996137 Centerline is valid? [True, True] Translation: X:181.06, Y:126.78, Z:0.63 [[-3.40260628e-01 -9.40330658e-01 9.79224528e-04 1.81061045e+02] [ 9.40327313e-01 -3.40262030e-01 -2.50921610e-03 1.26783941e+02] [ 2.69268575e-03 6.70041241e-05 9.99996373e-01 6.30869374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.534012739 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:181.06, Y:126.78, Z:0.63 [[-3.37661552e-01 -9.41267080e-01 9.80121240e-04 1.81061380e+02] [ 9.41263739e-01 -3.37662966e-01 -2.50886579e-03 1.26776276e+02] [ 2.69246342e-03 7.54050687e-05 9.99996373e-01 6.32263451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.564012739 meters Centerline goodness : 0.996052 Centerline is valid? [True, True] Translation: X:181.06, Y:126.78, Z:0.63 [[-3.36113346e-01 -9.41821032e-01 9.81010517e-04 1.81056471e+02] [ 9.41817695e-01 -3.36114768e-01 -2.50851802e-03 1.26779374e+02] [ 2.69230715e-03 8.07866795e-05 9.99996373e-01 6.32704927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.594012739 meters Centerline goodness : 0.996436 Centerline is valid? [True, True] Translation: X:181.00, Y:126.91, Z:0.63 [[-3.34960341e-01 -9.42231716e-01 9.81900349e-04 1.80997477e+02] [ 9.42228381e-01 -3.34961770e-01 -2.50816966e-03 1.26913771e+02] [ 2.69217608e-03 8.50370093e-05 9.99996373e-01 6.28945238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.624012739 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:181.05, Y:126.78, Z:0.63 [[-3.35607158e-01 -9.42001523e-01 9.83158657e-04 1.81049168e+02] [ 9.41998189e-01 -3.35608587e-01 -2.50767654e-03 1.26776698e+02] [ 2.69219160e-03 8.45394792e-05 9.99996373e-01 6.25404813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.654012739 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:181.02, Y:126.86, Z:0.62 [[-3.37371847e-01 -9.41370953e-01 9.83073920e-04 1.81015427e+02] [ 9.41367616e-01 -3.37373270e-01 -2.50770975e-03 1.26858366e+02] [ 2.69234798e-03 7.94032805e-05 9.99996373e-01 6.22649242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.684012739 meters Centerline goodness : 0.996017 Centerline is valid? [True, True] Translation: X:181.04, Y:126.78, Z:0.62 [[-3.40076744e-01 -9.40397171e-01 9.84413251e-04 1.81040680e+02] [ 9.40393831e-01 -3.40078161e-01 -2.50718417e-03 1.26781454e+02] [ 2.69252635e-03 7.31011194e-05 9.99996373e-01 6.21977875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.714012739 meters Centerline goodness : 0.996063 Centerline is valid? [True, True] Translation: X:181.03, Y:126.79, Z:0.62 [[-3.41143855e-01 -9.40010585e-01 9.84922208e-04 1.81034692e+02] [ 9.40007245e-01 -3.41145270e-01 -2.50698421e-03 1.26790506e+02] [ 2.69259325e-03 7.05917514e-05 9.99996373e-01 6.24077978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.744012739 meters Centerline goodness : 0.996900 Centerline is valid? [True, True] Translation: X:181.03, Y:126.78, Z:0.63 [[-3.41639600e-01 -9.39830523e-01 9.85828093e-04 1.81033883e+02] [ 9.39827183e-01 -3.41641015e-01 -2.50662794e-03 1.26783347e+02] [ 2.69260476e-03 7.01446726e-05 9.99996373e-01 6.26228378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.774012739 meters Centerline goodness : 0.996650 Centerline is valid? [True, True] Translation: X:181.04, Y:126.77, Z:0.63 [[-3.41684835e-01 -9.39814078e-01 9.86736564e-04 1.81039571e+02] [ 9.39810738e-01 -3.41686252e-01 -2.50627027e-03 1.26766127e+02] [ 2.69258240e-03 7.09910773e-05 9.99996373e-01 6.25068194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80401273900003 meters Centerline goodness : 0.996689 Centerline is valid? [True, True] Translation: X:181.03, Y:126.77, Z:0.62 [[-3.41924395e-01 -9.39726946e-01 9.87639076e-04 1.81034109e+02] [ 9.39723607e-01 -3.41925814e-01 -2.50591457e-03 1.26771693e+02] [ 2.69257474e-03 7.12744323e-05 9.99996373e-01 6.23033543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.834012739 meters Centerline goodness : 0.996494 Centerline is valid? [True, True] Translation: X:181.04, Y:126.76, Z:0.62 [[-3.42873068e-01 -9.39381223e-01 9.88539497e-04 1.81037210e+02] [ 9.39377884e-01 -3.42874486e-01 -2.50555931e-03 1.26758743e+02] [ 2.69262034e-03 6.95233303e-05 9.99996373e-01 6.23966069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86401273900003 meters Centerline goodness : 0.996356 Centerline is valid? [True, True] Translation: X:181.02, Y:126.80, Z:0.62 [[-3.45103559e-01 -9.38564092e-01 9.89439507e-04 1.81017629e+02] [ 9.38560751e-01 -3.45104971e-01 -2.50520385e-03 1.26799549e+02] [ 2.69275487e-03 6.40943225e-05 9.99996373e-01 6.24512864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.894012739 meters Centerline goodness : 0.996929 Centerline is valid? [True, True] Translation: X:181.02, Y:126.79, Z:0.62 [[-3.46702492e-01 -9.37974627e-01 9.90351039e-04 1.81020581e+02] [ 9.37971284e-01 -3.46703902e-01 -2.50484346e-03 1.26789046e+02] [ 2.69283818e-03 6.04853664e-05 9.99996373e-01 6.23255953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92401273900003 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:181.02, Y:126.79, Z:0.62 [[-3.48290394e-01 -9.37386163e-01 9.91274850e-04 1.81019975e+02] [ 9.37382819e-01 -3.48291800e-01 -2.50447781e-03 1.26786520e+02] [ 2.69291575e-03 5.69184506e-05 9.99996373e-01 6.21452510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.954012739 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:181.01, Y:126.80, Z:0.62 [[-3.50668989e-01 -9.36498946e-01 9.92196012e-04 1.81009600e+02] [ 9.36495599e-01 -3.50670389e-01 -2.50411282e-03 1.26799888e+02] [ 2.69303278e-03 5.10724872e-05 9.99996373e-01 6.20765657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.984012739 meters Centerline goodness : 0.997043 Centerline is valid? [True, True] Translation: X:181.01, Y:126.78, Z:0.62 [[-3.51616430e-01 -9.36143632e-01 9.93123256e-04 1.81013043e+02] [ 9.36140285e-01 -3.51617829e-01 -2.50374503e-03 1.26782594e+02] [ 2.69306481e-03 4.93448012e-05 9.99996373e-01 6.22711042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.014012739 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:181.01, Y:126.78, Z:0.63 [[-3.52384309e-01 -9.35854856e-01 9.94051565e-04 1.81005782e+02] [ 9.35851509e-01 -3.52385708e-01 -2.50337641e-03 1.26784288e+02] [ 2.69308653e-03 4.81340918e-05 9.99996373e-01 6.27103213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.044012739 meters Centerline goodness : 0.996932 Centerline is valid? [True, True] Translation: X:181.01, Y:126.77, Z:0.63 [[-3.52618799e-01 -9.35766527e-01 9.94977199e-04 1.81008449e+02] [ 9.35763181e-01 -3.52620199e-01 -2.50300846e-03 1.26769314e+02] [ 2.69308059e-03 4.84551927e-05 9.99996373e-01 6.28500109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.074012739 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:181.00, Y:126.78, Z:0.63 [[-3.53140490e-01 -9.35569774e-01 9.95900768e-04 1.80999512e+02] [ 9.35566428e-01 -3.53141891e-01 -2.50264093e-03 1.26783214e+02] [ 2.69308949e-03 4.79474800e-05 9.99996373e-01 6.29201914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.104012739 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:181.00, Y:126.78, Z:0.63 [[-3.55243270e-01 -9.34773355e-01 9.96826429e-04 1.80997138e+02] [ 9.34770007e-01 -3.55244666e-01 -2.50227218e-03 1.26778022e+02] [ 2.69317463e-03 4.28880957e-05 9.99996373e-01 6.28352466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.134012739 meters Centerline goodness : 0.997026 Centerline is valid? [True, True] Translation: X:181.00, Y:126.78, Z:0.63 [[-3.57193664e-01 -9.34029813e-01 9.97757488e-04 1.80995031e+02] [ 9.34026463e-01 -3.57195055e-01 -2.50190087e-03 1.26782495e+02] [ 2.69324404e-03 3.82687586e-05 9.99996373e-01 6.27468540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.164012739 meters Centerline goodness : 0.996744 Centerline is valid? [True, True] Translation: X:181.00, Y:126.78, Z:0.63 [[-3.59414412e-01 -9.33177520e-01 9.98690511e-04 1.80995571e+02] [ 9.33174167e-01 -3.59415798e-01 -2.50152838e-03 1.26781650e+02] [ 2.69331520e-03 3.28668341e-05 9.99996373e-01 6.25812890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.194012739 meters Centerline goodness : 0.996644 Centerline is valid? [True, True] Translation: X:180.99, Y:126.80, Z:0.62 [[-3.62886938e-01 -9.31832641e-01 9.99626281e-04 1.80988412e+02] [ 9.31829285e-01 -3.62888314e-01 -2.50115438e-03 1.26799337e+02] [ 2.69340999e-03 2.38447855e-05 9.99996373e-01 6.21269687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.224012739 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:180.99, Y:126.79, Z:0.62 [[-3.64324048e-01 -9.31271704e-01 1.00056972e-03 1.80991865e+02] [ 9.31268346e-01 -3.64325422e-01 -2.50077691e-03 1.26791804e+02] [ 2.69343576e-03 2.07057399e-05 9.99996373e-01 6.19625020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.254012739 meters Centerline goodness : 0.997102 Centerline is valid? [True, True] Translation: X:180.99, Y:126.80, Z:0.62 [[-3.63393409e-01 -9.31635244e-01 1.00151846e-03 1.80991742e+02] [ 9.31631889e-01 -3.63394789e-01 -2.50039690e-03 1.26796077e+02] [ 2.69340446e-03 2.44187754e-05 9.99996373e-01 6.21477966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.284012739 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:181.00, Y:126.77, Z:0.62 [[-3.62206035e-01 -9.32097518e-01 1.00246705e-03 1.81000828e+02] [ 9.32094166e-01 -3.62207421e-01 -2.50001653e-03 1.26773416e+02] [ 2.69336021e-03 2.88726109e-05 9.99996373e-01 6.23411556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.314012739 meters Centerline goodness : 0.996935 Centerline is valid? [True, True] Translation: X:181.00, Y:126.77, Z:0.63 [[-3.60726934e-01 -9.32670935e-01 1.00341037e-03 1.80999273e+02] [ 9.32667586e-01 -3.60728328e-01 -2.49963786e-03 1.26774853e+02] [ 2.69329812e-03 3.41616225e-05 9.99996373e-01 6.26087434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.344012739 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:181.00, Y:126.77, Z:0.63 [[-3.57374267e-01 -9.33960719e-01 1.00434755e-03 1.80998325e+02] [ 9.33957376e-01 -3.57375676e-01 -2.49926125e-03 1.26771204e+02] [ 2.69314121e-03 4.48461465e-05 9.99996373e-01 6.27888632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.374012739 meters Centerline goodness : 0.996790 Centerline is valid? [True, True] Translation: X:181.01, Y:126.75, Z:0.63 [[-3.56388165e-01 -9.34337447e-01 1.00528582e-03 1.81005470e+02] [ 9.34334107e-01 -3.56389579e-01 -2.49888378e-03 1.26752577e+02] [ 2.69307409e-03 4.87002264e-05 9.99996373e-01 6.26083585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.404012739 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:181.01, Y:126.73, Z:0.62 [[-3.55238429e-01 -9.34775185e-01 1.00621802e-03 1.81012209e+02] [ 9.34771847e-01 -3.55239850e-01 -2.49850836e-03 1.26734746e+02] [ 2.69299236e-03 5.30180967e-05 9.99996373e-01 6.21481249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.434012739 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:181.01, Y:126.73, Z:0.62 [[-3.54974270e-01 -9.34875528e-01 1.00713890e-03 1.81011028e+02] [ 9.34872192e-01 -3.54975695e-01 -2.49813710e-03 1.26734602e+02] [ 2.69295708e-03 5.47717562e-05 9.99996373e-01 6.20988374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.464012739 meters Centerline goodness : 0.996872 Centerline is valid? [True, True] Translation: X:181.01, Y:126.74, Z:0.62 [[-3.54654245e-01 -9.34996979e-01 1.00805539e-03 1.81005722e+02] [ 9.34993644e-01 -3.54655673e-01 -2.49776722e-03 1.26744219e+02] [ 2.69291737e-03 5.66816376e-05 9.99996373e-01 6.20411554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.494012739 meters Centerline goodness : 0.996484 Centerline is valid? [True, True] Translation: X:181.01, Y:126.74, Z:0.62 [[-3.54016717e-01 -9.35238550e-01 1.00897703e-03 1.81006587e+02] [ 9.35235218e-01 -3.54018150e-01 -2.49739487e-03 1.26738987e+02] [ 2.69285614e-03 5.95113146e-05 9.99996373e-01 6.19924815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.524012739 meters Centerline goodness : 0.996431 Centerline is valid? [True, True] Translation: X:181.01, Y:126.72, Z:0.62 [[-3.52061266e-01 -9.35976413e-01 1.00990178e-03 1.81010182e+02] [ 9.35973084e-01 -3.52062708e-01 -2.49702086e-03 1.26724532e+02] [ 2.69270139e-03 6.61365577e-05 9.99996373e-01 6.19339643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55401273900003 meters Centerline goodness : 0.996317 Centerline is valid? [True, True] Translation: X:181.02, Y:126.70, Z:0.62 [[-3.50240483e-01 -9.36659267e-01 1.01082181e-03 1.81017309e+02] [ 9.36655942e-01 -3.50241935e-01 -2.49664837e-03 1.26696095e+02] [ 2.69254102e-03 7.23649263e-05 9.99996373e-01 6.21807338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.584012739 meters Centerline goodness : 0.996688 Centerline is valid? [True, True] Translation: X:181.01, Y:126.71, Z:0.62 [[-3.49480114e-01 -9.36943236e-01 1.01172923e-03 1.81008843e+02] [ 9.36939913e-01 -3.49481570e-01 -2.49628060e-03 1.26712172e+02] [ 2.69245394e-03 7.55290689e-05 9.99996373e-01 6.22399312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61401273900003 meters Centerline goodness : 0.996593 Centerline is valid? [True, True] Translation: X:181.01, Y:126.72, Z:0.62 [[-3.48566959e-01 -9.37283335e-01 1.01263465e-03 1.81005954e+02] [ 9.37280015e-01 -3.48568421e-01 -2.49591325e-03 1.26716249e+02] [ 2.69235036e-03 7.91293290e-05 9.99996373e-01 6.23904919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.644012739 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:181.02, Y:126.69, Z:0.63 [[-3.48043436e-01 -9.37477861e-01 1.01354873e-03 1.81015106e+02] [ 9.37474543e-01 -3.48044902e-01 -2.49554201e-03 1.26691408e+02] [ 2.69227585e-03 8.16191153e-05 9.99996373e-01 6.25111242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67401273900003 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:181.01, Y:126.70, Z:0.62 [[-3.48476865e-01 -9.37316833e-01 1.01445732e-03 1.81009390e+02] [ 9.37313516e-01 -3.48478332e-01 -2.49517260e-03 1.26698410e+02] [ 2.69228368e-03 8.13546289e-05 9.99996373e-01 6.24779619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.704012739 meters Centerline goodness : 0.996886 Centerline is valid? [True, True] Translation: X:181.01, Y:126.69, Z:0.62 [[-3.51154262e-01 -9.36317069e-01 1.01536163e-03 1.81009856e+02] [ 9.36313748e-01 -3.51155722e-01 -2.49480456e-03 1.26690525e+02] [ 2.69247814e-03 7.46358044e-05 9.99996373e-01 6.24023299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.734012739 meters Centerline goodness : 0.996895 Centerline is valid? [True, True] Translation: X:181.01, Y:126.69, Z:0.62 [[-3.52833483e-01 -9.35685578e-01 1.01626809e-03 1.81007598e+02] [ 9.35682255e-01 -3.52834940e-01 -2.49443525e-03 1.26693609e+02] [ 2.69258198e-03 7.07837393e-05 9.99996373e-01 6.23891660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.764012739 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:181.01, Y:126.69, Z:0.62 [[-3.54486796e-01 -9.35060467e-01 1.01717470e-03 1.81005868e+02] [ 9.35057143e-01 -3.54488249e-01 -2.49406550e-03 1.26693061e+02] [ 2.69267853e-03 6.70031802e-05 9.99996373e-01 6.24052955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.794012739 meters Centerline goodness : 0.997328 Centerline is valid? [True, True] Translation: X:180.99, Y:126.72, Z:0.62 [[-3.55994458e-01 -9.34487512e-01 1.01808404e-03 1.80989776e+02] [ 9.34484187e-01 -3.55995908e-01 -2.49369425e-03 1.26717948e+02] [ 2.69275989e-03 6.36421080e-05 9.99996373e-01 6.20716302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.824012739 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:180.99, Y:126.71, Z:0.62 [[-3.56672901e-01 -9.34228774e-01 1.01900417e-03 1.80989133e+02] [ 9.34225449e-01 -3.56674352e-01 -2.49331820e-03 1.26713265e+02] [ 2.69278226e-03 6.26805944e-05 9.99996373e-01 6.19005608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.854012739 meters Centerline goodness : 0.996920 Centerline is valid? [True, True] Translation: X:180.99, Y:126.71, Z:0.62 [[-3.58459389e-01 -9.33544764e-01 1.01993399e-03 1.80988137e+02] [ 9.33541437e-01 -3.58460835e-01 -2.49293778e-03 1.26706759e+02] [ 2.69287540e-03 5.85336892e-05 9.99996373e-01 6.20721069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.884012739 meters Centerline goodness : 0.996547 Centerline is valid? [True, True] Translation: X:180.99, Y:126.71, Z:0.62 [[-3.59784423e-01 -9.33034901e-01 1.02086201e-03 1.80987149e+02] [ 9.33031574e-01 -3.59785867e-01 -2.49255770e-03 1.26705604e+02] [ 2.69293505e-03 5.57130597e-05 9.99996373e-01 6.23493427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.914012739 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:180.99, Y:126.70, Z:0.63 [[-3.61056533e-01 -9.32543370e-01 1.02178946e-03 1.80987013e+02] [ 9.32540041e-01 -3.61057975e-01 -2.49217745e-03 1.26703371e+02] [ 2.69298879e-03 5.30426316e-05 9.99996373e-01 6.25242539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.944012739 meters Centerline goodness : 0.996963 Centerline is valid? [True, True] Translation: X:180.98, Y:126.71, Z:0.63 [[-3.62892831e-01 -9.31830321e-01 1.02271750e-03 1.80982276e+02] [ 9.31826991e-01 -3.62894269e-01 -2.49179655e-03 1.26707071e+02] [ 2.69306990e-03 4.87406659e-05 9.99996373e-01 6.26229415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.974012739 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:180.98, Y:126.70, Z:0.63 [[-3.63519293e-01 -9.31586108e-01 1.02364841e-03 1.80982364e+02] [ 9.31582777e-01 -3.63520731e-01 -2.49141407e-03 1.26702930e+02] [ 2.69308415e-03 4.79361451e-05 9.99996373e-01 6.25139798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.004012739 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:180.98, Y:126.71, Z:0.62 [[-3.63810567e-01 -9.31472394e-01 1.02458114e-03 1.80978767e+02] [ 9.31469065e-01 -3.63812007e-01 -2.49103042e-03 1.26706929e+02] [ 2.69308099e-03 4.81024441e-05 9.99996373e-01 6.23361342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.034012739 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:180.98, Y:126.70, Z:0.62 [[-3.63547340e-01 -9.31575161e-01 1.02551571e-03 1.80978541e+02] [ 9.31571833e-01 -3.63548783e-01 -2.49064562e-03 1.26697226e+02] [ 2.69304858e-03 4.98739566e-05 9.99996373e-01 6.20138657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.064012739 meters Centerline goodness : 0.996689 Centerline is valid? [True, True] Translation: X:180.95, Y:126.76, Z:0.62 [[-3.63789908e-01 -9.31480461e-01 1.02645043e-03 1.80948935e+02] [ 9.31477134e-01 -3.63791353e-01 -2.49026034e-03 1.26763194e+02] [ 2.69304264e-03 5.01835283e-05 9.99996373e-01 6.20581607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.094012739 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] Translation: X:180.97, Y:126.72, Z:0.62 [[-3.65239009e-01 -9.30913214e-01 1.02680723e-03 1.80965271e+02] [ 9.30909885e-01 -3.65240450e-01 -2.49011310e-03 1.26717534e+02] [ 2.69311072e-03 4.63785539e-05 9.99996373e-01 6.21528004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.124012739 meters Centerline goodness : 0.996963 Centerline is valid? [True, True] Translation: X:180.97, Y:126.71, Z:0.62 [[-3.67269176e-01 -9.30114132e-01 1.02645076e-03 1.80969449e+02] [ 9.30110799e-01 -3.67270608e-01 -2.49026003e-03 1.26708582e+02] [ 2.69321124e-03 4.01171844e-05 9.99996373e-01 6.21216750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.154012739 meters Centerline goodness : 0.996977 Centerline is valid? [True, True] Translation: X:180.97, Y:126.70, Z:0.62 [[-3.69387875e-01 -9.29274740e-01 1.02739690e-03 1.80973990e+02] [ 9.29271405e-01 -3.69389302e-01 -2.48986963e-03 1.26699928e+02] [ 2.69328237e-03 3.50029088e-05 9.99996373e-01 6.21302730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.184012739 meters Centerline goodness : 0.997229 Centerline is valid? [True, True] Translation: X:180.97, Y:126.71, Z:0.62 [[-3.73914282e-01 -9.27462696e-01 1.02833808e-03 1.80969397e+02] [ 9.27459355e-01 -3.73915696e-01 -2.48948085e-03 1.26714351e+02] [ 2.69341237e-03 2.28893291e-05 9.99996373e-01 6.24941449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.214012739 meters Centerline goodness : 0.996688 Centerline is valid? [True, True] Translation: X:180.97, Y:126.71, Z:0.63 [[-3.77489101e-01 -9.26013455e-01 1.02928253e-03 1.80973106e+02] [ 9.26010110e-01 -3.77490504e-01 -2.48909030e-03 1.26712435e+02] [ 2.69347549e-03 1.35215643e-05 9.99996373e-01 6.26755415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.244012739 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:180.98, Y:126.70, Z:0.63 [[-3.79144238e-01 -9.25337012e-01 1.03023276e-03 1.80980177e+02] [ 9.25333665e-01 -3.79145637e-01 -2.48869694e-03 1.26700235e+02] [ 2.69349165e-03 9.73395573e-06 9.99996373e-01 6.25652383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.274012739 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:180.98, Y:126.71, Z:0.62 [[-3.80508461e-01 -9.24776864e-01 1.03117862e-03 1.80978797e+02] [ 9.24773516e-01 -3.80509858e-01 -2.48830496e-03 1.26708567e+02] [ 2.69350049e-03 6.78559115e-06 9.99996373e-01 6.23791828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30401273900003 meters Centerline goodness : 0.996849 Centerline is valid? [True, True] Translation: X:180.99, Y:126.69, Z:0.62 [[-3.81647574e-01 -9.24307343e-01 1.03212402e-03 1.80989052e+02] [ 9.24303994e-01 -3.81648970e-01 -2.48791276e-03 1.26686789e+02] [ 2.69350510e-03 4.49048666e-06 9.99996373e-01 6.21703778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.334012739 meters Centerline goodness : 0.996849 Centerline is valid? [True, True] Translation: X:180.99, Y:126.68, Z:0.62 [[-3.81994769e-01 -9.24163909e-01 1.03247604e-03 1.80990085e+02] [ 9.24160561e-01 -3.81996164e-01 -2.48776667e-03 1.26684494e+02] [ 2.69350605e-03 3.85977959e-06 9.99996373e-01 6.21697001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36401273900003 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:180.99, Y:126.69, Z:0.62 [[-3.83830218e-01 -9.23403106e-01 1.03341044e-03 1.80993004e+02] [ 9.23399755e-01 -3.83831610e-01 -2.48737846e-03 1.26689828e+02] [ 2.69350859e-03 -4.80072210e-07 9.99996373e-01 6.19632310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.394012739 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:180.99, Y:126.70, Z:0.62 [[-3.85297902e-01 -9.22791665e-01 1.03434668e-03 1.80991716e+02] [ 9.22788314e-01 -3.85299290e-01 -2.48698907e-03 1.26700941e+02] [ 2.69350583e-03 -3.74864411e-06 9.99996373e-01 6.20337836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42401273900003 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:181.01, Y:126.68, Z:0.62 [[-3.86786549e-01 -9.22168691e-01 1.03528955e-03 1.81006413e+02] [ 9.22165338e-01 -3.86787934e-01 -2.48659651e-03 1.26681614e+02] [ 2.69349896e-03 -7.07394152e-06 9.99996373e-01 6.23466664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.454012739 meters Centerline goodness : 0.996460 Centerline is valid? [True, True] Translation: X:181.01, Y:126.69, Z:0.63 [[-3.87089679e-01 -9.22041489e-01 1.03622950e-03 1.81005146e+02] [ 9.22038137e-01 -3.87091066e-01 -2.48620475e-03 1.26691137e+02] [ 2.69349911e-03 -6.94108380e-06 9.99996373e-01 6.25059092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.484012739 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:181.01, Y:126.69, Z:0.63 [[-3.86901093e-01 -9.22120637e-01 1.03716622e-03 1.81009456e+02] [ 9.22117286e-01 -3.86902483e-01 -2.48581392e-03 1.26687460e+02] [ 2.69350250e-03 -5.37521853e-06 9.99996373e-01 6.25372004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.514012739 meters Centerline goodness : 0.996496 Centerline is valid? [True, True] Translation: X:181.01, Y:126.71, Z:0.62 [[-3.84286794e-01 -9.23213184e-01 1.03810587e-03 1.81007291e+02] [ 9.23209838e-01 -3.84288196e-01 -2.48542145e-03 1.26706482e+02] [ 2.69350568e-03 3.27491350e-06 9.99996373e-01 6.24478811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.544012739 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:181.01, Y:126.69, Z:0.62 [[-3.82726062e-01 -9.23861289e-01 1.03905157e-03 1.81014898e+02] [ 9.23857947e-01 -3.82727472e-01 -2.48502602e-03 1.26693327e+02] [ 2.69349293e-03 8.85183014e-06 9.99996373e-01 6.24097968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.574012739 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:181.01, Y:126.71, Z:0.62 [[-3.78543189e-01 -9.25583045e-01 1.04000026e-03 1.81013030e+02] [ 9.25579710e-01 -3.78544617e-01 -2.48462893e-03 1.26705042e+02] [ 2.69341691e-03 2.20637766e-05 9.99996373e-01 6.23652662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.604012739 meters Centerline goodness : 0.996701 Centerline is valid? [True, True] Translation: X:181.02, Y:126.69, Z:0.62 [[-3.76607549e-01 -9.26372318e-01 1.04094911e-03 1.81022688e+02] [ 9.26368987e-01 -3.76608986e-01 -2.48423134e-03 1.26686217e+02] [ 2.69335393e-03 2.87226927e-05 9.99996373e-01 6.23643540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.634012739 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:181.03, Y:126.68, Z:0.62 [[-3.74577680e-01 -9.27194951e-01 1.04189639e-03 1.81027684e+02] [ 9.27191624e-01 -3.74579127e-01 -2.48383398e-03 1.26680061e+02] [ 2.69327097e-03 3.56488378e-05 9.99996373e-01 6.23288110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.664012739 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:181.04, Y:126.65, Z:0.63 [[-3.71196299e-01 -9.28553833e-01 1.04283529e-03 1.81041824e+02] [ 9.28550513e-01 -3.71197761e-01 -2.48343972e-03 1.26653530e+02] [ 2.69310560e-03 4.64816090e-05 9.99996373e-01 6.26724614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.694012739 meters Centerline goodness : 0.996463 Centerline is valid? [True, True] Translation: X:181.04, Y:126.66, Z:0.63 [[-3.70344805e-01 -9.28893770e-01 1.04376307e-03 1.81037751e+02] [ 9.28890453e-01 -3.70346273e-01 -2.48304972e-03 1.26662910e+02] [ 2.69304318e-03 4.99569866e-05 9.99996373e-01 6.26984075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.724012739 meters Centerline goodness : 0.996051 Centerline is valid? [True, True] Translation: X:181.04, Y:126.65, Z:0.63 [[-3.69305170e-01 -9.29307592e-01 1.04468607e-03 1.81041451e+02] [ 9.29304277e-01 -3.69306643e-01 -2.48266133e-03 1.26654542e+02] [ 2.69296553e-03 5.39715693e-05 9.99996373e-01 6.25479575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.754012739 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:181.04, Y:126.66, Z:0.63 [[-3.69752711e-01 -9.29129614e-01 1.04561087e-03 1.81041202e+02] [ 9.29126300e-01 -3.69754186e-01 -2.48227178e-03 1.26657389e+02] [ 2.69297122e-03 5.36778354e-05 9.99996373e-01 6.26401048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.784012739 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:181.04, Y:126.65, Z:0.63 [[-3.70953269e-01 -9.28650945e-01 1.04653492e-03 1.81044165e+02] [ 9.28647629e-01 -3.70954742e-01 -2.48188214e-03 1.26652823e+02] [ 2.69301928e-03 5.11998766e-05 9.99996373e-01 6.27507779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.814012739 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:181.05, Y:126.65, Z:0.63 [[-3.71602681e-01 -9.28391270e-01 1.04745972e-03 1.81045017e+02] [ 9.28387955e-01 -3.71604154e-01 -2.48149177e-03 1.26651429e+02] [ 2.69303568e-03 5.03199972e-05 9.99996373e-01 6.25981571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.844012739 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:181.05, Y:126.64, Z:0.62 [[-3.72170008e-01 -9.28163987e-01 1.04838378e-03 1.81049512e+02] [ 9.28160672e-01 -3.72171481e-01 -2.48110131e-03 1.26642500e+02] [ 2.69304743e-03 4.96771036e-05 9.99996373e-01 6.23634164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.874012739 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:181.05, Y:126.65, Z:0.62 [[-3.72599106e-01 -9.27991813e-01 1.04930532e-03 1.81049699e+02] [ 9.27988499e-01 -3.72600580e-01 -2.48071151e-03 1.26649778e+02] [ 2.69305174e-03 4.94323782e-05 9.99996373e-01 6.22475222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.904012739 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:181.05, Y:126.65, Z:0.62 [[-3.72673325e-01 -9.27962009e-01 1.05022745e-03 1.81052035e+02] [ 9.27958695e-01 -3.72674801e-01 -2.48032106e-03 1.26646340e+02] [ 2.69303702e-03 5.02181968e-05 9.99996373e-01 6.23778538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.934012739 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:181.06, Y:126.62, Z:0.63 [[-3.72131105e-01 -9.28179582e-01 1.05115167e-03 1.81063354e+02] [ 9.28176270e-01 -3.72132586e-01 -2.47992932e-03 1.26619866e+02] [ 2.69298754e-03 5.27952024e-05 9.99996373e-01 6.25643263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.964012739 meters Centerline goodness : 0.996080 Centerline is valid? [True, True] Translation: X:181.06, Y:126.62, Z:0.63 [[-3.68847117e-01 -9.29489482e-01 1.05206701e-03 1.81061000e+02] [ 9.29486177e-01 -3.68848612e-01 -2.47954094e-03 1.26623037e+02] [ 2.69276068e-03 6.33102174e-05 9.99996373e-01 6.25069056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.994012739 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:181.06, Y:126.63, Z:0.62 [[-3.67061499e-01 -9.30196080e-01 1.05297580e-03 1.81058528e+02] [ 9.30192779e-01 -3.67063003e-01 -2.47915495e-03 1.26629038e+02] [ 2.69260867e-03 6.94681557e-05 9.99996373e-01 6.23972722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.024012739 meters Centerline goodness : 0.996019 Centerline is valid? [True, True] Translation: X:181.06, Y:126.62, Z:0.62 [[-3.65354614e-01 -9.30867819e-01 1.05388924e-03 1.81063901e+02] [ 9.30864521e-01 -3.65356126e-01 -2.47876658e-03 1.26617369e+02] [ 2.69244893e-03 7.53993004e-05 9.99996373e-01 6.22208497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05401273900003 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:181.07, Y:126.60, Z:0.62 [[-3.63619670e-01 -9.31546898e-01 1.05480225e-03 1.81070673e+02] [ 9.31543605e-01 -3.63621191e-01 -2.47837800e-03 1.26600854e+02] [ 2.69227379e-03 8.14072975e-05 9.99996373e-01 6.21625767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.084012739 meters Centerline goodness : 0.996051 Centerline is valid? [True, True] Translation: X:181.07, Y:126.60, Z:0.62 [[-3.64077640e-01 -9.31368003e-01 1.05570673e-03 1.81071827e+02] [ 9.31364710e-01 -3.64079162e-01 -2.47799266e-03 1.26595726e+02] [ 2.69228390e-03 8.10662747e-05 9.99996373e-01 6.21258863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11401273900003 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:181.07, Y:126.60, Z:0.62 [[-3.65655106e-01 -9.30749820e-01 1.05660552e-03 1.81066745e+02] [ 9.30746526e-01 -3.65656624e-01 -2.47760937e-03 1.26603691e+02] [ 2.69238928e-03 7.74813983e-05 9.99996373e-01 6.18350000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.144012739 meters Centerline goodness : 0.996036 Centerline is valid? [True, True] Translation: X:181.06, Y:126.61, Z:0.62 [[-3.66916693e-01 -9.30253203e-01 1.05750700e-03 1.81062185e+02] [ 9.30249908e-01 -3.66918210e-01 -2.47722453e-03 1.26613210e+02] [ 2.69246463e-03 7.48107518e-05 9.99996373e-01 6.16402742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17401273900003 meters Centerline goodness : 0.995800 Centerline is valid? [True, True] Translation: X:181.06, Y:126.61, Z:0.62 [[-3.68077390e-01 -9.29794555e-01 1.05841624e-03 1.81061116e+02] [ 9.29791259e-01 -3.68078905e-01 -2.47683599e-03 1.26614871e+02] [ 2.69252931e-03 7.24388358e-05 9.99996373e-01 6.18395730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.204012739 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:181.06, Y:126.61, Z:0.62 [[-3.69521017e-01 -9.29221769e-01 1.05933073e-03 1.81060149e+02] [ 9.29218472e-01 -3.69522529e-01 -2.47644481e-03 1.26612259e+02] [ 2.69261299e-03 6.92512766e-05 9.99996373e-01 6.22928557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.234012739 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:181.06, Y:126.60, Z:0.62 [[-3.70897083e-01 -9.28673371e-01 1.06024669e-03 1.81063617e+02] [ 9.28670072e-01 -3.70898593e-01 -2.47605259e-03 1.26601087e+02] [ 2.69268811e-03 6.62586848e-05 9.99996373e-01 6.24957367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.264012739 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:181.07, Y:126.59, Z:0.63 [[-3.73261002e-01 -9.27725767e-01 1.06115987e-03 1.81070113e+02] [ 9.27722466e-01 -3.73262505e-01 -2.47566117e-03 1.26585426e+02] [ 2.69282585e-03 6.03940832e-05 9.99996373e-01 6.26668124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.294012739 meters Centerline goodness : 0.995166 Centerline is valid? [True, True] Translation: X:181.07, Y:126.59, Z:0.63 [[-3.74493005e-01 -9.27229131e-01 1.06206536e-03 1.81067785e+02] [ 9.27225829e-01 -3.74494506e-01 -2.47527265e-03 1.26592672e+02] [ 2.69288255e-03 5.78021430e-05 9.99996373e-01 6.25473067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.324012739 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:181.07, Y:126.60, Z:0.62 [[-3.76806181e-01 -9.26291516e-01 1.06296942e-03 1.81067569e+02] [ 9.26288211e-01 -3.76807677e-01 -2.47488435e-03 1.26596810e+02] [ 2.69299942e-03 5.20643184e-05 9.99996373e-01 6.23099542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.354012739 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:181.06, Y:126.61, Z:0.62 [[-3.77949120e-01 -9.25825756e-01 1.06387838e-03 1.81062626e+02] [ 9.25822451e-01 -3.77950614e-01 -2.47449356e-03 1.26609702e+02] [ 2.69304335e-03 4.97298299e-05 9.99996373e-01 6.23404782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.384012739 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:181.06, Y:126.62, Z:0.63 [[-3.78560859e-01 -9.25575790e-01 1.06479465e-03 1.81060811e+02] [ 9.25572484e-01 -3.78562354e-01 -2.47409922e-03 1.26615876e+02] [ 2.69305750e-03 4.89475005e-05 9.99996373e-01 6.25301580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.414012739 meters Centerline goodness : 0.994633 Centerline is valid? [True, True] Translation: X:181.07, Y:126.59, Z:0.63 [[-3.79201976e-01 -9.25313312e-01 1.06571894e-03 1.81070017e+02] [ 9.25310007e-01 -3.79203470e-01 -2.47370101e-03 1.26594582e+02] [ 2.69307280e-03 4.80880832e-05 9.99996373e-01 6.26931709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.444012739 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:181.07, Y:126.60, Z:0.63 [[-3.79900468e-01 -9.25026755e-01 1.06663905e-03 1.81065550e+02] [ 9.25023449e-01 -3.79901963e-01 -2.47330420e-03 1.26603477e+02] [ 2.69309083e-03 4.70567118e-05 9.99996373e-01 6.26051191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.474012739 meters Centerline goodness : 0.995247 Centerline is valid? [True, True] Translation: X:181.07, Y:126.59, Z:0.62 [[-3.81828453e-01 -9.24232597e-01 1.06755650e-03 1.81072478e+02] [ 9.24229289e-01 -3.81829943e-01 -2.47290814e-03 1.26589762e+02] [ 2.69316735e-03 4.24402941e-05 9.99996373e-01 6.22724842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.504012739 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:181.07, Y:126.61, Z:0.62 [[-3.82985668e-01 -9.23753667e-01 1.06847380e-03 1.81066903e+02] [ 9.23750358e-01 -3.82987157e-01 -2.47251174e-03 1.26606697e+02] [ 2.69320353e-03 4.00664938e-05 9.99996373e-01 6.22523742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.534012739 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:181.07, Y:126.60, Z:0.62 [[-3.83959160e-01 -9.23349457e-01 1.06939318e-03 1.81069342e+02] [ 9.23346148e-01 -3.83960647e-01 -2.47211403e-03 1.26603409e+02] [ 2.69323005e-03 3.82292417e-05 9.99996373e-01 6.23053841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.564012739 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:181.08, Y:126.59, Z:0.62 [[-3.85124915e-01 -9.22863833e-01 1.07031868e-03 1.81075827e+02] [ 9.22860524e-01 -3.85126401e-01 -2.47171327e-03 1.26588151e+02] [ 2.69326276e-03 3.58364907e-05 9.99996373e-01 6.24141632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.594012739 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:181.07, Y:126.61, Z:0.62 [[-3.85729373e-01 -9.22611350e-01 1.07123879e-03 1.81068111e+02] [ 9.22608041e-01 -3.85730859e-01 -2.47131442e-03 1.26606245e+02] [ 2.69327260e-03 3.50749568e-05 9.99996373e-01 6.24976954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.624012739 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:181.07, Y:126.60, Z:0.63 [[-3.85779347e-01 -9.22590454e-01 1.07216130e-03 1.81073001e+02] [ 9.22587146e-01 -3.85780836e-01 -2.47091414e-03 1.26595241e+02] [ 2.69326108e-03 3.59345870e-05 9.99996373e-01 6.26272024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.654012739 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:181.07, Y:126.60, Z:0.63 [[-3.85157572e-01 -9.22850201e-01 1.07308800e-03 1.81069162e+02] [ 9.22846895e-01 -3.85159065e-01 -2.47051161e-03 1.26600761e+02] [ 2.69322171e-03 3.87596759e-05 9.99996373e-01 6.26304047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.684012739 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:181.07, Y:126.59, Z:0.63 [[-3.84019934e-01 -9.23324178e-01 1.07401456e-03 1.81070049e+02] [ 9.23320875e-01 -3.84021433e-01 -2.47010874e-03 1.26592611e+02] [ 2.69315573e-03 4.30890671e-05 9.99996373e-01 6.26550682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.714012739 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:181.07, Y:126.58, Z:0.62 [[-3.81816309e-01 -9.24237605e-01 1.07494188e-03 1.81069720e+02] [ 9.24234307e-01 -3.81817819e-01 -2.46970513e-03 1.26581653e+02] [ 2.69302632e-03 5.05244649e-05 9.99996373e-01 6.24594407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.744012739 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:181.07, Y:126.58, Z:0.62 [[-3.82150883e-01 -9.24099316e-01 1.07586513e-03 1.81068036e+02] [ 9.24096018e-01 -3.82152394e-01 -2.46930287e-03 1.26582897e+02] [ 2.69302553e-03 5.05564076e-05 9.99996373e-01 6.23143477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.774012739 meters Centerline goodness : 0.994634 Centerline is valid? [True, True] Translation: X:181.07, Y:126.58, Z:0.62 [[-3.84592949e-01 -9.23085643e-01 1.07678688e-03 1.81068042e+02] [ 9.23082342e-01 -3.84594454e-01 -2.46890086e-03 1.26578161e+02] [ 2.69313320e-03 4.44410940e-05 9.99996373e-01 6.22504330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80401273900003 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:181.07, Y:126.58, Z:0.62 [[-3.86507051e-01 -9.22285822e-01 1.07770953e-03 1.81065771e+02] [ 9.22282520e-01 -3.86508551e-01 -2.46849804e-03 1.26578326e+02] [ 2.69320470e-03 3.98607603e-05 9.99996373e-01 6.22559578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.834012739 meters Centerline goodness : 0.994878 Centerline is valid? [True, True] Translation: X:181.06, Y:126.59, Z:0.62 [[-3.88723849e-01 -9.21353681e-01 1.07863263e-03 1.81056141e+02] [ 9.21350376e-01 -3.88725344e-01 -2.46809462e-03 1.26594618e+02] [ 2.69327990e-03 3.43913361e-05 9.99996373e-01 6.24072871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86401273900003 meters Centerline goodness : 0.994631 Centerline is valid? [True, True] Translation: X:181.06, Y:126.58, Z:0.63 [[-3.92235132e-01 -9.19864358e-01 1.07956389e-03 1.81058139e+02] [ 9.19861048e-01 -3.92236616e-01 -2.46768721e-03 1.26583944e+02] [ 2.69338200e-03 2.51351531e-05 9.99996373e-01 6.27629402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.894012739 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:181.05, Y:126.59, Z:0.63 [[-3.94068754e-01 -9.19080328e-01 1.08049944e-03 1.81054596e+02] [ 9.19077017e-01 -3.94070234e-01 -2.46727751e-03 1.26592028e+02] [ 2.69341889e-03 2.07852287e-05 9.99996373e-01 6.29418792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92401273900003 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:181.05, Y:126.60, Z:0.63 [[-3.96724342e-01 -9.17937158e-01 1.08143576e-03 1.81052934e+02] [ 9.17933844e-01 -3.96725816e-01 -2.46686704e-03 1.26595520e+02] [ 2.69346240e-03 1.40202832e-05 9.99996373e-01 6.31390078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.954012739 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:181.06, Y:126.59, Z:0.63 [[-3.97813626e-01 -9.17465611e-01 1.08237813e-03 1.81055968e+02] [ 9.17462296e-01 -3.97815099e-01 -2.46645349e-03 1.26588996e+02] [ 2.69347262e-03 1.18523231e-05 9.99996373e-01 6.31129129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.984012739 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:181.06, Y:126.58, Z:0.63 [[-3.98592746e-01 -9.17127390e-01 1.08332066e-03 1.81060506e+02] [ 9.17124075e-01 -3.98594218e-01 -2.46603944e-03 1.26579900e+02] [ 2.69347766e-03 1.05940324e-05 9.99996373e-01 6.30203103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.014012739 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:181.06, Y:126.58, Z:0.63 [[-3.98403890e-01 -9.17209444e-01 1.08425898e-03 1.81063020e+02] [ 9.17206130e-01 -3.98405365e-01 -2.46562681e-03 1.26577933e+02] [ 2.69347079e-03 1.21736746e-05 9.99996373e-01 6.28251816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.044012739 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:181.06, Y:126.59, Z:0.63 [[-3.98145835e-01 -9.17321490e-01 1.08519437e-03 1.81057308e+02] [ 9.17318178e-01 -3.98147314e-01 -2.46521505e-03 1.26592912e+02] [ 2.69346197e-03 1.39534182e-05 9.99996373e-01 6.27010537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.074012739 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:181.06, Y:126.58, Z:0.63 [[-3.97513784e-01 -9.17595560e-01 1.08613580e-03 1.81063471e+02] [ 9.17592250e-01 -3.97515268e-01 -2.46480020e-03 1.26580979e+02] [ 2.69344528e-03 1.68377346e-05 9.99996373e-01 6.26777368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.104012739 meters Centerline goodness : 0.993595 Centerline is valid? [True, True] Translation: X:181.06, Y:126.58, Z:0.63 [[-3.95592550e-01 -9.18425475e-01 1.08707973e-03 1.81064309e+02] [ 9.18422169e-01 -3.95594043e-01 -2.46438382e-03 1.26577222e+02] [ 2.69339514e-03 2.35062459e-05 9.99996373e-01 6.28807953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.134012739 meters Centerline goodness : 0.993669 Centerline is valid? [True, True] Translation: X:181.07, Y:126.57, Z:0.63 [[-3.94609092e-01 -9.18848453e-01 1.08801944e-03 1.81065666e+02] [ 9.18845150e-01 -3.94610591e-01 -2.46396887e-03 1.26570645e+02] [ 2.69335798e-03 2.74168684e-05 9.99996373e-01 6.30057039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.164012739 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:181.06, Y:126.57, Z:0.63 [[-3.91768065e-01 -9.20063366e-01 1.08895728e-03 1.81064392e+02] [ 9.20060069e-01 -3.91769577e-01 -2.46355432e-03 1.26567038e+02] [ 2.69324641e-03 3.67642070e-05 9.99996373e-01 6.31083996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.194012739 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:181.07, Y:126.55, Z:0.63 [[-3.90664526e-01 -9.20532476e-01 1.08989327e-03 1.81068542e+02] [ 9.20529182e-01 -3.90666044e-01 -2.46314016e-03 1.26554117e+02] [ 2.69318480e-03 4.10170759e-05 9.99996373e-01 6.29991851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.224012739 meters Centerline goodness : 0.993404 Centerline is valid? [True, True] Translation: X:181.07, Y:126.55, Z:0.63 [[-3.91011547e-01 -9.20385126e-01 1.09082540e-03 1.81069626e+02] [ 9.20381832e-01 -3.91013066e-01 -2.46272729e-03 1.26551852e+02] [ 2.69318455e-03 4.10210790e-05 9.99996373e-01 6.29985073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.254012739 meters Centerline goodness : 0.993377 Centerline is valid? [True, True] Translation: X:181.07, Y:126.55, Z:0.63 [[-3.89788391e-01 -9.20903805e-01 1.09175372e-03 1.81070196e+02] [ 9.20900515e-01 -3.89789917e-01 -2.46231568e-03 1.26546288e+02] [ 2.69311048e-03 4.56144954e-05 9.99996373e-01 6.29770850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.284012739 meters Centerline goodness : 0.994008 Centerline is valid? [True, True] Translation: X:181.07, Y:126.53, Z:0.63 [[-3.89109162e-01 -9.21191004e-01 1.09268082e-03 1.81071974e+02] [ 9.21187716e-01 -3.89110693e-01 -2.46190420e-03 1.26529680e+02] [ 2.69305780e-03 4.86146722e-05 9.99996373e-01 6.29364577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.314012739 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:181.07, Y:126.53, Z:0.63 [[-3.90021278e-01 -9.20805195e-01 1.09360250e-03 1.81067678e+02] [ 9.20801906e-01 -3.90022808e-01 -2.46149472e-03 1.26534273e+02] [ 2.69308704e-03 4.69559510e-05 9.99996373e-01 6.27276454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.344012739 meters Centerline goodness : 0.993626 Centerline is valid? [True, True] Translation: X:181.06, Y:126.54, Z:0.63 [[-3.93034961e-01 -9.19522877e-01 1.09452238e-03 1.81061403e+02] [ 9.19519584e-01 -3.93036483e-01 -2.46108562e-03 1.26538418e+02] [ 2.69321176e-03 3.91420690e-05 9.99996373e-01 6.26418829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.374012739 meters Centerline goodness : 0.993642 Centerline is valid? [True, True] Translation: X:181.05, Y:126.55, Z:0.63 [[-3.95273417e-01 -9.18562859e-01 1.09544766e-03 1.81054578e+02] [ 9.18559564e-01 -3.95274934e-01 -2.46067370e-03 1.26548386e+02] [ 2.69328647e-03 3.35950182e-05 9.99996373e-01 6.27428060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.404012739 meters Centerline goodness : 0.993806 Centerline is valid? [True, True] Translation: X:181.05, Y:126.55, Z:0.63 [[-3.98016443e-01 -9.17377626e-01 1.09638085e-03 1.81051198e+02] [ 9.17374328e-01 -3.98017952e-01 -2.46025784e-03 1.26552027e+02] [ 2.69336475e-03 2.65685755e-05 9.99996373e-01 6.28323548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.434012739 meters Centerline goodness : 0.993211 Centerline is valid? [True, True] Translation: X:181.06, Y:126.53, Z:0.63 [[-4.03120821e-01 -9.15146109e-01 1.09732101e-03 1.81061869e+02] [ 9.15142803e-01 -4.03122314e-01 -2.45983844e-03 1.26527872e+02] [ 2.69346616e-03 1.25933376e-05 9.99996373e-01 6.29017807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.464012739 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:181.07, Y:126.52, Z:0.63 [[-4.05647222e-01 -9.14029062e-01 1.09767031e-03 1.81065034e+02] [ 9.14025752e-01 -4.05648708e-01 -2.45968256e-03 1.26522462e+02] [ 2.69348988e-03 5.53553439e-06 9.99996373e-01 6.29642450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.494012739 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:181.07, Y:126.51, Z:0.63 [[-4.08590976e-01 -9.12716937e-01 1.09859537e-03 1.81068853e+02] [ 9.12713624e-01 -4.08592452e-01 -2.45926932e-03 1.26513226e+02] [ 2.69349454e-03 -2.13229024e-06 9.99996373e-01 6.33123638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.524012739 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:181.07, Y:126.51, Z:0.63 [[-4.09508926e-01 -9.12305448e-01 1.09951666e-03 1.81070310e+02] [ 9.12302135e-01 -4.09510402e-01 -2.45885735e-03 1.26511903e+02] [ 2.69349246e-03 -3.83263839e-06 9.99996373e-01 6.32523505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55401273900003 meters Centerline goodness : 0.993867 Centerline is valid? [True, True] Translation: X:181.07, Y:126.51, Z:0.63 [[-4.10592155e-01 -9.11818442e-01 1.10043555e-03 1.81073905e+02] [ 9.11815128e-01 -4.10593630e-01 -2.45844604e-03 1.26508169e+02] [ 2.69348826e-03 -6.02487989e-06 9.99996373e-01 6.32444597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.584012739 meters Centerline goodness : 0.993528 Centerline is valid? [True, True] Translation: X:181.07, Y:126.52, Z:0.63 [[-4.12481946e-01 -9.10965110e-01 1.10135354e-03 1.81071676e+02] [ 9.10961794e-01 -4.12483416e-01 -2.45803472e-03 1.26523450e+02] [ 2.69347394e-03 -1.06039449e-05 9.99996373e-01 6.32609238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61401273900003 meters Centerline goodness : 0.992848 Centerline is valid? [True, True] Translation: X:181.08, Y:126.51, Z:0.63 [[-4.12862801e-01 -9.10792563e-01 1.10227632e-03 1.81079791e+02] [ 9.10789247e-01 -4.12864273e-01 -2.45762084e-03 1.26509180e+02] [ 2.69347330e-03 -1.07188015e-05 9.99996373e-01 6.32595948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.644012739 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:181.08, Y:126.52, Z:0.63 [[-4.12218388e-01 -9.11084400e-01 1.10320030e-03 1.81078915e+02] [ 9.11081086e-01 -4.12219864e-01 -2.45720601e-03 1.26519246e+02] [ 2.69348314e-03 -7.80056873e-06 9.99996373e-01 6.30935458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67401273900003 meters Centerline goodness : 0.993155 Centerline is valid? [True, True] Translation: X:181.09, Y:126.50, Z:0.63 [[-4.11936214e-01 -9.11212015e-01 1.10412352e-03 1.81090319e+02] [ 9.11208703e-01 -4.11937694e-01 -2.45679110e-03 1.26500138e+02] [ 2.69348766e-03 -5.95426764e-06 9.99996373e-01 6.31212451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.704012739 meters Centerline goodness : 0.993024 Centerline is valid? [True, True] Translation: X:181.09, Y:126.50, Z:0.63 [[-4.11969127e-01 -9.11197134e-01 1.10504418e-03 1.81092081e+02] [ 9.11193823e-01 -4.11970609e-01 -2.45637692e-03 1.26502446e+02] [ 2.69348934e-03 -5.04202752e-06 9.99996373e-01 6.31753376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.734012739 meters Centerline goodness : 0.993064 Centerline is valid? [True, True] Translation: X:181.09, Y:126.51, Z:0.63 [[-4.13322697e-01 -9.10583947e-01 1.10595947e-03 1.81094593e+02] [ 9.10580635e-01 -4.13324177e-01 -2.45596475e-03 1.26506741e+02] [ 2.69348187e-03 -8.04069742e-06 9.99996373e-01 6.31505896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.764012739 meters Centerline goodness : 0.993062 Centerline is valid? [True, True] Translation: X:181.10, Y:126.50, Z:0.63 [[-4.14747693e-01 -9.09935781e-01 1.10687758e-03 1.81101721e+02] [ 9.09932468e-01 -4.14749170e-01 -2.45555090e-03 1.26496905e+02] [ 2.69347018e-03 -1.12502251e-05 9.99996373e-01 6.30444819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.794012739 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:181.11, Y:126.50, Z:0.63 [[-4.17110644e-01 -9.08855040e-01 1.10779420e-03 1.81109796e+02] [ 9.08851724e-01 -4.17112115e-01 -2.45513731e-03 1.26497054e+02] [ 2.69343830e-03 -1.72432411e-05 9.99996373e-01 6.31163256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.824012739 meters Centerline goodness : 0.992243 Centerline is valid? [True, True] Translation: X:181.12, Y:126.49, Z:0.63 [[-4.18470520e-01 -9.08229704e-01 1.10870740e-03 1.81115294e+02] [ 9.08226387e-01 -4.18471988e-01 -2.45472485e-03 1.26492579e+02] [ 2.69341701e-03 -2.02726662e-05 9.99996373e-01 6.32218123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.854012739 meters Centerline goodness : 0.992050 Centerline is valid? [True, True] Translation: X:181.12, Y:126.50, Z:0.63 [[-4.20463953e-01 -9.07308565e-01 1.10961913e-03 1.81116520e+02] [ 9.07305246e-01 -4.20465417e-01 -2.45431265e-03 1.26500695e+02] [ 2.69337536e-03 -2.51867386e-05 9.99996373e-01 6.30311576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.884012739 meters Centerline goodness : 0.991668 Centerline is valid? [True, True] Translation: X:181.12, Y:126.50, Z:0.63 [[-4.21493170e-01 -9.06830896e-01 1.11053233e-03 1.81121178e+02] [ 9.06827577e-01 -4.21494632e-01 -2.45389937e-03 1.26495909e+02] [ 2.69335518e-03 -2.72404849e-05 9.99996373e-01 6.28135412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.914012739 meters Centerline goodness : 0.992307 Centerline is valid? [True, True] Translation: X:181.13, Y:126.49, Z:0.63 [[-4.22134691e-01 -9.06532442e-01 1.11144743e-03 1.81126227e+02] [ 9.06529122e-01 -4.22136153e-01 -2.45348482e-03 1.26491655e+02] [ 2.69334573e-03 -2.81415944e-05 9.99996373e-01 6.25269318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.944012739 meters Centerline goodness : 0.991938 Centerline is valid? [True, True] Translation: X:181.12, Y:126.51, Z:0.62 [[-4.22441839e-01 -9.06389351e-01 1.11235973e-03 1.81122346e+02] [ 9.06386032e-01 -4.22443303e-01 -2.45307114e-03 1.26513889e+02] [ 2.69334647e-03 -2.80525666e-05 9.99996373e-01 6.22723399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.974012739 meters Centerline goodness : 0.992158 Centerline is valid? [True, True] Translation: X:181.13, Y:126.49, Z:0.62 [[-4.21911843e-01 -9.06636177e-01 1.11327869e-03 1.81134385e+02] [ 9.06632860e-01 -4.21913311e-01 -2.45265401e-03 1.26492881e+02] [ 2.69337196e-03 -2.54687308e-05 9.99996373e-01 6.24350458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.004012739 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:181.13, Y:126.51, Z:0.63 [[-4.20775917e-01 -9.07163925e-01 1.11419854e-03 1.81129272e+02] [ 9.07160611e-01 -4.20777391e-01 -2.45223607e-03 1.26508609e+02] [ 2.69340965e-03 -2.10848490e-05 9.99996373e-01 6.26507529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.034012739 meters Centerline goodness : 0.992097 Centerline is valid? [True, True] Translation: X:181.13, Y:126.51, Z:0.63 [[-4.18009066e-01 -9.08442171e-01 1.11511719e-03 1.81134814e+02] [ 9.08438862e-01 -4.18010553e-01 -2.45181825e-03 1.26508008e+02] [ 2.69346585e-03 -1.18664630e-05 9.99996373e-01 6.30377483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.064012739 meters Centerline goodness : 0.992118 Centerline is valid? [True, True] Translation: X:181.13, Y:126.52, Z:0.63 [[-4.16819799e-01 -9.08988454e-01 1.11604200e-03 1.81134068e+02] [ 9.08985149e-01 -4.16821293e-01 -2.45139722e-03 1.26517116e+02] [ 2.69348184e-03 -7.32528744e-06 9.99996373e-01 6.31176759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.094012739 meters Centerline goodness : 0.991645 Centerline is valid? [True, True] Translation: X:181.14, Y:126.51, Z:0.63 [[-4.14388641e-01 -9.10099339e-01 1.11697031e-03 1.81137729e+02] [ 9.10096038e-01 -4.14390147e-01 -2.45097417e-03 1.26514806e+02] [ 2.69349146e-03 8.94394878e-07 9.99996373e-01 6.32606433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.124012739 meters Centerline goodness : 0.992418 Centerline is valid? [True, True] Translation: X:181.15, Y:126.50, Z:0.63 [[-4.13237947e-01 -9.10622397e-01 1.11790182e-03 1.81145055e+02] [ 9.10619100e-01 -4.13239459e-01 -2.45054923e-03 1.26497421e+02] [ 2.69348615e-03 5.32281228e-06 9.99996373e-01 6.29090897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.154012739 meters Centerline goodness : 0.992525 Centerline is valid? [True, True] Translation: X:181.13, Y:126.52, Z:0.63 [[-4.11650156e-01 -9.11341263e-01 1.11882720e-03 1.81133467e+02] [ 9.11337969e-01 -4.11651676e-01 -2.45012666e-03 1.26522073e+02] [ 2.69346862e-03 1.10346887e-05 9.99996373e-01 6.25546257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.184012739 meters Centerline goodness : 0.992556 Centerline is valid? [True, True] Translation: X:181.14, Y:126.50, Z:0.62 [[-4.08657245e-01 -9.12687242e-01 1.11975701e-03 1.81144273e+02] [ 9.12683955e-01 -4.08658779e-01 -2.44970164e-03 1.26498217e+02] [ 2.69340997e-03 2.08959306e-05 9.99996373e-01 6.21163100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.214012739 meters Centerline goodness : 0.992705 Centerline is valid? [True, True] Translation: X:181.12, Y:126.56, Z:0.62 [[-4.08100409e-01 -9.12936361e-01 1.12068880e-03 1.81117253e+02] [ 9.12933076e-01 -4.08101948e-01 -2.44927530e-03 1.26556729e+02] [ 2.69338776e-03 2.35636206e-05 9.99996373e-01 6.22880651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.244012739 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:181.11, Y:126.57, Z:0.63 [[-4.09116652e-01 -9.12481401e-01 1.12156047e-03 1.81109702e+02] [ 9.12478115e-01 -4.09118189e-01 -2.44887604e-03 1.26573652e+02] [ 2.69340463e-03 2.15234213e-05 9.99996373e-01 6.26925942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.274012739 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:181.15, Y:126.49, Z:0.63 [[-4.09562070e-01 -9.12281562e-01 1.12342712e-03 1.81146504e+02] [ 9.12278278e-01 -4.09563610e-01 -2.44802021e-03 1.26494967e+02] [ 2.69339857e-03 2.22619359e-05 9.99996373e-01 6.27909107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30401273900003 meters Centerline goodness : 0.992690 Centerline is valid? [True, True] Translation: X:181.09, Y:126.61, Z:0.63 [[-4.10628445e-01 -9.11802073e-01 1.12287949e-03 1.81093968e+02] [ 9.11798786e-01 -4.10629979e-01 -2.44827138e-03 1.26611075e+02] [ 2.69342690e-03 1.85102850e-05 9.99996373e-01 6.28203626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.334012739 meters Centerline goodness : 0.992310 Centerline is valid? [True, True] Translation: X:181.11, Y:126.57, Z:0.63 [[-4.10985313e-01 -9.11641270e-01 1.12536813e-03 1.81111353e+02] [ 9.11637986e-01 -4.10986854e-01 -2.44712906e-03 1.26570465e+02] [ 2.69341535e-03 2.01942315e-05 9.99996373e-01 6.29237671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36401273900003 meters Centerline goodness : 0.992551 Centerline is valid? [True, True] Translation: X:181.10, Y:126.59, Z:0.63 [[-4.11763970e-01 -9.11289838e-01 1.12452163e-03 1.81103016e+02] [ 9.11286551e-01 -4.11765505e-01 -2.44751777e-03 1.26587719e+02] [ 2.69343729e-03 1.69618091e-05 9.99996373e-01 6.29042738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.394012739 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:181.15, Y:126.49, Z:0.62 [[-4.11918704e-01 -9.11219905e-01 1.12550960e-03 1.81146944e+02] [ 9.11216619e-01 -4.11920241e-01 -2.44706360e-03 1.26492149e+02] [ 2.69343325e-03 1.75917871e-05 9.99996373e-01 6.24715403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42401273900003 meters Centerline goodness : 0.991949 Centerline is valid? [True, True] Translation: X:181.11, Y:126.57, Z:0.62 [[-4.12152185e-01 -9.11114323e-01 1.12517232e-03 1.81112925e+02] [ 9.11111037e-01 -4.12153721e-01 -2.44721868e-03 1.26565373e+02] [ 2.69343995e-03 1.65303909e-05 9.99996373e-01 6.24033826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.454012739 meters Centerline goodness : 0.992281 Centerline is valid? [True, True] Translation: X:181.16, Y:126.47, Z:0.62 [[-4.11428485e-01 -9.11441348e-01 1.12722868e-03 1.81155143e+02] [ 9.11438065e-01 -4.11430029e-01 -2.44627234e-03 1.26471356e+02] [ 2.69340948e-03 2.09330009e-05 9.99996373e-01 6.23764375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.484012739 meters Centerline goodness : 0.992323 Centerline is valid? [True, True] Translation: X:181.13, Y:126.52, Z:0.63 [[-4.10021438e-01 -9.12075190e-01 1.12637633e-03 1.81131405e+02] [ 9.12071908e-01 -4.10022985e-01 -2.44666474e-03 1.26517437e+02] [ 2.69338239e-03 2.41512113e-05 9.99996373e-01 6.25307213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.514012739 meters Centerline goodness : 0.992037 Centerline is valid? [True, True] Translation: X:181.15, Y:126.47, Z:0.63 [[-4.08697813e-01 -9.12669066e-01 1.12864314e-03 1.81150451e+02] [ 9.12665790e-01 -4.08699370e-01 -2.44562026e-03 1.26473090e+02] [ 2.69331770e-03 3.05543364e-05 9.99996373e-01 6.25081901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.544012739 meters Centerline goodness : 0.992536 Centerline is valid? [True, True] Translation: X:181.15, Y:126.47, Z:0.62 [[-4.06871196e-01 -9.13484843e-01 1.12754049e-03 1.81148872e+02] [ 9.13481569e-01 -4.06872757e-01 -2.44612853e-03 1.26467683e+02] [ 2.69326684e-03 3.47282152e-05 9.99996373e-01 6.23960006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.574012739 meters Centerline goodness : 0.992055 Centerline is valid? [True, True] Translation: X:181.15, Y:126.46, Z:0.62 [[-4.05841274e-01 -9.13942880e-01 1.12846014e-03 1.81151473e+02] [ 9.13939608e-01 -4.05842841e-01 -2.44570419e-03 1.26455507e+02] [ 2.69321140e-03 3.87767139e-05 9.99996373e-01 6.23466541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.604012739 meters Centerline goodness : 0.992071 Centerline is valid? [True, True] Translation: X:181.15, Y:126.45, Z:0.62 [[-4.03529883e-01 -9.14965769e-01 1.12937604e-03 1.81151228e+02] [ 9.14962502e-01 -4.03531461e-01 -2.44528118e-03 1.26446030e+02] [ 2.69308734e-03 4.65927054e-05 9.99996373e-01 6.23604430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.634012739 meters Centerline goodness : 0.992496 Centerline is valid? [True, True] Translation: X:181.14, Y:126.46, Z:0.62 [[-4.03448908e-01 -9.15001476e-01 1.13028661e-03 1.81142838e+02] [ 9.14998211e-01 -4.03450488e-01 -2.44486021e-03 1.26459869e+02] [ 2.69306539e-03 4.78340397e-05 9.99996373e-01 6.22285558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.664012739 meters Centerline goodness : 0.992410 Centerline is valid? [True, True] Translation: X:181.16, Y:126.43, Z:0.62 [[-4.04403847e-01 -9.14579821e-01 1.13120116e-03 1.81156221e+02] [ 9.14576555e-01 -4.04405427e-01 -2.44443699e-03 1.26425944e+02] [ 2.69309663e-03 4.60303337e-05 9.99996373e-01 6.20500839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.694012739 meters Centerline goodness : 0.992369 Centerline is valid? [True, True] Translation: X:181.10, Y:126.53, Z:0.62 [[-4.08381835e-01 -9.12810492e-01 1.13211038e-03 1.81104695e+02] [ 9.12807221e-01 -4.08383403e-01 -2.44401582e-03 1.26529960e+02] [ 2.69325838e-03 3.53068615e-05 9.99996373e-01 6.17528594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.724012739 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:181.14, Y:126.46, Z:0.62 [[-4.11731222e-01 -9.11304624e-01 1.13242744e-03 1.81137089e+02] [ 9.11301348e-01 -4.11732779e-01 -2.44386880e-03 1.26461226e+02] [ 2.69336643e-03 2.57655621e-05 9.99996373e-01 6.17120432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.754012739 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:181.13, Y:126.47, Z:0.62 [[-4.19576058e-01 -9.07719476e-01 1.13329771e-03 1.81134342e+02] [ 9.07716187e-01 -4.19577588e-01 -2.44346516e-03 1.26472267e+02] [ 2.69348723e-03 3.49319411e-06 9.99996373e-01 6.20309311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.784012739 meters Centerline goodness : 0.992658 Centerline is valid? [True, True] Translation: X:181.14, Y:126.46, Z:0.62 [[-4.23219351e-01 -9.06026542e-01 1.13422943e-03 1.81139368e+02] [ 9.06023248e-01 -4.23220871e-01 -2.44303259e-03 1.26463775e+02] [ 2.69348193e-03 -6.30043227e-06 9.99996373e-01 6.21888077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.814012739 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:181.13, Y:126.49, Z:0.62 [[-4.26099163e-01 -9.04675751e-01 1.13516300e-03 1.81128902e+02] [ 9.04672454e-01 -4.26100674e-01 -2.44259872e-03 1.26488822e+02] [ 2.69345355e-03 -1.38385722e-05 9.99996373e-01 6.23029922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.844012739 meters Centerline goodness : 0.992394 Centerline is valid? [True, True] Translation: X:181.15, Y:126.46, Z:0.62 [[-4.28870513e-01 -9.03365260e-01 1.13612269e-03 1.81146420e+02] [ 9.03361959e-01 -4.28872017e-01 -2.44215227e-03 1.26458804e+02] [ 2.69340675e-03 -2.10370794e-05 9.99996373e-01 6.21039770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.874012739 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:181.15, Y:126.46, Z:0.62 [[-4.29305330e-01 -9.03158702e-01 1.13704421e-03 1.81145623e+02] [ 9.03155401e-01 -4.29306836e-01 -2.44172315e-03 1.26463527e+02] [ 2.69340436e-03 -2.13171458e-05 9.99996373e-01 6.19619294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.904012739 meters Centerline goodness : 0.992930 Centerline is valid? [True, True] Translation: X:181.15, Y:126.46, Z:0.62 [[-4.27587861e-01 -9.03973078e-01 1.13797558e-03 1.81147705e+02] [ 9.03969782e-01 -4.27589375e-01 -2.44128900e-03 1.26460313e+02] [ 2.69344580e-03 -1.51700088e-05 9.99996373e-01 6.15901654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.934012739 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:181.15, Y:126.45, Z:0.62 [[-4.26419796e-01 -9.04524660e-01 1.13890879e-03 1.81152446e+02] [ 9.04521367e-01 -4.26421317e-01 -2.44085356e-03 1.26451560e+02] [ 2.69346722e-03 -1.06609400e-05 9.99996373e-01 6.15838713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.964012739 meters Centerline goodness : 0.991863 Centerline is valid? [True, True] Translation: X:181.15, Y:126.46, Z:0.62 [[-4.25357232e-01 -9.05024821e-01 1.13983890e-03 1.81151880e+02] [ 9.05021530e-01 -4.25358759e-01 -2.44041914e-03 1.26455081e+02] [ 2.69348035e-03 -6.47118353e-06 9.99996373e-01 6.16272227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.994012739 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:181.15, Y:126.46, Z:0.62 [[-4.24123724e-01 -9.05603537e-01 1.14076808e-03 1.81149628e+02] [ 9.05600250e-01 -4.24125258e-01 -2.43998472e-03 1.26462559e+02] [ 2.69348734e-03 -1.77554667e-06 9.99996373e-01 6.19767810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.024012739 meters Centerline goodness : 0.992713 Centerline is valid? [True, True] Translation: X:181.12, Y:126.53, Z:0.62 [[-4.23705541e-01 -9.05799266e-01 1.14170250e-03 1.81117227e+02] [ 9.05795981e-01 -4.23707079e-01 -2.43954741e-03 1.26532874e+02] [ 2.69348769e-03 4.99781962e-07 9.99996373e-01 6.20863160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05401273900003 meters Centerline goodness : 0.992162 Centerline is valid? [True, True] Translation: X:181.16, Y:126.45, Z:0.62 [[-4.24221937e-01 -9.05557534e-01 1.14080495e-03 1.81160149e+02] [ 9.05554247e-01 -4.24223471e-01 -2.43996762e-03 1.26448457e+02] [ 2.69348729e-03 -2.02702345e-06 9.99996373e-01 6.19274803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.084012739 meters Centerline goodness : 0.992521 Centerline is valid? [True, True] Translation: X:181.16, Y:126.46, Z:0.62 [[-4.24562783e-01 -9.05397779e-01 1.14217382e-03 1.81156622e+02] [ 9.05394493e-01 -4.24564320e-01 -2.43932667e-03 1.26458653e+02] [ 2.69348720e-03 -1.52943184e-06 9.99996373e-01 6.19036401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11401273900003 meters Centerline goodness : 0.992509 Centerline is valid? [True, True] Translation: X:181.16, Y:126.44, Z:0.62 [[-4.24636721e-01 -9.05363103e-01 1.14310674e-03 1.81162928e+02] [ 9.05359818e-01 -4.24638259e-01 -2.43888941e-03 1.26444856e+02] [ 2.69348734e-03 -7.19089805e-07 9.99996373e-01 6.20271517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.144012739 meters Centerline goodness : 0.992509 Centerline is valid? [True, True] Translation: X:181.16, Y:126.44, Z:0.62 [[-4.24981464e-01 -9.05201329e-01 1.14403980e-03 1.81164055e+02] [ 9.05198045e-01 -4.24983003e-01 -2.43845164e-03 1.26442628e+02] [ 2.69348714e-03 -7.14153674e-07 9.99996373e-01 6.20264740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17401273900003 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:181.17, Y:126.43, Z:0.62 [[-4.23651230e-01 -9.05824665e-01 1.14496823e-03 1.81166914e+02] [ 9.05821384e-01 -4.23652777e-01 -2.43801562e-03 1.26432086e+02] [ 2.69348366e-03 4.26839356e-06 9.99996373e-01 6.22462358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.204012739 meters Centerline goodness : 0.992347 Centerline is valid? [True, True] Translation: X:181.17, Y:126.43, Z:0.62 [[-4.21183853e-01 -9.06974558e-01 1.14589389e-03 1.81168677e+02] [ 9.06971282e-01 -4.21185412e-01 -2.43758048e-03 1.26428723e+02] [ 2.69345727e-03 1.26233136e-05 9.99996373e-01 6.22734212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.234012739 meters Centerline goodness : 0.992976 Centerline is valid? [True, True] Translation: X:181.16, Y:126.44, Z:0.62 [[-4.19961502e-01 -9.07541196e-01 1.14681604e-03 1.81164037e+02] [ 9.07537923e-01 -4.19963068e-01 -2.43714655e-03 1.26436480e+02] [ 2.69343128e-03 1.72713186e-05 9.99996373e-01 6.22311301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.264012739 meters Centerline goodness : 0.992629 Centerline is valid? [True, True] Translation: X:181.17, Y:126.42, Z:0.62 [[-4.18813038e-01 -9.08071760e-01 1.14774137e-03 1.81169928e+02] [ 9.08068491e-01 -4.18814611e-01 -2.43671071e-03 1.26420191e+02] [ 2.69339903e-03 2.17015550e-05 9.99996373e-01 6.22118677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.294012739 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:181.17, Y:126.42, Z:0.62 [[-4.18127913e-01 -9.08387433e-01 1.14866546e-03 1.81170843e+02] [ 9.08384166e-01 -4.18129491e-01 -2.43627501e-03 1.26415615e+02] [ 2.69337251e-03 2.47549345e-05 9.99996373e-01 6.21932374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.324012739 meters Centerline goodness : 0.993000 Centerline is valid? [True, True] Translation: X:181.17, Y:126.43, Z:0.62 [[-4.18397197e-01 -9.08263433e-01 1.14958380e-03 1.81166546e+02] [ 9.08260167e-01 -4.18398776e-01 -2.43584160e-03 1.26425683e+02] [ 2.69337031e-03 2.49718749e-05 9.99996373e-01 6.20006176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.354012739 meters Centerline goodness : 0.993009 Centerline is valid? [True, True] Translation: X:181.17, Y:126.42, Z:0.62 [[-4.22072468e-01 -9.06561365e-01 1.15050590e-03 1.81171384e+02] [ 9.06558094e-01 -4.22074036e-01 -2.43540600e-03 1.26418216e+02] [ 2.69344365e-03 1.50826155e-05 9.99996373e-01 6.18485095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.384012739 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:181.17, Y:126.43, Z:0.62 [[-4.24502497e-01 -9.05426035e-01 1.15143012e-03 1.81168392e+02] [ 9.05422760e-01 -4.24504059e-01 -2.43496896e-03 1.26428134e+02] [ 2.69347105e-03 8.88062966e-06 9.99996373e-01 6.19393346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.414012739 meters Centerline goodness : 0.992680 Centerline is valid? [True, True] Translation: X:181.17, Y:126.43, Z:0.62 [[-4.26953775e-01 -9.04272717e-01 1.15235629e-03 1.81168726e+02] [ 9.04269440e-01 -4.26955330e-01 -2.43453056e-03 1.26432393e+02] [ 2.69348423e-03 2.60856566e-06 9.99996373e-01 6.21082255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.444012739 meters Centerline goodness : 0.992849 Centerline is valid? [True, True] Translation: X:181.17, Y:126.43, Z:0.62 [[-4.28988983e-01 -9.03308985e-01 1.15328862e-03 1.81173963e+02] [ 9.03305706e-01 -4.28990533e-01 -2.43408882e-03 1.26429411e+02] [ 2.69348420e-03 -2.42509286e-06 9.99996373e-01 6.21711292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.474012739 meters Centerline goodness : 0.992317 Centerline is valid? [True, True] Translation: X:181.18, Y:126.43, Z:0.62 [[-4.31873205e-01 -9.01933591e-01 1.15422218e-03 1.81183503e+02] [ 9.01930308e-01 -4.31874747e-01 -2.43364606e-03 1.26425836e+02] [ 2.69346654e-03 -9.99855434e-06 9.99996373e-01 6.21503321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.504012739 meters Centerline goodness : 0.992662 Centerline is valid? [True, True] Translation: X:181.19, Y:126.42, Z:0.62 [[-4.32906415e-01 -9.01438130e-01 1.15515324e-03 1.81188064e+02] [ 9.01434846e-01 -4.32907956e-01 -2.43320404e-03 1.26424301e+02] [ 2.69345793e-03 -1.20542572e-05 9.99996373e-01 6.20365753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.534012739 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:181.19, Y:126.43, Z:0.62 [[-4.33741994e-01 -9.01036373e-01 1.15608212e-03 1.81191452e+02] [ 9.01033089e-01 -4.33743535e-01 -2.43276262e-03 1.26433703e+02] [ 2.69345076e-03 -1.35230710e-05 9.99996373e-01 6.18832926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.564012739 meters Centerline goodness : 0.992517 Centerline is valid? [True, True] Translation: X:181.20, Y:126.43, Z:0.62 [[-4.33237671e-01 -9.01278970e-01 1.15701377e-03 1.81200088e+02] [ 9.01275688e-01 -4.33239216e-01 -2.43231945e-03 1.26425393e+02] [ 2.69346211e-03 -1.09840317e-05 9.99996373e-01 6.20058912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.594012739 meters Centerline goodness : 0.993140 Centerline is valid? [True, True] Translation: X:181.20, Y:126.43, Z:0.62 [[-4.30269983e-01 -9.02699508e-01 1.15794525e-03 1.81203210e+02] [ 9.02696232e-01 -4.30271541e-01 -2.43187592e-03 1.26433410e+02] [ 2.69348409e-03 -1.09039503e-06 9.99996373e-01 6.22667854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.624012739 meters Centerline goodness : 0.993217 Centerline is valid? [True, True] Translation: X:181.21, Y:126.42, Z:0.62 [[-4.28493892e-01 -9.03543934e-01 1.15887657e-03 1.81210620e+02] [ 9.03540663e-01 -4.28495459e-01 -2.43143204e-03 1.26420699e+02] [ 2.69347902e-03 5.23832414e-06 9.99996373e-01 6.22946828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.654012739 meters Centerline goodness : 0.993940 Centerline is valid? [True, True] Translation: X:181.22, Y:126.41, Z:0.62 [[-4.26415108e-01 -9.04526843e-01 1.15980646e-03 1.81215020e+02] [ 9.04523577e-01 -4.26416685e-01 -2.43098839e-03 1.26413766e+02] [ 2.69345508e-03 1.24621151e-05 9.99996373e-01 6.22477443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.684012739 meters Centerline goodness : 0.993105 Centerline is valid? [True, True] Translation: X:181.23, Y:126.40, Z:0.62 [[-4.20479163e-01 -9.07301453e-01 1.16073006e-03 1.81225381e+02] [ 9.07298198e-01 -4.20480764e-01 -2.43054732e-03 1.26398082e+02] [ 2.69330378e-03 3.11337941e-05 9.99996373e-01 6.20213382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.714012739 meters Centerline goodness : 0.993039 Centerline is valid? [True, True] Translation: X:181.24, Y:126.37, Z:0.62 [[-4.17468140e-01 -9.08690818e-01 1.16164654e-03 1.81236747e+02] [ 9.08687570e-01 -4.17469754e-01 -2.43010922e-03 1.26374644e+02] [ 2.69317023e-03 4.10805964e-05 9.99996373e-01 6.19485883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.744012739 meters Centerline goodness : 0.992700 Centerline is valid? [True, True] Translation: X:181.22, Y:126.41, Z:0.62 [[-4.14185431e-01 -9.10191780e-01 1.16254984e-03 1.81216918e+02] [ 9.10188539e-01 -4.14187060e-01 -2.42967701e-03 1.26410167e+02] [ 2.69298514e-03 5.18027204e-05 9.99996373e-01 6.21049191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.774012739 meters Centerline goodness : 0.993593 Centerline is valid? [True, True] Translation: X:181.24, Y:126.35, Z:0.62 [[-4.12922075e-01 -9.10765612e-01 1.16605513e-03 1.81244872e+02] [ 9.10762378e-01 -4.12923718e-01 -2.42799859e-03 1.26350108e+02] [ 2.69282944e-03 5.94249254e-05 9.99996373e-01 6.20970976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80401273900003 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:181.24, Y:126.35, Z:0.62 [[-4.13265041e-01 -9.10610044e-01 1.16371275e-03 1.81243714e+02] [ 9.10606806e-01 -4.13266676e-01 -2.42912075e-03 1.26354115e+02] [ 2.69290545e-03 5.58140646e-05 9.99996373e-01 6.22475180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.834012739 meters Centerline goodness : 0.993003 Centerline is valid? [True, True] Translation: X:181.24, Y:126.37, Z:0.62 [[-4.14200150e-01 -9.10185080e-01 1.16459685e-03 1.81239254e+02] [ 9.10181841e-01 -4.14201784e-01 -2.42869681e-03 1.26365386e+02] [ 2.69294169e-03 5.40283254e-05 9.99996373e-01 6.23391323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86401273900003 meters Centerline goodness : 0.993188 Centerline is valid? [True, True] Translation: X:181.25, Y:126.35, Z:0.63 [[-4.16473270e-01 -9.09147214e-01 1.16548727e-03 1.81246996e+02] [ 9.09143973e-01 -4.16474898e-01 -2.42826944e-03 1.26347173e+02] [ 2.69305059e-03 4.82864169e-05 9.99996373e-01 6.25077374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.894012739 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:181.24, Y:126.36, Z:0.62 [[-4.18559797e-01 -9.08188492e-01 1.16637655e-03 1.81241458e+02] [ 9.08185247e-01 -4.18561419e-01 -2.42784221e-03 1.26358565e+02] [ 2.69313858e-03 4.30888345e-05 9.99996373e-01 6.24883758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92401273900003 meters Centerline goodness : 0.993644 Centerline is valid? [True, True] Translation: X:181.24, Y:126.36, Z:0.62 [[-4.19262082e-01 -9.07864497e-01 1.16726510e-03 1.81240013e+02] [ 9.07861252e-01 -4.19263705e-01 -2.42741494e-03 1.26363554e+02] [ 2.69315573e-03 4.19917185e-05 9.99996373e-01 6.24076568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.954012739 meters Centerline goodness : 0.993370 Centerline is valid? [True, True] Translation: X:181.25, Y:126.35, Z:0.62 [[-4.19664197e-01 -9.07678686e-01 1.16816075e-03 1.81247747e+02] [ 9.07675442e-01 -4.19665821e-01 -2.42698384e-03 1.26348405e+02] [ 2.69315864e-03 4.17926026e-05 9.99996373e-01 6.22788922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.984012739 meters Centerline goodness : 0.993712 Centerline is valid? [True, True] Translation: X:181.25, Y:126.35, Z:0.62 [[-4.19862441e-01 -9.07587001e-01 1.16905396e-03 1.81247273e+02] [ 9.07583758e-01 -4.19864067e-01 -2.42655352e-03 1.26348333e+02] [ 2.69315218e-03 4.21956999e-05 9.99996373e-01 6.22428847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.014012739 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:181.24, Y:126.36, Z:0.62 [[-4.19598269e-01 -9.07709163e-01 1.16994331e-03 1.81242941e+02] [ 9.07705922e-01 -4.19599897e-01 -2.42612465e-03 1.26358743e+02] [ 2.69312366e-03 4.39667657e-05 9.99996373e-01 6.22134137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.044012739 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:181.24, Y:126.36, Z:0.62 [[-4.19105807e-01 -9.07936645e-01 1.17083777e-03 1.81244330e+02] [ 9.07933406e-01 -4.19107440e-01 -2.42569291e-03 1.26360747e+02] [ 2.69308230e-03 4.64207397e-05 9.99996373e-01 6.22192025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.074012739 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:181.26, Y:126.33, Z:0.62 [[-4.18992871e-01 -9.07988767e-01 1.17173754e-03 1.81257915e+02] [ 9.07985529e-01 -4.18994507e-01 -2.42525819e-03 1.26332971e+02] [ 2.69305879e-03 4.77548331e-05 9.99996373e-01 6.21391470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.104012739 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:181.25, Y:126.34, Z:0.62 [[-4.19161577e-01 -9.07910897e-01 1.17262925e-03 1.81254750e+02] [ 9.07907661e-01 -4.19163214e-01 -2.42482697e-03 1.26337990e+02] [ 2.69304987e-03 4.82447790e-05 9.99996373e-01 6.21948284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.134012739 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:181.25, Y:126.34, Z:0.62 [[-4.19472950e-01 -9.07767077e-01 1.17351458e-03 1.81253707e+02] [ 9.07763841e-01 -4.19474589e-01 -2.42439843e-03 1.26341589e+02] [ 2.69304862e-03 4.83045401e-05 9.99996373e-01 6.24019438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.164012739 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:181.26, Y:126.34, Z:0.62 [[-4.20268272e-01 -9.07399141e-01 1.17440441e-03 1.81257083e+02] [ 9.07395904e-01 -4.20269910e-01 -2.42396731e-03 1.26336918e+02] [ 2.69307269e-03 4.69331998e-05 9.99996373e-01 6.24524032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.194012739 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:181.25, Y:126.35, Z:0.62 [[-4.22280272e-01 -9.06464556e-01 1.17529494e-03 1.81250684e+02] [ 9.06461317e-01 -4.22281906e-01 -2.42353545e-03 1.26349940e+02] [ 2.69315477e-03 4.19481908e-05 9.99996373e-01 6.22224792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.224012739 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:181.24, Y:126.36, Z:0.62 [[-4.23861705e-01 -9.05726157e-01 1.17618973e-03 1.81244920e+02] [ 9.05722917e-01 -4.23863335e-01 -2.42310111e-03 1.26359330e+02] [ 2.69320976e-03 3.82422297e-05 9.99996373e-01 6.21729619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.254012739 meters Centerline goodness : 0.994386 Centerline is valid? [True, True] Translation: X:181.24, Y:126.36, Z:0.62 [[-4.25429162e-01 -9.04990963e-01 1.17709393e-03 1.81244812e+02] [ 9.04987721e-01 -4.25430789e-01 -2.42266179e-03 1.26356777e+02] [ 2.69325902e-03 3.45845773e-05 9.99996373e-01 6.22074738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.284012739 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:181.24, Y:126.36, Z:0.62 [[-4.27872151e-01 -9.03838500e-01 1.17800252e-03 1.81241559e+02] [ 9.03835255e-01 -4.27873772e-01 -2.42221991e-03 1.26363077e+02] [ 2.69333199e-03 2.83197667e-05 9.99996373e-01 6.24534967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.314012739 meters Centerline goodness : 0.994308 Centerline is valid? [True, True] Translation: X:181.25, Y:126.36, Z:0.62 [[-4.29664320e-01 -9.02987919e-01 1.17891421e-03 1.81245732e+02] [ 9.02984672e-01 -4.29665937e-01 -2.42177610e-03 1.26357685e+02] [ 2.69337384e-03 2.39906830e-05 9.99996373e-01 6.24167265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.344012739 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:181.24, Y:126.37, Z:0.63 [[-4.34033869e-01 -9.00895781e-01 1.17982738e-03 1.81243391e+02] [ 9.00892527e-01 -4.34035473e-01 -2.42133115e-03 1.26368631e+02] [ 2.69345395e-03 1.19579437e-05 9.99996373e-01 6.25404916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.374012739 meters Centerline goodness : 0.994279 Centerline is valid? [True, True] Translation: X:181.25, Y:126.36, Z:0.63 [[-4.36462776e-01 -8.99721541e-01 1.18074337e-03 1.81246585e+02] [ 8.99718284e-01 -4.36464373e-01 -2.42088439e-03 1.26363310e+02] [ 2.69347425e-03 5.71048179e-06 9.99996373e-01 6.25386967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.404012739 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:181.24, Y:126.37, Z:0.62 [[-4.38778853e-01 -8.98594303e-01 1.18166252e-03 1.81242192e+02] [ 8.98591043e-01 -4.38780444e-01 -2.42043566e-03 1.26373985e+02] [ 2.69348010e-03 -2.04624258e-07 9.99996373e-01 6.24692893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.434012739 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:181.24, Y:126.39, Z:0.62 [[-4.43389640e-01 -8.96328193e-01 1.18258484e-03 1.81238281e+02] [ 8.96324926e-01 -4.43391217e-01 -2.41998494e-03 1.26389579e+02] [ 2.69344846e-03 -1.30159830e-05 9.99996373e-01 6.20921057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.464012739 meters Centerline goodness : 0.993361 Centerline is valid? [True, True] Translation: X:181.25, Y:126.38, Z:0.62 [[-4.45840738e-01 -8.95111521e-01 1.18351779e-03 1.81247562e+02] [ 8.95108252e-01 -4.45842308e-01 -2.41952859e-03 1.26378575e+02] [ 2.69341022e-03 -1.93478667e-05 9.99996373e-01 6.19779042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.494012739 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:181.26, Y:126.38, Z:0.62 [[-4.48959468e-01 -8.93551338e-01 1.18445292e-03 1.81256588e+02] [ 8.93548063e-01 -4.48961030e-01 -2.41907072e-03 1.26377763e+02] [ 2.69333708e-03 -2.76990865e-05 9.99996373e-01 6.21581139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.524012739 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:181.26, Y:126.38, Z:0.62 [[-4.50063298e-01 -8.92995869e-01 1.18538319e-03 1.81260909e+02] [ 8.92992595e-01 -4.50064858e-01 -2.41861479e-03 1.26376786e+02] [ 2.69331233e-03 -2.99913410e-05 9.99996373e-01 6.23121817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55401273900003 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:181.27, Y:126.38, Z:0.62 [[-4.50082090e-01 -8.92986397e-01 1.18631250e-03 1.81266990e+02] [ 8.92983123e-01 -4.50083652e-01 -2.41815888e-03 1.26378127e+02] [ 2.69332285e-03 -2.90129564e-05 9.99996373e-01 6.24178093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.584012739 meters Centerline goodness : 0.994800 Centerline is valid? [True, True] Translation: X:181.27, Y:126.37, Z:0.62 [[-4.48990369e-01 -8.93535808e-01 1.18724165e-03 1.81272593e+02] [ 8.93532537e-01 -4.48991938e-01 -2.41770261e-03 1.26373538e+02] [ 2.69336578e-03 -2.46861470e-05 9.99996373e-01 6.23681902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61401273900003 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:181.27, Y:126.38, Z:0.62 [[-4.47228869e-01 -8.94418765e-01 1.18816968e-03 1.81271798e+02] [ 8.94415499e-01 -4.47230447e-01 -2.41724645e-03 1.26381102e+02] [ 2.69341624e-03 -1.83450206e-05 9.99996373e-01 6.24195744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.644012739 meters Centerline goodness : 0.994074 Centerline is valid? [True, True] Translation: X:181.29, Y:126.35, Z:0.63 [[-4.42105300e-01 -8.96962368e-01 1.18909955e-03 1.81289761e+02] [ 8.96959112e-01 -4.42106899e-01 -2.41678894e-03 1.26350190e+02] [ 2.69347784e-03 -1.90152198e-06 9.99996373e-01 6.25844670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67401273900003 meters Centerline goodness : 0.994801 Centerline is valid? [True, True] Translation: X:181.30, Y:126.33, Z:0.63 [[-4.39942681e-01 -8.98025067e-01 1.19002109e-03 1.81300861e+02] [ 8.98021817e-01 -4.39944290e-01 -2.41633509e-03 1.26330498e+02] [ 2.69347246e-03 5.61596802e-06 9.99996373e-01 6.25687062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.704012739 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:181.30, Y:126.35, Z:0.62 [[-4.37638061e-01 -8.99150437e-01 1.19092496e-03 1.81295925e+02] [ 8.99147192e-01 -4.37639681e-01 -2.41588952e-03 1.26351044e+02] [ 2.69344414e-03 1.35316301e-05 9.99996373e-01 6.23650820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.734012739 meters Centerline goodness : 0.994209 Centerline is valid? [True, True] Translation: X:181.31, Y:126.34, Z:0.62 [[-4.37684345e-01 -8.99127907e-01 1.19182969e-03 1.81305802e+02] [ 8.99124663e-01 -4.37685967e-01 -2.41544311e-03 1.26336709e+02] [ 2.69343944e-03 1.44018337e-05 9.99996373e-01 6.22996742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.764012739 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:181.31, Y:126.33, Z:0.63 [[-4.37084757e-01 -8.99419531e-01 1.19273690e-03 1.81310893e+02] [ 8.99416289e-01 -4.37086384e-01 -2.41499505e-03 1.26334596e+02] [ 2.69342277e-03 1.72094722e-05 9.99996373e-01 6.25104197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.794012739 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:181.32, Y:126.32, Z:0.63 [[-4.35948430e-01 -8.99970856e-01 1.19363866e-03 1.81319487e+02] [ 8.99967617e-01 -4.35950064e-01 -2.41454926e-03 1.26320680e+02] [ 2.69339082e-03 2.16171762e-05 9.99996373e-01 6.26752642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.824012739 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:181.33, Y:126.30, Z:0.63 [[-4.34189949e-01 -9.00820549e-01 1.19453516e-03 1.81330689e+02] [ 9.00817314e-01 -4.34191592e-01 -2.41410566e-03 1.26302037e+02] [ 2.69333311e-03 2.78775395e-05 9.99996373e-01 6.29135526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.854012739 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:181.34, Y:126.28, Z:0.63 [[-4.29306950e-01 -9.03157856e-01 1.19542121e-03 1.81342245e+02] [ 9.03154632e-01 -4.29308612e-01 -2.41366682e-03 1.26282553e+02] [ 2.69312678e-03 4.34462590e-05 9.99996373e-01 6.29376559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.884012739 meters Centerline goodness : 0.994425 Centerline is valid? [True, True] Translation: X:181.34, Y:126.28, Z:0.63 [[-4.27071479e-01 -9.04217076e-01 1.19629513e-03 1.81344111e+02] [ 9.04213857e-01 -4.27073151e-01 -2.41323360e-03 1.26277967e+02] [ 2.69299256e-03 5.10833853e-05 9.99996373e-01 6.28247036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.914012739 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:181.35, Y:126.26, Z:0.63 [[-4.23310323e-01 -9.05983961e-01 1.19716194e-03 1.81349373e+02] [ 9.05980750e-01 -4.23312011e-01 -2.41280352e-03 1.26263390e+02] [ 2.69273432e-03 6.32410369e-05 9.99996373e-01 6.27068448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.944012739 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:181.35, Y:126.26, Z:0.63 [[-4.21884803e-01 -9.06648652e-01 1.19802416e-03 1.81349895e+02] [ 9.06645445e-01 -4.21886499e-01 -2.41237532e-03 1.26259684e+02] [ 2.69260705e-03 6.84386635e-05 9.99996373e-01 6.26518657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.974012739 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:181.35, Y:126.26, Z:0.63 [[-4.20936434e-01 -9.07089346e-01 1.19888211e-03 1.81348176e+02] [ 9.07086142e-01 -4.20938135e-01 -2.41194887e-03 1.26260267e+02] [ 2.69250832e-03 7.22121939e-05 9.99996373e-01 6.26015709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.004012739 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:181.35, Y:126.24, Z:0.63 [[-4.19759741e-01 -9.07634464e-01 1.19974083e-03 1.81351684e+02] [ 9.07631264e-01 -4.19761448e-01 -2.41152165e-03 1.26244440e+02] [ 2.69238511e-03 7.66625823e-05 9.99996373e-01 6.27070517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.034012739 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:181.35, Y:126.24, Z:0.63 [[-4.20080387e-01 -9.07486103e-01 1.20059649e-03 1.81352851e+02] [ 9.07482903e-01 -4.20082096e-01 -2.41109558e-03 1.26242263e+02] [ 2.69238482e-03 7.66668229e-05 9.99996373e-01 6.27063740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.064012739 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:181.34, Y:126.26, Z:0.63 [[-4.19721956e-01 -9.07651936e-01 1.20144820e-03 1.81343393e+02] [ 9.07648738e-01 -4.19723668e-01 -2.41067110e-03 1.26257248e+02] [ 2.69232654e-03 7.86813487e-05 9.99996373e-01 6.28944709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.094012739 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:181.35, Y:126.23, Z:0.63 [[-4.17789728e-01 -9.08542953e-01 1.20230554e-03 1.81353319e+02] [ 9.08539760e-01 -4.17791449e-01 -2.41024343e-03 1.26227612e+02] [ 2.69212266e-03 8.53674356e-05 9.99996373e-01 6.30715011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.124012739 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:181.36, Y:126.22, Z:0.63 [[-4.16639220e-01 -9.09071127e-01 1.20316048e-03 1.81356579e+02] [ 9.09067937e-01 -4.16640947e-01 -2.40981659e-03 1.26215949e+02] [ 2.69198060e-03 8.97305096e-05 9.99996373e-01 6.29113873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.154012739 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:181.35, Y:126.22, Z:0.63 [[-4.15854454e-01 -9.09430384e-01 1.20400435e-03 1.81350897e+02] [ 9.09427197e-01 -4.15856186e-01 -2.40939489e-03 1.26221703e+02] [ 2.69186958e-03 9.29967084e-05 9.99996373e-01 6.25990295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.184012739 meters Centerline goodness : 0.995151 Centerline is valid? [True, True] Translation: X:181.36, Y:126.20, Z:0.62 [[-4.14456120e-01 -9.10068499e-01 1.20484808e-03 1.81356866e+02] [ 9.10065316e-01 -4.14457860e-01 -2.40897290e-03 1.26199323e+02] [ 2.69168911e-03 9.80768885e-05 9.99996373e-01 6.24145498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.214012739 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:181.35, Y:126.21, Z:0.63 [[-4.14157575e-01 -9.10204400e-01 1.20568885e-03 1.81349189e+02] [ 9.10201218e-01 -4.14159318e-01 -2.40855202e-03 1.26209688e+02] [ 2.69162192e-03 9.98993965e-05 9.99996373e-01 6.26135735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.244012739 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:181.35, Y:126.19, Z:0.63 [[-4.13357329e-01 -9.10568099e-01 1.20652807e-03 1.81350734e+02] [ 9.10564921e-01 -4.13359077e-01 -2.40813155e-03 1.26194725e+02] [ 2.69149710e-03 1.03203316e-04 9.99996373e-01 6.28043251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.274012739 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:181.35, Y:126.20, Z:0.63 [[-4.12735873e-01 -9.10849956e-01 1.20736829e-03 1.81347496e+02] [ 9.10846779e-01 -4.12737625e-01 -2.40771022e-03 1.26195123e+02] [ 2.69138906e-03 1.05979144e-04 9.99996373e-01 6.27387906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30401273900003 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:181.34, Y:126.20, Z:0.63 [[-4.11904975e-01 -9.11226005e-01 1.20820646e-03 1.81342625e+02] [ 9.11222831e-01 -4.11906733e-01 -2.40728955e-03 1.26198244e+02] [ 2.69125321e-03 1.09370768e-04 9.99996373e-01 6.26759704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.334012739 meters Centerline goodness : 0.994899 Centerline is valid? [True, True] Translation: X:181.35, Y:126.17, Z:0.63 [[-4.09436924e-01 -9.12337626e-01 1.20904753e-03 1.81350628e+02] [ 9.12334459e-01 -4.09438692e-01 -2.40686705e-03 1.26167843e+02] [ 2.69090621e-03 1.17595480e-04 9.99996373e-01 6.25532355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36401273900003 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:181.34, Y:126.17, Z:0.63 [[-4.08332736e-01 -9.12832358e-01 1.20988262e-03 1.81342906e+02] [ 9.12829194e-01 -4.08334510e-01 -2.40644719e-03 1.26165776e+02] [ 2.69071969e-03 1.21785012e-04 9.99996373e-01 6.26367266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.394012739 meters Centerline goodness : 0.996310 Centerline is valid? [True, True] Translation: X:181.34, Y:126.16, Z:0.63 [[-4.09575700e-01 -9.12275331e-01 1.21071096e-03 1.81342275e+02] [ 9.12272166e-01 -4.09577472e-01 -2.40603037e-03 1.26160788e+02] [ 2.69084209e-03 1.19046334e-04 9.99996373e-01 6.28015486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42401273900003 meters Centerline goodness : 0.995965 Centerline is valid? [True, True] Translation: X:181.34, Y:126.16, Z:0.63 [[-4.11603644e-01 -9.11362152e-01 1.21153990e-03 1.81342888e+02] [ 9.11358985e-01 -4.11605411e-01 -2.40561289e-03 1.26155872e+02] [ 2.69106092e-03 1.13988742e-04 9.99996373e-01 6.28669792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.454012739 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:181.33, Y:126.17, Z:0.63 [[-4.16100979e-01 -9.09317604e-01 1.21236770e-03 1.81334384e+02] [ 9.09314429e-01 -4.16102733e-01 -2.40519563e-03 1.26169215e+02] [ 2.69155624e-03 1.01619190e-04 9.99996373e-01 6.27275677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.484012739 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:181.33, Y:126.18, Z:0.63 [[-4.18805197e-01 -9.08075292e-01 1.21319971e-03 1.81326864e+02] [ 9.08072112e-01 -4.18806943e-01 -2.40477588e-03 1.26182469e+02] [ 2.69181402e-03 9.45401875e-05 9.99996373e-01 6.25793385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.514012739 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:181.30, Y:126.23, Z:0.62 [[-4.24484901e-01 -9.05434203e-01 1.21404156e-03 1.81299016e+02] [ 9.05431014e-01 -4.24486629e-01 -2.40435080e-03 1.26229105e+02] [ 2.69232586e-03 7.86202724e-05 9.99996373e-01 6.22910261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.544012739 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:181.28, Y:126.26, Z:0.62 [[-4.27590494e-01 -9.03971733e-01 1.21490464e-03 1.81282497e+02] [ 9.03968539e-01 -4.27592215e-01 -2.40391461e-03 1.26258512e+02] [ 2.69255463e-03 7.03445367e-05 9.99996373e-01 6.22586826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.574012739 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:181.30, Y:126.23, Z:0.62 [[-4.28972937e-01 -9.03316520e-01 1.21791599e-03 1.81298521e+02] [ 9.03313328e-01 -4.28974660e-01 -2.40239165e-03 1.26225268e+02] [ 2.69257516e-03 6.95987415e-05 9.99996373e-01 6.22592676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.604012739 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:181.30, Y:126.22, Z:0.62 [[-4.31122334e-01 -9.02292666e-01 1.21601979e-03 1.81297951e+02] [ 9.02289467e-01 -4.31124045e-01 -2.40335106e-03 1.26223951e+02] [ 2.69278141e-03 6.10635270e-05 9.99996373e-01 6.21731650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.634012739 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:181.29, Y:126.22, Z:0.62 [[-4.32170163e-01 -9.01791256e-01 1.21690063e-03 1.81293442e+02] [ 9.01788057e-01 -4.32171872e-01 -2.40290498e-03 1.26223348e+02] [ 2.69282892e-03 5.89226139e-05 9.99996373e-01 6.22738036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.664012739 meters Centerline goodness : 0.995745 Centerline is valid? [True, True] Translation: X:181.29, Y:126.23, Z:0.62 [[-4.32768749e-01 -9.01504147e-01 1.21778313e-03 1.81288905e+02] [ 9.01500948e-01 -4.32770459e-01 -2.40245765e-03 1.26228145e+02] [ 2.69284610e-03 5.81240515e-05 9.99996373e-01 6.24159078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.694012739 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:181.29, Y:126.21, Z:0.62 [[-4.33387394e-01 -9.01206903e-01 1.21866956e-03 1.81294789e+02] [ 9.01203703e-01 -4.33389104e-01 -2.40200791e-03 1.26213512e+02] [ 2.69286422e-03 5.72695688e-05 9.99996373e-01 6.24872511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.724012739 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:181.29, Y:126.22, Z:0.63 [[-4.35654221e-01 -9.00113278e-01 1.21955426e-03 1.81289833e+02] [ 9.00110075e-01 -4.35655925e-01 -2.40155865e-03 1.26217754e+02] [ 2.69298086e-03 5.14839218e-05 9.99996373e-01 6.25259648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.754012739 meters Centerline goodness : 0.995489 Centerline is valid? [True, True] Translation: X:181.26, Y:126.28, Z:0.63 [[-4.37872245e-01 -8.99036377e-01 1.22043754e-03 1.81256447e+02] [ 8.99033172e-01 -4.37873943e-01 -2.40110970e-03 1.26280632e+02] [ 2.69308276e-03 4.58345376e-05 9.99996373e-01 6.26294648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.784012739 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:181.28, Y:126.23, Z:0.63 [[-4.38661627e-01 -8.98651479e-01 1.22353131e-03 1.81282395e+02] [ 8.98648276e-01 -4.38663331e-01 -2.39953609e-03 1.26226304e+02] [ 2.69306497e-03 4.69398954e-05 9.99996373e-01 6.25284327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.814012739 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:181.27, Y:126.24, Z:0.63 [[-4.40810732e-01 -8.97599246e-01 1.22156234e-03 1.81273091e+02] [ 8.97596037e-01 -4.40812423e-01 -2.40053804e-03 1.26238579e+02] [ 2.69320099e-03 3.82865826e-05 9.99996373e-01 6.26532403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.844012739 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:181.28, Y:126.22, Z:0.63 [[-4.41714137e-01 -8.97155018e-01 1.22246292e-03 1.81279281e+02] [ 8.97151809e-01 -4.41715827e-01 -2.40007933e-03 1.26222141e+02] [ 2.69322444e-03 3.65858486e-05 9.99996373e-01 6.27660671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.874012739 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:181.29, Y:126.21, Z:0.63 [[-4.42234988e-01 -8.96898388e-01 1.22336435e-03 1.81285587e+02] [ 8.96895179e-01 -4.42236679e-01 -2.39961977e-03 1.26207882e+02] [ 2.69323169e-03 3.60337712e-05 9.99996373e-01 6.27868615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.904012739 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:181.28, Y:126.21, Z:0.63 [[-4.42451797e-01 -8.96791452e-01 1.22425660e-03 1.81281921e+02] [ 8.96788244e-01 -4.42453489e-01 -2.39916447e-03 1.26214752e+02] [ 2.69322679e-03 3.63842955e-05 9.99996373e-01 6.26688814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.934012739 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:181.28, Y:126.22, Z:0.63 [[-4.42502701e-01 -8.96766334e-01 1.22514767e-03 1.81281936e+02] [ 8.96763127e-01 -4.42504396e-01 -2.39870935e-03 1.26216140e+02] [ 2.69321502e-03 3.72318931e-05 9.99996373e-01 6.25341517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.964012739 meters Centerline goodness : 0.994812 Centerline is valid? [True, True] Translation: X:181.29, Y:126.20, Z:0.63 [[-4.42740655e-01 -8.96648877e-01 1.22604305e-03 1.81287947e+02] [ 8.96645671e-01 -4.42742351e-01 -2.39825161e-03 1.26202934e+02] [ 2.69321080e-03 3.75227068e-05 9.99996373e-01 6.25014997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.994012739 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:181.28, Y:126.22, Z:0.62 [[-4.42121473e-01 -8.96954346e-01 1.22693579e-03 1.81275937e+02] [ 8.96951142e-01 -4.42123173e-01 -2.39779480e-03 1.26218234e+02] [ 2.69316921e-03 4.03848935e-05 9.99996373e-01 6.23381504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.024012739 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:181.28, Y:126.21, Z:0.62 [[-4.41635674e-01 -8.97193638e-01 1.22783112e-03 1.81277698e+02] [ 8.97190436e-01 -4.41637378e-01 -2.39733624e-03 1.26211326e+02] [ 2.69313095e-03 4.28491339e-05 9.99996373e-01 6.23684708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05401273900003 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:181.28, Y:126.20, Z:0.62 [[-4.41349169e-01 -8.97334609e-01 1.22873182e-03 1.81282203e+02] [ 8.97331409e-01 -4.41350877e-01 -2.39687451e-03 1.26201458e+02] [ 2.69310032e-03 4.47210831e-05 9.99996373e-01 6.22859425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.084012739 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:181.28, Y:126.21, Z:0.62 [[-4.41807356e-01 -8.97109106e-01 1.22962841e-03 1.81278671e+02] [ 8.97105906e-01 -4.41809065e-01 -2.39641446e-03 1.26205206e+02] [ 2.69310621e-03 4.43533668e-05 9.99996373e-01 6.18672722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11401273900003 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:181.28, Y:126.20, Z:0.62 [[-4.42948998e-01 -8.96545967e-01 1.23052452e-03 1.81281100e+02] [ 8.96542767e-01 -4.42950705e-01 -2.39595423e-03 1.26197811e+02] [ 2.69314481e-03 4.19323341e-05 9.99996373e-01 6.18052471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.144012739 meters Centerline goodness : 0.995523 Centerline is valid? [True, True] Translation: X:181.28, Y:126.21, Z:0.62 [[-4.45400351e-01 -8.95330671e-01 1.23142119e-03 1.81276014e+02] [ 8.95327468e-01 -4.45402052e-01 -2.39549329e-03 1.26205708e+02] [ 2.69323614e-03 3.55716629e-05 9.99996373e-01 6.20504292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17401273900003 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:181.28, Y:126.21, Z:0.62 [[-4.46899888e-01 -8.94583127e-01 1.23231988e-03 1.81275730e+02] [ 8.94579922e-01 -4.46901586e-01 -2.39503089e-03 1.26207715e+02] [ 2.69327993e-03 3.20695856e-05 9.99996373e-01 6.22715005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.204012739 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:181.28, Y:126.19, Z:0.62 [[-4.48611577e-01 -8.93725983e-01 1.23322355e-03 1.81284014e+02] [ 8.93722775e-01 -4.48613272e-01 -2.39456549e-03 1.26193104e+02] [ 2.69332585e-03 2.79301680e-05 9.99996373e-01 6.24827971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.234012739 meters Centerline goodness : 0.994946 Centerline is valid? [True, True] Translation: X:181.28, Y:126.21, Z:0.63 [[-4.52770437e-01 -8.91626272e-01 1.23412380e-03 1.81280274e+02] [ 8.91623058e-01 -4.52772119e-01 -2.39410143e-03 1.26205469e+02] [ 2.69342058e-03 1.63948814e-05 9.99996373e-01 6.25301787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.264012739 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:181.27, Y:126.22, Z:0.62 [[-4.55519424e-01 -8.90224988e-01 1.23502416e-03 1.81273330e+02] [ 8.90221770e-01 -4.55521098e-01 -2.39363687e-03 1.26223594e+02] [ 2.69345492e-03 9.09730874e-06 9.99996373e-01 6.24812850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.294012739 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:181.27, Y:126.23, Z:0.63 [[-4.60217252e-01 -8.87805471e-01 1.23593657e-03 1.81273232e+02] [ 8.87802245e-01 -4.60218911e-01 -2.39316567e-03 1.26234384e+02] [ 2.69346695e-03 -4.10886713e-06 9.99996373e-01 6.25501301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.324012739 meters Centerline goodness : 0.994629 Centerline is valid? [True, True] Translation: X:181.29, Y:126.21, Z:0.63 [[-4.62353233e-01 -8.86694964e-01 1.23686025e-03 1.81289309e+02] [ 8.86691735e-01 -4.62354887e-01 -2.39268818e-03 1.26206928e+02] [ 2.69345294e-03 -9.55335552e-06 9.99996373e-01 6.26185342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.354012739 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:181.29, Y:126.21, Z:0.63 [[-4.64007930e-01 -8.85830180e-01 1.23777791e-03 1.81289590e+02] [ 8.85826950e-01 -4.64009581e-01 -2.39221337e-03 1.26209801e+02] [ 2.69343561e-03 -1.35489412e-05 9.99996373e-01 6.27422750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.384012739 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:181.30, Y:126.20, Z:0.63 [[-4.65884974e-01 -8.84844425e-01 1.23868707e-03 1.81298314e+02] [ 8.84841193e-01 -4.65886620e-01 -2.39174251e-03 1.26202295e+02] [ 2.69340776e-03 -1.82355567e-05 9.99996373e-01 6.27271212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.414012739 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:181.30, Y:126.20, Z:0.62 [[-4.65914627e-01 -8.84828811e-01 1.23959514e-03 1.81302735e+02] [ 8.84825579e-01 -4.65916276e-01 -2.39127179e-03 1.26204385e+02] [ 2.69341372e-03 -1.73030152e-05 9.99996373e-01 6.23985421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.444012739 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:181.30, Y:126.22, Z:0.62 [[-4.65685188e-01 -8.84949584e-01 1.24050095e-03 1.81296894e+02] [ 8.84946355e-01 -4.65686840e-01 -2.39080179e-03 1.26220221e+02] [ 2.69342402e-03 -1.55841889e-05 9.99996373e-01 6.23434402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.474012739 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:181.30, Y:126.23, Z:0.62 [[-4.65813289e-01 -8.84882161e-01 1.24141393e-03 1.81297044e+02] [ 8.84878933e-01 -4.65814943e-01 -2.39032764e-03 1.26225719e+02] [ 2.69342744e-03 -1.49453436e-05 9.99996373e-01 6.23953552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.504012739 meters Centerline goodness : 0.994581 Centerline is valid? [True, True] Translation: X:181.31, Y:126.21, Z:0.63 [[-4.66164404e-01 -8.84697239e-01 1.24233544e-03 1.81309873e+02] [ 8.84694011e-01 -4.66166059e-01 -2.38984860e-03 1.26209047e+02] [ 2.69342708e-03 -1.49756232e-05 9.99996373e-01 6.25560426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.534012739 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:181.32, Y:126.21, Z:0.63 [[-4.67379564e-01 -8.84055879e-01 1.24325308e-03 1.81321574e+02] [ 8.84052650e-01 -4.67381218e-01 -2.38937113e-03 1.26206723e+02] [ 2.69341073e-03 -1.76420586e-05 9.99996373e-01 6.29544549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.564012739 meters Centerline goodness : 0.994432 Centerline is valid? [True, True] Translation: X:181.32, Y:126.22, Z:0.63 [[-4.68051477e-01 -8.83700327e-01 1.24416280e-03 1.81321934e+02] [ 8.83697098e-01 -4.68053130e-01 -2.38889734e-03 1.26223591e+02] [ 2.69340365e-03 -1.86638658e-05 9.99996373e-01 6.29412538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.594012739 meters Centerline goodness : 0.993706 Centerline is valid? [True, True] Translation: X:181.33, Y:126.21, Z:0.63 [[-4.67360027e-01 -8.84066205e-01 1.24507642e-03 1.81330862e+02] [ 8.84062979e-01 -4.67361685e-01 -2.38842107e-03 1.26213360e+02] [ 2.69342337e-03 -1.55265666e-05 9.99996373e-01 6.27218285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.624012739 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:181.33, Y:126.21, Z:0.63 [[-4.65626799e-01 -8.84980300e-01 1.24599214e-03 1.81334950e+02] [ 8.84977079e-01 -4.65628466e-01 -2.38794326e-03 1.26211677e+02] [ 2.69345215e-03 -9.21589647e-06 9.99996373e-01 6.25147204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.654012739 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:181.34, Y:126.20, Z:0.62 [[-4.58749376e-01 -8.88564829e-01 1.24690372e-03 1.81343163e+02] [ 8.88561622e-01 -4.58751071e-01 -2.38746717e-03 1.26201270e+02] [ 2.69343777e-03 1.27017184e-05 9.99996373e-01 6.22364005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.684012739 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:181.35, Y:126.18, Z:0.62 [[-4.54698897e-01 -8.90644349e-01 1.24781137e-03 1.81351012e+02] [ 8.90641151e-01 -4.54700608e-01 -2.38699269e-03 1.26184101e+02] [ 2.69334214e-03 2.59892150e-05 9.99996373e-01 6.22743648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.714012739 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:181.37, Y:126.14, Z:0.62 [[-4.46938940e-01 -8.94563594e-01 1.24871009e-03 1.81369393e+02] [ 8.94560412e-01 -4.46940682e-01 -2.38652245e-03 1.26143903e+02] [ 2.69299544e-03 5.04167971e-05 9.99996373e-01 6.23580891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.744012739 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:181.37, Y:126.14, Z:0.62 [[-4.44320337e-01 -8.95867109e-01 1.24959022e-03 1.81368604e+02] [ 8.95863933e-01 -4.44322090e-01 -2.38606152e-03 1.26143671e+02] [ 2.69281458e-03 5.92871510e-05 9.99996373e-01 6.24235295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.774012739 meters Centerline goodness : 0.993812 Centerline is valid? [True, True] Translation: X:181.38, Y:126.13, Z:0.62 [[-4.42283158e-01 -8.96874598e-01 1.25045836e-03 1.81375897e+02] [ 8.96871428e-01 -4.42284920e-01 -2.38560647e-03 1.26127922e+02] [ 2.69264872e-03 6.63868125e-05 9.99996373e-01 6.23453565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80401273900003 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:181.38, Y:126.11, Z:0.62 [[-4.40158653e-01 -8.97919147e-01 1.25132266e-03 1.81378725e+02] [ 8.97915982e-01 -4.40160425e-01 -2.38515304e-03 1.26112332e+02] [ 2.69245729e-03 7.37368642e-05 9.99996373e-01 6.22979419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.834012739 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:181.37, Y:126.12, Z:0.62 [[-4.40554479e-01 -8.97725004e-01 1.25217857e-03 1.81372331e+02] [ 8.97721840e-01 -4.40556252e-01 -2.38470361e-03 1.26119648e+02] [ 2.69246315e-03 7.35161947e-05 9.99996373e-01 6.23155105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86401273900003 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:181.37, Y:126.12, Z:0.62 [[-4.42852404e-01 -8.96593653e-01 1.25303432e-03 1.81366946e+02] [ 8.96590485e-01 -4.42854171e-01 -2.38425387e-03 1.26121573e+02] [ 2.69261836e-03 6.75860930e-05 9.99996373e-01 6.24087186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.894012739 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:181.37, Y:126.11, Z:0.62 [[-4.44210142e-01 -8.95921747e-01 1.25389515e-03 1.81368646e+02] [ 8.95918578e-01 -4.44211907e-01 -2.38380107e-03 1.26111917e+02] [ 2.69269437e-03 6.44793457e-05 9.99996373e-01 6.23629665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.924012739 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:181.37, Y:126.11, Z:0.62 [[-4.44532883e-01 -8.95761655e-01 1.25475581e-03 1.81369870e+02] [ 8.95758486e-01 -4.44534649e-01 -2.38334796e-03 1.26109751e+02] [ 2.69269414e-03 6.44816268e-05 9.99996373e-01 6.23622888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.954012739 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:181.36, Y:126.12, Z:0.62 [[-4.45932123e-01 -8.95065900e-01 1.25561429e-03 1.81358748e+02] [ 8.95062730e-01 -4.45933886e-01 -2.38289560e-03 1.26124148e+02] [ 2.69276956e-03 6.12438567e-05 9.99996373e-01 6.23201617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.984012739 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:181.35, Y:126.14, Z:0.62 [[-4.49150526e-01 -8.93455218e-01 1.25647882e-03 1.81348699e+02] [ 8.93452043e-01 -4.49152281e-01 -2.38243966e-03 1.26135015e+02] [ 2.69295347e-03 5.25295432e-05 9.99996373e-01 6.23819946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.014012739 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:181.35, Y:126.13, Z:0.63 [[-4.53682450e-01 -8.91162529e-01 1.25735436e-03 1.81350200e+02] [ 8.91159347e-01 -4.53684191e-01 -2.38197749e-03 1.26133773e+02] [ 2.69317088e-03 3.98417051e-05 9.99996373e-01 6.25072941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.044012739 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:181.34, Y:126.15, Z:0.63 [[-4.56535696e-01 -8.89704206e-01 1.25823506e-03 1.81340786e+02] [ 8.89701020e-01 -4.56537429e-01 -2.38151219e-03 1.26151151e+02] [ 2.69327281e-03 3.22076954e-05 9.99996373e-01 6.25390634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.074012739 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:181.34, Y:126.15, Z:0.63 [[-4.59677952e-01 -8.88084790e-01 1.25912272e-03 1.81342246e+02] [ 8.88081599e-01 -4.59679676e-01 -2.38104278e-03 1.26148718e+02] [ 2.69336100e-03 2.36908532e-05 9.99996373e-01 6.26437905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.104012739 meters Centerline goodness : 0.993277 Centerline is valid? [True, True] Translation: X:181.35, Y:126.15, Z:0.63 [[-4.65978090e-01 -8.84795362e-01 1.26001730e-03 1.81345542e+02] [ 8.84792159e-01 -4.65979794e-01 -2.38056929e-03 1.26148316e+02] [ 2.69345927e-03 5.56029198e-06 9.99996373e-01 6.29877362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.134012739 meters Centerline goodness : 0.993167 Centerline is valid? [True, True] Translation: X:181.34, Y:126.16, Z:0.63 [[-4.68873424e-01 -8.83264469e-01 1.26091169e-03 1.81342910e+02] [ 8.83261262e-01 -4.68875120e-01 -2.38009546e-03 1.26157504e+02] [ 2.69346388e-03 -2.24906004e-06 9.99996373e-01 6.30879794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.164012739 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:181.34, Y:126.17, Z:0.63 [[-4.71337460e-01 -8.81952044e-01 1.26181001e-03 1.81338307e+02] [ 8.81948833e-01 -4.71339149e-01 -2.37961912e-03 1.26171666e+02] [ 2.69345040e-03 -8.75176267e-06 9.99996373e-01 6.29274387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.194012739 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:181.34, Y:126.17, Z:0.63 [[-4.71689878e-01 -8.81763611e-01 1.26271767e-03 1.81343362e+02] [ 8.81760401e-01 -4.71691568e-01 -2.37913739e-03 1.26165782e+02] [ 2.69345005e-03 -8.80058164e-06 9.99996373e-01 6.26766019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.224012739 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:181.35, Y:126.17, Z:0.62 [[-4.71411202e-01 -8.81912627e-01 1.26362922e-03 1.81345243e+02] [ 8.81909420e-01 -4.71412895e-01 -2.37865314e-03 1.26166678e+02] [ 2.69345535e-03 -6.91722675e-06 9.99996373e-01 6.24378808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.254012739 meters Centerline goodness : 0.993004 Centerline is valid? [True, True] Translation: X:181.35, Y:126.17, Z:0.62 [[-4.69115130e-01 -8.83136114e-01 1.26453952e-03 1.81347164e+02] [ 8.83132912e-01 -4.69116834e-01 -2.37816911e-03 1.26171143e+02] [ 2.69346380e-03 1.12135728e-06 9.99996373e-01 6.19116950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.284012739 meters Centerline goodness : 0.992840 Centerline is valid? [True, True] Translation: X:181.35, Y:126.17, Z:0.62 [[-4.67811247e-01 -8.83827492e-01 1.26545236e-03 1.81349618e+02] [ 8.83824294e-01 -4.67812959e-01 -2.37768327e-03 1.26168141e+02] [ 2.69345686e-03 6.13056206e-06 9.99996373e-01 6.17965655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.314012739 meters Centerline goodness : 0.992917 Centerline is valid? [True, True] Translation: X:181.36, Y:126.15, Z:0.62 [[-4.64431139e-01 -8.85608330e-01 1.26636624e-03 1.81362473e+02] [ 8.85605139e-01 -4.64432865e-01 -2.37719643e-03 1.26145580e+02] [ 2.69340707e-03 1.74564047e-05 9.99996373e-01 6.19189563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.344012739 meters Centerline goodness : 0.993031 Centerline is valid? [True, True] Translation: X:181.36, Y:126.14, Z:0.62 [[-4.63149614e-01 -8.86279205e-01 1.26727163e-03 1.81364494e+02] [ 8.86276018e-01 -4.63151348e-01 -2.37671368e-03 1.26142977e+02] [ 2.69337047e-03 2.23784300e-05 9.99996373e-01 6.22090424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.374012739 meters Centerline goodness : 0.992884 Centerline is valid? [True, True] Translation: X:181.38, Y:126.12, Z:0.62 [[-4.62044726e-01 -8.86855717e-01 1.26816911e-03 1.81375491e+02] [ 8.86852534e-01 -4.62046465e-01 -2.37623471e-03 1.26124171e+02] [ 2.69333039e-03 2.67522751e-05 9.99996373e-01 6.24916684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.404012739 meters Centerline goodness : 0.992769 Centerline is valid? [True, True] Translation: X:181.38, Y:126.12, Z:0.63 [[-4.61613679e-01 -8.87080155e-01 1.26905998e-03 1.81379775e+02] [ 8.87076974e-01 -4.61615423e-01 -2.37575883e-03 1.26117382e+02] [ 2.69330617e-03 2.90711151e-05 9.99996373e-01 6.25151862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.434012739 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:181.38, Y:126.11, Z:0.63 [[-4.62944474e-01 -8.86386373e-01 1.26994277e-03 1.81380764e+02] [ 8.86383190e-01 -4.62946215e-01 -2.37528684e-03 1.26113841e+02] [ 2.69333709e-03 2.60300097e-05 9.99996373e-01 6.26425924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.464012739 meters Centerline goodness : 0.992943 Centerline is valid? [True, True] Translation: X:181.37, Y:126.13, Z:0.63 [[-4.63839064e-01 -8.85918567e-01 1.27082341e-03 1.81371637e+02] [ 8.85915385e-01 -4.63840804e-01 -2.37481559e-03 1.26129693e+02] [ 2.69335298e-03 2.43097685e-05 9.99996373e-01 6.28240256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.494012739 meters Centerline goodness : 0.992891 Centerline is valid? [True, True] Translation: X:181.38, Y:126.11, Z:0.63 [[-4.64435327e-01 -8.85606126e-01 1.27170986e-03 1.81379764e+02] [ 8.85602943e-01 -4.64437067e-01 -2.37434081e-03 1.26113117e+02] [ 2.69335996e-03 2.35022481e-05 9.99996373e-01 6.30261727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.524012739 meters Centerline goodness : 0.993044 Centerline is valid? [True, True] Translation: X:181.38, Y:126.12, Z:0.63 [[-4.64773488e-01 -8.85428702e-01 1.27259772e-03 1.81377097e+02] [ 8.85425520e-01 -4.64775229e-01 -2.37386484e-03 1.26115219e+02] [ 2.69335996e-03 2.34810558e-05 9.99996373e-01 6.30660812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55401273900003 meters Centerline goodness : 0.993178 Centerline is valid? [True, True] Translation: X:181.38, Y:126.10, Z:0.63 [[-4.63813702e-01 -8.85931842e-01 1.27348224e-03 1.81380144e+02] [ 8.85928663e-01 -4.63815449e-01 -2.37339023e-03 1.26103831e+02] [ 2.69332272e-03 2.74035047e-05 9.99996373e-01 6.30992473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.584012739 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:181.38, Y:126.11, Z:0.63 [[-4.62944443e-01 -8.86386382e-01 1.27436530e-03 1.81375591e+02] [ 8.86383207e-01 -4.62946196e-01 -2.37291599e-03 1.26108736e+02] [ 2.69328299e-03 3.10477264e-05 9.99996373e-01 6.32681617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61401273900003 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:181.38, Y:126.11, Z:0.63 [[-4.63705959e-01 -8.85988238e-01 1.27524818e-03 1.81375406e+02] [ 8.85985062e-01 -4.63707711e-01 -2.37244142e-03 1.26107670e+02] [ 2.69329761e-03 2.97356138e-05 9.99996373e-01 6.32855488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.644012739 meters Centerline goodness : 0.993652 Centerline is valid? [True, True] Translation: X:181.38, Y:126.10, Z:0.63 [[-4.64987782e-01 -8.85316177e-01 1.27613445e-03 1.81378876e+02] [ 8.85313000e-01 -4.64989533e-01 -2.37196460e-03 1.26099298e+02] [ 2.69332779e-03 2.68438653e-05 9.99996373e-01 6.32445549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.674012739 meters Centerline goodness : 0.992808 Centerline is valid? [True, True] Translation: X:181.38, Y:126.11, Z:0.63 [[-4.66593241e-01 -8.84471094e-01 1.27701897e-03 1.81375843e+02] [ 8.84467915e-01 -4.66594988e-01 -2.37148829e-03 1.26105139e+02] [ 2.69336350e-03 2.29619021e-05 9.99996373e-01 6.30445611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.704012739 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:181.37, Y:126.12, Z:0.63 [[-4.69819174e-01 -8.82761752e-01 1.27790418e-03 1.81369052e+02] [ 8.82758568e-01 -4.69820912e-01 -2.37101119e-03 1.26122610e+02] [ 2.69342410e-03 1.41343459e-05 9.99996373e-01 6.27705263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.734012739 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:181.38, Y:126.11, Z:0.63 [[-4.70924293e-01 -8.82172701e-01 1.27879878e-03 1.81379581e+02] [ 8.82169517e-01 -4.70926029e-01 -2.37052859e-03 1.26106887e+02] [ 2.69343524e-03 1.17777987e-05 9.99996373e-01 6.27423740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.764012739 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:181.37, Y:126.12, Z:0.63 [[-4.71158121e-01 -8.82047837e-01 1.27969481e-03 1.81372076e+02] [ 8.82044653e-01 -4.71159859e-01 -2.37004479e-03 1.26123004e+02] [ 2.69343370e-03 1.20821139e-05 9.99996373e-01 6.27641565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.794012739 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:181.38, Y:126.10, Z:0.63 [[-4.70284421e-01 -8.82513979e-01 1.28059168e-03 1.81383164e+02] [ 8.82510798e-01 -4.70286164e-01 -2.36956009e-03 1.26100854e+02] [ 2.69341445e-03 1.57687919e-05 9.99996373e-01 6.26638906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.824012739 meters Centerline goodness : 0.993159 Centerline is valid? [True, True] Translation: X:181.38, Y:126.10, Z:0.63 [[-4.68705720e-01 -8.83353443e-01 1.28148764e-03 1.81379598e+02] [ 8.83350267e-01 -4.68707472e-01 -2.36907544e-03 1.26103994e+02] [ 2.69337378e-03 2.16032345e-05 9.99996373e-01 6.25562650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.854012739 meters Centerline goodness : 0.992734 Centerline is valid? [True, True] Translation: X:181.39, Y:126.08, Z:0.62 [[-4.63689180e-01 -8.85997009e-01 1.28237859e-03 1.81388650e+02] [ 8.85993844e-01 -4.63690952e-01 -2.36859307e-03 1.26077505e+02] [ 2.69319373e-03 3.78885521e-05 9.99996373e-01 6.23901994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.884012739 meters Centerline goodness : 0.993536 Centerline is valid? [True, True] Translation: X:181.39, Y:126.05, Z:0.62 [[-4.59628875e-01 -8.88110157e-01 1.28326371e-03 1.81393713e+02] [ 8.88107001e-01 -4.59630664e-01 -2.36811343e-03 1.26053719e+02] [ 2.69297294e-03 5.12221743e-05 9.99996373e-01 6.24729798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.914012739 meters Centerline goodness : 0.993057 Centerline is valid? [True, True] Translation: X:181.39, Y:126.06, Z:0.63 [[-4.58846645e-01 -8.88514551e-01 1.28413439e-03 1.81388912e+02] [ 8.88511398e-01 -4.58848438e-01 -2.36764120e-03 1.26057006e+02] [ 2.69290672e-03 5.45838238e-05 9.99996373e-01 6.25185265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.944012739 meters Centerline goodness : 0.993195 Centerline is valid? [True, True] Translation: X:181.38, Y:126.06, Z:0.63 [[-4.59254788e-01 -8.88303658e-01 1.28500089e-03 1.81384196e+02] [ 8.88300505e-01 -4.59256583e-01 -2.36717083e-03 1.26061477e+02] [ 2.69291162e-03 5.43324039e-05 9.99996373e-01 6.25607613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.974012739 meters Centerline goodness : 0.992775 Centerline is valid? [True, True] Translation: X:181.39, Y:126.05, Z:0.63 [[-4.60410395e-01 -8.87705252e-01 1.28587207e-03 1.81386033e+02] [ 8.87702099e-01 -4.60412188e-01 -2.36669750e-03 1.26053248e+02] [ 2.69296098e-03 5.18191989e-05 9.99996373e-01 6.25695796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.004012739 meters Centerline goodness : 0.993009 Centerline is valid? [True, True] Translation: X:181.37, Y:126.06, Z:0.62 [[-4.63284316e-01 -8.86208772e-01 1.28674404e-03 1.81374250e+02] [ 8.86205614e-01 -4.63286100e-01 -2.36622333e-03 1.26060319e+02] [ 2.69309850e-03 4.40856330e-05 9.99996373e-01 6.24403563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.034012739 meters Centerline goodness : 0.993504 Centerline is valid? [True, True] Translation: X:181.36, Y:126.07, Z:0.62 [[-4.65144012e-01 -8.85234088e-01 1.28761863e-03 1.81363136e+02] [ 8.85230927e-01 -4.65145793e-01 -2.36574731e-03 1.26067841e+02] [ 2.69317055e-03 3.94266354e-05 9.99996373e-01 6.24216076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.064012739 meters Centerline goodness : 0.992894 Centerline is valid? [True, True] Translation: X:181.37, Y:126.06, Z:0.62 [[-4.65793233e-01 -8.84892651e-01 1.28850198e-03 1.81365285e+02] [ 8.84889491e-01 -4.65795013e-01 -2.36526610e-03 1.26058718e+02] [ 2.69318438e-03 3.84569185e-05 9.99996373e-01 6.24828479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.094012739 meters Centerline goodness : 0.992935 Centerline is valid? [True, True] Translation: X:181.37, Y:126.05, Z:0.63 [[-4.66089183e-01 -8.84736803e-01 1.28938744e-03 1.81368277e+02] [ 8.84733644e-01 -4.66090965e-01 -2.36478330e-03 1.26047287e+02] [ 2.69318266e-03 3.85645295e-05 9.99996373e-01 6.25459424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.124012739 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:181.36, Y:126.05, Z:0.63 [[-4.65499296e-01 -8.85047310e-01 1.29026800e-03 1.81360333e+02] [ 8.85044153e-01 -4.65501082e-01 -2.36430276e-03 1.26047510e+02] [ 2.69314094e-03 4.13628797e-05 9.99996373e-01 6.26817583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.154012739 meters Centerline goodness : 0.993636 Centerline is valid? [True, True] Translation: X:181.37, Y:126.03, Z:0.63 [[-4.65054306e-01 -8.85281212e-01 1.29114739e-03 1.81366142e+02] [ 8.85278058e-01 -4.65056097e-01 -2.36382242e-03 1.26030875e+02] [ 2.69310355e-03 4.37186540e-05 9.99996373e-01 6.26575757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.184012739 meters Centerline goodness : 0.993323 Centerline is valid? [True, True] Translation: X:181.36, Y:126.04, Z:0.63 [[-4.64775698e-01 -8.85427513e-01 1.29202419e-03 1.81359435e+02] [ 8.85424360e-01 -4.64777492e-01 -2.36334308e-03 1.26036111e+02] [ 2.69307275e-03 4.55652556e-05 9.99996373e-01 6.27180958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.214012739 meters Centerline goodness : 0.993362 Centerline is valid? [True, True] Translation: X:181.36, Y:126.03, Z:0.63 [[-4.65608444e-01 -8.84989890e-01 1.29289954e-03 1.81362907e+02] [ 8.84986737e-01 -4.65610237e-01 -2.36286411e-03 1.26025885e+02] [ 2.69309811e-03 4.40294613e-05 9.99996373e-01 6.28058338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.244012739 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:181.35, Y:126.04, Z:0.63 [[-4.66635711e-01 -8.84448664e-01 1.29377528e-03 1.81353531e+02] [ 8.84445510e-01 -4.66637502e-01 -2.36238451e-03 1.26037589e+02] [ 2.69313189e-03 4.19007647e-05 9.99996373e-01 6.28195962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.274012739 meters Centerline goodness : 0.993598 Centerline is valid? [True, True] Translation: X:181.35, Y:126.03, Z:0.63 [[-4.68411519e-01 -8.83509464e-01 1.29465367e-03 1.81352855e+02] [ 8.83506308e-01 -4.68413306e-01 -2.36190303e-03 1.26029263e+02] [ 2.69319668e-03 3.74920999e-05 9.99996373e-01 6.27270042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30401273900003 meters Centerline goodness : 0.993438 Centerline is valid? [True, True] Translation: X:181.34, Y:126.06, Z:0.63 [[-4.69772276e-01 -8.82786685e-01 1.29553601e-03 1.81335792e+02] [ 8.82783527e-01 -4.69774061e-01 -2.36141895e-03 1.26055016e+02] [ 2.69323842e-03 3.43486888e-05 9.99996373e-01 6.28914169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.334012739 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:181.34, Y:126.05, Z:0.63 [[-4.70514306e-01 -8.82391414e-01 1.29642698e-03 1.81338552e+02] [ 8.82388256e-01 -4.70516091e-01 -2.36092971e-03 1.26046684e+02] [ 2.69325386e-03 3.31007409e-05 9.99996373e-01 6.28903240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36401273900003 meters Centerline goodness : 0.994202 Centerline is valid? [True, True] Translation: X:181.34, Y:126.04, Z:0.63 [[-4.71242343e-01 -8.82002818e-01 1.29732690e-03 1.81340335e+02] [ 8.81999660e-01 -4.71244128e-01 -2.36043510e-03 1.26039787e+02] [ 2.69326809e-03 3.19049229e-05 9.99996373e-01 6.28924105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.394012739 meters Centerline goodness : 0.994117 Centerline is valid? [True, True] Translation: X:181.34, Y:126.04, Z:0.63 [[-4.71931297e-01 -8.81634372e-01 1.29822308e-03 1.81338492e+02] [ 8.81631214e-01 -4.71933081e-01 -2.35994210e-03 1.26040403e+02] [ 2.69328049e-03 3.08234510e-05 9.99996373e-01 6.28735967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.424012739 meters Centerline goodness : 0.993702 Centerline is valid? [True, True] Translation: X:181.34, Y:126.03, Z:0.63 [[-4.72887583e-01 -8.81121811e-01 1.29911906e-03 1.81343054e+02] [ 8.81118653e-01 -4.72889366e-01 -2.35944877e-03 1.26033956e+02] [ 2.69330136e-03 2.89240138e-05 9.99996373e-01 6.28718164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.454012739 meters Centerline goodness : 0.993773 Centerline is valid? [True, True] Translation: X:181.34, Y:126.04, Z:0.63 [[-4.74778472e-01 -8.80104376e-01 1.30001413e-03 1.81342668e+02] [ 8.80101215e-01 -4.74780251e-01 -2.35895550e-03 1.26037958e+02] [ 2.69334809e-03 2.41627281e-05 9.99996373e-01 6.27528440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.484012739 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:181.34, Y:126.04, Z:0.63 [[-4.75780296e-01 -8.79563197e-01 1.30090931e-03 1.81341871e+02] [ 8.79560035e-01 -4.75782074e-01 -2.35846173e-03 1.26041130e+02] [ 2.69336547e-03 2.21182193e-05 9.99996373e-01 6.26204095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.514012739 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:181.34, Y:126.04, Z:0.63 [[-4.76644539e-01 -8.79095154e-01 1.30180829e-03 1.81343592e+02] [ 8.79091991e-01 -4.76646316e-01 -2.35796541e-03 1.26039871e+02] [ 2.69337809e-03 2.04979084e-05 9.99996373e-01 6.25610123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.544012739 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:181.35, Y:126.03, Z:0.63 [[-4.77485577e-01 -8.78638621e-01 1.30270902e-03 1.81352460e+02] [ 8.78635459e-01 -4.77487353e-01 -2.35746768e-03 1.26031809e+02] [ 2.69338923e-03 1.89495282e-05 9.99996373e-01 6.27239648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.574012739 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:181.35, Y:126.04, Z:0.63 [[-4.77965803e-01 -8.78377477e-01 1.30360689e-03 1.81351200e+02] [ 8.78374315e-01 -4.77967581e-01 -2.35697108e-03 1.26036148e+02] [ 2.69339214e-03 1.85032334e-05 9.99996373e-01 6.27490508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.604012739 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:181.35, Y:126.03, Z:0.63 [[-4.77696243e-01 -8.78524102e-01 1.30450397e-03 1.81354696e+02] [ 8.78520942e-01 -4.77698024e-01 -2.35647447e-03 1.26030781e+02] [ 2.69337859e-03 2.03550536e-05 9.99996373e-01 6.25082793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.634012739 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:181.36, Y:126.03, Z:0.62 [[-4.77790938e-01 -8.78472604e-01 1.30540189e-03 1.81358377e+02] [ 8.78469445e-01 -4.77792721e-01 -2.35597695e-03 1.26026192e+02] [ 2.69337273e-03 2.10912399e-05 9.99996373e-01 6.23851821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.664012739 meters Centerline goodness : 0.994026 Centerline is valid? [True, True] Translation: X:181.35, Y:126.04, Z:0.62 [[-4.77832941e-01 -8.78449756e-01 1.30629726e-03 1.81354410e+02] [ 8.78446598e-01 -4.77834726e-01 -2.35548039e-03 1.26036345e+02] [ 2.69336537e-03 2.19862643e-05 9.99996373e-01 6.23488759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.694012739 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:181.36, Y:126.02, Z:0.62 [[-4.77916652e-01 -8.78404215e-01 1.30719571e-03 1.81363121e+02] [ 8.78401059e-01 -4.77918439e-01 -2.35498169e-03 1.26024816e+02] [ 2.69335877e-03 2.27571296e-05 9.99996373e-01 6.24967888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.724012739 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:181.36, Y:126.03, Z:0.63 [[-4.78839538e-01 -8.77901467e-01 1.30809426e-03 1.81362456e+02] [ 8.77898310e-01 -4.78841324e-01 -2.35448248e-03 1.26026555e+02] [ 2.69337321e-03 2.09544397e-05 9.99996373e-01 6.26809804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.754012739 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:181.36, Y:126.02, Z:0.63 [[-4.80053777e-01 -8.77238085e-01 1.30899039e-03 1.81363870e+02] [ 8.77234927e-01 -4.80055562e-01 -2.35398416e-03 1.26024332e+02] [ 2.69339267e-03 1.82531030e-05 9.99996373e-01 6.27101955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.784012739 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:181.37, Y:126.02, Z:0.63 [[-4.81559112e-01 -8.76412635e-01 1.30988767e-03 1.81368184e+02] [ 8.76409475e-01 -4.81560893e-01 -2.35348476e-03 1.26017884e+02] [ 2.69341445e-03 1.46559295e-05 9.99996373e-01 6.27651310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.814012739 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:181.37, Y:126.02, Z:0.63 [[-4.82922718e-01 -8.75661996e-01 1.31078312e-03 1.81369936e+02] [ 8.75658834e-01 -4.82924497e-01 -2.35298593e-03 1.26016471e+02] [ 2.69342963e-03 1.14884576e-05 9.99996373e-01 6.28191190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.844012739 meters Centerline goodness : 0.994787 Centerline is valid? [True, True] Translation: X:181.37, Y:126.01, Z:0.63 [[-4.83255320e-01 -8.75478484e-01 1.31167676e-03 1.81371219e+02] [ 8.75475323e-01 -4.83257100e-01 -2.35248766e-03 1.26014320e+02] [ 2.69342944e-03 1.14884568e-05 9.99996373e-01 6.28184412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.874012739 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:181.37, Y:126.01, Z:0.63 [[-4.84329087e-01 -8.74884914e-01 1.31257021e-03 1.81371904e+02] [ 8.74881752e-01 -4.84330866e-01 -2.35198906e-03 1.26013806e+02] [ 2.69343801e-03 9.20701177e-06 9.99996373e-01 6.27934625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.904012739 meters Centerline goodness : 0.994343 Centerline is valid? [True, True] Translation: X:181.37, Y:126.01, Z:0.63 [[-4.84470738e-01 -8.74806481e-01 1.31346406e-03 1.81371545e+02] [ 8.74803320e-01 -4.84472518e-01 -2.35148978e-03 1.26013781e+02] [ 2.69343574e-03 9.79473594e-06 9.99996373e-01 6.27697328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.934012739 meters Centerline goodness : 0.994598 Centerline is valid? [True, True] Translation: X:181.37, Y:126.01, Z:0.63 [[-4.84231774e-01 -8.74938776e-01 1.31435935e-03 1.81368595e+02] [ 8.74935618e-01 -4.84233557e-01 -2.35098925e-03 1.26014459e+02] [ 2.69342856e-03 1.15561169e-05 9.99996373e-01 6.25628812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.964012739 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:181.37, Y:126.01, Z:0.63 [[-4.83929370e-01 -8.75106071e-01 1.31525682e-03 1.81367060e+02] [ 8.75102914e-01 -4.83931157e-01 -2.35048706e-03 1.26013832e+02] [ 2.69341925e-03 1.35153519e-05 9.99996373e-01 6.25717724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.994012739 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:181.36, Y:126.01, Z:0.63 [[-4.83544238e-01 -8.75318935e-01 1.31615633e-03 1.81364954e+02] [ 8.75315780e-01 -4.83546029e-01 -2.34998327e-03 1.26013695e+02] [ 2.69340702e-03 1.57315365e-05 9.99996373e-01 6.26190840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.024012739 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:181.37, Y:126.01, Z:0.63 [[-4.82901996e-01 -8.75673414e-01 1.31705760e-03 1.81365679e+02] [ 8.75670262e-01 -4.82903792e-01 -2.34947804e-03 1.26005381e+02] [ 2.69338756e-03 1.87405398e-05 9.99996373e-01 6.25003324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05401273900003 meters Centerline goodness : 0.994552 Centerline is valid? [True, True] Translation: X:181.37, Y:126.00, Z:0.62 [[-4.83008722e-01 -8.75614548e-01 1.31795807e-03 1.81368127e+02] [ 8.75611398e-01 -4.83010520e-01 -2.34897280e-03 1.25997101e+02] [ 2.69338237e-03 1.94447572e-05 9.99996373e-01 6.23884060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.084012739 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:181.36, Y:126.00, Z:0.62 [[-4.82935092e-01 -8.75655159e-01 1.31885477e-03 1.81362142e+02] [ 8.75652010e-01 -4.82936893e-01 -2.34846924e-03 1.25998591e+02] [ 2.69337283e-03 2.06996187e-05 9.99996373e-01 6.22673808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11401273900003 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:181.37, Y:125.99, Z:0.62 [[-4.83079951e-01 -8.75575251e-01 1.31975157e-03 1.81367183e+02] [ 8.75572103e-01 -4.83081753e-01 -2.34796516e-03 1.25985381e+02] [ 2.69336809e-03 2.12827623e-05 9.99996373e-01 6.23406379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.144012739 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:181.36, Y:125.99, Z:0.63 [[-4.83315753e-01 -8.75445109e-01 1.32064655e-03 1.81358772e+02] [ 8.75441962e-01 -4.83317557e-01 -2.34746166e-03 1.25993063e+02] [ 2.69336549e-03 2.15842021e-05 9.99996373e-01 6.27393895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.174012739 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:181.35, Y:126.00, Z:0.63 [[-4.83585447e-01 -8.75296161e-01 1.32154193e-03 1.81353870e+02] [ 8.75293015e-01 -4.83587252e-01 -2.34695748e-03 1.25997878e+02] [ 2.69336370e-03 2.17819356e-05 9.99996373e-01 6.28988098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.204012739 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:181.36, Y:125.99, Z:0.63 [[-4.83947672e-01 -8.75095939e-01 1.32244474e-03 1.81356755e+02] [ 8.75092793e-01 -4.83949479e-01 -2.34644866e-03 1.25987710e+02] [ 2.69336414e-03 2.17034888e-05 9.99996373e-01 6.29594073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.234012739 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:181.36, Y:125.98, Z:0.63 [[-4.84801611e-01 -8.74623146e-01 1.32334765e-03 1.81355519e+02] [ 8.74620000e-01 -4.84803416e-01 -2.34593933e-03 1.25981327e+02] [ 2.69337630e-03 2.01111599e-05 9.99996373e-01 6.29321143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.264012739 meters Centerline goodness : 0.995006 Centerline is valid? [True, True] Translation: X:181.36, Y:125.97, Z:0.63 [[-4.85743314e-01 -8.74100497e-01 1.32424707e-03 1.81357469e+02] [ 8.74097351e-01 -4.85745119e-01 -2.34543151e-03 1.25974368e+02] [ 2.69338940e-03 1.82431785e-05 9.99996373e-01 6.28622796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.294012739 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:181.36, Y:125.96, Z:0.63 [[-4.87519813e-01 -8.73110919e-01 1.32514405e-03 1.81364352e+02] [ 8.73107770e-01 -4.87521613e-01 -2.34492462e-03 1.25955940e+02] [ 2.69341565e-03 1.37963513e-05 9.99996373e-01 6.28947228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.324012739 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:181.36, Y:125.95, Z:0.63 [[-4.89005683e-01 -8.72279590e-01 1.32603389e-03 1.81364491e+02] [ 8.72276440e-01 -4.89007481e-01 -2.34442131e-03 1.25951040e+02] [ 2.69343135e-03 1.02327799e-05 9.99996373e-01 6.29640563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.354012739 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:181.36, Y:125.96, Z:0.63 [[-4.90407792e-01 -8.71492075e-01 1.32691757e-03 1.81357248e+02] [ 8.71488923e-01 -4.90409587e-01 -2.34392105e-03 1.25960765e+02] [ 2.69344172e-03 6.91682259e-06 9.99996373e-01 6.28735493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.384012739 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:181.37, Y:125.94, Z:0.63 [[-4.92065864e-01 -8.70556961e-01 1.32780514e-03 1.81366008e+02] [ 8.70553807e-01 -4.92067656e-01 -2.34341815e-03 1.25940113e+02] [ 2.69344894e-03 2.80974190e-06 9.99996373e-01 6.27080054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.414012739 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:181.37, Y:125.93, Z:0.63 [[-4.93013175e-01 -8.70020831e-01 1.32758377e-03 1.81368868e+02] [ 8.70017675e-01 -4.93014962e-01 -2.34354355e-03 1.25932031e+02] [ 2.69345037e-03 -3.76498890e-07 9.99996373e-01 6.26783332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.444012739 meters Centerline goodness : 0.995271 Centerline is valid? [True, True] Translation: X:181.36, Y:125.93, Z:0.63 [[-4.95337709e-01 -8.68699482e-01 1.32845854e-03 1.81364028e+02] [ 8.68696322e-01 -4.95339490e-01 -2.34304757e-03 1.25934674e+02] [ 2.69344219e-03 -6.57276925e-06 9.99996373e-01 6.27901648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.474012739 meters Centerline goodness : 0.995229 Centerline is valid? [True, True] Translation: X:181.36, Y:125.93, Z:0.63 [[-4.97468180e-01 -8.67481206e-01 1.32933382e-03 1.81364382e+02] [ 8.67478043e-01 -4.97469956e-01 -2.34255087e-03 1.25934230e+02] [ 2.69342249e-03 -1.21766125e-05 9.99996373e-01 6.27747068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.504012739 meters Centerline goodness : 0.995168 Centerline is valid? [True, True] Translation: X:181.37, Y:125.92, Z:0.63 [[-5.03924219e-01 -8.63746845e-01 1.33021164e-03 1.81372749e+02] [ 8.63743670e-01 -5.03925973e-01 -2.34205230e-03 1.25924580e+02] [ 2.69326848e-03 -3.12549940e-05 9.99996373e-01 6.25583893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.534012739 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:181.38, Y:125.92, Z:0.63 [[-5.07683500e-01 -8.61542624e-01 1.33108684e-03 1.81380385e+02] [ 8.61539442e-01 -5.07685243e-01 -2.34155478e-03 1.25915877e+02] [ 2.69312240e-03 -4.19849165e-05 9.99996373e-01 6.25320710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.564012739 meters Centerline goodness : 0.994656 Centerline is valid? [True, True] Translation: X:181.38, Y:125.93, Z:0.63 [[-5.11518664e-01 -8.59271134e-01 1.33195593e-03 1.81376124e+02] [ 8.59267947e-01 -5.11520396e-01 -2.34106031e-03 1.25927212e+02] [ 2.69292817e-03 -5.29890036e-05 9.99996373e-01 6.25346058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.594012739 meters Centerline goodness : 0.995013 Centerline is valid? [True, True] Translation: X:181.40, Y:125.89, Z:0.63 [[-5.16617127e-01 -8.56215491e-01 1.33282667e-03 1.81403498e+02] [ 8.56212295e-01 -5.16618842e-01 -2.34056447e-03 1.25886403e+02] [ 2.69259093e-03 -6.79931133e-05 9.99996373e-01 6.26024222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.624012739 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:181.40, Y:125.89, Z:0.63 [[-5.18743397e-01 -8.54928952e-01 1.33196777e-03 1.81404075e+02] [ 8.54925750e-01 -5.18745102e-01 -2.34105315e-03 1.25889329e+02] [ 2.69238587e-03 -7.56723238e-05 9.99996373e-01 6.26515355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.654012739 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:181.42, Y:125.87, Z:0.63 [[-5.20253507e-01 -8.54010838e-01 1.33281325e-03 1.81422247e+02] [ 8.54007634e-01 -5.20255209e-01 -2.34057170e-03 1.25865677e+02] [ 2.69227664e-03 -7.94579476e-05 9.99996373e-01 6.25367609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.684012739 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:181.42, Y:125.88, Z:0.62 [[-5.20726309e-01 -8.53722633e-01 1.33302234e-03 1.81418869e+02] [ 8.53719429e-01 -5.20728009e-01 -2.34045261e-03 1.25876495e+02] [ 2.69223944e-03 -8.07081814e-05 9.99996373e-01 6.24703272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.714012739 meters Centerline goodness : 0.995247 Centerline is valid? [True, True] Translation: X:181.43, Y:125.87, Z:0.62 [[-5.20978092e-01 -8.53569006e-01 1.33385674e-03 1.81425199e+02] [ 8.53565803e-01 -5.20979793e-01 -2.33997698e-03 1.25871060e+02] [ 2.69224423e-03 -8.05422432e-05 9.99996373e-01 6.23907117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.744012739 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:181.42, Y:125.89, Z:0.63 [[-5.21474552e-01 -8.53265791e-01 1.33469356e-03 1.81422800e+02] [ 8.53262588e-01 -5.21476254e-01 -2.33949957e-03 1.25887880e+02] [ 2.69222595e-03 -8.11454084e-05 9.99996373e-01 6.25255489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.774012739 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:181.43, Y:125.87, Z:0.63 [[-5.21864923e-01 -8.53027091e-01 1.33553387e-03 1.81434853e+02] [ 8.53023888e-01 -5.21866626e-01 -2.33901977e-03 1.25872557e+02] [ 2.69221778e-03 -8.14100806e-05 9.99996373e-01 6.27034501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80401273900003 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:181.42, Y:125.91, Z:0.63 [[-5.21762003e-01 -8.53090046e-01 1.33637427e-03 1.81421960e+02] [ 8.53086844e-01 -5.21763708e-01 -2.33853952e-03 1.25905195e+02] [ 2.69225638e-03 -8.01177558e-05 9.99996373e-01 6.27260233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.834012739 meters Centerline goodness : 0.994893 Centerline is valid? [True, True] Translation: X:181.43, Y:125.90, Z:0.63 [[-5.21658399e-01 -8.53153402e-01 1.33722069e-03 1.81426478e+02] [ 8.53150202e-01 -5.21660107e-01 -2.33805542e-03 1.25902814e+02] [ 2.69229462e-03 -7.88161433e-05 9.99996373e-01 6.25839933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86401273900003 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:181.44, Y:125.89, Z:0.62 [[-5.21494410e-01 -8.53253650e-01 1.33807730e-03 1.81442966e+02] [ 8.53250451e-01 -5.21496121e-01 -2.33756507e-03 1.25886536e+02] [ 2.69233805e-03 -7.73120555e-05 9.99996373e-01 6.24607450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.894012739 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:181.45, Y:125.88, Z:0.63 [[-5.21621201e-01 -8.53176142e-01 1.33892712e-03 1.81448676e+02] [ 8.53172945e-01 -5.21622914e-01 -2.33707821e-03 1.25882270e+02] [ 2.69235443e-03 -7.67331510e-05 9.99996373e-01 6.25827750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.924012739 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:181.45, Y:125.89, Z:0.63 [[-5.21982823e-01 -8.52954945e-01 1.33977010e-03 1.81449140e+02] [ 8.52951748e-01 -5.21984536e-01 -2.33659486e-03 1.25893029e+02] [ 2.69234941e-03 -7.69031306e-05 9.99996373e-01 6.31529289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.954012739 meters Centerline goodness : 0.995123 Centerline is valid? [True, True] Translation: X:181.46, Y:125.89, Z:0.63 [[-5.22698061e-01 -8.52516827e-01 1.34061489e-03 1.81455676e+02] [ 8.52513629e-01 -5.22699775e-01 -2.33611006e-03 1.25888883e+02] [ 2.69231223e-03 -7.81877299e-05 9.99996373e-01 6.32028778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.984012739 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:181.46, Y:125.89, Z:0.63 [[-5.23532159e-01 -8.52004859e-01 1.34146151e-03 1.81461983e+02] [ 8.52001661e-01 -5.23533872e-01 -2.33562380e-03 1.25886072e+02] [ 2.69226337e-03 -7.98467409e-05 9.99996373e-01 6.30527902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.014012739 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:181.47, Y:125.88, Z:0.63 [[-5.23951838e-01 -8.51746834e-01 1.34230595e-03 1.81471525e+02] [ 8.51743637e-01 -5.23953552e-01 -2.33513839e-03 1.25884371e+02] [ 2.69225270e-03 -8.01995028e-05 9.99996373e-01 6.26468350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.044012739 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:181.47, Y:125.90, Z:0.63 [[-5.23683623e-01 -8.51911767e-01 1.34314823e-03 1.81466636e+02] [ 8.51908572e-01 -5.23685340e-01 -2.33465382e-03 1.25900379e+02] [ 2.69230610e-03 -7.83804826e-05 9.99996373e-01 6.25917906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.074012739 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:181.47, Y:125.91, Z:0.63 [[-5.22091927e-01 -8.52888160e-01 1.34399471e-03 1.81471890e+02] [ 8.52884969e-01 -5.22093652e-01 -2.33416643e-03 1.25907760e+02] [ 2.69247401e-03 -7.23765606e-05 9.99996373e-01 6.29728105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.104012739 meters Centerline goodness : 0.995608 Centerline is valid? [True, True] Translation: X:181.48, Y:125.90, Z:0.63 [[-5.21033136e-01 -8.53535391e-01 1.34484840e-03 1.81479720e+02] [ 8.53532203e-01 -5.21034867e-01 -2.33367446e-03 1.25902910e+02] [ 2.69258665e-03 -6.80503034e-05 9.99996373e-01 6.31034710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.134012739 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:181.48, Y:125.91, Z:0.63 [[-5.17488147e-01 -8.55689317e-01 1.34570219e-03 1.81483479e+02] [ 8.55686138e-01 -5.17489894e-01 -2.33318203e-03 1.25913645e+02] [ 2.69286622e-03 -5.58953372e-05 9.99996373e-01 6.29278457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.164012739 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:181.47, Y:125.94, Z:0.63 [[-5.15489018e-01 -8.56895127e-01 1.34655701e-03 1.81470096e+02] [ 8.56891954e-01 -5.15490774e-01 -2.33268857e-03 1.25943979e+02] [ 2.69300719e-03 -4.86214751e-05 9.99996373e-01 6.27601934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.194012739 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:181.47, Y:125.95, Z:0.63 [[-5.13173367e-01 -8.58283916e-01 1.34742561e-03 1.81469978e+02] [ 8.58280748e-01 -5.13175134e-01 -2.33218674e-03 1.25951080e+02] [ 2.69314369e-03 -4.03466626e-05 9.99996373e-01 6.26542424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.224012739 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:181.47, Y:125.96, Z:0.63 [[-5.08595703e-01 -8.61004409e-01 1.34830785e-03 1.81469074e+02] [ 8.61001253e-01 -5.08597490e-01 -2.33167658e-03 1.25962928e+02] [ 2.69332980e-03 -2.49859418e-05 9.99996373e-01 6.27646891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.254012739 meters Centerline goodness : 0.994874 Centerline is valid? [True, True] Translation: X:181.47, Y:125.96, Z:0.63 [[-5.06545855e-01 -8.62211967e-01 1.34919691e-03 1.81474302e+02] [ 8.62208816e-01 -5.06547651e-01 -2.33116202e-03 1.25957501e+02] [ 2.69338832e-03 -1.75509897e-05 9.99996373e-01 6.29089391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.284012739 meters Centerline goodness : 0.995311 Centerline is valid? [True, True] Translation: X:181.47, Y:125.96, Z:0.63 [[-5.02724208e-01 -8.64445804e-01 1.35008842e-03 1.81472094e+02] [ 8.64442662e-01 -5.02726021e-01 -2.33064559e-03 1.25962345e+02] [ 2.69344138e-03 -4.59792713e-06 9.99996373e-01 6.30900614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.314012739 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:181.48, Y:125.94, Z:0.63 [[-5.01315880e-01 -8.65263291e-01 1.35098064e-03 1.81482634e+02] [ 8.65260154e-01 -5.01317700e-01 -2.33012829e-03 1.25944278e+02] [ 2.69344498e-03 8.19396160e-07 9.99996373e-01 6.31394157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.344012739 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:181.49, Y:125.94, Z:0.63 [[-5.00313090e-01 -8.65843510e-01 1.35186910e-03 1.81488413e+02] [ 8.65840376e-01 -5.00314916e-01 -2.32961272e-03 1.25936212e+02] [ 2.69344033e-03 4.96711693e-06 9.99996373e-01 6.32874773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.374012739 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:181.49, Y:125.94, Z:0.63 [[-4.99080283e-01 -8.66554696e-01 1.35274907e-03 1.81490736e+02] [ 8.66551566e-01 -4.99082116e-01 -2.32910163e-03 1.25936270e+02] [ 2.69342682e-03 9.81812617e-06 9.99996373e-01 6.34809203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.404012739 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:181.50, Y:125.93, Z:0.63 [[-4.99210692e-01 -8.66479575e-01 1.35362697e-03 1.81496246e+02] [ 8.66476446e-01 -4.99212527e-01 -2.32859130e-03 1.25925657e+02] [ 2.69342434e-03 1.04282157e-05 9.99996373e-01 6.33336321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.434012739 meters Centerline goodness : 0.994622 Centerline is valid? [True, True] Translation: X:181.49, Y:125.93, Z:0.63 [[-4.99411361e-01 -8.66363929e-01 1.35450211e-03 1.81492606e+02] [ 8.66360801e-01 -4.99413198e-01 -2.32808214e-03 1.25925669e+02] [ 2.69342262e-03 1.08168644e-05 9.99996373e-01 6.31470228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.464012739 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:181.50, Y:125.92, Z:0.63 [[-4.99182839e-01 -8.66495618e-01 1.35537549e-03 1.81496951e+02] [ 8.66492492e-01 -4.99184679e-01 -2.32757356e-03 1.25916171e+02] [ 2.69341497e-03 1.25379050e-05 9.99996373e-01 6.31064976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.494012739 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:181.50, Y:125.92, Z:0.63 [[-4.99058557e-01 -8.66567203e-01 1.35624768e-03 1.81495289e+02] [ 8.66564079e-01 -4.99060399e-01 -2.32706523e-03 1.25918233e+02] [ 2.69340792e-03 1.39337065e-05 9.99996373e-01 6.31526058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.524012739 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:181.50, Y:125.91, Z:0.63 [[-5.00275099e-01 -8.65865453e-01 1.35711883e-03 1.81500475e+02] [ 8.65862328e-01 -5.00276940e-01 -2.32655708e-03 1.25908967e+02] [ 2.69342065e-03 1.11594964e-05 9.99996373e-01 6.32981055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55401273900003 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:181.50, Y:125.91, Z:0.63 [[-5.02020094e-01 -8.64854890e-01 1.35798880e-03 1.81500782e+02] [ 8.64851762e-01 -5.02021931e-01 -2.32604917e-03 1.25909060e+02] [ 2.69343516e-03 6.73558524e-06 9.99996373e-01 6.34573670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.584012739 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:181.49, Y:125.92, Z:0.64 [[-5.04148105e-01 -8.63616143e-01 1.35885675e-03 1.81493660e+02] [ 8.63613012e-01 -5.04149936e-01 -2.32554201e-03 1.25923542e+02] [ 2.69344317e-03 1.10877310e-06 9.99996373e-01 6.35880393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61401273900003 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:181.49, Y:125.93, Z:0.63 [[-5.08057122e-01 -8.61322304e-01 1.35973103e-03 1.81492477e+02] [ 8.61319166e-01 -5.08058942e-01 -2.32503071e-03 1.25931851e+02] [ 2.69342432e-03 -1.00860198e-05 9.99996373e-01 6.34569392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.644012739 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:181.49, Y:125.94, Z:0.63 [[-5.09480677e-01 -8.60481022e-01 1.36061433e-03 1.81490489e+02] [ 8.60477882e-01 -5.09482494e-01 -2.32451369e-03 1.25938179e+02] [ 2.69340909e-03 -1.35162674e-05 9.99996373e-01 6.32989856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.674012739 meters Centerline goodness : 0.993959 Centerline is valid? [True, True] Translation: X:181.50, Y:125.94, Z:0.63 [[-5.10645281e-01 -8.59790406e-01 1.36150360e-03 1.81495072e+02] [ 8.59787266e-01 -5.10647096e-01 -2.32399271e-03 1.25935162e+02] [ 2.69339450e-03 -1.61324545e-05 9.99996373e-01 6.31324955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.704012739 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:181.50, Y:125.93, Z:0.63 [[-5.10984520e-01 -8.59588834e-01 1.36239489e-03 1.81497207e+02] [ 8.59585694e-01 -5.10986336e-01 -2.32347009e-03 1.25933547e+02] [ 2.69339412e-03 -1.61620912e-05 9.99996373e-01 6.30101183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.734012739 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:181.50, Y:125.93, Z:0.63 [[-5.11313892e-01 -8.59392952e-01 1.36328509e-03 1.81498525e+02] [ 8.59389812e-01 -5.11315709e-01 -2.32294766e-03 1.25931447e+02] [ 2.69339392e-03 -1.61620900e-05 9.99996373e-01 6.30094405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.764012739 meters Centerline goodness : 0.993695 Centerline is valid? [True, True] Translation: X:181.50, Y:125.93, Z:0.63 [[-5.11543200e-01 -8.59256477e-01 1.36417509e-03 1.81498686e+02] [ 8.59253339e-01 -5.11545019e-01 -2.32242488e-03 1.25933845e+02] [ 2.69339559e-03 -1.58486592e-05 9.99996373e-01 6.28481248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.794012739 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:181.51, Y:125.93, Z:0.63 [[-5.11638036e-01 -8.59200010e-01 1.36506651e-03 1.81507412e+02] [ 8.59196873e-01 -5.11639857e-01 -2.32190080e-03 1.25925437e+02] [ 2.69339963e-03 -1.51118885e-05 9.99996373e-01 6.28558901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.824012739 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:181.51, Y:125.93, Z:0.63 [[-5.11557557e-01 -8.59247927e-01 1.36595611e-03 1.81508780e+02] [ 8.59244791e-01 -5.11559380e-01 -2.32137734e-03 1.25926656e+02] [ 2.69340633e-03 -1.38274524e-05 9.99996373e-01 6.29603560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.854012739 meters Centerline goodness : 0.993424 Centerline is valid? [True, True] Translation: X:181.52, Y:125.92, Z:0.63 [[-5.10835360e-01 -8.59677479e-01 1.36656355e-03 1.81517977e+02] [ 8.59674346e-01 -5.10837188e-01 -2.32101969e-03 1.25915676e+02] [ 2.69341984e-03 -1.08593076e-05 9.99996373e-01 6.33185363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.884012739 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:181.53, Y:125.90, Z:0.63 [[-5.10446702e-01 -8.59908306e-01 1.36744854e-03 1.81526592e+02] [ 8.59905175e-01 -5.10448534e-01 -2.32049818e-03 1.25904052e+02] [ 2.69342776e-03 -8.61456532e-06 9.99996373e-01 6.33705484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.914012739 meters Centerline goodness : 0.992258 Centerline is valid? [True, True] Translation: X:181.52, Y:125.92, Z:0.63 [[-5.10936268e-01 -8.59617507e-01 1.36832564e-03 1.81517939e+02] [ 8.59614376e-01 -5.10938100e-01 -2.31998086e-03 1.25922912e+02] [ 2.69342587e-03 -9.12997116e-06 9.99996373e-01 6.30805457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.944012739 meters Centerline goodness : 0.992596 Centerline is valid? [True, True] Translation: X:181.51, Y:125.93, Z:0.63 [[-5.11993268e-01 -8.58988369e-01 1.36920602e-03 1.81514490e+02] [ 8.58985238e-01 -5.11995099e-01 -2.31946117e-03 1.25930372e+02] [ 2.69341693e-03 -1.14207469e-05 9.99996373e-01 6.29062558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.974012739 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:181.53, Y:125.91, Z:0.63 [[-5.13343667e-01 -8.58182033e-01 1.37009720e-03 1.81528905e+02] [ 8.58178900e-01 -5.13345496e-01 -2.31893463e-03 1.25908354e+02] [ 2.69340126e-03 -1.46218969e-05 9.99996373e-01 6.28685402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.004012739 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:181.53, Y:125.91, Z:0.63 [[-5.14332485e-01 -8.57589771e-01 1.37098404e-03 1.81529809e+02] [ 8.57586637e-01 -5.14334312e-01 -2.31841020e-03 1.25912215e+02] [ 2.69338900e-03 -1.66960919e-05 9.99996373e-01 6.31416109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.034012739 meters Centerline goodness : 0.992976 Centerline is valid? [True, True] Translation: X:181.53, Y:125.91, Z:0.63 [[-5.13876948e-01 -8.57862810e-01 1.37186453e-03 1.81533021e+02] [ 8.57859678e-01 -5.13878779e-01 -2.31788907e-03 1.25907648e+02] [ 2.69340290e-03 -1.42424955e-05 9.99996373e-01 6.33718023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.064012739 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:181.54, Y:125.89, Z:0.64 [[-5.11415766e-01 -8.59332316e-01 1.37274571e-03 1.81543389e+02] [ 8.59329191e-01 -5.11417609e-01 -2.31736708e-03 1.25890245e+02] [ 2.69343475e-03 -5.49760362e-06 9.99996373e-01 6.35471236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.094012739 meters Centerline goodness : 0.992749 Centerline is valid? [True, True] Translation: X:181.54, Y:125.89, Z:0.64 [[-5.10473220e-01 -8.59892554e-01 1.37362005e-03 1.81544680e+02] [ 8.59889433e-01 -5.10475068e-01 -2.31684870e-03 1.25887414e+02] [ 2.69343974e-03 -1.52785348e-06 9.99996373e-01 6.35596108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.124012739 meters Centerline goodness : 0.992010 Centerline is valid? [True, True] Translation: X:181.53, Y:125.90, Z:0.64 [[-5.08592873e-01 -8.61006040e-01 1.37448822e-03 1.81534434e+02] [ 8.61002924e-01 -5.08594731e-01 -2.31633354e-03 1.25903679e+02] [ 2.69343463e-03 5.36764652e-06 9.99996373e-01 6.36693049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.154012739 meters Centerline goodness : 0.992483 Centerline is valid? [True, True] Translation: X:181.55, Y:125.88, Z:0.64 [[-5.07688740e-01 -8.61539466e-01 1.37536317e-03 1.81549007e+02] [ 8.61536354e-01 -5.07690603e-01 -2.31581391e-03 1.25878745e+02] [ 2.69342403e-03 9.21272495e-06 9.99996373e-01 6.36820879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.184012739 meters Centerline goodness : 0.992620 Centerline is valid? [True, True] Translation: X:181.56, Y:125.85, Z:0.64 [[-5.06676138e-01 -8.62135371e-01 1.37623634e-03 1.81563135e+02] [ 8.62132262e-01 -5.06678007e-01 -2.31529488e-03 1.25854625e+02] [ 2.69340630e-03 1.33930835e-05 9.99996373e-01 6.36588888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.214012739 meters Centerline goodness : 0.992654 Centerline is valid? [True, True] Translation: X:181.56, Y:125.86, Z:0.63 [[-5.04458042e-01 -8.63435109e-01 1.37709320e-03 1.81562155e+02] [ 8.63432006e-01 -5.04459921e-01 -2.31478513e-03 1.25856729e+02] [ 2.69335508e-03 2.13143738e-05 9.99996373e-01 6.34449657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.244012739 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:181.56, Y:125.86, Z:0.63 [[-5.03416791e-01 -8.64042612e-01 1.37794359e-03 1.81561724e+02] [ 8.64039513e-01 -5.03418677e-01 -2.31427880e-03 1.25857096e+02] [ 2.69331804e-03 2.55508970e-05 9.99996373e-01 6.33154755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.274012739 meters Centerline goodness : 0.991402 Centerline is valid? [True, True] Translation: X:181.57, Y:125.83, Z:0.63 [[-4.99721922e-01 -8.66184795e-01 1.37879623e-03 1.81574301e+02] [ 8.66181706e-01 -4.99723823e-01 -2.31377070e-03 1.25832220e+02] [ 2.69317032e-03 3.80461233e-05 9.99996373e-01 6.32799035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30401273900003 meters Centerline goodness : 0.991550 Centerline is valid? [True, True] Translation: X:181.58, Y:125.82, Z:0.63 [[-4.97852316e-01 -8.67260727e-01 1.37964206e-03 1.81577989e+02] [ 8.67257643e-01 -4.97854226e-01 -2.31326625e-03 1.25822082e+02] [ 2.69306559e-03 4.48401604e-05 9.99996373e-01 6.33654309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.334012739 meters Centerline goodness : 0.991382 Centerline is valid? [True, True] Translation: X:181.57, Y:125.82, Z:0.63 [[-4.94237604e-01 -8.69325765e-01 1.38047788e-03 1.81574803e+02] [ 8.69322690e-01 -4.94239528e-01 -2.31276735e-03 1.25816565e+02] [ 2.69283498e-03 5.70241546e-05 9.99996373e-01 6.34409049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36401273900003 meters Centerline goodness : 0.990959 Centerline is valid? [True, True] Translation: X:181.57, Y:125.81, Z:0.63 [[-4.92939625e-01 -8.70062422e-01 1.38131091e-03 1.81574011e+02] [ 8.70059352e-01 -4.92941557e-01 -2.31226971e-03 1.25812785e+02] [ 2.69272453e-03 6.20131151e-05 9.99996373e-01 6.33258242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.394012739 meters Centerline goodness : 0.990989 Centerline is valid? [True, True] Translation: X:181.58, Y:125.80, Z:0.63 [[-4.92301202e-01 -8.70423814e-01 1.38214351e-03 1.81576572e+02] [ 8.70420746e-01 -4.92303138e-01 -2.31177193e-03 1.25803156e+02] [ 2.69265492e-03 6.49582827e-05 9.99996373e-01 6.31810231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.424012739 meters Centerline goodness : 0.991078 Centerline is valid? [True, True] Translation: X:181.57, Y:125.80, Z:0.63 [[-4.92292716e-01 -8.70428612e-01 1.38297385e-03 1.81569170e+02] [ 8.70425546e-01 -4.92294655e-01 -2.31127508e-03 1.25804887e+02] [ 2.69263059e-03 6.59518755e-05 9.99996373e-01 6.31400183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.454012739 meters Centerline goodness : 0.990881 Centerline is valid? [True, True] Translation: X:181.57, Y:125.81, Z:0.63 [[-4.92918285e-01 -8.70074508e-01 1.38380427e-03 1.81565757e+02] [ 8.70071442e-01 -4.92920224e-01 -2.31077779e-03 1.25805694e+02] [ 2.69265395e-03 6.49839505e-05 9.99996373e-01 6.31877842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.484012739 meters Centerline goodness : 0.990596 Centerline is valid? [True, True] Translation: X:181.55, Y:125.82, Z:0.63 [[-4.95268600e-01 -8.68738797e-01 1.38463802e-03 1.81554367e+02] [ 8.68735727e-01 -4.95270532e-01 -2.31027809e-03 1.25815628e+02] [ 2.69279861e-03 5.86763195e-05 9.99996373e-01 6.30700628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.514012739 meters Centerline goodness : 0.990213 Centerline is valid? [True, True] Translation: X:181.55, Y:125.82, Z:0.63 [[-4.97269467e-01 -8.67595043e-01 1.38547790e-03 1.81550739e+02] [ 8.67591970e-01 -4.97271394e-01 -2.30977430e-03 1.25818097e+02] [ 2.69290726e-03 5.34492709e-05 9.99996373e-01 6.28376208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.544012739 meters Centerline goodness : 0.989969 Centerline is valid? [True, True] Translation: X:181.53, Y:125.84, Z:0.62 [[-5.01444077e-01 -8.65188948e-01 1.38632469e-03 1.81534540e+02] [ 8.65185867e-01 -5.01445992e-01 -2.30926595e-03 1.25838681e+02] [ 2.69311833e-03 4.14607952e-05 9.99996373e-01 6.23501216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.574012739 meters Centerline goodness : 0.990620 Centerline is valid? [True, True] Translation: X:181.54, Y:125.83, Z:0.62 [[-5.03596367e-01 -8.63937946e-01 1.38718151e-03 1.81536603e+02] [ 8.63934862e-01 -5.03598276e-01 -2.30875114e-03 1.25832250e+02] [ 2.69319993e-03 3.57557810e-05 9.99996373e-01 6.24209095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.604012739 meters Centerline goodness : 0.990136 Centerline is valid? [True, True] Translation: X:181.54, Y:125.82, Z:0.63 [[-5.05430785e-01 -8.62866035e-01 1.38804580e-03 1.81542925e+02] [ 8.62862948e-01 -5.05432690e-01 -2.30823140e-03 1.25819692e+02] [ 2.69325820e-03 3.10420784e-05 9.99996373e-01 6.26902620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.634012739 meters Centerline goodness : 0.990399 Centerline is valid? [True, True] Translation: X:181.53, Y:125.83, Z:0.63 [[-5.07682848e-01 -8.61542917e-01 1.38890500e-03 1.81533866e+02] [ 8.61539826e-01 -5.07684747e-01 -2.30771429e-03 1.25834807e+02] [ 2.69332078e-03 2.50100116e-05 9.99996373e-01 6.30839395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.664012739 meters Centerline goodness : 0.989724 Centerline is valid? [True, True] Translation: X:181.54, Y:125.82, Z:0.63 [[-5.08458610e-01 -8.61085310e-01 1.38976666e-03 1.81544517e+02] [ 8.61082219e-01 -5.08460509e-01 -2.30719525e-03 1.25817517e+02] [ 2.69333340e-03 2.35900709e-05 9.99996373e-01 6.31164071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.694012739 meters Centerline goodness : 0.989977 Centerline is valid? [True, True] Translation: X:181.54, Y:125.82, Z:0.63 [[-5.09441200e-01 -8.60504346e-01 1.39062883e-03 1.81540665e+02] [ 8.60501255e-01 -5.09443097e-01 -2.30667548e-03 1.25817465e+02] [ 2.69335053e-03 2.15223261e-05 9.99996373e-01 6.32361390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.724012739 meters Centerline goodness : 0.989797 Centerline is valid? [True, True] Translation: X:181.54, Y:125.82, Z:0.63 [[-5.09815648e-01 -8.60282552e-01 1.39148676e-03 1.81536346e+02] [ 8.60279461e-01 -5.09817547e-01 -2.30615782e-03 1.25821554e+02] [ 2.69335170e-03 2.13521381e-05 9.99996373e-01 6.33017999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.754012739 meters Centerline goodness : 0.990242 Centerline is valid? [True, True] Translation: X:181.54, Y:125.82, Z:0.63 [[-5.10302245e-01 -8.59994000e-01 1.39234826e-03 1.81535150e+02] [ 8.59990910e-01 -5.10304144e-01 -2.30563757e-03 1.25822857e+02] [ 2.69335556e-03 2.08348141e-05 9.99996373e-01 6.32599052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.784012739 meters Centerline goodness : 0.989596 Centerline is valid? [True, True] Translation: X:181.54, Y:125.82, Z:0.63 [[-5.10729615e-01 -8.59740263e-01 1.39321349e-03 1.81536003e+02] [ 8.59737173e-01 -5.10731514e-01 -2.30511463e-03 1.25823244e+02] [ 2.69335789e-03 2.05071223e-05 9.99996373e-01 6.31935482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.814012739 meters Centerline goodness : 0.990346 Centerline is valid? [True, True] Translation: X:181.53, Y:125.83, Z:0.63 [[-5.11931743e-01 -8.59024998e-01 1.39408036e-03 1.81534419e+02] [ 8.59021907e-01 -5.11933641e-01 -2.30459024e-03 1.25826369e+02] [ 2.69337726e-03 1.77526732e-05 9.99996373e-01 6.32232815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.844012739 meters Centerline goodness : 0.990609 Centerline is valid? [True, True] Translation: X:181.53, Y:125.84, Z:0.63 [[-5.13485538e-01 -8.58097114e-01 1.39494988e-03 1.81526621e+02] [ 8.58094021e-01 -5.13487432e-01 -2.30406381e-03 1.25837103e+02] [ 2.69339974e-03 1.38947038e-05 9.99996373e-01 6.33280285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.874012739 meters Centerline goodness : 0.990278 Centerline is valid? [True, True] Translation: X:181.54, Y:125.82, Z:0.63 [[-5.14622704e-01 -8.57415607e-01 1.39582579e-03 1.81537343e+02] [ 8.57412513e-01 -5.14624597e-01 -2.30353305e-03 1.25819489e+02] [ 2.69341148e-03 1.13480941e-05 9.99996373e-01 6.33663022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.904012739 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:181.54, Y:125.82, Z:0.63 [[-5.15875849e-01 -8.56662219e-01 1.39670093e-03 1.81539732e+02] [ 8.56659124e-01 -5.15877740e-01 -2.30300231e-03 1.25816743e+02] [ 2.69342198e-03 8.43332013e-06 9.99996373e-01 6.34402530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.934012739 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:181.54, Y:125.82, Z:0.64 [[-5.17147564e-01 -8.55895112e-01 1.39756984e-03 1.81535555e+02] [ 8.55892015e-01 -5.17149453e-01 -2.30247489e-03 1.25824854e+02] [ 2.69342948e-03 5.44958623e-06 9.99996373e-01 6.35568847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.964012739 meters Centerline goodness : 0.990681 Centerline is valid? [True, True] Translation: X:181.54, Y:125.83, Z:0.64 [[-5.17648493e-01 -8.55592241e-01 1.39844170e-03 1.81535562e+02] [ 8.55589144e-01 -5.17650382e-01 -2.30194523e-03 1.25827736e+02] [ 2.69343036e-03 4.89305319e-06 9.99996373e-01 6.35744408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.994012739 meters Centerline goodness : 0.990535 Centerline is valid? [True, True] Translation: X:181.54, Y:125.83, Z:0.63 [[-5.16549178e-01 -8.56256380e-01 1.39931883e-03 1.81538750e+02] [ 8.56253288e-01 -5.16551073e-01 -2.30141192e-03 1.25828953e+02] [ 2.69341828e-03 9.37891233e-06 9.99996373e-01 6.33036093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.024012739 meters Centerline goodness : 0.990888 Centerline is valid? [True, True] Translation: X:181.55, Y:125.82, Z:0.63 [[-5.16207766e-01 -8.56462248e-01 1.40019794e-03 1.81545830e+02] [ 8.56459157e-01 -5.16209665e-01 -2.30087693e-03 1.25820519e+02] [ 2.69340994e-03 1.14818014e-05 9.99996373e-01 6.33195024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05401273900003 meters Centerline goodness : 0.990745 Centerline is valid? [True, True] Translation: X:181.54, Y:125.83, Z:0.63 [[-5.15958888e-01 -8.56612201e-01 1.40107466e-03 1.81543938e+02] [ 8.56609112e-01 -5.15960791e-01 -2.30034295e-03 1.25826159e+02] [ 2.69340142e-03 1.32909276e-05 9.99996373e-01 6.33596849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.084012739 meters Centerline goodness : 0.990775 Centerline is valid? [True, True] Translation: X:181.55, Y:125.82, Z:0.63 [[-5.15034597e-01 -8.57168244e-01 1.40195117e-03 1.81552453e+02] [ 8.57165159e-01 -5.15036505e-01 -2.29980863e-03 1.25819333e+02] [ 2.69337895e-03 1.72226912e-05 9.99996373e-01 6.33732617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11401273900003 meters Centerline goodness : 0.990755 Centerline is valid? [True, True] Translation: X:181.53, Y:125.86, Z:0.63 [[-5.14172739e-01 -8.57685506e-01 1.40282778e-03 1.81528045e+02] [ 8.57682424e-01 -5.14174652e-01 -2.29927379e-03 1.25864394e+02] [ 2.69335229e-03 2.09568267e-05 9.99996373e-01 6.33708291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.144012739 meters Centerline goodness : 0.990424 Centerline is valid? [True, True] Translation: X:181.58, Y:125.79, Z:0.63 [[-5.11118209e-01 -8.59509282e-01 1.40358111e-03 1.81576817e+02] [ 8.59506209e-01 -5.11120136e-01 -2.29881377e-03 1.25790711e+02] [ 2.69325034e-03 3.14210980e-05 9.99996373e-01 6.34874978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.174012739 meters Centerline goodness : 0.991305 Centerline is valid? [True, True] Translation: X:181.59, Y:125.78, Z:0.63 [[-5.09419857e-01 -8.60516959e-01 1.40459670e-03 1.81585287e+02] [ 8.60513891e-01 -5.09421792e-01 -2.29819306e-03 1.25777281e+02] [ 2.69316628e-03 3.79297922e-05 9.99996373e-01 6.34387352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.204012739 meters Centerline goodness : 0.991417 Centerline is valid? [True, True] Translation: X:181.59, Y:125.76, Z:0.63 [[-5.07842918e-01 -8.61448545e-01 1.40544613e-03 1.81592762e+02] [ 8.61445482e-01 -5.07844861e-01 -2.29767349e-03 1.25764608e+02] [ 2.69307607e-03 4.38580076e-05 9.99996373e-01 6.32028008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.234012739 meters Centerline goodness : 0.990978 Centerline is valid? [True, True] Translation: X:181.60, Y:125.75, Z:0.63 [[-5.03986084e-01 -8.63710628e-01 1.40628754e-03 1.81602282e+02] [ 8.63707575e-01 -5.03988043e-01 -2.29715839e-03 1.25746341e+02] [ 2.69283222e-03 5.68853387e-05 9.99996373e-01 6.28988438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.264012739 meters Centerline goodness : 0.991539 Centerline is valid? [True, True] Translation: X:181.60, Y:125.75, Z:0.63 [[-5.02512055e-01 -8.64569057e-01 1.40712003e-03 1.81600077e+02] [ 8.64566009e-01 -5.02514022e-01 -2.29664834e-03 1.25748591e+02] [ 2.69270863e-03 6.24546690e-05 9.99996373e-01 6.28971717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.294012739 meters Centerline goodness : 0.991348 Centerline is valid? [True, True] Translation: X:181.61, Y:125.74, Z:0.63 [[-4.99709480e-01 -8.66191926e-01 1.40794893e-03 1.81607154e+02] [ 8.66188886e-01 -4.99711458e-01 -2.29614006e-03 1.25735079e+02] [ 2.69246620e-03 7.21467603e-05 9.99996373e-01 6.32773408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.324012739 meters Centerline goodness : 0.991264 Centerline is valid? [True, True] Translation: X:181.61, Y:125.73, Z:0.63 [[-4.98915642e-01 -8.66649409e-01 1.40877533e-03 1.81607556e+02] [ 8.66646371e-01 -4.98917626e-01 -2.29563292e-03 1.25731763e+02] [ 2.69237176e-03 7.55828548e-05 9.99996373e-01 6.33951148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.354012739 meters Centerline goodness : 0.991745 Centerline is valid? [True, True] Translation: X:181.61, Y:125.73, Z:0.63 [[-4.98301104e-01 -8.67002897e-01 1.40959794e-03 1.81608063e+02] [ 8.66999862e-01 -4.98303092e-01 -2.29512770e-03 1.25726901e+02] [ 2.69228938e-03 7.84565551e-05 9.99996373e-01 6.34351638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.384012739 meters Centerline goodness : 0.991364 Centerline is valid? [True, True] Translation: X:181.60, Y:125.73, Z:0.63 [[-4.97299694e-01 -8.67577677e-01 1.41041974e-03 1.81604101e+02] [ 8.67574646e-01 -4.97301687e-01 -2.29462257e-03 1.25725919e+02] [ 2.69216744e-03 8.25293033e-05 9.99996373e-01 6.32522130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.414012739 meters Centerline goodness : 0.991868 Centerline is valid? [True, True] Translation: X:181.54, Y:125.82, Z:0.63 [[-4.97865169e-01 -8.67253298e-01 1.41124173e-03 1.81542737e+02] [ 8.67250267e-01 -4.97867162e-01 -2.29411692e-03 1.25823035e+02] [ 2.69219138e-03 8.17388627e-05 9.99996373e-01 6.32526808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.444012739 meters Centerline goodness : 0.992058 Centerline is valid? [True, True] Translation: X:181.60, Y:125.72, Z:0.63 [[-4.96504879e-01 -8.68032778e-01 1.41477679e-03 1.81597813e+02] [ 8.68029757e-01 -4.96506886e-01 -2.29194105e-03 1.25723160e+02] [ 2.69192638e-03 9.01084416e-05 9.99996373e-01 6.32917452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.474012739 meters Centerline goodness : 0.992265 Centerline is valid? [True, True] Translation: X:181.59, Y:125.73, Z:0.63 [[-4.96211508e-01 -8.68200523e-01 1.41134647e-03 1.81591567e+02] [ 8.68197496e-01 -4.96213507e-01 -2.29405146e-03 1.25726358e+02] [ 2.69202585e-03 8.69927363e-05 9.99996373e-01 6.32887079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.504012739 meters Centerline goodness : 0.991716 Centerline is valid? [True, True] Translation: X:181.59, Y:125.71, Z:0.63 [[-4.94896364e-01 -8.68950859e-01 1.41217275e-03 1.81591059e+02] [ 8.68947837e-01 -4.94898370e-01 -2.29354270e-03 1.25712800e+02] [ 2.69185789e-03 9.20385174e-05 9.99996373e-01 6.30008162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.534012739 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:181.49, Y:125.86, Z:0.63 [[-4.95111259e-01 -8.68828432e-01 1.41299885e-03 1.81494950e+02] [ 8.68825411e-01 -4.95113266e-01 -2.29303364e-03 1.25861522e+02] [ 2.69184730e-03 9.23425385e-05 9.99996373e-01 6.29215249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.564012739 meters Centerline goodness : 0.991276 Centerline is valid? [True, True] Translation: X:181.58, Y:125.71, Z:0.63 [[-4.95009362e-01 -8.68886490e-01 1.41387636e-03 1.81581263e+02] [ 8.68883471e-01 -4.95011372e-01 -2.29249245e-03 1.25713757e+02] [ 2.69180059e-03 9.36885775e-05 9.99996373e-01 6.28939634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.594012739 meters Centerline goodness : 0.991764 Centerline is valid? [True, True] Translation: X:181.58, Y:125.71, Z:0.63 [[-4.96109067e-01 -8.68259061e-01 1.41299757e-03 1.81577702e+02] [ 8.68256038e-01 -4.96111071e-01 -2.29303397e-03 1.25712220e+02] [ 2.69195126e-03 8.92487234e-05 9.99996373e-01 6.30554900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.624012739 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:181.57, Y:125.72, Z:0.63 [[-4.98045850e-01 -8.67149545e-01 1.41382517e-03 1.81565228e+02] [ 8.67146518e-01 -4.98047849e-01 -2.29252358e-03 1.25719107e+02] [ 2.69211336e-03 8.42117196e-05 9.99996373e-01 6.33088123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.654012739 meters Centerline goodness : 0.991575 Centerline is valid? [True, True] Translation: X:181.57, Y:125.72, Z:0.63 [[-4.98362478e-01 -8.66967612e-01 1.41465780e-03 1.81566605e+02] [ 8.66964586e-01 -4.98364479e-01 -2.29200967e-03 1.25717018e+02] [ 2.69211334e-03 8.42065982e-05 9.99996373e-01 6.33081346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.684012739 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:181.56, Y:125.71, Z:0.63 [[-5.00690060e-01 -8.65625474e-01 1.41549460e-03 1.81562724e+02] [ 8.65622444e-01 -5.00692054e-01 -2.29149276e-03 1.25707427e+02] [ 2.69230141e-03 7.79562492e-05 9.99996373e-01 6.34179304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.714012739 meters Centerline goodness : 0.991515 Centerline is valid? [True, True] Translation: X:181.56, Y:125.71, Z:0.63 [[-5.02447489e-01 -8.64606567e-01 1.41633002e-03 1.81558854e+02] [ 8.64603534e-01 -5.02449480e-01 -2.29097629e-03 1.25705792e+02] [ 2.69242742e-03 7.34686611e-05 9.99996373e-01 6.33418306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.744012739 meters Centerline goodness : 0.991712 Centerline is valid? [True, True] Translation: X:181.56, Y:125.70, Z:0.63 [[-5.04352397e-01 -8.63496758e-01 1.41716526e-03 1.81557342e+02] [ 8.63493723e-01 -5.04354383e-01 -2.29045951e-03 1.25702386e+02] [ 2.69255787e-03 6.85145611e-05 9.99996373e-01 6.32662208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.774012739 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:181.54, Y:125.72, Z:0.63 [[-5.06415473e-01 -8.62288443e-01 1.41800110e-03 1.81541271e+02] [ 8.62285404e-01 -5.06417454e-01 -2.28994193e-03 1.25724545e+02] [ 2.69269096e-03 6.30596265e-05 9.99996373e-01 6.32516451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80401273900003 meters Centerline goodness : 0.991729 Centerline is valid? [True, True] Translation: X:181.54, Y:125.73, Z:0.63 [[-5.10096693e-01 -8.60115894e-01 1.41884598e-03 1.81537195e+02] [ 8.60112848e-01 -5.10098664e-01 -2.28941832e-03 1.25726317e+02] [ 2.69291652e-03 5.25429430e-05 9.99996373e-01 6.34086054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.834012739 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:181.54, Y:125.73, Z:0.63 [[-5.11947643e-01 -8.59015480e-01 1.41970149e-03 1.81535408e+02] [ 8.59012432e-01 -5.11949609e-01 -2.28888768e-03 1.25726399e+02] [ 2.69300558e-03 4.77505796e-05 9.99996373e-01 6.34783790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86401273900003 meters Centerline goodness : 0.991858 Centerline is valid? [True, True] Translation: X:181.54, Y:125.72, Z:0.64 [[-5.15199873e-01 -8.57068885e-01 1.42055959e-03 1.81536419e+02] [ 8.57065831e-01 -5.15201830e-01 -2.28835499e-03 1.25721436e+02] [ 2.69315276e-03 3.85528859e-05 9.99996373e-01 6.36838906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.894012739 meters Centerline goodness : 0.992233 Centerline is valid? [True, True] Translation: X:181.53, Y:125.73, Z:0.64 [[-5.17059579e-01 -8.55948229e-01 1.42141805e-03 1.81529213e+02] [ 8.55945172e-01 -5.17061532e-01 -2.28782163e-03 1.25733629e+02] [ 2.69321747e-03 3.37158287e-05 9.99996373e-01 6.36949271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.924012739 meters Centerline goodness : 0.991827 Centerline is valid? [True, True] Translation: X:181.52, Y:125.74, Z:0.64 [[-5.18940430e-01 -8.54809223e-01 1.42228066e-03 1.81523151e+02] [ 8.54806163e-01 -5.18942379e-01 -2.28728524e-03 1.25744263e+02] [ 2.69327423e-03 2.88094892e-05 9.99996373e-01 6.36403749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.954012739 meters Centerline goodness : 0.992009 Centerline is valid? [True, True] Translation: X:181.52, Y:125.75, Z:0.64 [[-5.22233483e-01 -8.52801363e-01 1.42315278e-03 1.81520774e+02] [ 8.52798297e-01 -5.22235422e-01 -2.28674248e-03 1.25749447e+02] [ 2.69335790e-03 1.94487798e-05 9.99996373e-01 6.35489600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.984012739 meters Centerline goodness : 0.991620 Centerline is valid? [True, True] Translation: X:181.52, Y:125.75, Z:0.64 [[-5.23985474e-01 -8.51726009e-01 1.42403211e-03 1.81523518e+02] [ 8.51722941e-01 -5.23987409e-01 -2.28619476e-03 1.25746967e+02] [ 2.69338644e-03 1.49479742e-05 9.99996373e-01 6.37240472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.014012739 meters Centerline goodness : 0.991374 Centerline is valid? [True, True] Translation: X:181.53, Y:125.75, Z:0.64 [[-5.27279730e-01 -8.49690565e-01 1.42491374e-03 1.81525555e+02] [ 8.49687491e-01 -5.27281655e-01 -2.28564514e-03 1.25751091e+02] [ 2.69342198e-03 5.55702946e-06 9.99996373e-01 6.36793658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.044012739 meters Centerline goodness : 0.991633 Centerline is valid? [True, True] Translation: X:181.54, Y:125.73, Z:0.63 [[-5.28964236e-01 -8.48642919e-01 1.42579619e-03 1.81540037e+02] [ 8.48639843e-01 -5.28966157e-01 -2.28509453e-03 1.25730502e+02] [ 2.69342722e-03 1.25416775e-06 9.99996373e-01 6.34938031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.074012739 meters Centerline goodness : 0.991797 Centerline is valid? [True, True] Translation: X:181.54, Y:125.73, Z:0.63 [[-5.30328184e-01 -8.47791237e-01 1.42667284e-03 1.81539085e+02] [ 8.47788159e-01 -5.30330103e-01 -2.28454707e-03 1.25734323e+02] [ 2.69342654e-03 -2.04335809e-06 9.99996373e-01 6.32457048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.104012739 meters Centerline goodness : 0.991592 Centerline is valid? [True, True] Translation: X:181.54, Y:125.73, Z:0.63 [[-5.31130479e-01 -8.47288839e-01 1.42754391e-03 1.81542331e+02] [ 8.47285760e-01 -5.31132398e-01 -2.28400263e-03 1.25734424e+02] [ 2.69342476e-03 -3.56578357e-06 9.99996373e-01 6.29441611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.134012739 meters Centerline goodness : 0.991758 Centerline is valid? [True, True] Translation: X:181.55, Y:125.73, Z:0.63 [[-5.31004108e-01 -8.47368041e-01 1.42841695e-03 1.81546143e+02] [ 8.47364965e-01 -5.31006029e-01 -2.28345651e-03 1.25732660e+02] [ 2.69342608e-03 -2.13430466e-06 9.99996373e-01 6.30866422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.164012739 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:181.55, Y:125.73, Z:0.63 [[-5.31030907e-01 -8.47351245e-01 1.42928978e-03 1.81550494e+02] [ 8.47348170e-01 -5.31032831e-01 -2.28291004e-03 1.25731476e+02] [ 2.69342647e-03 -1.18971126e-06 9.99996373e-01 6.34966809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.194012739 meters Centerline goodness : 0.991938 Centerline is valid? [True, True] Translation: X:181.56, Y:125.72, Z:0.64 [[-5.31152371e-01 -8.47275111e-01 1.43016182e-03 1.81557353e+02] [ 8.47272037e-01 -5.31154296e-01 -2.28236361e-03 1.25721845e+02] [ 2.69342648e-03 -5.46727607e-07 9.99996373e-01 6.36600599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.224012739 meters Centerline goodness : 0.991772 Centerline is valid? [True, True] Translation: X:181.56, Y:125.72, Z:0.64 [[-5.31352653e-01 -8.47149521e-01 1.43103048e-03 1.81558512e+02] [ 8.47146447e-01 -5.31354580e-01 -2.28181884e-03 1.25722579e+02] [ 2.69342633e-03 -1.58109826e-07 9.99996373e-01 6.36758960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.254012739 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:181.56, Y:125.72, Z:0.64 [[-5.32710969e-01 -8.46296032e-01 1.43189706e-03 1.81564176e+02] [ 8.46292957e-01 -5.32712893e-01 -2.28127490e-03 1.25722022e+02] [ 2.69342393e-03 -3.45576303e-06 9.99996373e-01 6.35376547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.284012739 meters Centerline goodness : 0.991414 Centerline is valid? [True, True] Translation: X:181.56, Y:125.73, Z:0.63 [[-5.33645791e-01 -8.45706874e-01 1.43276373e-03 1.81559152e+02] [ 8.45703799e-01 -5.33647714e-01 -2.28073046e-03 1.25734025e+02] [ 2.69342052e-03 -5.40847577e-06 9.99996373e-01 6.34188978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.314012739 meters Centerline goodness : 0.991549 Centerline is valid? [True, True] Translation: X:181.56, Y:125.73, Z:0.63 [[-5.35188438e-01 -8.44731484e-01 1.43363465e-03 1.81564111e+02] [ 8.44728407e-01 -5.35190358e-01 -2.28018288e-03 1.25729937e+02] [ 2.69340971e-03 -9.29560471e-06 9.99996373e-01 6.32408334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.344012739 meters Centerline goodness : 0.991258 Centerline is valid? [True, True] Translation: X:181.56, Y:125.73, Z:0.63 [[-5.35650798e-01 -8.44438373e-01 1.43450912e-03 1.81564170e+02] [ 8.44435296e-01 -5.35652718e-01 -2.27963260e-03 1.25732523e+02] [ 2.69340795e-03 -9.73688613e-06 9.99996373e-01 6.32064844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.374012739 meters Centerline goodness : 0.991519 Centerline is valid? [True, True] Translation: X:181.57, Y:125.73, Z:0.63 [[-5.35649943e-01 -8.44438913e-01 1.43538368e-03 1.81569305e+02] [ 8.44435838e-01 -5.35651866e-01 -2.27908180e-03 1.25727537e+02] [ 2.69341130e-03 -8.70061410e-06 9.99996373e-01 6.31628574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.404012739 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:181.57, Y:125.73, Z:0.63 [[-5.33779417e-01 -8.45622534e-01 1.43625803e-03 1.81572563e+02] [ 8.45619465e-01 -5.33781350e-01 -2.27853066e-03 1.25725473e+02] [ 2.69342462e-03 -1.70502342e-06 9.99996373e-01 6.34256488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.434012739 meters Centerline goodness : 0.991331 Centerline is valid? [True, True] Translation: X:181.57, Y:125.73, Z:0.63 [[-5.32496359e-01 -8.46431073e-01 1.43713056e-03 1.81569687e+02] [ 8.46428008e-01 -5.32498299e-01 -2.27798019e-03 1.25728478e+02] [ 2.69342280e-03 3.41140012e-06 9.99996373e-01 6.34921822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.464012739 meters Centerline goodness : 0.991142 Centerline is valid? [True, True] Translation: X:181.57, Y:125.72, Z:0.64 [[-5.29689445e-01 -8.48190441e-01 1.43800491e-03 1.81571232e+02] [ 8.48187384e-01 -5.29691396e-01 -2.27742811e-03 1.25721357e+02] [ 2.69339159e-03 1.33679952e-05 9.99996373e-01 6.36656804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.494012739 meters Centerline goodness : 0.991487 Centerline is valid? [True, True] Translation: X:181.58, Y:125.71, Z:0.64 [[-5.28978789e-01 -8.48633826e-01 1.43887964e-03 1.81579286e+02] [ 8.48630772e-01 -5.28980746e-01 -2.27687532e-03 1.25707730e+02] [ 2.69337304e-03 1.66587892e-05 9.99996373e-01 6.35991792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.524012739 meters Centerline goodness : 0.991312 Centerline is valid? [True, True] Translation: X:181.58, Y:125.70, Z:0.64 [[-5.28580577e-01 -8.48881912e-01 1.43974837e-03 1.81581202e+02] [ 8.48878860e-01 -5.28582538e-01 -2.27632587e-03 1.25704101e+02] [ 2.69335770e-03 1.89503118e-05 9.99996373e-01 6.35415481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55401273900003 meters Centerline goodness : 0.991483 Centerline is valid? [True, True] Translation: X:181.57, Y:125.71, Z:0.63 [[-5.29285542e-01 -8.48442538e-01 1.44061216e-03 1.81574842e+02] [ 8.48439486e-01 -5.29287502e-01 -2.27577907e-03 1.25709985e+02] [ 2.69336578e-03 1.77352851e-05 9.99996373e-01 6.33835838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.584012739 meters Centerline goodness : 0.991425 Centerline is valid? [True, True] Translation: X:181.59, Y:125.69, Z:0.63 [[-5.30053113e-01 -8.47963218e-01 1.44147860e-03 1.81585745e+02] [ 8.47960166e-01 -5.30055073e-01 -2.27523013e-03 1.25690755e+02] [ 2.69337451e-03 1.63236188e-05 9.99996373e-01 6.33308794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61401273900003 meters Centerline goodness : 0.991090 Centerline is valid? [True, True] Translation: X:181.58, Y:125.70, Z:0.63 [[-5.30913975e-01 -8.47424493e-01 1.44234240e-03 1.81579803e+02] [ 8.47421440e-01 -5.30915934e-01 -2.27468241e-03 1.25698100e+02] [ 2.69338415e-03 1.46111897e-05 9.99996373e-01 6.34344034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.644012739 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:181.58, Y:125.70, Z:0.64 [[-5.31351607e-01 -8.47150156e-01 1.44320344e-03 1.81578349e+02] [ 8.47147104e-01 -5.31353567e-01 -2.27413598e-03 1.25696419e+02] [ 2.69338595e-03 1.42398031e-05 9.99996373e-01 6.35543182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.674012739 meters Centerline goodness : 0.991817 Centerline is valid? [True, True] Translation: X:181.58, Y:125.69, Z:0.64 [[-5.31483523e-01 -8.47067400e-01 1.44406867e-03 1.81579129e+02] [ 8.47064349e-01 -5.31485484e-01 -2.27358643e-03 1.25692617e+02] [ 2.69338248e-03 1.48453668e-05 9.99996373e-01 6.35690441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.704012739 meters Centerline goodness : 0.991740 Centerline is valid? [True, True] Translation: X:181.58, Y:125.68, Z:0.64 [[-5.30736828e-01 -8.47535446e-01 1.44493399e-03 1.81584686e+02] [ 8.47532398e-01 -5.30738795e-01 -2.27303636e-03 1.25679314e+02] [ 2.69336141e-03 1.82442600e-05 9.99996373e-01 6.36324954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.734012739 meters Centerline goodness : 0.991919 Centerline is valid? [True, True] Translation: X:181.58, Y:125.68, Z:0.64 [[-5.30417563e-01 -8.47735288e-01 1.44579497e-03 1.81581819e+02] [ 8.47732243e-01 -5.30419533e-01 -2.27248859e-03 1.25682385e+02] [ 2.69334666e-03 2.02791583e-05 9.99996373e-01 6.36586980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.764012739 meters Centerline goodness : 0.991976 Centerline is valid? [True, True] Translation: X:181.58, Y:125.67, Z:0.64 [[-5.29613287e-01 -8.48237982e-01 1.44665420e-03 1.81584890e+02] [ 8.48234940e-01 -5.29615262e-01 -2.27194148e-03 1.25673363e+02] [ 2.69331720e-03 2.38522421e-05 9.99996373e-01 6.36408021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.794012739 meters Centerline goodness : 0.992253 Centerline is valid? [True, True] Translation: X:181.59, Y:125.67, Z:0.64 [[-5.29601547e-01 -8.48245310e-01 1.44751321e-03 1.81587315e+02] [ 8.48242270e-01 -5.29603524e-01 -2.27139404e-03 1.25667421e+02] [ 2.69330745e-03 2.49080942e-05 9.99996373e-01 6.36209313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.824012739 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:181.59, Y:125.67, Z:0.64 [[-5.28797585e-01 -8.48746733e-01 1.44836865e-03 1.81585877e+02] [ 8.48743695e-01 -5.28799568e-01 -2.27084844e-03 1.25665494e+02] [ 2.69327191e-03 2.84745911e-05 9.99996373e-01 6.36792232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.854012739 meters Centerline goodness : 0.991508 Centerline is valid? [True, True] Translation: X:181.59, Y:125.65, Z:0.64 [[-5.28287222e-01 -8.49064492e-01 1.44922332e-03 1.81594169e+02] [ 8.49061457e-01 -5.28289208e-01 -2.27030287e-03 1.25650184e+02] [ 2.69324259e-03 3.11076689e-05 9.99996373e-01 6.36650111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.884012739 meters Centerline goodness : 0.991823 Centerline is valid? [True, True] Translation: X:181.59, Y:125.65, Z:0.63 [[-5.28177069e-01 -8.49133017e-01 1.45007376e-03 1.81594240e+02] [ 8.49129984e-01 -5.28179059e-01 -2.26975955e-03 1.25647048e+02] [ 2.69322637e-03 3.24661601e-05 9.99996373e-01 6.34020789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.914012739 meters Centerline goodness : 0.992210 Centerline is valid? [True, True] Translation: X:181.59, Y:125.65, Z:0.63 [[-5.28533674e-01 -8.48911097e-01 1.45091946e-03 1.81586372e+02] [ 8.48908064e-01 -5.28535665e-01 -2.26921882e-03 1.25653420e+02] [ 2.69322772e-03 3.23386645e-05 9.99996373e-01 6.31673938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.944012739 meters Centerline goodness : 0.991781 Centerline is valid? [True, True] Translation: X:181.58, Y:125.65, Z:0.63 [[-5.29235436e-01 -8.48473775e-01 1.45176865e-03 1.81584777e+02] [ 8.48470742e-01 -5.29237426e-01 -2.26867540e-03 1.25653555e+02] [ 2.69324189e-03 3.11198104e-05 9.99996373e-01 6.31535295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.974012739 meters Centerline goodness : 0.992109 Centerline is valid? [True, True] Translation: X:181.59, Y:125.64, Z:0.63 [[-5.29693163e-01 -8.48188094e-01 1.45262222e-03 1.81588235e+02] [ 8.48185062e-01 -5.29695154e-01 -2.26812874e-03 1.25642408e+02] [ 2.69324674e-03 3.06801861e-05 9.99996373e-01 6.32646844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.004012739 meters Centerline goodness : 0.991855 Centerline is valid? [True, True] Translation: X:181.59, Y:125.64, Z:0.63 [[-5.29471650e-01 -8.48326387e-01 1.45347406e-03 1.81587733e+02] [ 8.48323357e-01 -5.29473644e-01 -2.26758273e-03 1.25638834e+02] [ 2.69322647e-03 3.23952214e-05 9.99996373e-01 6.33479472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.034012739 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:181.58, Y:125.65, Z:0.63 [[-5.28953153e-01 -8.48649778e-01 1.45432292e-03 1.81577448e+02] [ 8.48646751e-01 -5.28955152e-01 -2.26703818e-03 1.25650177e+02] [ 2.69319305e-03 3.50494279e-05 9.99996373e-01 6.34414637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.064012739 meters Centerline goodness : 0.992120 Centerline is valid? [True, True] Translation: X:181.58, Y:125.63, Z:0.64 [[-5.28265213e-01 -8.49078175e-01 1.45517671e-03 1.81584293e+02] [ 8.49075151e-01 -5.28267216e-01 -2.26649000e-03 1.25629178e+02] [ 2.69314935e-03 3.82465639e-05 9.99996373e-01 6.35357108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.094012739 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:181.58, Y:125.63, Z:0.63 [[-5.28961672e-01 -8.48644466e-01 1.45603002e-03 1.81579176e+02] [ 8.48641442e-01 -5.28963674e-01 -2.26594169e-03 1.25631523e+02] [ 2.69316587e-03 3.70511119e-05 9.99996373e-01 6.34780251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.124012739 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:181.57, Y:125.64, Z:0.63 [[-5.32162176e-01 -8.46641185e-01 1.45687951e-03 1.81567130e+02] [ 8.46638155e-01 -5.32164170e-01 -2.26539539e-03 1.25642086e+02] [ 2.69327611e-03 2.78920420e-05 9.99996373e-01 6.31585503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.154012739 meters Centerline goodness : 0.992364 Centerline is valid? [True, True] Translation: X:181.57, Y:125.64, Z:0.63 [[-5.34699427e-01 -8.45041063e-01 1.45773675e-03 1.81568702e+02] [ 8.45038028e-01 -5.34701413e-01 -2.26484364e-03 1.25637341e+02] [ 2.69333977e-03 2.08323928e-05 9.99996373e-01 6.29758339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.184012739 meters Centerline goodness : 0.991753 Centerline is valid? [True, True] Translation: X:181.57, Y:125.64, Z:0.63 [[-5.37408556e-01 -8.43320767e-01 1.45859845e-03 1.81568452e+02] [ 8.43317728e-01 -5.37410535e-01 -2.26428855e-03 1.25635852e+02] [ 2.69338773e-03 1.32138857e-05 9.99996373e-01 6.29233211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.214012739 meters Centerline goodness : 0.991887 Centerline is valid? [True, True] Translation: X:181.58, Y:125.61, Z:0.63 [[-5.42095786e-01 -8.40315434e-01 1.45945965e-03 1.81583186e+02] [ 8.40312385e-01 -5.42097751e-01 -2.26373332e-03 1.25607467e+02] [ 2.69341984e-03 -7.58280425e-07 9.99996373e-01 6.32513979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.244012739 meters Centerline goodness : 0.992548 Centerline is valid? [True, True] Translation: X:181.55, Y:125.65, Z:0.63 [[-5.44973033e-01 -8.38452303e-01 1.45913881e-03 1.81553316e+02] [ 8.38449246e-01 -5.44974987e-01 -2.26394011e-03 1.25650765e+02] [ 2.69339995e-03 -1.03724777e-05 9.99996373e-01 6.33572835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.274012739 meters Centerline goodness : 0.992150 Centerline is valid? [True, True] Translation: X:181.59, Y:125.59, Z:0.64 [[-5.47612671e-01 -8.36730677e-01 1.46223391e-03 1.81587011e+02] [ 8.36727619e-01 -5.47614623e-01 -2.26194402e-03 1.25593517e+02] [ 2.69337862e-03 -1.51777121e-05 9.99996373e-01 6.36182772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30401273900003 meters Centerline goodness : 0.991816 Centerline is valid? [True, True] Translation: X:181.58, Y:125.61, Z:0.64 [[-5.49195616e-01 -8.35692555e-01 1.45915423e-03 1.81578225e+02] [ 8.35689489e-01 -5.49197553e-01 -2.26392894e-03 1.25606291e+02] [ 2.69331250e-03 -2.39399964e-05 9.99996373e-01 6.36564621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.334012739 meters Centerline goodness : 0.992262 Centerline is valid? [True, True] Translation: X:181.59, Y:125.59, Z:0.64 [[-5.49967978e-01 -8.35184466e-01 1.45999179e-03 1.81588462e+02] [ 8.35181399e-01 -5.49969915e-01 -2.26338868e-03 1.25589574e+02] [ 2.69329863e-03 -2.54333053e-05 9.99996373e-01 6.37104401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36401273900003 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:181.59, Y:125.59, Z:0.64 [[-5.51652570e-01 -8.34072725e-01 1.45988754e-03 1.81587074e+02] [ 8.34069654e-01 -5.51654501e-01 -2.26345592e-03 1.25589003e+02] [ 2.69324038e-03 -3.09933826e-05 9.99996373e-01 6.37304936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.394012739 meters Centerline goodness : 0.992647 Centerline is valid? [True, True] Translation: X:181.59, Y:125.58, Z:0.64 [[-5.52411714e-01 -8.33570132e-01 1.46071905e-03 1.81593954e+02] [ 8.33567061e-01 -5.52413644e-01 -2.26291918e-03 1.25578006e+02] [ 2.69322297e-03 -3.24557774e-05 9.99996373e-01 6.36865758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.424012739 meters Centerline goodness : 0.992947 Centerline is valid? [True, True] Translation: X:181.60, Y:125.57, Z:0.64 [[-5.53639531e-01 -8.32755147e-01 1.46154838e-03 1.81602912e+02] [ 8.32752074e-01 -5.53641459e-01 -2.26238342e-03 1.25565380e+02] [ 2.69318521e-03 -3.54374511e-05 9.99996373e-01 6.35080916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.454012739 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:181.59, Y:125.59, Z:0.63 [[-5.55087832e-01 -8.31790456e-01 1.46165082e-03 1.81586727e+02] [ 8.31787380e-01 -5.55089755e-01 -2.26231723e-03 1.25591429e+02] [ 2.69312127e-03 -4.00020551e-05 9.99996373e-01 6.34196534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.484012739 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:181.59, Y:125.58, Z:0.63 [[-5.56865755e-01 -8.30601223e-01 1.46247783e-03 1.81593771e+02] [ 8.30598145e-01 -5.56867674e-01 -2.26178248e-03 1.25580579e+02] [ 2.69304592e-03 -4.47778369e-05 9.99996373e-01 6.33276448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.514012739 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:181.55, Y:125.65, Z:0.63 [[-5.61003103e-01 -8.27812405e-01 1.46331138e-03 1.81547320e+02] [ 8.27809318e-01 -5.61005009e-01 -2.26124307e-03 1.25653853e+02] [ 2.69281007e-03 -5.72215792e-05 9.99996373e-01 6.33154507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.544012739 meters Centerline goodness : 0.992839 Centerline is valid? [True, True] Translation: X:181.55, Y:125.65, Z:0.63 [[-5.61327926e-01 -8.27592179e-01 1.46483800e-03 1.81548752e+02] [ 8.27589094e-01 -5.61329834e-01 -2.26025443e-03 1.25651776e+02] [ 2.69282615e-03 -5.64599779e-05 9.99996373e-01 6.33147739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.574012739 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:181.62, Y:125.54, Z:0.63 [[-5.62797673e-01 -8.26593389e-01 1.46580353e-03 1.81619545e+02] [ 8.26590303e-01 -5.62799578e-01 -2.25962858e-03 1.25544623e+02] [ 2.69274766e-03 -6.00947237e-05 9.99996373e-01 6.33746688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.604012739 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:181.63, Y:125.53, Z:0.63 [[-5.66828869e-01 -8.23834261e-01 1.46422513e-03 1.81631376e+02] [ 8.23831162e-01 -5.66830756e-01 -2.26065091e-03 1.25532373e+02] [ 2.69236951e-03 -7.51279066e-05 9.99996373e-01 6.32696559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.634012739 meters Centerline goodness : 0.993227 Centerline is valid? [True, True] Translation: X:181.63, Y:125.53, Z:0.63 [[-5.69193211e-01 -8.22202495e-01 1.46502771e-03 1.81634858e+02] [ 8.22199393e-01 -5.69195090e-01 -2.26013067e-03 1.25529362e+02] [ 2.69217166e-03 -8.19061380e-05 9.99996373e-01 6.32217272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.664012739 meters Centerline goodness : 0.992670 Centerline is valid? [True, True] Translation: X:181.64, Y:125.52, Z:0.63 [[-5.71638382e-01 -8.20504364e-01 1.46582580e-03 1.81639904e+02] [ 8.20501258e-01 -5.71640254e-01 -2.25961295e-03 1.25524102e+02] [ 2.69194732e-03 -8.89695731e-05 9.99996373e-01 6.31714318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.694012739 meters Centerline goodness : 0.993535 Centerline is valid? [True, True] Translation: X:181.65, Y:125.53, Z:0.63 [[-5.74594028e-01 -8.18437262e-01 1.46662188e-03 1.81645850e+02] [ 8.18434150e-01 -5.74595891e-01 -2.25909613e-03 1.25525652e+02] [ 2.69164336e-03 -9.77297157e-05 9.99996373e-01 6.32326933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.724012739 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:181.66, Y:125.51, Z:0.63 [[-5.75776286e-01 -8.17605966e-01 1.46741668e-03 1.81661589e+02] [ 8.17602853e-01 -5.75778147e-01 -2.25857974e-03 1.25507968e+02] [ 2.69153473e-03 -1.00672595e-04 9.99996373e-01 6.32386376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.754012739 meters Centerline goodness : 0.993505 Centerline is valid? [True, True] Translation: X:181.67, Y:125.51, Z:0.63 [[-5.77111286e-01 -8.16664196e-01 1.46771193e-03 1.81666282e+02] [ 8.16661080e-01 -5.77113143e-01 -2.25838786e-03 1.25506556e+02] [ 2.69138035e-03 -1.04717915e-04 9.99996373e-01 6.32724812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.784012739 meters Centerline goodness : 0.993365 Centerline is valid? [True, True] Translation: X:181.66, Y:125.52, Z:0.63 [[-5.78872902e-01 -8.15416462e-01 1.46849546e-03 1.81663279e+02] [ 8.15413343e-01 -5.78874755e-01 -2.25787826e-03 1.25519714e+02] [ 2.69118605e-03 -1.09593746e-04 9.99996373e-01 6.29334667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.814012739 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:181.68, Y:125.50, Z:0.63 [[-5.79390491e-01 -8.15048772e-01 1.46928239e-03 1.81678822e+02] [ 8.15045653e-01 -5.79392344e-01 -2.25736606e-03 1.25501081e+02] [ 2.69115440e-03 -1.10364211e-04 9.99996373e-01 6.27556745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.844012739 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:181.66, Y:125.54, Z:0.63 [[-5.79162315e-01 -8.15210924e-01 1.47006734e-03 1.81662609e+02] [ 8.15207808e-01 -5.79164171e-01 -2.25685476e-03 1.25537510e+02] [ 2.69122299e-03 -1.08674851e-04 9.99996373e-01 6.29142287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.874012739 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:181.68, Y:125.52, Z:0.63 [[-5.78290731e-01 -8.15829435e-01 1.47085761e-03 1.81677515e+02] [ 8.15826322e-01 -5.78292592e-01 -2.25633960e-03 1.25519514e+02] [ 2.69137432e-03 -1.04855918e-04 9.99996373e-01 6.30403277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.904012739 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:181.68, Y:125.53, Z:0.63 [[-5.75453011e-01 -8.17833520e-01 1.47165327e-03 1.81675035e+02] [ 8.17830415e-01 -5.75454885e-01 -2.25582053e-03 1.25534320e+02] [ 2.69175571e-03 -9.45559122e-05 9.99996373e-01 6.29710571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.934012739 meters Centerline goodness : 0.992802 Centerline is valid? [True, True] Translation: X:181.67, Y:125.54, Z:0.63 [[-5.73940329e-01 -8.18895799e-01 1.47244740e-03 1.81674169e+02] [ 8.18892699e-01 -5.73942211e-01 -2.25530205e-03 1.25542580e+02] [ 2.69195710e-03 -8.86323761e-05 9.99996373e-01 6.28060424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.964012739 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:181.66, Y:125.58, Z:0.63 [[-5.72567379e-01 -8.19856345e-01 1.47324870e-03 1.81655065e+02] [ 8.19853249e-01 -5.72569268e-01 -2.25477850e-03 1.25578129e+02] [ 2.69213138e-03 -8.31648848e-05 9.99996373e-01 6.28382132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.994012739 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:181.67, Y:125.57, Z:0.63 [[-5.69143188e-01 -8.22237105e-01 1.47484410e-03 1.81665959e+02] [ 8.22234019e-01 -5.69145095e-01 -2.25373534e-03 1.25571271e+02] [ 2.69250511e-03 -7.00311235e-05 9.99996373e-01 6.26664766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.024012739 meters Centerline goodness : 0.993156 Centerline is valid? [True, True] Translation: X:181.66, Y:125.58, Z:0.63 [[-5.67613923e-01 -8.23293545e-01 1.47425900e-03 1.81660328e+02] [ 8.23290462e-01 -5.67615833e-01 -2.25411802e-03 1.25584438e+02] [ 2.69261356e-03 -6.57254006e-05 9.99996373e-01 6.27346973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05401273900003 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:181.66, Y:125.60, Z:0.63 [[-5.62822679e-01 -8.26576346e-01 1.47508536e-03 1.81655729e+02] [ 8.26573276e-01 -5.62824610e-01 -2.25357712e-03 1.25601513e+02] [ 2.69296788e-03 -4.90981739e-05 9.99996373e-01 6.28041024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.084012739 meters Centerline goodness : 0.993602 Centerline is valid? [True, True] Translation: X:181.66, Y:125.60, Z:0.63 [[-5.60828191e-01 -8.27930892e-01 1.47592204e-03 1.81659712e+02] [ 8.27927827e-01 -5.60830132e-01 -2.25302902e-03 1.25599144e+02] [ 2.69309388e-03 -4.16052598e-05 9.99996373e-01 6.29747360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11401273900003 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:181.67, Y:125.59, Z:0.63 [[-5.59307118e-01 -8.28959207e-01 1.47676395e-03 1.81666559e+02] [ 8.28956148e-01 -5.59309066e-01 -2.25247705e-03 1.25590629e+02] [ 2.69317906e-03 -3.56538930e-05 9.99996373e-01 6.31506027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.144012739 meters Centerline goodness : 0.993183 Centerline is valid? [True, True] Translation: X:181.64, Y:125.63, Z:0.63 [[-5.56434306e-01 -8.30890293e-01 1.47760265e-03 1.81644603e+02] [ 8.30887242e-01 -5.56436267e-01 -2.25192674e-03 1.25628681e+02] [ 2.69329577e-03 -2.53280954e-05 9.99996373e-01 6.32143252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.174012739 meters Centerline goodness : 0.993232 Centerline is valid? [True, True] Translation: X:181.66, Y:125.61, Z:0.63 [[-5.55089423e-01 -8.31789363e-01 1.47912100e-03 1.81658348e+02] [ 8.31786318e-01 -5.55091393e-01 -2.25092972e-03 1.25611020e+02] [ 2.69334674e-03 -1.91546696e-05 9.99996373e-01 6.31079355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.204012739 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:181.67, Y:125.60, Z:0.63 [[-5.52068292e-01 -8.33797585e-01 1.47930359e-03 1.81665470e+02] [ 8.33794547e-01 -5.52070274e-01 -2.25080972e-03 1.25603047e+02] [ 2.69339925e-03 -9.16541062e-06 9.99996373e-01 6.30342559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.234012739 meters Centerline goodness : 0.993892 Centerline is valid? [True, True] Translation: X:181.66, Y:125.62, Z:0.63 [[-5.50946032e-01 -8.34539561e-01 1.48015280e-03 1.81655805e+02] [ 8.34536527e-01 -5.50948021e-01 -2.25025114e-03 1.25616772e+02] [ 2.69341085e-03 -4.52536027e-06 9.99996373e-01 6.30287174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.264012739 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:181.65, Y:125.63, Z:0.63 [[-5.49924189e-01 -8.35213262e-01 1.48100514e-03 1.81649488e+02] [ 8.35210232e-01 -5.49926183e-01 -2.24969002e-03 1.25625496e+02] [ 2.69341445e-03 -2.08310902e-07 9.99996373e-01 6.28681120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.294012739 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:181.65, Y:125.62, Z:0.63 [[-5.47946760e-01 -8.36511896e-01 1.48186734e-03 1.81649659e+02] [ 8.36508872e-01 -5.47948764e-01 -2.24912195e-03 1.25623298e+02] [ 2.69340464e-03 7.19608785e-06 9.99996373e-01 6.27431784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.324012739 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:181.66, Y:125.60, Z:0.63 [[-5.46947559e-01 -8.37165557e-01 1.48273378e-03 1.81664093e+02] [ 8.37162537e-01 -5.46949569e-01 -2.24855061e-03 1.25599042e+02] [ 2.69338972e-03 1.14499078e-05 9.99996373e-01 6.29155910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.354012739 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:181.66, Y:125.59, Z:0.63 [[-5.45300199e-01 -8.38239520e-01 1.48359211e-03 1.81664297e+02] [ 8.38236505e-01 -5.45302217e-01 -2.24798414e-03 1.25591351e+02] [ 2.69335521e-03 1.77748652e-05 9.99996373e-01 6.34117390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.384012739 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:181.67, Y:125.59, Z:0.63 [[-5.45192762e-01 -8.38309399e-01 1.48444094e-03 1.81665316e+02] [ 8.38306387e-01 -5.45194783e-01 -2.24742348e-03 1.25588500e+02] [ 2.69334568e-03 1.91373021e-05 9.99996373e-01 6.34958453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.414012739 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:181.66, Y:125.59, Z:0.63 [[-5.45939629e-01 -8.37823201e-01 1.48528830e-03 1.81662214e+02] [ 8.37820188e-01 -5.45941649e-01 -2.24686333e-03 1.25593698e+02] [ 2.69335497e-03 1.77527939e-05 9.99996373e-01 6.33612297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.444012739 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:181.67, Y:125.59, Z:0.63 [[-5.48211012e-01 -8.36338734e-01 1.48613783e-03 1.81666666e+02] [ 8.36335717e-01 -5.48213026e-01 -2.24630129e-03 1.25589062e+02] [ 2.69338889e-03 1.14630468e-05 9.99996373e-01 6.29616228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.474012739 meters Centerline goodness : 0.993396 Centerline is valid? [True, True] Translation: X:181.66, Y:125.59, Z:0.63 [[-5.50119484e-01 -8.35084632e-01 1.48698868e-03 1.81664843e+02] [ 8.35081612e-01 -5.50121493e-01 -2.24573791e-03 1.25589394e+02] [ 2.69340565e-03 6.33272659e-06 9.99996373e-01 6.28181051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.504012739 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:181.66, Y:125.60, Z:0.63 [[-5.50747200e-01 -8.34670778e-01 1.48783903e-03 1.81661055e+02] [ 8.34667759e-01 -5.50749209e-01 -2.24517439e-03 1.25595486e+02] [ 2.69340763e-03 5.32776327e-06 9.99996373e-01 6.30013481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.534012739 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:181.66, Y:125.60, Z:0.63 [[-5.51457099e-01 -8.34201925e-01 1.48869353e-03 1.81658807e+02] [ 8.34198905e-01 -5.51459108e-01 -2.24460767e-03 1.25599898e+02] [ 2.69340964e-03 4.06168050e-06 9.99996373e-01 6.32393229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.564012739 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:181.66, Y:125.60, Z:0.63 [[-5.52933541e-01 -8.33224028e-01 1.48955306e-03 1.81660931e+02] [ 8.33221006e-01 -5.52935548e-01 -2.24403712e-03 1.25596566e+02] [ 2.69341249e-03 3.23509916e-07 9.99996373e-01 6.31531823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.594012739 meters Centerline goodness : 0.993703 Centerline is valid? [True, True] Translation: X:181.64, Y:125.63, Z:0.63 [[-5.54696362e-01 -8.32051516e-01 1.49041438e-03 1.81637236e+02] [ 8.32048491e-01 -5.54698364e-01 -2.24346492e-03 1.25632300e+02] [ 2.69340880e-03 -4.34479625e-06 9.99996373e-01 6.29822609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.624012739 meters Centerline goodness : 0.993871 Centerline is valid? [True, True] Translation: X:181.67, Y:125.59, Z:0.63 [[-5.58606086e-01 -8.29431742e-01 1.49195600e-03 1.81671274e+02] [ 8.29428711e-01 -5.58608079e-01 -2.24243996e-03 1.25590120e+02] [ 2.69336955e-03 -1.51694664e-05 9.99996373e-01 6.28049620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.654012739 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:181.69, Y:125.58, Z:0.63 [[-5.61122167e-01 -8.27731651e-01 1.49216583e-03 1.81685123e+02] [ 8.27728615e-01 -5.61124151e-01 -2.24230032e-03 1.25575357e+02] [ 2.69331323e-03 -2.30960602e-05 9.99996373e-01 6.29085692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.684012739 meters Centerline goodness : 0.994037 Centerline is valid? [True, True] Translation: X:181.69, Y:125.57, Z:0.63 [[-5.63558703e-01 -8.26074669e-01 1.49301670e-03 1.81693733e+02] [ 8.26071628e-01 -5.63560680e-01 -2.24173363e-03 1.25567440e+02] [ 2.69324488e-03 -3.00097608e-05 9.99996373e-01 6.30353574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.714012739 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:181.70, Y:125.57, Z:0.63 [[-5.66518384e-01 -8.24047747e-01 1.49385945e-03 1.81695869e+02] [ 8.24044700e-01 -5.66520352e-01 -2.24117190e-03 1.25572449e+02] [ 2.69313444e-03 -3.86581236e-05 9.99996373e-01 6.31982191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.744012739 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:181.69, Y:125.58, Z:0.63 [[-5.66693510e-01 -8.23927322e-01 1.49470074e-03 1.81692086e+02] [ 8.23924276e-01 -5.66695480e-01 -2.24061068e-03 1.25583383e+02] [ 2.69314051e-03 -3.82193013e-05 9.99996373e-01 6.31539624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.774012739 meters Centerline goodness : 0.993776 Centerline is valid? [True, True] Translation: X:181.70, Y:125.59, Z:0.63 [[-5.64590248e-01 -8.25369987e-01 1.49554762e-03 1.81695941e+02] [ 8.25366947e-01 -5.64592228e-01 -2.24004526e-03 1.25585822e+02] [ 2.69324069e-03 -3.03321337e-05 9.99996373e-01 6.31808530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80401273900003 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:181.70, Y:125.58, Z:0.63 [[-5.62894009e-01 -8.26527734e-01 1.49639918e-03 1.81700028e+02] [ 8.26524701e-01 -5.62895998e-01 -2.23947626e-03 1.25582251e+02] [ 2.69330635e-03 -2.37768828e-05 9.99996373e-01 6.31417117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.834012739 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:181.65, Y:125.66, Z:0.63 [[-5.60546575e-01 -8.28121547e-01 1.49725053e-03 1.81648906e+02] [ 8.28118520e-01 -5.60548574e-01 -2.23890693e-03 1.25659778e+02] [ 2.69336872e-03 -1.51107216e-05 9.99996373e-01 6.30848615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86401273900003 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:181.70, Y:125.58, Z:0.63 [[-5.56728404e-01 -8.30693232e-01 1.49639945e-03 1.81704132e+02] [ 8.30690213e-01 -5.56730415e-01 -2.23947626e-03 1.25583028e+02] [ 2.69340886e-03 -3.73566095e-06 9.99996373e-01 6.30099479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.894012739 meters Centerline goodness : 0.994210 Centerline is valid? [True, True] Translation: X:181.66, Y:125.66, Z:0.63 [[-5.55906584e-01 -8.31243422e-01 1.49779843e-03 1.81657327e+02] [ 8.31240408e-01 -5.55908602e-01 -2.23854021e-03 1.25656488e+02] [ 2.69341085e-03 6.11334462e-07 9.99996373e-01 6.29244958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.924012739 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:181.71, Y:125.58, Z:0.63 [[-5.53951735e-01 -8.32547431e-01 1.49981482e-03 1.81709927e+02] [ 8.32544426e-01 -5.53953766e-01 -2.23719004e-03 1.25580148e+02] [ 2.69339489e-03 9.36716870e-06 9.99996373e-01 6.26566815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.954012739 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:181.71, Y:125.58, Z:0.63 [[-5.53048194e-01 -8.33147915e-01 1.49890112e-03 1.81711622e+02] [ 8.33144910e-01 -5.53050225e-01 -2.23780204e-03 1.25577573e+02] [ 2.69338771e-03 1.11894585e-05 9.99996373e-01 6.25261274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.984012739 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:181.72, Y:125.56, Z:0.63 [[-5.50645530e-01 -8.34737833e-01 1.49975154e-03 1.81724124e+02] [ 8.34734836e-01 -5.50647573e-01 -2.23723196e-03 1.25560705e+02] [ 2.69333670e-03 1.99730809e-05 9.99996373e-01 6.28518460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.014012739 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:181.72, Y:125.57, Z:0.63 [[-5.49480833e-01 -8.35504975e-01 1.50059590e-03 1.81717959e+02] [ 8.35501981e-01 -5.49482881e-01 -2.23666547e-03 1.25570982e+02] [ 2.69329689e-03 2.47460426e-05 9.99996373e-01 6.30106152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.044012739 meters Centerline goodness : 0.993758 Centerline is valid? [True, True] Translation: X:181.73, Y:125.55, Z:0.63 [[-5.48698777e-01 -8.36018778e-01 1.50143893e-03 1.81729570e+02] [ 8.36015788e-01 -5.48700831e-01 -2.23609941e-03 1.25553030e+02] [ 2.69326189e-03 2.82816379e-05 9.99996373e-01 6.31648430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.074012739 meters Centerline goodness : 0.993531 Centerline is valid? [True, True] Translation: X:181.73, Y:125.54, Z:0.63 [[-5.46002718e-01 -8.37782057e-01 1.50228023e-03 1.81734455e+02] [ 8.37779076e-01 -5.46004783e-01 -2.23553406e-03 1.25541707e+02] [ 2.69314251e-03 3.79712766e-05 9.99996373e-01 6.30571110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.104012739 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:181.74, Y:125.53, Z:0.63 [[-5.44655442e-01 -8.38658566e-01 1.50311290e-03 1.81739062e+02] [ 8.38655589e-01 -5.44657515e-01 -2.23497406e-03 1.25532620e+02] [ 2.69306187e-03 4.33032493e-05 9.99996373e-01 6.30572750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.134012739 meters Centerline goodness : 0.993999 Centerline is valid? [True, True] Translation: X:181.75, Y:125.51, Z:0.63 [[-5.41324271e-01 -8.40812567e-01 1.50394001e-03 1.81751677e+02] [ 8.40809599e-01 -5.41326357e-01 -2.23441735e-03 1.25508752e+02] [ 2.69284855e-03 5.49828540e-05 9.99996373e-01 6.31745188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.164012739 meters Centerline goodness : 0.994311 Centerline is valid? [True, True] Translation: X:181.75, Y:125.51, Z:0.63 [[-5.40212725e-01 -8.41527152e-01 1.50475771e-03 1.81748183e+02] [ 8.41524189e-01 -5.40214817e-01 -2.23386653e-03 1.25509664e+02] [ 2.69275175e-03 5.95268858e-05 9.99996373e-01 6.31698561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.194012739 meters Centerline goodness : 0.993614 Centerline is valid? [True, True] Translation: X:181.75, Y:125.50, Z:0.63 [[-5.39564086e-01 -8.41943187e-01 1.50556980e-03 1.81749956e+02] [ 8.41940227e-01 -5.39566183e-01 -2.23331907e-03 1.25503651e+02] [ 2.69268233e-03 6.25810120e-05 9.99996373e-01 6.31646639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.224012739 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:181.74, Y:125.52, Z:0.63 [[-5.39096565e-01 -8.42242616e-01 1.50638232e-03 1.81738201e+02] [ 8.42239659e-01 -5.39098666e-01 -2.23277089e-03 1.25515210e+02] [ 2.69262349e-03 6.50558137e-05 9.99996373e-01 6.32518360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.254012739 meters Centerline goodness : 0.994174 Centerline is valid? [True, True] Translation: X:181.74, Y:125.50, Z:0.63 [[-5.39524643e-01 -8.41968460e-01 1.50719890e-03 1.81744851e+02] [ 8.41965504e-01 -5.39526744e-01 -2.23221953e-03 1.25502140e+02] [ 2.69263256e-03 6.46720312e-05 9.99996373e-01 6.33183306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.284012739 meters Centerline goodness : 0.994567 Centerline is valid? [True, True] Translation: X:181.74, Y:125.51, Z:0.63 [[-5.41204020e-01 -8.40889966e-01 1.50801723e-03 1.81739194e+02] [ 8.40887006e-01 -5.41206118e-01 -2.23166656e-03 1.25505388e+02] [ 2.69273416e-03 6.02851765e-05 9.99996373e-01 6.34467173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.314012739 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:181.74, Y:125.51, Z:0.63 [[-5.42068813e-01 -8.40332747e-01 1.50883418e-03 1.81736583e+02] [ 8.40329787e-01 -5.42070910e-01 -2.23111408e-03 1.25507840e+02] [ 2.69277334e-03 5.85009501e-05 9.99996373e-01 6.34725577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.344012739 meters Centerline goodness : 0.994089 Centerline is valid? [True, True] Translation: X:181.73, Y:125.51, Z:0.64 [[-5.42657306e-01 -8.39952838e-01 1.50965498e-03 1.81734641e+02] [ 8.39949878e-01 -5.42659403e-01 -2.23055856e-03 1.25509402e+02] [ 2.69279246e-03 5.76056197e-05 9.99996373e-01 6.35215400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.374012739 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:181.75, Y:125.49, Z:0.64 [[-5.42708822e-01 -8.39919552e-01 1.51047873e-03 1.81746033e+02] [ 8.39916593e-01 -5.42710921e-01 -2.23000059e-03 1.25489446e+02] [ 2.69277440e-03 5.84351558e-05 9.99996373e-01 6.35513331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.404012739 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:181.74, Y:125.49, Z:0.63 [[-5.42760850e-01 -8.39885930e-01 1.51129794e-03 1.81742540e+02] [ 8.39882974e-01 -5.42762950e-01 -2.22944526e-03 1.25493038e+02] [ 2.69275624e-03 5.92578042e-05 9.99996373e-01 6.33237581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.434012739 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:181.74, Y:125.49, Z:0.63 [[-5.43125176e-01 -8.39650378e-01 1.51211330e-03 1.81737270e+02] [ 8.39647422e-01 -5.43127277e-01 -2.22889211e-03 1.25493589e+02] [ 2.69276009e-03 5.90746174e-05 9.99996373e-01 6.30658402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.464012739 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:181.74, Y:125.49, Z:0.63 [[-5.43434310e-01 -8.39450333e-01 1.51293211e-03 1.81738733e+02] [ 8.39447378e-01 -5.43436412e-01 -2.22833618e-03 1.25491565e+02] [ 2.69275995e-03 5.90725552e-05 9.99996373e-01 6.30651626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.494012739 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:181.73, Y:125.49, Z:0.63 [[-5.43737387e-01 -8.39254051e-01 1.51375241e-03 1.81734882e+02] [ 8.39251097e-01 -5.43739491e-01 -2.22777880e-03 1.25493047e+02] [ 2.69275934e-03 5.90917475e-05 9.99996373e-01 6.31910328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.524012739 meters Centerline goodness : 0.994004 Centerline is valid? [True, True] Translation: X:181.74, Y:125.49, Z:0.63 [[-5.43880048e-01 -8.39161605e-01 1.51457434e-03 1.81737419e+02] [ 8.39158652e-01 -5.43882153e-01 -2.22721986e-03 1.25485624e+02] [ 2.69274735e-03 5.96277142e-05 9.99996373e-01 6.33559552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55401273900003 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:181.74, Y:125.48, Z:0.64 [[-5.44202908e-01 -8.38952262e-01 1.51539632e-03 1.81741488e+02] [ 8.38949309e-01 -5.44205015e-01 -2.22666044e-03 1.25475389e+02] [ 2.69274809e-03 5.95856097e-05 9.99996373e-01 6.36250865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.584012739 meters Centerline goodness : 0.994718 Centerline is valid? [True, True] Translation: X:181.74, Y:125.48, Z:0.64 [[-5.44826875e-01 -8.38547183e-01 1.51621404e-03 1.81737798e+02] [ 8.38544230e-01 -5.44828981e-01 -2.22610349e-03 1.25478760e+02] [ 2.69277016e-03 5.85715322e-05 9.99996373e-01 6.36756197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61401273900003 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:181.74, Y:125.47, Z:0.64 [[-5.45989316e-01 -8.37790764e-01 1.51703130e-03 1.81738809e+02] [ 8.37787810e-01 -5.45991421e-01 -2.22554641e-03 1.25470412e+02] [ 2.69282830e-03 5.58257650e-05 9.99996373e-01 6.36127801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.644012739 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:181.74, Y:125.47, Z:0.64 [[-5.46257969e-01 -8.37615620e-01 1.51784913e-03 1.81735496e+02] [ 8.37612667e-01 -5.46260075e-01 -2.22498850e-03 1.25471296e+02] [ 2.69282550e-03 5.59519640e-05 9.99996373e-01 6.35816456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.674012739 meters Centerline goodness : 0.994223 Centerline is valid? [True, True] Translation: X:181.73, Y:125.47, Z:0.64 [[-5.46546247e-01 -8.37427545e-01 1.51866677e-03 1.81732332e+02] [ 8.37424593e-01 -5.46548354e-01 -2.22443028e-03 1.25471972e+02] [ 2.69282401e-03 5.60148752e-05 9.99996373e-01 6.35638688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.704012739 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:181.72, Y:125.48, Z:0.64 [[-5.46338395e-01 -8.37563161e-01 1.51948707e-03 1.81718913e+02] [ 8.37560211e-01 -5.46340505e-01 -2.22386980e-03 1.25484581e+02] [ 2.69278875e-03 5.76764532e-05 9.99996373e-01 6.36922728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.734012739 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:181.73, Y:125.47, Z:0.64 [[-5.46429403e-01 -8.37503789e-01 1.52031445e-03 1.81728595e+02] [ 8.37500839e-01 -5.46431515e-01 -2.22330403e-03 1.25466932e+02] [ 2.69277328e-03 5.83859363e-05 9.99996373e-01 6.36535524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.764012739 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:181.72, Y:125.47, Z:0.64 [[-5.46312028e-01 -8.37580357e-01 1.52114256e-03 1.81722843e+02] [ 8.37577410e-01 -5.46314142e-01 -2.22273731e-03 1.25466918e+02] [ 2.69274280e-03 5.97665147e-05 9.99996373e-01 6.37696921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.794012739 meters Centerline goodness : 0.994182 Centerline is valid? [True, True] Translation: X:181.72, Y:125.47, Z:0.64 [[-5.46204626e-01 -8.37650399e-01 1.52196698e-03 1.81719273e+02] [ 8.37647453e-01 -5.46206743e-01 -2.22217266e-03 1.25468058e+02] [ 2.69271244e-03 6.11107762e-05 9.99996373e-01 6.38710064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.824012739 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:181.72, Y:125.46, Z:0.64 [[-5.46503463e-01 -8.37455459e-01 1.52279466e-03 1.81718808e+02] [ 8.37452514e-01 -5.46505581e-01 -2.22160533e-03 1.25460732e+02] [ 2.69271129e-03 6.11532119e-05 9.99996373e-01 6.38324104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.854012739 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:181.72, Y:125.46, Z:0.64 [[-5.47330977e-01 -8.36914859e-01 1.52362267e-03 1.81720003e+02] [ 8.36911913e-01 -5.47333094e-01 -2.22103732e-03 1.25455053e+02] [ 2.69274824e-03 5.94954409e-05 9.99996373e-01 6.36442122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.884012739 meters Centerline goodness : 0.993751 Centerline is valid? [True, True] Translation: X:181.72, Y:125.45, Z:0.63 [[-5.48300457e-01 -8.36280028e-01 1.52444873e-03 1.81721336e+02] [ 8.36277082e-01 -5.48302574e-01 -2.22047019e-03 1.25449381e+02] [ 2.69279404e-03 5.73767138e-05 9.99996373e-01 6.33981076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.914012739 meters Centerline goodness : 0.994228 Centerline is valid? [True, True] Translation: X:181.71, Y:125.46, Z:0.63 [[-5.49939015e-01 -8.35203420e-01 1.52527285e-03 1.81713938e+02] [ 8.35200472e-01 -5.49941128e-01 -2.21990395e-03 1.25455280e+02] [ 2.69288164e-03 5.30968096e-05 9.99996373e-01 6.32415112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.944012739 meters Centerline goodness : 0.994197 Centerline is valid? [True, True] Translation: X:181.71, Y:125.46, Z:0.63 [[-5.50770145e-01 -8.34655569e-01 1.52609941e-03 1.81711155e+02] [ 8.34652620e-01 -5.50772257e-01 -2.21933557e-03 1.25457123e+02] [ 2.69291401e-03 5.14191001e-05 9.99996373e-01 6.33668310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.974012739 meters Centerline goodness : 0.994166 Centerline is valid? [True, True] Translation: X:181.71, Y:125.46, Z:0.64 [[-5.51463913e-01 -8.34197351e-01 1.52693075e-03 1.81705683e+02] [ 8.34194402e-01 -5.51466025e-01 -2.21876346e-03 1.25458330e+02] [ 2.69293703e-03 5.01891016e-05 9.99996373e-01 6.37690829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.004012739 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:181.71, Y:125.45, Z:0.64 [[-5.51763692e-01 -8.33999097e-01 1.52776552e-03 1.81711830e+02] [ 8.33996149e-01 -5.51765805e-01 -2.21818851e-03 1.25445570e+02] [ 2.69293599e-03 5.02346771e-05 9.99996373e-01 6.37812969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.034012739 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:181.70, Y:125.45, Z:0.64 [[-5.51607429e-01 -8.34102456e-01 1.52859858e-03 1.81703665e+02] [ 8.34099510e-01 -5.51609545e-01 -2.21761428e-03 1.25449339e+02] [ 2.69290709e-03 5.17508161e-05 9.99996373e-01 6.36203422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.064012739 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:181.71, Y:125.43, Z:0.64 [[-5.51490609e-01 -8.34179699e-01 1.52943103e-03 1.81713128e+02] [ 8.34176754e-01 -5.51492727e-01 -2.21704002e-03 1.25431678e+02] [ 2.69287986e-03 5.31390649e-05 9.99996373e-01 6.35571055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.094012739 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:181.70, Y:125.45, Z:0.64 [[-5.51538100e-01 -8.34148298e-01 1.53026123e-03 1.81699561e+02] [ 8.34145355e-01 -5.51540220e-01 -2.21646684e-03 1.25448755e+02] [ 2.69286266e-03 5.39943853e-05 9.99996373e-01 6.35101214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.124012739 meters Centerline goodness : 0.993977 Centerline is valid? [True, True] Translation: X:181.70, Y:125.44, Z:0.63 [[-5.52836727e-01 -8.33288191e-01 1.53109325e-03 1.81701242e+02] [ 8.33285246e-01 -5.52838845e-01 -2.21589195e-03 1.25442068e+02] [ 2.69292442e-03 5.08109565e-05 9.99996373e-01 6.34969839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.154012739 meters Centerline goodness : 0.993592 Centerline is valid? [True, True] Translation: X:181.70, Y:125.45, Z:0.64 [[-5.54128275e-01 -8.32429882e-01 1.53193105e-03 1.81695448e+02] [ 8.32426935e-01 -5.54130391e-01 -2.21531259e-03 1.25449363e+02] [ 2.69298195e-03 4.76533247e-05 9.99996373e-01 6.35785277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.184012739 meters Centerline goodness : 0.993704 Centerline is valid? [True, True] Translation: X:181.70, Y:125.44, Z:0.64 [[-5.57724926e-01 -8.30024432e-01 1.53277112e-03 1.81701209e+02] [ 8.30021478e-01 -5.57727031e-01 -2.21473120e-03 1.25442016e+02] [ 2.69314889e-03 3.70221552e-05 9.99996373e-01 6.35107750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.214012739 meters Centerline goodness : 0.993890 Centerline is valid? [True, True] Translation: X:181.70, Y:125.45, Z:0.63 [[-5.60178882e-01 -8.28370248e-01 1.53361249e-03 1.81700244e+02] [ 8.28367290e-01 -5.60180981e-01 -2.21414843e-03 1.25445616e+02] [ 2.69323523e-03 3.00752238e-05 9.99996373e-01 6.34576741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.244012739 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:181.70, Y:125.44, Z:0.63 [[-5.62046413e-01 -8.27104271e-01 1.53445335e-03 1.81703788e+02] [ 8.27101309e-01 -5.62048507e-01 -2.21356554e-03 1.25443470e+02] [ 2.69328673e-03 2.50218064e-05 9.99996373e-01 6.34338987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.274012739 meters Centerline goodness : 0.993859 Centerline is valid? [True, True] Translation: X:181.70, Y:125.45, Z:0.64 [[-5.63918430e-01 -8.25829067e-01 1.53529553e-03 1.81698251e+02] [ 8.25826102e-01 -5.63920520e-01 -2.21298127e-03 1.25454823e+02] [ 2.69332891e-03 1.99461983e-05 9.99996373e-01 6.35892325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30401273900003 meters Centerline goodness : 0.994053 Centerline is valid? [True, True] Translation: X:181.70, Y:125.45, Z:0.64 [[-5.63850386e-01 -8.25875525e-01 1.53614181e-03 1.81701150e+02] [ 8.25872562e-01 -5.63852478e-01 -2.21239367e-03 1.25450919e+02] [ 2.69331915e-03 2.11983479e-05 9.99996373e-01 6.35770159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.334012739 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:181.71, Y:125.44, Z:0.64 [[-5.61745726e-01 -8.27308514e-01 1.53699154e-03 1.81706005e+02] [ 8.27305558e-01 -5.61747828e-01 -2.21180319e-03 1.25444031e+02] [ 2.69324526e-03 2.90906532e-05 9.99996373e-01 6.35915909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36401273900003 meters Centerline goodness : 0.993445 Centerline is valid? [True, True] Translation: X:181.71, Y:125.43, Z:0.64 [[-5.60841458e-01 -8.27921792e-01 1.53783850e-03 1.81714330e+02] [ 8.27918840e-01 -5.60843565e-01 -2.21121415e-03 1.25433858e+02] [ 2.69319921e-03 3.30649007e-05 9.99996373e-01 6.36033831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.394012739 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:181.72, Y:125.43, Z:0.64 [[-5.60189903e-01 -8.28362786e-01 1.53868006e-03 1.81715468e+02] [ 8.28359837e-01 -5.60192015e-01 -2.21062839e-03 1.25434476e+02] [ 2.69315857e-03 3.62090565e-05 9.99996373e-01 6.36542723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.424012739 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:181.72, Y:125.43, Z:0.64 [[-5.60345201e-01 -8.28257741e-01 1.53951890e-03 1.81721033e+02] [ 8.28254794e-01 -5.60347314e-01 -2.21004405e-03 1.25431073e+02] [ 2.69315138e-03 3.67263324e-05 9.99996373e-01 6.37690601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.454012739 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:181.71, Y:125.44, Z:0.64 [[-5.61148283e-01 -8.27713859e-01 1.54035725e-03 1.81713639e+02] [ 8.27710911e-01 -5.61150396e-01 -2.20945959e-03 1.25444573e+02] [ 2.69317240e-03 3.51360455e-05 9.99996373e-01 6.37073854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.484012739 meters Centerline goodness : 0.993674 Centerline is valid? [True, True] Translation: X:181.72, Y:125.43, Z:0.64 [[-5.62498282e-01 -8.26797017e-01 1.54119995e-03 1.81724962e+02] [ 8.26794067e-01 -5.62500393e-01 -2.20887161e-03 1.25434664e+02] [ 2.69321403e-03 3.17684858e-05 9.99996373e-01 6.37319491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.514012739 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:181.73, Y:125.43, Z:0.64 [[-5.63505501e-01 -8.26110872e-01 1.54204396e-03 1.81732793e+02] [ 8.26107921e-01 -5.63507610e-01 -2.20828223e-03 1.25425148e+02] [ 2.69323947e-03 2.95155446e-05 9.99996373e-01 6.38452161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.544012739 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:181.74, Y:125.42, Z:0.64 [[-5.64384210e-01 -8.25510801e-01 1.54288108e-03 1.81735682e+02] [ 8.25507850e-01 -5.64386318e-01 -2.20769720e-03 1.25421567e+02] [ 2.69325886e-03 2.76710030e-05 9.99996373e-01 6.39878855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.574012739 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:181.73, Y:125.43, Z:0.64 [[-5.64868749e-01 -8.25179322e-01 1.54371468e-03 1.81731360e+02] [ 8.25176371e-01 -5.64870858e-01 -2.20711415e-03 1.25429992e+02] [ 2.69326440e-03 2.71070686e-05 9.99996373e-01 6.39084029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.604012739 meters Centerline goodness : 0.993526 Centerline is valid? [True, True] Translation: X:181.73, Y:125.43, Z:0.64 [[-5.64299296e-01 -8.25568846e-01 1.54455068e-03 1.81730690e+02] [ 8.25565898e-01 -5.64301409e-01 -2.20652897e-03 1.25434327e+02] [ 2.69323370e-03 2.99856260e-05 9.99996373e-01 6.37372046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.634012739 meters Centerline goodness : 0.993399 Centerline is valid? [True, True] Translation: X:181.73, Y:125.44, Z:0.64 [[-5.64088662e-01 -8.25712779e-01 1.54539226e-03 1.81727080e+02] [ 8.25709833e-01 -5.64090778e-01 -2.20593939e-03 1.25439979e+02] [ 2.69321386e-03 3.17001867e-05 9.99996373e-01 6.37088534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.664012739 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:181.74, Y:125.42, Z:0.64 [[-5.63454335e-01 -8.26145763e-01 1.54623824e-03 1.81741272e+02] [ 8.26142820e-01 -5.63456456e-01 -2.20534624e-03 1.25420380e+02] [ 2.69317537e-03 3.48017184e-05 9.99996373e-01 6.35589141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.694012739 meters Centerline goodness : 0.993311 Centerline is valid? [True, True] Translation: X:181.74, Y:125.42, Z:0.63 [[-5.62630221e-01 -8.26707228e-01 1.54708034e-03 1.81742667e+02] [ 8.26704289e-01 -5.62632347e-01 -2.20475534e-03 1.25420565e+02] [ 2.69312462e-03 3.85159714e-05 9.99996373e-01 6.32820728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.724012739 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:181.75, Y:125.42, Z:0.63 [[-5.62718715e-01 -8.26646993e-01 1.54791613e-03 1.81745911e+02] [ 8.26644056e-01 -5.62720843e-01 -2.20416840e-03 1.25415948e+02] [ 2.69311384e-03 3.92488553e-05 9.99996373e-01 6.31432501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.754012739 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:181.75, Y:125.41, Z:0.63 [[-5.63291023e-01 -8.26257118e-01 1.54875141e-03 1.81751007e+02] [ 8.26254180e-01 -5.63293151e-01 -2.20358133e-03 1.25407904e+02] [ 2.69312582e-03 3.84047415e-05 9.99996373e-01 6.31179586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.784012739 meters Centerline goodness : 0.993079 Centerline is valid? [True, True] Translation: X:181.74, Y:125.42, Z:0.63 [[-5.64427820e-01 -8.25480972e-01 1.54958346e-03 1.81744566e+02] [ 8.25478033e-01 -5.64429946e-01 -2.20299607e-03 1.25418160e+02] [ 2.69316264e-03 3.57148345e-05 9.99996373e-01 6.32397387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.814012739 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:181.74, Y:125.42, Z:0.63 [[-5.66034539e-01 -8.24380068e-01 1.55041734e-03 1.81741694e+02] [ 8.24377127e-01 -5.66036661e-01 -2.20240905e-03 1.25424154e+02] [ 2.69321517e-03 3.14890011e-05 9.99996373e-01 6.33491191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.844012739 meters Centerline goodness : 0.992892 Centerline is valid? [True, True] Translation: X:181.75, Y:125.41, Z:0.64 [[-5.68877910e-01 -8.22420523e-01 1.55125832e-03 1.81754940e+02] [ 8.22417576e-01 -5.68880025e-01 -2.20181655e-03 1.25410108e+02] [ 2.69329899e-03 2.32173093e-05 9.99996373e-01 6.35216788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.874012739 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:181.75, Y:125.41, Z:0.64 [[-5.70249929e-01 -8.21469786e-01 1.55209658e-03 1.81753973e+02] [ 8.21466837e-01 -5.70252041e-01 -2.20122549e-03 1.25413963e+02] [ 2.69332647e-03 1.97471855e-05 9.99996373e-01 6.35976881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.904012739 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:181.76, Y:125.42, Z:0.64 [[-5.72615013e-01 -8.19822929e-01 1.55293157e-03 1.81755193e+02] [ 8.19819976e-01 -5.72617119e-01 -2.20063625e-03 1.25417080e+02] [ 2.69336726e-03 1.30069671e-05 9.99996373e-01 6.36426835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.934012739 meters Centerline goodness : 0.993144 Centerline is valid? [True, True] Translation: X:181.76, Y:125.40, Z:0.64 [[-5.73737744e-01 -8.19037598e-01 1.55376966e-03 1.81764788e+02] [ 8.19034643e-01 -5.73739848e-01 -2.20004436e-03 1.25404294e+02] [ 2.69337861e-03 1.03426914e-05 9.99996373e-01 6.36155052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.964012739 meters Centerline goodness : 0.993061 Centerline is valid? [True, True] Translation: X:181.77, Y:125.40, Z:0.64 [[-5.75112723e-01 -8.18072698e-01 1.55460448e-03 1.81766170e+02] [ 8.18069741e-01 -5.75114825e-01 -2.19945429e-03 1.25403287e+02] [ 2.69338959e-03 6.84073756e-06 9.99996373e-01 6.36777133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.994012739 meters Centerline goodness : 0.992613 Centerline is valid? [True, True] Translation: X:181.77, Y:125.40, Z:0.64 [[-5.75472961e-01 -8.17819327e-01 1.55543552e-03 1.81765530e+02] [ 8.17816371e-01 -5.75475063e-01 -2.19886643e-03 1.25404852e+02] [ 2.69338982e-03 6.67245543e-06 9.99996373e-01 6.38103537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.024012739 meters Centerline goodness : 0.992917 Centerline is valid? [True, True] Translation: X:181.75, Y:125.42, Z:0.64 [[-5.75127311e-01 -8.18062439e-01 1.55626784e-03 1.81754126e+02] [ 8.18059485e-01 -5.75129417e-01 -2.19827720e-03 1.25421583e+02] [ 2.69338342e-03 8.83041258e-06 9.99996373e-01 6.39472734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05401273900003 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:181.76, Y:125.41, Z:0.64 [[-5.73557134e-01 -8.19164080e-01 1.55710808e-03 1.81759068e+02] [ 8.19161132e-01 -5.73559247e-01 -2.19768186e-03 1.25412593e+02] [ 2.69335578e-03 1.50263070e-05 9.99996373e-01 6.41720965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.084012739 meters Centerline goodness : 0.993241 Centerline is valid? [True, True] Translation: X:181.77, Y:125.39, Z:0.64 [[-5.72863586e-01 -8.19649245e-01 1.55795272e-03 1.81773789e+02] [ 8.19646301e-01 -5.72865704e-01 -2.19708293e-03 1.25392002e+02] [ 2.69333505e-03 1.83413781e-05 9.99996373e-01 6.39750930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11401273900003 meters Centerline goodness : 0.993108 Centerline is valid? [True, True] Translation: X:181.76, Y:125.41, Z:0.64 [[-5.73780045e-01 -8.19007955e-01 1.55878766e-03 1.81762426e+02] [ 8.19005009e-01 -5.73782162e-01 -2.19649040e-03 1.25408632e+02] [ 2.69334766e-03 1.63525379e-05 9.99996373e-01 6.39079854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.144012739 meters Centerline goodness : 0.992825 Centerline is valid? [True, True] Translation: X:181.77, Y:125.39, Z:0.64 [[-5.74968427e-01 -8.18174111e-01 1.55962237e-03 1.81774366e+02] [ 8.18171164e-01 -5.74970542e-01 -2.19589755e-03 1.25393492e+02] [ 2.69336344e-03 1.34662851e-05 9.99996373e-01 6.39441373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.174012739 meters Centerline goodness : 0.992713 Centerline is valid? [True, True] Translation: X:181.78, Y:125.40, Z:0.64 [[-5.78637561e-01 -8.15583311e-01 1.56045865e-03 1.81776044e+02] [ 8.15580357e-01 -5.78639665e-01 -2.19530311e-03 1.25395572e+02] [ 2.69339585e-03 2.39458165e-06 9.99996373e-01 6.41771340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.204012739 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:181.78, Y:125.39, Z:0.64 [[-5.80925245e-01 -8.13955418e-01 1.56129084e-03 1.81780855e+02] [ 8.13952459e-01 -5.80927343e-01 -2.19471109e-03 1.25391228e+02] [ 2.69339353e-03 -4.14656091e-06 9.99996373e-01 6.41499880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.234012739 meters Centerline goodness : 0.993093 Centerline is valid? [True, True] Translation: X:181.79, Y:125.38, Z:0.64 [[-5.84442679e-01 -8.11433494e-01 1.56212254e-03 1.81790692e+02] [ 8.11430528e-01 -5.84444766e-01 -2.19411896e-03 1.25380966e+02] [ 2.69335596e-03 -1.47828488e-05 9.99996373e-01 6.37751198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.264012739 meters Centerline goodness : 0.992675 Centerline is valid? [True, True] Translation: X:181.80, Y:125.37, Z:0.64 [[-5.85285846e-01 -8.10825527e-01 1.56294952e-03 1.81798341e+02] [ 8.10822561e-01 -5.85287932e-01 -2.19352971e-03 1.25371227e+02] [ 2.69334538e-03 -1.65671636e-05 9.99996373e-01 6.35385954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.294012739 meters Centerline goodness : 0.992480 Centerline is valid? [True, True] Translation: X:181.79, Y:125.39, Z:0.63 [[-5.85644551e-01 -8.10566478e-01 1.56376971e-03 1.81788256e+02] [ 8.10563511e-01 -5.85646638e-01 -2.19294484e-03 1.25386498e+02] [ 2.69334405e-03 -1.67515324e-05 9.99996373e-01 6.33312823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.324012739 meters Centerline goodness : 0.992635 Centerline is valid? [True, True] Translation: X:181.79, Y:125.38, Z:0.63 [[-5.86444008e-01 -8.09988258e-01 1.56459289e-03 1.81792330e+02] [ 8.09985291e-01 -5.86446095e-01 -2.19235738e-03 1.25383561e+02] [ 2.69333312e-03 -1.83976214e-05 9.99996373e-01 6.33806187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.354012739 meters Centerline goodness : 0.992635 Centerline is valid? [True, True] Translation: X:181.79, Y:125.38, Z:0.63 [[-5.86749889e-01 -8.09766705e-01 1.56542152e-03 1.81793846e+02] [ 8.09763739e-01 -5.86751977e-01 -2.19176555e-03 1.25381565e+02] [ 2.69333293e-03 -1.83966115e-05 9.99996373e-01 6.33799409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.384012739 meters Centerline goodness : 0.992430 Centerline is valid? [True, True] Translation: X:181.80, Y:125.37, Z:0.64 [[-5.87804122e-01 -8.09001768e-01 1.56624910e-03 1.81801843e+02] [ 8.08998801e-01 -5.87806208e-01 -2.19117399e-03 1.25372720e+02] [ 2.69331458e-03 -2.08874594e-05 9.99996373e-01 6.35939601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.414012739 meters Centerline goodness : 0.992568 Centerline is valid? [True, True] Translation: X:181.81, Y:125.37, Z:0.64 [[-5.92116334e-01 -8.05850973e-01 1.56707376e-03 1.81806768e+02] [ 8.05847997e-01 -5.92118407e-01 -2.19058406e-03 1.25373042e+02] [ 2.69317751e-03 -3.42573533e-05 9.99996373e-01 6.36069510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.444012739 meters Centerline goodness : 0.992269 Centerline is valid? [True, True] Translation: X:181.82, Y:125.36, Z:0.63 [[-5.95402306e-01 -8.03426186e-01 1.56789551e-03 1.81818094e+02] [ 8.03423202e-01 -5.95404369e-01 -2.18999573e-03 1.25361614e+02] [ 2.69303176e-03 -4.42448785e-05 9.99996373e-01 6.34960825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.474012739 meters Centerline goodness : 0.992119 Centerline is valid? [True, True] Translation: X:181.82, Y:125.36, Z:0.63 [[-5.98878754e-01 -8.00838172e-01 1.56871292e-03 1.81822330e+02] [ 8.00835181e-01 -5.98880806e-01 -2.18941006e-03 1.25359581e+02] [ 2.69283521e-03 -5.49106758e-05 9.99996373e-01 6.34141459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.504012739 meters Centerline goodness : 0.992036 Centerline is valid? [True, True] Translation: X:181.84, Y:125.35, Z:0.63 [[-6.04346242e-01 -7.96720250e-01 1.56952576e-03 1.81837128e+02] [ 7.96717247e-01 -6.04348275e-01 -2.18882720e-03 1.25348441e+02] [ 2.69242314e-03 -7.23412490e-05 9.99996373e-01 6.33365745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.534012739 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:181.84, Y:125.35, Z:0.63 [[-6.06414494e-01 -7.95147153e-01 1.57033357e-03 1.81842830e+02] [ 7.95144146e-01 -6.06416522e-01 -2.18824750e-03 1.25346147e+02] [ 2.69225499e-03 -7.83434583e-05 9.99996373e-01 6.33722500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.564012739 meters Centerline goodness : 0.992413 Centerline is valid? [True, True] Translation: X:181.86, Y:125.33, Z:0.64 [[-6.07714187e-01 -7.94154266e-01 1.57113628e-03 1.81859972e+02] [ 7.94151257e-01 -6.07716213e-01 -2.18767101e-03 1.25332237e+02] [ 2.69215326e-03 -8.17588618e-05 9.99996373e-01 6.36052654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.594012739 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:181.85, Y:125.35, Z:0.64 [[-6.07565799e-01 -7.94267794e-01 1.57193269e-03 1.81852022e+02] [ 7.94264787e-01 -6.07567827e-01 -2.18709861e-03 1.25346711e+02] [ 2.69219772e-03 -8.02755329e-05 9.99996373e-01 6.36886553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.624012739 meters Centerline goodness : 0.991841 Centerline is valid? [True, True] Translation: X:181.85, Y:125.36, Z:0.64 [[-6.05546739e-01 -7.95808189e-01 1.57272889e-03 1.81850261e+02] [ 7.95805188e-01 -6.05548777e-01 -2.18652592e-03 1.25355892e+02] [ 2.69241929e-03 -7.24578330e-05 9.99996373e-01 6.38362668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.654012739 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:181.86, Y:125.35, Z:0.64 [[-6.04248691e-01 -7.96794229e-01 1.57353327e-03 1.81857433e+02] [ 7.96791234e-01 -6.04250736e-01 -2.18594689e-03 1.25349287e+02] [ 2.69255851e-03 -6.70780337e-05 9.99996373e-01 6.38119787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.684012739 meters Centerline goodness : 0.991919 Centerline is valid? [True, True] Translation: X:181.86, Y:125.35, Z:0.64 [[-6.00606257e-01 -7.99543398e-01 1.57433859e-03 1.81856718e+02] [ 7.99540413e-01 -6.00608318e-01 -2.18536674e-03 1.25354359e+02] [ 2.69285640e-03 -5.37976102e-05 9.99996373e-01 6.37659079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.714012739 meters Centerline goodness : 0.991812 Centerline is valid? [True, True] Translation: X:181.85, Y:125.36, Z:0.64 [[-5.98671560e-01 -8.00993060e-01 1.57514370e-03 1.81849581e+02] [ 8.00990081e-01 -5.98673631e-01 -2.18478629e-03 1.25364153e+02] [ 2.69299565e-03 -4.62949346e-05 9.99996373e-01 6.38175640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.744012739 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:181.84, Y:125.37, Z:0.64 [[-5.96828923e-01 -8.02366969e-01 1.57595483e-03 1.81843505e+02] [ 8.02363997e-01 -5.96831003e-01 -2.18420104e-03 1.25372211e+02] [ 2.69310947e-03 -3.91049416e-05 9.99996373e-01 6.38456657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.774012739 meters Centerline goodness : 0.992185 Centerline is valid? [True, True] Translation: X:181.84, Y:125.38, Z:0.64 [[-5.95005900e-01 -8.03719785e-01 1.57677365e-03 1.81840374e+02] [ 8.03716819e-01 -5.95007989e-01 -2.18360977e-03 1.25377827e+02] [ 2.69320329e-03 -3.19812012e-05 9.99996373e-01 6.38818356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80401273900003 meters Centerline goodness : 0.992357 Centerline is valid? [True, True] Translation: X:181.84, Y:125.38, Z:0.64 [[-5.95231797e-01 -8.03552499e-01 1.57759842e-03 1.81837225e+02] [ 8.03549534e-01 -5.95233887e-01 -2.18301374e-03 1.25383276e+02] [ 2.69320618e-03 -3.17207135e-05 9.99996373e-01 6.39919401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.834012739 meters Centerline goodness : 0.992315 Centerline is valid? [True, True] Translation: X:181.85, Y:125.37, Z:0.64 [[-5.97044030e-01 -8.02206916e-01 1.57842828e-03 1.81847021e+02] [ 8.02203948e-01 -5.97046115e-01 -2.18241354e-03 1.25371250e+02] [ 2.69314171e-03 -3.67755765e-05 9.99996373e-01 6.39524268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86401273900003 meters Centerline goodness : 0.992650 Centerline is valid? [True, True] Translation: X:181.85, Y:125.37, Z:0.64 [[-5.98562970e-01 -8.01074202e-01 1.57925681e-03 1.81851660e+02] [ 8.01071232e-01 -5.98565052e-01 -2.18181383e-03 1.25366934e+02] [ 2.69308270e-03 -4.08557653e-05 9.99996373e-01 6.38566489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.894012739 meters Centerline goodness : 0.992046 Centerline is valid? [True, True] Translation: X:181.86, Y:125.36, Z:0.64 [[-6.01258056e-01 -7.99053348e-01 1.58007996e-03 1.81861535e+02] [ 7.99050372e-01 -6.01260131e-01 -2.18121753e-03 1.25358145e+02] [ 2.69294826e-03 -4.89111290e-05 9.99996373e-01 6.37905326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.924012739 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:181.87, Y:125.35, Z:0.64 [[-6.02109221e-01 -7.98412166e-01 1.58089874e-03 1.81865871e+02] [ 7.98409190e-01 -6.02111294e-01 -2.18062394e-03 1.25353552e+02] [ 2.69291367e-03 -5.07697008e-05 9.99996373e-01 6.38000005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.954012739 meters Centerline goodness : 0.991734 Centerline is valid? [True, True] Translation: X:181.87, Y:125.35, Z:0.64 [[-6.02386386e-01 -7.98203069e-01 1.58171291e-03 1.81866054e+02] [ 7.98200094e-01 -6.02388461e-01 -2.18003322e-03 1.25353602e+02] [ 2.69291481e-03 -5.06989402e-05 9.99996373e-01 6.38228150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.984012739 meters Centerline goodness : 0.992139 Centerline is valid? [True, True] Translation: X:181.87, Y:125.35, Z:0.64 [[-6.02084523e-01 -7.98430788e-01 1.58252660e-03 1.81867291e+02] [ 7.98427815e-01 -6.02086601e-01 -2.17944239e-03 1.25353025e+02] [ 2.69295196e-03 -4.86752789e-05 9.99996373e-01 6.39122837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.014012739 meters Centerline goodness : 0.992076 Centerline is valid? [True, True] Translation: X:181.86, Y:125.36, Z:0.64 [[-6.02236963e-01 -7.98315811e-01 1.58334125e-03 1.81863769e+02] [ 7.98312839e-01 -6.02239043e-01 -2.17885039e-03 1.25359476e+02] [ 2.69296064e-03 -4.81825970e-05 9.99996373e-01 6.39367440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.044012739 meters Centerline goodness : 0.992587 Centerline is valid? [True, True] Translation: X:181.87, Y:125.35, Z:0.64 [[-6.00624260e-01 -7.99529855e-01 1.58415887e-03 1.81871833e+02] [ 7.99526889e-01 -6.00626348e-01 -2.17825577e-03 1.25351946e+02] [ 2.69306808e-03 -4.17356527e-05 9.99996373e-01 6.38793901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.074012739 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:181.86, Y:125.37, Z:0.64 [[-5.99241282e-01 -8.00566908e-01 1.58497653e-03 1.81862573e+02] [ 8.00563947e-01 -5.99243377e-01 -2.17766065e-03 1.25365927e+02] [ 2.69314974e-03 -3.60690972e-05 9.99996373e-01 6.37982233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.104012739 meters Centerline goodness : 0.991309 Centerline is valid? [True, True] Translation: X:181.87, Y:125.36, Z:0.63 [[-5.96831774e-01 -8.02364829e-01 1.58579730e-03 1.81866073e+02] [ 8.02361876e-01 -5.96833880e-01 -2.17706279e-03 1.25362983e+02] [ 2.69325617e-03 -2.69569506e-05 9.99996373e-01 6.34137838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.134012739 meters Centerline goodness : 0.992029 Centerline is valid? [True, True] Translation: X:181.87, Y:125.36, Z:0.63 [[-5.96436039e-01 -8.02659040e-01 1.58662312e-03 1.81866316e+02] [ 8.02656089e-01 -5.96438149e-01 -2.17646077e-03 1.25363873e+02] [ 2.69327847e-03 -2.46069307e-05 9.99996373e-01 6.31708930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.164012739 meters Centerline goodness : 0.991863 Centerline is valid? [True, True] Translation: X:181.86, Y:125.37, Z:0.63 [[-5.96046251e-01 -8.02948533e-01 1.58744899e-03 1.81859823e+02] [ 8.02945586e-01 -5.96048364e-01 -2.17585824e-03 1.25373927e+02] [ 2.69329856e-03 -2.22769857e-05 9.99996373e-01 6.30473368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.194012739 meters Centerline goodness : 0.991258 Centerline is valid? [True, True] Translation: X:181.87, Y:125.36, Z:0.63 [[-5.94763451e-01 -8.03899194e-01 1.58827983e-03 1.81866521e+02] [ 8.03896251e-01 -5.94765572e-01 -2.17525160e-03 1.25364957e+02] [ 2.69333717e-03 -1.69479508e-05 9.99996373e-01 6.32476613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.224012739 meters Centerline goodness : 0.991889 Centerline is valid? [True, True] Translation: X:181.87, Y:125.36, Z:0.64 [[-5.94300773e-01 -8.04241298e-01 1.58911222e-03 1.81865808e+02] [ 8.04238358e-01 -5.94302897e-01 -2.17464333e-03 1.25363277e+02] [ 2.69335197e-03 -1.43672043e-05 9.99996373e-01 6.37203429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.254012739 meters Centerline goodness : 0.992334 Centerline is valid? [True, True] Translation: X:181.87, Y:125.35, Z:0.64 [[-5.94850492e-01 -8.03834787e-01 1.58994232e-03 1.81873562e+02] [ 8.03831847e-01 -5.94852617e-01 -2.17403625e-03 1.25352651e+02] [ 2.69334732e-03 -1.51802660e-05 9.99996373e-01 6.38126463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.284012739 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:181.87, Y:125.36, Z:0.64 [[-5.95673818e-01 -8.03224858e-01 1.59076944e-03 1.81865792e+02] [ 8.03221917e-01 -5.95675942e-01 -2.17343087e-03 1.25363824e+02] [ 2.69333679e-03 -1.69149861e-05 9.99996373e-01 6.37596617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.314012739 meters Centerline goodness : 0.991978 Centerline is valid? [True, True] Translation: X:181.87, Y:125.35, Z:0.64 [[-5.96658074e-01 -8.02493993e-01 1.59159784e-03 1.81874577e+02] [ 8.02491052e-01 -5.96660197e-01 -2.17282407e-03 1.25351083e+02] [ 2.69332134e-03 -1.91900043e-05 9.99996373e-01 6.35410190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.344012739 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:181.88, Y:125.34, Z:0.63 [[-5.97220550e-01 -8.02075482e-01 1.59242683e-03 1.81878230e+02] [ 8.02072541e-01 -5.97222672e-01 -2.17221634e-03 1.25344407e+02] [ 2.69331488e-03 -2.00504059e-05 9.99996373e-01 6.34059102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.374012739 meters Centerline goodness : 0.991848 Centerline is valid? [True, True] Translation: X:181.88, Y:125.34, Z:0.63 [[-5.97928958e-01 -8.01547517e-01 1.59325027e-03 1.81881774e+02] [ 8.01544576e-01 -5.97931081e-01 -2.17161221e-03 1.25336653e+02] [ 2.69330423e-03 -2.14087195e-05 9.99996373e-01 6.32811711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.404012739 meters Centerline goodness : 0.991987 Centerline is valid? [True, True] Translation: X:181.88, Y:125.34, Z:0.63 [[-5.98798655e-01 -8.00898015e-01 1.59407023e-03 1.81877071e+02] [ 8.00895073e-01 -5.98800776e-01 -2.17101015e-03 1.25341517e+02] [ 2.69328821e-03 -2.33149605e-05 9.99996373e-01 6.33362850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.434012739 meters Centerline goodness : 0.992366 Centerline is valid? [True, True] Translation: X:181.88, Y:125.33, Z:0.63 [[-5.99547448e-01 -8.00337625e-01 1.59489079e-03 1.81883736e+02] [ 8.00334683e-01 -5.99549569e-01 -2.17040718e-03 1.25330476e+02] [ 2.69327461e-03 -2.48156725e-05 9.99996373e-01 6.34481033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.464012739 meters Centerline goodness : 0.992339 Centerline is valid? [True, True] Translation: X:181.89, Y:125.32, Z:0.64 [[-6.00162671e-01 -7.99876379e-01 1.59571084e-03 1.81888651e+02] [ 7.99873436e-01 -6.00164792e-01 -2.16980410e-03 1.25321615e+02] [ 2.69326451e-03 -2.58687085e-05 9.99996373e-01 6.36769244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.494012739 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:181.88, Y:125.34, Z:0.64 [[-6.00570193e-01 -7.99570444e-01 1.59652533e-03 1.81876711e+02] [ 7.99567502e-01 -6.00572314e-01 -2.16920464e-03 1.25338082e+02] [ 2.69326082e-03 -2.62298810e-05 9.99996373e-01 6.36266990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.524012739 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:181.88, Y:125.33, Z:0.64 [[-6.00743522e-01 -7.99440222e-01 1.59734438e-03 1.81878512e+02] [ 7.99437281e-01 -6.00745645e-01 -2.16860134e-03 1.25334130e+02] [ 2.69326482e-03 -2.57965535e-05 9.99996373e-01 6.35271192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55401273900003 meters Centerline goodness : 0.992529 Centerline is valid? [True, True] Translation: X:181.88, Y:125.33, Z:0.63 [[-6.00637469e-01 -7.99519904e-01 1.59816944e-03 1.81882330e+02] [ 7.99516965e-01 -6.00639595e-01 -2.16799314e-03 1.25326425e+02] [ 2.69327751e-03 -2.44143327e-05 9.99996373e-01 6.34918684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.584012739 meters Centerline goodness : 0.991916 Centerline is valid? [True, True] Translation: X:181.89, Y:125.32, Z:0.63 [[-6.00007765e-01 -7.99992578e-01 1.59899182e-03 1.81885143e+02] [ 7.99989642e-01 -6.00009896e-01 -2.16738642e-03 1.25322161e+02] [ 2.69330397e-03 -2.12717940e-05 9.99996373e-01 6.33261484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61401273900003 meters Centerline goodness : 0.992400 Centerline is valid? [True, True] Translation: X:181.88, Y:125.33, Z:0.63 [[-6.00250326e-01 -7.99810595e-01 1.59981127e-03 1.81882673e+02] [ 7.99807660e-01 -6.00252457e-01 -2.16678139e-03 1.25326438e+02] [ 2.69330536e-03 -2.10699298e-05 9.99996373e-01 6.33715726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.644012739 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:181.88, Y:125.33, Z:0.63 [[-6.01054306e-01 -7.99206581e-01 1.60063197e-03 1.81879946e+02] [ 7.99203646e-01 -6.01056437e-01 -2.16617496e-03 1.25330871e+02] [ 2.69329143e-03 -2.27578754e-05 9.99996373e-01 6.32911146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.674012739 meters Centerline goodness : 0.992682 Centerline is valid? [True, True] Translation: X:181.89, Y:125.32, Z:0.63 [[-6.01870848e-01 -7.98591834e-01 1.60145693e-03 1.81889457e+02] [ 7.98588898e-01 -6.01872979e-01 -2.16556490e-03 1.25320117e+02] [ 2.69327609e-03 -2.44846599e-05 9.99996373e-01 6.32105163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.704012739 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:181.90, Y:125.32, Z:0.63 [[-6.03039720e-01 -7.97709552e-01 1.60228055e-03 1.81895273e+02] [ 7.97706614e-01 -6.03041848e-01 -2.16495534e-03 1.25316521e+02] [ 2.69324777e-03 -2.74042672e-05 9.99996373e-01 6.31638972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.734012739 meters Centerline goodness : 0.992459 Centerline is valid? [True, True] Translation: X:181.90, Y:125.32, Z:0.63 [[-6.05121213e-01 -7.96131740e-01 1.60309908e-03 1.81902867e+02] [ 7.96128799e-01 -6.05123335e-01 -2.16434906e-03 1.25315880e+02] [ 2.69317965e-03 -3.34201818e-05 9.99996373e-01 6.31366460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.764012739 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:181.90, Y:125.33, Z:0.63 [[-6.06295372e-01 -7.95237920e-01 1.60391564e-03 1.81896262e+02] [ 7.95234977e-01 -6.06297493e-01 -2.16374377e-03 1.25327650e+02] [ 2.69314113e-03 -3.63780165e-05 9.99996373e-01 6.31082328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.794012739 meters Centerline goodness : 0.992841 Centerline is valid? [True, True] Translation: X:181.91, Y:125.31, Z:0.63 [[-6.06821489e-01 -7.94836527e-01 1.60473586e-03 1.81912483e+02] [ 7.94833585e-01 -6.06823610e-01 -2.16313528e-03 1.25313472e+02] [ 2.69313055e-03 -3.71390152e-05 9.99996373e-01 6.32568596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.824012739 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:181.92, Y:125.31, Z:0.63 [[-6.06583347e-01 -7.95018280e-01 1.60555519e-03 1.81920478e+02] [ 7.95015340e-01 -6.06585471e-01 -2.16252698e-03 1.25308380e+02] [ 2.69315493e-03 -3.53118507e-05 9.99996373e-01 6.34611903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.854012739 meters Centerline goodness : 0.993123 Centerline is valid? [True, True] Translation: X:181.92, Y:125.31, Z:0.64 [[-6.05856919e-01 -7.95572004e-01 1.60636694e-03 1.81923223e+02] [ 7.95569067e-01 -6.05859048e-01 -2.16192383e-03 1.25310515e+02] [ 2.69319802e-03 -3.18406626e-05 9.99996373e-01 6.36751471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.884012739 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:181.90, Y:125.34, Z:0.64 [[-6.03175899e-01 -7.97606577e-01 1.60717740e-03 1.81904391e+02] [ 7.97603649e-01 -6.03178040e-01 -2.16132116e-03 1.25344226e+02] [ 2.69329809e-03 -2.17662754e-05 9.99996373e-01 6.38289365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.914012739 meters Centerline goodness : 0.993143 Centerline is valid? [True, True] Translation: X:181.91, Y:125.33, Z:0.64 [[-6.01719331e-01 -7.98705992e-01 1.60800023e-03 1.81913967e+02] [ 7.98703069e-01 -6.01721479e-01 -2.16070881e-03 1.25334769e+02] [ 2.69333935e-03 -1.58255421e-05 9.99996373e-01 6.36696529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.944012739 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:181.93, Y:125.32, Z:0.63 [[-5.98718916e-01 -8.00957597e-01 1.60883190e-03 1.81927298e+02] [ 8.00954684e-01 -5.98721077e-01 -2.16008939e-03 1.25321594e+02] [ 2.69338157e-03 -4.68493443e-06 9.99996373e-01 6.33607646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.974012739 meters Centerline goodness : 0.993607 Centerline is valid? [True, True] Translation: X:181.93, Y:125.32, Z:0.63 [[-5.96901501e-01 -8.02312911e-01 1.60965520e-03 1.81933419e+02] [ 8.02310005e-01 -5.96903672e-01 -2.15947570e-03 1.25315341e+02] [ 2.69338434e-03 2.44818369e-06 9.99996373e-01 6.33509220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.004012739 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:181.95, Y:125.29, Z:0.63 [[-5.94670541e-01 -8.03967881e-01 1.61047166e-03 1.81949678e+02] [ 8.03964983e-01 -5.94672722e-01 -2.15886664e-03 1.25294061e+02] [ 2.69336300e-03 1.09484280e-05 9.99996373e-01 6.34169931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.034012739 meters Centerline goodness : 0.993139 Centerline is valid? [True, True] Translation: X:181.95, Y:125.29, Z:0.64 [[-5.88475267e-01 -8.08513614e-01 1.61127914e-03 1.81953375e+02] [ 8.08510734e-01 -5.88477472e-01 -2.15826380e-03 1.25286560e+02] [ 2.69318715e-03 3.26516151e-05 9.99996373e-01 6.36640190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.064012739 meters Centerline goodness : 0.993208 Centerline is valid? [True, True] Translation: X:181.97, Y:125.26, Z:0.64 [[-5.82786001e-01 -8.12624070e-01 1.61207784e-03 1.81972172e+02] [ 8.12621207e-01 -5.82788228e-01 -2.15766706e-03 1.25258817e+02] [ 2.69287218e-03 5.25504824e-05 9.99996373e-01 6.36915059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.094012739 meters Centerline goodness : 0.993516 Centerline is valid? [True, True] Translation: X:181.96, Y:125.27, Z:0.64 [[-5.81070445e-01 -8.13851668e-01 1.61286606e-03 1.81964127e+02] [ 8.13848811e-01 -5.81072680e-01 -2.15707771e-03 1.25268337e+02] [ 2.69273369e-03 5.92150238e-05 9.99996373e-01 6.37152530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.124012739 meters Centerline goodness : 0.993159 Centerline is valid? [True, True] Translation: X:181.98, Y:125.25, Z:0.64 [[-5.80582462e-01 -8.14199853e-01 1.61364971e-03 1.81976910e+02] [ 8.14197000e-01 -5.80584701e-01 -2.15649132e-03 1.25250284e+02] [ 2.69267525e-03 6.18077138e-05 9.99996373e-01 6.36592426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.154012739 meters Centerline goodness : 0.992988 Centerline is valid? [True, True] Translation: X:181.97, Y:125.26, Z:0.64 [[-5.82385831e-01 -8.12910904e-01 1.61443179e-03 1.81969941e+02] [ 8.12908047e-01 -5.82388066e-01 -2.15590567e-03 1.25258631e+02] [ 2.69278503e-03 5.68156822e-05 9.99996373e-01 6.35398793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.184012739 meters Centerline goodness : 0.993180 Centerline is valid? [True, True] Translation: X:181.97, Y:125.27, Z:0.63 [[-5.84749903e-01 -8.11212020e-01 1.61521206e-03 1.81965936e+02] [ 8.11209159e-01 -5.84752132e-01 -2.15532093e-03 1.25265431e+02] [ 2.69292094e-03 4.99511164e-05 9.99996373e-01 6.34778720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.214012739 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:181.95, Y:125.29, Z:0.63 [[-5.89393203e-01 -8.07844689e-01 1.61599830e-03 1.81954630e+02] [ 8.07841816e-01 -5.89395417e-01 -2.15473126e-03 1.25286205e+02] [ 2.69315020e-03 3.54870429e-05 9.99996373e-01 6.34296097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.244012739 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:181.97, Y:125.27, Z:0.63 [[-5.90802257e-01 -8.06814774e-01 1.61679466e-03 1.81966122e+02] [ 8.06811899e-01 -5.90804468e-01 -2.15413355e-03 1.25271999e+02] [ 2.69319629e-03 3.17822069e-05 9.99996373e-01 6.33996979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.274012739 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:181.97, Y:125.27, Z:0.63 [[-5.91099820e-01 -8.06596793e-01 1.61759362e-03 1.81967670e+02] [ 8.06593919e-01 -5.91102033e-01 -2.15353343e-03 1.25270062e+02] [ 2.69319603e-03 3.17879551e-05 9.99996373e-01 6.33990203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30401273900003 meters Centerline goodness : 0.993489 Centerline is valid? [True, True] Translation: X:181.98, Y:125.26, Z:0.63 [[-5.91402755e-01 -8.06374704e-01 1.61838776e-03 1.81977847e+02] [ 8.06371830e-01 -5.91404968e-01 -2.15293646e-03 1.25255461e+02] [ 2.69319606e-03 3.17697450e-05 9.99996373e-01 6.34332855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.334012739 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:181.98, Y:125.25, Z:0.64 [[-5.88497972e-01 -8.08497072e-01 1.61917751e-03 1.81976419e+02] [ 8.08494208e-01 -5.88500198e-01 -2.15234235e-03 1.25253686e+02] [ 2.69304877e-03 4.24465294e-05 9.99996373e-01 6.35972752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36401273900003 meters Centerline goodness : 0.993313 Centerline is valid? [True, True] Translation: X:181.98, Y:125.24, Z:0.64 [[-5.86647311e-01 -8.09840916e-01 1.61996328e-03 1.81982213e+02] [ 8.09838058e-01 -5.86649545e-01 -2.15175077e-03 1.25243985e+02] [ 2.69292654e-03 4.95891098e-05 9.99996373e-01 6.36625187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.394012739 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:181.99, Y:125.23, Z:0.64 [[-5.82819747e-01 -8.12599849e-01 1.62074685e-03 1.81986878e+02] [ 8.12597005e-01 -5.82821997e-01 -2.15116041e-03 1.25232497e+02] [ 2.69263954e-03 6.32752685e-05 9.99996373e-01 6.37313895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.424012739 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:181.99, Y:125.23, Z:0.64 [[-5.81975436e-01 -8.13204748e-01 1.62152540e-03 1.81988128e+02] [ 8.13201907e-01 -5.81977691e-01 -2.15057338e-03 1.25228060e+02] [ 2.69254810e-03 6.70466659e-05 9.99996373e-01 6.36202411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.454012739 meters Centerline goodness : 0.993726 Centerline is valid? [True, True] Translation: X:181.99, Y:125.23, Z:0.63 [[-5.81631454e-01 -8.13450810e-01 1.62230070e-03 1.81986203e+02] [ 8.13447971e-01 -5.81633713e-01 -2.14998837e-03 1.25228764e+02] [ 2.69249456e-03 6.91563517e-05 9.99996373e-01 6.34975923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.484012739 meters Centerline goodness : 0.993854 Centerline is valid? [True, True] Translation: X:182.00, Y:125.21, Z:0.64 [[-5.81568509e-01 -8.13495811e-01 1.62307639e-03 1.81998059e+02] [ 8.13492975e-01 -5.81570770e-01 -2.14940262e-03 1.25208083e+02] [ 2.69246382e-03 7.03363630e-05 9.99996373e-01 6.35683189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.514012739 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:181.99, Y:125.21, Z:0.64 [[-5.81631559e-01 -8.13450732e-01 1.62384729e-03 1.81994905e+02] [ 8.13447896e-01 -5.81633822e-01 -2.14882006e-03 1.25207735e+02] [ 2.69244376e-03 7.10935986e-05 9.99996373e-01 6.36246686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.544012739 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:181.98, Y:125.22, Z:0.64 [[-5.80766582e-01 -8.14068509e-01 1.62461356e-03 1.81975620e+02] [ 8.14065678e-01 -5.80768849e-01 -2.14824057e-03 1.25223602e+02] [ 2.69233995e-03 7.49158080e-05 9.99996373e-01 6.35104769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.574012739 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:181.98, Y:125.22, Z:0.63 [[-5.80005234e-01 -8.14611126e-01 1.62538778e-03 1.81976322e+02] [ 8.14608299e-01 -5.80007506e-01 -2.14765463e-03 1.25217703e+02] [ 2.69224046e-03 7.84034464e-05 9.99996373e-01 6.33485491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.604012739 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:181.99, Y:125.20, Z:0.63 [[-5.79071038e-01 -8.15275468e-01 1.62616825e-03 1.81987307e+02] [ 8.15272645e-01 -5.79073315e-01 -2.14706350e-03 1.25197938e+02] [ 2.69211884e-03 8.24681988e-05 9.99996373e-01 6.31100931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.634012739 meters Centerline goodness : 0.993919 Centerline is valid? [True, True] Translation: X:181.99, Y:125.19, Z:0.63 [[-5.77897227e-01 -8.16107927e-01 1.62694264e-03 1.81985857e+02] [ 8.16105108e-01 -5.77899511e-01 -2.14647655e-03 1.25191108e+02] [ 2.69196588e-03 8.73133547e-05 9.99996373e-01 6.29127744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.664012739 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:181.98, Y:125.20, Z:0.63 [[-5.78148762e-01 -8.15929751e-01 1.62771093e-03 1.81981435e+02] [ 8.15926934e-01 -5.78151047e-01 -2.14589378e-03 1.25195088e+02] [ 2.69196136e-03 8.74473555e-05 9.99996373e-01 6.29868633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.694012739 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:181.98, Y:125.19, Z:0.63 [[-5.79947944e-01 -8.14651907e-01 1.62848057e-03 1.81983089e+02] [ 8.14649087e-01 -5.79950225e-01 -2.14530956e-03 1.25189733e+02] [ 2.69211819e-03 8.24723403e-05 9.99996373e-01 6.29533925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.724012739 meters Centerline goodness : 0.993756 Centerline is valid? [True, True] Translation: X:181.98, Y:125.20, Z:0.63 [[-5.81579455e-01 -8.13487973e-01 1.62925167e-03 1.81976779e+02] [ 8.13485150e-01 -5.81581732e-01 -2.14472378e-03 1.25196236e+02] [ 2.69225001e-03 7.80447476e-05 9.99996373e-01 6.29381763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.754012739 meters Centerline goodness : 0.993448 Centerline is valid? [True, True] Translation: X:181.97, Y:125.20, Z:0.63 [[-5.83250414e-01 -8.12290772e-01 1.63002462e-03 1.81973129e+02] [ 8.12287945e-01 -5.83252687e-01 -2.14413617e-03 1.25199195e+02] [ 2.69237826e-03 7.34810376e-05 9.99996373e-01 6.28856207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.784012739 meters Centerline goodness : 0.993405 Centerline is valid? [True, True] Translation: X:181.97, Y:125.21, Z:0.63 [[-5.84608798e-01 -8.11313684e-01 1.63080246e-03 1.81965927e+02] [ 8.11310856e-01 -5.84611068e-01 -2.14354439e-03 1.25205561e+02] [ 2.69247206e-03 6.99528309e-05 9.99996373e-01 6.27838776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.814012739 meters Centerline goodness : 0.993783 Centerline is valid? [True, True] Translation: X:181.97, Y:125.19, Z:0.63 [[-5.84265657e-01 -8.11560829e-01 1.63158526e-03 1.81973905e+02] [ 8.11558003e-01 -5.84267931e-01 -2.14294838e-03 1.25192937e+02] [ 2.69241591e-03 7.20749344e-05 9.99996373e-01 6.28623446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.844012739 meters Centerline goodness : 0.993932 Centerline is valid? [True, True] Translation: X:181.98, Y:125.17, Z:0.63 [[-5.81272082e-01 -8.13707627e-01 1.63236760e-03 1.81982249e+02] [ 8.13704811e-01 -5.81274368e-01 -2.14235228e-03 1.25174376e+02] [ 2.69210184e-03 8.29758006e-05 9.99996373e-01 6.30651258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.874012739 meters Centerline goodness : 0.993401 Centerline is valid? [True, True] Translation: X:181.98, Y:125.17, Z:0.63 [[-5.79455562e-01 -8.15002199e-01 1.63314187e-03 1.81982242e+02] [ 8.14999390e-01 -5.79457857e-01 -2.14176188e-03 1.25169734e+02] [ 2.69187753e-03 8.99537913e-05 9.99996373e-01 6.30368692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.904012739 meters Centerline goodness : 0.993493 Centerline is valid? [True, True] Translation: X:181.99, Y:125.16, Z:0.63 [[-5.77587621e-01 -8.16327061e-01 1.63391086e-03 1.81988409e+02] [ 8.16324259e-01 -5.77589924e-01 -2.14117507e-03 1.25158062e+02] [ 2.69162960e-03 9.70848542e-05 9.99996373e-01 6.31050954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.934012739 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:181.99, Y:125.15, Z:0.63 [[-5.75124896e-01 -8.18063984e-01 1.63467653e-03 1.81990842e+02] [ 8.18061191e-01 -5.75127209e-01 -2.14059036e-03 1.25149614e+02] [ 2.69128683e-03 1.06158620e-04 9.99996373e-01 6.33692376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.964012739 meters Centerline goodness : 0.993544 Centerline is valid? [True, True] Translation: X:182.00, Y:125.14, Z:0.63 [[-5.75236738e-01 -8.17985343e-01 1.63543775e-03 1.81995668e+02] [ 8.17982550e-01 -5.75239053e-01 -2.14000863e-03 1.25140970e+02] [ 2.69126335e-03 1.06747959e-04 9.99996373e-01 6.34121788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.994012739 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:181.98, Y:125.15, Z:0.63 [[-5.78110125e-01 -8.15957110e-01 1.63619548e-03 1.81981958e+02] [ 8.15954311e-01 -5.78112432e-01 -2.13942913e-03 1.25153527e+02] [ 2.69158736e-03 9.82351111e-05 9.99996373e-01 6.33347155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.024012739 meters Centerline goodness : 0.993460 Centerline is valid? [True, True] Translation: X:181.98, Y:125.15, Z:0.63 [[-5.80963630e-01 -8.13927872e-01 1.63695663e-03 1.81981704e+02] [ 8.13925067e-01 -5.80965929e-01 -2.13884659e-03 1.25152928e+02] [ 2.69188288e-03 8.97679523e-05 9.99996373e-01 6.33299426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05401273900003 meters Centerline goodness : 0.993764 Centerline is valid? [True, True] Translation: X:181.98, Y:125.16, Z:0.63 [[-5.83929802e-01 -8.11802504e-01 1.63772349e-03 1.81976167e+02] [ 8.11799692e-01 -5.83932093e-01 -2.13825923e-03 1.25160665e+02] [ 2.69216350e-03 8.09101369e-05 9.99996373e-01 6.32856611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.084012739 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:181.97, Y:125.17, Z:0.63 [[-5.88554369e-01 -8.08455979e-01 1.63849387e-03 1.81972233e+02] [ 8.08453156e-01 -5.88556646e-01 -2.13766875e-03 1.25165609e+02] [ 2.69255754e-03 6.65112513e-05 9.99996373e-01 6.31673962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11401273900003 meters Centerline goodness : 0.993596 Centerline is valid? [True, True] Translation: X:181.96, Y:125.18, Z:0.63 [[-5.89977936e-01 -8.07417704e-01 1.63926961e-03 1.81959782e+02] [ 8.07414878e-01 -5.89980210e-01 -2.13707371e-03 1.25181408e+02] [ 2.69264777e-03 6.27443342e-05 9.99996373e-01 6.31130648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.144012739 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:181.96, Y:125.18, Z:0.63 [[-5.90517550e-01 -8.07023131e-01 1.64005353e-03 1.81957558e+02] [ 8.07020305e-01 -5.90519824e-01 -2.13647193e-03 1.25183581e+02] [ 2.69266639e-03 6.19323293e-05 9.99996373e-01 6.32069239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.174012739 meters Centerline goodness : 0.993792 Centerline is valid? [True, True] Translation: X:181.96, Y:125.19, Z:0.63 [[-5.90142721e-01 -8.07297266e-01 1.64084505e-03 1.81956154e+02] [ 8.07294443e-01 -5.90144999e-01 -2.13586387e-03 1.25185116e+02] [ 2.69261356e-03 6.41805740e-05 9.99996373e-01 6.33667508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.204012739 meters Centerline goodness : 0.994245 Centerline is valid? [True, True] Translation: X:181.97, Y:125.17, Z:0.63 [[-5.89617481e-01 -8.07680959e-01 1.64163940e-03 1.81965290e+02] [ 8.07678139e-01 -5.89619763e-01 -2.13525314e-03 1.25171345e+02] [ 2.69254634e-03 6.69336786e-05 9.99996373e-01 6.33970081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.234012739 meters Centerline goodness : 0.993659 Centerline is valid? [True, True] Translation: X:181.97, Y:125.16, Z:0.63 [[-5.87099385e-01 -8.09513196e-01 1.64243072e-03 1.81970974e+02] [ 8.09510385e-01 -5.87101678e-01 -2.13464429e-03 1.25159558e+02] [ 2.69229655e-03 7.63163752e-05 9.99996373e-01 6.29554568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.264012739 meters Centerline goodness : 0.994103 Centerline is valid? [True, True] Translation: X:181.98, Y:125.15, Z:0.63 [[-5.84999514e-01 -8.11031978e-01 1.64321513e-03 1.81976496e+02] [ 8.11029175e-01 -5.85001815e-01 -2.13404029e-03 1.25149811e+02] [ 2.69205875e-03 8.42828745e-05 9.99996373e-01 6.27318774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.294012739 meters Centerline goodness : 0.993213 Centerline is valid? [True, True] Translation: X:181.97, Y:125.15, Z:0.63 [[-5.84630793e-01 -8.11297808e-01 1.64399421e-03 1.81973661e+02] [ 8.11295007e-01 -5.84633099e-01 -2.13343995e-03 1.25150936e+02] [ 2.69198858e-03 8.64896061e-05 9.99996373e-01 6.28296600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.324012739 meters Centerline goodness : 0.993616 Centerline is valid? [True, True] Translation: X:181.98, Y:125.14, Z:0.63 [[-5.84599859e-01 -8.11320097e-01 1.64477197e-03 1.81977376e+02] [ 8.11317298e-01 -5.84602166e-01 -2.13284017e-03 1.25142615e+02] [ 2.69195335e-03 8.75738856e-05 9.99996373e-01 6.27964887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.354012739 meters Centerline goodness : 0.993610 Centerline is valid? [True, True] Translation: X:181.96, Y:125.16, Z:0.63 [[-5.85060347e-01 -8.10988090e-01 1.64554925e-03 1.81962636e+02] [ 8.10985292e-01 -5.85062655e-01 -2.13224030e-03 1.25155397e+02] [ 2.69197090e-03 8.70269945e-05 9.99996373e-01 6.26431267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.384012739 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:181.98, Y:125.14, Z:0.62 [[-5.85842381e-01 -8.10423342e-01 1.64633065e-03 1.81975948e+02] [ 8.10420543e-01 -5.85844688e-01 -2.13163680e-03 1.25135743e+02] [ 2.69202229e-03 8.54170040e-05 9.99996373e-01 6.24554218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.414012739 meters Centerline goodness : 0.993390 Centerline is valid? [True, True] Translation: X:181.96, Y:125.14, Z:0.62 [[-5.87811048e-01 -8.08996575e-01 1.64711183e-03 1.81962932e+02] [ 8.08993772e-01 -5.87813351e-01 -2.13103301e-03 1.25144744e+02] [ 2.69219273e-03 7.98584633e-05 9.99996373e-01 6.24598984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.444012739 meters Centerline goodness : 0.993203 Centerline is valid? [True, True] Translation: X:181.95, Y:125.15, Z:0.63 [[-5.88836475e-01 -8.08250512e-01 1.64789167e-03 1.81954411e+02] [ 8.08247708e-01 -5.88838776e-01 -2.13042981e-03 1.25151914e+02] [ 2.69226350e-03 7.74298887e-05 9.99996373e-01 6.26970745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.474012739 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:181.96, Y:125.14, Z:0.63 [[-5.89875308e-01 -8.07492664e-01 1.64867981e-03 1.81959563e+02] [ 8.07489859e-01 -5.89877608e-01 -2.12981972e-03 1.25142031e+02] [ 2.69233310e-03 7.49641631e-05 9.99996373e-01 6.28536936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.504012739 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:181.97, Y:125.12, Z:0.63 [[-5.91750246e-01 -8.06119672e-01 1.64946911e-03 1.81970183e+02] [ 8.06116863e-01 -5.91752541e-01 -2.12920825e-03 1.25122972e+02] [ 2.69247419e-03 6.97053559e-05 9.99996373e-01 6.28851982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.534012739 meters Centerline goodness : 0.993478 Centerline is valid? [True, True] Translation: X:181.96, Y:125.14, Z:0.63 [[-5.93159369e-01 -8.05083374e-01 1.65025076e-03 1.81958024e+02] [ 8.05080563e-01 -5.93161661e-01 -2.12860226e-03 1.25135642e+02] [ 2.69256777e-03 6.59844427e-05 9.99996373e-01 6.27566079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.564012739 meters Centerline goodness : 0.993279 Centerline is valid? [True, True] Translation: X:181.96, Y:125.13, Z:0.63 [[-5.95852926e-01 -8.03091878e-01 1.65103245e-03 1.81960815e+02] [ 8.03089061e-01 -5.95855211e-01 -2.12799578e-03 1.25126234e+02] [ 2.69275241e-03 5.79535852e-05 9.99996373e-01 6.28375930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.594012739 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:181.94, Y:125.15, Z:0.63 [[-5.97247351e-01 -8.02055405e-01 1.65181753e-03 1.81939463e+02] [ 8.02052585e-01 -5.97249633e-01 -2.12738619e-03 1.25152673e+02] [ 2.69282901e-03 5.42687518e-05 9.99996373e-01 6.30779030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.624012739 meters Centerline goodness : 0.993301 Centerline is valid? [True, True] Translation: X:181.94, Y:125.15, Z:0.63 [[-5.98667807e-01 -8.00995709e-01 1.65261078e-03 1.81943026e+02] [ 8.00992887e-01 -5.98670086e-01 -2.12676980e-03 1.25147792e+02] [ 2.69290212e-03 5.05008632e-05 9.99996373e-01 6.33452091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.654012739 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:181.94, Y:125.15, Z:0.64 [[-6.01221332e-01 -7.99080832e-01 1.65341315e-03 1.81939825e+02] [ 7.99078005e-01 -6.01223604e-01 -2.12614583e-03 1.25151587e+02] [ 2.69303339e-03 4.29218498e-05 9.99996373e-01 6.35151918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.684012739 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:181.93, Y:125.16, Z:0.63 [[-6.03299402e-01 -7.97513069e-01 1.65421646e-03 1.81933802e+02] [ 7.97510237e-01 -6.03301669e-01 -2.12552064e-03 1.25159731e+02] [ 2.69312204e-03 3.69292336e-05 9.99996373e-01 6.32195625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.714012739 meters Centerline goodness : 0.992920 Centerline is valid? [True, True] Translation: X:181.94, Y:125.15, Z:0.63 [[-6.03929697e-01 -7.97035873e-01 1.65502538e-03 1.81941842e+02] [ 7.97033041e-01 -6.03931963e-01 -2.12489059e-03 1.25150038e+02] [ 2.69313676e-03 3.58253834e-05 9.99996373e-01 6.30912280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.744012739 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:181.94, Y:125.16, Z:0.63 [[-6.04318845e-01 -7.96740856e-01 1.65583499e-03 1.81937474e+02] [ 7.96738025e-01 -6.04321112e-01 -2.12425951e-03 1.25156504e+02] [ 2.69314039e-03 3.55366500e-05 9.99996373e-01 6.30641661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.774012739 meters Centerline goodness : 0.993189 Centerline is valid? [True, True] Translation: X:181.94, Y:125.16, Z:0.63 [[-6.04680970e-01 -7.96466057e-01 1.65664436e-03 1.81938776e+02] [ 7.96463226e-01 -6.04683239e-01 -2.12362812e-03 1.25156304e+02] [ 2.69314279e-03 3.53388029e-05 9.99996373e-01 6.32089130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80401273900003 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:181.95, Y:125.14, Z:0.63 [[-6.05003128e-01 -7.96221369e-01 1.65745699e-03 1.81951792e+02] [ 7.96218539e-01 -6.05005397e-01 -2.12299369e-03 1.25141101e+02] [ 2.69314337e-03 3.52801645e-05 9.99996373e-01 6.31036745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.834012739 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:181.96, Y:125.14, Z:0.63 [[-6.06358259e-01 -7.95189859e-01 1.65826468e-03 1.81955896e+02] [ 7.95187027e-01 -6.06360526e-01 -2.12236262e-03 1.25141477e+02] [ 2.69318747e-03 3.17184588e-05 9.99996373e-01 6.27685740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86401273900003 meters Centerline goodness : 0.992994 Centerline is valid? [True, True] Translation: X:181.96, Y:125.14, Z:0.63 [[-6.07627604e-01 -7.94220336e-01 1.65906683e-03 1.81959029e+02] [ 7.94217503e-01 -6.07629868e-01 -2.12173538e-03 1.25141029e+02] [ 2.69322395e-03 2.84349283e-05 9.99996373e-01 6.27154536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.894012739 meters Centerline goodness : 0.992835 Centerline is valid? [True, True] Translation: X:181.95, Y:125.15, Z:0.63 [[-6.09110705e-01 -7.93083472e-01 1.65986901e-03 1.81954507e+02] [ 7.93080636e-01 -6.09112967e-01 -2.12110764e-03 1.25149420e+02] [ 2.69326315e-03 2.44205997e-05 9.99996373e-01 6.27178568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.924012739 meters Centerline goodness : 0.992378 Centerline is valid? [True, True] Translation: X:181.96, Y:125.15, Z:0.63 [[-6.11035209e-01 -7.91601677e-01 1.66067452e-03 1.81958830e+02] [ 7.91598837e-01 -6.11037465e-01 -2.12047680e-03 1.25147309e+02] [ 2.69330734e-03 1.89020323e-05 9.99996373e-01 6.26410617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.954012739 meters Centerline goodness : 0.991992 Centerline is valid? [True, True] Translation: X:181.95, Y:125.16, Z:0.62 [[-6.11903848e-01 -7.90930415e-01 1.66148271e-03 1.81952684e+02] [ 7.90927574e-01 -6.11906103e-01 -2.11984335e-03 1.25158257e+02] [ 2.69332000e-03 1.69721872e-05 9.99996373e-01 6.24634633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.984012739 meters Centerline goodness : 0.991822 Centerline is valid? [True, True] Translation: X:181.96, Y:125.16, Z:0.62 [[-6.13522953e-01 -7.89675138e-01 1.66229444e-03 1.81960424e+02] [ 7.89672294e-01 -6.13525205e-01 -2.11920664e-03 1.25155311e+02] [ 2.69334433e-03 1.24859418e-05 9.99996373e-01 6.23940399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.014012739 meters Centerline goodness : 0.991567 Centerline is valid? [True, True] Translation: X:181.96, Y:125.15, Z:0.63 [[-6.14051062e-01 -7.89264549e-01 1.66310929e-03 1.81964505e+02] [ 7.89261705e-01 -6.14053314e-01 -2.11856697e-03 1.25152430e+02] [ 2.69334757e-03 1.17201791e-05 9.99996373e-01 6.25939280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.044012739 meters Centerline goodness : 0.991872 Centerline is valid? [True, True] Translation: X:181.97, Y:125.15, Z:0.63 [[-6.13804540e-01 -7.89456280e-01 1.66392174e-03 1.81968956e+02] [ 7.89453439e-01 -6.13806795e-01 -2.11792868e-03 1.25148641e+02] [ 2.69333857e-03 1.35944966e-05 9.99996373e-01 6.26915671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.074012739 meters Centerline goodness : 0.992349 Centerline is valid? [True, True] Translation: X:181.97, Y:125.15, Z:0.63 [[-6.12278171e-01 -7.90640671e-01 1.66473218e-03 1.81970106e+02] [ 7.90637836e-01 -6.12280433e-01 -2.11729147e-03 1.25152250e+02] [ 2.69329969e-03 1.98289054e-05 9.99996373e-01 6.26937438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.104012739 meters Centerline goodness : 0.992040 Centerline is valid? [True, True] Translation: X:181.97, Y:125.15, Z:0.63 [[-6.11582476e-01 -7.91178931e-01 1.66554293e-03 1.81972483e+02] [ 7.91176100e-01 -6.11584744e-01 -2.11665351e-03 1.25152077e+02] [ 2.69327231e-03 2.32295599e-05 9.99996373e-01 6.26018121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.134012739 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:181.98, Y:125.14, Z:0.63 [[-6.10414855e-01 -7.92080127e-01 1.66635491e-03 1.81984241e+02] [ 7.92077301e-01 -6.10417129e-01 -2.11601408e-03 1.25141063e+02] [ 2.69322428e-03 2.82354743e-05 9.99996373e-01 6.25216050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.164012739 meters Centerline goodness : 0.992359 Centerline is valid? [True, True] Translation: X:181.99, Y:125.14, Z:0.63 [[-6.10715897e-01 -7.91848037e-01 1.66716314e-03 1.81985849e+02] [ 7.91845212e-01 -6.10718172e-01 -2.11537709e-03 1.25139141e+02] [ 2.69322403e-03 2.82407334e-05 9.99996373e-01 6.25209273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.194012739 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:181.99, Y:125.13, Z:0.63 [[-6.11213631e-01 -7.91463907e-01 1.66796701e-03 1.81991718e+02] [ 7.91461082e-01 -6.11215906e-01 -2.11474306e-03 1.25132880e+02] [ 2.69323077e-03 2.75711868e-05 9.99996373e-01 6.26309204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.224012739 meters Centerline goodness : 0.992022 Centerline is valid? [True, True] Translation: X:181.99, Y:125.14, Z:0.63 [[-6.11872495e-01 -7.90954655e-01 1.66876890e-03 1.81986044e+02] [ 7.90951830e-01 -6.11874770e-01 -2.11411008e-03 1.25141686e+02] [ 2.69324280e-03 2.63500075e-05 9.99996373e-01 6.26077598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.254012739 meters Centerline goodness : 0.991957 Centerline is valid? [True, True] Translation: X:181.99, Y:125.15, Z:0.63 [[-6.13728198e-01 -7.89515619e-01 1.66957255e-03 1.81986167e+02] [ 7.89512790e-01 -6.13730468e-01 -2.11347523e-03 1.25146759e+02] [ 2.69328925e-03 2.10495400e-05 9.99996373e-01 6.25059049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.284012739 meters Centerline goodness : 0.991844 Centerline is valid? [True, True] Translation: X:182.00, Y:125.14, Z:0.63 [[-6.14805212e-01 -7.88677223e-01 1.67038156e-03 1.81997062e+02] [ 7.88674393e-01 -6.14807481e-01 -2.11283564e-03 1.25136331e+02] [ 2.69330842e-03 1.84048028e-05 9.99996373e-01 6.25469065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.314012739 meters Centerline goodness : 0.991954 Centerline is valid? [True, True] Translation: X:182.00, Y:125.14, Z:0.63 [[-6.16451743e-01 -7.87390916e-01 1.67118858e-03 1.82002620e+02] [ 7.87388084e-01 -6.16454009e-01 -2.11219712e-03 1.25135096e+02] [ 2.69333572e-03 1.38063803e-05 9.99996373e-01 6.30847625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.344012739 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:182.00, Y:125.14, Z:0.63 [[-6.16892378e-01 -7.87045741e-01 1.67199123e-03 1.81998592e+02] [ 7.87042908e-01 -6.16894644e-01 -2.11156155e-03 1.25142541e+02] [ 2.69333796e-03 1.33226147e-05 9.99996373e-01 6.32455294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.374012739 meters Centerline goodness : 0.992629 Centerline is valid? [True, True] Translation: X:182.01, Y:125.13, Z:0.63 [[-6.17008974e-01 -7.86954336e-01 1.67279630e-03 1.82007218e+02] [ 7.86951505e-01 -6.17011242e-01 -2.11092358e-03 1.25133911e+02] [ 2.69333459e-03 1.39507711e-05 9.99996373e-01 6.32883502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.404012739 meters Centerline goodness : 0.992626 Centerline is valid? [True, True] Translation: X:182.01, Y:125.14, Z:0.63 [[-6.16257468e-01 -7.87542972e-01 1.67360139e-03 1.82007636e+02] [ 7.87540145e-01 -6.16259740e-01 -2.11028509e-03 1.25138518e+02] [ 2.69331335e-03 1.75493328e-05 9.99996373e-01 6.30602965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.434012739 meters Centerline goodness : 0.991991 Centerline is valid? [True, True] Translation: X:182.02, Y:125.13, Z:0.63 [[-6.16440138e-01 -7.87399995e-01 1.67440504e-03 1.82018613e+02] [ 7.87397169e-01 -6.16442412e-01 -2.10964724e-03 1.25128591e+02] [ 2.69331051e-03 1.79505508e-05 9.99996373e-01 6.28199819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.464012739 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:182.02, Y:125.13, Z:0.63 [[-6.17607675e-01 -7.86484554e-01 1.67520672e-03 1.82020151e+02] [ 7.86481726e-01 -6.17609947e-01 -2.10901046e-03 1.25134874e+02] [ 2.69332848e-03 1.49784290e-05 9.99996373e-01 6.25921081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.494012739 meters Centerline goodness : 0.992219 Centerline is valid? [True, True] Translation: X:182.01, Y:125.15, Z:0.63 [[-6.19053226e-01 -7.85347245e-01 1.67600671e-03 1.82009869e+02] [ 7.85344415e-01 -6.19055494e-01 -2.10837452e-03 1.25151105e+02] [ 2.69334729e-03 1.10464590e-05 9.99996373e-01 6.26007046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.524012739 meters Centerline goodness : 0.992191 Centerline is valid? [True, True] Translation: X:182.02, Y:125.14, Z:0.63 [[-6.20302363e-01 -7.84360993e-01 1.67681470e-03 1.82024670e+02] [ 7.84358161e-01 -6.20304629e-01 -2.10773172e-03 1.25135244e+02] [ 2.69335847e-03 7.79232816e-06 9.99996373e-01 6.25637756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55401273900003 meters Centerline goodness : 0.991550 Centerline is valid? [True, True] Translation: X:182.01, Y:125.15, Z:0.63 [[-6.21416608e-01 -7.83478516e-01 1.67762299e-03 1.82014580e+02] [ 7.83475683e-01 -6.21418872e-01 -2.10708818e-03 1.25154901e+02] [ 2.69336491e-03 4.99722838e-06 9.99996373e-01 6.27021386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.584012739 meters Centerline goodness : 0.991766 Centerline is valid? [True, True] Translation: X:182.03, Y:125.14, Z:0.63 [[-6.19636461e-01 -7.84887151e-01 1.67843251e-03 1.82031032e+02] [ 7.84884324e-01 -6.19638734e-01 -2.10644315e-03 1.25140141e+02] [ 2.69334196e-03 1.21463941e-05 9.99996373e-01 6.29893388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61401273900003 meters Centerline goodness : 0.991225 Centerline is valid? [True, True] Translation: X:182.03, Y:125.15, Z:0.63 [[-6.18286092e-01 -7.85951328e-01 1.67924327e-03 1.82027728e+02] [ 7.85948507e-01 -6.18288372e-01 -2.10579661e-03 1.25145419e+02] [ 2.69331023e-03 1.78139868e-05 9.99996373e-01 6.30503687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.644012739 meters Centerline goodness : 0.991404 Centerline is valid? [True, True] Translation: X:182.04, Y:125.12, Z:0.63 [[-6.17070702e-01 -7.86905919e-01 1.68005055e-03 1.82044392e+02] [ 7.86903104e-01 -6.17072989e-01 -2.10515235e-03 1.25124367e+02] [ 2.69327066e-03 2.30091490e-05 9.99996373e-01 6.30499854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.674012739 meters Centerline goodness : 0.990621 Centerline is valid? [True, True] Translation: X:182.06, Y:125.11, Z:0.63 [[-6.14314869e-01 -7.89059197e-01 1.68085317e-03 1.82057072e+02] [ 7.89056391e-01 -6.14317168e-01 -2.10451131e-03 1.25108365e+02] [ 2.69316096e-03 3.34553443e-05 9.99996373e-01 6.27672598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.704012739 meters Centerline goodness : 0.990840 Centerline is valid? [True, True] Translation: X:182.06, Y:125.10, Z:0.63 [[-6.12865336e-01 -7.90185580e-01 1.68164313e-03 1.82062283e+02] [ 7.90182781e-01 -6.12867642e-01 -2.10387989e-03 1.25101605e+02] [ 2.69308021e-03 3.94103835e-05 9.99996373e-01 6.27233923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.734012739 meters Centerline goodness : 0.990722 Centerline is valid? [True, True] Translation: X:182.06, Y:125.10, Z:0.63 [[-6.08663172e-01 -7.93426942e-01 1.68242620e-03 1.82061545e+02] [ 7.93424156e-01 -6.08665495e-01 -2.10325349e-03 1.25099110e+02] [ 2.69281277e-03 5.47046476e-05 9.99996373e-01 6.28603490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.764012739 meters Centerline goodness : 0.990757 Centerline is valid? [True, True] Translation: X:182.07, Y:125.08, Z:0.63 [[-6.06375513e-01 -7.95176650e-01 1.68320766e-03 1.82072807e+02] [ 7.95173873e-01 -6.06377845e-01 -2.10262792e-03 1.25083251e+02] [ 2.69262046e-03 6.34606730e-05 9.99996373e-01 6.28696569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.794012739 meters Centerline goodness : 0.991238 Centerline is valid? [True, True] Translation: X:182.07, Y:125.09, Z:0.63 [[-6.04423134e-01 -7.96661684e-01 1.68398438e-03 1.82065646e+02] [ 7.96658915e-01 -6.04425476e-01 -2.10200566e-03 1.25088688e+02] [ 2.69243043e-03 7.10603211e-05 9.99996373e-01 6.26903376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.824012739 meters Centerline goodness : 0.990976 Centerline is valid? [True, True] Translation: X:182.08, Y:125.06, Z:0.62 [[-6.00646374e-01 -7.99513036e-01 1.68475951e-03 1.82082954e+02] [ 7.99510279e-01 -6.00648731e-01 -2.10138422e-03 1.25057064e+02] [ 2.69203273e-03 8.47937347e-05 9.99996373e-01 6.22525675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.854012739 meters Centerline goodness : 0.991136 Centerline is valid? [True, True] Translation: X:182.08, Y:125.06, Z:0.62 [[-5.99019742e-01 -8.00732482e-01 1.68552849e-03 1.82076797e+02] [ 8.00729731e-01 -5.99022107e-01 -2.10076723e-03 1.25059341e+02] [ 2.69182138e-03 9.12517296e-05 9.99996373e-01 6.23224051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.884012739 meters Centerline goodness : 0.990956 Centerline is valid? [True, True] Translation: X:182.09, Y:125.04, Z:0.63 [[-5.96738887e-01 -8.02433709e-01 1.68629059e-03 1.82086768e+02] [ 8.02430967e-01 -5.96741262e-01 -2.10015531e-03 1.25035485e+02] [ 2.69151459e-03 9.98874426e-05 9.99996373e-01 6.26386524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.914012739 meters Centerline goodness : 0.990890 Centerline is valid? [True, True] Translation: X:182.09, Y:125.03, Z:0.63 [[-5.96563281e-01 -8.02564269e-01 1.68704877e-03 1.82087459e+02] [ 8.02561529e-01 -5.96565658e-01 -2.09954610e-03 1.25028754e+02] [ 2.69145603e-03 1.01448330e-04 9.99996373e-01 6.28542542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.944012739 meters Centerline goodness : 0.990947 Centerline is valid? [True, True] Translation: X:182.08, Y:125.03, Z:0.63 [[-5.96819463e-01 -8.02373779e-01 1.68780001e-03 1.82083755e+02] [ 8.02371040e-01 -5.96821840e-01 -2.09894200e-03 1.25027629e+02] [ 2.69145194e-03 1.01552411e-04 9.99996373e-01 6.29209720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.974012739 meters Centerline goodness : 0.990376 Centerline is valid? [True, True] Translation: X:182.07, Y:125.03, Z:0.63 [[-5.97897487e-01 -8.01570798e-01 1.68855128e-03 1.82072248e+02] [ 8.01568058e-01 -5.97899863e-01 -2.09833746e-03 1.25030126e+02] [ 2.69155060e-03 9.88980756e-05 9.99996373e-01 6.28861944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.004012739 meters Centerline goodness : 0.990961 Centerline is valid? [True, True] Translation: X:182.07, Y:125.02, Z:0.63 [[-6.00789113e-01 -7.99405772e-01 1.68930643e-03 1.82073016e+02] [ 7.99403024e-01 -6.00791482e-01 -2.09772933e-03 1.25017725e+02] [ 2.69185784e-03 9.01437271e-05 9.99996373e-01 6.26523232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.034012739 meters Centerline goodness : 0.990786 Centerline is valid? [True, True] Translation: X:182.06, Y:125.03, Z:0.63 [[-6.02992319e-01 -7.97745201e-01 1.69006243e-03 1.82061765e+02] [ 7.97742449e-01 -6.02994682e-01 -2.09712007e-03 1.25025984e+02] [ 2.69206613e-03 8.36872454e-05 9.99996373e-01 6.25818924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.064012739 meters Centerline goodness : 0.990853 Centerline is valid? [True, True] Translation: X:182.04, Y:125.04, Z:0.63 [[-6.05923679e-01 -7.95520984e-01 1.69082034e-03 1.82042001e+02] [ 7.95518225e-01 -6.05926034e-01 -2.09650882e-03 1.25044106e+02] [ 2.69232882e-03 7.47540533e-05 9.99996373e-01 6.25737780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.094012739 meters Centerline goodness : 0.990740 Centerline is valid? [True, True] Translation: X:182.05, Y:125.03, Z:0.63 [[-6.08948038e-01 -7.93208311e-01 1.69158998e-03 1.82045568e+02] [ 7.93205545e-01 -6.08950384e-01 -2.09588765e-03 1.25034089e+02] [ 2.69256987e-03 6.54918797e-05 9.99996373e-01 6.25392045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.124012739 meters Centerline goodness : 0.990853 Centerline is valid? [True, True] Translation: X:182.04, Y:125.03, Z:0.63 [[-6.14735232e-01 -7.88731723e-01 1.69236532e-03 1.82037895e+02] [ 7.88728941e-01 -6.14737560e-01 -2.09526139e-03 1.25034299e+02] [ 2.69295966e-03 4.67865140e-05 9.99996373e-01 6.27331639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.154012739 meters Centerline goodness : 0.990944 Centerline is valid? [True, True] Translation: X:182.02, Y:125.04, Z:0.63 [[-6.19663886e-01 -7.84865467e-01 1.69314044e-03 1.82024084e+02] [ 7.84862673e-01 -6.19666199e-01 -2.09463485e-03 1.25043965e+02] [ 2.69318846e-03 3.09131617e-05 9.99996373e-01 6.29782230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.184012739 meters Centerline goodness : 0.991322 Centerline is valid? [True, True] Translation: X:182.02, Y:125.05, Z:0.63 [[-6.21925879e-01 -7.83074282e-01 1.69392248e-03 1.82016084e+02] [ 7.83071483e-01 -6.21928186e-01 -2.09400222e-03 1.25050844e+02] [ 2.69325742e-03 2.41482177e-05 9.99996373e-01 6.30812513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.214012739 meters Centerline goodness : 0.991028 Centerline is valid? [True, True] Translation: X:182.02, Y:125.05, Z:0.63 [[-6.24104517e-01 -7.81339030e-01 1.69471312e-03 1.82018152e+02] [ 7.81336226e-01 -6.24106818e-01 -2.09336215e-03 1.25046461e+02] [ 2.69330756e-03 1.76639841e-05 9.99996373e-01 6.30988385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.244012739 meters Centerline goodness : 0.991639 Centerline is valid? [True, True] Translation: X:182.03, Y:125.02, Z:0.63 [[-6.27387452e-01 -7.78705407e-01 1.69550665e-03 1.82033668e+02] [ 7.78702595e-01 -6.27389743e-01 -2.09271924e-03 1.25024898e+02] [ 2.69335527e-03 7.34963452e-06 9.99996373e-01 6.29575939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.274012739 meters Centerline goodness : 0.990991 Centerline is valid? [True, True] Translation: X:182.03, Y:125.03, Z:0.63 [[-6.29218274e-01 -7.77226794e-01 1.69550665e-03 1.82030167e+02] [ 7.77223977e-01 -6.29220558e-01 -2.09271924e-03 1.25028312e+02] [ 2.69336510e-03 1.01123055e-06 9.99996373e-01 6.29218659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30401273900003 meters Centerline goodness : 0.990719 Centerline is valid? [True, True] Translation: X:182.02, Y:125.04, Z:0.63 [[-6.32433669e-01 -7.74612663e-01 1.69628633e-03 1.82019235e+02] [ 7.74609838e-01 -6.32435943e-01 -2.09208706e-03 1.25042452e+02] [ 2.69334958e-03 -9.14621871e-06 9.99996373e-01 6.29396646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.334012739 meters Centerline goodness : 0.990731 Centerline is valid? [True, True] Translation: X:182.05, Y:125.01, Z:0.63 [[-6.33495642e-01 -7.73744397e-01 1.69707367e-03 1.82045965e+02] [ 7.73741570e-01 -6.33497915e-01 -2.09144819e-03 1.25011713e+02] [ 2.69333895e-03 -1.18268702e-05 9.99996373e-01 6.29918375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36401273900003 meters Centerline goodness : 0.991062 Centerline is valid? [True, True] Translation: X:182.06, Y:125.00, Z:0.63 [[-6.35191127e-01 -7.72353129e-01 1.69629331e-03 1.82055992e+02] [ 7.72350295e-01 -6.35193392e-01 -2.09208092e-03 1.25002014e+02] [ 2.69329954e-03 -1.87386006e-05 9.99996373e-01 6.30467572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.394012739 meters Centerline goodness : 0.991543 Centerline is valid? [True, True] Translation: X:182.06, Y:125.01, Z:0.63 [[-6.37672673e-01 -7.70305577e-01 1.69705937e-03 1.82055517e+02] [ 7.70302738e-01 -6.37674931e-01 -2.09145932e-03 1.25007177e+02] [ 2.69323499e-03 -2.64169721e-05 9.99996373e-01 6.29795592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.424012739 meters Centerline goodness : 0.991248 Centerline is valid? [True, True] Translation: X:182.05, Y:125.02, Z:0.63 [[-6.39014843e-01 -7.69192530e-01 1.69782387e-03 1.82046178e+02] [ 7.69189688e-01 -6.39017098e-01 -2.09083852e-03 1.25020782e+02] [ 2.69319585e-03 -3.01282302e-05 9.99996373e-01 6.28539821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.454012739 meters Centerline goodness : 0.991178 Centerline is valid? [True, True] Translation: X:182.06, Y:125.01, Z:0.63 [[-6.40380648e-01 -7.68055819e-01 1.69859524e-03 1.82060671e+02] [ 7.68052975e-01 -6.40382900e-01 -2.09021167e-03 1.25008484e+02] [ 2.69315058e-03 -3.39199769e-05 9.99996373e-01 6.25516740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.484012739 meters Centerline goodness : 0.991002 Centerline is valid? [True, True] Translation: X:182.07, Y:125.00, Z:0.63 [[-6.40482416e-01 -7.67970955e-01 1.69936712e-03 1.82073219e+02] [ 7.67968113e-01 -6.40484669e-01 -2.08958393e-03 1.24996304e+02] [ 2.69315836e-03 -3.32820029e-05 9.99996373e-01 6.25309300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.514012739 meters Centerline goodness : 0.991174 Centerline is valid? [True, True] Translation: X:182.06, Y:125.01, Z:0.63 [[-6.40030890e-01 -7.68347297e-01 1.70013045e-03 1.82062428e+02] [ 7.68344458e-01 -6.40033148e-01 -2.08896269e-03 1.25014292e+02] [ 2.69318868e-03 -3.07148403e-05 9.99996373e-01 6.26418613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.544012739 meters Centerline goodness : 0.991080 Centerline is valid? [True, True] Translation: X:182.08, Y:125.00, Z:0.63 [[-6.39893951e-01 -7.68461345e-01 1.70089573e-03 1.82076219e+02] [ 7.68458507e-01 -6.39896211e-01 -2.08833939e-03 1.25000189e+02] [ 2.69320483e-03 -2.92479471e-05 9.99996373e-01 6.27776347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.574012739 meters Centerline goodness : 0.991878 Centerline is valid? [True, True] Translation: X:182.07, Y:125.01, Z:0.63 [[-6.39955807e-01 -7.68409832e-01 1.70166237e-03 1.82071957e+02] [ 7.68406997e-01 -6.39958068e-01 -2.08771451e-03 1.25007863e+02] [ 2.69321292e-03 -2.84757522e-05 9.99996373e-01 6.28344053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.604012739 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:182.07, Y:125.02, Z:0.63 [[-6.40161701e-01 -7.68238308e-01 1.70242720e-03 1.82068061e+02] [ 7.68235474e-01 -6.40163964e-01 -2.08709065e-03 1.25018238e+02] [ 2.69321553e-03 -2.82105368e-05 9.99996373e-01 6.26986526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.634012739 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:182.08, Y:125.01, Z:0.63 [[-6.40688495e-01 -7.67799031e-01 1.70319817e-03 1.82078578e+02] [ 7.67796196e-01 -6.40690758e-01 -2.08646129e-03 1.25007856e+02] [ 2.69320629e-03 -2.90626677e-05 9.99996373e-01 6.26813692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.664012739 meters Centerline goodness : 0.990983 Centerline is valid? [True, True] Translation: X:182.06, Y:125.03, Z:0.63 [[-6.41131113e-01 -7.67429471e-01 1.70396928e-03 1.82062896e+02] [ 7.67426636e-01 -6.41133377e-01 -2.08583136e-03 1.25033151e+02] [ 2.69320003e-03 -2.96199636e-05 9.99996373e-01 6.28091622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.694012739 meters Centerline goodness : 0.992195 Centerline is valid? [True, True] Translation: X:182.08, Y:125.02, Z:0.63 [[-6.41376367e-01 -7.67224511e-01 1.70474564e-03 1.82077258e+02] [ 7.67221678e-01 -6.41378632e-01 -2.08519665e-03 1.25018299e+02] [ 2.69320140e-03 -2.94780418e-05 9.99996373e-01 6.28856554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.724012739 meters Centerline goodness : 0.991879 Centerline is valid? [True, True] Translation: X:182.09, Y:125.01, Z:0.63 [[-6.41395618e-01 -7.67208416e-01 1.70552555e-03 1.82087465e+02] [ 7.67205584e-01 -6.41397884e-01 -2.08455855e-03 1.25007369e+02] [ 2.69321134e-03 -2.85379962e-05 9.99996373e-01 6.30881627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.754012739 meters Centerline goodness : 0.991972 Centerline is valid? [True, True] Translation: X:182.08, Y:125.01, Z:0.63 [[-6.40217959e-01 -7.68191417e-01 1.70629695e-03 1.82081377e+02] [ 7.68188591e-01 -6.40220232e-01 -2.08392693e-03 1.25013318e+02] [ 2.69326061e-03 -2.34096003e-05 9.99996373e-01 6.30356276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.784012739 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:182.08, Y:125.01, Z:0.63 [[-6.39762057e-01 -7.68571139e-01 1.70706762e-03 1.82080573e+02] [ 7.68568316e-01 -6.39764335e-01 -2.08329544e-03 1.25014905e+02] [ 2.69328173e-03 -2.08152946e-05 9.99996373e-01 6.28101607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.814012739 meters Centerline goodness : 0.991500 Centerline is valid? [True, True] Translation: X:182.07, Y:125.02, Z:0.63 [[-6.39258773e-01 -7.68989794e-01 1.70784216e-03 1.82074315e+02] [ 7.68986974e-01 -6.39261054e-01 -2.08266030e-03 1.25023663e+02] [ 2.69330149e-03 -1.80504949e-05 9.99996373e-01 6.25981520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.844012739 meters Centerline goodness : 0.991196 Centerline is valid? [True, True] Translation: X:182.07, Y:125.03, Z:0.63 [[-6.39704632e-01 -7.68618933e-01 1.70862149e-03 1.82071476e+02] [ 7.68616113e-01 -6.39706914e-01 -2.08202074e-03 1.25026466e+02] [ 2.69329753e-03 -1.86043037e-05 9.99996373e-01 6.27270663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.874012739 meters Centerline goodness : 0.991394 Centerline is valid? [True, True] Translation: X:182.09, Y:125.00, Z:0.63 [[-6.40175699e-01 -7.68226628e-01 1.70940581e-03 1.82089792e+02] [ 7.68223809e-01 -6.40177981e-01 -2.08137658e-03 1.25004048e+02] [ 2.69329287e-03 -1.92404689e-05 9.99996373e-01 6.27513574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.904012739 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:182.07, Y:125.03, Z:0.63 [[-6.41797738e-01 -7.66872048e-01 1.71018466e-03 1.82072102e+02] [ 7.66869226e-01 -6.41800017e-01 -2.08073644e-03 1.25026448e+02] [ 2.69325515e-03 -2.39239568e-05 9.99996373e-01 6.29974611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.934012739 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:182.09, Y:125.01, Z:0.63 [[-6.44162330e-01 -7.64886897e-01 1.71096429e-03 1.82088216e+02] [ 7.64884070e-01 -6.44164601e-01 -2.08009516e-03 1.25009559e+02] [ 2.69318016e-03 -3.12296179e-05 9.99996373e-01 6.31448941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.964012739 meters Centerline goodness : 0.991892 Centerline is valid? [True, True] Translation: X:182.10, Y:124.99, Z:0.63 [[-6.45730538e-01 -7.63563450e-01 1.71174647e-03 1.82101818e+02] [ 7.63560619e-01 -6.45732806e-01 -2.07945128e-03 1.24993706e+02] [ 2.69312385e-03 -3.57429986e-05 9.99996373e-01 6.31119907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.994012739 meters Centerline goodness : 0.991821 Centerline is valid? [True, True] Translation: X:182.10, Y:125.00, Z:0.63 [[-6.47265129e-01 -7.62263025e-01 1.71251771e-03 1.82100248e+02] [ 7.62260192e-01 -6.47267393e-01 -2.07881594e-03 1.24996787e+02] [ 2.69306141e-03 -4.01609896e-05 9.99996373e-01 6.29818863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.024012739 meters Centerline goodness : 0.991522 Centerline is valid? [True, True] Translation: X:182.10, Y:125.00, Z:0.63 [[-6.50669413e-01 -7.59359190e-01 1.71328538e-03 1.82101110e+02] [ 7.59356348e-01 -6.50671667e-01 -2.07818306e-03 1.25001722e+02] [ 2.69287366e-03 -5.12160225e-05 9.99996373e-01 6.26682730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05401273900003 meters Centerline goodness : 0.991178 Centerline is valid? [True, True] Translation: X:182.12, Y:124.99, Z:0.63 [[-6.52477614e-01 -7.57806061e-01 1.71405579e-03 1.82118740e+02] [ 7.57803215e-01 -6.52479863e-01 -2.07754745e-03 1.24985492e+02] [ 2.69276493e-03 -5.66362193e-05 9.99996373e-01 6.26744539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.084012739 meters Centerline goodness : 0.991178 Centerline is valid? [True, True] Translation: X:182.12, Y:124.98, Z:0.63 [[-6.52755052e-01 -7.57567094e-01 1.71482188e-03 1.82120392e+02] [ 7.57564249e-01 -6.52757302e-01 -2.07691492e-03 1.24983609e+02] [ 2.69276490e-03 -5.66289510e-05 9.99996373e-01 6.26737762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11401273900003 meters Centerline goodness : 0.991701 Centerline is valid? [True, True] Translation: X:182.13, Y:124.99, Z:0.63 [[-6.56064036e-01 -7.54703278e-01 1.71558215e-03 1.82125344e+02] [ 7.54700425e-01 -6.56066275e-01 -2.07628673e-03 1.24989365e+02] [ 2.69251599e-03 -6.74264737e-05 9.99996373e-01 6.27310376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.144012739 meters Centerline goodness : 0.991312 Centerline is valid? [True, True] Translation: X:182.13, Y:124.99, Z:0.63 [[-6.57652491e-01 -7.53319490e-01 1.71634303e-03 1.82133396e+02] [ 7.53316634e-01 -6.57654727e-01 -2.07565757e-03 1.24986231e+02] [ 2.69239441e-03 -7.21116168e-05 9.99996373e-01 6.28370848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.174012739 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:182.14, Y:124.99, Z:0.63 [[-6.58743738e-01 -7.52365429e-01 1.71710343e-03 1.82135021e+02] [ 7.52362571e-01 -6.58745972e-01 -2.07502833e-03 1.24991753e+02] [ 2.69231455e-03 -7.50275629e-05 9.99996373e-01 6.29722727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.204012739 meters Centerline goodness : 0.991684 Centerline is valid? [True, True] Translation: X:182.15, Y:124.99, Z:0.63 [[-6.59542494e-01 -7.51665316e-01 1.71786385e-03 1.82145280e+02] [ 7.51662457e-01 -6.59544727e-01 -2.07439860e-03 1.24994139e+02] [ 2.69226152e-03 -7.69002688e-05 9.99996373e-01 6.31157773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.234012739 meters Centerline goodness : 0.991613 Centerline is valid? [True, True] Translation: X:182.15, Y:124.99, Z:0.63 [[-6.59511870e-01 -7.51692184e-01 1.71862476e-03 1.82149346e+02] [ 7.51689327e-01 -6.59514105e-01 -2.07376800e-03 1.24994162e+02] [ 2.69229247e-03 -7.58027175e-05 9.99996373e-01 6.31732958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.264012739 meters Centerline goodness : 0.990987 Centerline is valid? [True, True] Translation: X:182.14, Y:125.01, Z:0.63 [[-6.56608106e-01 -7.54229965e-01 1.71938496e-03 1.82137691e+02] [ 7.54227118e-01 -6.56610354e-01 -2.07313752e-03 1.25014736e+02] [ 2.69258840e-03 -6.44321332e-05 9.99996373e-01 6.31698099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.294012739 meters Centerline goodness : 0.990862 Centerline is valid? [True, True] Translation: X:182.15, Y:125.00, Z:0.63 [[-6.54452475e-01 -7.56101183e-01 1.72015189e-03 1.82152214e+02] [ 7.56098345e-01 -6.54454733e-01 -2.07250098e-03 1.25000942e+02] [ 2.69278199e-03 -5.57493998e-05 9.99996373e-01 6.30002657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.324012739 meters Centerline goodness : 0.991104 Centerline is valid? [True, True] Translation: X:182.13, Y:125.03, Z:0.63 [[-6.50124988e-01 -7.59825334e-01 1.72092079e-03 1.82133075e+02] [ 7.59822510e-01 -6.50127265e-01 -2.07186231e-03 1.25028062e+02] [ 2.69307100e-03 -3.93751041e-05 9.99996373e-01 6.25053060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.354012739 meters Centerline goodness : 0.990580 Centerline is valid? [True, True] Translation: X:182.13, Y:125.03, Z:0.63 [[-6.48661300e-01 -7.61075262e-01 1.72169433e-03 1.82130640e+02] [ 7.61072444e-01 -6.48663584e-01 -2.07121931e-03 1.25030539e+02] [ 2.69315420e-03 -3.31857014e-05 9.99996373e-01 6.25796681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.384012739 meters Centerline goodness : 0.990336 Centerline is valid? [True, True] Translation: X:182.12, Y:125.04, Z:0.63 [[-6.47596538e-01 -7.61981468e-01 1.72247945e-03 1.82119466e+02] [ 7.61978655e-01 -6.47598828e-01 -2.07056618e-03 1.25043586e+02] [ 2.69320873e-03 -2.83989146e-05 9.99996373e-01 6.29435995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.414012739 meters Centerline goodness : 0.990433 Centerline is valid? [True, True] Translation: X:182.13, Y:125.04, Z:0.63 [[-6.45996225e-01 -7.63338659e-01 1.72327149e-03 1.82125148e+02] [ 7.63335853e-01 -6.45998523e-01 -2.06990678e-03 1.25037002e+02] [ 2.69327070e-03 -2.17170480e-05 9.99996373e-01 6.31020510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.444012739 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:182.13, Y:125.04, Z:0.63 [[-6.46036729e-01 -7.63304377e-01 1.72406738e-03 1.82125667e+02] [ 7.63301573e-01 -6.46039029e-01 -2.06924366e-03 1.25036444e+02] [ 2.69327756e-03 -2.08240612e-05 9.99996373e-01 6.31368356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.474012739 meters Centerline goodness : 0.990963 Centerline is valid? [True, True] Translation: X:182.13, Y:125.03, Z:0.63 [[-6.46707941e-01 -7.62735776e-01 1.72486155e-03 1.82127951e+02] [ 7.62732971e-01 -6.46710241e-01 -2.06858145e-03 1.25032008e+02] [ 2.69326670e-03 -2.21592711e-05 9.99996373e-01 6.27769215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.504012739 meters Centerline goodness : 0.990755 Centerline is valid? [True, True] Translation: X:182.13, Y:125.03, Z:0.63 [[-6.47727500e-01 -7.61870138e-01 1.72565547e-03 1.82131329e+02] [ 7.61867332e-01 -6.47729799e-01 -2.06791893e-03 1.25028779e+02] [ 2.69324415e-03 -2.47274324e-05 9.99996373e-01 6.26530225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.534012739 meters Centerline goodness : 0.990967 Centerline is valid? [True, True] Translation: X:182.14, Y:125.02, Z:0.63 [[-6.48881345e-01 -7.60887652e-01 1.72644768e-03 1.82139575e+02] [ 7.60884844e-01 -6.48883642e-01 -2.06725732e-03 1.25021270e+02] [ 2.69321423e-03 -2.77768402e-05 9.99996373e-01 6.26318283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.564012739 meters Centerline goodness : 0.991013 Centerline is valid? [True, True] Translation: X:182.15, Y:125.01, Z:0.63 [[-6.50852475e-01 -7.59202261e-01 1.72723675e-03 1.82149856e+02] [ 7.59199449e-01 -6.50854766e-01 -2.06659783e-03 1.25014303e+02] [ 2.69314601e-03 -3.37331225e-05 9.99996373e-01 6.26959409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.594012739 meters Centerline goodness : 0.990733 Centerline is valid? [True, True] Translation: X:182.15, Y:125.02, Z:0.63 [[-6.51962054e-01 -7.58249625e-01 1.72802038e-03 1.82150322e+02] [ 7.58246811e-01 -6.51964343e-01 -2.06594238e-03 1.25018694e+02] [ 2.69310770e-03 -3.66500937e-05 9.99996373e-01 6.25659625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.624012739 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:182.16, Y:125.02, Z:0.63 [[-6.52168225e-01 -7.58072304e-01 1.72880260e-03 1.82156111e+02] [ 7.58069492e-01 -6.52170515e-01 -2.06528760e-03 1.25015155e+02] [ 2.69311141e-03 -3.63624360e-05 9.99996373e-01 6.26718831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.654012739 meters Centerline goodness : 0.990680 Centerline is valid? [True, True] Translation: X:182.16, Y:125.01, Z:0.63 [[-6.51797349e-01 -7.58391208e-01 1.72958484e-03 1.82163009e+02] [ 7.58388399e-01 -6.51799643e-01 -2.06463230e-03 1.25010402e+02] [ 2.69314176e-03 -3.40247876e-05 9.99996373e-01 6.28862613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.684012739 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:182.15, Y:125.03, Z:0.63 [[-6.49842313e-01 -7.60067086e-01 1.73036438e-03 1.82152727e+02] [ 7.60064284e-01 -6.49844616e-01 -2.06397876e-03 1.25026256e+02] [ 2.69323030e-03 -2.60725706e-05 9.99996373e-01 6.31817783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.714012739 meters Centerline goodness : 0.990816 Centerline is valid? [True, True] Translation: X:182.16, Y:125.02, Z:0.63 [[-6.47125288e-01 -7.62381705e-01 1.73114791e-03 1.82158355e+02] [ 7.62378913e-01 -6.47127604e-01 -2.06332137e-03 1.25021455e+02] [ 2.69331206e-03 -1.54367723e-05 9.99996373e-01 6.28532002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.744012739 meters Centerline goodness : 0.990227 Centerline is valid? [True, True] Translation: X:182.15, Y:125.04, Z:0.63 [[-6.45854102e-01 -7.63458892e-01 1.73193601e-03 1.82145998e+02] [ 7.63456105e-01 -6.45856424e-01 -2.06265964e-03 1.25037173e+02] [ 2.69333784e-03 -9.92007122e-06 9.99996373e-01 6.25997662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.774012739 meters Centerline goodness : 0.990083 Centerline is valid? [True, True] Translation: X:182.16, Y:125.02, Z:0.62 [[-6.45211098e-01 -7.64002380e-01 1.73272871e-03 1.82161886e+02] [ 7.63999597e-01 -6.45213425e-01 -2.06199351e-03 1.25018965e+02] [ 2.69334778e-03 -6.61706037e-06 9.99996373e-01 6.24265929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80401273900003 meters Centerline goodness : 0.990368 Centerline is valid? [True, True] Translation: X:182.16, Y:125.02, Z:0.63 [[-6.45278726e-01 -7.63945260e-01 1.73352155e-03 1.82159044e+02] [ 7.63942479e-01 -6.45281055e-01 -2.06132676e-03 1.25021881e+02] [ 2.69334942e-03 -5.81955092e-06 9.99996373e-01 6.27937844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.834012739 meters Centerline goodness : 0.990343 Centerline is valid? [True, True] Translation: X:182.17, Y:125.01, Z:0.63 [[-6.46300500e-01 -7.63081028e-01 1.73430979e-03 1.82166924e+02] [ 7.63078246e-01 -6.46302827e-01 -2.06066335e-03 1.25011811e+02] [ 2.69334243e-03 -8.39367797e-06 9.99996373e-01 6.30947165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86401273900003 meters Centerline goodness : 0.990653 Centerline is valid? [True, True] Translation: X:182.16, Y:125.02, Z:0.63 [[-6.49210624e-01 -7.60606702e-01 1.73509661e-03 1.82160435e+02] [ 7.60603913e-01 -6.49212942e-01 -2.06000063e-03 1.25020071e+02] [ 2.69329746e-03 -1.76530271e-05 9.99996373e-01 6.33876597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.894012739 meters Centerline goodness : 0.990432 Centerline is valid? [True, True] Translation: X:182.17, Y:125.01, Z:0.63 [[-6.50679807e-01 -7.59350233e-01 1.73588396e-03 1.82170672e+02] [ 7.59347441e-01 -6.50682122e-01 -2.05933695e-03 1.25009238e+02] [ 2.69326665e-03 -2.18299279e-05 9.99996373e-01 6.33408211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.924012739 meters Centerline goodness : 0.990517 Centerline is valid? [True, True] Translation: X:182.17, Y:125.00, Z:0.63 [[-6.52559925e-01 -7.57735131e-01 1.73667144e-03 1.82173255e+02] [ 7.57732335e-01 -6.52562235e-01 -2.05867264e-03 1.25004751e+02] [ 2.69321478e-03 -2.74751599e-05 9.99996373e-01 6.31525743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.954012739 meters Centerline goodness : 0.990501 Centerline is valid? [True, True] Translation: X:182.18, Y:125.00, Z:0.63 [[-6.53254255e-01 -7.57136618e-01 1.73745437e-03 1.82178634e+02] [ 7.57133822e-01 -6.53256565e-01 -2.05801165e-03 1.24997244e+02] [ 2.69319946e-03 -2.89193992e-05 9.99996373e-01 6.31542889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.984012739 meters Centerline goodness : 0.990730 Centerline is valid? [True, True] Translation: X:182.18, Y:124.99, Z:0.63 [[-6.53983364e-01 -7.56506932e-01 1.73823423e-03 1.82179353e+02] [ 7.56504135e-01 -6.53985673e-01 -2.05735276e-03 1.24994678e+02] [ 2.69318191e-03 -3.04931000e-05 9.99996373e-01 6.31710452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.014012739 meters Centerline goodness : 0.990094 Centerline is valid? [True, True] Translation: X:182.18, Y:125.00, Z:0.63 [[-6.53749564e-01 -7.56708982e-01 1.73901205e-03 1.82175019e+02] [ 7.56706187e-01 -6.53751877e-01 -2.05669509e-03 1.24999494e+02] [ 2.69320204e-03 -2.86423419e-05 9.99996373e-01 6.31494439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.044012739 meters Centerline goodness : 0.990251 Centerline is valid? [True, True] Translation: X:182.18, Y:124.99, Z:0.63 [[-6.53111844e-01 -7.57259462e-01 1.73979218e-03 1.82181753e+02] [ 7.57256671e-01 -6.53114160e-01 -2.05603495e-03 1.24990519e+02] [ 2.69323483e-03 -2.53515456e-05 9.99996373e-01 6.31175373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.074012739 meters Centerline goodness : 0.990210 Centerline is valid? [True, True] Translation: X:182.18, Y:124.99, Z:0.63 [[-6.51088140e-01 -7.59000135e-01 1.74057206e-03 1.82178694e+02] [ 7.58997352e-01 -6.51090466e-01 -2.05537452e-03 1.24989578e+02] [ 2.69329941e-03 -1.71403921e-05 9.99996373e-01 6.28759914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.104012739 meters Centerline goodness : 0.990115 Centerline is valid? [True, True] Translation: X:182.17, Y:125.00, Z:0.63 [[-6.50397870e-01 -7.59591718e-01 1.74135027e-03 1.82166943e+02] [ 7.59588939e-01 -6.50400201e-01 -2.05471499e-03 1.25001024e+02] [ 2.69331906e-03 -1.36718435e-05 9.99996373e-01 6.27437888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.134012739 meters Centerline goodness : 0.989993 Centerline is valid? [True, True] Translation: X:182.17, Y:124.99, Z:0.63 [[-6.49628488e-01 -7.60249824e-01 1.74183859e-03 1.82173916e+02] [ 7.60247048e-01 -6.49630823e-01 -2.05430095e-03 1.24988059e+02] [ 2.69333397e-03 -1.03047749e-05 9.99996373e-01 6.27653885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.164012739 meters Centerline goodness : 0.990524 Centerline is valid? [True, True] Translation: X:182.17, Y:124.99, Z:0.63 [[-6.49417161e-01 -7.60430348e-01 1.74262414e-03 1.82171852e+02] [ 7.60427575e-01 -6.49419499e-01 -2.05363436e-03 1.24988072e+02] [ 2.69333999e-03 -8.52594959e-06 9.99996373e-01 6.27899140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.194012739 meters Centerline goodness : 0.989980 Centerline is valid? [True, True] Translation: X:182.18, Y:124.98, Z:0.63 [[-6.49198791e-01 -7.60616783e-01 1.74340710e-03 1.82176015e+02] [ 7.60614012e-01 -6.49201132e-01 -2.05296946e-03 1.24978562e+02] [ 2.69334489e-03 -6.72542133e-06 9.99996373e-01 6.29766399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.224012739 meters Centerline goodness : 0.990462 Centerline is valid? [True, True] Translation: X:182.17, Y:124.99, Z:0.63 [[-6.49756010e-01 -7.60140833e-01 1.74418891e-03 1.82168669e+02] [ 7.60138062e-01 -6.49758351e-01 -2.05230503e-03 1.24985432e+02] [ 2.69334216e-03 -7.67315100e-06 9.99996373e-01 6.30030146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.254012739 meters Centerline goodness : 0.989537 Centerline is valid? [True, True] Translation: X:182.18, Y:124.97, Z:0.63 [[-6.50305301e-01 -7.59670962e-01 1.74497189e-03 1.82182594e+02] [ 7.59668192e-01 -6.50307642e-01 -2.05163909e-03 1.24967700e+02] [ 2.69333919e-03 -8.59213799e-06 9.99996373e-01 6.29206114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.284012739 meters Centerline goodness : 0.990446 Centerline is valid? [True, True] Translation: X:182.17, Y:124.98, Z:0.63 [[-6.51074728e-01 -7.59011627e-01 1.74575241e-03 1.82170942e+02] [ 7.59008856e-01 -6.51077069e-01 -2.05097472e-03 1.24979475e+02] [ 2.69333302e-03 -1.02962747e-05 9.99996373e-01 6.27118041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.314012739 meters Centerline goodness : 0.990262 Centerline is valid? [True, True] Translation: X:182.18, Y:124.96, Z:0.63 [[-6.51342222e-01 -7.58782090e-01 1.74653241e-03 1.82182040e+02] [ 7.58779320e-01 -6.51344564e-01 -2.05031028e-03 1.24964623e+02] [ 2.69333311e-03 -1.02209802e-05 9.99996373e-01 6.27406370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.344012739 meters Centerline goodness : 0.990334 Centerline is valid? [True, True] Translation: X:182.17, Y:124.97, Z:0.63 [[-6.51208759e-01 -7.58896632e-01 1.74731295e-03 1.82168707e+02] [ 7.58893865e-01 -6.51211103e-01 -2.04964488e-03 1.24974331e+02] [ 2.69333819e-03 -8.72162699e-06 9.99996373e-01 6.27205270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.374012739 meters Centerline goodness : 0.990172 Centerline is valid? [True, True] Translation: X:182.18, Y:124.96, Z:0.63 [[-6.51070647e-01 -7.59015123e-01 1.74809413e-03 1.82177914e+02] [ 7.59012357e-01 -6.51072994e-01 -2.04897842e-03 1.24961313e+02] [ 2.69334248e-03 -7.20466173e-06 9.99996373e-01 6.27169598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.404012739 meters Centerline goodness : 0.990376 Centerline is valid? [True, True] Translation: X:182.18, Y:124.96, Z:0.63 [[-6.51145301e-01 -7.58951077e-01 1.74887647e-03 1.82180244e+02] [ 7.58948313e-01 -6.51147650e-01 -2.04831044e-03 1.24957115e+02] [ 2.69334422e-03 -6.44086490e-06 9.99996373e-01 6.27866564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.434012739 meters Centerline goodness : 0.990507 Centerline is valid? [True, True] Translation: X:182.18, Y:124.95, Z:0.63 [[-6.51909916e-01 -7.58294402e-01 1.74965406e-03 1.82183009e+02] [ 7.58291637e-01 -6.51912264e-01 -2.04764601e-03 1.24953924e+02] [ 2.69333945e-03 -8.13270399e-06 9.99996373e-01 6.30527820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.464012739 meters Centerline goodness : 0.990347 Centerline is valid? [True, True] Translation: X:182.19, Y:124.95, Z:0.63 [[-6.52862144e-01 -7.57474724e-01 1.75043024e-03 1.82186884e+02] [ 7.57471958e-01 -6.52864490e-01 -2.04698228e-03 1.24949381e+02] [ 2.69333108e-03 -1.04954226e-05 9.99996373e-01 6.31952103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.494012739 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:182.19, Y:124.95, Z:0.63 [[-6.53764279e-01 -7.56696241e-01 1.75120476e-03 1.82191103e+02] [ 7.56693474e-01 -6.53766624e-01 -2.04631946e-03 1.24946944e+02] [ 2.69332147e-03 -1.26853497e-05 9.99996373e-01 6.33207370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.524012739 meters Centerline goodness : 0.990711 Centerline is valid? [True, True] Translation: X:182.19, Y:124.96, Z:0.63 [[-6.53901747e-01 -7.56577449e-01 1.75197764e-03 1.82186638e+02] [ 7.56574683e-01 -6.53904094e-01 -2.04565753e-03 1.24955807e+02] [ 2.69332371e-03 -1.21571068e-05 9.99996373e-01 6.34563827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55401273900003 meters Centerline goodness : 0.990273 Centerline is valid? [True, True] Translation: X:182.18, Y:124.96, Z:0.63 [[-6.53723253e-01 -7.56731680e-01 1.75275307e-03 1.82181639e+02] [ 7.56728917e-01 -6.53725603e-01 -2.04499292e-03 1.24962118e+02] [ 2.69333048e-03 -1.05004959e-05 9.99996373e-01 6.34881918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.584012739 meters Centerline goodness : 0.990485 Centerline is valid? [True, True] Translation: X:182.20, Y:124.94, Z:0.63 [[-6.53221834e-01 -7.57164554e-01 1.75353441e-03 1.82198437e+02] [ 7.57161794e-01 -6.53224187e-01 -2.04432271e-03 1.24942734e+02] [ 2.69333979e-03 -7.68696978e-06 9.99996373e-01 6.34370609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61401273900003 meters Centerline goodness : 0.990540 Centerline is valid? [True, True] Translation: X:182.19, Y:124.95, Z:0.63 [[-6.50798081e-01 -7.59248826e-01 1.75431215e-03 1.82190512e+02] [ 7.59246076e-01 -6.50800445e-01 -2.04365509e-03 1.24953104e+02] [ 2.69334986e-03 1.94780211e-06 9.99996373e-01 6.31220397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.644012739 meters Centerline goodness : 0.991153 Centerline is valid? [True, True] Translation: X:182.19, Y:124.95, Z:0.63 [[-6.49656781e-01 -7.60225615e-01 1.75508733e-03 1.82191131e+02] [ 7.60222870e-01 -6.49659152e-01 -2.04298915e-03 1.24954233e+02] [ 2.69334123e-03 7.01576785e-06 9.99996373e-01 6.30304111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.674012739 meters Centerline goodness : 0.990997 Centerline is valid? [True, True] Translation: X:182.20, Y:124.95, Z:0.63 [[-6.47937809e-01 -7.61691219e-01 1.75586739e-03 1.82198128e+02] [ 7.61688481e-01 -6.47940188e-01 -2.04231850e-03 1.24946733e+02] [ 2.69331311e-03 1.41285881e-05 9.99996373e-01 6.30424116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.704012739 meters Centerline goodness : 0.990648 Centerline is valid? [True, True] Translation: X:182.21, Y:124.94, Z:0.63 [[-6.47501697e-01 -7.62061984e-01 1.75664603e-03 1.82206073e+02] [ 7.62059249e-01 -6.47504079e-01 -2.04164855e-03 1.24936467e+02] [ 2.69329822e-03 1.66974551e-05 9.99996373e-01 6.29852684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.734012739 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:182.21, Y:124.93, Z:0.63 [[-6.47353307e-01 -7.62188039e-01 1.75741905e-03 1.82209042e+02] [ 7.62185307e-01 -6.47355692e-01 -2.04098293e-03 1.24931783e+02] [ 2.69328801e-03 1.82419268e-05 9.99996373e-01 6.27800427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.764012739 meters Centerline goodness : 0.990646 Centerline is valid? [True, True] Translation: X:182.21, Y:124.93, Z:0.63 [[-6.47894010e-01 -7.61728469e-01 1.75818827e-03 1.82213818e+02] [ 7.61725737e-01 -6.47896396e-01 -2.04032008e-03 1.24925998e+02] [ 2.69329373e-03 1.73460973e-05 9.99996373e-01 6.26310771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.794012739 meters Centerline goodness : 0.990709 Centerline is valid? [True, True] Translation: X:182.21, Y:124.93, Z:0.63 [[-6.48871935e-01 -7.60895603e-01 1.75895499e-03 1.82207955e+02] [ 7.60892869e-01 -6.48874319e-01 -2.03965888e-03 1.24933238e+02] [ 2.69330819e-03 1.48989013e-05 9.99996373e-01 6.27440320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.824012739 meters Centerline goodness : 0.991384 Centerline is valid? [True, True] Translation: X:182.19, Y:124.95, Z:0.63 [[-6.50756286e-01 -7.59284637e-01 1.75972334e-03 1.82193918e+02] [ 7.59281899e-01 -6.50758665e-01 -2.03899577e-03 1.24949085e+02] [ 2.69333337e-03 9.23676353e-06 9.99996373e-01 6.27762317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.854012739 meters Centerline goodness : 0.991130 Centerline is valid? [True, True] Translation: X:182.19, Y:124.95, Z:0.63 [[-6.51902170e-01 -7.58301036e-01 1.76050123e-03 1.82193717e+02] [ 7.58298297e-01 -6.51904547e-01 -2.03832390e-03 1.24948744e+02] [ 2.69334188e-03 6.19731231e-06 9.99996373e-01 6.28667207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.884012739 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:182.21, Y:124.93, Z:0.63 [[-6.53731526e-01 -7.56724514e-01 1.76128641e-03 1.82211274e+02] [ 7.56721771e-01 -6.53733898e-01 -2.03764522e-03 1.24929582e+02] [ 2.69334871e-03 7.30852392e-07 9.99996373e-01 6.30421266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.914012739 meters Centerline goodness : 0.991221 Centerline is valid? [True, True] Translation: X:182.20, Y:124.94, Z:0.63 [[-6.54609274e-01 -7.55965339e-01 1.76206520e-03 1.82201447e+02] [ 7.55962595e-01 -6.54611646e-01 -2.03697152e-03 1.24941799e+02] [ 2.69334827e-03 -1.36506624e-06 9.99996373e-01 6.29655957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.944012739 meters Centerline goodness : 0.991210 Centerline is valid? [True, True] Translation: X:182.15, Y:125.01, Z:0.63 [[-6.55454129e-01 -7.55232929e-01 1.76284233e-03 1.82147347e+02] [ 7.55230184e-01 -6.55456499e-01 -2.03629876e-03 1.25005600e+02] [ 2.69334634e-03 -3.34869574e-06 9.99996373e-01 6.28784922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.974012739 meters Centerline goodness : 0.991210 Centerline is valid? [True, True] Translation: X:182.15, Y:125.00, Z:0.63 [[-6.55763653e-01 -7.54964186e-01 1.76354322e-03 1.82149033e+02] [ 7.54961441e-01 -6.55766024e-01 -2.03569150e-03 1.25003767e+02] [ 2.69334590e-03 -3.52536038e-06 9.99996373e-01 6.28778158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.004012739 meters Centerline goodness : 0.990889 Centerline is valid? [True, True] Translation: X:182.21, Y:124.94, Z:0.63 [[-6.57083163e-01 -7.53816028e-01 1.76436788e-03 1.82211755e+02] [ 7.53813282e-01 -6.57085531e-01 -2.03497641e-03 1.24935385e+02] [ 2.69333844e-03 -7.14478984e-06 9.99996373e-01 6.27321482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.034012739 meters Centerline goodness : 0.990911 Centerline is valid? [True, True] Translation: X:182.22, Y:124.93, Z:0.63 [[-6.58045856e-01 -7.52975791e-01 1.76367969e-03 1.82222388e+02] [ 7.52973039e-01 -6.58048219e-01 -2.03557268e-03 1.24925406e+02] [ 2.69332322e-03 -1.14969102e-05 9.99996373e-01 6.27822668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.064012739 meters Centerline goodness : 0.990695 Centerline is valid? [True, True] Translation: X:182.23, Y:124.93, Z:0.63 [[-6.58662223e-01 -7.52436684e-01 1.76445294e-03 1.82225905e+02] [ 7.52433932e-01 -6.58664586e-01 -2.03490219e-03 1.24925029e+02] [ 2.69331772e-03 -1.26789358e-05 9.99996373e-01 6.30559725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.094012739 meters Centerline goodness : 0.991143 Centerline is valid? [True, True] Translation: X:182.23, Y:124.92, Z:0.63 [[-6.58519938e-01 -7.52561210e-01 1.76522264e-03 1.82227779e+02] [ 7.52558461e-01 -6.58522304e-01 -2.03423428e-03 1.24924126e+02] [ 2.69332429e-03 -1.11506014e-05 9.99996373e-01 6.31113110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.124012739 meters Centerline goodness : 0.991339 Centerline is valid? [True, True] Translation: X:182.23, Y:124.92, Z:0.63 [[-6.57894579e-01 -7.53107964e-01 1.76599208e-03 1.82229608e+02] [ 7.53105218e-01 -6.57896949e-01 -2.03356608e-03 1.24922677e+02] [ 2.69333561e-03 -7.89424585e-06 9.99996373e-01 6.32032769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.154012739 meters Centerline goodness : 0.990885 Centerline is valid? [True, True] Translation: X:182.22, Y:124.93, Z:0.63 [[-6.56904716e-01 -7.53971534e-01 1.76676153e-03 1.82221297e+02] [ 7.53968793e-01 -6.56907091e-01 -2.03289737e-03 1.24932112e+02] [ 2.69334492e-03 -3.33680785e-06 9.99996373e-01 6.33634889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.184012739 meters Centerline goodness : 0.990865 Centerline is valid? [True, True] Translation: X:182.22, Y:124.94, Z:0.63 [[-6.57042164e-01 -7.53851757e-01 1.76753491e-03 1.82217712e+02] [ 7.53849017e-01 -6.57044541e-01 -2.03222471e-03 1.24937631e+02] [ 2.69334533e-03 -2.80286388e-06 9.99996373e-01 6.33794310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.214012739 meters Centerline goodness : 0.990754 Centerline is valid? [True, True] Translation: X:182.23, Y:124.93, Z:0.63 [[-6.57495756e-01 -7.53456172e-01 1.76831487e-03 1.82229833e+02] [ 7.53453433e-01 -6.57498134e-01 -2.03154582e-03 1.24929489e+02] [ 2.69334446e-03 -3.38984688e-06 9.99996373e-01 6.32061807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.244012739 meters Centerline goodness : 0.990439 Centerline is valid? [True, True] Translation: X:182.22, Y:124.94, Z:0.63 [[-6.57754398e-01 -7.53230391e-01 1.76909392e-03 1.82222111e+02] [ 7.53227653e-01 -6.57756777e-01 -2.03086719e-03 1.24941901e+02] [ 2.69334440e-03 -3.28136525e-06 9.99996373e-01 6.31595747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.274012739 meters Centerline goodness : 0.990881 Centerline is valid? [True, True] Translation: X:182.24, Y:124.93, Z:0.63 [[-6.57820365e-01 -7.53172779e-01 1.76987413e-03 1.82235200e+02] [ 7.53170043e-01 -6.57822746e-01 -2.03018701e-03 1.24933368e+02] [ 2.69334505e-03 -2.48218398e-06 9.99996373e-01 6.32210894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30401273900003 meters Centerline goodness : 0.990563 Centerline is valid? [True, True] Translation: X:182.26, Y:124.91, Z:0.63 [[-6.57412298e-01 -7.53528988e-01 1.77065526e-03 1.82256199e+02] [ 7.53526255e-01 -6.57414682e-01 -2.02950551e-03 1.24911870e+02] [ 2.69334600e-03 1.33432802e-08 9.99996373e-01 6.32735286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.334012739 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:182.26, Y:124.91, Z:0.63 [[-6.54731544e-01 -7.55859423e-01 1.77142481e-03 1.82263397e+02] [ 7.55856700e-01 -6.54733941e-01 -2.02883360e-03 1.24907701e+02] [ 2.69332494e-03 1.06019575e-05 9.99996373e-01 6.33920001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36401273900003 meters Centerline goodness : 0.991265 Centerline is valid? [True, True] Translation: X:182.27, Y:124.90, Z:0.63 [[-6.52804698e-01 -7.57524182e-01 1.77218498e-03 1.82268691e+02] [ 7.57521467e-01 -6.52807103e-01 -2.02816937e-03 1.24903830e+02] [ 2.69328229e-03 1.84696703e-05 9.99996373e-01 6.33495180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.394012739 meters Centerline goodness : 0.990977 Centerline is valid? [True, True] Translation: X:182.28, Y:124.89, Z:0.63 [[-6.50654065e-01 -7.59372204e-01 1.77294255e-03 1.82282526e+02] [ 7.59369498e-01 -6.50656480e-01 -2.02750692e-03 1.24889160e+02] [ 2.69320896e-03 2.71128748e-05 9.99996373e-01 6.33134402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.424012739 meters Centerline goodness : 0.991322 Centerline is valid? [True, True] Translation: X:182.29, Y:124.88, Z:0.63 [[-6.46901886e-01 -7.62571180e-01 1.77369391e-03 1.82288652e+02] [ 7.62568488e-01 -6.46904316e-01 -2.02684941e-03 1.24881762e+02] [ 2.69302719e-03 4.13903785e-05 9.99996373e-01 6.30963862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.454012739 meters Centerline goodness : 0.990946 Centerline is valid? [True, True] Translation: X:182.30, Y:124.87, Z:0.63 [[-6.45528587e-01 -7.63734047e-01 1.77443867e-03 1.82295362e+02] [ 7.63731361e-01 -6.45531024e-01 -2.02619718e-03 1.24873496e+02] [ 2.69293099e-03 4.72262624e-05 9.99996373e-01 6.30939802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.484012739 meters Centerline goodness : 0.991189 Centerline is valid? [True, True] Translation: X:182.28, Y:124.89, Z:0.63 [[-6.43049505e-01 -7.65822554e-01 1.77517907e-03 1.82282362e+02] [ 7.65819877e-01 -6.43051952e-01 -2.02554830e-03 1.24886510e+02] [ 2.69274294e-03 5.69395825e-05 9.99996373e-01 6.33098291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.514012739 meters Centerline goodness : 0.991708 Centerline is valid? [True, True] Translation: X:182.29, Y:124.88, Z:0.63 [[-6.41808984e-01 -7.66862487e-01 1.77592264e-03 1.82289710e+02] [ 7.66859816e-01 -6.41811439e-01 -2.02489616e-03 1.24875387e+02] [ 2.69262437e-03 6.22871618e-05 9.99996373e-01 6.32645372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.544012739 meters Centerline goodness : 0.991347 Centerline is valid? [True, True] Translation: X:182.29, Y:124.87, Z:0.63 [[-6.40412540e-01 -7.68029051e-01 1.77666859e-03 1.82294647e+02] [ 7.68026386e-01 -6.40415001e-01 -2.02424144e-03 1.24866281e+02] [ 2.69248145e-03 6.81787506e-05 9.99996373e-01 6.31475863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.574012739 meters Centerline goodness : 0.991212 Centerline is valid? [True, True] Translation: X:182.30, Y:124.85, Z:0.63 [[-6.37126328e-01 -7.70757344e-01 1.77740956e-03 1.82299381e+02] [ 7.70754692e-01 -6.37128802e-01 -2.02359062e-03 1.24851935e+02] [ 2.69213615e-03 8.06638960e-05 9.99996373e-01 6.30461319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.604012739 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:182.30, Y:124.84, Z:0.63 [[-6.36030384e-01 -7.71661965e-01 1.77814538e-03 1.82302049e+02] [ 7.71659318e-01 -6.36032864e-01 -2.02294384e-03 1.24844043e+02] [ 2.69198771e-03 8.54687052e-05 9.99996373e-01 6.30287692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.634012739 meters Centerline goodness : 0.990828 Centerline is valid? [True, True] Translation: X:182.29, Y:124.84, Z:0.63 [[-6.34841979e-01 -7.72639953e-01 1.77887669e-03 1.82293979e+02] [ 7.72637312e-01 -6.34844465e-01 -2.02230055e-03 1.24844792e+02] [ 2.69182022e-03 9.05852214e-05 9.99996373e-01 6.30275357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.664012739 meters Centerline goodness : 0.990492 Centerline is valid? [True, True] Translation: X:182.29, Y:124.85, Z:0.63 [[-6.35255358e-01 -7.72300112e-01 1.77960857e-03 1.82288410e+02] [ 7.72297471e-01 -6.35257845e-01 -2.02165630e-03 1.24847055e+02] [ 2.69183569e-03 9.01192050e-05 9.99996373e-01 6.31621600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.694012739 meters Centerline goodness : 0.990972 Centerline is valid? [True, True] Translation: X:182.30, Y:124.82, Z:0.63 [[-6.37408104e-01 -7.70524328e-01 1.78034450e-03 1.82303293e+02] [ 7.70521682e-01 -6.37410584e-01 -2.02100800e-03 1.24820904e+02] [ 2.69204626e-03 8.35871609e-05 9.99996373e-01 6.33442965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.724012739 meters Centerline goodness : 0.991411 Centerline is valid? [True, True] Translation: X:182.30, Y:124.82, Z:0.63 [[-6.39050094e-01 -7.69163055e-01 1.78107511e-03 1.82298295e+02] [ 7.69160405e-01 -6.39052572e-01 -2.02036392e-03 1.24822745e+02] [ 2.69218992e-03 7.88186998e-05 9.99996373e-01 6.33663933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.754012739 meters Centerline goodness : 0.991312 Centerline is valid? [True, True] Translation: X:182.28, Y:124.84, Z:0.63 [[-6.42136362e-01 -7.66588362e-01 1.78180071e-03 1.82278484e+02] [ 7.66585705e-01 -6.42138831e-01 -2.01972380e-03 1.24837659e+02] [ 2.69246019e-03 6.89648609e-05 9.99996373e-01 6.33893504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.784012739 meters Centerline goodness : 0.991544 Centerline is valid? [True, True] Translation: X:182.27, Y:124.84, Z:0.63 [[-6.43592703e-01 -7.65366092e-01 1.78253466e-03 1.82273502e+02] [ 7.65363431e-01 -6.43595169e-01 -2.01907584e-03 1.24839241e+02] [ 2.69256288e-03 6.48243691e-05 9.99996373e-01 6.34136336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.814012739 meters Centerline goodness : 0.991313 Centerline is valid? [True, True] Translation: X:182.20, Y:124.91, Z:0.63 [[-6.45194777e-01 -7.64016047e-01 1.78327692e-03 1.82203789e+02] [ 7.64013383e-01 -6.45197239e-01 -2.01842005e-03 1.24913880e+02] [ 2.69267065e-03 6.01733553e-05 9.99996373e-01 6.33981775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.844012739 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:182.26, Y:124.85, Z:0.64 [[-6.47776356e-01 -7.61828464e-01 1.78449459e-03 1.82258294e+02] [ 7.61825795e-01 -6.47778812e-01 -2.01734345e-03 1.24846066e+02] [ 2.69282745e-03 5.26866195e-05 9.99996373e-01 6.35221563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.874012739 meters Centerline goodness : 0.991491 Centerline is valid? [True, True] Translation: X:182.26, Y:124.84, Z:0.64 [[-6.50122922e-01 -7.59826958e-01 1.78326905e-03 1.82258369e+02] [ 7.59824278e-01 -6.50125366e-01 -2.01842622e-03 1.24844987e+02] [ 2.69300310e-03 4.27459674e-05 9.99996373e-01 6.36154074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.904012739 meters Centerline goodness : 0.991470 Centerline is valid? [True, True] Translation: X:182.25, Y:124.85, Z:0.64 [[-6.55149985e-01 -7.55496733e-01 1.78402128e-03 1.82250747e+02] [ 7.55494039e-01 -6.55152414e-01 -2.01776113e-03 1.24853307e+02] [ 2.69321779e-03 2.58812669e-05 9.99996373e-01 6.36642713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.934012739 meters Centerline goodness : 0.991999 Centerline is valid? [True, True] Translation: X:182.23, Y:124.88, Z:0.63 [[-6.57616708e-01 -7.53350569e-01 1.78477765e-03 1.82229093e+02] [ 7.53347869e-01 -6.57619130e-01 -2.01709186e-03 1.24877926e+02] [ 2.69328123e-03 1.80851294e-05 9.99996373e-01 6.33994455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.964012739 meters Centerline goodness : 0.991247 Centerline is valid? [True, True] Translation: X:182.24, Y:124.86, Z:0.63 [[-6.59740760e-01 -7.51491146e-01 1.78554719e-03 1.82242619e+02] [ 7.51488440e-01 -6.59743176e-01 -2.01641044e-03 1.24862739e+02] [ 2.69331716e-03 1.15099171e-05 9.99996373e-01 6.31518421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.994012739 meters Centerline goodness : 0.991608 Centerline is valid? [True, True] Translation: X:182.24, Y:124.87, Z:0.63 [[-6.62190638e-01 -7.49333283e-01 1.78632133e-03 1.82237188e+02] [ 7.49330571e-01 -6.62193047e-01 -2.01572440e-03 1.24871598e+02] [ 2.69333894e-03 3.75135318e-06 9.99996373e-01 6.27463087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.024012739 meters Centerline goodness : 0.991387 Centerline is valid? [True, True] Translation: X:182.25, Y:124.86, Z:0.63 [[-6.63163271e-01 -7.48472633e-01 1.78709378e-03 1.82249194e+02] [ 7.48469921e-01 -6.63165679e-01 -2.01503932e-03 1.24859856e+02] [ 2.69334105e-03 1.28587498e-06 9.99996373e-01 6.26826668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05401273900003 meters Centerline goodness : 0.991791 Centerline is valid? [True, True] Translation: X:182.25, Y:124.86, Z:0.63 [[-6.64205062e-01 -7.47548286e-01 1.78786572e-03 1.82252318e+02] [ 7.47545572e-01 -6.64207468e-01 -2.01435418e-03 1.24859366e+02] [ 2.69334078e-03 -1.43314032e-06 9.99996373e-01 6.28582380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.084012739 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:182.26, Y:124.85, Z:0.63 [[-6.64590223e-01 -7.47205886e-01 1.78863318e-03 1.82260955e+02] [ 7.47203173e-01 -6.64592630e-01 -2.01367249e-03 1.24852343e+02] [ 2.69334037e-03 -1.79465593e-06 9.99996373e-01 6.28302026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11401273900003 meters Centerline goodness : 0.992004 Centerline is valid? [True, True] Translation: X:182.25, Y:124.87, Z:0.63 [[-6.65374237e-01 -7.46507818e-01 1.78939811e-03 1.82251204e+02] [ 7.46505104e-01 -6.65376643e-01 -2.01299252e-03 1.24866436e+02] [ 2.69333837e-03 -3.59853644e-06 9.99996373e-01 6.28245351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.144012739 meters Centerline goodness : 0.991979 Centerline is valid? [True, True] Translation: X:182.26, Y:124.86, Z:0.63 [[-6.67455384e-01 -7.44647638e-01 1.79016583e-03 1.82259252e+02] [ 7.44644919e-01 -6.67457785e-01 -2.01230956e-03 1.24864859e+02] [ 2.69332168e-03 -1.00889629e-05 9.99996373e-01 6.26926160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.174012739 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:182.28, Y:124.85, Z:0.63 [[-6.69233001e-01 -7.43050458e-01 1.79093775e-03 1.82280064e+02] [ 7.43047735e-01 -6.69235397e-01 -2.01162232e-03 1.24851487e+02] [ 2.69329582e-03 -1.54918018e-05 9.99996373e-01 6.30002800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.204012739 meters Centerline goodness : 0.992083 Centerline is valid? [True, True] Translation: X:182.28, Y:124.85, Z:0.63 [[-6.68987474e-01 -7.43271518e-01 1.79170216e-03 1.82284483e+02] [ 7.43268798e-01 -6.68989873e-01 -2.01094125e-03 1.24851151e+02] [ 2.69330595e-03 -1.35782004e-05 9.99996373e-01 6.32806803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.234012739 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:182.27, Y:124.87, Z:0.63 [[-6.67788088e-01 -7.44349284e-01 1.79246029e-03 1.82269833e+02] [ 7.44346570e-01 -6.67790493e-01 -2.01026525e-03 1.24869905e+02] [ 2.69332745e-03 -8.21951765e-06 9.99996373e-01 6.34606915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.264012739 meters Centerline goodness : 0.991449 Centerline is valid? [True, True] Translation: X:182.27, Y:124.87, Z:0.63 [[-6.62921925e-01 -7.48686387e-01 1.79322532e-03 1.82269483e+02] [ 7.48683690e-01 -6.62924350e-01 -2.00958260e-03 1.24869108e+02] [ 2.69331986e-03 1.03621849e-05 9.99996373e-01 6.32846305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.294012739 meters Centerline goodness : 0.991270 Centerline is valid? [True, True] Translation: X:182.28, Y:124.85, Z:0.63 [[-6.59992950e-01 -7.51269651e-01 1.79399799e-03 1.82282338e+02] [ 7.51266965e-01 -6.59995387e-01 -2.00889258e-03 1.24853844e+02] [ 2.69325042e-03 2.19164871e-05 9.99996373e-01 6.31531225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.324012739 meters Centerline goodness : 0.991462 Centerline is valid? [True, True] Translation: X:182.30, Y:124.84, Z:0.63 [[-6.53430917e-01 -7.56984026e-01 1.79476616e-03 1.82295141e+02] [ 7.56981364e-01 -6.53433380e-01 -2.00820605e-03 1.24837488e+02] [ 2.69294002e-03 4.63806205e-05 9.99996373e-01 6.32636959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.354012739 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:182.32, Y:124.81, Z:0.63 [[-6.50470975e-01 -7.59528990e-01 1.79552402e-03 1.82319208e+02] [ 7.59526339e-01 -6.50473451e-01 -2.00752822e-03 1.24808325e+02] [ 2.69271659e-03 5.79089462e-05 9.99996373e-01 6.33334406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.384012739 meters Centerline goodness : 0.991439 Centerline is valid? [True, True] Translation: X:182.32, Y:124.80, Z:0.63 [[-6.48044555e-01 -7.61600308e-01 1.79626749e-03 1.82322850e+02] [ 7.61597667e-01 -6.48047041e-01 -2.00686277e-03 1.24801111e+02] [ 2.69249314e-03 6.74966361e-05 9.99996373e-01 6.32790168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.414012739 meters Centerline goodness : 0.991318 Centerline is valid? [True, True] Translation: X:182.33, Y:124.79, Z:0.63 [[-6.44755457e-01 -7.64386795e-01 1.79700011e-03 1.82326370e+02] [ 7.64384166e-01 -6.44757956e-01 -2.00620655e-03 1.24788783e+02] [ 2.69214791e-03 8.00858082e-05 9.99996373e-01 6.28641259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.444012739 meters Centerline goodness : 0.990834 Centerline is valid? [True, True] Translation: X:182.32, Y:124.79, Z:0.63 [[-6.43993796e-01 -7.65028600e-01 1.79772891e-03 1.82321895e+02] [ 7.65025976e-01 -6.43996300e-01 -2.00555327e-03 1.24788593e+02] [ 2.69203638e-03 8.37454488e-05 9.99996373e-01 6.27491902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.474012739 meters Centerline goodness : 0.991352 Centerline is valid? [True, True] Translation: X:182.32, Y:124.78, Z:0.63 [[-6.42431099e-01 -7.66341339e-01 1.79845644e-03 1.82316684e+02] [ 7.66338722e-01 -6.42433610e-01 -2.00490065e-03 1.24781714e+02] [ 2.69182712e-03 9.02162834e-05 9.99996373e-01 6.28007743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.504012739 meters Centerline goodness : 0.991182 Centerline is valid? [True, True] Translation: X:182.32, Y:124.78, Z:0.63 [[-6.41771368e-01 -7.66893913e-01 1.79918523e-03 1.82315350e+02] [ 7.66891300e-01 -6.41773883e-01 -2.00424643e-03 1.24776345e+02] [ 2.69171448e-03 9.35115308e-05 9.99996373e-01 6.28127775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.534012739 meters Centerline goodness : 0.990861 Centerline is valid? [True, True] Translation: X:182.31, Y:124.76, Z:0.63 [[-6.41343704e-01 -7.67251598e-01 1.79991378e-03 1.82313458e+02] [ 7.67248987e-01 -6.41346222e-01 -2.00359194e-03 1.24762815e+02] [ 2.69162702e-03 9.59909546e-05 9.99996373e-01 6.27318174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.564012739 meters Centerline goodness : 0.991056 Centerline is valid? [True, True] Translation: X:182.32, Y:124.75, Z:0.63 [[-6.41894305e-01 -7.66791014e-01 1.80064038e-03 1.82316546e+02] [ 7.66788404e-01 -6.41896824e-01 -2.00293873e-03 1.24752218e+02] [ 2.69166076e-03 9.50351924e-05 9.99996373e-01 6.27431845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.594012739 meters Centerline goodness : 0.990832 Centerline is valid? [True, True] Translation: X:182.30, Y:124.76, Z:0.63 [[-6.42828124e-01 -7.66008328e-01 1.80136343e-03 1.82303772e+02] [ 7.66005716e-01 -6.42830641e-01 -2.00228823e-03 1.24759830e+02] [ 2.69174107e-03 9.27274967e-05 9.99996373e-01 6.27742467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.624012739 meters Centerline goodness : 0.991638 Centerline is valid? [True, True] Translation: X:182.29, Y:124.77, Z:0.63 [[-6.45676366e-01 -7.63609051e-01 1.80208852e-03 1.82286087e+02] [ 7.63606433e-01 -6.45678875e-01 -2.00163543e-03 1.24766154e+02] [ 2.69203742e-03 8.36777001e-05 9.99996373e-01 6.26658112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.654012739 meters Centerline goodness : 0.991117 Centerline is valid? [True, True] Translation: X:182.28, Y:124.76, Z:0.62 [[-6.49471815e-01 -7.60383529e-01 1.80282249e-03 1.82279946e+02] [ 7.60380899e-01 -6.49474314e-01 -2.00097414e-03 1.24759839e+02] [ 2.69239468e-03 7.12554833e-05 9.99996373e-01 6.24057511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.684012739 meters Centerline goodness : 0.991069 Centerline is valid? [True, True] Translation: X:182.26, Y:124.77, Z:0.62 [[-6.51828096e-01 -7.58364609e-01 1.80356164e-03 1.82264630e+02] [ 7.58361974e-01 -6.51830588e-01 -2.00030770e-03 1.24771489e+02] [ 2.69257921e-03 6.38958050e-05 9.99996373e-01 6.23761984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.714012739 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:182.26, Y:124.78, Z:0.63 [[-6.54217866e-01 -7.56303992e-01 1.80430662e-03 1.82257705e+02] [ 7.56301351e-01 -6.54220352e-01 -1.99963548e-03 1.24775459e+02] [ 2.69274641e-03 5.64022767e-05 9.99996373e-01 6.25240045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.744012739 meters Centerline goodness : 0.991873 Centerline is valid? [True, True] Translation: X:182.25, Y:124.78, Z:0.63 [[-6.58261594e-01 -7.52787099e-01 1.80505989e-03 1.82247546e+02] [ 7.52784446e-01 -6.58264067e-01 -1.99895529e-03 1.24779933e+02] [ 2.69299381e-03 4.29855114e-05 9.99996373e-01 6.31110667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.774012739 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:182.25, Y:124.77, Z:0.63 [[-6.60038583e-01 -7.51229531e-01 1.80581897e-03 1.82252586e+02] [ 7.51226874e-01 -6.60041052e-01 -1.99826931e-03 1.24771805e+02] [ 2.69307357e-03 3.76448938e-05 9.99996373e-01 6.32106030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80401273900003 meters Centerline goodness : 0.991463 Centerline is valid? [True, True] Translation: X:182.25, Y:124.77, Z:0.63 [[-6.63630809e-01 -7.48058077e-01 1.80657942e-03 1.82250516e+02] [ 7.48055410e-01 -6.63633267e-01 -1.99758157e-03 1.24771367e+02] [ 2.69321323e-03 2.57648377e-05 9.99996373e-01 6.32368017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.834012739 meters Centerline goodness : 0.992029 Centerline is valid? [True, True] Translation: X:182.25, Y:124.77, Z:0.63 [[-6.65584612e-01 -7.46320212e-01 1.80733874e-03 1.82250082e+02] [ 7.46317540e-01 -6.65587065e-01 -1.99689433e-03 1.24771461e+02] [ 2.69326389e-03 1.97464647e-05 9.99996373e-01 6.32643248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86401273900003 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:182.26, Y:124.76, Z:0.63 [[-6.67374581e-01 -7.44720014e-01 1.80809954e-03 1.82261892e+02] [ 7.44717339e-01 -6.67377030e-01 -1.99620522e-03 1.24758197e+02] [ 2.69329808e-03 1.43064625e-05 9.99996373e-01 6.33340845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.894012739 meters Centerline goodness : 0.991917 Centerline is valid? [True, True] Translation: X:182.26, Y:124.76, Z:0.63 [[-6.67655071e-01 -7.44468560e-01 1.80809954e-03 1.82263641e+02] [ 7.44465884e-01 -6.67657520e-01 -1.99620522e-03 1.24756377e+02] [ 2.69330328e-03 1.32918892e-05 9.99996373e-01 6.33334051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.924012739 meters Centerline goodness : 0.992304 Centerline is valid? [True, True] Translation: X:182.27, Y:124.75, Z:0.63 [[-6.71705951e-01 -7.40815661e-01 1.80885127e-03 1.82269029e+02] [ 7.40812973e-01 -6.71708387e-01 -1.99552381e-03 1.24750943e+02] [ 2.69333586e-03 -3.84737433e-07 9.99996373e-01 6.33552202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.954012739 meters Centerline goodness : 0.992498 Centerline is valid? [True, True] Translation: X:182.26, Y:124.76, Z:0.63 [[-6.73943092e-01 -7.38781046e-01 1.80960138e-03 1.82262577e+02] [ 7.38778353e-01 -6.73945522e-01 -1.99484335e-03 1.24758557e+02] [ 2.69332521e-03 -7.51657104e-06 9.99996373e-01 6.32557286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.984012739 meters Centerline goodness : 0.993102 Centerline is valid? [True, True] Translation: X:182.29, Y:124.73, Z:0.63 [[-6.76907663e-01 -7.36065717e-01 1.81035320e-03 1.82293225e+02] [ 7.36063015e-01 -6.76910083e-01 -1.99416083e-03 1.24725152e+02] [ 2.69327976e-03 -1.73287136e-05 9.99996373e-01 6.30715858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.014012739 meters Centerline goodness : 0.992466 Centerline is valid? [True, True] Translation: X:182.29, Y:124.73, Z:0.63 [[-6.78180455e-01 -7.34893187e-01 1.80961116e-03 1.82292864e+02] [ 7.34890480e-01 -6.78182869e-01 -1.99483397e-03 1.24725415e+02] [ 2.69323718e-03 -2.29913989e-05 9.99996373e-01 6.30299674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.044012739 meters Centerline goodness : 0.992764 Centerline is valid? [True, True] Translation: X:182.30, Y:124.72, Z:0.63 [[-6.79086555e-01 -7.34055974e-01 1.81034193e-03 1.82297315e+02] [ 7.34053266e-01 -6.79088968e-01 -1.99417057e-03 1.24720384e+02] [ 2.69321605e-03 -2.53270127e-05 9.99996373e-01 6.29906710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.074012739 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:182.30, Y:124.72, Z:0.63 [[-6.80526786e-01 -7.32720966e-01 1.81107189e-03 1.82297989e+02] [ 7.32718255e-01 -6.80529195e-01 -1.99350741e-03 1.24719997e+02] [ 2.69317197e-03 -2.96297595e-05 9.99996373e-01 6.31059002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.104012739 meters Centerline goodness : 0.993175 Centerline is valid? [True, True] Translation: X:182.29, Y:124.73, Z:0.63 [[-6.81338838e-01 -7.31965918e-01 1.81180113e-03 1.82290595e+02] [ 7.31963206e-01 -6.81341246e-01 -1.99284442e-03 1.24728110e+02] [ 2.69314904e-03 -3.16305363e-05 9.99996373e-01 6.32196841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.134012739 meters Centerline goodness : 0.992537 Centerline is valid? [True, True] Translation: X:182.31, Y:124.71, Z:0.63 [[-6.82487667e-01 -7.30894862e-01 1.81253397e-03 1.82305256e+02] [ 7.30892147e-01 -6.82490073e-01 -1.99217766e-03 1.24712630e+02] [ 2.69310886e-03 -3.48698354e-05 9.99996373e-01 6.31780064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.164012739 meters Centerline goodness : 0.992741 Centerline is valid? [True, True] Translation: X:182.32, Y:124.70, Z:0.63 [[-6.83511413e-01 -7.29937576e-01 1.81235116e-03 1.82317386e+02] [ 7.29934858e-01 -6.83513814e-01 -1.99234396e-03 1.24700056e+02] [ 2.69305377e-03 -3.88915490e-05 9.99996373e-01 6.29794327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.194012739 meters Centerline goodness : 0.992743 Centerline is valid? [True, True] Translation: X:182.31, Y:124.71, Z:0.63 [[-6.84936319e-01 -7.28600681e-01 1.81298095e-03 1.82307766e+02] [ 7.28597960e-01 -6.84938717e-01 -1.99177071e-03 1.24713367e+02] [ 2.69298633e-03 -4.33018775e-05 9.99996373e-01 6.25361924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.224012739 meters Centerline goodness : 0.992080 Centerline is valid? [True, True] Translation: X:182.32, Y:124.70, Z:0.63 [[-6.85814651e-01 -7.27773986e-01 1.81370200e-03 1.82317793e+02] [ 7.27771264e-01 -6.85817048e-01 -1.99111390e-03 1.24704489e+02] [ 2.69294865e-03 -4.55748892e-05 9.99996373e-01 6.25642632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.254012739 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:182.33, Y:124.70, Z:0.62 [[-6.86588010e-01 -7.27044436e-01 1.81442475e-03 1.82327770e+02] [ 7.27041713e-01 -6.86590406e-01 -1.99045507e-03 1.24695980e+02] [ 2.69291591e-03 -4.74601078e-05 9.99996373e-01 6.24934346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.284012739 meters Centerline goodness : 0.992127 Centerline is valid? [True, True] Translation: X:182.33, Y:124.70, Z:0.63 [[-6.87643705e-01 -7.26046032e-01 1.81514206e-03 1.82329110e+02] [ 7.26043307e-01 -6.87646099e-01 -1.98980072e-03 1.24698698e+02] [ 2.69286227e-03 -5.04021993e-05 9.99996373e-01 6.25762385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.314012739 meters Centerline goodness : 0.992072 Centerline is valid? [True, True] Translation: X:182.33, Y:124.70, Z:0.62 [[-6.87877818e-01 -7.25824229e-01 1.81585745e-03 1.82328760e+02] [ 7.25821505e-01 -6.87880213e-01 -1.98914765e-03 1.24702601e+02] [ 2.69286397e-03 -5.03021610e-05 9.99996373e-01 6.24878034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.344012739 meters Centerline goodness : 0.992657 Centerline is valid? [True, True] Translation: X:182.33, Y:124.71, Z:0.62 [[-6.87898178e-01 -7.25804930e-01 1.81657484e-03 1.82325501e+02] [ 7.25802208e-01 -6.87900575e-01 -1.98849228e-03 1.24714822e+02] [ 2.69288038e-03 -4.94061868e-05 9.99996373e-01 6.24899108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.374012739 meters Centerline goodness : 0.992593 Centerline is valid? [True, True] Translation: X:182.34, Y:124.71, Z:0.62 [[-6.87821198e-01 -7.25877880e-01 1.81729698e-03 1.82336130e+02] [ 7.25875160e-01 -6.87823597e-01 -1.98783210e-03 1.24708635e+02] [ 2.69290309e-03 -4.81423250e-05 9.99996373e-01 6.24883496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.404012739 meters Centerline goodness : 0.992362 Centerline is valid? [True, True] Translation: X:182.34, Y:124.72, Z:0.63 [[-6.87202663e-01 -7.26463485e-01 1.81801979e-03 1.82338298e+02] [ 7.26460768e-01 -6.87205067e-01 -1.98717082e-03 1.24715936e+02] [ 2.69295945e-03 -4.48690279e-05 9.99996373e-01 6.26279620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.434012739 meters Centerline goodness : 0.992250 Centerline is valid? [True, True] Translation: X:182.34, Y:124.72, Z:0.63 [[-6.86649291e-01 -7.26986550e-01 1.81874167e-03 1.82340906e+02] [ 7.26983837e-01 -6.86651698e-01 -1.98650990e-03 1.24716472e+02] [ 2.69300803e-03 -4.18398201e-05 9.99996373e-01 6.25112264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.464012739 meters Centerline goodness : 0.992849 Centerline is valid? [True, True] Translation: X:182.34, Y:124.73, Z:0.62 [[-6.84941441e-01 -7.28595849e-01 1.81946525e-03 1.82335535e+02] [ 7.28593144e-01 -6.84943857e-01 -1.98584694e-03 1.24728121e+02] [ 2.69311139e-03 -3.45389568e-05 9.99996373e-01 6.22013920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.494012739 meters Centerline goodness : 0.992443 Centerline is valid? [True, True] Translation: X:182.34, Y:124.72, Z:0.62 [[-6.84039856e-01 -7.29442364e-01 1.82019273e-03 1.82343610e+02] [ 7.29439663e-01 -6.84042277e-01 -1.98517992e-03 1.24721964e+02] [ 2.69316312e-03 -3.02214169e-05 9.99996373e-01 6.21719758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.524012739 meters Centerline goodness : 0.992272 Centerline is valid? [True, True] Translation: X:182.34, Y:124.72, Z:0.62 [[-6.83035774e-01 -7.30382650e-01 1.82092171e-03 1.82344306e+02] [ 7.30379955e-01 -6.83038201e-01 -1.98451104e-03 1.24723155e+02] [ 2.69321152e-03 -2.55273192e-05 9.99996373e-01 6.24634680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55401273900003 meters Centerline goodness : 0.992857 Centerline is valid? [True, True] Translation: X:182.33, Y:124.74, Z:0.63 [[-6.81069127e-01 -7.32216857e-01 1.82164940e-03 1.82325385e+02] [ 7.32214170e-01 -6.81071563e-01 -1.98384284e-03 1.24744818e+02] [ 2.69327677e-03 -1.72966139e-05 9.99996373e-01 6.27832763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.584012739 meters Centerline goodness : 0.993199 Centerline is valid? [True, True] Translation: X:182.33, Y:124.74, Z:0.63 [[-6.80637571e-01 -7.32618028e-01 1.82238563e-03 1.82332648e+02] [ 7.32615344e-01 -6.80640011e-01 -1.98316630e-03 1.24738048e+02] [ 2.69329196e-03 -1.47098234e-05 9.99996373e-01 6.29326533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61401273900003 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:182.33, Y:124.74, Z:0.63 [[-6.80400762e-01 -7.32837963e-01 1.82312794e-03 1.82332868e+02] [ 7.32835281e-01 -6.80403204e-01 -1.98248366e-03 1.24740368e+02] [ 2.69330138e-03 -1.28309128e-05 9.99996373e-01 6.32386891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.644012739 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:182.33, Y:124.74, Z:0.63 [[-6.81053490e-01 -7.32231396e-01 1.82386892e-03 1.82332386e+02] [ 7.32228714e-01 -6.81055932e-01 -1.98180173e-03 1.24741131e+02] [ 2.69329419e-03 -1.42237921e-05 9.99996373e-01 6.34031294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.674012739 meters Centerline goodness : 0.992926 Centerline is valid? [True, True] Translation: X:182.34, Y:124.73, Z:0.63 [[-6.81943074e-01 -7.31402977e-01 1.82461181e-03 1.82342427e+02] [ 7.31400294e-01 -6.81945514e-01 -1.98111753e-03 1.24730251e+02] [ 2.69328109e-03 -1.64877644e-05 9.99996373e-01 6.34995965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.704012739 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:182.35, Y:124.73, Z:0.63 [[-6.83436687e-01 -7.30007509e-01 1.82535203e-03 1.82346581e+02] [ 7.30004823e-01 -6.83439125e-01 -1.98043527e-03 1.24727654e+02] [ 2.69324961e-03 -2.09863350e-05 9.99996373e-01 6.33431757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.734012739 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:182.35, Y:124.73, Z:0.63 [[-6.85174758e-01 -7.28376425e-01 1.82608806e-03 1.82345470e+02] [ 7.28373735e-01 -6.85177191e-01 -1.97975637e-03 1.24733644e+02] [ 2.69320175e-03 -2.64045126e-05 9.99996373e-01 6.30738414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.764012739 meters Centerline goodness : 0.992887 Centerline is valid? [True, True] Translation: X:182.36, Y:124.72, Z:0.63 [[-6.86553370e-01 -7.27077116e-01 1.82682539e-03 1.82361436e+02] [ 7.27074423e-01 -6.86555800e-01 -1.97907577e-03 1.24718586e+02] [ 2.69315826e-03 -3.05031248e-05 9.99996373e-01 6.29615721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.794012739 meters Centerline goodness : 0.992484 Centerline is valid? [True, True] Translation: X:182.36, Y:124.73, Z:0.63 [[-6.87857110e-01 -7.25843824e-01 1.82755937e-03 1.82356089e+02] [ 7.25841128e-01 -6.87859537e-01 -1.97839774e-03 1.24727073e+02] [ 2.69311192e-03 -3.43372006e-05 9.99996373e-01 6.29398731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.824012739 meters Centerline goodness : 0.992135 Centerline is valid? [True, True] Translation: X:182.37, Y:124.72, Z:0.63 [[-6.89533644e-01 -7.24251345e-01 1.82829122e-03 1.82367760e+02] [ 7.24248646e-01 -6.89536067e-01 -1.97772119e-03 1.24719555e+02] [ 2.69303997e-03 -3.95678590e-05 9.99996373e-01 6.28267104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.854012739 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:182.36, Y:124.73, Z:0.63 [[-6.89797978e-01 -7.23999588e-01 1.82902306e-03 1.82356565e+02] [ 7.23996890e-01 -6.89800402e-01 -1.97704414e-03 1.24733924e+02] [ 2.69303999e-03 -3.95540482e-05 9.99996373e-01 6.28256987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.884012739 meters Centerline goodness : 0.992378 Centerline is valid? [True, True] Translation: X:182.36, Y:124.73, Z:0.63 [[-6.89019953e-01 -7.24740061e-01 1.82975724e-03 1.82363367e+02] [ 7.24737367e-01 -6.89022382e-01 -1.97636442e-03 1.24730685e+02] [ 2.69309416e-03 -3.56610802e-05 9.99996373e-01 6.26161359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.914012739 meters Centerline goodness : 0.992486 Centerline is valid? [True, True] Translation: X:182.37, Y:124.73, Z:0.63 [[-6.88226668e-01 -7.25493420e-01 1.83049544e-03 1.82365210e+02] [ 7.25490730e-01 -6.88229102e-01 -1.97568047e-03 1.24730805e+02] [ 2.69314341e-03 -3.17085084e-05 9.99996373e-01 6.25666005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.944012739 meters Centerline goodness : 0.992572 Centerline is valid? [True, True] Translation: X:182.37, Y:124.73, Z:0.63 [[-6.87225764e-01 -7.26441599e-01 1.83123256e-03 1.82366800e+02] [ 7.26438914e-01 -6.87228203e-01 -1.97499701e-03 1.24731295e+02] [ 2.69319465e-03 -2.69902318e-05 9.99996373e-01 6.26203652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.974012739 meters Centerline goodness : 0.992656 Centerline is valid? [True, True] Translation: X:182.36, Y:124.74, Z:0.63 [[-6.84853023e-01 -7.28678928e-01 1.83197026e-03 1.82359849e+02] [ 7.28676254e-01 -6.84855473e-01 -1.97431250e-03 1.24740855e+02] [ 2.69327477e-03 -1.72006586e-05 9.99996373e-01 6.28251555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.004012739 meters Centerline goodness : 0.992053 Centerline is valid? [True, True] Translation: X:182.37, Y:124.73, Z:0.63 [[-6.84243815e-01 -7.29251015e-01 1.83271191e-03 1.82367073e+02] [ 7.29248344e-01 -6.84246270e-01 -1.97362380e-03 1.24734488e+02] [ 2.69329344e-03 -1.39377557e-05 9.99996373e-01 6.28196006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.034012739 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:182.37, Y:124.74, Z:0.63 [[-6.84039101e-01 -7.29443039e-01 1.83345512e-03 1.82366908e+02] [ 7.29440371e-01 -6.84041558e-01 -1.97293313e-03 1.24739017e+02] [ 2.69330183e-03 -1.21672242e-05 9.99996373e-01 6.26312079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.064012739 meters Centerline goodness : 0.991971 Centerline is valid? [True, True] Translation: X:182.36, Y:124.75, Z:0.63 [[-6.84744295e-01 -7.28781096e-01 1.83419782e-03 1.82361109e+02] [ 7.28778427e-01 -6.84746752e-01 -1.97224241e-03 1.24746973e+02] [ 2.69329399e-03 -1.37579317e-05 9.99996373e-01 6.26415489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.094012739 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:182.37, Y:124.74, Z:0.63 [[-6.85376124e-01 -7.28186928e-01 1.83494515e-03 1.82368609e+02] [ 7.28184259e-01 -6.85378580e-01 -1.97154686e-03 1.24740154e+02] [ 2.69328675e-03 -1.50729693e-05 9.99996373e-01 6.25927775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.124012739 meters Centerline goodness : 0.992779 Centerline is valid? [True, True] Translation: X:182.37, Y:124.74, Z:0.63 [[-6.86007077e-01 -7.27592551e-01 1.83569357e-03 1.82374406e+02] [ 7.27589882e-01 -6.86009533e-01 -1.97084977e-03 1.24736953e+02] [ 2.69327890e-03 -1.63848196e-05 9.99996373e-01 6.27248523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.154012739 meters Centerline goodness : 0.991927 Centerline is valid? [True, True] Translation: X:182.36, Y:124.75, Z:0.63 [[-6.86306238e-01 -7.27310370e-01 1.83643866e-03 1.82359612e+02] [ 7.27307702e-01 -6.86308695e-01 -1.97015524e-03 1.24754969e+02] [ 2.69327816e-03 -1.64738520e-05 9.99996373e-01 6.28057073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.184012739 meters Centerline goodness : 0.991437 Centerline is valid? [True, True] Translation: X:182.37, Y:124.75, Z:0.63 [[-6.86558343e-01 -7.27072395e-01 1.83718952e-03 1.82369930e+02] [ 7.27069727e-01 -6.86560801e-01 -1.96945481e-03 1.24747703e+02] [ 2.69327853e-03 -1.63807449e-05 9.99996373e-01 6.31692402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.214012739 meters Centerline goodness : 0.991834 Centerline is valid? [True, True] Translation: X:182.39, Y:124.73, Z:0.63 [[-6.86953052e-01 -7.26699474e-01 1.83794449e-03 1.82389575e+02] [ 7.26696808e-01 -6.86955511e-01 -1.96875000e-03 1.24728680e+02] [ 2.69327569e-03 -1.68104300e-05 9.99996373e-01 6.32424817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.244012739 meters Centerline goodness : 0.991630 Centerline is valid? [True, True] Translation: X:182.37, Y:124.75, Z:0.63 [[-6.87614105e-01 -7.26074006e-01 1.83868964e-03 1.82368135e+02] [ 7.26071339e-01 -6.87616563e-01 -1.96805383e-03 1.24753968e+02] [ 2.69326618e-03 -1.82417267e-05 9.99996373e-01 6.32126360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.274012739 meters Centerline goodness : 0.991594 Centerline is valid? [True, True] Translation: X:182.39, Y:124.74, Z:0.63 [[-6.88512852e-01 -7.25221807e-01 1.83943748e-03 1.82389024e+02] [ 7.25219138e-01 -6.88515309e-01 -1.96735462e-03 1.24736069e+02] [ 2.69324934e-03 -2.05536818e-05 9.99996373e-01 6.28065471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30401273900003 meters Centerline goodness : 0.991756 Centerline is valid? [True, True] Translation: X:182.39, Y:124.74, Z:0.63 [[-6.88864292e-01 -7.24887992e-01 1.84018802e-03 1.82390829e+02] [ 7.24885324e-01 -6.88866750e-01 -1.96665234e-03 1.24738858e+02] [ 2.69324701e-03 -2.08312854e-05 9.99996373e-01 6.28535055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.334012739 meters Centerline goodness : 0.991409 Centerline is valid? [True, True] Translation: X:182.40, Y:124.73, Z:0.63 [[-6.89261061e-01 -7.24510732e-01 1.84093237e-03 1.82399753e+02] [ 7.24508065e-01 -6.89263519e-01 -1.96595532e-03 1.24732316e+02] [ 2.69324326e-03 -2.12861006e-05 9.99996373e-01 6.29873143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36401273900003 meters Centerline goodness : 0.991457 Centerline is valid? [True, True] Translation: X:182.41, Y:124.73, Z:0.63 [[-6.89649753e-01 -7.24140751e-01 1.84167512e-03 1.82407650e+02] [ 7.24138084e-01 -6.89652211e-01 -1.96525928e-03 1.24727747e+02] [ 2.69323965e-03 -2.17134851e-05 9.99996373e-01 6.29547578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.394012739 meters Centerline goodness : 0.990940 Centerline is valid? [True, True] Translation: X:182.41, Y:124.74, Z:0.63 [[-6.90356976e-01 -7.23466551e-01 1.84241361e-03 1.82405279e+02] [ 7.23463884e-01 -6.90359435e-01 -1.96456671e-03 1.24737762e+02] [ 2.69322592e-03 -2.33326300e-05 9.99996373e-01 6.25207418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.424012739 meters Centerline goodness : 0.991519 Centerline is valid? [True, True] Translation: X:182.41, Y:124.74, Z:0.62 [[-6.90665361e-01 -7.23172152e-01 1.84315316e-03 1.82410436e+02] [ 7.23169486e-01 -6.90667820e-01 -1.96387262e-03 1.24736995e+02] [ 2.69322457e-03 -2.34666653e-05 9.99996373e-01 6.23027566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.454012739 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:182.41, Y:124.74, Z:0.62 [[-6.90775096e-01 -7.23067332e-01 1.84389513e-03 1.82413879e+02] [ 7.23064667e-01 -6.90777557e-01 -1.96317574e-03 1.24742950e+02] [ 2.69322961e-03 -2.28574949e-05 9.99996373e-01 6.23181664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.484012739 meters Centerline goodness : 0.991311 Centerline is valid? [True, True] Translation: X:182.42, Y:124.74, Z:0.63 [[-6.90649416e-01 -7.23187377e-01 1.84463767e-03 1.82419653e+02] [ 7.23184714e-01 -6.90651879e-01 -1.96247778e-03 1.24741336e+02] [ 2.69324163e-03 -2.13703638e-05 9.99996373e-01 6.25372247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.514012739 meters Centerline goodness : 0.991325 Centerline is valid? [True, True] Translation: X:182.42, Y:124.74, Z:0.63 [[-6.90298285e-01 -7.23522544e-01 1.84538045e-03 1.82419578e+02] [ 7.23519885e-01 -6.90300751e-01 -1.96177908e-03 1.24744718e+02] [ 2.69325890e-03 -1.90432849e-05 9.99996373e-01 6.27633476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.544012739 meters Centerline goodness : 0.990848 Centerline is valid? [True, True] Translation: X:182.41, Y:124.75, Z:0.63 [[-6.88045996e-01 -7.25664729e-01 1.84612345e-03 1.82414823e+02] [ 7.25662080e-01 -6.88048473e-01 -1.96107963e-03 1.24753448e+02] [ 2.69330874e-03 -9.65120840e-06 9.99996373e-01 6.29927641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.574012739 meters Centerline goodness : 0.991349 Centerline is valid? [True, True] Translation: X:182.43, Y:124.74, Z:0.63 [[-6.86674877e-01 -7.26962312e-01 1.84687085e-03 1.82425444e+02] [ 7.26959668e-01 -6.86677361e-01 -1.96037551e-03 1.24743448e+02] [ 2.69332351e-03 -3.53999186e-06 9.99996373e-01 6.29247880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.604012739 meters Centerline goodness : 0.990803 Centerline is valid? [True, True] Translation: X:182.43, Y:124.74, Z:0.63 [[-6.84169947e-01 -7.29320279e-01 1.84761798e-03 1.82432456e+02] [ 7.29317646e-01 -6.84172442e-01 -1.95967109e-03 1.24736997e+02] [ 2.69331717e-03 6.75232421e-06 9.99996373e-01 6.29860922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.634012739 meters Centerline goodness : 0.990804 Centerline is valid? [True, True] Translation: X:182.44, Y:124.73, Z:0.63 [[-6.83051571e-01 -7.30367808e-01 1.84835969e-03 1.82441860e+02] [ 7.30365181e-01 -6.83054072e-01 -1.95897126e-03 1.24727557e+02] [ 2.69329916e-03 1.18991578e-05 9.99996373e-01 6.31354182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.664012739 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:182.45, Y:124.72, Z:0.63 [[-6.81274696e-01 -7.32025525e-01 1.84909629e-03 1.82453094e+02] [ 7.32022906e-01 -6.81277205e-01 -1.95827572e-03 1.24716616e+02] [ 2.69325497e-03 1.94571439e-05 9.99996373e-01 6.32254044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.694012739 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:182.45, Y:124.72, Z:0.63 [[-6.81081238e-01 -7.32205522e-01 1.84982644e-03 1.82450179e+02] [ 7.32202905e-01 -6.81083749e-01 -1.95758577e-03 1.24719722e+02] [ 2.69324184e-03 2.11733487e-05 9.99996373e-01 6.30485402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.724012739 meters Centerline goodness : 0.991473 Centerline is valid? [True, True] Translation: X:182.45, Y:124.72, Z:0.63 [[-6.81030656e-01 -7.32252566e-01 1.85055468e-03 1.82445294e+02] [ 7.32249952e-01 -6.81033170e-01 -1.95689711e-03 1.24724825e+02] [ 2.69323205e-03 2.23616530e-05 9.99996373e-01 6.28496419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.754012739 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:182.45, Y:124.72, Z:0.63 [[-6.80958921e-01 -7.32319275e-01 1.85128691e-03 1.82447327e+02] [ 7.32316663e-01 -6.80961437e-01 -1.95620414e-03 1.24722451e+02] [ 2.69322100e-03 2.36335914e-05 9.99996373e-01 6.27273367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.784012739 meters Centerline goodness : 0.991341 Centerline is valid? [True, True] Translation: X:182.45, Y:124.72, Z:0.63 [[-6.81233841e-01 -7.32063538e-01 1.85202116e-03 1.82449087e+02] [ 7.32060927e-01 -6.81236358e-01 -1.95550875e-03 1.24720699e+02] [ 2.69322081e-03 2.36335898e-05 9.99996373e-01 6.27266591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.814012739 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:182.46, Y:124.71, Z:0.63 [[-6.81480427e-01 -7.31833994e-01 1.85275515e-03 1.82457348e+02] [ 7.31831383e-01 -6.81482945e-01 -1.95481309e-03 1.24712620e+02] [ 2.69321970e-03 2.37375060e-05 9.99996373e-01 6.27183604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.844012739 meters Centerline goodness : 0.991075 Centerline is valid? [True, True] Translation: X:182.45, Y:124.72, Z:0.63 [[-6.82512623e-01 -7.30871455e-01 1.85348625e-03 1.82453275e+02] [ 7.30868843e-01 -6.82515139e-01 -1.95411963e-03 1.24718685e+02] [ 2.69324269e-03 2.09440393e-05 9.99996373e-01 6.27905537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.874012739 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:182.46, Y:124.72, Z:0.63 [[-6.83572264e-01 -7.29880485e-01 1.85421745e-03 1.82455192e+02] [ 7.29877871e-01 -6.83574778e-01 -1.95342557e-03 1.24717379e+02] [ 2.69326349e-03 1.80447434e-05 9.99996373e-01 6.26860826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.904012739 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:182.46, Y:124.72, Z:0.63 [[-6.86124677e-01 -7.27481606e-01 1.85495101e-03 1.82457006e+02] [ 7.27478985e-01 -6.86127184e-01 -1.95272875e-03 1.24717565e+02] [ 2.69330655e-03 9.62249517e-06 9.99996373e-01 6.26948242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.934012739 meters Centerline goodness : 0.991100 Centerline is valid? [True, True] Translation: X:182.45, Y:124.73, Z:0.63 [[-6.87120532e-01 -7.26541074e-01 1.85568478e-03 1.82448840e+02] [ 7.26538451e-01 -6.87123037e-01 -1.95203119e-03 1.24727841e+02] [ 2.69331460e-03 6.94564033e-06 9.99996373e-01 6.28019374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.964012739 meters Centerline goodness : 0.991244 Centerline is valid? [True, True] Translation: X:182.45, Y:124.73, Z:0.63 [[-6.88109815e-01 -7.25604187e-01 1.85642251e-03 1.82447860e+02] [ 7.25601563e-01 -6.88112319e-01 -1.95132934e-03 1.24730659e+02] [ 2.69331994e-03 4.29420268e-06 9.99996373e-01 6.28905032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.994012739 meters Centerline goodness : 0.991703 Centerline is valid? [True, True] Translation: X:182.46, Y:124.72, Z:0.63 [[-6.87848431e-01 -7.25851973e-01 1.85716558e-03 1.82459923e+02] [ 7.25849352e-01 -6.87850938e-01 -1.95062187e-03 1.24718706e+02] [ 2.69331582e-03 6.29024056e-06 9.99996373e-01 6.28506687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.024012739 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:182.47, Y:124.71, Z:0.63 [[-6.87339815e-01 -7.26333619e-01 1.85790605e-03 1.82467367e+02] [ 7.26331002e-01 -6.87342326e-01 -1.94991634e-03 1.24711908e+02] [ 2.69330726e-03 9.19962419e-06 9.99996373e-01 6.27489898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05401273900003 meters Centerline goodness : 0.991729 Centerline is valid? [True, True] Translation: X:182.48, Y:124.70, Z:0.63 [[-6.85359549e-01 -7.28202468e-01 1.85864033e-03 1.82480030e+02] [ 7.28199860e-01 -6.85362069e-01 -1.94921619e-03 1.24700023e+02] [ 2.69326562e-03 1.75477002e-05 9.99996373e-01 6.28311260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.084012739 meters Centerline goodness : 0.992316 Centerline is valid? [True, True] Translation: X:182.47, Y:124.71, Z:0.63 [[-6.84608372e-01 -7.28908719e-01 1.85936838e-03 1.82467255e+02] [ 7.28906114e-01 -6.84610897e-01 -1.94852144e-03 1.24712502e+02] [ 2.69323812e-03 2.13308948e-05 9.99996373e-01 6.29000383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11401273900003 meters Centerline goodness : 0.992320 Centerline is valid? [True, True] Translation: X:182.48, Y:124.69, Z:0.63 [[-6.82892688e-01 -7.30516336e-01 1.86009772e-03 1.82484469e+02] [ 7.30513740e-01 -6.82895221e-01 -1.94782495e-03 1.24694301e+02] [ 2.69316979e-03 2.86715273e-05 9.99996373e-01 6.27156911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.144012739 meters Centerline goodness : 0.991580 Centerline is valid? [True, True] Translation: X:182.49, Y:124.69, Z:0.63 [[-6.82595698e-01 -7.30793850e-01 1.86082621e-03 1.82488455e+02] [ 7.30791256e-01 -6.82598233e-01 -1.94712875e-03 1.24691417e+02] [ 2.69314640e-03 3.07738183e-05 9.99996373e-01 6.25934494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.174012739 meters Centerline goodness : 0.991705 Centerline is valid? [True, True] Translation: X:182.48, Y:124.70, Z:0.63 [[-6.82723404e-01 -7.30674543e-01 1.86154800e-03 1.82478716e+02] [ 7.30671951e-01 -6.82725941e-01 -1.94643844e-03 1.24702625e+02] [ 2.69314013e-03 3.13018259e-05 9.99996373e-01 6.26149900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.204012739 meters Centerline goodness : 0.992191 Centerline is valid? [True, True] Translation: X:182.49, Y:124.69, Z:0.63 [[-6.82846360e-01 -7.30559635e-01 1.86227338e-03 1.82490680e+02] [ 7.30557045e-01 -6.82848899e-01 -1.94574418e-03 1.24690121e+02] [ 2.69313348e-03 3.18526013e-05 9.99996373e-01 6.25897962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.234012739 meters Centerline goodness : 0.992222 Centerline is valid? [True, True] Translation: X:182.49, Y:124.69, Z:0.63 [[-6.82965446e-01 -7.30448306e-01 1.86299908e-03 1.82493014e+02] [ 7.30445717e-01 -6.82967987e-01 -1.94504909e-03 1.24687889e+02] [ 2.69312655e-03 3.24183767e-05 9.99996373e-01 6.25223535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.264012739 meters Centerline goodness : 0.992397 Centerline is valid? [True, True] Translation: X:182.49, Y:124.69, Z:0.62 [[-6.82240757e-01 -7.31125213e-01 1.86372067e-03 1.82493237e+02] [ 7.31122628e-01 -6.82243301e-01 -1.94435743e-03 1.24690484e+02] [ 2.69307968e-03 3.60884679e-05 9.99996373e-01 6.23208971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.294012739 meters Centerline goodness : 0.992256 Centerline is valid? [True, True] Translation: X:182.50, Y:124.69, Z:0.62 [[-6.82005047e-01 -7.31345089e-01 1.86444270e-03 1.82497058e+02] [ 7.31342507e-01 -6.82007595e-01 -1.94366483e-03 1.24687571e+02] [ 2.69305381e-03 3.79569789e-05 9.99996373e-01 6.22831866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.324012739 meters Centerline goodness : 0.991627 Centerline is valid? [True, True] Translation: X:182.50, Y:124.68, Z:0.62 [[-6.81122239e-01 -7.32167342e-01 1.86516506e-03 1.82500752e+02] [ 7.32164765e-01 -6.81124792e-01 -1.94297140e-03 1.24682429e+02] [ 2.69299036e-03 4.22071039e-05 9.99996373e-01 6.23982809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.354012739 meters Centerline goodness : 0.992166 Centerline is valid? [True, True] Translation: X:182.51, Y:124.68, Z:0.62 [[-6.80454405e-01 -7.32788047e-01 1.86588564e-03 1.82505153e+02] [ 7.32785474e-01 -6.80456962e-01 -1.94227916e-03 1.24677569e+02] [ 2.69293382e-03 4.56614842e-05 9.99996373e-01 6.24306762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.384012739 meters Centerline goodness : 0.992326 Centerline is valid? [True, True] Translation: X:182.52, Y:124.67, Z:0.62 [[-6.79653772e-01 -7.33530685e-01 1.86660389e-03 1.82517292e+02] [ 7.33528117e-01 -6.79656333e-01 -1.94158865e-03 1.24666023e+02] [ 2.69286400e-03 4.95983869e-05 9.99996373e-01 6.24735212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.414012739 meters Centerline goodness : 0.992587 Centerline is valid? [True, True] Translation: X:182.53, Y:124.66, Z:0.63 [[-6.78242293e-01 -7.34835971e-01 1.86731730e-03 1.82527622e+02] [ 7.34833410e-01 -6.78244861e-01 -1.94090228e-03 1.24655397e+02] [ 2.69274318e-03 5.57651280e-05 9.99996373e-01 6.27110810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.444012739 meters Centerline goodness : 0.993083 Centerline is valid? [True, True] Translation: X:182.54, Y:124.64, Z:0.63 [[-6.77564518e-01 -7.35460968e-01 1.86802381e-03 1.82544533e+02] [ 7.35458411e-01 -6.77567090e-01 -1.94022206e-03 1.24635590e+02] [ 2.69266905e-03 5.92282006e-05 9.99996373e-01 6.28506690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.474012739 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:182.55, Y:124.63, Z:0.63 [[-6.76540952e-01 -7.36402640e-01 1.86872137e-03 1.82549441e+02] [ 7.36400088e-01 -6.76543530e-01 -1.93954998e-03 1.24625840e+02] [ 2.69256107e-03 6.39415904e-05 9.99996373e-01 6.27379018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.504012739 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:182.55, Y:124.63, Z:0.63 [[-6.76331275e-01 -7.36595216e-01 1.86941136e-03 1.82549824e+02] [ 7.36592667e-01 -6.76333855e-01 -1.93888471e-03 1.24625065e+02] [ 2.69251939e-03 6.56663257e-05 9.99996373e-01 6.26123436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.534012739 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:182.55, Y:124.63, Z:0.63 [[-6.76012824e-01 -7.36887484e-01 1.87009941e-03 1.82545791e+02] [ 7.36884938e-01 -6.76015407e-01 -1.93822084e-03 1.24626970e+02] [ 2.69246669e-03 6.77859466e-05 9.99996373e-01 6.25607813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.564012739 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:182.55, Y:124.62, Z:0.63 [[-6.76191339e-01 -7.36723675e-01 1.87078936e-03 1.82546232e+02] [ 7.36721130e-01 -6.76193924e-01 -1.93755467e-03 1.24624486e+02] [ 2.69245879e-03 6.80923616e-05 9.99996373e-01 6.26272957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.594012739 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:182.55, Y:124.62, Z:0.63 [[-6.76437619e-01 -7.36497553e-01 1.87148067e-03 1.82547484e+02] [ 7.36495009e-01 -6.76440205e-01 -1.93688670e-03 1.24620933e+02] [ 2.69245708e-03 6.81531429e-05 9.99996373e-01 6.28031709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.624012739 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:182.53, Y:124.63, Z:0.63 [[-6.76671453e-01 -7.36282717e-01 1.87217153e-03 1.82533190e+02] [ 7.36280174e-01 -6.76674040e-01 -1.93621870e-03 1.24630743e+02] [ 2.69245423e-03 6.82588605e-05 9.99996373e-01 6.27491345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.654012739 meters Centerline goodness : 0.993197 Centerline is valid? [True, True] Translation: X:182.54, Y:124.62, Z:0.63 [[-6.76521112e-01 -7.36420856e-01 1.87312018e-03 1.82542906e+02] [ 7.36418316e-01 -6.76523702e-01 -1.93530088e-03 1.24617926e+02] [ 2.69240613e-03 7.01281036e-05 9.99996373e-01 6.26811466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.684012739 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:182.54, Y:124.62, Z:0.63 [[-6.76592812e-01 -7.36354982e-01 1.87295226e-03 1.82535944e+02] [ 7.36352442e-01 -6.76595400e-01 -1.93546338e-03 1.24619012e+02] [ 2.69241898e-03 6.96323617e-05 9.99996373e-01 6.25887004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.714012739 meters Centerline goodness : 0.993433 Centerline is valid? [True, True] Translation: X:182.54, Y:124.61, Z:0.63 [[-6.76702396e-01 -7.36254275e-01 1.87364637e-03 1.82537958e+02] [ 7.36251736e-01 -6.76704986e-01 -1.93479120e-03 1.24614575e+02] [ 2.69240413e-03 7.01975558e-05 9.99996373e-01 6.26991425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.744012739 meters Centerline goodness : 0.993090 Centerline is valid? [True, True] Translation: X:182.53, Y:124.63, Z:0.63 [[-6.76791227e-01 -7.36172617e-01 1.87434176e-03 1.82526033e+02] [ 7.36170080e-01 -6.76793818e-01 -1.93411731e-03 1.24625507e+02] [ 2.69238711e-03 7.08406944e-05 9.99996373e-01 6.28488939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.774012739 meters Centerline goodness : 0.993504 Centerline is valid? [True, True] Translation: X:182.51, Y:124.64, Z:0.63 [[-6.77357377e-01 -7.35651730e-01 1.87504093e-03 1.82512440e+02] [ 7.35649193e-01 -6.77359969e-01 -1.93343925e-03 1.24636021e+02] [ 2.69241560e-03 6.97430106e-05 9.99996373e-01 6.26133542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80401273900003 meters Centerline goodness : 0.993564 Centerline is valid? [True, True] Translation: X:182.53, Y:124.61, Z:0.62 [[-6.78162578e-01 -7.34909518e-01 1.87574920e-03 1.82533345e+02] [ 7.34906980e-01 -6.78165169e-01 -1.93275187e-03 1.24612225e+02] [ 2.69246552e-03 6.77811868e-05 9.99996373e-01 6.23521335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.834012739 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:182.52, Y:124.62, Z:0.62 [[-6.80304122e-01 -7.32927541e-01 1.87645475e-03 1.82520837e+02] [ 7.32924997e-01 -6.80306707e-01 -1.93206663e-03 1.24622564e+02] [ 2.69262960e-03 6.09076933e-05 9.99996373e-01 6.21783803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86401273900003 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:182.52, Y:124.62, Z:0.62 [[-6.81651320e-01 -7.31674760e-01 1.87715759e-03 1.82522279e+02] [ 7.31672213e-01 -6.81653902e-01 -1.93138352e-03 1.24620519e+02] [ 2.69271637e-03 5.69339222e-05 9.99996373e-01 6.23263389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.894012739 meters Centerline goodness : 0.993681 Centerline is valid? [True, True] Translation: X:182.53, Y:124.61, Z:0.63 [[-6.82632955e-01 -7.30759004e-01 1.87786455e-03 1.82533322e+02] [ 7.30756456e-01 -6.82635536e-01 -1.93069591e-03 1.24608294e+02] [ 2.69277049e-03 5.43049830e-05 9.99996373e-01 6.25491425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.924012739 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:182.52, Y:124.61, Z:0.63 [[-6.83449101e-01 -7.29995752e-01 1.87856779e-03 1.82524492e+02] [ 7.29993202e-01 -6.83451680e-01 -1.93001142e-03 1.24613705e+02] [ 2.69281045e-03 5.22771473e-05 9.99996373e-01 6.29255317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.954012739 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:182.54, Y:124.59, Z:0.63 [[-6.83674094e-01 -7.29785038e-01 1.87927055e-03 1.82539356e+02] [ 7.29782489e-01 -6.83676675e-01 -1.92932688e-03 1.24594532e+02] [ 2.69280734e-03 5.24279343e-05 9.99996373e-01 6.28117003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.984012739 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:182.52, Y:124.61, Z:0.63 [[-6.84255497e-01 -7.29239934e-01 1.87997086e-03 1.82521340e+02] [ 7.29237385e-01 -6.84258078e-01 -1.92864425e-03 1.24611207e+02] [ 2.69282965e-03 5.12596031e-05 9.99996373e-01 6.26572544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.014012739 meters Centerline goodness : 0.994227 Centerline is valid? [True, True] Translation: X:182.53, Y:124.60, Z:0.63 [[-6.85276392e-01 -7.28280666e-01 1.88067213e-03 1.82525397e+02] [ 7.28278116e-01 -6.85278971e-01 -1.92796018e-03 1.24604672e+02] [ 2.69288119e-03 4.84667624e-05 9.99996373e-01 6.26950554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.044012739 meters Centerline goodness : 0.994018 Centerline is valid? [True, True] Translation: X:182.51, Y:124.61, Z:0.63 [[-6.87605585e-01 -7.26081966e-01 1.88137862e-03 1.82514583e+02] [ 7.26079409e-01 -6.87608157e-01 -1.92727052e-03 1.24612845e+02] [ 2.69300765e-03 4.08283030e-05 9.99996373e-01 6.27380530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.074012739 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:182.52, Y:124.61, Z:0.63 [[-6.89248271e-01 -7.24522794e-01 1.88208755e-03 1.82520743e+02] [ 7.24520233e-01 -6.89250840e-01 -1.92657795e-03 1.24606014e+02] [ 2.69308007e-03 3.57199932e-05 9.99996373e-01 6.27228649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.104012739 meters Centerline goodness : 0.993883 Centerline is valid? [True, True] Translation: X:182.50, Y:124.63, Z:0.62 [[-6.92578574e-01 -7.21339985e-01 1.88279851e-03 1.82501565e+02] [ 7.21337414e-01 -6.92581133e-01 -1.92588290e-03 1.24625521e+02] [ 2.69320707e-03 2.43077728e-05 9.99996373e-01 6.24741744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.134012739 meters Centerline goodness : 0.994194 Centerline is valid? [True, True] Translation: X:182.50, Y:124.63, Z:0.62 [[-6.94218853e-01 -7.19761514e-01 1.88351495e-03 1.82500433e+02] [ 7.19758939e-01 -6.94221408e-01 -1.92518197e-03 1.24626721e+02] [ 2.69324829e-03 1.91791020e-05 9.99996373e-01 6.23998882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.164012739 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:182.50, Y:124.63, Z:0.62 [[-6.95996192e-01 -7.18043001e-01 1.88423990e-03 1.82498680e+02] [ 7.18040422e-01 -6.95998742e-01 -1.92447217e-03 1.24628940e+02] [ 2.69328237e-03 1.35351143e-05 9.99996373e-01 6.24159563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.194012739 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:182.49, Y:124.64, Z:0.62 [[-6.96437410e-01 -7.17615065e-01 1.88496721e-03 1.82492366e+02] [ 7.17612486e-01 -6.96439961e-01 -1.92375953e-03 1.24635212e+02] [ 2.69328531e-03 1.28978993e-05 9.99996373e-01 6.23879470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.224012739 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:182.50, Y:124.62, Z:0.62 [[-6.96408930e-01 -7.17642701e-01 1.88569880e-03 1.82503829e+02] [ 7.17640124e-01 -6.96411483e-01 -1.92304215e-03 1.24623909e+02] [ 2.69327946e-03 1.40293945e-05 9.99996373e-01 6.24280584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.254012739 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:182.51, Y:124.61, Z:0.63 [[-6.95203148e-01 -7.18810841e-01 1.88642927e-03 1.82514115e+02] [ 7.18808271e-01 -6.95205707e-01 -1.92232531e-03 1.24613314e+02] [ 2.69324467e-03 1.95743575e-05 9.99996373e-01 6.26627154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.284012739 meters Centerline goodness : 0.993990 Centerline is valid? [True, True] Translation: X:182.52, Y:124.61, Z:0.63 [[-6.94584242e-01 -7.19408903e-01 1.88715268e-03 1.82520720e+02] [ 7.19406336e-01 -6.94586806e-01 -1.92161488e-03 1.24605853e+02] [ 2.69321820e-03 2.29061777e-05 9.99996373e-01 6.27823854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.314012739 meters Centerline goodness : 0.993589 Centerline is valid? [True, True] Translation: X:182.51, Y:124.61, Z:0.63 [[-6.93257477e-01 -7.20687524e-01 1.88787089e-03 1.82510131e+02] [ 7.20684965e-01 -6.93260046e-01 -1.92090902e-03 1.24614545e+02] [ 2.69316063e-03 2.88756212e-05 9.99996373e-01 6.28486152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.344012739 meters Centerline goodness : 0.993184 Centerline is valid? [True, True] Translation: X:182.53, Y:124.59, Z:0.63 [[-6.92986333e-01 -7.20948248e-01 1.88859093e-03 1.82529704e+02] [ 7.20945691e-01 -6.92988905e-01 -1.92020083e-03 1.24593907e+02] [ 2.69313799e-03 3.08985636e-05 9.99996373e-01 6.27588113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.374012739 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:182.52, Y:124.60, Z:0.63 [[-6.92955184e-01 -7.20978185e-01 1.88930838e-03 1.82518476e+02] [ 7.20975630e-01 -6.92957759e-01 -1.91949467e-03 1.24603877e+02] [ 2.69312468e-03 3.20215187e-05 9.99996373e-01 6.26845446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.404012739 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:182.52, Y:124.60, Z:0.63 [[-6.92982542e-01 -7.20951888e-01 1.89002324e-03 1.82523972e+02] [ 7.20949335e-01 -6.92985119e-01 -1.91879052e-03 1.24595033e+02] [ 2.69311363e-03 3.29226704e-05 9.99996373e-01 6.26443480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.434012739 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:182.52, Y:124.59, Z:0.63 [[-6.94005886e-01 -7.19966843e-01 1.89074040e-03 1.82524548e+02] [ 7.19964289e-01 -6.94008461e-01 -1.91808359e-03 1.24590783e+02] [ 2.69314642e-03 3.01042666e-05 9.99996373e-01 6.26824837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.464012739 meters Centerline goodness : 0.993710 Centerline is valid? [True, True] Translation: X:182.52, Y:124.60, Z:0.63 [[-6.94705506e-01 -7.19291792e-01 1.89145497e-03 1.82517306e+02] [ 7.19289237e-01 -6.94708080e-01 -1.91737868e-03 1.24595727e+02] [ 2.69316380e-03 2.84896786e-05 9.99996373e-01 6.25244970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.494012739 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:182.51, Y:124.60, Z:0.62 [[-6.95533238e-01 -7.18491429e-01 1.89217183e-03 1.82510280e+02] [ 7.18488873e-01 -6.95535812e-01 -1.91667098e-03 1.24600129e+02] [ 2.69318494e-03 2.63960325e-05 9.99996373e-01 6.23592522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.524012739 meters Centerline goodness : 0.993439 Centerline is valid? [True, True] Translation: X:182.51, Y:124.60, Z:0.62 [[-6.96213431e-01 -7.17832345e-01 1.89289416e-03 1.82512228e+02] [ 7.17829788e-01 -6.96216004e-01 -1.91595734e-03 1.24595460e+02] [ 2.69319936e-03 2.48605814e-05 9.99996373e-01 6.21724058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55401273900003 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:182.51, Y:124.59, Z:0.62 [[-6.96365710e-01 -7.17684619e-01 1.89361849e-03 1.82512477e+02] [ 7.17682064e-01 -6.96368284e-01 -1.91524120e-03 1.24590083e+02] [ 2.69319500e-03 2.53077295e-05 9.99996373e-01 6.21753418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.584012739 meters Centerline goodness : 0.994232 Centerline is valid? [True, True] Translation: X:182.51, Y:124.58, Z:0.62 [[-6.95150988e-01 -7.18861263e-01 1.89434158e-03 1.82513517e+02] [ 7.18858714e-01 -6.95153569e-01 -1.91452572e-03 1.24582836e+02] [ 2.69313669e-03 3.08795062e-05 9.99996373e-01 6.24630761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61401273900003 meters Centerline goodness : 0.993824 Centerline is valid? [True, True] Translation: X:182.52, Y:124.57, Z:0.62 [[-6.94329372e-01 -7.19654870e-01 1.89506311e-03 1.82521367e+02] [ 7.19652326e-01 -6.94331957e-01 -1.91381127e-03 1.24570507e+02] [ 2.69308648e-03 3.49712000e-05 9.99996373e-01 6.24488342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.644012739 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:182.52, Y:124.57, Z:0.62 [[-6.93181876e-01 -7.20760218e-01 1.89578049e-03 1.82517840e+02] [ 7.20757681e-01 -6.93184468e-01 -1.91310038e-03 1.24569799e+02] [ 2.69301224e-03 4.02718408e-05 9.99996373e-01 6.23514391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.674012739 meters Centerline goodness : 0.994066 Centerline is valid? [True, True] Translation: X:182.52, Y:124.57, Z:0.62 [[-6.93451794e-01 -7.20500529e-01 1.89649575e-03 1.82519656e+02] [ 7.20497992e-01 -6.93454386e-01 -1.91239106e-03 1.24568073e+02] [ 2.69301207e-03 4.02703664e-05 9.99996373e-01 6.23507614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.704012739 meters Centerline goodness : 0.993588 Centerline is valid? [True, True] Translation: X:182.53, Y:124.55, Z:0.62 [[-6.91511313e-01 -7.22363139e-01 1.89721179e-03 1.82527144e+02] [ 7.22360612e-01 -6.91513913e-01 -1.91168045e-03 1.24552991e+02] [ 2.69287584e-03 4.85224142e-05 9.99996373e-01 6.20970203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.734012739 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:182.52, Y:124.55, Z:0.62 [[-6.91443772e-01 -7.22427788e-01 1.89792421e-03 1.82521620e+02] [ 7.22425262e-01 -6.91446375e-01 -1.91097289e-03 1.24554577e+02] [ 2.69285273e-03 4.97780863e-05 9.99996373e-01 6.21271848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.764012739 meters Centerline goodness : 0.993872 Centerline is valid? [True, True] Translation: X:182.52, Y:124.55, Z:0.62 [[-6.92802707e-01 -7.21124680e-01 1.89863486e-03 1.82522231e+02] [ 7.21122152e-01 -6.92805307e-01 -1.91026656e-03 1.24547496e+02] [ 2.69292467e-03 4.57098122e-05 9.99996373e-01 6.24080266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.794012739 meters Centerline goodness : 0.994334 Centerline is valid? [True, True] Translation: X:182.51, Y:124.56, Z:0.62 [[-6.94793632e-01 -7.19206648e-01 1.89934629e-03 1.82506558e+02] [ 7.19204114e-01 -6.94796227e-01 -1.90955894e-03 1.24561898e+02] [ 2.69302612e-03 3.92682721e-05 9.99996373e-01 6.24430532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.824012739 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:182.51, Y:124.56, Z:0.62 [[-6.97279722e-01 -7.16796609e-01 1.90006278e-03 1.82509361e+02] [ 7.16794068e-01 -6.97282311e-01 -1.90884575e-03 1.24558924e+02] [ 2.69313432e-03 3.09542979e-05 9.99996373e-01 6.23787931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.854012739 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:182.50, Y:124.57, Z:0.62 [[-7.02882865e-01 -7.11303075e-01 1.90078476e-03 1.82496967e+02] [ 7.11300516e-01 -7.02885436e-01 -1.90812654e-03 1.24571087e+02] [ 2.69329020e-03 1.08397301e-05 9.99996373e-01 6.23120381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.884012739 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:182.51, Y:124.56, Z:0.62 [[-7.05260136e-01 -7.08946066e-01 1.90151113e-03 1.82510996e+02] [ 7.08943500e-01 -7.05262700e-01 -1.90740242e-03 1.24557319e+02] [ 2.69331031e-03 2.84906341e-06 9.99996373e-01 6.23173225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.914012739 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:182.52, Y:124.55, Z:0.62 [[-7.07489018e-01 -7.06721778e-01 1.90223805e-03 1.82518210e+02] [ 7.06719206e-01 -7.07491575e-01 -1.90667719e-03 1.24552650e+02] [ 2.69330769e-03 -4.60500228e-06 9.99996373e-01 6.23949758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.944012739 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:182.52, Y:124.55, Z:0.62 [[-7.07697294e-01 -7.06513212e-01 1.90295863e-03 1.82520991e+02] [ 7.06510641e-01 -7.07699853e-01 -1.90595775e-03 1.24550176e+02] [ 2.69330787e-03 -4.38061937e-06 9.99996373e-01 6.23675934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.974012739 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:182.52, Y:124.55, Z:0.62 [[-7.07149881e-01 -7.07061116e-01 1.90367716e-03 1.82524180e+02] [ 7.07058549e-01 -7.07152443e-01 -1.90523981e-03 1.24546320e+02] [ 2.69331094e-03 -1.27889004e-06 9.99996373e-01 6.23912683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.004012739 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:182.51, Y:124.56, Z:0.62 [[-7.05307828e-01 -7.08898611e-01 1.90439436e-03 1.82508249e+02] [ 7.08896053e-01 -7.05310399e-01 -1.90452265e-03 1.24560640e+02] [ 2.69330261e-03 6.74291565e-06 9.99996373e-01 6.23077171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.034012739 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:182.51, Y:124.55, Z:0.62 [[-7.04894438e-01 -7.09309666e-01 1.90511697e-03 1.82514362e+02] [ 7.09307111e-01 -7.04897013e-01 -1.90379954e-03 1.24554563e+02] [ 2.69329468e-03 9.33530506e-06 9.99996373e-01 6.22201482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.064012739 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:182.52, Y:124.55, Z:0.62 [[-7.04254567e-01 -7.09944979e-01 1.90584409e-03 1.82515279e+02] [ 7.09942428e-01 -7.04257145e-01 -1.90307137e-03 1.24552751e+02] [ 2.69328028e-03 1.27928810e-05 9.99996373e-01 6.22498788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.094012739 meters Centerline goodness : 0.994208 Centerline is valid? [True, True] Translation: X:182.52, Y:124.55, Z:0.62 [[-7.04556719e-01 -7.09645119e-01 1.90656936e-03 1.82522059e+02] [ 7.09642569e-01 -7.04559299e-01 -1.90234448e-03 1.24545662e+02] [ 2.69328065e-03 1.26731955e-05 9.99996373e-01 6.24243657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.124012739 meters Centerline goodness : 0.993796 Centerline is valid? [True, True] Translation: X:182.52, Y:124.55, Z:0.63 [[-7.04730047e-01 -7.09472990e-01 1.90729245e-03 1.82519248e+02] [ 7.09470442e-01 -7.04732628e-01 -1.90161923e-03 1.24548590e+02] [ 2.69327870e-03 1.30394072e-05 9.99996373e-01 6.25363000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.154012739 meters Centerline goodness : 0.994180 Centerline is valid? [True, True] Translation: X:182.52, Y:124.55, Z:0.62 [[-7.04212174e-01 -7.09987024e-01 1.90801527e-03 1.82516085e+02] [ 7.09984479e-01 -7.04214758e-01 -1.90089371e-03 1.24549749e+02] [ 2.69326238e-03 1.60287313e-05 9.99996373e-01 6.22767335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.184012739 meters Centerline goodness : 0.993943 Centerline is valid? [True, True] Translation: X:182.52, Y:124.55, Z:0.62 [[-7.03726995e-01 -7.10467926e-01 1.90874103e-03 1.82515253e+02] [ 7.10465385e-01 -7.03729583e-01 -1.90016467e-03 1.24548250e+02] [ 2.69324358e-03 1.88972559e-05 9.99996373e-01 6.21435753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.214012739 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:182.52, Y:124.54, Z:0.62 [[-7.02218673e-01 -7.11958769e-01 1.90946833e-03 1.82519681e+02] [ 7.11956236e-01 -7.02221269e-01 -1.89943353e-03 1.24536546e+02] [ 2.69318763e-03 2.56401888e-05 9.99996373e-01 6.22189134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.244012739 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:182.52, Y:124.54, Z:0.62 [[-7.01805625e-01 -7.12365928e-01 1.91019378e-03 1.82516772e+02] [ 7.12363398e-01 -7.01808224e-01 -1.89870369e-03 1.24536150e+02] [ 2.69316152e-03 2.82311996e-05 9.99996373e-01 6.23805759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.274012739 meters Centerline goodness : 0.994158 Centerline is valid? [True, True] Translation: X:182.52, Y:124.53, Z:0.63 [[-7.01651089e-01 -7.12518139e-01 1.91091763e-03 1.82523929e+02] [ 7.12515611e-01 -7.01653691e-01 -1.89797491e-03 1.24526894e+02] [ 2.69314395e-03 2.98424824e-05 9.99996373e-01 6.25426665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30401273900003 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:182.51, Y:124.54, Z:0.63 [[-7.02223154e-01 -7.11954344e-01 1.91163989e-03 1.82512455e+02] [ 7.11951816e-01 -7.02225755e-01 -1.89724717e-03 1.24535474e+02] [ 2.69315613e-03 2.87045976e-05 9.99996373e-01 6.28076775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.334012739 meters Centerline goodness : 0.993757 Centerline is valid? [True, True] Translation: X:182.52, Y:124.53, Z:0.63 [[-7.03049064e-01 -7.11138774e-01 1.91236402e-03 1.82517891e+02] [ 7.11136246e-01 -7.03051665e-01 -1.89651699e-03 1.24528636e+02] [ 2.69317747e-03 2.66068721e-05 9.99996373e-01 6.29418956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36401273900003 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:182.52, Y:124.52, Z:0.63 [[-7.05148869e-01 -7.09056706e-01 1.91309051e-03 1.82521245e+02] [ 7.09054172e-01 -7.05151464e-01 -1.89578386e-03 1.24522592e+02] [ 2.69323683e-03 1.96749674e-05 9.99996373e-01 6.31889998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.394012739 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:182.53, Y:124.52, Z:0.63 [[-7.06531466e-01 -7.07679041e-01 1.91381409e-03 1.82525563e+02] [ 7.07676504e-01 -7.06534058e-01 -1.89505312e-03 1.24517203e+02] [ 2.69326421e-03 1.54466008e-05 9.99996373e-01 6.31347494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.424012739 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:182.54, Y:124.50, Z:0.63 [[-7.07853815e-01 -7.06356363e-01 1.91453523e-03 1.82542009e+02] [ 7.06353822e-01 -7.07856404e-01 -1.89432428e-03 1.24500225e+02] [ 2.69328403e-03 1.14346072e-05 9.99996373e-01 6.31297630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.454012739 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:182.54, Y:124.51, Z:0.63 [[-7.10037645e-01 -7.04161115e-01 1.91524937e-03 1.82535396e+02] [ 7.04158568e-01 -7.10040228e-01 -1.89360198e-03 1.24505139e+02] [ 2.69330498e-03 4.11056797e-06 9.99996373e-01 6.29364843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.484012739 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:182.54, Y:124.51, Z:0.63 [[-7.12368689e-01 -7.01802807e-01 1.91596068e-03 1.82538356e+02] [ 7.01800254e-01 -7.12371266e-01 -1.89288200e-03 1.24506566e+02] [ 2.69330523e-03 -3.80817388e-06 9.99996373e-01 6.26317319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.514012739 meters Centerline goodness : 0.993972 Centerline is valid? [True, True] Translation: X:182.54, Y:124.51, Z:0.63 [[-7.13898426e-01 -7.00246645e-01 1.91667475e-03 1.82536845e+02] [ 7.00244089e-01 -7.13900999e-01 -1.89215868e-03 1.24511609e+02] [ 2.69329378e-03 -8.66893772e-06 9.99996373e-01 6.25284301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.544012739 meters Centerline goodness : 0.994121 Centerline is valid? [True, True] Translation: X:182.54, Y:124.51, Z:0.62 [[-7.15401009e-01 -6.98711471e-01 1.91739065e-03 1.82541897e+02] [ 6.98708911e-01 -7.15403578e-01 -1.89143295e-03 1.24509355e+02] [ 2.69327403e-03 -1.34351079e-05 9.99996373e-01 6.24106700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.574012739 meters Centerline goodness : 0.993955 Centerline is valid? [True, True] Translation: X:182.55, Y:124.50, Z:0.63 [[-7.17788620e-01 -6.96258442e-01 1.91810757e-03 1.82554261e+02] [ 6.96255875e-01 -7.17791182e-01 -1.89070564e-03 1.24501296e+02] [ 2.69322046e-03 -2.16333233e-05 9.99996373e-01 6.26366138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.604012739 meters Centerline goodness : 0.993729 Centerline is valid? [True, True] Translation: X:182.57, Y:124.49, Z:0.63 [[-7.18964487e-01 -6.95044160e-01 1.91882035e-03 1.82568714e+02] [ 6.95041591e-01 -7.18967047e-01 -1.88998199e-03 1.24490635e+02] [ 2.69318954e-03 -2.51699818e-05 9.99996373e-01 6.26927093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.634012739 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:182.57, Y:124.50, Z:0.63 [[-7.21397622e-01 -6.92518438e-01 1.91952593e-03 1.82566930e+02] [ 6.92515861e-01 -7.21400175e-01 -1.88926510e-03 1.24502268e+02] [ 2.69309726e-03 -3.36092015e-05 9.99996373e-01 6.26672703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.664012739 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:182.58, Y:124.49, Z:0.63 [[-7.22598307e-01 -6.91265506e-01 1.92023055e-03 1.82582559e+02] [ 6.91262927e-01 -7.22600857e-01 -1.88854866e-03 1.24492149e+02] [ 2.69304879e-03 -3.72778728e-05 9.99996373e-01 6.26154185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.694012739 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:182.59, Y:124.49, Z:0.63 [[-7.23548050e-01 -6.90271344e-01 1.92093388e-03 1.82592209e+02] [ 6.90268764e-01 -7.23550599e-01 -1.88783300e-03 1.24487638e+02] [ 2.69300988e-03 -3.99772267e-05 9.99996373e-01 6.26070230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.724012739 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:182.60, Y:124.49, Z:0.63 [[-7.24451303e-01 -6.89323303e-01 1.92163120e-03 1.82601871e+02] [ 6.89320721e-01 -7.24453851e-01 -1.88712293e-03 1.24489527e+02] [ 2.69297093e-03 -4.25084566e-05 9.99996373e-01 6.27635286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.754012739 meters Centerline goodness : 0.993120 Centerline is valid? [True, True] Translation: X:182.60, Y:124.50, Z:0.63 [[-7.24723096e-01 -6.89037545e-01 1.92232559e-03 1.82599023e+02] [ 6.89034964e-01 -7.24725644e-01 -1.88641532e-03 1.24498959e+02] [ 2.69296963e-03 -4.25792135e-05 9.99996373e-01 6.27990977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.784012739 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:182.61, Y:124.50, Z:0.63 [[-7.25204235e-01 -6.88531132e-01 1.92302171e-03 1.82609498e+02] [ 6.88528551e-01 -7.25206783e-01 -1.88570543e-03 1.24500192e+02] [ 2.69295528e-03 -4.34662140e-05 9.99996373e-01 6.25295536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.814012739 meters Centerline goodness : 0.993467 Centerline is valid? [True, True] Translation: X:182.61, Y:124.51, Z:0.62 [[-7.25570578e-01 -6.88145068e-01 1.92371924e-03 1.82606782e+02] [ 6.88142488e-01 -7.25573127e-01 -1.88499356e-03 1.24508819e+02] [ 2.69294801e-03 -4.39029211e-05 9.99996373e-01 6.24128938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.844012739 meters Centerline goodness : 0.993570 Centerline is valid? [True, True] Translation: X:182.60, Y:124.52, Z:0.62 [[-7.25691239e-01 -6.88017821e-01 1.92441798e-03 1.82601154e+02] [ 6.88015243e-01 -7.25693789e-01 -1.88427994e-03 1.24520536e+02] [ 2.69295636e-03 -4.33765429e-05 9.99996373e-01 6.24405868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.874012739 meters Centerline goodness : 0.993234 Centerline is valid? [True, True] Translation: X:182.62, Y:124.52, Z:0.63 [[-7.24778839e-01 -6.88978903e-01 1.92512302e-03 1.82617326e+02] [ 6.88976329e-01 -7.24781395e-01 -1.88355934e-03 1.24518905e+02] [ 2.69302600e-03 -3.87997604e-05 9.99996373e-01 6.27861364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.904012739 meters Centerline goodness : 0.993474 Centerline is valid? [True, True] Translation: X:182.55, Y:124.60, Z:0.63 [[-7.21121604e-01 -6.92805834e-01 1.92582872e-03 1.82551074e+02] [ 6.92803276e-01 -7.21124175e-01 -1.88283753e-03 1.24595399e+02] [ 2.69320247e-03 -2.35343763e-05 9.99996373e-01 6.30697984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.934012739 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:182.61, Y:124.54, Z:0.63 [[-7.19240484e-01 -6.94758535e-01 1.92453639e-03 1.82611905e+02] [ 6.94755981e-01 -7.19243059e-01 -1.88415984e-03 1.24539677e+02] [ 2.69324557e-03 -1.80808674e-05 9.99996373e-01 6.31450095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.964012739 meters Centerline goodness : 0.993137 Centerline is valid? [True, True] Translation: X:182.60, Y:124.55, Z:0.63 [[-7.16492263e-01 -6.97592379e-01 1.92629859e-03 1.82602342e+02] [ 6.97589839e-01 -7.16494852e-01 -1.88235650e-03 1.24551725e+02] [ 2.69330058e-03 -4.92754538e-06 9.99996373e-01 6.30510175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.994012739 meters Centerline goodness : 0.993317 Centerline is valid? [True, True] Translation: X:182.64, Y:124.52, Z:0.63 [[-7.10662173e-01 -7.03530783e-01 1.92701752e-03 1.82637028e+02] [ 7.03528267e-01 -7.10664785e-01 -1.88162024e-03 1.24520038e+02] [ 2.69324125e-03 1.85149664e-05 9.99996373e-01 6.28777420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.024012739 meters Centerline goodness : 0.993005 Centerline is valid? [True, True] Translation: X:182.65, Y:124.51, Z:0.63 [[-7.08482670e-01 -7.05725577e-01 1.92772919e-03 1.82648078e+02] [ 7.05723071e-01 -7.08485292e-01 -1.88089084e-03 1.24509764e+02] [ 2.69316055e-03 2.78644011e-05 9.99996373e-01 6.28064587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05401273900003 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:182.64, Y:124.52, Z:0.63 [[-7.05743369e-01 -7.08464945e-01 1.92842618e-03 1.82636020e+02] [ 7.08462452e-01 -7.05746002e-01 -1.88017597e-03 1.24522966e+02] [ 2.69301783e-03 3.92958180e-05 9.99996373e-01 6.29317086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.084012739 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:182.66, Y:124.50, Z:0.63 [[-7.05517279e-01 -7.08690092e-01 1.92912492e-03 1.82657370e+02] [ 7.08687601e-01 -7.05519916e-01 -1.87945876e-03 1.24502995e+02] [ 2.69298985e-03 4.11562817e-05 9.99996373e-01 6.29905509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11401273900003 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:182.64, Y:124.52, Z:0.63 [[-7.05673040e-01 -7.08534993e-01 1.92982160e-03 1.82641288e+02] [ 7.08532503e-01 -7.05675678e-01 -1.87874314e-03 1.24518889e+02] [ 2.69298342e-03 4.15629476e-05 9.99996373e-01 6.30581247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.144012739 meters Centerline goodness : 0.993167 Centerline is valid? [True, True] Translation: X:182.65, Y:124.50, Z:0.63 [[-7.06458429e-01 -7.07751907e-01 1.93051779e-03 1.82652492e+02] [ 7.07749416e-01 -7.06461066e-01 -1.87802749e-03 1.24503307e+02] [ 2.69301319e-03 3.95744897e-05 9.99996373e-01 6.27492787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.174012739 meters Centerline goodness : 0.992844 Centerline is valid? [True, True] Translation: X:182.64, Y:124.51, Z:0.63 [[-7.06992010e-01 -7.07218897e-01 1.93121573e-03 1.82641751e+02] [ 7.07216406e-01 -7.06994647e-01 -1.87730951e-03 1.24509847e+02] [ 2.69302794e-03 3.85446283e-05 9.99996373e-01 6.26431183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.204012739 meters Centerline goodness : 0.992895 Centerline is valid? [True, True] Translation: X:182.65, Y:124.50, Z:0.63 [[-7.06782431e-01 -7.07428345e-01 1.93191318e-03 1.82650541e+02] [ 7.07425857e-01 -7.06785070e-01 -1.87659150e-03 1.24495246e+02] [ 2.69300141e-03 4.03434379e-05 9.99996373e-01 6.25441671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.234012739 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:182.65, Y:124.50, Z:0.63 [[-7.06988051e-01 -7.07222851e-01 1.93261059e-03 1.82646577e+02] [ 7.07220364e-01 -7.06990691e-01 -1.87587299e-03 1.24497631e+02] [ 2.69299794e-03 4.05617735e-05 9.99996373e-01 6.25593216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.264012739 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:182.65, Y:124.49, Z:0.63 [[-7.07501681e-01 -7.06709016e-01 1.93330594e-03 1.82649167e+02] [ 7.06706530e-01 -7.07504321e-01 -1.87515608e-03 1.24493485e+02] [ 2.69301202e-03 3.96038543e-05 9.99996373e-01 6.25776433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.294012739 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:182.64, Y:124.50, Z:0.63 [[-7.09501560e-01 -7.04701210e-01 1.93400203e-03 1.82637596e+02] [ 7.04698718e-01 -7.09504195e-01 -1.87443787e-03 1.24501836e+02] [ 2.69310119e-03 3.29721620e-05 9.99996373e-01 6.25089459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.324012739 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:182.64, Y:124.50, Z:0.63 [[-7.11169864e-01 -7.03017554e-01 1.93470158e-03 1.82642149e+02] [ 7.03015057e-01 -7.11172495e-01 -1.87371555e-03 1.24498154e+02] [ 2.69316147e-03 2.75943036e-05 9.99996373e-01 6.25550260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.354012739 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:182.63, Y:124.51, Z:0.63 [[-7.14503787e-01 -6.99628896e-01 1.93540415e-03 1.82632290e+02] [ 6.99626389e-01 -7.14506408e-01 -1.87298957e-03 1.24510587e+02] [ 2.69325629e-03 1.58016755e-05 9.99996373e-01 6.27530362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.384012739 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:182.64, Y:124.50, Z:0.63 [[-7.15904023e-01 -6.98196019e-01 1.93611024e-03 1.82642631e+02] [ 6.98193509e-01 -7.15906641e-01 -1.87225940e-03 1.24500848e+02] [ 2.69327824e-03 1.14215678e-05 9.99996373e-01 6.28764973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.414012739 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:182.64, Y:124.51, Z:0.63 [[-7.16785013e-01 -6.97291541e-01 1.93681757e-03 1.82635172e+02] [ 6.97289030e-01 -7.16787630e-01 -1.87152740e-03 1.24507688e+02] [ 2.69328710e-03 9.03885000e-06 9.99996373e-01 6.30325485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.444012739 meters Centerline goodness : 0.993352 Centerline is valid? [True, True] Translation: X:182.63, Y:124.51, Z:0.63 [[-7.16376980e-01 -6.97710734e-01 1.93752485e-03 1.82634718e+02] [ 6.97708226e-01 -7.16379600e-01 -1.87079489e-03 1.24508280e+02] [ 2.69327695e-03 1.16326297e-05 9.99996373e-01 6.30537700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.474012739 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:182.63, Y:124.51, Z:0.63 [[-7.15570916e-01 -6.98537406e-01 1.93823593e-03 1.82634803e+02] [ 6.98534903e-01 -7.15573540e-01 -1.87005788e-03 1.24507947e+02] [ 2.69325573e-03 1.57664228e-05 9.99996373e-01 6.29475247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.504012739 meters Centerline goodness : 0.993161 Centerline is valid? [True, True] Translation: X:182.65, Y:124.50, Z:0.63 [[-7.13835908e-01 -7.00310315e-01 1.93894803e-03 1.82645225e+02] [ 7.00307820e-01 -7.13838541e-01 -1.86931925e-03 1.24497092e+02] [ 2.69319939e-03 2.34732645e-05 9.99996373e-01 6.27351848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.534012739 meters Centerline goodness : 0.993832 Centerline is valid? [True, True] Translation: X:182.65, Y:124.49, Z:0.63 [[-7.13177181e-01 -7.00981131e-01 1.93965727e-03 1.82649996e+02] [ 7.00978641e-01 -7.13179818e-01 -1.86858304e-03 1.24492089e+02] [ 2.69316587e-03 2.70275347e-05 9.99996373e-01 6.27022092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.564012739 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:182.66, Y:124.48, Z:0.63 [[-7.11566193e-01 -7.02616388e-01 1.94036193e-03 1.82662024e+02] [ 7.02613906e-01 -7.11568838e-01 -1.86785102e-03 1.24477801e+02] [ 2.69308382e-03 3.42256382e-05 9.99996373e-01 6.29621207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.594012739 meters Centerline goodness : 0.994154 Centerline is valid? [True, True] Translation: X:182.66, Y:124.48, Z:0.63 [[-7.11827824e-01 -7.02351323e-01 1.94106128e-03 1.82663872e+02] [ 7.02348842e-01 -7.11830470e-01 -1.86712398e-03 1.24476126e+02] [ 2.69308356e-03 3.42313458e-05 9.99996373e-01 6.29614429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.624012739 meters Centerline goodness : 0.993690 Centerline is valid? [True, True] Translation: X:182.60, Y:124.53, Z:0.63 [[-7.11484927e-01 -7.02698675e-01 1.94175640e-03 1.82603803e+02] [ 7.02696197e-01 -7.11487576e-01 -1.86640079e-03 1.24532111e+02] [ 2.69305292e-03 3.65488094e-05 9.99996373e-01 6.32176135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.654012739 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:182.67, Y:124.46, Z:0.63 [[-7.10111399e-01 -7.04086659e-01 1.94386805e-03 1.82670362e+02] [ 7.04084192e-01 -7.10114058e-01 -1.86420250e-03 1.24462487e+02] [ 2.69292814e-03 4.48553206e-05 9.99996373e-01 6.31894786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.684012739 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:182.66, Y:124.47, Z:0.63 [[-7.10296137e-01 -7.03900296e-01 1.94176693e-03 1.82661542e+02] [ 7.03897823e-01 -7.10298790e-01 -1.86638849e-03 1.24468911e+02] [ 2.69298611e-03 4.11169778e-05 9.99996373e-01 6.30458189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.714012739 meters Centerline goodness : 0.994231 Centerline is valid? [True, True] Translation: X:182.66, Y:124.47, Z:0.63 [[-7.11350137e-01 -7.02835122e-01 1.94245809e-03 1.82660760e+02] [ 7.02832647e-01 -7.11352788e-01 -1.86566888e-03 1.24467720e+02] [ 2.69303059e-03 3.80791455e-05 9.99996373e-01 6.25002938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.744012739 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:182.67, Y:124.46, Z:0.62 [[-7.12283943e-01 -7.01888744e-01 1.94315267e-03 1.82665568e+02] [ 7.01886267e-01 -7.12286593e-01 -1.86494517e-03 1.24463594e+02] [ 2.69306562e-03 3.55016681e-05 9.99996373e-01 6.23525120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.774012739 meters Centerline goodness : 0.994091 Centerline is valid? [True, True] Translation: X:182.66, Y:124.47, Z:0.62 [[-7.13473135e-01 -7.00679890e-01 1.94384675e-03 1.82662048e+02] [ 7.00677410e-01 -7.13475782e-01 -1.86422145e-03 1.24468436e+02] [ 2.69311006e-03 3.19375880e-05 9.99996373e-01 6.24598079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80401273900003 meters Centerline goodness : 0.993597 Centerline is valid? [True, True] Translation: X:182.66, Y:124.48, Z:0.63 [[-7.15721419e-01 -6.98383182e-01 1.94454147e-03 1.82655097e+02] [ 6.98380696e-01 -7.15724060e-01 -1.86349651e-03 1.24477868e+02] [ 2.69318974e-03 2.42858536e-05 9.99996373e-01 6.29272558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.834012739 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:182.66, Y:124.47, Z:0.63 [[-7.16605977e-01 -6.97475513e-01 1.94524169e-03 1.82661305e+02] [ 6.97473025e-01 -7.16608616e-01 -1.86276529e-03 1.24472116e+02] [ 2.69321013e-03 2.18848653e-05 9.99996373e-01 6.31383413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86401273900003 meters Centerline goodness : 0.993741 Centerline is valid? [True, True] Translation: X:182.66, Y:124.47, Z:0.63 [[-7.16866120e-01 -6.97208132e-01 1.94594369e-03 1.82660527e+02] [ 6.97205645e-01 -7.16868761e-01 -1.86203165e-03 1.24473554e+02] [ 2.69320985e-03 2.18955218e-05 9.99996373e-01 6.31475636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.894012739 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:182.67, Y:124.47, Z:0.63 [[-7.16867048e-01 -6.97207176e-01 1.94664485e-03 1.82665600e+02] [ 6.97204692e-01 -7.16869690e-01 -1.86129834e-03 1.24469817e+02] [ 2.69320125e-03 2.29064763e-05 9.99996373e-01 6.29816314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.924012739 meters Centerline goodness : 0.993245 Centerline is valid? [True, True] Translation: X:182.67, Y:124.47, Z:0.63 [[-7.16440144e-01 -6.97645847e-01 1.94734573e-03 1.82667029e+02] [ 6.97643366e-01 -7.16442790e-01 -1.86056477e-03 1.24470725e+02] [ 2.69317709e-03 2.55695408e-05 9.99996373e-01 6.28094746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.954012739 meters Centerline goodness : 0.992723 Centerline is valid? [True, True] Translation: X:182.66, Y:124.48, Z:0.63 [[-7.15174805e-01 -6.98942918e-01 1.94804588e-03 1.82663910e+02] [ 6.98940444e-01 -7.15177458e-01 -1.85983141e-03 1.24475857e+02] [ 2.69311449e-03 3.14634800e-05 9.99996373e-01 6.26213742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.984012739 meters Centerline goodness : 0.993436 Centerline is valid? [True, True] Translation: X:182.69, Y:124.45, Z:0.63 [[-7.14654812e-01 -6.99474590e-01 1.94874850e-03 1.82688804e+02] [ 6.99472120e-01 -7.14657468e-01 -1.85909491e-03 1.24452191e+02] [ 2.69307732e-03 3.44841240e-05 9.99996373e-01 6.26899219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.014012739 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:182.68, Y:124.46, Z:0.63 [[-7.13146228e-01 -7.01012594e-01 1.94944480e-03 1.82681854e+02] [ 7.01010132e-01 -7.13148891e-01 -1.85836448e-03 1.24459986e+02] [ 2.69298130e-03 4.12949332e-05 9.99996373e-01 6.32120203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.044012739 meters Centerline goodness : 0.993838 Centerline is valid? [True, True] Translation: X:182.71, Y:124.43, Z:0.63 [[-7.12580127e-01 -7.01588027e-01 1.95013610e-03 1.82709111e+02] [ 7.01585569e-01 -7.12582794e-01 -1.85763876e-03 1.24434899e+02] [ 2.69293054e-03 4.44708817e-05 9.99996373e-01 6.33063502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.074012739 meters Centerline goodness : 0.993509 Centerline is valid? [True, True] Translation: X:182.70, Y:124.45, Z:0.63 [[-7.11672517e-01 -7.02508664e-01 1.95082204e-03 1.82696651e+02] [ 7.02506211e-01 -7.11675189e-01 -1.85691814e-03 1.24445683e+02] [ 2.69285272e-03 4.89469939e-05 9.99996373e-01 6.32951144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.104012739 meters Centerline goodness : 0.993804 Centerline is valid? [True, True] Translation: X:182.72, Y:124.42, Z:0.63 [[-7.11307620e-01 -7.02878127e-01 1.95150388e-03 1.82720572e+02] [ 7.02875678e-01 -7.11310295e-01 -1.85620128e-03 1.24421603e+02] [ 2.69280808e-03 5.13344955e-05 9.99996373e-01 6.32955256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.134012739 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:182.71, Y:124.43, Z:0.63 [[-7.11121690e-01 -7.03066236e-01 1.95218264e-03 1.82710638e+02] [ 7.03063789e-01 -7.11124367e-01 -1.85548715e-03 1.24429905e+02] [ 2.69277501e-03 5.30317716e-05 9.99996373e-01 6.33811390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.164012739 meters Centerline goodness : 0.993684 Centerline is valid? [True, True] Translation: X:182.70, Y:124.44, Z:0.64 [[-7.10631777e-01 -7.03561415e-01 1.95285730e-03 1.82701399e+02] [ 7.03558972e-01 -7.10634458e-01 -1.85477682e-03 1.24435302e+02] [ 2.69271709e-03 5.58869283e-05 9.99996373e-01 6.36082746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.194012739 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:182.70, Y:124.43, Z:0.64 [[-7.10764080e-01 -7.03427755e-01 1.95353835e-03 1.82703335e+02] [ 7.03425314e-01 -7.10766762e-01 -1.85405922e-03 1.24430801e+02] [ 2.69270685e-03 5.63696352e-05 9.99996373e-01 6.35548886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.224012739 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:182.70, Y:124.43, Z:0.63 [[-7.11663167e-01 -7.02518126e-01 1.95422176e-03 1.82704593e+02] [ 7.02515684e-01 -7.11665848e-01 -1.85333861e-03 1.24425675e+02] [ 2.69275686e-03 5.39186129e-05 9.99996373e-01 6.31992458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.254012739 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:182.70, Y:124.42, Z:0.63 [[-7.12887014e-01 -7.01276182e-01 1.95490393e-03 1.82703866e+02] [ 7.01273737e-01 -7.12889693e-01 -1.85261879e-03 1.24424844e+02] [ 2.69282829e-03 5.02149071e-05 9.99996373e-01 6.31107436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.284012739 meters Centerline goodness : 0.994364 Centerline is valid? [True, True] Translation: X:182.69, Y:124.43, Z:0.63 [[-7.15892487e-01 -6.98207794e-01 1.95558582e-03 1.82692380e+02] [ 6.98205339e-01 -7.15895157e-01 -1.85189871e-03 1.24433480e+02] [ 2.69300453e-03 3.96400891e-05 9.99996373e-01 6.32348264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.314012739 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:182.69, Y:124.43, Z:0.63 [[-7.17632036e-01 -6.96419725e-01 1.95627228e-03 1.82692713e+02] [ 6.96417266e-01 -7.17634702e-01 -1.85117328e-03 1.24432922e+02] [ 2.69308246e-03 3.39205433e-05 9.99996373e-01 6.33583881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.344012739 meters Centerline goodness : 0.994266 Centerline is valid? [True, True] Translation: X:182.70, Y:124.43, Z:0.63 [[-7.19334871e-01 -6.94660718e-01 1.95696291e-03 1.82699106e+02] [ 6.94658254e-01 -7.19337533e-01 -1.85044289e-03 1.24427296e+02] [ 2.69314686e-03 2.83323390e-05 9.99996373e-01 6.33506306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.374012739 meters Centerline goodness : 0.994289 Centerline is valid? [True, True] Translation: X:182.68, Y:124.45, Z:0.63 [[-7.21486518e-01 -6.92425716e-01 1.95765226e-03 1.82680020e+02] [ 6.92423246e-01 -7.21489173e-01 -1.84971331e-03 1.24447174e+02] [ 2.69321398e-03 2.09807199e-05 9.99996373e-01 6.32407245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.404012739 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:182.70, Y:124.43, Z:0.63 [[-7.22243358e-01 -6.91636246e-01 1.95834730e-03 1.82695700e+02] [ 6.91633774e-01 -7.22246013e-01 -1.84897716e-03 1.24432859e+02] [ 2.69322815e-03 1.90476635e-05 9.99996373e-01 6.31457835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.434012739 meters Centerline goodness : 0.993735 Centerline is valid? [True, True] Translation: X:182.69, Y:124.44, Z:0.63 [[-7.22620352e-01 -6.91242352e-01 1.95904480e-03 1.82685494e+02] [ 6.91239882e-01 -7.22623007e-01 -1.84823785e-03 1.24441987e+02] [ 2.69323112e-03 1.85956081e-05 9.99996373e-01 6.30887394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.464012739 meters Centerline goodness : 0.994349 Centerline is valid? [True, True] Translation: X:182.68, Y:124.44, Z:0.63 [[-7.22480930e-01 -6.91388071e-01 1.95974155e-03 1.82683628e+02] [ 6.91385603e-01 -7.22483588e-01 -1.84749877e-03 1.24443127e+02] [ 2.69321971e-03 2.01544681e-05 9.99996373e-01 6.29843654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.494012739 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:182.69, Y:124.43, Z:0.63 [[-7.22299184e-01 -6.91577938e-01 1.96044331e-03 1.82692827e+02] [ 6.91575473e-01 -7.22301845e-01 -1.84675380e-03 1.24434422e+02] [ 2.69320601e-03 2.18857431e-05 9.99996373e-01 6.28648587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.524012739 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:182.70, Y:124.43, Z:0.63 [[-7.22231354e-01 -6.91648773e-01 1.96114328e-03 1.82703334e+02] [ 6.91646310e-01 -7.22234016e-01 -1.84601017e-03 1.24425606e+02] [ 2.69319506e-03 2.31710892e-05 9.99996373e-01 6.27717015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55401273900003 meters Centerline goodness : 0.994621 Centerline is valid? [True, True] Translation: X:182.71, Y:124.42, Z:0.63 [[-7.22697141e-01 -6.91162061e-01 1.96183772e-03 1.82709769e+02] [ 6.91159598e-01 -7.22699803e-01 -1.84527187e-03 1.24420214e+02] [ 2.69320164e-03 2.23702641e-05 9.99996373e-01 6.28189416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.584012739 meters Centerline goodness : 0.994436 Centerline is valid? [True, True] Translation: X:182.71, Y:124.42, Z:0.63 [[-7.23570321e-01 -6.90247882e-01 1.96252760e-03 1.82706255e+02] [ 6.90245418e-01 -7.23572982e-01 -1.84453786e-03 1.24423581e+02] [ 2.69322030e-03 1.99728326e-05 9.99996373e-01 6.30337903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61401273900003 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:182.71, Y:124.42, Z:0.63 [[-7.23857336e-01 -6.89946884e-01 1.96321743e-03 1.82708178e+02] [ 6.89944421e-01 -7.23859998e-01 -1.84380335e-03 1.24421635e+02] [ 2.69322094e-03 1.98603323e-05 9.99996373e-01 6.31404010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.644012739 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:182.69, Y:124.44, Z:0.63 [[-7.23766109e-01 -6.90042580e-01 1.96390878e-03 1.82685823e+02] [ 6.90040119e-01 -7.23768774e-01 -1.84306667e-03 1.24442069e+02] [ 2.69321033e-03 2.12266523e-05 9.99996373e-01 6.34220640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.674012739 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:182.70, Y:124.42, Z:0.64 [[-7.23095526e-01 -6.90745247e-01 1.96543533e-03 1.82704134e+02] [ 6.90742793e-01 -7.23098197e-01 -1.84143894e-03 1.24423948e+02] [ 2.69316794e-03 2.60740312e-05 9.99996373e-01 6.35577461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.704012739 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:182.72, Y:124.41, Z:0.64 [[-7.22219997e-01 -6.91660621e-01 1.96478093e-03 1.82717698e+02] [ 6.91658169e-01 -7.22222669e-01 -1.84213691e-03 1.24409492e+02] [ 2.69314289e-03 2.85286683e-05 9.99996373e-01 6.35295132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.734012739 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:182.72, Y:124.41, Z:0.63 [[-7.21996481e-01 -6.91893936e-01 1.96547166e-03 1.82720136e+02] [ 6.91891486e-01 -7.21999156e-01 -1.84139965e-03 1.24407263e+02] [ 2.69312213e-03 3.04090388e-05 9.99996373e-01 6.33462240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.764012739 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:182.72, Y:124.41, Z:0.63 [[-7.21834203e-01 -6.92063233e-01 1.96615764e-03 1.82715308e+02] [ 6.92060786e-01 -7.21836880e-01 -1.84066690e-03 1.24412165e+02] [ 2.69310298e-03 3.20442794e-05 9.99996373e-01 6.32972151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.794012739 meters Centerline goodness : 0.995141 Centerline is valid? [True, True] Translation: X:182.72, Y:124.41, Z:0.64 [[-7.21305391e-01 -6.92614369e-01 1.96684557e-03 1.82721721e+02] [ 6.92611926e-01 -7.21308072e-01 -1.83993151e-03 1.24408168e+02] [ 2.69306459e-03 3.51081814e-05 9.99996373e-01 6.36638798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.824012739 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:182.73, Y:124.40, Z:0.64 [[-7.21550775e-01 -6.92358728e-01 1.96753423e-03 1.82725625e+02] [ 6.92356286e-01 -7.21553456e-01 -1.83919479e-03 1.24404475e+02] [ 2.69306370e-03 3.51622677e-05 9.99996373e-01 6.38444606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.854012739 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:182.72, Y:124.41, Z:0.64 [[-7.22414240e-01 -6.91457729e-01 1.96822062e-03 1.82719842e+02] [ 6.91455286e-01 -7.22416921e-01 -1.83845997e-03 1.24410121e+02] [ 2.69309323e-03 3.28068894e-05 9.99996373e-01 6.37155232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.884012739 meters Centerline goodness : 0.995502 Centerline is valid? [True, True] Translation: X:182.73, Y:124.40, Z:0.64 [[-7.22695977e-01 -6.91163257e-01 1.96890873e-03 1.82726444e+02] [ 6.91160815e-01 -7.22698659e-01 -1.83772273e-03 1.24404992e+02] [ 2.69309413e-03 3.27177325e-05 9.99996373e-01 6.35671885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.914012739 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:182.73, Y:124.40, Z:0.63 [[-7.22711758e-01 -6.91146754e-01 1.96959779e-03 1.82733228e+02] [ 6.91144313e-01 -7.22714442e-01 -1.83698392e-03 1.24399379e+02] [ 2.69308224e-03 3.36664330e-05 9.99996373e-01 6.34520356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.944012739 meters Centerline goodness : 0.994853 Centerline is valid? [True, True] Translation: X:182.74, Y:124.39, Z:0.63 [[-7.21982151e-01 -6.91908876e-01 1.97028357e-03 1.82741385e+02] [ 6.91906440e-01 -7.21984838e-01 -1.83624808e-03 1.24390772e+02] [ 2.69303121e-03 3.75135520e-05 9.99996373e-01 6.33798507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.974012739 meters Centerline goodness : 0.994599 Centerline is valid? [True, True] Translation: X:182.73, Y:124.40, Z:0.63 [[-7.21601005e-01 -6.92306366e-01 1.97096521e-03 1.82729917e+02] [ 6.92303934e-01 -7.21603696e-01 -1.83551615e-03 1.24400890e+02] [ 2.69299529e-03 3.99966735e-05 9.99996373e-01 6.33434748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.004012739 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:182.74, Y:124.39, Z:0.63 [[-7.21230731e-01 -6.92692100e-01 1.97164856e-03 1.82736532e+02] [ 6.92689672e-01 -7.21233424e-01 -1.83478183e-03 1.24394667e+02] [ 2.69295772e-03 4.24395526e-05 9.99996373e-01 6.32241836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.034012739 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:182.74, Y:124.39, Z:0.63 [[-7.22095914e-01 -6.91790142e-01 1.97233451e-03 1.82736839e+02] [ 6.91787712e-01 -7.22098607e-01 -1.83404415e-03 1.24393959e+02] [ 2.69299367e-03 4.00809923e-05 9.99996373e-01 6.31226462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.064012739 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:182.74, Y:124.39, Z:0.63 [[-7.24326067e-01 -6.89454753e-01 1.97301897e-03 1.82741685e+02] [ 6.89452316e-01 -7.24328753e-01 -1.83330753e-03 1.24388888e+02] [ 2.69309696e-03 3.23900669e-05 9.99996373e-01 6.31908033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.094012739 meters Centerline goodness : 0.994748 Centerline is valid? [True, True] Translation: X:182.73, Y:124.40, Z:0.63 [[-7.25873065e-01 -6.87825849e-01 1.97370248e-03 1.82733722e+02] [ 6.87823408e-01 -7.25875748e-01 -1.83257138e-03 1.24397693e+02] [ 2.69315273e-03 2.73445681e-05 9.99996373e-01 6.32443015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.124012739 meters Centerline goodness : 0.995066 Centerline is valid? [True, True] Translation: X:182.73, Y:124.40, Z:0.63 [[-7.27321475e-01 -6.86294087e-01 1.97438817e-03 1.82734013e+02] [ 6.86291643e-01 -7.27324154e-01 -1.83183233e-03 1.24399277e+02] [ 2.69319590e-03 2.26751024e-05 9.99996373e-01 6.31745849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.154012739 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:182.74, Y:124.40, Z:0.63 [[-7.29167079e-01 -6.84332865e-01 1.97507794e-03 1.82739540e+02] [ 6.84330415e-01 -7.29169754e-01 -1.83108832e-03 1.24396164e+02] [ 2.69324101e-03 1.64365902e-05 9.99996373e-01 6.29374481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.184012739 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:182.73, Y:124.40, Z:0.63 [[-7.29362783e-01 -6.84124277e-01 1.97576722e-03 1.82733618e+02] [ 6.84121829e-01 -7.29365459e-01 -1.83034428e-03 1.24401553e+02] [ 2.69323932e-03 1.66804822e-05 9.99996373e-01 6.29050114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.214012739 meters Centerline goodness : 0.995481 Centerline is valid? [True, True] Translation: X:182.73, Y:124.40, Z:0.63 [[-7.28462919e-01 -6.85082381e-01 1.97645790e-03 1.82732827e+02] [ 6.85079938e-01 -7.28465600e-01 -1.82959815e-03 1.24401243e+02] [ 2.69320705e-03 2.12372455e-05 9.99996373e-01 6.28762646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.244012739 meters Centerline goodness : 0.995418 Centerline is valid? [True, True] Translation: X:182.75, Y:124.39, Z:0.63 [[-7.28000041e-01 -6.85574235e-01 1.97715160e-03 1.82749151e+02] [ 6.85571796e-01 -7.28002725e-01 -1.82884820e-03 1.24386326e+02] [ 2.69318296e-03 2.40778050e-05 9.99996373e-01 6.29532912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.274012739 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:182.74, Y:124.40, Z:0.63 [[-7.27540600e-01 -6.86061779e-01 1.97784104e-03 1.82739988e+02] [ 6.86059344e-01 -7.27543288e-01 -1.82810229e-03 1.24395133e+02] [ 2.69315608e-03 2.68976855e-05 9.99996373e-01 6.30616342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30401273900003 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:182.75, Y:124.39, Z:0.63 [[-7.26566185e-01 -6.87093636e-01 1.97852896e-03 1.82749359e+02] [ 6.87091207e-01 -7.26568878e-01 -1.82735746e-03 1.24385569e+02] [ 2.69310325e-03 3.17337092e-05 9.99996373e-01 6.32206483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.334012739 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:182.75, Y:124.39, Z:0.63 [[-7.26560478e-01 -6.87099669e-01 1.97921783e-03 1.82746563e+02] [ 6.87097241e-01 -7.26563173e-01 -1.82661103e-03 1.24387537e+02] [ 2.69309063e-03 3.27717286e-05 9.99996373e-01 6.31839352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36401273900003 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:182.77, Y:124.37, Z:0.63 [[-7.26803789e-01 -6.86842290e-01 1.97990519e-03 1.82766291e+02] [ 6.86839864e-01 -7.26806485e-01 -1.82586569e-03 1.24368639e+02] [ 2.69308970e-03 3.28317135e-05 9.99996373e-01 6.30820060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.394012739 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:182.76, Y:124.37, Z:0.63 [[-7.27173876e-01 -6.86450458e-01 1.98058759e-03 1.82762067e+02] [ 6.86448032e-01 -7.27176573e-01 -1.82512516e-03 1.24372235e+02] [ 2.69309490e-03 3.23871140e-05 9.99996373e-01 6.30516783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.424012739 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:182.76, Y:124.38, Z:0.63 [[-7.27564998e-01 -6.86035895e-01 1.98126564e-03 1.82755463e+02] [ 6.86033469e-01 -7.27567695e-01 -1.82438881e-03 1.24377175e+02] [ 2.69310108e-03 3.18530972e-05 9.99996373e-01 6.30507518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.454012739 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:182.75, Y:124.38, Z:0.63 [[-7.27100057e-01 -6.86528644e-01 1.98194793e-03 1.82752416e+02] [ 6.86526223e-01 -7.27102757e-01 -1.82364730e-03 1.24377118e+02] [ 2.69306591e-03 3.46851725e-05 9.99996373e-01 6.31781951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.484012739 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:182.75, Y:124.38, Z:0.63 [[-7.27358708e-01 -6.86254603e-01 1.98263361e-03 1.82754306e+02] [ 6.86252182e-01 -7.27361409e-01 -1.82290153e-03 1.24375482e+02] [ 2.69306574e-03 3.46833473e-05 9.99996373e-01 6.31775176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.514012739 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:182.77, Y:124.36, Z:0.63 [[-7.27383007e-01 -6.86228845e-01 1.98332025e-03 1.82767141e+02] [ 6.86226426e-01 -7.27385710e-01 -1.82215415e-03 1.24362047e+02] [ 2.69305355e-03 3.56028016e-05 9.99996373e-01 6.31879356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.544012739 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:182.77, Y:124.36, Z:0.63 [[-7.27710467e-01 -6.85881579e-01 1.98400270e-03 1.82767536e+02] [ 6.85879161e-01 -7.27713171e-01 -1.82141078e-03 1.24359430e+02] [ 2.69305700e-03 3.53264181e-05 9.99996373e-01 6.31593720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.574012739 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:182.76, Y:124.36, Z:0.63 [[-7.28309789e-01 -6.85245147e-01 1.98468101e-03 1.82763480e+02] [ 6.85242729e-01 -7.28312493e-01 -1.82067137e-03 1.24361483e+02] [ 2.69307420e-03 3.39754523e-05 9.99996373e-01 6.31006588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.604012739 meters Centerline goodness : 0.995246 Centerline is valid? [True, True] Translation: X:182.70, Y:124.42, Z:0.63 [[-7.28653651e-01 -6.84879489e-01 1.98536070e-03 1.82702924e+02] [ 6.84877072e-01 -7.28656355e-01 -1.81992990e-03 1.24415135e+02] [ 2.69307835e-03 3.36294555e-05 9.99996373e-01 6.30955910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.634012739 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:182.77, Y:124.36, Z:0.63 [[-7.29814099e-01 -6.83642775e-01 1.98433585e-03 1.82765420e+02] [ 6.83640350e-01 -7.29816796e-01 -1.82104827e-03 1.24357534e+02] [ 2.69314812e-03 2.75453565e-05 9.99996373e-01 6.30155488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.664012739 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:182.76, Y:124.36, Z:0.63 [[-7.30505392e-01 -6.82904042e-01 1.98535972e-03 1.82758954e+02] [ 6.82901617e-01 -7.30508090e-01 -1.81993133e-03 1.24362955e+02] [ 2.69315980e-03 2.63357070e-05 9.99996373e-01 6.30237048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.694012739 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:182.76, Y:124.36, Z:0.63 [[-7.31356139e-01 -6.81992855e-01 1.98604156e-03 1.82759575e+02] [ 6.81990429e-01 -7.31358835e-01 -1.81918696e-03 1.24360312e+02] [ 2.69318154e-03 2.39877852e-05 9.99996373e-01 6.29776736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.724012739 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:182.75, Y:124.37, Z:0.63 [[-7.31867300e-01 -6.81444281e-01 1.98672589e-03 1.82753650e+02] [ 6.81441855e-01 -7.31869996e-01 -1.81843929e-03 1.24365417e+02] [ 2.69319012e-03 2.29819271e-05 9.99996373e-01 6.30023198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.754012739 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:182.76, Y:124.36, Z:0.63 [[-7.31992502e-01 -6.81309788e-01 1.98741264e-03 1.82761455e+02] [ 6.81307364e-01 -7.31995200e-01 -1.81768841e-03 1.24359540e+02] [ 2.69318542e-03 2.35045775e-05 9.99996373e-01 6.30008373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.784012739 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:182.77, Y:124.35, Z:0.63 [[-7.30649866e-01 -6.82749457e-01 1.98809979e-03 1.82766847e+02] [ 6.82747040e-01 -7.30652570e-01 -1.81693654e-03 1.24353125e+02] [ 2.69312265e-03 2.98248093e-05 9.99996373e-01 6.31595981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.814012739 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:182.77, Y:124.35, Z:0.63 [[-7.29527855e-01 -6.83948209e-01 1.98878350e-03 1.82770846e+02] [ 6.83945799e-01 -7.29530565e-01 -1.81618785e-03 1.24347072e+02] [ 2.69305678e-03 3.52604958e-05 9.99996373e-01 6.32636651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.844012739 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:182.77, Y:124.34, Z:0.63 [[-7.27514652e-01 -6.86089260e-01 1.98946449e-03 1.82773148e+02] [ 6.86086859e-01 -7.27517371e-01 -1.81544158e-03 1.24340522e+02] [ 2.69292495e-03 4.41850891e-05 9.99996373e-01 6.31880251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.874012739 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:182.77, Y:124.34, Z:0.63 [[-7.27416837e-01 -6.86192965e-01 1.99014299e-03 1.82770507e+02] [ 6.86190567e-01 -7.27419558e-01 -1.81469749e-03 1.24341370e+02] [ 2.69290158e-03 4.55758366e-05 9.99996373e-01 6.32495800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.904012739 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:182.77, Y:124.34, Z:0.63 [[-7.27920432e-01 -6.85658721e-01 1.99082165e-03 1.82771575e+02] [ 6.85656323e-01 -7.27923153e-01 -1.81395265e-03 1.24338865e+02] [ 2.69291763e-03 4.46062551e-05 9.99996373e-01 6.31491689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.934012739 meters Centerline goodness : 0.994814 Centerline is valid? [True, True] Translation: X:182.78, Y:124.33, Z:0.63 [[-7.28852778e-01 -6.84667556e-01 1.99150125e-03 1.82782347e+02] [ 6.84665156e-01 -7.28855497e-01 -1.81320623e-03 1.24327139e+02] [ 2.69296011e-03 4.19511180e-05 9.99996373e-01 6.31695239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.964012739 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:182.78, Y:124.33, Z:0.63 [[-7.31014797e-01 -6.82358702e-01 1.99217748e-03 1.82778429e+02] [ 6.82356295e-01 -7.31017511e-01 -1.81246294e-03 1.24326882e+02] [ 2.69306648e-03 3.44376187e-05 9.99996373e-01 6.32262723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.994012739 meters Centerline goodness : 0.995096 Centerline is valid? [True, True] Translation: X:182.77, Y:124.33, Z:0.63 [[-7.32259026e-01 -6.81023309e-01 1.99285126e-03 1.82771637e+02] [ 6.81020900e-01 -7.32261737e-01 -1.81172180e-03 1.24331345e+02] [ 2.69311350e-03 3.05237159e-05 9.99996373e-01 6.33456742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.024012739 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:182.77, Y:124.33, Z:0.63 [[-7.34293601e-01 -6.78829091e-01 1.99352859e-03 1.82767532e+02] [ 6.78826675e-01 -7.34296306e-01 -1.81097620e-03 1.24330955e+02] [ 2.69318400e-03 2.34721526e-05 9.99996373e-01 6.34621199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05401273900003 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:182.76, Y:124.33, Z:0.63 [[-7.35346786e-01 -6.77688075e-01 1.99420951e-03 1.82763644e+02] [ 6.77685657e-01 -7.35349490e-01 -1.81022607e-03 1.24332486e+02] [ 2.69320957e-03 2.03032568e-05 9.99996373e-01 6.34234419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.084012739 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:182.76, Y:124.33, Z:0.63 [[-7.36113666e-01 -6.76855001e-01 1.99489315e-03 1.82764944e+02] [ 6.76852582e-01 -7.36116369e-01 -1.80947237e-03 1.24330202e+02] [ 2.69322393e-03 1.82712400e-05 9.99996373e-01 6.32578337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11401273900003 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:182.76, Y:124.33, Z:0.63 [[-7.37315552e-01 -6.75545553e-01 1.99557797e-03 1.82761726e+02] [ 6.75543132e-01 -7.37318253e-01 -1.80871680e-03 1.24332583e+02] [ 2.69324666e-03 1.45039664e-05 9.99996373e-01 6.28866628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.144012739 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:182.75, Y:124.34, Z:0.63 [[-7.38453420e-01 -6.74301536e-01 1.99626420e-03 1.82752223e+02] [ 6.74299112e-01 -7.38456118e-01 -1.80795910e-03 1.24340246e+02] [ 2.69326311e-03 1.09855981e-05 9.99996373e-01 6.29023829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.174012739 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:182.77, Y:124.33, Z:0.63 [[-7.39876531e-01 -6.72739720e-01 1.99695549e-03 1.82765137e+02] [ 6.72737293e-01 -7.39879226e-01 -1.80719523e-03 1.24327285e+02] [ 2.69327789e-03 6.32509093e-06 9.99996373e-01 6.30578762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.204012739 meters Centerline goodness : 0.995322 Centerline is valid? [True, True] Translation: X:182.77, Y:124.32, Z:0.63 [[-7.43252076e-01 -6.69008491e-01 1.99764614e-03 1.82771555e+02] [ 6.69006052e-01 -7.43254760e-01 -1.80643146e-03 1.24320323e+02] [ 2.69327799e-03 -6.19657639e-06 9.99996373e-01 6.33098414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.234012739 meters Centerline goodness : 0.994929 Centerline is valid? [True, True] Translation: X:182.79, Y:124.31, Z:0.63 [[-7.45476871e-01 -6.66528500e-01 1.99833082e-03 1.82787884e+02] [ 6.66526054e-01 -7.45479550e-01 -1.80567373e-03 1.24306804e+02] [ 2.69324777e-03 -1.41484476e-05 9.99996373e-01 6.32849865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.264012739 meters Centerline goodness : 0.995266 Centerline is valid? [True, True] Translation: X:182.78, Y:124.32, Z:0.63 [[-7.49509907e-01 -6.61990108e-01 1.99900908e-03 1.82779663e+02] [ 6.61987648e-01 -7.49512572e-01 -1.80492254e-03 1.24316876e+02] [ 2.69312331e-03 -2.94880112e-05 9.99996373e-01 6.31954827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.294012739 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:182.80, Y:124.30, Z:0.63 [[-7.51358487e-01 -6.59891222e-01 1.99968606e-03 1.82795982e+02] [ 6.59888757e-01 -7.51361147e-01 -1.80417220e-03 1.24303766e+02] [ 2.69304381e-03 -3.60097492e-05 9.99996373e-01 6.32060615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.324012739 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:182.81, Y:124.29, Z:0.63 [[-7.53153209e-01 -6.57842111e-01 2.00036199e-03 1.82814889e+02] [ 6.57839640e-01 -7.53155864e-01 -1.80342246e-03 1.24288179e+02] [ 2.69295160e-03 -4.23359987e-05 9.99996373e-01 6.32228110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.354012739 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:182.80, Y:124.30, Z:0.63 [[-7.55483379e-01 -6.55164757e-01 2.00102811e-03 1.82803175e+02] [ 6.55162279e-01 -7.55486028e-01 -1.80268305e-03 1.24302059e+02] [ 2.69280318e-03 -5.08989449e-05 9.99996373e-01 6.31510616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.384012739 meters Centerline goodness : 0.995475 Centerline is valid? [True, True] Translation: X:182.83, Y:124.28, Z:0.63 [[-7.56047268e-01 -6.54513959e-01 2.00169352e-03 1.82826699e+02] [ 6.54511480e-01 -7.56049916e-01 -1.80194387e-03 1.24283419e+02] [ 2.69277763e-03 -5.22233506e-05 9.99996373e-01 6.28933758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.414012739 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:182.82, Y:124.30, Z:0.62 [[-7.56568113e-01 -6.53911831e-01 2.00194161e-03 1.82815290e+02] [ 6.53909351e-01 -7.56570760e-01 -1.80166820e-03 1.24298218e+02] [ 2.69274264e-03 -5.39963733e-05 9.99996373e-01 6.24752350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.444012739 meters Centerline goodness : 0.995016 Centerline is valid? [True, True] Translation: X:182.83, Y:124.29, Z:0.63 [[-7.56718301e-01 -6.53738023e-01 2.00260358e-03 1.82831111e+02] [ 6.53735545e-01 -7.56720949e-01 -1.80093211e-03 1.24285900e+02] [ 2.69274987e-03 -5.36251446e-05 9.99996373e-01 6.25077707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.474012739 meters Centerline goodness : 0.995530 Centerline is valid? [True, True] Translation: X:182.83, Y:124.29, Z:0.63 [[-7.56563200e-01 -6.53917511e-01 2.00326601e-03 1.82827077e+02] [ 6.53915035e-01 -7.56565850e-01 -1.80019495e-03 1.24291869e+02] [ 2.69278165e-03 -5.19954893e-05 9.99996373e-01 6.28119212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.504012739 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:182.84, Y:124.28, Z:0.63 [[-7.55528783e-01 -6.55112389e-01 2.00392628e-03 1.82839280e+02] [ 6.55109919e-01 -7.55531439e-01 -1.79945966e-03 1.24284485e+02] [ 2.69287762e-03 -4.67515872e-05 9.99996373e-01 6.32541175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.534012739 meters Centerline goodness : 0.995643 Centerline is valid? [True, True] Translation: X:182.82, Y:124.30, Z:0.63 [[-7.54786234e-01 -6.55967776e-01 2.00458585e-03 1.82822121e+02] [ 6.55965311e-01 -7.54788894e-01 -1.79872460e-03 1.24301286e+02] [ 2.69294451e-03 -4.27137853e-05 9.99996373e-01 6.32452110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.564012739 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:182.82, Y:124.31, Z:0.63 [[-7.52874523e-01 -6.58161022e-01 2.00524863e-03 1.82818825e+02] [ 6.58158567e-01 -7.52877193e-01 -1.79798541e-03 1.24306970e+02] [ 2.69306988e-03 -3.38858440e-05 9.99996373e-01 6.30345642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.594012739 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:182.83, Y:124.30, Z:0.63 [[-7.52174851e-01 -6.58960522e-01 2.00591941e-03 1.82827257e+02] [ 6.58958072e-01 -7.52177526e-01 -1.79723675e-03 1.24300724e+02] [ 2.69311556e-03 -3.00195057e-05 9.99996373e-01 6.29499936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.624012739 meters Centerline goodness : 0.995603 Centerline is valid? [True, True] Translation: X:182.82, Y:124.31, Z:0.63 [[-7.51886638e-01 -6.59289358e-01 2.00659012e-03 1.82816808e+02] [ 6.59286911e-01 -7.51889315e-01 -1.79648760e-03 1.24311725e+02] [ 2.69313883e-03 -2.78364218e-05 9.99996373e-01 6.28746098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.654012739 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:182.82, Y:124.32, Z:0.63 [[-7.52173852e-01 -6.58961659e-01 2.00726295e-03 1.82817491e+02] [ 6.58959213e-01 -7.52176530e-01 -1.79573552e-03 1.24315877e+02] [ 2.69313693e-03 -2.80008891e-05 9.99996373e-01 6.28471017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.684012739 meters Centerline goodness : 0.996196 Centerline is valid? [True, True] Translation: X:182.84, Y:124.30, Z:0.63 [[-7.52835024e-01 -6.58206195e-01 2.00794089e-03 1.82836345e+02] [ 6.58203748e-01 -7.52837701e-01 -1.79497714e-03 1.24302698e+02] [ 2.69311868e-03 -2.96874361e-05 9.99996373e-01 6.29190497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.714012739 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:182.84, Y:124.30, Z:0.63 [[-7.54301896e-01 -6.56524650e-01 2.00861490e-03 1.82842810e+02] [ 6.56522199e-01 -7.54304569e-01 -1.79422259e-03 1.24304214e+02] [ 2.69305876e-03 -3.46852259e-05 9.99996373e-01 6.32690331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.744012739 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:182.85, Y:124.30, Z:0.63 [[-7.55002072e-01 -6.55719326e-01 2.00928330e-03 1.82851718e+02] [ 6.55716875e-01 -7.55004744e-01 -1.79347376e-03 1.24300678e+02] [ 2.69303383e-03 -3.65554426e-05 9.99996373e-01 6.34078302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.774012739 meters Centerline goodness : 0.996162 Centerline is valid? [True, True] Translation: X:182.85, Y:124.30, Z:0.63 [[-7.55547082e-01 -6.55091266e-01 2.00994958e-03 1.82854033e+02] [ 6.55088814e-01 -7.55549755e-01 -1.79272675e-03 1.24303083e+02] [ 2.69301655e-03 -3.77939801e-05 9.99996373e-01 6.34648876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80401273900003 meters Centerline goodness : 0.995883 Centerline is valid? [True, True] Translation: X:182.86, Y:124.31, Z:0.63 [[-7.55405131e-01 -6.55254947e-01 2.01061462e-03 1.82859214e+02] [ 6.55252498e-01 -7.55407806e-01 -1.79198057e-03 1.24305892e+02] [ 2.69303811e-03 -3.62110710e-05 9.99996373e-01 6.31828428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.834012739 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:182.86, Y:124.30, Z:0.63 [[-7.54487039e-01 -6.56311864e-01 2.01128003e-03 1.82864225e+02] [ 6.56309420e-01 -7.54489719e-01 -1.79123342e-03 1.24304998e+02] [ 2.69309785e-03 -3.14403737e-05 9.99996373e-01 6.29834462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86401273900003 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:182.84, Y:124.33, Z:0.63 [[-7.52826690e-01 -6.58215715e-01 2.01194494e-03 1.82844027e+02] [ 6.58213280e-01 -7.52829378e-01 -1.79048627e-03 1.24326717e+02] [ 2.69317746e-03 -2.36369694e-05 9.99996373e-01 6.29000922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.894012739 meters Centerline goodness : 0.995922 Centerline is valid? [True, True] Translation: X:182.84, Y:124.33, Z:0.63 [[-7.47867129e-01 -6.63845394e-01 2.01261672e-03 1.82843231e+02] [ 6.63842982e-01 -7.47869837e-01 -1.78973082e-03 1.24333048e+02] [ 2.69327990e-03 -2.41936549e-06 9.99996373e-01 6.25899226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.924012739 meters Centerline goodness : 0.996160 Centerline is valid? [True, True] Translation: X:182.85, Y:124.33, Z:0.62 [[-7.44854259e-01 -6.67224160e-01 2.01329776e-03 1.82853648e+02] [ 6.67221761e-01 -7.44856980e-01 -1.78896439e-03 1.24325280e+02] [ 2.69325915e-03 1.07983336e-05 9.99996373e-01 6.24550587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.954012739 meters Centerline goodness : 0.996539 Centerline is valid? [True, True] Translation: X:182.88, Y:124.30, Z:0.63 [[-7.37676388e-01 -6.75151458e-01 2.01397772e-03 1.82875812e+02] [ 6.75149091e-01 -7.37679136e-01 -1.78819857e-03 1.24304124e+02] [ 2.69297422e-03 4.06233612e-05 9.99996373e-01 6.25526538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.984012739 meters Centerline goodness : 0.996269 Centerline is valid? [True, True] Translation: X:182.89, Y:124.29, Z:0.63 [[-7.34286469e-01 -6.78836742e-01 2.01464798e-03 1.82887033e+02] [ 6.78834391e-01 -7.34289231e-01 -1.78744311e-03 1.24292118e+02] [ 2.69271638e-03 5.51170450e-05 9.99996373e-01 6.26091331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.014012739 meters Centerline goodness : 0.995965 Centerline is valid? [True, True] Translation: X:182.90, Y:124.28, Z:0.63 [[-7.31025098e-01 -6.82347598e-01 2.01530798e-03 1.82902473e+02] [ 6.82345262e-01 -7.31027873e-01 -1.78669867e-03 1.24276125e+02] [ 2.69239585e-03 6.90142845e-05 9.99996373e-01 6.27187165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.044012739 meters Centerline goodness : 0.996532 Centerline is valid? [True, True] Translation: X:182.90, Y:124.27, Z:0.63 [[-7.25181274e-01 -6.88555049e-01 2.01596017e-03 1.82900655e+02] [ 6.88552739e-01 -7.25184070e-01 -1.78596249e-03 1.24270527e+02] [ 2.69167569e-03 9.29483476e-05 9.99996373e-01 6.30839510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.074012739 meters Centerline goodness : 0.996442 Centerline is valid? [True, True] Translation: X:182.93, Y:124.24, Z:0.63 [[-7.22664820e-01 -6.91195697e-01 2.01660758e-03 1.82930256e+02] [ 6.91193399e-01 -7.22667627e-01 -1.78523117e-03 1.24239081e+02] [ 2.69128112e-03 1.03742087e-04 9.99996373e-01 6.31493301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.104012739 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:182.92, Y:124.24, Z:0.63 [[-7.20582187e-01 -6.93366600e-01 2.01724589e-03 1.82920664e+02] [ 6.93364313e-01 -7.20585002e-01 -1.78450962e-03 1.24241144e+02] [ 2.69091650e-03 1.12800465e-04 9.99996373e-01 6.30078792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.134012739 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:182.92, Y:124.23, Z:0.63 [[-7.18485393e-01 -6.95539120e-01 2.01787746e-03 1.82917010e+02] [ 6.95536843e-01 -7.18488217e-01 -1.78379516e-03 1.24230554e+02] [ 2.69052050e-03 1.21877355e-04 9.99996373e-01 6.26378771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.164012739 meters Centerline goodness : 0.996295 Centerline is valid? [True, True] Translation: X:182.90, Y:124.24, Z:0.63 [[-7.19118579e-01 -6.94884447e-01 2.01851093e-03 1.82898673e+02] [ 6.94882170e-01 -7.19121402e-01 -1.78307805e-03 1.24240937e+02] [ 2.69058762e-03 1.20382698e-04 9.99996373e-01 6.28131035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.194012739 meters Centerline goodness : 0.996798 Centerline is valid? [True, True] Translation: X:182.90, Y:124.23, Z:0.63 [[-7.22215916e-01 -6.91664726e-01 2.01914866e-03 1.82903804e+02] [ 6.91662438e-01 -7.22218731e-01 -1.78235559e-03 1.24225674e+02] [ 2.69105948e-03 1.09323711e-04 9.99996373e-01 6.34972109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.224012739 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:182.89, Y:124.23, Z:0.64 [[-7.24072043e-01 -6.89721391e-01 2.01978873e-03 1.82892698e+02] [ 6.89719098e-01 -7.24074853e-01 -1.78162997e-03 1.24229698e+02] [ 2.69130652e-03 1.03058405e-04 9.99996373e-01 6.35651508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.254012739 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:182.90, Y:124.22, Z:0.63 [[-7.25787975e-01 -6.87915499e-01 2.02042902e-03 1.82898643e+02] [ 6.87913200e-01 -7.25790781e-01 -1.78090356e-03 1.24218692e+02] [ 2.69151991e-03 9.73214081e-05 9.99996373e-01 6.34233090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.284012739 meters Centerline goodness : 0.996399 Centerline is valid? [True, True] Translation: X:182.87, Y:124.23, Z:0.63 [[-7.28101133e-01 -6.85466743e-01 2.02106986e-03 1.82872162e+02] [ 6.85464437e-01 -7.28103932e-01 -1.78017600e-03 1.24231465e+02] [ 2.69180036e-03 8.92233552e-05 9.99996373e-01 6.28866616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.314012739 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:182.87, Y:124.23, Z:0.63 [[-7.28992721e-01 -6.84518463e-01 2.02171538e-03 1.82869971e+02] [ 6.84516155e-01 -7.28995519e-01 -1.77944260e-03 1.24229306e+02] [ 2.69188276e-03 8.66961371e-05 9.99996373e-01 6.27336485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.344012739 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:182.87, Y:124.22, Z:0.63 [[-7.30475705e-01 -6.82935688e-01 2.02236803e-03 1.82867048e+02] [ 6.82933376e-01 -7.30478500e-01 -1.77870054e-03 1.24224233e+02] [ 2.69203444e-03 8.18450939e-05 9.99996373e-01 6.29028895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.374012739 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:182.86, Y:124.22, Z:0.63 [[-7.31574037e-01 -6.81759001e-01 2.02302134e-03 1.82864095e+02] [ 6.81756687e-01 -7.31576830e-01 -1.77795718e-03 1.24223691e+02] [ 2.69213385e-03 7.85010151e-05 9.99996373e-01 6.29970179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.404012739 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:182.87, Y:124.22, Z:0.63 [[-7.31825382e-01 -6.81489190e-01 2.02367573e-03 1.82866034e+02] [ 6.81486877e-01 -7.31828175e-01 -1.77721203e-03 1.24222087e+02] [ 2.69213371e-03 7.84995840e-05 9.99996373e-01 6.29963403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.434012739 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:182.86, Y:124.23, Z:0.63 [[-7.33051992e-01 -6.80169596e-01 2.02433080e-03 1.82858803e+02] [ 6.80167280e-01 -7.33054783e-01 -1.77646557e-03 1.24226409e+02] [ 2.69224324e-03 7.46419483e-05 9.99996373e-01 6.30958519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.464012739 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:182.86, Y:124.22, Z:0.63 [[-7.35650493e-01 -6.77358289e-01 2.02498811e-03 1.82859426e+02] [ 6.77355965e-01 -7.35653277e-01 -1.77571598e-03 1.24223393e+02] [ 2.69248508e-03 6.53314361e-05 9.99996373e-01 6.30078923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.494012739 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:182.85, Y:124.23, Z:0.63 [[-7.36846844e-01 -6.76056674e-01 2.02564779e-03 1.82849147e+02] [ 6.76054346e-01 -7.36849625e-01 -1.77496314e-03 1.24230789e+02] [ 2.69257349e-03 6.15720055e-05 9.99996373e-01 6.29569875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.524012739 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:182.85, Y:124.23, Z:0.63 [[-7.37931863e-01 -6.74872180e-01 2.02631071e-03 1.82845960e+02] [ 6.74869851e-01 -7.37934643e-01 -1.77420601e-03 1.24231552e+02] [ 2.69264715e-03 5.82528599e-05 9.99996373e-01 6.29341039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55401273900003 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:182.85, Y:124.23, Z:0.63 [[-7.38828674e-01 -6.73890260e-01 2.02697834e-03 1.82845668e+02] [ 6.73887928e-01 -7.38831452e-01 -1.77344294e-03 1.24227370e+02] [ 2.69270127e-03 5.56857318e-05 9.99996373e-01 6.30034434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.584012739 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:182.86, Y:124.21, Z:0.63 [[-7.39330503e-01 -6.73339659e-01 2.02764687e-03 1.82857575e+02] [ 6.73337328e-01 -7.39333281e-01 -1.77267825e-03 1.24214533e+02] [ 2.69272138e-03 5.46952250e-05 9.99996373e-01 6.29904362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61401273900003 meters Centerline goodness : 0.996714 Centerline is valid? [True, True] Translation: X:182.84, Y:124.22, Z:0.63 [[-7.40129832e-01 -6.72460942e-01 2.02831153e-03 1.82842268e+02] [ 6.72458609e-01 -7.40132609e-01 -1.77191742e-03 1.24224168e+02] [ 2.69276476e-03 5.25066136e-05 9.99996373e-01 6.27127075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.644012739 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] Translation: X:182.85, Y:124.22, Z:0.63 [[-7.41081528e-01 -6.71411984e-01 2.02897732e-03 1.82846292e+02] [ 6.71409650e-01 -7.41084304e-01 -1.77115472e-03 1.24218191e+02] [ 2.69281774e-03 4.97049065e-05 9.99996373e-01 6.26971496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.674012739 meters Centerline goodness : 0.997135 Centerline is valid? [True, True] Translation: X:182.85, Y:124.21, Z:0.63 [[-7.41800550e-01 -6.70617495e-01 2.02964664e-03 1.82851594e+02] [ 6.70615160e-01 -7.41803325e-01 -1.77038738e-03 1.24211443e+02] [ 2.69285137e-03 4.78374729e-05 9.99996373e-01 6.27971596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.704012739 meters Centerline goodness : 0.996847 Centerline is valid? [True, True] Translation: X:182.83, Y:124.23, Z:0.63 [[-7.42669368e-01 -6.69655201e-01 2.03031304e-03 1.82833443e+02] [ 6.69652864e-01 -7.42672142e-01 -1.76962280e-03 1.24225723e+02] [ 2.69289405e-03 4.53602933e-05 9.99996373e-01 6.29555679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.734012739 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:182.84, Y:124.22, Z:0.63 [[-7.44506513e-01 -6.67612108e-01 2.03098398e-03 1.82841066e+02] [ 6.67609766e-01 -7.44509282e-01 -1.76885243e-03 1.24217987e+02] [ 2.69299373e-03 3.89825816e-05 9.99996373e-01 6.32823179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.764012739 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:182.85, Y:124.21, Z:0.63 [[-7.46011248e-01 -6.65930245e-01 2.03165874e-03 1.82851372e+02] [ 6.65927898e-01 -7.46014013e-01 -1.76807708e-03 1.24207452e+02] [ 2.69306189e-03 3.39328442e-05 9.99996373e-01 6.33177239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.794012739 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:182.84, Y:124.22, Z:0.63 [[-7.48747183e-01 -6.62852567e-01 2.03232833e-03 1.82836647e+02] [ 6.62850211e-01 -7.48749941e-01 -1.76730709e-03 1.24216417e+02] [ 2.69316975e-03 2.38630556e-05 9.99996373e-01 6.29576182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.824012739 meters Centerline goodness : 0.996964 Centerline is valid? [True, True] Translation: X:182.85, Y:124.21, Z:0.63 [[-7.50009685e-01 -6.61423721e-01 2.03299938e-03 1.82848312e+02] [ 6.61421362e-01 -7.50012441e-01 -1.76653481e-03 1.24206036e+02] [ 2.69320285e-03 1.97509996e-05 9.99996373e-01 6.27266530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.854012739 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:182.85, Y:124.21, Z:0.63 [[-7.51542733e-01 -6.59681277e-01 2.03308314e-03 1.82847102e+02] [ 6.59678912e-01 -7.51545482e-01 -1.76643841e-03 1.24208336e+02] [ 2.69324079e-03 1.36281236e-05 9.99996373e-01 6.25498404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.884012739 meters Centerline goodness : 0.996866 Centerline is valid? [True, True] Translation: X:182.86, Y:124.20, Z:0.63 [[-7.54011215e-01 -6.56858395e-01 2.03375265e-03 1.82861828e+02] [ 6.56856022e-01 -7.54013958e-01 -1.76566725e-03 1.24198296e+02] [ 2.69327124e-03 4.54976696e-06 9.99996373e-01 6.27216873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.914012739 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:182.88, Y:124.19, Z:0.63 [[-7.55390165e-01 -6.55272128e-01 2.03383575e-03 1.82875885e+02] [ 6.55269749e-01 -7.55392903e-01 -1.76557152e-03 1.24187057e+02] [ 2.69327490e-03 -9.84314653e-07 9.99996373e-01 6.27665672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.944012739 meters Centerline goodness : 0.997131 Centerline is valid? [True, True] Translation: X:182.87, Y:124.20, Z:0.63 [[-7.57684333e-01 -6.52618046e-01 2.03391779e-03 1.82867562e+02] [ 6.52615658e-01 -7.57687063e-01 -1.76547701e-03 1.24199552e+02] [ 2.69325535e-03 -1.03076763e-05 9.99996373e-01 6.26644656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.974012739 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:182.89, Y:124.18, Z:0.63 [[-7.58403661e-01 -6.51781979e-01 2.03457599e-03 1.82890977e+02] [ 6.51779590e-01 -7.58406390e-01 -1.76471815e-03 1.24183867e+02] [ 2.69324692e-03 -1.22735993e-05 9.99996373e-01 6.27408738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.004012739 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:182.89, Y:124.19, Z:0.63 [[-7.59146197e-01 -6.50916979e-01 2.03441203e-03 1.82893909e+02] [ 6.50914586e-01 -7.59148923e-01 -1.76490715e-03 1.24190382e+02] [ 2.69322973e-03 -1.55940798e-05 9.99996373e-01 6.30989013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.034012739 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:182.89, Y:124.19, Z:0.63 [[-7.59572025e-01 -6.50420017e-01 2.03506121e-03 1.82893942e+02] [ 6.50417624e-01 -7.59574751e-01 -1.76415829e-03 1.24194165e+02] [ 2.69322497e-03 -1.63656068e-05 9.99996373e-01 6.30333458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.064012739 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:182.88, Y:124.21, Z:0.63 [[-7.59888610e-01 -6.50050118e-01 2.03571239e-03 1.82880893e+02] [ 6.50047726e-01 -7.59891337e-01 -1.76340655e-03 1.24209420e+02] [ 2.69322284e-03 -1.66823403e-05 9.99996373e-01 6.29290409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.094012739 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:182.90, Y:124.19, Z:0.63 [[-7.59931396e-01 -6.50000097e-01 2.03636951e-03 1.82902840e+02] [ 6.49997707e-01 -7.59934124e-01 -1.76264738e-03 1.24194566e+02] [ 2.69322765e-03 -1.58555728e-05 9.99996373e-01 6.28688816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.124012739 meters Centerline goodness : 0.997140 Centerline is valid? [True, True] Translation: X:182.90, Y:124.20, Z:0.63 [[-7.59751662e-01 -6.50210169e-01 2.03661517e-03 1.82901873e+02] [ 6.50207781e-01 -7.59754392e-01 -1.76236349e-03 1.24204428e+02] [ 2.69323399e-03 -1.47355623e-05 9.99996373e-01 6.33122577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.154012739 meters Centerline goodness : 0.997062 Centerline is valid? [True, True] Translation: X:182.90, Y:124.21, Z:0.63 [[-7.59703681e-01 -6.50266227e-01 2.03726842e-03 1.82902289e+02] [ 6.50263841e-01 -7.59706413e-01 -1.76160803e-03 1.24207550e+02] [ 2.69324009e-03 -1.35381184e-05 9.99996373e-01 6.34126974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.184012739 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:182.90, Y:124.21, Z:0.63 [[-7.58738337e-01 -6.51392341e-01 2.03792465e-03 1.82903900e+02] [ 6.51389961e-01 -7.58741074e-01 -1.76084853e-03 1.24212439e+02] [ 2.69326039e-03 -8.53962564e-06 9.99996373e-01 6.31249147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.214012739 meters Centerline goodness : 0.997372 Centerline is valid? [True, True] Translation: X:182.90, Y:124.22, Z:0.63 [[-7.57943710e-01 -6.52316777e-01 2.03858252e-03 1.82897201e+02] [ 6.52314402e-01 -7.57946451e-01 -1.76008657e-03 1.24221535e+02] [ 2.69327038e-03 -4.24981027e-06 9.99996373e-01 6.29174522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.244012739 meters Centerline goodness : 0.996974 Centerline is valid? [True, True] Translation: X:182.90, Y:124.22, Z:0.63 [[-7.57137767e-01 -6.53252052e-01 2.03924429e-03 1.82902390e+02] [ 6.53249683e-01 -7.57140513e-01 -1.75931951e-03 1.24219126e+02] [ 2.69327354e-03 8.84407846e-08 9.99996373e-01 6.28737506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.274012739 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:182.90, Y:124.23, Z:0.63 [[-7.55498752e-01 -6.55146910e-01 2.03990847e-03 1.82897185e+02] [ 6.55144550e-01 -7.55501506e-01 -1.75854906e-03 1.24225616e+02] [ 2.69326190e-03 7.85330110e-06 9.99996373e-01 6.32792874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30401273900003 meters Centerline goodness : 0.996789 Centerline is valid? [True, True] Translation: X:182.90, Y:124.23, Z:0.64 [[-7.55543704e-01 -6.55095068e-01 2.04057423e-03 1.82897104e+02] [ 6.55092710e-01 -7.55546459e-01 -1.75777619e-03 1.24227647e+02] [ 2.69325915e-03 8.68856381e-06 9.99996373e-01 6.35979402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.334012739 meters Centerline goodness : 0.996885 Centerline is valid? [True, True] Translation: X:182.91, Y:124.22, Z:0.64 [[-7.56869656e-01 -6.53562665e-01 2.04124309e-03 1.82911468e+02] [ 6.53560303e-01 -7.56872409e-01 -1.75699912e-03 1.24219480e+02] [ 2.69326960e-03 4.25613523e-06 9.99996373e-01 6.36854913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36401273900003 meters Centerline goodness : 0.996650 Centerline is valid? [True, True] Translation: X:182.91, Y:124.22, Z:0.63 [[-7.58239934e-01 -6.51972418e-01 2.04190924e-03 1.82913304e+02] [ 6.51970052e-01 -7.58242683e-01 -1.75622461e-03 1.24219280e+02] [ 2.69327275e-03 -3.75951572e-07 9.99996373e-01 6.34003737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.394012739 meters Centerline goodness : 0.996599 Centerline is valid? [True, True] Translation: X:182.92, Y:124.22, Z:0.63 [[-7.59547886e-01 -6.50448181e-01 2.04257226e-03 1.82918875e+02] [ 6.50445812e-01 -7.59550633e-01 -1.75545315e-03 1.24216413e+02] [ 2.69326836e-03 -4.76815431e-06 9.99996373e-01 6.29773080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.424012739 meters Centerline goodness : 0.996391 Centerline is valid? [True, True] Translation: X:182.91, Y:124.23, Z:0.63 [[-7.61608257e-01 -6.48034481e-01 2.04323423e-03 1.82914922e+02] [ 6.48032105e-01 -7.61610998e-01 -1.75468232e-03 1.24225872e+02] [ 2.69324430e-03 -1.22991656e-05 9.99996373e-01 6.28445906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.454012739 meters Centerline goodness : 0.996554 Centerline is valid? [True, True] Translation: X:182.92, Y:124.22, Z:0.63 [[-7.62019542e-01 -6.47550802e-01 2.04389786e-03 1.82922878e+02] [ 6.47548427e-01 -7.62022283e-01 -1.75390897e-03 1.24221422e+02] [ 2.69324087e-03 -1.29900644e-05 9.99996373e-01 6.29728255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.484012739 meters Centerline goodness : 0.996700 Centerline is valid? [True, True] Translation: X:182.91, Y:124.23, Z:0.63 [[-7.62028891e-01 -6.47539798e-01 2.04456240e-03 1.82914253e+02] [ 6.47537424e-01 -7.62031634e-01 -1.75313396e-03 1.24229660e+02] [ 2.69324523e-03 -1.20080606e-05 9.99996373e-01 6.32355919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.514012739 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:182.93, Y:124.22, Z:0.63 [[-7.60361102e-01 -6.49497353e-01 2.04522851e-03 1.82926891e+02] [ 6.49494989e-01 -7.60363853e-01 -1.75235652e-03 1.24219725e+02] [ 2.69326875e-03 -4.05807312e-06 9.99996373e-01 6.32206445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.544012739 meters Centerline goodness : 0.996494 Centerline is valid? [True, True] Translation: X:182.92, Y:124.23, Z:0.63 [[-7.59348383e-01 -6.50681064e-01 2.04589454e-03 1.82919051e+02] [ 6.50678707e-01 -7.59351139e-01 -1.75157857e-03 1.24227396e+02] [ 2.69327136e-03 1.16165524e-06 9.99996373e-01 6.30506149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.574012739 meters Centerline goodness : 0.996181 Centerline is valid? [True, True] Translation: X:182.92, Y:124.22, Z:0.63 [[-7.56609284e-01 -6.53864055e-01 2.04656028e-03 1.82923713e+02] [ 6.53861711e-01 -7.56612052e-01 -1.75080037e-03 1.24224490e+02] [ 2.69323761e-03 1.34955911e-05 9.99996373e-01 6.29129153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.604012739 meters Centerline goodness : 0.996368 Centerline is valid? [True, True] Translation: X:182.94, Y:124.21, Z:0.63 [[-7.55365080e-01 -6.55301003e-01 2.04722848e-03 1.82935039e+02] [ 6.55298666e-01 -7.55367854e-01 -1.75001870e-03 1.24214504e+02] [ 2.69319959e-03 1.96430758e-05 9.99996373e-01 6.30276087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.634012739 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:182.94, Y:124.21, Z:0.63 [[-7.54353516e-01 -6.56465215e-01 2.04789242e-03 1.82936017e+02] [ 6.56462885e-01 -7.54356296e-01 -1.74924140e-03 1.24213010e+02] [ 2.69315667e-03 2.48189645e-05 9.99996373e-01 6.31431834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.664012739 meters Centerline goodness : 0.996110 Centerline is valid? [True, True] Translation: X:182.94, Y:124.21, Z:0.63 [[-7.52500896e-01 -6.58588038e-01 2.04855323e-03 1.82943981e+02] [ 6.58585718e-01 -7.52503684e-01 -1.74846717e-03 1.24205580e+02] [ 2.69306342e-03 3.34247880e-05 9.99996373e-01 6.30406483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.694012739 meters Centerline goodness : 0.995920 Centerline is valid? [True, True] Translation: X:182.94, Y:124.21, Z:0.63 [[-7.52171754e-01 -6.58963924e-01 2.04921213e-03 1.82938832e+02] [ 6.58961607e-01 -7.52174545e-01 -1.74769460e-03 1.24209047e+02] [ 2.69303289e-03 3.57856064e-05 9.99996373e-01 6.27992611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.724012739 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:182.95, Y:124.20, Z:0.63 [[-7.52052316e-01 -6.59100230e-01 2.04987074e-03 1.82951474e+02] [ 6.59097915e-01 -7.52055108e-01 -1.74692178e-03 1.24197450e+02] [ 2.69301230e-03 3.72889607e-05 9.99996373e-01 6.26629735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.754012739 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:182.94, Y:124.21, Z:0.63 [[-7.52236099e-01 -6.58890466e-01 2.05052755e-03 1.82935369e+02] [ 6.58888153e-01 -7.52238893e-01 -1.74615047e-03 1.24209362e+02] [ 2.69300847e-03 3.75508947e-05 9.99996373e-01 6.28757989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.784012739 meters Centerline goodness : 0.996327 Centerline is valid? [True, True] Translation: X:182.95, Y:124.20, Z:0.63 [[-7.52452560e-01 -6.58643255e-01 2.05118601e-03 1.82950929e+02] [ 6.58640943e-01 -7.52455355e-01 -1.74537664e-03 1.24195297e+02] [ 2.69300645e-03 3.76819660e-05 9.99996373e-01 6.30543233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.814012739 meters Centerline goodness : 0.996294 Centerline is valid? [True, True] Translation: X:182.95, Y:124.19, Z:0.63 [[-7.52461239e-01 -6.58633338e-01 2.05184515e-03 1.82950505e+02] [ 6.58631028e-01 -7.52464036e-01 -1.74460143e-03 1.24194364e+02] [ 2.69299234e-03 3.86639280e-05 9.99996373e-01 6.30486979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.844012739 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:182.96, Y:124.19, Z:0.63 [[-7.52874537e-01 -6.58160861e-01 2.05250023e-03 1.82960226e+02] [ 6.58158552e-01 -7.52877334e-01 -1.74383039e-03 1.24185002e+02] [ 2.69300181e-03 3.79850807e-05 9.99996373e-01 6.30620022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.874012739 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:182.97, Y:124.18, Z:0.63 [[-7.53416460e-01 -6.57540435e-01 2.05315289e-03 1.82967764e+02] [ 6.57538125e-01 -7.53419256e-01 -1.74306161e-03 1.24177515e+02] [ 2.69301842e-03 3.67749949e-05 9.99996373e-01 6.30477066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.904012739 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:182.95, Y:124.19, Z:0.63 [[-7.54585450e-01 -6.56198583e-01 2.05380085e-03 1.82945691e+02] [ 6.56196271e-01 -7.54588244e-01 -1.74229781e-03 1.24193417e+02] [ 2.69306733e-03 3.29838863e-05 9.99996373e-01 6.30031237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.934012739 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:182.96, Y:124.18, Z:0.63 [[-7.55021281e-01 -6.55697067e-01 2.05445337e-03 1.82958894e+02] [ 6.55694755e-01 -7.55024076e-01 -1.74152804e-03 1.24180285e+02] [ 2.69307659e-03 3.22035679e-05 9.99996373e-01 6.28278390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.964012739 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:182.94, Y:124.20, Z:0.63 [[-7.55579607e-01 -6.55053612e-01 2.05510890e-03 1.82935522e+02] [ 6.55051299e-01 -7.55582401e-01 -1.74075413e-03 1.24196296e+02] [ 2.69309140e-03 3.09234394e-05 9.99996373e-01 6.27099003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.994012739 meters Centerline goodness : 0.996119 Centerline is valid? [True, True] Translation: X:182.95, Y:124.18, Z:0.63 [[-7.55708546e-01 -6.54904853e-01 2.05576770e-03 1.82953424e+02] [ 6.54902543e-01 -7.55711342e-01 -1.73997577e-03 1.24180644e+02] [ 2.69308554e-03 3.14129344e-05 9.99996373e-01 6.28446311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.024012739 meters Centerline goodness : 0.996426 Centerline is valid? [True, True] Translation: X:182.95, Y:124.19, Z:0.63 [[-7.56187913e-01 -6.54351290e-01 2.05642837e-03 1.82945265e+02] [ 6.54348980e-01 -7.56190709e-01 -1.73919459e-03 1.24186555e+02] [ 2.69309625e-03 3.04638742e-05 9.99996373e-01 6.28698623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05401273900003 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:182.95, Y:124.18, Z:0.63 [[-7.56570024e-01 -6.53909449e-01 2.05708657e-03 1.82947107e+02] [ 6.53907139e-01 -7.56572820e-01 -1.73841573e-03 1.24179493e+02] [ 2.69310226e-03 2.99103607e-05 9.99996373e-01 6.29289165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.084012739 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:182.94, Y:124.18, Z:0.63 [[-7.56899505e-01 -6.53528044e-01 2.05774665e-03 1.82941491e+02] [ 6.53525735e-01 -7.56902302e-01 -1.73763406e-03 1.24180341e+02] [ 2.69310576e-03 2.95760303e-05 9.99996373e-01 6.29796517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11401273900003 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:182.86, Y:124.25, Z:0.63 [[-7.56258077e-01 -6.54270192e-01 2.05840740e-03 1.82858127e+02] [ 6.54267887e-01 -7.56260878e-01 -1.73685097e-03 1.24245111e+02] [ 2.69306280e-03 3.32422881e-05 9.99996373e-01 6.31666090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.144012739 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:182.94, Y:124.17, Z:0.63 [[-7.55908864e-01 -6.54673623e-01 2.05819200e-03 1.82942454e+02] [ 6.54671319e-01 -7.55911665e-01 -1.73710631e-03 1.24170593e+02] [ 2.69304903e-03 3.43452166e-05 9.99996373e-01 6.31363652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.174012739 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:182.94, Y:124.17, Z:0.63 [[-7.55954652e-01 -6.54620752e-01 2.05789148e-03 1.82942742e+02] [ 6.54618447e-01 -7.55957453e-01 -1.73746225e-03 1.24166686e+02] [ 2.69305725e-03 3.36910563e-05 9.99996373e-01 6.31753909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.204012739 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:182.94, Y:124.17, Z:0.63 [[-7.56139679e-01 -6.54407020e-01 2.05855022e-03 1.82935016e+02] [ 6.54404717e-01 -7.56142480e-01 -1.73668143e-03 1.24166047e+02] [ 2.69305379e-03 3.39512394e-05 9.99996373e-01 6.33678117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.234012739 meters Centerline goodness : 0.996102 Centerline is valid? [True, True] Translation: X:182.94, Y:124.16, Z:0.63 [[-7.56513773e-01 -6.53974519e-01 2.05921030e-03 1.82942037e+02] [ 6.53972216e-01 -7.56516575e-01 -1.73589841e-03 1.24157301e+02] [ 2.69306005e-03 3.34352622e-05 9.99996373e-01 6.33204761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.264012739 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:182.92, Y:124.17, Z:0.63 [[-7.56571402e-01 -6.53907846e-01 2.05987007e-03 1.82922311e+02] [ 6.53905545e-01 -7.56574205e-01 -1.73511515e-03 1.24171116e+02] [ 2.69304997e-03 3.42219611e-05 9.99996373e-01 6.31623648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.294012739 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:182.92, Y:124.17, Z:0.63 [[-7.56824037e-01 -6.53615430e-01 2.06053393e-03 1.82924284e+02] [ 6.53613130e-01 -7.56826841e-01 -1.73432643e-03 1.24169551e+02] [ 2.69304990e-03 3.42121001e-05 9.99996373e-01 6.31616872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.324012739 meters Centerline goodness : 0.995966 Centerline is valid? [True, True] Translation: X:182.94, Y:124.15, Z:0.63 [[-7.57244782e-01 -6.53127928e-01 2.06120382e-03 1.82937054e+02] [ 6.53125629e-01 -7.57247587e-01 -1.73352991e-03 1.24149872e+02] [ 2.69305842e-03 3.35185655e-05 9.99996373e-01 6.28126130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.354012739 meters Centerline goodness : 0.995696 Centerline is valid? [True, True] Translation: X:182.93, Y:124.15, Z:0.63 [[-7.57865012e-01 -6.52408134e-01 2.06178482e-03 1.82934684e+02] [ 6.52405833e-01 -7.57867816e-01 -1.73283862e-03 1.24146076e+02] [ 2.69307837e-03 3.18626825e-05 9.99996373e-01 6.27343697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.384012739 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:182.93, Y:124.14, Z:0.63 [[-7.58931561e-01 -6.51167131e-01 2.06244463e-03 1.82928556e+02] [ 6.51164828e-01 -7.58934363e-01 -1.73205295e-03 1.24142655e+02] [ 2.69311605e-03 2.84817526e-05 9.99996373e-01 6.28573349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.414012739 meters Centerline goodness : 0.995952 Centerline is valid? [True, True] Translation: X:182.92, Y:124.14, Z:0.63 [[-7.59684486e-01 -6.50288570e-01 2.06310588e-03 1.82922835e+02] [ 6.50286266e-01 -7.59687287e-01 -1.73126495e-03 1.24143246e+02] [ 2.69313712e-03 2.63942979e-05 9.99996373e-01 6.30108334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.444012739 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:182.92, Y:124.14, Z:0.63 [[-7.60204665e-01 -6.49680389e-01 2.06376970e-03 1.82923649e+02] [ 6.49678085e-01 -7.60207466e-01 -1.73047328e-03 1.24137976e+02] [ 2.69314769e-03 2.52720848e-05 9.99996373e-01 6.30146590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.474012739 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:182.93, Y:124.12, Z:0.63 [[-7.60810387e-01 -6.48970949e-01 2.06443465e-03 1.82933016e+02] [ 6.48968645e-01 -7.60813188e-01 -1.72967964e-03 1.24121651e+02] [ 2.69316094e-03 2.37951255e-05 9.99996373e-01 6.27346147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.504012739 meters Centerline goodness : 0.995525 Centerline is valid? [True, True] Translation: X:182.94, Y:124.12, Z:0.63 [[-7.61942267e-01 -6.47641661e-01 2.06418589e-03 1.82936092e+02] [ 6.47639351e-01 -7.61945063e-01 -1.72997645e-03 1.24115637e+02] [ 2.69320107e-03 1.87058315e-05 9.99996373e-01 6.27398066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.534012739 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:182.96, Y:124.09, Z:0.63 [[-7.65228503e-01 -6.43755448e-01 2.06426737e-03 1.82958295e+02] [ 6.43753123e-01 -7.65231288e-01 -1.72987922e-03 1.24090232e+02] [ 2.69326115e-03 5.12568200e-06 9.99996373e-01 6.30496232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.564012739 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:182.96, Y:124.09, Z:0.63 [[-7.67239376e-01 -6.41357530e-01 2.06362361e-03 1.82959501e+02] [ 6.41355195e-01 -7.67242151e-01 -1.73064685e-03 1.24087362e+02] [ 2.69326240e-03 -4.30468842e-06 9.99996373e-01 6.30676254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.594012739 meters Centerline goodness : 0.995365 Centerline is valid? [True, True] Translation: X:182.96, Y:124.09, Z:0.63 [[-7.69301730e-01 -6.38882295e-01 2.06417925e-03 1.82960444e+02] [ 6.38879953e-01 -7.69304499e-01 -1.72998387e-03 1.24085868e+02] [ 2.69323845e-03 -1.21168453e-05 9.99996373e-01 6.29823984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.624012739 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:182.98, Y:124.07, Z:0.63 [[-7.73606689e-01 -6.33662709e-01 2.06473451e-03 1.82976364e+02] [ 6.33660350e-01 -7.73609443e-01 -1.72932091e-03 1.24072865e+02] [ 2.69310429e-03 -2.94738280e-05 9.99996373e-01 6.27527514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.654012739 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:182.98, Y:124.07, Z:0.63 [[-7.75856290e-01 -6.30906296e-01 2.06449685e-03 1.82976916e+02] [ 6.30903927e-01 -7.75859036e-01 -1.72960458e-03 1.24072323e+02] [ 2.69297696e-03 -3.94254235e-05 9.99996373e-01 6.27577710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.684012739 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:182.99, Y:124.07, Z:0.63 [[-7.78370552e-01 -6.27801736e-01 2.06504338e-03 1.82985472e+02] [ 6.27799357e-01 -7.78373289e-01 -1.72895181e-03 1.24067172e+02] [ 2.69281356e-03 -4.93322682e-05 9.99996373e-01 6.30854423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.714012739 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:182.99, Y:124.06, Z:0.63 [[-7.78941201e-01 -6.27093567e-01 2.06488745e-03 1.82992225e+02] [ 6.27091185e-01 -7.78943936e-01 -1.72913802e-03 1.24063382e+02] [ 2.69276289e-03 -5.20241290e-05 9.99996373e-01 6.32843233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.744012739 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:182.99, Y:124.07, Z:0.63 [[-7.79287589e-01 -6.26663060e-01 2.06473265e-03 1.82987025e+02] [ 6.26660677e-01 -7.79290322e-01 -1.72932285e-03 1.24069728e+02] [ 2.69272892e-03 -5.37530698e-05 9.99996373e-01 6.33527290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.774012739 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:182.99, Y:124.07, Z:0.63 [[-7.79074259e-01 -6.26928253e-01 2.06535134e-03 1.82994383e+02] [ 6.26925872e-01 -7.79076995e-01 -1.72858362e-03 1.24066318e+02] [ 2.69276563e-03 -5.18728161e-05 9.99996373e-01 6.32483905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80401273900003 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:183.00, Y:124.06, Z:0.63 [[-7.78405176e-01 -6.27758805e-01 2.06527417e-03 1.83001838e+02] [ 6.27756426e-01 -7.78407914e-01 -1.72867582e-03 1.24061757e+02] [ 2.69281723e-03 -4.91210718e-05 9.99996373e-01 6.31414142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.834012739 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:182.98, Y:124.09, Z:0.63 [[-7.76598987e-01 -6.29991863e-01 2.06535090e-03 1.82978814e+02] [ 6.29989493e-01 -7.76601733e-01 -1.72858415e-03 1.24085594e+02] [ 2.69294903e-03 -4.12673330e-05 9.99996373e-01 6.30191535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86401273900003 meters Centerline goodness : 0.994324 Centerline is valid? [True, True] Translation: X:182.99, Y:124.08, Z:0.63 [[-7.75663862e-01 -6.31142856e-01 2.06597212e-03 1.82988266e+02] [ 6.31140492e-01 -7.75666613e-01 -1.72784136e-03 1.24078513e+02] [ 2.69302032e-03 -3.63054431e-05 9.99996373e-01 6.29876988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.894012739 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:182.98, Y:124.09, Z:0.63 [[-7.75152644e-01 -6.31770616e-01 2.06589409e-03 1.82980750e+02] [ 6.31768254e-01 -7.75155396e-01 -1.72793464e-03 1.24085250e+02] [ 2.69304729e-03 -3.42468069e-05 9.99996373e-01 6.28909780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.924012739 meters Centerline goodness : 0.994474 Centerline is valid? [True, True] Translation: X:182.98, Y:124.09, Z:0.63 [[-7.73794992e-01 -6.33432743e-01 2.06651996e-03 1.82981905e+02] [ 6.33430389e-01 -7.73797751e-01 -1.72718581e-03 1.24086275e+02] [ 2.69312454e-03 -2.74911877e-05 9.99996373e-01 6.26942486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.954012739 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:182.94, Y:124.12, Z:0.63 [[-7.72394943e-01 -6.35139180e-01 2.06714882e-03 1.82938749e+02] [ 6.35136834e-01 -7.72397709e-01 -1.72643284e-03 1.24123329e+02] [ 2.69318615e-03 -2.05656372e-05 9.99996373e-01 6.28859813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.984012739 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:182.98, Y:124.09, Z:0.63 [[-7.71312884e-01 -6.36452801e-01 2.06575503e-03 1.82977821e+02] [ 6.36450455e-01 -7.71315650e-01 -1.72810233e-03 1.24090918e+02] [ 2.69320475e-03 -1.81568639e-05 9.99996373e-01 6.30385234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.014012739 meters Centerline goodness : 0.993996 Centerline is valid? [True, True] Translation: X:182.95, Y:124.11, Z:0.63 [[-7.68753074e-01 -6.39542367e-01 2.06715434e-03 1.82950438e+02] [ 6.39540036e-01 -7.68755853e-01 -1.72642685e-03 1.24112902e+02] [ 2.69326011e-03 -5.16798262e-06 9.99996373e-01 6.32014982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.044012739 meters Centerline goodness : 0.993939 Centerline is valid? [True, True] Translation: X:182.97, Y:124.10, Z:0.63 [[-7.67493495e-01 -6.41053398e-01 2.06779456e-03 1.82966303e+02] [ 6.41051075e-01 -7.67496281e-01 -1.72565970e-03 1.24099604e+02] [ 2.69326465e-03 1.12933212e-06 9.99996373e-01 6.30174688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.074012739 meters Centerline goodness : 0.993449 Centerline is valid? [True, True] Translation: X:182.95, Y:124.11, Z:0.63 [[-7.65604280e-01 -6.43308488e-01 2.06755189e-03 1.82949994e+02] [ 6.43306173e-01 -7.65607072e-01 -1.72595041e-03 1.24113914e+02] [ 2.69325089e-03 8.67387244e-06 9.99996373e-01 6.25691262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.104012739 meters Centerline goodness : 0.993837 Centerline is valid? [True, True] Translation: X:182.96, Y:124.11, Z:0.63 [[-7.64606723e-01 -6.44493818e-01 2.06819534e-03 1.82956524e+02] [ 6.44491510e-01 -7.64609520e-01 -1.72517901e-03 1.24108093e+02] [ 2.69322906e-03 1.38508718e-05 9.99996373e-01 6.26179773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.134012739 meters Centerline goodness : 0.993288 Centerline is valid? [True, True] Translation: X:182.91, Y:124.14, Z:0.63 [[-7.63760321e-01 -6.45496624e-01 2.06884260e-03 1.82910981e+02] [ 6.45494321e-01 -7.63763123e-01 -1.72440246e-03 1.24143929e+02] [ 2.69320166e-03 1.83959761e-05 9.99996373e-01 6.28655515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.164012739 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:182.93, Y:124.12, Z:0.63 [[-7.60899923e-01 -6.48865949e-01 2.07056426e-03 1.82931954e+02] [ 6.48863664e-01 -7.60902739e-01 -1.72233560e-03 1.24119331e+02] [ 2.69306294e-03 3.29888876e-05 9.99996373e-01 6.29941776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.194012739 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:182.94, Y:124.11, Z:0.63 [[-7.60079952e-01 -6.49826275e-01 2.06882115e-03 1.82939209e+02] [ 6.49823987e-01 -7.60082766e-01 -1.72442683e-03 1.24111144e+02] [ 2.69305317e-03 3.36673462e-05 9.99996373e-01 6.30425589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.224012739 meters Centerline goodness : 0.993375 Centerline is valid? [True, True] Translation: X:182.93, Y:124.12, Z:0.63 [[-7.59917548e-01 -6.50016186e-01 2.06865715e-03 1.82925124e+02] [ 6.50013899e-01 -7.59920362e-01 -1.72462355e-03 1.24118921e+02] [ 2.69304791e-03 3.40842062e-05 9.99996373e-01 6.29561635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.254012739 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:182.93, Y:124.11, Z:0.63 [[-7.60078312e-01 -6.49828190e-01 2.06931362e-03 1.82933510e+02] [ 6.49825905e-01 -7.60081129e-01 -1.72383552e-03 1.24109303e+02] [ 2.69304315e-03 3.44435966e-05 9.99996373e-01 6.28634776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.284012739 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:182.93, Y:124.11, Z:0.63 [[-7.60497858e-01 -6.49337144e-01 2.06906583e-03 1.82932209e+02] [ 6.49334856e-01 -7.60500672e-01 -1.72413288e-03 1.24106867e+02] [ 2.69306948e-03 3.23172057e-05 9.99996373e-01 6.27645152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.314012739 meters Centerline goodness : 0.992973 Centerline is valid? [True, True] Translation: X:182.93, Y:124.10, Z:0.63 [[-7.60952954e-01 -6.48803761e-01 2.06914729e-03 1.82927436e+02] [ 6.48801471e-01 -7.60955766e-01 -1.72403512e-03 1.24103990e+02] [ 2.69309003e-03 3.05561882e-05 9.99996373e-01 6.25924956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.344012739 meters Centerline goodness : 0.992774 Centerline is valid? [True, True] Translation: X:182.93, Y:124.10, Z:0.63 [[-7.61085644e-01 -6.48648103e-01 2.06922887e-03 1.82926739e+02] [ 6.48645813e-01 -7.61088456e-01 -1.72393719e-03 1.24099877e+02] [ 2.69309480e-03 3.01327958e-05 9.99996373e-01 6.27803199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.374012739 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:182.92, Y:124.09, Z:0.63 [[-7.61219592e-01 -6.48490904e-01 2.06906513e-03 1.82923663e+02] [ 6.48488612e-01 -7.61222403e-01 -1.72413370e-03 1.24092346e+02] [ 2.69310375e-03 2.93208244e-05 9.99996373e-01 6.30622616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.404012739 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:182.92, Y:124.09, Z:0.63 [[-7.61836157e-01 -6.47766463e-01 2.06881914e-03 1.82918651e+02] [ 6.47764168e-01 -7.61838965e-01 -1.72442881e-03 1.24092230e+02] [ 2.69313418e-03 2.63746956e-05 9.99996373e-01 6.31090866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.434012739 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:182.93, Y:124.08, Z:0.63 [[-7.62633602e-01 -6.46827419e-01 2.06865612e-03 1.82927942e+02] [ 6.46825120e-01 -7.62636407e-01 -1.72462435e-03 1.24081287e+02] [ 2.69316679e-03 2.28022695e-05 9.99996373e-01 6.30564124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.464012739 meters Centerline goodness : 0.992761 Centerline is valid? [True, True] Translation: X:182.86, Y:124.14, Z:0.63 [[-7.65681308e-01 -6.43216805e-01 2.06800813e-03 1.82856638e+02] [ 6.43214491e-01 -7.65684100e-01 -1.72540101e-03 1.24136821e+02] [ 2.69324787e-03 9.06549915e-06 9.99996373e-01 6.30252732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.494012739 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:182.94, Y:124.07, Z:0.63 [[-7.67660363e-01 -6.40853566e-01 2.06731704e-03 1.82935393e+02] [ 6.40851241e-01 -7.67663147e-01 -1.72622957e-03 1.24068644e+02] [ 2.69326348e-03 -3.15326493e-07 9.99996373e-01 6.30752372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.524012739 meters Centerline goodness : 0.991926 Centerline is valid? [True, True] Translation: X:182.97, Y:124.04, Z:0.63 [[-7.72007467e-01 -6.35610099e-01 2.06701734e-03 1.82966074e+02] [ 6.35607754e-01 -7.72010234e-01 -1.72658857e-03 1.24039327e+02] [ 2.69319567e-03 -1.91270182e-05 9.99996373e-01 6.32287451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55401273900003 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:182.88, Y:124.11, Z:0.63 [[-7.73835117e-01 -6.33383723e-01 2.06684964e-03 1.82880992e+02] [ 6.33381369e-01 -7.73837877e-01 -1.72678929e-03 1.24109303e+02] [ 2.69312677e-03 -2.71461381e-05 9.99996373e-01 6.32449230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.584012739 meters Centerline goodness : 0.991974 Centerline is valid? [True, True] Translation: X:182.97, Y:124.03, Z:0.63 [[-7.75861537e-01 -6.30899842e-01 2.06538770e-03 1.82974179e+02] [ 6.30897475e-01 -7.75864285e-01 -1.72853978e-03 1.24030814e+02] [ 2.69299603e-03 -3.80596486e-05 9.99996373e-01 6.32454866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61401273900003 meters Centerline goodness : 0.991758 Centerline is valid? [True, True] Translation: X:182.99, Y:124.02, Z:0.63 [[-7.78417539e-01 -6.27743469e-01 2.06684300e-03 1.82985820e+02] [ 6.27741096e-01 -7.78420282e-01 -1.72679790e-03 1.24020811e+02] [ 2.69285861e-03 -4.67274866e-05 9.99996373e-01 6.30275877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.644012739 meters Centerline goodness : 0.991007 Centerline is valid? [True, True] Translation: X:182.97, Y:124.03, Z:0.63 [[-7.80870757e-01 -6.24689196e-01 2.06623290e-03 1.82973795e+02] [ 6.24686810e-01 -7.80873489e-01 -1.72752762e-03 1.24033862e+02] [ 2.69263433e-03 -5.82273619e-05 9.99996373e-01 6.29020716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.674012739 meters Centerline goodness : 0.991586 Centerline is valid? [True, True] Translation: X:183.00, Y:124.02, Z:0.63 [[-7.81722414e-01 -6.23623120e-01 2.06684364e-03 1.82997709e+02] [ 6.23620733e-01 -7.81725144e-01 -1.72679661e-03 1.24016208e+02] [ 2.69257393e-03 -6.09490664e-05 9.99996373e-01 6.28582572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.704012739 meters Centerline goodness : 0.991484 Centerline is valid? [True, True] Translation: X:182.99, Y:124.02, Z:0.63 [[-7.82504583e-01 -6.22641397e-01 2.06623560e-03 1.82993433e+02] [ 6.22639003e-01 -7.82507308e-01 -1.72752387e-03 1.24021942e+02] [ 2.69247233e-03 -6.52764745e-05 9.99996373e-01 6.27918794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.734012739 meters Centerline goodness : 0.990880 Centerline is valid? [True, True] Translation: X:183.00, Y:124.02, Z:0.63 [[-7.83779486e-01 -6.21035788e-01 2.06608465e-03 1.82997787e+02] [ 6.21033388e-01 -7.83782206e-01 -1.72770438e-03 1.24022730e+02] [ 2.69232664e-03 -7.10316946e-05 9.99996373e-01 6.28119464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.764012739 meters Centerline goodness : 0.991223 Centerline is valid? [True, True] Translation: X:183.00, Y:124.03, Z:0.63 [[-7.84084457e-01 -6.20650704e-01 2.06585728e-03 1.82996522e+02] [ 6.20648302e-01 -7.84087176e-01 -1.72797621e-03 1.24027043e+02] [ 2.69228185e-03 -7.27084687e-05 9.99996373e-01 6.29346024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.794012739 meters Centerline goodness : 0.991330 Centerline is valid? [True, True] Translation: X:182.99, Y:124.03, Z:0.63 [[-7.84318588e-01 -6.20354806e-01 2.06570653e-03 1.82994620e+02] [ 6.20352404e-01 -7.84321305e-01 -1.72815640e-03 1.24034144e+02] [ 2.69224777e-03 -7.39591737e-05 9.99996373e-01 6.29385302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.824012739 meters Centerline goodness : 0.991241 Centerline is valid? [True, True] Translation: X:183.00, Y:124.03, Z:0.63 [[-7.84029718e-01 -6.20719850e-01 2.06623469e-03 1.83001555e+02] [ 6.20717450e-01 -7.84032437e-01 -1.72752469e-03 1.24030561e+02] [ 2.69230389e-03 -7.18827642e-05 9.99996373e-01 6.28148908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.854012739 meters Centerline goodness : 0.991306 Centerline is valid? [True, True] Translation: X:182.99, Y:124.05, Z:0.63 [[-7.83907374e-01 -6.20874352e-01 2.06600708e-03 1.82986829e+02] [ 6.20871952e-01 -7.83910093e-01 -1.72779685e-03 1.24045549e+02] [ 2.69230856e-03 -7.17068440e-05 9.99996373e-01 6.27736055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.884012739 meters Centerline goodness : 0.991470 Centerline is valid? [True, True] Translation: X:182.99, Y:124.05, Z:0.63 [[-7.82703759e-01 -6.22390998e-01 2.06661345e-03 1.82990935e+02] [ 6.22388605e-01 -7.82706485e-01 -1.72707127e-03 1.24048672e+02] [ 2.69246536e-03 -6.55485168e-05 9.99996373e-01 6.29198586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.914012739 meters Centerline goodness : 0.991559 Centerline is valid? [True, True] Translation: X:182.99, Y:124.05, Z:0.63 [[-7.82493704e-01 -6.22655068e-01 2.06653734e-03 1.82989596e+02] [ 6.22652675e-01 -7.82496430e-01 -1.72716234e-03 1.24052387e+02] [ 2.69248447e-03 -6.47586573e-05 9.99996373e-01 6.31879329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.944012739 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:183.00, Y:124.05, Z:0.64 [[-7.82265318e-01 -6.22941971e-01 2.06714879e-03 1.82996154e+02] [ 6.22939581e-01 -7.82268047e-01 -1.72643021e-03 1.24051295e+02] [ 2.69253029e-03 -6.28176771e-05 9.99996373e-01 6.35161030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.974012739 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:182.99, Y:124.06, Z:0.63 [[-7.82543501e-01 -6.22592480e-01 2.06699582e-03 1.82993058e+02] [ 6.22590089e-01 -7.82546228e-01 -1.72661334e-03 1.24058097e+02] [ 2.69249627e-03 -6.42589299e-05 9.99996373e-01 6.34738139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.004012739 meters Centerline goodness : 0.991953 Centerline is valid? [True, True] Translation: X:183.00, Y:124.06, Z:0.63 [[-7.82558402e-01 -6.22573749e-01 2.06760709e-03 1.83001765e+02] [ 6.22571360e-01 -7.82561131e-01 -1.72588104e-03 1.24056531e+02] [ 2.69251717e-03 -6.33697565e-05 9.99996373e-01 6.32985086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.034012739 meters Centerline goodness : 0.991859 Centerline is valid? [True, True] Translation: X:182.98, Y:124.08, Z:0.63 [[-7.81986886e-01 -6.23291454e-01 2.06753090e-03 1.82980364e+02] [ 6.23289067e-01 -7.81989616e-01 -1.72597231e-03 1.24082990e+02] [ 2.69257148e-03 -6.10183076e-05 9.99996373e-01 6.31468146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.064012739 meters Centerline goodness : 0.991460 Centerline is valid? [True, True] Translation: X:183.00, Y:124.07, Z:0.63 [[-7.80767804e-01 -6.24817860e-01 2.06814772e-03 1.82995591e+02] [ 6.24815481e-01 -7.80770542e-01 -1.72523289e-03 1.24072577e+02] [ 2.69270514e-03 -5.47955835e-05 9.99996373e-01 6.31657286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.094012739 meters Centerline goodness : 0.991185 Centerline is valid? [True, True] Translation: X:182.98, Y:124.09, Z:0.63 [[-7.77262092e-01 -6.29173556e-01 2.06791389e-03 1.82983115e+02] [ 6.29171191e-01 -7.77264842e-01 -1.72551311e-03 1.24087842e+02] [ 2.69296399e-03 -4.01040828e-05 9.99996373e-01 6.31968724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.124012739 meters Centerline goodness : 0.991639 Centerline is valid? [True, True] Translation: X:182.97, Y:124.10, Z:0.63 [[-7.75414503e-01 -6.31449182e-01 2.06853401e-03 1.82972891e+02] [ 6.31446827e-01 -7.75417262e-01 -1.72476940e-03 1.24099447e+02] [ 2.69308120e-03 -3.12419729e-05 9.99996373e-01 6.31695650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.154012739 meters Centerline goodness : 0.991723 Centerline is valid? [True, True] Translation: X:182.94, Y:124.13, Z:0.63 [[-7.71478772e-01 -6.36251698e-01 2.06916248e-03 1.82942783e+02] [ 6.36249362e-01 -7.71481547e-01 -1.72401511e-03 1.24126379e+02] [ 2.69322821e-03 -1.35377469e-05 9.99996373e-01 6.30639805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.184012739 meters Centerline goodness : 0.991877 Centerline is valid? [True, True] Translation: X:182.94, Y:124.12, Z:0.63 [[-7.69486586e-01 -6.38659620e-01 2.06980429e-03 1.82944896e+02] [ 6.38657295e-01 -7.69489369e-01 -1.72324423e-03 1.24124761e+02] [ 2.69325890e-03 -4.11771175e-06 9.99996373e-01 6.29380075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.214012739 meters Centerline goodness : 0.991877 Centerline is valid? [True, True] Translation: X:182.95, Y:124.12, Z:0.63 [[-7.69727984e-01 -6.38368658e-01 2.07045549e-03 1.82946885e+02] [ 6.38366335e-01 -7.69730769e-01 -1.72246147e-03 1.24123202e+02] [ 2.69325871e-03 -4.11771145e-06 9.99996373e-01 6.29373299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.244012739 meters Centerline goodness : 0.991649 Centerline is valid? [True, True] Translation: X:182.94, Y:124.13, Z:0.63 [[-7.67925906e-01 -6.40535334e-01 2.07110639e-03 1.82941585e+02] [ 6.40533020e-01 -7.67928699e-01 -1.72167846e-03 1.24128332e+02] [ 2.69325792e-03 4.49054368e-06 9.99996373e-01 6.29150666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.274012739 meters Centerline goodness : 0.992089 Centerline is valid? [True, True] Translation: X:182.94, Y:124.13, Z:0.63 [[-7.66521031e-01 -6.42215865e-01 2.07175936e-03 1.82942602e+02] [ 6.42213560e-01 -7.66523830e-01 -1.72089236e-03 1.24128319e+02] [ 2.69323729e-03 1.14117659e-05 9.99996373e-01 6.29373274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30401273900003 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:182.94, Y:124.13, Z:0.63 [[-7.64865607e-01 -6.44186548e-01 2.07241493e-03 1.82940391e+02] [ 6.44184252e-01 -7.64868414e-01 -1.72010251e-03 1.24129629e+02] [ 2.69319162e-03 1.93698152e-05 9.99996373e-01 6.30536850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.334012739 meters Centerline goodness : 0.991845 Centerline is valid? [True, True] Translation: X:182.95, Y:124.12, Z:0.63 [[-7.64738870e-01 -6.44336995e-01 2.07307184e-03 1.82953157e+02] [ 6.44334701e-01 -7.64741680e-01 -1.71931044e-03 1.24116596e+02] [ 2.69317976e-03 2.09286039e-05 9.99996373e-01 6.31150222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36401273900003 meters Centerline goodness : 0.992054 Centerline is valid? [True, True] Translation: X:182.95, Y:124.12, Z:0.63 [[-7.65499010e-01 -6.43433734e-01 2.07290833e-03 1.82947314e+02] [ 6.43431436e-01 -7.65501816e-01 -1.71950755e-03 1.24121224e+02] [ 2.69320425e-03 1.74930536e-05 9.99996373e-01 6.31003443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.394012739 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:182.95, Y:124.12, Z:0.63 [[-7.66206189e-01 -6.42591454e-01 2.07355908e-03 1.82951574e+02] [ 6.42589155e-01 -7.66208995e-01 -1.71872246e-03 1.24118246e+02] [ 2.69321598e-03 1.55507905e-05 9.99996373e-01 6.30400592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.424012739 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:182.96, Y:124.11, Z:0.63 [[-7.67077742e-01 -6.41550805e-01 2.07421113e-03 1.82958610e+02] [ 6.41548505e-01 -7.67080546e-01 -1.71793517e-03 1.24112771e+02] [ 2.69322970e-03 1.29172206e-05 9.99996373e-01 6.31450541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.454012739 meters Centerline goodness : 0.992187 Centerline is valid? [True, True] Translation: X:182.97, Y:124.10, Z:0.63 [[-7.68108380e-01 -6.40316493e-01 2.07486086e-03 1.82970417e+02] [ 6.40314190e-01 -7.68111183e-01 -1.71715010e-03 1.24103203e+02] [ 2.69324336e-03 9.60546561e-06 9.99996373e-01 6.32374646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.484012739 meters Centerline goodness : 0.992287 Centerline is valid? [True, True] Translation: X:182.97, Y:124.11, Z:0.63 [[-7.68777788e-01 -6.39512634e-01 2.07469960e-03 1.82966716e+02] [ 6.39510328e-01 -7.68780587e-01 -1.71734491e-03 1.24106646e+02] [ 2.69325254e-03 6.53519890e-06 9.99996373e-01 6.33906457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.514012739 meters Centerline goodness : 0.992446 Centerline is valid? [True, True] Translation: X:182.97, Y:124.11, Z:0.63 [[-7.69064828e-01 -6.39167414e-01 2.07534162e-03 1.82967059e+02] [ 6.39165109e-01 -7.69067629e-01 -1.71656871e-03 1.24106172e+02] [ 2.69325284e-03 6.33333282e-06 9.99996373e-01 6.33941018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.544012739 meters Centerline goodness : 0.992212 Centerline is valid? [True, True] Translation: X:182.96, Y:124.11, Z:0.63 [[-7.69296051e-01 -6.38889096e-01 2.07598544e-03 1.82964319e+02] [ 6.38886792e-01 -7.69298852e-01 -1.71578973e-03 1.24108095e+02] [ 2.69325256e-03 6.36940759e-06 9.99996373e-01 6.33958109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.574012739 meters Centerline goodness : 0.992358 Centerline is valid? [True, True] Translation: X:182.96, Y:124.11, Z:0.63 [[-7.69423933e-01 -6.38735078e-01 2.07663085e-03 1.82958679e+02] [ 6.38732775e-01 -7.69426735e-01 -1.71500823e-03 1.24111859e+02] [ 2.69325121e-03 6.84380740e-06 9.99996373e-01 6.33663215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.604012739 meters Centerline goodness : 0.992733 Centerline is valid? [True, True] Translation: X:182.97, Y:124.10, Z:0.63 [[-7.69494079e-01 -6.38650567e-01 2.07727946e-03 1.82969742e+02] [ 6.38648267e-01 -7.69496883e-01 -1.71422225e-03 1.24102973e+02] [ 2.69324908e-03 7.56705752e-06 9.99996373e-01 6.32861309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.634012739 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:182.95, Y:124.12, Z:0.63 [[-7.70171173e-01 -6.37833873e-01 2.07719881e-03 1.82948721e+02] [ 6.37831569e-01 -7.70173974e-01 -1.71431997e-03 1.24122003e+02] [ 2.69325581e-03 4.58314938e-06 9.99996373e-01 6.31232547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.664012739 meters Centerline goodness : 0.992914 Centerline is valid? [True, True] Translation: X:182.98, Y:124.09, Z:0.63 [[-7.70482233e-01 -6.37458086e-01 2.07784951e-03 1.82982761e+02] [ 6.37455783e-01 -7.70485035e-01 -1.71353092e-03 1.24094330e+02] [ 2.69325609e-03 4.29205413e-06 9.99996373e-01 6.31449075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.694012739 meters Centerline goodness : 0.993054 Centerline is valid? [True, True] Translation: X:182.98, Y:124.10, Z:0.63 [[-7.71349059e-01 -6.36408921e-01 2.07720263e-03 1.82978972e+02] [ 6.36406612e-01 -7.71351856e-01 -1.71431474e-03 1.24098166e+02] [ 2.69325929e-03 -3.89575520e-07 9.99996373e-01 6.31175104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.724012739 meters Centerline goodness : 0.992758 Centerline is valid? [True, True] Translation: X:182.99, Y:124.09, Z:0.63 [[-7.72204667e-01 -6.35370471e-01 2.07784082e-03 1.82989199e+02] [ 6.35368160e-01 -7.72207462e-01 -1.71354087e-03 1.24092236e+02] [ 2.69325745e-03 -3.01036106e-06 9.99996373e-01 6.30089308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.754012739 meters Centerline goodness : 0.992670 Centerline is valid? [True, True] Translation: X:182.98, Y:124.10, Z:0.63 [[-7.72522863e-01 -6.34983548e-01 2.07847851e-03 1.82980070e+02] [ 6.34981238e-01 -7.72525659e-01 -1.71276702e-03 1.24101547e+02] [ 2.69325686e-03 -3.35682254e-06 9.99996373e-01 6.30081838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.784012739 meters Centerline goodness : 0.992976 Centerline is valid? [True, True] Translation: X:182.98, Y:124.10, Z:0.63 [[-7.72981121e-01 -6.34425617e-01 2.07911726e-03 1.82980753e+02] [ 6.34423307e-01 -7.72983918e-01 -1.71199129e-03 1.24102243e+02] [ 2.69325533e-03 -4.29650160e-06 9.99996373e-01 6.30808597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.814012739 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:182.99, Y:124.10, Z:0.63 [[-7.73730205e-01 -6.33511834e-01 2.07975978e-03 1.82987545e+02] [ 6.33509523e-01 -7.73733000e-01 -1.71121039e-03 1.24098806e+02] [ 2.69325081e-03 -6.46754106e-06 9.99996373e-01 6.33409372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.844012739 meters Centerline goodness : 0.992969 Centerline is valid? [True, True] Translation: X:182.99, Y:124.10, Z:0.63 [[-7.74109448e-01 -6.33048366e-01 2.08040158e-03 1.82994387e+02] [ 6.33046055e-01 -7.74112244e-01 -1.71042976e-03 1.24095053e+02] [ 2.69324910e-03 -7.06982196e-06 9.99996373e-01 6.33276053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.874012739 meters Centerline goodness : 0.992942 Centerline is valid? [True, True] Translation: X:182.99, Y:124.10, Z:0.63 [[-7.74806303e-01 -6.32195272e-01 2.08104081e-03 1.82988691e+02] [ 6.32192961e-01 -7.74809097e-01 -1.70965168e-03 1.24103514e+02] [ 2.69324306e-03 -9.02954657e-06 9.99996373e-01 6.30386816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.904012739 meters Centerline goodness : 0.993080 Centerline is valid? [True, True] Translation: X:183.00, Y:124.09, Z:0.63 [[-7.75115251e-01 -6.31816440e-01 2.08168130e-03 1.83004553e+02] [ 6.31814129e-01 -7.75118047e-01 -1.70887145e-03 1.24091139e+02] [ 2.69324182e-03 -9.33666863e-06 9.99996373e-01 6.29643542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.934012739 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:182.99, Y:124.11, Z:0.63 [[-7.74812505e-01 -6.32187669e-01 2.08176093e-03 1.82988691e+02] [ 6.32185360e-01 -7.74815301e-01 -1.70877445e-03 1.24105763e+02] [ 2.69324635e-03 -7.92102729e-06 9.99996373e-01 6.30118860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.964012739 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:182.98, Y:124.11, Z:0.63 [[-7.74420070e-01 -6.32668333e-01 2.08240067e-03 1.82980828e+02] [ 6.32666027e-01 -7.74422869e-01 -1.70799446e-03 1.24113446e+02] [ 2.69325271e-03 -5.24103080e-06 9.99996373e-01 6.31178937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.994012739 meters Centerline goodness : 0.992963 Centerline is valid? [True, True] Translation: X:183.00, Y:124.10, Z:0.63 [[-7.73635523e-01 -6.33627444e-01 2.08304866e-03 1.83000139e+02] [ 6.33625144e-01 -7.73638328e-01 -1.70720382e-03 1.24098598e+02] [ 2.69325747e-03 -8.81515432e-07 9.99996373e-01 6.31952613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.024012739 meters Centerline goodness : 0.993106 Centerline is valid? [True, True] Translation: X:183.00, Y:124.10, Z:0.63 [[-7.73789641e-01 -6.33439226e-01 2.08288718e-03 1.83000596e+02] [ 6.33436925e-01 -7.73792444e-01 -1.70740081e-03 1.24098572e+02] [ 2.69325701e-03 -1.79141445e-06 9.99996373e-01 6.31967006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05401273900003 meters Centerline goodness : 0.993364 Centerline is valid? [True, True] Translation: X:183.00, Y:124.10, Z:0.63 [[-7.73920463e-01 -6.33279382e-01 2.08352662e-03 1.82997446e+02] [ 6.33277082e-01 -7.73923268e-01 -1.70662015e-03 1.24101698e+02] [ 2.69325709e-03 -1.33860247e-06 9.99996373e-01 6.32022429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.084012739 meters Centerline goodness : 0.992769 Centerline is valid? [True, True] Translation: X:183.00, Y:124.10, Z:0.63 [[-7.73404424e-01 -6.33909499e-01 2.08416785e-03 1.83003556e+02] [ 6.33907204e-01 -7.73407233e-01 -1.70583671e-03 1.24099561e+02] [ 2.69325658e-03 1.86735650e-06 9.99996373e-01 6.30937061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11401273900003 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:182.98, Y:124.12, Z:0.63 [[-7.73350361e-01 -6.33975451e-01 2.08480951e-03 1.82977894e+02] [ 6.33973158e-01 -7.73353171e-01 -1.70505213e-03 1.24122038e+02] [ 2.69325524e-03 3.11059558e-06 9.99996373e-01 6.30661371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.144012739 meters Centerline goodness : 0.992961 Centerline is valid? [True, True] Translation: X:183.00, Y:124.10, Z:0.63 [[-7.73293156e-01 -6.34045224e-01 2.08545852e-03 1.83002994e+02] [ 6.34042933e-01 -7.73295968e-01 -1.70425796e-03 1.24102851e+02] [ 2.69325328e-03 4.37922504e-06 9.99996373e-01 6.29284067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.174012739 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:183.00, Y:124.11, Z:0.63 [[-7.74099560e-01 -6.33060442e-01 2.08521355e-03 1.82999446e+02] [ 6.33058147e-01 -7.74102368e-01 -1.70455763e-03 1.24107552e+02] [ 2.69325675e-03 5.64117182e-07 9.99996373e-01 6.30178821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.204012739 meters Centerline goodness : 0.993073 Centerline is valid? [True, True] Translation: X:183.02, Y:124.10, Z:0.63 [[-7.75295426e-01 -6.31595323e-01 2.08585705e-03 1.83016171e+02] [ 6.31593025e-01 -7.75298232e-01 -1.70376982e-03 1.24096499e+02] [ 2.69325433e-03 -3.51218886e-06 9.99996373e-01 6.31915313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.234012739 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:183.02, Y:124.10, Z:0.64 [[-7.77588074e-01 -6.28770573e-01 2.08649815e-03 1.83016366e+02] [ 6.28768267e-01 -7.77590873e-01 -1.70298435e-03 1.24103120e+02] [ 2.69322836e-03 -1.22964951e-05 9.99996373e-01 6.36012515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.264012739 meters Centerline goodness : 0.992606 Centerline is valid? [True, True] Translation: X:183.03, Y:124.10, Z:0.64 [[-7.78561560e-01 -6.27564770e-01 2.08713645e-03 1.83028266e+02] [ 6.27562462e-01 -7.78564358e-01 -1.70220170e-03 1.24096712e+02] [ 2.69321187e-03 -1.54603293e-05 9.99996373e-01 6.35617884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.294012739 meters Centerline goodness : 0.993459 Centerline is valid? [True, True] Translation: X:183.02, Y:124.11, Z:0.63 [[-7.79224143e-01 -6.26741874e-01 2.08777352e-03 1.83017105e+02] [ 6.26739565e-01 -7.79226940e-01 -1.70141997e-03 1.24111446e+02] [ 2.69320051e-03 -1.72972476e-05 9.99996373e-01 6.31106695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.324012739 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:183.03, Y:124.11, Z:0.63 [[-7.79264087e-01 -6.26692206e-01 2.08841238e-03 1.83027059e+02] [ 6.26689899e-01 -7.79266885e-01 -1.70063544e-03 1.24105424e+02] [ 2.69320558e-03 -1.64571815e-05 9.99996373e-01 6.30286162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.354012739 meters Centerline goodness : 0.993172 Centerline is valid? [True, True] Translation: X:183.03, Y:124.11, Z:0.63 [[-7.78105716e-01 -6.28129868e-01 2.08905366e-03 1.83025908e+02] [ 6.28127568e-01 -7.78108520e-01 -1.69984733e-03 1.24109009e+02] [ 2.69323533e-03 -1.04687264e-05 9.99996373e-01 6.31230375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.384012739 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:183.04, Y:124.10, Z:0.63 [[-7.77585019e-01 -6.28774341e-01 2.08969391e-03 1.83035820e+02] [ 6.28772045e-01 -7.77587827e-01 -1.69905987e-03 1.24101843e+02] [ 2.69324580e-03 -7.22238694e-06 9.99996373e-01 6.31216412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.414012739 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:183.03, Y:124.10, Z:0.63 [[-7.77415315e-01 -6.28984148e-01 2.09033303e-03 1.83034904e+02] [ 6.28981855e-01 -7.77418125e-01 -1.69827321e-03 1.24103633e+02] [ 2.69324971e-03 -5.48205862e-06 9.99996373e-01 6.29497536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.444012739 meters Centerline goodness : 0.992850 Centerline is valid? [True, True] Translation: X:183.04, Y:124.11, Z:0.63 [[-7.77504931e-01 -6.28873365e-01 2.09097039e-03 1.83038635e+02] [ 6.28871074e-01 -7.77507743e-01 -1.69748810e-03 1.24105145e+02] [ 2.69325072e-03 -4.85457102e-06 9.99996373e-01 6.29531144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.474012739 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:183.03, Y:124.11, Z:0.63 [[-7.77901571e-01 -6.28382663e-01 2.09160861e-03 1.83034859e+02] [ 6.28380372e-01 -7.77904383e-01 -1.69670134e-03 1.24110115e+02] [ 2.69324921e-03 -5.54084084e-06 9.99996373e-01 6.32498566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.504012739 meters Centerline goodness : 0.992696 Centerline is valid? [True, True] Translation: X:183.05, Y:124.10, Z:0.64 [[-7.78565093e-01 -6.27560370e-01 2.09224862e-03 1.83051131e+02] [ 6.27558079e-01 -7.78567904e-01 -1.69591176e-03 1.24099387e+02] [ 2.69324463e-03 -7.37017542e-06 9.99996373e-01 6.36953690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.534012739 meters Centerline goodness : 0.993149 Centerline is valid? [True, True] Translation: X:183.05, Y:124.10, Z:0.64 [[-7.78696293e-01 -6.27397563e-01 2.09288655e-03 1.83049883e+02] [ 6.27395273e-01 -7.78699106e-01 -1.69512414e-03 1.24100659e+02] [ 2.69324564e-03 -6.91975716e-06 9.99996373e-01 6.36916754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.564012739 meters Centerline goodness : 0.992345 Centerline is valid? [True, True] Translation: X:183.03, Y:124.12, Z:0.64 [[-7.78281850e-01 -6.27911602e-01 2.09352118e-03 1.83031414e+02] [ 6.27909316e-01 -7.78284665e-01 -1.69433999e-03 1.24115683e+02] [ 2.69325117e-03 -4.13261177e-06 9.99996373e-01 6.36892029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.594012739 meters Centerline goodness : 0.992371 Centerline is valid? [True, True] Translation: X:183.04, Y:124.11, Z:0.64 [[-7.76057184e-01 -6.30659070e-01 2.09416260e-03 1.83036358e+02] [ 6.30656796e-01 -7.76060009e-01 -1.69354683e-03 1.24111215e+02] [ 2.69324652e-03 6.40869368e-06 9.99996373e-01 6.36117747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.624012739 meters Centerline goodness : 0.992146 Centerline is valid? [True, True] Translation: X:183.04, Y:124.10, Z:0.64 [[-7.74855302e-01 -6.32135170e-01 2.09480893e-03 1.83044567e+02] [ 6.32132904e-01 -7.74858133e-01 -1.69274699e-03 1.24103932e+02] [ 2.69322464e-03 1.25636736e-05 9.99996373e-01 6.35160360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.654012739 meters Centerline goodness : 0.991829 Centerline is valid? [True, True] Translation: X:183.04, Y:124.10, Z:0.63 [[-7.72574889e-01 -6.34920192e-01 2.09545208e-03 1.83042512e+02] [ 6.34917938e-01 -7.72577731e-01 -1.69195046e-03 1.24104371e+02] [ 2.69315312e-03 2.32816727e-05 9.99996373e-01 6.34031155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.684012739 meters Centerline goodness : 0.991576 Centerline is valid? [True, True] Translation: X:183.04, Y:124.11, Z:0.63 [[-7.72094557e-01 -6.35504210e-01 2.09609376e-03 1.83035725e+02] [ 6.35501961e-01 -7.72097402e-01 -1.69115513e-03 1.24109607e+02] [ 2.69312475e-03 2.63400224e-05 9.99996373e-01 6.33571883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.714012739 meters Centerline goodness : 0.991513 Centerline is valid? [True, True] Translation: X:183.04, Y:124.11, Z:0.63 [[-7.71697050e-01 -6.35986845e-01 2.09673886e-03 1.83037895e+02] [ 6.35984599e-01 -7.71699898e-01 -1.69035494e-03 1.24107352e+02] [ 2.69309667e-03 2.90517010e-05 9.99996373e-01 6.33786389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.744012739 meters Centerline goodness : 0.991757 Centerline is valid? [True, True] Translation: X:183.05, Y:124.09, Z:0.64 [[-7.71318003e-01 -6.36446493e-01 2.09738601e-03 1.83052964e+02] [ 6.36444251e-01 -7.71320854e-01 -1.68955158e-03 1.24093626e+02] [ 2.69306675e-03 3.16877177e-05 9.99996373e-01 6.35533936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.774012739 meters Centerline goodness : 0.991607 Centerline is valid? [True, True] Translation: X:183.06, Y:124.09, Z:0.64 [[-7.71546109e-01 -6.36169946e-01 2.09802868e-03 1.83055578e+02] [ 6.36167705e-01 -7.71548961e-01 -1.68875315e-03 1.24090736e+02] [ 2.69306585e-03 3.17471664e-05 9.99996373e-01 6.36480790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80401273900003 meters Centerline goodness : 0.990622 Centerline is valid? [True, True] Translation: X:183.07, Y:124.08, Z:0.64 [[-7.71190472e-01 -6.36601014e-01 2.09866663e-03 1.83067032e+02] [ 6.36598777e-01 -7.71193327e-01 -1.68795999e-03 1.24080010e+02] [ 2.69303474e-03 3.42699521e-05 9.99996373e-01 6.37565264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.834012739 meters Centerline goodness : 0.990850 Centerline is valid? [True, True] Translation: X:183.05, Y:124.09, Z:0.64 [[-7.70718140e-01 -6.37172772e-01 2.09930084e-03 1.83054921e+02] [ 6.37170540e-01 -7.70720998e-01 -1.68717085e-03 1.24088796e+02] [ 2.69299457e-03 3.72794719e-05 9.99996373e-01 6.36884657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86401273900003 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:183.06, Y:124.08, Z:0.64 [[-7.70138075e-01 -6.37873762e-01 2.09993590e-03 1.83060192e+02] [ 6.37871534e-01 -7.70140937e-01 -1.68638006e-03 1.24082885e+02] [ 2.69294419e-03 4.07438428e-05 9.99996373e-01 6.35605108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.894012739 meters Centerline goodness : 0.990692 Centerline is valid? [True, True] Translation: X:183.07, Y:124.07, Z:0.63 [[-7.68995288e-01 -6.39250995e-01 2.10057337e-03 1.83068209e+02] [ 6.39248774e-01 -7.68998156e-01 -1.68558564e-03 1.24073338e+02] [ 2.69284935e-03 4.65815341e-05 9.99996373e-01 6.33893881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.924012739 meters Centerline goodness : 0.990583 Centerline is valid? [True, True] Translation: X:183.06, Y:124.08, Z:0.63 [[-7.69114687e-01 -6.39107334e-01 2.10120711e-03 1.83063574e+02] [ 6.39105115e-01 -7.69117555e-01 -1.68479527e-03 1.24076222e+02] [ 2.69284029e-03 4.70914223e-05 9.99996373e-01 6.33116984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.954012739 meters Centerline goodness : 0.990549 Centerline is valid? [True, True] Translation: X:183.06, Y:124.08, Z:0.64 [[-7.70470879e-01 -6.37471730e-01 2.10184013e-03 1.83063906e+02] [ 6.37469507e-01 -7.70473745e-01 -1.68400518e-03 1.24075395e+02] [ 2.69291833e-03 4.23820399e-05 9.99996373e-01 6.36522834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.984012739 meters Centerline goodness : 0.990801 Centerline is valid? [True, True] Translation: X:183.06, Y:124.08, Z:0.64 [[-7.71715580e-01 -6.35964341e-01 2.10247514e-03 1.83059310e+02] [ 6.35962114e-01 -7.71718443e-01 -1.68321200e-03 1.24078893e+02] [ 2.69298165e-03 3.81336049e-05 9.99996373e-01 6.38960001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.014012739 meters Centerline goodness : 0.991536 Centerline is valid? [True, True] Translation: X:183.07, Y:124.07, Z:0.64 [[-7.72949549e-01 -6.34464003e-01 2.10311214e-03 1.83066866e+02] [ 6.34461773e-01 -7.72952410e-01 -1.68241572e-03 1.24073023e+02] [ 2.69303781e-03 3.39217845e-05 9.99996373e-01 6.39702509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.044012739 meters Centerline goodness : 0.990632 Centerline is valid? [True, True] Translation: X:183.06, Y:124.08, Z:0.64 [[-7.74153486e-01 -6.32994434e-01 2.10374905e-03 1.83056992e+02] [ 6.32992201e-01 -7.74156344e-01 -1.68161893e-03 1.24080681e+02] [ 2.69308609e-03 2.98255838e-05 9.99996373e-01 6.37939331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.074012739 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:183.07, Y:124.07, Z:0.64 [[-7.74615767e-01 -6.32428640e-01 2.10438754e-03 1.83068398e+02] [ 6.32426407e-01 -7.74618625e-01 -1.68081953e-03 1.24071099e+02] [ 2.69309620e-03 2.88809387e-05 9.99996373e-01 6.36805509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.104012739 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:183.07, Y:124.07, Z:0.64 [[-7.74855083e-01 -6.32135404e-01 2.10502637e-03 1.83070409e+02] [ 6.32133172e-01 -7.74857942e-01 -1.68001910e-03 1.24069588e+02] [ 2.69309595e-03 2.88856546e-05 9.99996373e-01 6.36798732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.134012739 meters Centerline goodness : 0.990982 Centerline is valid? [True, True] Translation: X:183.07, Y:124.07, Z:0.63 [[-7.75533950e-01 -6.31302351e-01 2.10566195e-03 1.83066228e+02] [ 6.31300118e-01 -7.75536808e-01 -1.67922211e-03 1.24071447e+02] [ 2.69311521e-03 2.70108762e-05 9.99996373e-01 6.34954004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.164012739 meters Centerline goodness : 0.990606 Centerline is valid? [True, True] Translation: X:183.07, Y:124.07, Z:0.64 [[-7.75986758e-01 -6.30745682e-01 2.10629880e-03 1.83067947e+02] [ 6.30743449e-01 -7.75989616e-01 -1.67842291e-03 1.24070030e+02] [ 2.69312400e-03 2.61002139e-05 9.99996373e-01 6.35303245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.194012739 meters Centerline goodness : 0.990801 Centerline is valid? [True, True] Translation: X:183.06, Y:124.07, Z:0.64 [[-7.77069731e-01 -6.29410989e-01 2.10693702e-03 1.83062309e+02] [ 6.29408754e-01 -7.77072588e-01 -1.67762136e-03 1.24074700e+02] [ 2.69315632e-03 2.24958233e-05 9.99996373e-01 6.37204429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.224012739 meters Centerline goodness : 0.991568 Centerline is valid? [True, True] Translation: X:183.06, Y:124.08, Z:0.64 [[-7.77965716e-01 -6.28303194e-01 2.10757726e-03 1.83059850e+02] [ 6.28300957e-01 -7.77968570e-01 -1.67681664e-03 1.24077373e+02] [ 2.69317812e-03 1.96869510e-05 9.99996373e-01 6.37684040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.254012739 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:183.07, Y:124.07, Z:0.64 [[-7.78715229e-01 -6.27374009e-01 2.10822093e-03 1.83074544e+02] [ 6.27371771e-01 -7.78718083e-01 -1.67600698e-03 1.24067456e+02] [ 2.69319298e-03 1.75061394e-05 9.99996373e-01 6.38095543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.284012739 meters Centerline goodness : 0.991533 Centerline is valid? [True, True] Translation: X:183.07, Y:124.07, Z:0.64 [[-7.79865900e-01 -6.25943073e-01 2.10886216e-03 1.83073285e+02] [ 6.25940832e-01 -7.79868751e-01 -1.67519976e-03 1.24071834e+02] [ 2.69321539e-03 1.35917624e-05 9.99996373e-01 6.39848906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.314012739 meters Centerline goodness : 0.990856 Centerline is valid? [True, True] Translation: X:183.07, Y:124.08, Z:0.64 [[-7.80357013e-01 -6.25330699e-01 2.10950095e-03 1.83070454e+02] [ 6.25328457e-01 -7.80359864e-01 -1.67439497e-03 1.24075661e+02] [ 2.69322046e-03 1.25051165e-05 9.99996373e-01 6.40810269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.344012739 meters Centerline goodness : 0.991799 Centerline is valid? [True, True] Translation: X:183.08, Y:124.07, Z:0.64 [[-7.80412957e-01 -6.25260877e-01 2.11014273e-03 1.83082721e+02] [ 6.25258637e-01 -7.80415809e-01 -1.67358579e-03 1.24069524e+02] [ 2.69321646e-03 1.32969370e-05 9.99996373e-01 6.42007566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.374012739 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:183.09, Y:124.07, Z:0.64 [[-7.80213815e-01 -6.25509350e-01 2.11078324e-03 1.83087180e+02] [ 6.25507114e-01 -7.80216670e-01 -1.67277756e-03 1.24067731e+02] [ 2.69320628e-03 1.51857695e-05 9.99996373e-01 6.41639900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.404012739 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:183.09, Y:124.07, Z:0.64 [[-7.79764017e-01 -6.26069980e-01 2.11142048e-03 1.83086848e+02] [ 6.26067748e-01 -7.79766876e-01 -1.67197284e-03 1.24069835e+02] [ 2.69318775e-03 1.81479994e-05 9.99996373e-01 6.41330254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.434012739 meters Centerline goodness : 0.991418 Centerline is valid? [True, True] Translation: X:183.09, Y:124.07, Z:0.64 [[-7.78349491e-01 -6.27827690e-01 2.11205783e-03 1.83087066e+02] [ 6.27825467e-01 -7.78352356e-01 -1.67116735e-03 1.24072004e+02] [ 2.69313032e-03 2.52514360e-05 9.99996373e-01 6.39053704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.464012739 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:183.11, Y:124.06, Z:0.64 [[-7.77177907e-01 -6.29277394e-01 2.11269677e-03 1.83106674e+02] [ 6.29275177e-01 -7.77180778e-01 -1.67035920e-03 1.24057736e+02] [ 2.69306660e-03 3.13013664e-05 9.99996373e-01 6.38234220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.494012739 meters Centerline goodness : 0.991496 Centerline is valid? [True, True] Translation: X:183.11, Y:124.06, Z:0.64 [[-7.75073385e-01 -6.31867695e-01 2.11293407e-03 1.83108509e+02] [ 6.31865489e-01 -7.75076264e-01 -1.67005898e-03 1.24055678e+02] [ 2.69294136e-03 4.06718517e-05 9.99996373e-01 6.37635623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.524012739 meters Centerline goodness : 0.991671 Centerline is valid? [True, True] Translation: X:183.13, Y:124.04, Z:0.64 [[-7.73981897e-01 -6.33204198e-01 2.11356339e-03 1.83131673e+02] [ 6.33202000e-01 -7.73984781e-01 -1.66926214e-03 1.24036251e+02] [ 2.69284970e-03 4.63338876e-05 9.99996373e-01 6.38131572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55401273900003 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:183.13, Y:124.04, Z:0.64 [[-7.72947347e-01 -6.34466651e-01 2.11379632e-03 1.83125448e+02] [ 6.34464458e-01 -7.72950236e-01 -1.66896713e-03 1.24039442e+02] [ 2.69276335e-03 5.11049176e-05 9.99996373e-01 6.40829689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.584012739 meters Centerline goodness : 0.991816 Centerline is valid? [True, True] Translation: X:183.12, Y:124.04, Z:0.64 [[-7.73139824e-01 -6.34232089e-01 2.11441472e-03 1.83121112e+02] [ 6.34229897e-01 -7.73142713e-01 -1.66818331e-03 1.24042282e+02] [ 2.69275972e-03 5.12860771e-05 9.99996373e-01 6.40768647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61401273900003 meters Centerline goodness : 0.991525 Centerline is valid? [True, True] Translation: X:183.13, Y:124.04, Z:0.64 [[-7.74463847e-01 -6.32614635e-01 2.11503663e-03 1.83127860e+02] [ 6.32612439e-01 -7.74466734e-01 -1.66739445e-03 1.24036342e+02] [ 2.69284364e-03 4.66617625e-05 9.99996373e-01 6.39455106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.644012739 meters Centerline goodness : 0.991988 Centerline is valid? [True, True] Translation: X:183.12, Y:124.04, Z:0.64 [[-7.75396529e-01 -6.31471097e-01 2.11565865e-03 1.83121447e+02] [ 6.31468900e-01 -7.75399414e-01 -1.66660483e-03 1.24041926e+02] [ 2.69289325e-03 4.36930354e-05 9.99996373e-01 6.39396045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.674012739 meters Centerline goodness : 0.992107 Centerline is valid? [True, True] Translation: X:183.12, Y:124.05, Z:0.64 [[-7.76358874e-01 -6.30287570e-01 2.11628127e-03 1.83115902e+02] [ 6.30285370e-01 -7.76361757e-01 -1.66581383e-03 1.24046217e+02] [ 2.69294160e-03 4.05917747e-05 9.99996373e-01 6.40337375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.704012739 meters Centerline goodness : 0.992241 Centerline is valid? [True, True] Translation: X:183.13, Y:124.04, Z:0.64 [[-7.77242867e-01 -6.29197143e-01 2.11690829e-03 1.83126494e+02] [ 6.29194941e-01 -7.77245749e-01 -1.66501665e-03 1.24036454e+02] [ 2.69298168e-03 3.78256728e-05 9.99996373e-01 6.41526490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.734012739 meters Centerline goodness : 0.991998 Centerline is valid? [True, True] Translation: X:183.12, Y:124.04, Z:0.64 [[-7.77883804e-01 -6.28404570e-01 2.11753428e-03 1.83120459e+02] [ 6.28402368e-01 -7.77886685e-01 -1.66422013e-03 1.24040528e+02] [ 2.69300526e-03 3.60936709e-05 9.99996373e-01 6.41080159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.764012739 meters Centerline goodness : 0.992169 Centerline is valid? [True, True] Translation: X:183.12, Y:124.04, Z:0.64 [[-7.77951717e-01 -6.28320491e-01 2.11815957e-03 1.83122754e+02] [ 6.28318290e-01 -7.77954600e-01 -1.66342391e-03 1.24038703e+02] [ 2.69299531e-03 3.68149132e-05 9.99996373e-01 6.41066833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.794012739 meters Centerline goodness : 0.992555 Centerline is valid? [True, True] Translation: X:183.12, Y:124.04, Z:0.64 [[-7.77907152e-01 -6.28375662e-01 2.11878681e-03 1.83123287e+02] [ 6.28373464e-01 -7.77910037e-01 -1.66262458e-03 1.24037603e+02] [ 2.69297835e-03 3.80218560e-05 9.99996373e-01 6.42681242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.824012739 meters Centerline goodness : 0.992421 Centerline is valid? [True, True] Translation: X:183.13, Y:124.03, Z:0.64 [[-7.77823255e-01 -6.28479508e-01 2.11941395e-03 1.83126190e+02] [ 6.28477312e-01 -7.77826142e-01 -1.66182475e-03 1.24033800e+02] [ 2.69295838e-03 3.93976492e-05 9.99996373e-01 6.43412272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.854012739 meters Centerline goodness : 0.992012 Centerline is valid? [True, True] Translation: X:183.13, Y:124.03, Z:0.64 [[-7.77469068e-01 -6.28917605e-01 2.12004059e-03 1.83133977e+02] [ 6.28915413e-01 -7.77471958e-01 -1.66102495e-03 1.24026528e+02] [ 2.69291994e-03 4.19306856e-05 9.99996373e-01 6.41493999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.884012739 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:183.15, Y:124.02, Z:0.64 [[-7.78140794e-01 -6.28086306e-01 2.12066468e-03 1.83145191e+02] [ 6.28084113e-01 -7.78143683e-01 -1.66022778e-03 1.24017879e+02] [ 2.69294815e-03 4.00648306e-05 9.99996373e-01 6.39412973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.914012739 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:183.12, Y:124.03, Z:0.64 [[-7.80194193e-01 -6.25533789e-01 2.12128402e-03 1.83123423e+02] [ 6.25531588e-01 -7.80197077e-01 -1.65943606e-03 1.24034782e+02] [ 2.69305292e-03 3.22477796e-05 9.99996373e-01 6.37245691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.944012739 meters Centerline goodness : 0.992074 Centerline is valid? [True, True] Translation: X:183.13, Y:124.03, Z:0.64 [[-7.81573182e-01 -6.23809955e-01 2.12190710e-03 1.83129416e+02] [ 6.23807750e-01 -7.81576062e-01 -1.65863895e-03 1.24030194e+02] [ 2.69310728e-03 2.73143677e-05 9.99996373e-01 6.36644310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.974012739 meters Centerline goodness : 0.992630 Centerline is valid? [True, True] Translation: X:183.13, Y:124.03, Z:0.64 [[-7.84067136e-01 -6.20672395e-01 2.12253551e-03 1.83129920e+02] [ 6.20670181e-01 -7.84070008e-01 -1.65783439e-03 1.24031906e+02] [ 2.69318848e-03 1.75410362e-05 9.99996373e-01 6.36985200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.004012739 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:183.11, Y:124.05, Z:0.64 [[-7.85186966e-01 -6.19255134e-01 2.12316332e-03 1.83111321e+02] [ 6.19252917e-01 -7.85189837e-01 -1.65702998e-03 1.24048189e+02] [ 2.69321058e-03 1.36967299e-05 9.99996373e-01 6.37237424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.034012739 meters Centerline goodness : 0.992837 Centerline is valid? [True, True] Translation: X:183.13, Y:124.04, Z:0.64 [[-7.86239623e-01 -6.17918073e-01 2.12379770e-03 1.83129782e+02] [ 6.17915853e-01 -7.86242491e-01 -1.65621650e-03 1.24035173e+02] [ 2.69322610e-03 1.01452268e-05 9.99996373e-01 6.38070566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.064012739 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:183.13, Y:124.04, Z:0.64 [[-7.88218607e-01 -6.15391677e-01 2.12403543e-03 1.83134236e+02] [ 6.15389449e-01 -7.88221469e-01 -1.65591156e-03 1.24036344e+02] [ 2.69324452e-03 1.88868855e-06 9.99996373e-01 6.37752507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.094012739 meters Centerline goodness : 0.993117 Centerline is valid? [True, True] Translation: X:183.14, Y:124.04, Z:0.64 [[-7.89204413e-01 -6.14126925e-01 2.12466644e-03 1.83138908e+02] [ 6.14124695e-01 -7.89207273e-01 -1.65510153e-03 1.24035046e+02] [ 2.69324462e-03 -1.40329656e-06 9.99996373e-01 6.37164183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.124012739 meters Centerline goodness : 0.993619 Centerline is valid? [True, True] Translation: X:183.14, Y:124.04, Z:0.64 [[-7.89611788e-01 -6.13603053e-01 2.12529642e-03 1.83139403e+02] [ 6.13600823e-01 -7.89614649e-01 -1.65429218e-03 1.24038583e+02] [ 2.69324392e-03 -2.16497611e-06 9.99996373e-01 6.38045811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.154012739 meters Centerline goodness : 0.992875 Centerline is valid? [True, True] Translation: X:183.14, Y:124.04, Z:0.64 [[-7.89381910e-01 -6.13898755e-01 2.12592682e-03 1.83144818e+02] [ 6.13896528e-01 -7.89384772e-01 -1.65348167e-03 1.24036793e+02] [ 2.69324459e-03 -1.29423402e-07 9.99996373e-01 6.39402506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.184012739 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:183.14, Y:124.05, Z:0.64 [[-7.88329118e-01 -6.15250095e-01 2.12655711e-03 1.83141429e+02] [ 6.15247875e-01 -7.88331986e-01 -1.65267064e-03 1.24046146e+02] [ 2.69323876e-03 5.51135786e-06 9.99996373e-01 6.42514227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.214012739 meters Centerline goodness : 0.993129 Centerline is valid? [True, True] Translation: X:183.15, Y:124.04, Z:0.64 [[-7.88094711e-01 -6.15550324e-01 2.12718898e-03 1.83148268e+02] [ 6.15548108e-01 -7.88097582e-01 -1.65185695e-03 1.24043954e+02] [ 2.69323357e-03 7.56742468e-06 9.99996373e-01 6.42176538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.244012739 meters Centerline goodness : 0.992951 Centerline is valid? [True, True] Translation: X:183.16, Y:124.04, Z:0.64 [[-7.87835504e-01 -6.15882043e-01 2.12782211e-03 1.83155360e+02] [ 6.15879830e-01 -7.87838377e-01 -1.65104098e-03 1.24041671e+02] [ 2.69322641e-03 9.73401579e-06 9.99996373e-01 6.41041713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.274012739 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:183.17, Y:124.04, Z:0.64 [[-7.87139958e-01 -6.16770749e-01 2.12845284e-03 1.83166634e+02] [ 6.16768541e-01 -7.87142835e-01 -1.65022748e-03 1.24039421e+02] [ 2.69320844e-03 1.38027611e-05 9.99996373e-01 6.39152172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30401273900003 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:183.17, Y:124.04, Z:0.64 [[-7.86947696e-01 -6.17016037e-01 2.12908054e-03 1.83166566e+02] [ 6.17013833e-01 -7.86950576e-01 -1.64941724e-03 1.24042442e+02] [ 2.69319804e-03 1.56670490e-05 9.99996373e-01 6.39398528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.334012739 meters Centerline goodness : 0.993387 Centerline is valid? [True, True] Translation: X:183.18, Y:124.03, Z:0.64 [[-7.84965615e-01 -6.19535671e-01 2.12970721e-03 1.83180230e+02] [ 6.19533478e-01 -7.84968504e-01 -1.64860769e-03 1.24034958e+02] [ 2.69312435e-03 2.53245691e-05 9.99996373e-01 6.41138384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36401273900003 meters Centerline goodness : 0.992772 Centerline is valid? [True, True] Translation: X:183.19, Y:124.03, Z:0.64 [[-7.83533861e-01 -6.21345436e-01 2.13033152e-03 1.83185756e+02] [ 6.21343251e-01 -7.83536757e-01 -1.64780056e-03 1.24032016e+02] [ 2.69304641e-03 3.25595760e-05 9.99996373e-01 6.42232211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.394012739 meters Centerline goodness : 0.993098 Centerline is valid? [True, True] Translation: X:183.21, Y:124.02, Z:0.64 [[-7.82181373e-01 -6.23047156e-01 2.13095195e-03 1.83206129e+02] [ 6.23044980e-01 -7.82184275e-01 -1.64699782e-03 1.24017712e+02] [ 2.69295442e-03 3.94278954e-05 9.99996373e-01 6.41892609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.424012739 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:183.22, Y:124.01, Z:0.64 [[-7.80017228e-01 -6.25754409e-01 2.13156615e-03 1.83216624e+02] [ 6.25752245e-01 -7.80020139e-01 -1.64620253e-03 1.24009783e+02] [ 2.69278302e-03 4.97659708e-05 9.99996373e-01 6.42149300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.454012739 meters Centerline goodness : 0.992655 Centerline is valid? [True, True] Translation: X:183.22, Y:124.00, Z:0.64 [[-7.79792056e-01 -6.26034985e-01 2.13217289e-03 1.83222991e+02] [ 6.26032825e-01 -7.79794970e-01 -1.64541630e-03 1.24004317e+02] [ 2.69274587e-03 5.17276553e-05 9.99996373e-01 6.41194914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.484012739 meters Centerline goodness : 0.992685 Centerline is valid? [True, True] Translation: X:183.21, Y:124.02, Z:0.64 [[-7.79806624e-01 -6.26016837e-01 2.13277596e-03 1.83209441e+02] [ 6.26014679e-01 -7.79809539e-01 -1.64463424e-03 1.24015782e+02] [ 2.69272776e-03 5.26523865e-05 9.99996373e-01 6.39830029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.514012739 meters Centerline goodness : 0.993152 Centerline is valid? [True, True] Translation: X:183.22, Y:124.00, Z:0.64 [[-7.80019422e-01 -6.25751668e-01 2.13338173e-03 1.83223728e+02] [ 6.25749511e-01 -7.80022338e-01 -1.64384807e-03 1.24004301e+02] [ 2.69272608e-03 5.27291528e-05 9.99996373e-01 6.39040712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.544012739 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:183.22, Y:124.01, Z:0.64 [[-7.79985257e-01 -6.25794251e-01 2.13398828e-03 1.83216915e+02] [ 6.25792096e-01 -7.79988175e-01 -1.64306029e-03 1.24008187e+02] [ 2.69270331e-03 5.38701905e-05 9.99996373e-01 6.39448414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.574012739 meters Centerline goodness : 0.992718 Centerline is valid? [True, True] Translation: X:183.22, Y:124.00, Z:0.64 [[-7.79519742e-01 -6.26374022e-01 2.13459327e-03 1.83215106e+02] [ 6.26371872e-01 -7.79522662e-01 -1.64227394e-03 1.24003837e+02] [ 2.69264156e-03 5.68642296e-05 9.99996373e-01 6.38184247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.604012739 meters Centerline goodness : 0.992823 Centerline is valid? [True, True] Translation: X:183.22, Y:123.99, Z:0.64 [[-7.78722744e-01 -6.27364590e-01 2.13520050e-03 1.83223873e+02] [ 6.27362445e-01 -7.78725669e-01 -1.64148406e-03 1.23990284e+02] [ 2.69254442e-03 6.12836335e-05 9.99996373e-01 6.39673079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.634012739 meters Centerline goodness : 0.992705 Centerline is valid? [True, True] Translation: X:183.23, Y:123.98, Z:0.64 [[-7.78442779e-01 -6.27711939e-01 2.13580492e-03 1.83232553e+02] [ 6.27709798e-01 -7.78445706e-01 -1.64069726e-03 1.23979682e+02] [ 2.69249342e-03 6.34767394e-05 9.99996373e-01 6.40010693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.664012739 meters Centerline goodness : 0.992795 Centerline is valid? [True, True] Translation: X:183.22, Y:123.99, Z:0.64 [[-7.78109677e-01 -6.28124801e-01 2.13640416e-03 1.83219194e+02] [ 6.28122664e-01 -7.78112608e-01 -1.63991660e-03 1.23986458e+02] [ 2.69243530e-03 6.58888981e-05 9.99996373e-01 6.39030320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.694012739 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:183.21, Y:123.99, Z:0.64 [[-7.78348527e-01 -6.27828801e-01 2.13700435e-03 1.83205834e+02] [ 6.27826665e-01 -7.78351458e-01 -1.63913410e-03 1.23988694e+02] [ 2.69243605e-03 6.58507054e-05 9.99996373e-01 6.39344304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.724012739 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:183.21, Y:123.98, Z:0.64 [[-7.79203739e-01 -6.26767073e-01 2.13761110e-03 1.83206531e+02] [ 6.26764935e-01 -7.79206669e-01 -1.63834245e-03 1.23984194e+02] [ 2.69249993e-03 6.31771204e-05 9.99996373e-01 6.39430074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.754012739 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:183.21, Y:123.97, Z:0.64 [[-7.81510965e-01 -6.23887842e-01 2.13822030e-03 1.83213837e+02] [ 6.23885695e-01 -7.81513889e-01 -1.63754699e-03 1.23970711e+02] [ 2.69269452e-03 5.42441311e-05 9.99996373e-01 6.38874867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.784012739 meters Centerline goodness : 0.993186 Centerline is valid? [True, True] Translation: X:183.20, Y:123.98, Z:0.64 [[-7.83341064e-01 -6.21588452e-01 2.13882666e-03 1.83197090e+02] [ 6.21586298e-01 -7.83343982e-01 -1.63675463e-03 1.23979937e+02] [ 2.69282477e-03 4.73282300e-05 9.99996373e-01 6.40237015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.814012739 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:183.20, Y:123.98, Z:0.64 [[-7.85125573e-01 -6.19332913e-01 2.13943487e-03 1.83197453e+02] [ 6.19330754e-01 -7.85128487e-01 -1.63595924e-03 1.23976056e+02] [ 2.69293466e-03 4.05843785e-05 9.99996373e-01 6.40769444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.844012739 meters Centerline goodness : 0.992895 Centerline is valid? [True, True] Translation: X:183.18, Y:123.98, Z:0.65 [[-7.88017688e-01 -6.15648880e-01 2.14004734e-03 1.83184566e+02] [ 6.15646710e-01 -7.88020593e-01 -1.63515766e-03 1.23977836e+02] [ 2.69308436e-03 2.89799398e-05 9.99996373e-01 6.45845331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.874012739 meters Centerline goodness : 0.992631 Centerline is valid? [True, True] Translation: X:183.18, Y:123.98, Z:0.65 [[-7.89334104e-01 -6.13960170e-01 2.14058502e-03 1.83182433e+02] [ 6.13957995e-01 -7.89337006e-01 -1.63445348e-03 1.23976755e+02] [ 2.69313231e-03 2.40994143e-05 9.99996373e-01 6.48750205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.904012739 meters Centerline goodness : 0.992777 Centerline is valid? [True, True] Translation: X:183.19, Y:123.97, Z:0.65 [[-7.91421819e-01 -6.11266652e-01 2.14112554e-03 1.83187529e+02] [ 6.11264469e-01 -7.91424715e-01 -1.63374509e-03 1.23970069e+02] [ 2.69319356e-03 1.58124552e-05 9.99996373e-01 6.52834178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.934012739 meters Centerline goodness : 0.992394 Centerline is valid? [True, True] Translation: X:183.20, Y:123.96, Z:0.65 [[-7.92491974e-01 -6.09878582e-01 2.14166502e-03 1.83202264e+02] [ 6.09876396e-01 -7.92494868e-01 -1.63303759e-03 1.23957108e+02] [ 2.69321318e-03 1.19817566e-05 9.99996373e-01 6.52140959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.964012739 meters Centerline goodness : 0.993231 Centerline is valid? [True, True] Translation: X:183.21, Y:123.95, Z:0.65 [[-7.93577608e-01 -6.08465275e-01 2.14227679e-03 1.83208893e+02] [ 6.08463085e-01 -7.93580500e-01 -1.63223465e-03 1.23950231e+02] [ 2.69322719e-03 8.19146940e-06 9.99996373e-01 6.49527969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.994012739 meters Centerline goodness : 0.992117 Centerline is valid? [True, True] Translation: X:183.21, Y:123.95, Z:0.65 [[-7.95436456e-01 -6.06033210e-01 2.14288312e-03 1.83205143e+02] [ 6.06031015e-01 -7.95439343e-01 -1.63143824e-03 1.23951390e+02] [ 2.69323929e-03 9.48182319e-07 9.99996373e-01 6.51218358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.024012739 meters Centerline goodness : 0.992117 Centerline is valid? [True, True] Translation: X:183.21, Y:123.95, Z:0.65 [[-7.95662037e-01 -6.05737012e-01 2.14348887e-03 1.83207193e+02] [ 6.05734817e-01 -7.95664925e-01 -1.63064197e-03 1.23949923e+02] [ 2.69323911e-03 9.45927579e-07 9.99996373e-01 6.51211581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05401273900003 meters Centerline goodness : 0.992869 Centerline is valid? [True, True] Translation: X:183.21, Y:123.95, Z:0.65 [[-7.98117016e-01 -6.02498658e-01 2.14409569e-03 1.83209016e+02] [ 6.02496453e-01 -7.98119896e-01 -1.62984369e-03 1.23947243e+02] [ 2.69322406e-03 -8.99592872e-06 9.99996373e-01 6.49531453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.084012739 meters Centerline goodness : 0.992598 Centerline is valid? [True, True] Translation: X:183.23, Y:123.93, Z:0.65 [[-7.99263478e-01 -6.00976948e-01 2.14470222e-03 1.83226727e+02] [ 6.00974741e-01 -7.99266356e-01 -1.62904518e-03 1.23933321e+02] [ 2.69320692e-03 -1.31244556e-05 9.99996373e-01 6.48302297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11401273900003 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:183.23, Y:123.93, Z:0.65 [[-8.00414620e-01 -5.99442936e-01 2.14530388e-03 1.83230927e+02] [ 5.99440724e-01 -8.00417495e-01 -1.62825245e-03 1.23929512e+02] [ 2.69318319e-03 -1.72945595e-05 9.99996373e-01 6.47237520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.144012739 meters Centerline goodness : 0.993182 Centerline is valid? [True, True] Translation: X:183.22, Y:123.94, Z:0.64 [[-8.02627792e-01 -5.96476339e-01 2.14589986e-03 1.83219984e+02] [ 5.96474120e-01 -8.02630660e-01 -1.62746662e-03 1.23937027e+02] [ 2.69311035e-03 -2.62762143e-05 9.99996373e-01 6.44632412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.174012739 meters Centerline goodness : 0.992639 Centerline is valid? [True, True] Translation: X:183.24, Y:123.92, Z:0.65 [[-8.03366824e-01 -5.95480594e-01 2.14642327e-03 1.83241055e+02] [ 5.95478373e-01 -8.03369691e-01 -1.62677602e-03 1.23920898e+02] [ 2.69308495e-03 -2.87492513e-05 9.99996373e-01 6.45112621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.204012739 meters Centerline goodness : 0.993103 Centerline is valid? [True, True] Translation: X:183.25, Y:123.91, Z:0.64 [[-8.05234802e-01 -5.92952196e-01 2.14627414e-03 1.83252144e+02] [ 5.92949966e-01 -8.05237661e-01 -1.62697275e-03 1.23912665e+02] [ 2.69297783e-03 -3.74619037e-05 9.99996373e-01 6.41419783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.234012739 meters Centerline goodness : 0.992302 Centerline is valid? [True, True] Translation: X:183.25, Y:123.92, Z:0.64 [[-8.05957052e-01 -5.91970119e-01 2.14686184e-03 1.83247084e+02] [ 5.91967887e-01 -8.05959910e-01 -1.62619688e-03 1.23916950e+02] [ 2.69294454e-03 -3.97715798e-05 9.99996373e-01 6.40344977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.264012739 meters Centerline goodness : 0.993023 Centerline is valid? [True, True] Translation: X:183.25, Y:123.91, Z:0.64 [[-8.06213842e-01 -5.91620343e-01 2.14744880e-03 1.83254033e+02] [ 5.91618112e-01 -8.06216701e-01 -1.62542141e-03 1.23912360e+02] [ 2.69294146e-03 -3.99676319e-05 9.99996373e-01 6.37407903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.294012739 meters Centerline goodness : 0.993185 Centerline is valid? [True, True] Translation: X:183.25, Y:123.92, Z:0.64 [[-8.05971559e-01 -5.91950363e-01 2.14803613e-03 1.83248230e+02] [ 5.91948135e-01 -8.05974421e-01 -1.62464487e-03 1.23916851e+02] [ 2.69297129e-03 -3.78915807e-05 9.99996373e-01 6.36251795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.324012739 meters Centerline goodness : 0.992945 Centerline is valid? [True, True] Translation: X:183.25, Y:123.92, Z:0.64 [[-8.05738723e-01 -5.92267249e-01 2.14862400e-03 1.83247911e+02] [ 5.92265024e-01 -8.05741587e-01 -1.62386703e-03 1.23917026e+02] [ 2.69299897e-03 -3.58576986e-05 9.99996373e-01 6.37587363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.354012739 meters Centerline goodness : 0.992867 Centerline is valid? [True, True] Translation: X:183.24, Y:123.92, Z:0.64 [[-8.04998627e-01 -5.93272780e-01 2.14921419e-03 1.83241029e+02] [ 5.93270561e-01 -8.05001495e-01 -1.62308552e-03 1.23923020e+02] [ 2.69305310e-03 -3.15161074e-05 9.99996373e-01 6.40491333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.384012739 meters Centerline goodness : 0.992682 Centerline is valid? [True, True] Translation: X:183.23, Y:123.93, Z:0.64 [[-8.05074665e-01 -5.93169590e-01 2.14980719e-03 1.83231438e+02] [ 5.93167372e-01 -8.05077535e-01 -1.62229971e-03 1.23931223e+02] [ 2.69306032e-03 -3.08769174e-05 9.99996373e-01 6.40748561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.414012739 meters Centerline goodness : 0.993173 Centerline is valid? [True, True] Translation: X:183.25, Y:123.92, Z:0.64 [[-8.05419334e-01 -5.92701504e-01 2.15040530e-03 1.83246815e+02] [ 5.92699287e-01 -8.05422204e-01 -1.62150650e-03 1.23920706e+02] [ 2.69305352e-03 -3.14490007e-05 9.99996373e-01 6.38806171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.444012739 meters Centerline goodness : 0.993086 Centerline is valid? [True, True] Translation: X:183.25, Y:123.92, Z:0.63 [[-8.06385440e-01 -5.91386417e-01 2.15100293e-03 1.83251245e+02] [ 5.91384198e-01 -8.06388309e-01 -1.62071333e-03 1.23918632e+02] [ 2.69301147e-03 -3.48504936e-05 9.99996373e-01 6.33193749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.474012739 meters Centerline goodness : 0.993194 Centerline is valid? [True, True] Translation: X:183.26, Y:123.91, Z:0.63 [[-8.06717203e-01 -5.90933774e-01 2.15152159e-03 1.83256199e+02] [ 5.90931555e-01 -8.06720071e-01 -1.62002452e-03 1.23914972e+02] [ 2.69300285e-03 -3.54996520e-05 9.99996373e-01 6.32861005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.504012739 meters Centerline goodness : 0.993256 Centerline is valid? [True, True] Translation: X:183.25, Y:123.92, Z:0.64 [[-8.05898864e-01 -5.92049314e-01 2.15211327e-03 1.83249526e+02] [ 5.92047100e-01 -8.05901737e-01 -1.61923811e-03 1.23919434e+02] [ 2.69306064e-03 -3.07897342e-05 9.99996373e-01 6.37677362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.534012739 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:183.24, Y:123.93, Z:0.64 [[-8.05001221e-01 -5.93269249e-01 2.15259410e-03 1.83237893e+02] [ 5.93267041e-01 -8.05004098e-01 -1.61859865e-03 1.23927748e+02] [ 2.69311188e-03 -2.59107570e-05 9.99996373e-01 6.39329610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.564012739 meters Centerline goodness : 0.992670 Centerline is valid? [True, True] Translation: X:183.25, Y:123.92, Z:0.64 [[-8.04097124e-01 -5.94494053e-01 2.15319171e-03 1.83245165e+02] [ 5.94491852e-01 -8.04100006e-01 -1.61780327e-03 1.23921490e+02] [ 2.69315589e-03 -2.08160301e-05 9.99996373e-01 6.41008011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.594012739 meters Centerline goodness : 0.993081 Centerline is valid? [True, True] Translation: X:183.25, Y:123.92, Z:0.64 [[-8.02415025e-01 -5.96762506e-01 2.15379114e-03 1.83248592e+02] [ 5.96760315e-01 -8.02417916e-01 -1.61700486e-03 1.23916023e+02] [ 2.69320847e-03 -1.22119146e-05 9.99996373e-01 6.38270148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.624012739 meters Centerline goodness : 0.992800 Centerline is valid? [True, True] Translation: X:183.25, Y:123.91, Z:0.64 [[-8.01298071e-01 -5.98261448e-01 2.15438797e-03 1.83252751e+02] [ 5.98259265e-01 -8.01300967e-01 -1.61620929e-03 1.23911066e+02] [ 2.69322887e-03 -6.18282741e-06 9.99996373e-01 6.36940228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.654012739 meters Centerline goodness : 0.992725 Centerline is valid? [True, True] Translation: X:183.23, Y:123.93, Z:0.64 [[-8.01227508e-01 -5.98355945e-01 2.15498307e-03 1.83231132e+02] [ 5.98353764e-01 -8.01230406e-01 -1.61541542e-03 1.23926731e+02] [ 2.69323138e-03 -4.87304424e-06 9.99996373e-01 6.36243003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.684012739 meters Centerline goodness : 0.993110 Centerline is valid? [True, True] Translation: X:183.25, Y:123.92, Z:0.63 [[-8.01390461e-01 -5.98137679e-01 2.15558315e-03 1.83245578e+02] [ 5.98135500e-01 -8.01393360e-01 -1.61461428e-03 1.23915223e+02] [ 2.69323166e-03 -4.60568183e-06 9.99996373e-01 6.34587131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.714012739 meters Centerline goodness : 0.993089 Centerline is valid? [True, True] Translation: X:183.25, Y:123.91, Z:0.63 [[-8.01808979e-01 -5.97576532e-01 2.15618585e-03 1.83251937e+02] [ 5.97574353e-01 -8.01811879e-01 -1.61380902e-03 1.23909382e+02] [ 2.69322983e-03 -5.48519468e-06 9.99996373e-01 6.32534418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.744012739 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:183.27, Y:123.90, Z:0.63 [[-8.02596625e-01 -5.96518236e-01 2.15678361e-03 1.83266233e+02] [ 5.96516055e-01 -8.02599523e-01 -1.61300975e-03 1.23898671e+02] [ 2.69322323e-03 -8.04013368e-06 9.99996373e-01 6.32701472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.774012739 meters Centerline goodness : 0.993319 Centerline is valid? [True, True] Translation: X:183.26, Y:123.90, Z:0.63 [[-8.04351714e-01 -5.94149532e-01 2.15737649e-03 1.83264527e+02] [ 5.94147344e-01 -8.04354607e-01 -1.61221639e-03 1.23900904e+02] [ 2.69319333e-03 -1.49895092e-05 9.99996373e-01 6.31277730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80401273900003 meters Centerline goodness : 0.992992 Centerline is valid? [True, True] Translation: X:183.26, Y:123.90, Z:0.63 [[-8.05426532e-01 -5.92691695e-01 2.15796700e-03 1.83260179e+02] [ 5.92689505e-01 -8.05429423e-01 -1.61142560e-03 1.23904630e+02] [ 2.69316868e-03 -1.88805370e-05 9.99996373e-01 6.32729965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.834012739 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:183.25, Y:123.91, Z:0.63 [[-8.06602343e-01 -5.91090519e-01 2.15856006e-03 1.83253918e+02] [ 5.91088325e-01 -8.06605231e-01 -1.61063078e-03 1.23910305e+02] [ 2.69313442e-03 -2.32389133e-05 9.99996373e-01 6.33648330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86401273900003 meters Centerline goodness : 0.993202 Centerline is valid? [True, True] Translation: X:183.28, Y:123.90, Z:0.63 [[-8.08507791e-01 -5.88481512e-01 2.15915683e-03 1.83276232e+02] [ 5.88479311e-01 -8.08510674e-01 -1.60983038e-03 1.23897853e+02] [ 2.69305676e-03 -3.09412800e-05 9.99996373e-01 6.33315320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.894012739 meters Centerline goodness : 0.993085 Centerline is valid? [True, True] Translation: X:183.26, Y:123.91, Z:0.63 [[-8.09564953e-01 -5.87026342e-01 2.15900831e-03 1.83261893e+02] [ 5.87024135e-01 -8.09567831e-01 -1.61002953e-03 1.23911189e+02] [ 2.69299342e-03 -3.60334941e-05 9.99996373e-01 6.34420593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.924012739 meters Centerline goodness : 0.993115 Centerline is valid? [True, True] Translation: X:183.30, Y:123.89, Z:0.63 [[-8.10794846e-01 -5.85326450e-01 2.15960048e-03 1.83301080e+02] [ 5.85324239e-01 -8.10797721e-01 -1.60923485e-03 1.23887103e+02] [ 2.69292687e-03 -4.06928139e-05 9.99996373e-01 6.31896843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.954012739 meters Centerline goodness : 0.993038 Centerline is valid? [True, True] Translation: X:183.27, Y:123.91, Z:0.63 [[-8.11452776e-01 -5.84414006e-01 2.15901408e-03 1.83268456e+02] [ 5.84411790e-01 -8.11455647e-01 -1.61002120e-03 1.23914104e+02] [ 2.69286310e-03 -4.47028886e-05 9.99996373e-01 6.32030228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.984012739 meters Centerline goodness : 0.993010 Centerline is valid? [True, True] Translation: X:183.30, Y:123.90, Z:0.63 [[-8.10923025e-01 -5.85148855e-01 2.15960006e-03 1.83300169e+02] [ 5.85146644e-01 -8.10925900e-01 -1.60923480e-03 1.23896449e+02] [ 2.69291753e-03 -4.12828254e-05 9.99996373e-01 6.30503642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.014012739 meters Centerline goodness : 0.993148 Centerline is valid? [True, True] Translation: X:183.27, Y:123.92, Z:0.63 [[-8.10547655e-01 -5.85668709e-01 2.15901310e-03 1.83274689e+02] [ 5.85666498e-01 -8.10550530e-01 -1.61002191e-03 1.23918069e+02] [ 2.69292867e-03 -4.05378365e-05 9.99996373e-01 6.30303373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.044012739 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:183.30, Y:123.90, Z:0.63 [[-8.09802961e-01 -5.86697964e-01 2.15959974e-03 1.83299399e+02] [ 5.86695758e-01 -8.09805840e-01 -1.60923464e-03 1.23901641e+02] [ 2.69299117e-03 -3.61349734e-05 9.99996373e-01 6.29684781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.074012739 meters Centerline goodness : 0.993103 Centerline is valid? [True, True] Translation: X:183.30, Y:123.91, Z:0.63 [[-8.08135291e-01 -5.88992942e-01 2.15981983e-03 1.83295900e+02] [ 5.88990745e-01 -8.08138177e-01 -1.60893919e-03 1.23906136e+02] [ 2.69308669e-03 -2.81266446e-05 9.99996373e-01 6.33752633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.104012739 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:183.27, Y:123.93, Z:0.63 [[-8.07553838e-01 -5.89789904e-01 2.16040322e-03 1.83271179e+02] [ 5.89787712e-01 -8.07556728e-01 -1.60815547e-03 1.23925619e+02] [ 2.69312201e-03 -2.44928516e-05 9.99996373e-01 6.34791240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.134012739 meters Centerline goodness : 0.993297 Centerline is valid? [True, True] Translation: X:183.28, Y:123.92, Z:0.63 [[-8.06006818e-01 -5.91902306e-01 2.16099573e-03 1.83275666e+02] [ 5.91900123e-01 -8.06009715e-01 -1.60735887e-03 1.23923596e+02] [ 2.69318297e-03 -1.64485696e-05 9.99996373e-01 6.33782661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.164012739 meters Centerline goodness : 0.992943 Centerline is valid? [True, True] Translation: X:183.28, Y:123.92, Z:0.63 [[-8.05126498e-01 -5.93099190e-01 2.16159466e-03 1.83275236e+02] [ 5.93097014e-01 -8.05129400e-01 -1.60655302e-03 1.23923735e+02] [ 2.69320871e-03 -1.14430699e-05 9.99996373e-01 6.31460082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.194012739 meters Centerline goodness : 0.992930 Centerline is valid? [True, True] Translation: X:183.28, Y:123.92, Z:0.63 [[-8.04225125e-01 -5.94320850e-01 2.16219329e-03 1.83277786e+02] [ 5.94318681e-01 -8.04228032e-01 -1.60574695e-03 1.23921527e+02] [ 2.69322534e-03 -6.35017987e-06 9.99996373e-01 6.29846620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.224012739 meters Centerline goodness : 0.993233 Centerline is valid? [True, True] Translation: X:183.28, Y:123.92, Z:0.63 [[-8.02519271e-01 -5.96622278e-01 2.16279209e-03 1.83275085e+02] [ 5.96620119e-01 -8.02522185e-01 -1.60494000e-03 1.23921591e+02] [ 2.69323160e-03 2.36999506e-06 9.99996373e-01 6.30970401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.254012739 meters Centerline goodness : 0.993379 Centerline is valid? [True, True] Translation: X:183.27, Y:123.92, Z:0.63 [[-8.00971649e-01 -5.98698369e-01 2.16339147e-03 1.83267431e+02] [ 5.98696220e-01 -8.00974570e-01 -1.60413166e-03 1.23920998e+02] [ 2.69321256e-03 1.03503157e-05 9.99996373e-01 6.32540156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.284012739 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:183.27, Y:123.92, Z:0.63 [[-8.00554148e-01 -5.99256518e-01 2.16399328e-03 1.83268896e+02] [ 5.99254373e-01 -8.00557072e-01 -1.60331940e-03 1.23915296e+02] [ 2.69319973e-03 1.32384436e-05 9.99996373e-01 6.30737821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.314012739 meters Centerline goodness : 0.993042 Centerline is valid? [True, True] Translation: X:183.25, Y:123.92, Z:0.63 [[-8.00268342e-01 -5.99638137e-01 2.16459636e-03 1.83254014e+02] [ 5.99635996e-01 -8.00271270e-01 -1.60250479e-03 1.23921857e+02] [ 2.69318726e-03 1.55360390e-05 9.99996373e-01 6.30125380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.344012739 meters Centerline goodness : 0.993106 Centerline is valid? [True, True] Translation: X:183.26, Y:123.91, Z:0.63 [[-7.99767251e-01 -6.00306302e-01 2.16520259e-03 1.83260437e+02] [ 6.00304166e-01 -7.99770182e-01 -1.60168527e-03 1.23910511e+02] [ 2.69316623e-03 1.88047104e-05 9.99996373e-01 6.28024640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.374012739 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:183.26, Y:123.91, Z:0.63 [[-8.00336650e-01 -5.99546959e-01 2.16581051e-03 1.83261319e+02] [ 5.99544822e-01 -8.00339580e-01 -1.60086281e-03 1.23906103e+02] [ 2.69317631e-03 1.72712942e-05 9.99996373e-01 6.26159469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.404012739 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:183.26, Y:123.90, Z:0.63 [[-8.02175885e-01 -5.97083877e-01 2.16641592e-03 1.83262019e+02] [ 5.97081733e-01 -8.02178810e-01 -1.60004310e-03 1.23896393e+02] [ 2.69321288e-03 1.00113791e-05 9.99996373e-01 6.26682034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.434012739 meters Centerline goodness : 0.993582 Centerline is valid? [True, True] Translation: X:183.28, Y:123.88, Z:0.63 [[-8.03471462e-01 -5.95339326e-01 2.16701993e-03 1.83277374e+02] [ 5.95337178e-01 -8.03474385e-01 -1.59922464e-03 1.23880053e+02] [ 2.69322633e-03 5.17616764e-06 9.99996373e-01 6.25396129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.464012739 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:183.28, Y:123.87, Z:0.63 [[-8.05218916e-01 -5.92973695e-01 2.16679447e-03 1.83282562e+02] [ 5.92971537e-01 -8.05221831e-01 -1.59953006e-03 1.23873011e+02] [ 2.69322946e-03 -3.12441679e-06 9.99996373e-01 6.25168442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.494012739 meters Centerline goodness : 0.993225 Centerline is valid? [True, True] Translation: X:183.29, Y:123.86, Z:0.63 [[-8.08636466e-01 -5.88304657e-01 2.16738569e-03 1.83293131e+02] [ 5.88302485e-01 -8.08639370e-01 -1.59872855e-03 1.23859955e+02] [ 2.69317285e-03 -1.77118135e-05 9.99996373e-01 6.25412121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.524012739 meters Centerline goodness : 0.993551 Centerline is valid? [True, True] Translation: X:183.30, Y:123.85, Z:0.62 [[-8.10389775e-01 -5.85887118e-01 2.16723890e-03 1.83301859e+02] [ 5.85884937e-01 -8.10392673e-01 -1.59892752e-03 1.23850742e+02] [ 2.69310556e-03 -2.60018870e-05 9.99996373e-01 6.24358089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55401273900003 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:183.30, Y:123.85, Z:0.62 [[-8.13602733e-01 -5.81417145e-01 2.16716664e-03 1.83300799e+02] [ 5.81414948e-01 -8.13605618e-01 -1.59902544e-03 1.23845828e+02] [ 2.69291976e-03 -4.09483889e-05 9.99996373e-01 6.22244360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.584012739 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:183.31, Y:123.84, Z:0.62 [[-8.14623758e-01 -5.79985719e-01 2.16774379e-03 1.83312582e+02] [ 5.79983518e-01 -8.14626641e-01 -1.59824264e-03 1.23835710e+02] [ 2.69285975e-03 -4.47107513e-05 9.99996373e-01 6.21750324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61401273900003 meters Centerline goodness : 0.993666 Centerline is valid? [True, True] Translation: X:183.33, Y:123.83, Z:0.62 [[-8.15604755e-01 -5.78605379e-01 2.16760014e-03 1.83325015e+02] [ 5.78603173e-01 -8.15607634e-01 -1.59843744e-03 1.23825635e+02] [ 2.69277572e-03 -4.95128541e-05 9.99996373e-01 6.19654244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.644012739 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:183.33, Y:123.82, Z:0.62 [[-8.16765655e-01 -5.76965482e-01 2.16745818e-03 1.83328911e+02] [ 5.76963270e-01 -8.16768529e-01 -1.59862991e-03 1.23819340e+02] [ 2.69266591e-03 -5.51622480e-05 9.99996373e-01 6.21676634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.674012739 meters Centerline goodness : 0.993441 Centerline is valid? [True, True] Translation: X:183.33, Y:123.81, Z:0.62 [[-8.16126144e-01 -5.77869726e-01 2.16745818e-03 1.83330515e+02] [ 5.77867517e-01 -8.16129020e-01 -1.59862991e-03 1.23813454e+02] [ 2.69272535e-03 -5.21799876e-05 9.99996373e-01 6.23047280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.704012739 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:183.31, Y:123.83, Z:0.62 [[-8.15599404e-01 -5.78612922e-01 2.16745818e-03 1.83306204e+02] [ 5.78610716e-01 -8.15602283e-01 -1.59862991e-03 1.23829395e+02] [ 2.69277177e-03 -4.97270731e-05 9.99996373e-01 6.24289995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.734012739 meters Centerline goodness : 0.993696 Centerline is valid? [True, True] Translation: X:183.32, Y:123.82, Z:0.63 [[-8.14314067e-01 -5.80420451e-01 2.16802332e-03 1.83317358e+02] [ 5.80418253e-01 -8.14316952e-01 -1.59786311e-03 1.23819039e+02] [ 2.69289057e-03 -4.28021027e-05 9.99996373e-01 6.25248316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.764012739 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:183.30, Y:123.82, Z:0.62 [[-8.12085202e-01 -5.83534854e-01 2.16780931e-03 1.83303909e+02] [ 5.83532667e-01 -8.12088094e-01 -1.59815341e-03 1.23822330e+02] [ 2.69303035e-03 -3.28491893e-05 9.99996373e-01 6.23645316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.794012739 meters Centerline goodness : 0.993738 Centerline is valid? [True, True] Translation: X:183.28, Y:123.83, Z:0.62 [[-8.11322825e-01 -5.84594366e-01 2.16837655e-03 1.83284428e+02] [ 5.84592184e-01 -8.11325722e-01 -1.59738341e-03 1.23833241e+02] [ 2.69308101e-03 -2.83776426e-05 9.99996373e-01 6.22501824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.824012739 meters Centerline goodness : 0.993567 Centerline is valid? [True, True] Translation: X:183.29, Y:123.82, Z:0.62 [[-8.10682217e-01 -5.85482399e-01 2.16895130e-03 1.83292915e+02] [ 5.85480222e-01 -8.10685118e-01 -1.59660262e-03 1.23823290e+02] [ 2.69311927e-03 -2.44592596e-05 9.99996373e-01 6.22409504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.854012739 meters Centerline goodness : 0.993385 Centerline is valid? [True, True] Translation: X:183.28, Y:123.83, Z:0.62 [[-8.10590266e-01 -5.85609697e-01 2.16873378e-03 1.83277207e+02] [ 5.85607520e-01 -8.10593167e-01 -1.59689803e-03 1.23829090e+02] [ 2.69311976e-03 -2.44031888e-05 9.99996373e-01 6.24141248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.884012739 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:183.27, Y:123.83, Z:0.63 [[-8.10787347e-01 -5.85336802e-01 2.16931097e-03 1.83273768e+02] [ 5.85334627e-01 -8.10790249e-01 -1.59611356e-03 1.23828219e+02] [ 2.69312019e-03 -2.43358472e-05 9.99996373e-01 6.25183145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.914012739 meters Centerline goodness : 0.993629 Centerline is valid? [True, True] Translation: X:183.27, Y:123.83, Z:0.63 [[-8.10760777e-01 -5.85373604e-01 2.16923856e-03 1.83273100e+02] [ 5.85371428e-01 -8.10763679e-01 -1.59621197e-03 1.23828726e+02] [ 2.69312019e-03 -2.43357819e-05 9.99996373e-01 6.25185395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.944012739 meters Centerline goodness : 0.993488 Centerline is valid? [True, True] Translation: X:183.29, Y:123.81, Z:0.62 [[-8.11752494e-01 -5.83997589e-01 2.16916610e-03 1.83290902e+02] [ 5.83995408e-01 -8.11755392e-01 -1.59631043e-03 1.23809716e+02] [ 2.69307372e-03 -2.90259287e-05 9.99996373e-01 6.24311492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.974012739 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:183.30, Y:123.80, Z:0.62 [[-8.12814689e-01 -5.82518307e-01 2.16859042e-03 1.83299082e+02] [ 5.82516119e-01 -8.12817582e-01 -1.59709211e-03 1.23802486e+02] [ 2.69300381e-03 -3.49010532e-05 9.99996373e-01 6.22542925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.004012739 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:183.29, Y:123.81, Z:0.62 [[-8.14257973e-01 -5.80499141e-01 2.16837618e-03 1.83293035e+02] [ 5.80496944e-01 -8.14260859e-01 -1.59738294e-03 1.23806354e+02] [ 2.69290327e-03 -4.19460457e-05 9.99996373e-01 6.22224917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.034012739 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:183.32, Y:123.79, Z:0.62 [[-8.17236109e-01 -5.76298917e-01 2.16830554e-03 1.83317305e+02] [ 5.76296705e-01 -8.17238983e-01 -1.59747881e-03 1.23788177e+02] [ 2.69264912e-03 -5.59300288e-05 9.99996373e-01 6.20010624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.064012739 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:183.32, Y:123.79, Z:0.62 [[-8.18675569e-01 -5.74252222e-01 2.16774394e-03 1.83315190e+02] [ 5.74250001e-01 -8.18678436e-01 -1.59824052e-03 1.23790543e+02] [ 2.69247839e-03 -6.36135078e-05 9.99996373e-01 6.20761381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.094012739 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:183.33, Y:123.79, Z:0.62 [[-8.21191835e-01 -5.70648115e-01 2.16767460e-03 1.83325708e+02] [ 5.70645881e-01 -8.21194693e-01 -1.59833456e-03 1.23785593e+02] [ 2.69216949e-03 -7.55647095e-05 9.99996373e-01 6.19646101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.124012739 meters Centerline goodness : 0.993686 Centerline is valid? [True, True] Translation: X:183.32, Y:123.79, Z:0.62 [[-8.22044382e-01 -5.69419297e-01 2.16746565e-03 1.83324021e+02] [ 5.69417058e-01 -8.22047236e-01 -1.59861786e-03 1.23787379e+02] [ 2.69204301e-03 -7.99429174e-05 9.99996373e-01 6.19059770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.154012739 meters Centerline goodness : 0.993976 Centerline is valid? [True, True] Translation: X:183.32, Y:123.79, Z:0.62 [[-8.22813779e-01 -5.68306948e-01 2.16732757e-03 1.83318350e+02] [ 5.68304705e-01 -8.22816629e-01 -1.59880505e-03 1.23791821e+02] [ 2.69192518e-03 -8.38163722e-05 9.99996373e-01 6.17420051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.184012739 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:183.33, Y:123.79, Z:0.61 [[-8.22675247e-01 -5.68507465e-01 2.16781133e-03 1.83327496e+02] [ 5.68505225e-01 -8.22678099e-01 -1.59814885e-03 1.23787741e+02] [ 2.69197046e-03 -8.23454360e-05 9.99996373e-01 6.13404428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.214012739 meters Centerline goodness : 0.994059 Centerline is valid? [True, True] Translation: X:183.32, Y:123.80, Z:0.61 [[-8.22142416e-01 -5.69277743e-01 2.16767292e-03 1.83322622e+02] [ 5.69275505e-01 -8.22145270e-01 -1.59833657e-03 1.23796682e+02] [ 2.69203947e-03 -8.00571980e-05 9.99996373e-01 6.10049035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.244012739 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:183.32, Y:123.80, Z:0.61 [[-8.22204509e-01 -5.69188056e-01 2.16822582e-03 1.83320431e+02] [ 5.69185820e-01 -8.22207365e-01 -1.59758618e-03 1.23801612e+02] [ 2.69205821e-03 -7.94191693e-05 9.99996373e-01 6.09769554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.274012739 meters Centerline goodness : 0.993698 Centerline is valid? [True, True] Translation: X:183.32, Y:123.81, Z:0.61 [[-8.22208996e-01 -5.69181573e-01 2.16878197e-03 1.83320689e+02] [ 5.69179338e-01 -8.22211853e-01 -1.59683083e-03 1.23805688e+02] [ 2.69208492e-03 -7.85027854e-05 9.99996373e-01 6.09835144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30401273900003 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:183.33, Y:123.81, Z:0.61 [[-8.21371295e-01 -5.70389770e-01 2.16934005e-03 1.83326824e+02] [ 5.70387542e-01 -8.21374156e-01 -1.59607230e-03 1.23808054e+02] [ 2.69222316e-03 -7.36034296e-05 9.99996373e-01 6.11102269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.334012739 meters Centerline goodness : 0.994198 Centerline is valid? [True, True] Translation: X:183.33, Y:123.81, Z:0.61 [[-8.20312633e-01 -5.71911250e-01 2.16934005e-03 1.83325384e+02] [ 5.71909027e-01 -8.20315499e-01 -1.59607230e-03 1.23811516e+02] [ 2.69235497e-03 -6.86131103e-05 9.99996373e-01 6.11473147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36401273900003 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:183.32, Y:123.82, Z:0.61 [[-8.16702505e-01 -5.77054859e-01 2.16989846e-03 1.83323332e+02] [ 5.77052656e-01 -8.16705386e-01 -1.59531277e-03 1.23816502e+02] [ 2.69275074e-03 -5.07502639e-05 9.99996373e-01 6.11261124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.394012739 meters Centerline goodness : 0.995227 Centerline is valid? [True, True] Translation: X:183.32, Y:123.82, Z:0.61 [[-8.14711736e-01 -5.79862118e-01 2.17045899e-03 1.83318699e+02] [ 5.79859927e-01 -8.14714626e-01 -1.59454979e-03 1.23821944e+02] [ 2.69292370e-03 -4.05362399e-05 9.99996373e-01 6.11553350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.424012739 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:183.29, Y:123.85, Z:0.61 [[-8.12843565e-01 -5.82478004e-01 2.17102251e-03 1.83286562e+02] [ 5.82475824e-01 -8.12846464e-01 -1.59378217e-03 1.23847479e+02] [ 2.69305103e-03 -3.09274569e-05 9.99996373e-01 6.12874797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.454012739 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:183.29, Y:123.85, Z:0.62 [[-8.09462587e-01 -5.87167441e-01 2.17159597e-03 1.83294066e+02] [ 5.87165280e-01 -8.09465500e-01 -1.59300042e-03 1.23846118e+02] [ 2.69319000e-03 -1.43884895e-05 9.99996373e-01 6.16050544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.484012739 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:183.27, Y:123.87, Z:0.62 [[-8.08398029e-01 -5.88632238e-01 2.17152365e-03 1.83273745e+02] [ 5.88630082e-01 -8.08400946e-01 -1.59309900e-03 1.23866022e+02] [ 2.69321120e-03 -9.63395297e-06 9.99996373e-01 6.16837817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.514012739 meters Centerline goodness : 0.994868 Centerline is valid? [True, True] Translation: X:183.28, Y:123.86, Z:0.62 [[-8.08887020e-01 -5.87960093e-01 2.17210874e-03 1.83282140e+02] [ 5.87957937e-01 -8.08889936e-01 -1.59230086e-03 1.23862654e+02] [ 2.69320626e-03 -1.08829239e-05 9.99996373e-01 6.15211379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.544012739 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:183.29, Y:123.86, Z:0.61 [[-8.09310694e-01 -5.87376779e-01 2.17269852e-03 1.83291234e+02] [ 5.87374623e-01 -8.09313610e-01 -1.59149570e-03 1.23858537e+02] [ 2.69320210e-03 -1.18265116e-05 9.99996373e-01 6.13298071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.574012739 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:183.30, Y:123.85, Z:0.61 [[-8.09386725e-01 -5.87272005e-01 2.17277164e-03 1.83302231e+02] [ 5.87269849e-01 -8.09389642e-01 -1.59139587e-03 1.23852860e+02] [ 2.69320110e-03 -1.20514208e-05 9.99996373e-01 6.10702129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.604012739 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:183.28, Y:123.87, Z:0.61 [[-8.09310162e-01 -5.87377511e-01 2.17277164e-03 1.83276587e+02] [ 5.87375355e-01 -8.09313079e-01 -1.59139587e-03 1.23874535e+02] [ 2.69320265e-03 -1.17003387e-05 9.99996373e-01 6.09933494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.634012739 meters Centerline goodness : 0.994365 Centerline is valid? [True, True] Translation: X:183.29, Y:123.87, Z:0.61 [[-8.07792326e-01 -5.89463174e-01 2.17335862e-03 1.83288482e+02] [ 5.89461028e-01 -8.07795250e-01 -1.59059382e-03 1.23867512e+02] [ 2.69322525e-03 -3.75927093e-06 9.99996373e-01 6.12100362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.664012739 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:183.29, Y:123.86, Z:0.61 [[-8.06673125e-01 -5.90993863e-01 2.17335862e-03 1.83294788e+02] [ 5.90991723e-01 -8.06676053e-01 -1.59059382e-03 1.23864836e+02] [ 2.69322754e-03 1.34767156e-06 9.99996373e-01 6.13346417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.694012739 meters Centerline goodness : 0.994141 Centerline is valid? [True, True] Translation: X:183.27, Y:123.88, Z:0.61 [[-8.05293519e-01 -5.92872349e-01 2.17394607e-03 1.83273869e+02] [ 5.92870217e-01 -8.05296454e-01 -1.58979051e-03 1.23881439e+02] [ 2.69321390e-03 8.61988389e-06 9.99996373e-01 6.13759706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.724012739 meters Centerline goodness : 0.994284 Centerline is valid? [True, True] Translation: X:183.27, Y:123.88, Z:0.62 [[-8.02216077e-01 -5.97029846e-01 2.17453845e-03 1.83272348e+02] [ 5.97027732e-01 -8.02219024e-01 -1.58897984e-03 1.23880028e+02] [ 2.69312450e-03 2.35545860e-05 9.99996373e-01 6.15027510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.754012739 meters Centerline goodness : 0.993557 Centerline is valid? [True, True] Translation: X:183.25, Y:123.89, Z:0.61 [[-8.00726997e-01 -5.99025497e-01 2.17513740e-03 1.83254852e+02] [ 5.99023392e-01 -8.00729950e-01 -1.58815952e-03 1.23890273e+02] [ 2.69304571e-03 3.12759812e-05 9.99996373e-01 6.14911313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.784012739 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:183.26, Y:123.89, Z:0.61 [[-7.99281435e-01 -6.00952955e-01 2.17574168e-03 1.83256988e+02] [ 6.00950860e-01 -7.99284395e-01 -1.58733124e-03 1.23886492e+02] [ 2.69294777e-03 3.87894376e-05 9.99996373e-01 6.11678585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.814012739 meters Centerline goodness : 0.993980 Centerline is valid? [True, True] Translation: X:183.26, Y:123.88, Z:0.60 [[-7.96520160e-01 -6.04608053e-01 2.17635026e-03 1.83260509e+02] [ 6.04605974e-01 -7.96523132e-01 -1.58649639e-03 1.23877910e+02] [ 2.69272182e-03 5.21580139e-05 9.99996373e-01 6.03032458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.844012739 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:183.26, Y:123.88, Z:0.60 [[-7.95747424e-01 -6.05624719e-01 2.17642585e-03 1.83256443e+02] [ 6.05622644e-01 -7.95750399e-01 -1.58639268e-03 1.23876312e+02] [ 2.69265036e-03 5.57248885e-05 9.99996373e-01 6.00130445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.874012739 meters Centerline goodness : 0.993518 Centerline is valid? [True, True] Translation: X:183.26, Y:123.86, Z:0.60 [[-7.94234941e-01 -6.07606879e-01 2.17703166e-03 1.83262821e+02] [ 6.07604813e-01 -7.94237922e-01 -1.58556089e-03 1.23861814e+02] [ 2.69247880e-03 6.34670534e-05 9.99996373e-01 5.97994063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.904012739 meters Centerline goodness : 0.993076 Centerline is valid? [True, True] Translation: X:183.24, Y:123.87, Z:0.60 [[-7.94527821e-01 -6.07223850e-01 2.17680416e-03 1.83241352e+02] [ 6.07221782e-01 -7.94530800e-01 -1.58587316e-03 1.23873096e+02] [ 2.69251796e-03 6.17825594e-05 9.99996373e-01 5.99138510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.934012739 meters Centerline goodness : 0.993108 Centerline is valid? [True, True] Translation: X:183.23, Y:123.88, Z:0.60 [[-7.95438479e-01 -6.06030432e-01 2.17740957e-03 1.83228946e+02] [ 6.06028362e-01 -7.95441457e-01 -1.58504150e-03 1.23878040e+02] [ 2.69258522e-03 5.87689560e-05 9.99996373e-01 5.99655351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.964012739 meters Centerline goodness : 0.993007 Centerline is valid? [True, True] Translation: X:183.24, Y:123.86, Z:0.60 [[-7.97787887e-01 -6.02934278e-01 2.17802402e-03 1.83243697e+02] [ 6.02932199e-01 -7.97790858e-01 -1.58419671e-03 1.23859502e+02] [ 2.69277416e-03 4.93478652e-05 9.99996373e-01 5.98541759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.994012739 meters Centerline goodness : 0.993025 Centerline is valid? [True, True] Translation: X:183.25, Y:123.85, Z:0.60 [[-7.99190514e-01 -6.01073857e-01 2.17741188e-03 1.83251092e+02] [ 6.01071769e-01 -7.99193479e-01 -1.58503764e-03 1.23851305e+02] [ 2.69289806e-03 4.20337671e-05 9.99996373e-01 5.98678296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.024012739 meters Centerline goodness : 0.993171 Centerline is valid? [True, True] Translation: X:183.27, Y:123.83, Z:0.60 [[-8.02409292e-01 -5.96770130e-01 2.17718417e-03 1.83266832e+02] [ 5.96768025e-01 -8.02412245e-01 -1.58535035e-03 1.23834341e+02] [ 2.69308897e-03 2.71740429e-05 9.99996373e-01 6.01064935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05401273900003 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:183.27, Y:123.83, Z:0.60 [[-8.04309115e-01 -5.94207127e-01 2.17658866e-03 1.83273812e+02] [ 5.94205010e-01 -8.04312060e-01 -1.58616752e-03 1.23826410e+02] [ 2.69316856e-03 1.75708908e-05 9.99996373e-01 6.03814104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.084012739 meters Centerline goodness : 0.992690 Centerline is valid? [True, True] Translation: X:183.28, Y:123.82, Z:0.61 [[-8.06063269e-01 -5.91825371e-01 2.17636691e-03 1.83282946e+02] [ 5.91823244e-01 -8.06066207e-01 -1.58647173e-03 1.23816950e+02] [ 2.69321004e-03 9.22793537e-06 9.99996373e-01 6.06331640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11401273900003 meters Centerline goodness : 0.992557 Centerline is valid? [True, True] Translation: X:183.28, Y:123.82, Z:0.61 [[-8.08350762e-01 -5.88697129e-01 2.17614743e-03 1.83277103e+02] [ 5.88694991e-01 -8.08353691e-01 -1.58677274e-03 1.23817226e+02] [ 2.69322536e-03 -1.58186494e-06 9.99996373e-01 6.05439368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.144012739 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:183.28, Y:123.81, Z:0.60 [[-8.08729209e-01 -5.88177125e-01 2.17607515e-03 1.83284257e+02] [ 5.88174984e-01 -8.08732137e-01 -1.58687186e-03 1.23809809e+02] [ 2.69322363e-03 -3.43665787e-06 9.99996373e-01 6.03328484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.174012739 meters Centerline goodness : 0.992636 Centerline is valid? [True, True] Translation: X:183.28, Y:123.81, Z:0.60 [[-8.09228327e-01 -5.87490238e-01 2.17585714e-03 1.83282167e+02] [ 5.87488095e-01 -8.09231252e-01 -1.58717072e-03 1.23807813e+02] [ 2.69321890e-03 -6.09334117e-06 9.99996373e-01 6.02453681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.204012739 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:183.27, Y:123.82, Z:0.60 [[-8.09787397e-01 -5.86719386e-01 2.17564023e-03 1.83266337e+02] [ 5.86717239e-01 -8.09790320e-01 -1.58746799e-03 1.23817492e+02] [ 2.69321065e-03 -9.02594465e-06 9.99996373e-01 6.03356105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.234012739 meters Centerline goodness : 0.992590 Centerline is valid? [True, True] Translation: X:183.28, Y:123.80, Z:0.60 [[-8.09958617e-01 -5.86482995e-01 2.17621938e-03 1.83281067e+02] [ 5.86480849e-01 -8.09961540e-01 -1.58667366e-03 1.23804034e+02] [ 2.69321112e-03 -8.82901343e-06 9.99996373e-01 6.03636594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.264012739 meters Centerline goodness : 0.992888 Centerline is valid? [True, True] Translation: X:183.28, Y:123.80, Z:0.60 [[-8.10542721e-01 -5.85675477e-01 2.17564064e-03 1.83277241e+02] [ 5.85673325e-01 -8.10545641e-01 -1.58746682e-03 1.23801831e+02] [ 2.69319643e-03 -1.24949894e-05 9.99996373e-01 5.99511675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.294012739 meters Centerline goodness : 0.992578 Centerline is valid? [True, True] Translation: X:183.27, Y:123.80, Z:0.60 [[-8.10515410e-01 -5.85713273e-01 2.17549680e-03 1.83274519e+02] [ 5.85711121e-01 -8.10518329e-01 -1.58766392e-03 1.23802641e+02] [ 2.69319587e-03 -1.26134023e-05 9.99996373e-01 5.97897183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.324012739 meters Centerline goodness : 0.992506 Centerline is valid? [True, True] Translation: X:183.29, Y:123.79, Z:0.60 [[-8.11370333e-01 -5.84528401e-01 2.17528009e-03 1.83289070e+02] [ 5.84526244e-01 -8.11373248e-01 -1.58796079e-03 1.23791227e+02] [ 2.69317225e-03 -1.69159706e-05 9.99996373e-01 6.00698815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.354012739 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:183.28, Y:123.79, Z:0.60 [[-8.12169207e-01 -5.83417903e-01 2.17470938e-03 1.83283941e+02] [ 5.83415740e-01 -8.12172118e-01 -1.58874199e-03 1.23794312e+02] [ 2.69313884e-03 -2.15676351e-05 9.99996373e-01 6.03782290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.384012739 meters Centerline goodness : 0.992960 Centerline is valid? [True, True] Translation: X:183.29, Y:123.79, Z:0.61 [[-8.12814735e-01 -5.82518220e-01 2.17456724e-03 1.83286032e+02] [ 5.82516054e-01 -8.12817644e-01 -1.58893651e-03 1.23793165e+02] [ 2.69311109e-03 -2.47906816e-05 9.99996373e-01 6.05348906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.414012739 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:183.28, Y:123.80, Z:0.60 [[-8.12794633e-01 -5.82546271e-01 2.17435311e-03 1.83283433e+02] [ 5.82544104e-01 -8.12797541e-01 -1.58922949e-03 1.23795823e+02] [ 2.69310857e-03 -2.50606162e-05 9.99996373e-01 6.03030505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.444012739 meters Centerline goodness : 0.992389 Centerline is valid? [True, True] Translation: X:183.29, Y:123.79, Z:0.60 [[-8.12916435e-01 -5.82376290e-01 2.17413919e-03 1.83286104e+02] [ 5.82374122e-01 -8.12919342e-01 -1.58952209e-03 1.23793919e+02] [ 2.69309977e-03 -2.59862273e-05 9.99996373e-01 5.99907740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.474012739 meters Centerline goodness : 0.991693 Centerline is valid? [True, True] Translation: X:183.28, Y:123.80, Z:0.60 [[-8.12844951e-01 -5.82476059e-01 2.17392560e-03 1.83282066e+02] [ 5.82473890e-01 -8.12847858e-01 -1.58981416e-03 1.23796558e+02] [ 2.69309945e-03 -2.60175118e-05 9.99996373e-01 5.96190507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.504012739 meters Centerline goodness : 0.992040 Centerline is valid? [True, True] Translation: X:183.28, Y:123.80, Z:0.60 [[-8.12603394e-01 -5.82813005e-01 2.17378392e-03 1.83277668e+02] [ 5.82810836e-01 -8.12606301e-01 -1.59000785e-03 1.23800261e+02] [ 2.69310776e-03 -2.51409504e-05 9.99996373e-01 5.95784082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.534012739 meters Centerline goodness : 0.992548 Centerline is valid? [True, True] Translation: X:183.27, Y:123.81, Z:0.60 [[-8.12926111e-01 -5.82362785e-01 2.17364184e-03 1.83265063e+02] [ 5.82360615e-01 -8.12929016e-01 -1.59020206e-03 1.23811363e+02] [ 2.69309102e-03 -2.68733825e-05 9.99996373e-01 6.00365856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.564012739 meters Centerline goodness : 0.992262 Centerline is valid? [True, True] Translation: X:183.28, Y:123.80, Z:0.60 [[-8.12905392e-01 -5.82391703e-01 2.17421365e-03 1.83281074e+02] [ 5.82389535e-01 -8.12908299e-01 -1.58941987e-03 1.23800616e+02] [ 2.69310126e-03 -2.58087053e-05 9.99996373e-01 6.01041634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.594012739 meters Centerline goodness : 0.992381 Centerline is valid? [True, True] Translation: X:183.28, Y:123.80, Z:0.60 [[-8.13009203e-01 -5.82246779e-01 2.17364241e-03 1.83278655e+02] [ 5.82244608e-01 -8.13012108e-01 -1.59020068e-03 1.23803746e+02] [ 2.69308683e-03 -2.72562123e-05 9.99996373e-01 5.99698535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.624012739 meters Centerline goodness : 0.992360 Centerline is valid? [True, True] Translation: X:183.27, Y:123.81, Z:0.60 [[-8.12859288e-01 -5.82456053e-01 2.17350037e-03 1.83274767e+02] [ 5.82453882e-01 -8.12862194e-01 -1.59039481e-03 1.23813430e+02] [ 2.69309136e-03 -2.68034644e-05 9.99996373e-01 5.96658199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.654012739 meters Centerline goodness : 0.992973 Centerline is valid? [True, True] Translation: X:183.28, Y:123.82, Z:0.60 [[-8.12171074e-01 -5.83415309e-01 2.17342940e-03 1.83281635e+02] [ 5.83413142e-01 -8.12173982e-01 -1.59049179e-03 1.23817312e+02] [ 2.69312007e-03 -2.37441558e-05 9.99996373e-01 5.97444785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.684012739 meters Centerline goodness : 0.993042 Centerline is valid? [True, True] Translation: X:183.28, Y:123.82, Z:0.60 [[-8.11648313e-01 -5.84142357e-01 2.17321443e-03 1.83277553e+02] [ 5.84140192e-01 -8.11651222e-01 -1.59078547e-03 1.23822752e+02] [ 2.69313732e-03 -2.16964510e-05 9.99996373e-01 5.97887818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.714012739 meters Centerline goodness : 0.992991 Centerline is valid? [True, True] Translation: X:183.26, Y:123.84, Z:0.60 [[-8.11109688e-01 -5.84890033e-01 2.17328559e-03 1.83258137e+02] [ 5.84887871e-01 -8.11112599e-01 -1.59068824e-03 1.23838860e+02] [ 2.69315702e-03 -1.90942652e-05 9.99996373e-01 5.98019994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.744012739 meters Centerline goodness : 0.992494 Centerline is valid? [True, True] Translation: X:183.26, Y:123.84, Z:0.59 [[-8.08961361e-01 -5.87857798e-01 2.17386289e-03 1.83262738e+02] [ 5.87855648e-01 -8.08964282e-01 -1.58989890e-03 1.23840042e+02] [ 2.69321190e-03 -8.24919495e-06 9.99996373e-01 5.94170594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.774012739 meters Centerline goodness : 0.992567 Centerline is valid? [True, True] Translation: X:183.26, Y:123.85, Z:0.59 [[-8.07924914e-01 -5.89281435e-01 2.17371724e-03 1.83255034e+02] [ 5.89279289e-01 -8.07927838e-01 -1.59009801e-03 1.23849022e+02] [ 2.69322191e-03 -3.75324300e-06 9.99996373e-01 5.93688494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80401273900003 meters Centerline goodness : 0.993120 Centerline is valid? [True, True] Translation: X:183.26, Y:123.85, Z:0.60 [[-8.05920294e-01 -5.92020061e-01 2.17430086e-03 1.83256331e+02] [ 5.92017927e-01 -8.05923227e-01 -1.58929957e-03 1.23852510e+02] [ 2.69321679e-03 6.37630891e-06 9.99996373e-01 5.95082488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.834012739 meters Centerline goodness : 0.993120 Centerline is valid? [True, True] Translation: X:183.26, Y:123.85, Z:0.60 [[-8.05893076e-01 -5.92057111e-01 2.17415413e-03 1.83255662e+02] [ 5.92054978e-01 -8.05896009e-01 -1.58950026e-03 1.23853014e+02] [ 2.69321707e-03 6.25152287e-06 9.99996373e-01 5.95084730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86401273900003 meters Centerline goodness : 0.993344 Centerline is valid? [True, True] Translation: X:183.25, Y:123.86, Z:0.60 [[-8.05103168e-01 -5.93130814e-01 2.17408106e-03 1.83246881e+02] [ 5.93128684e-01 -8.05106103e-01 -1.58960021e-03 1.23860386e+02] [ 2.69320679e-03 9.71766967e-06 9.99996373e-01 5.96420984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.894012739 meters Centerline goodness : 0.992828 Centerline is valid? [True, True] Translation: X:183.24, Y:123.86, Z:0.60 [[-8.04268442e-01 -5.94262184e-01 2.17467003e-03 1.83244985e+02] [ 5.94260060e-01 -8.04271382e-01 -1.58879405e-03 1.23861997e+02] [ 2.69318509e-03 1.45026220e-05 9.99996373e-01 5.96828810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.924012739 meters Centerline goodness : 0.992793 Centerline is valid? [True, True] Translation: X:183.24, Y:123.87, Z:0.60 [[-8.02536611e-01 -5.96598909e-01 2.17467003e-03 1.83239054e+02] [ 5.96596794e-01 -8.02539557e-01 -1.58879405e-03 1.23867312e+02] [ 2.69313152e-03 2.23357703e-05 9.99996373e-01 5.96243892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.954012739 meters Centerline goodness : 0.992609 Centerline is valid? [True, True] Translation: X:183.23, Y:123.88, Z:0.60 [[-8.01587476e-01 -5.97873555e-01 2.17526482e-03 1.83225654e+02] [ 5.97871446e-01 -8.01590427e-01 -1.58797929e-03 1.23877400e+02] [ 2.69308228e-03 2.76244144e-05 9.99996373e-01 5.96649644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.984012739 meters Centerline goodness : 0.992240 Centerline is valid? [True, True] Translation: X:183.22, Y:123.88, Z:0.60 [[-8.00869127e-01 -5.98835459e-01 2.17586575e-03 1.83219231e+02] [ 5.98833357e-01 -8.00872082e-01 -1.58715546e-03 1.23879644e+02] [ 2.69303510e-03 3.18771867e-05 9.99996373e-01 6.02872210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.014012739 meters Centerline goodness : 0.992228 Centerline is valid? [True, True] Translation: X:183.25, Y:123.86, Z:0.60 [[-8.00366974e-01 -5.99506430e-01 2.17881848e-03 1.83246110e+02] [ 5.99504341e-01 -8.00369939e-01 -1.58310533e-03 1.23858156e+02] [ 2.69294264e-03 3.91459185e-05 9.99996373e-01 6.03253950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.044012739 meters Centerline goodness : 0.992248 Centerline is valid? [True, True] Translation: X:183.24, Y:123.86, Z:0.60 [[-8.01302494e-01 -5.98255446e-01 2.17589812e-03 1.83241710e+02] [ 5.98253341e-01 -8.01305448e-01 -1.58710910e-03 1.23860907e+02] [ 2.69305567e-03 2.99838413e-05 9.99996373e-01 6.02893861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.074012739 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:183.26, Y:123.85, Z:0.60 [[-8.05259790e-01 -5.92918153e-01 2.17597220e-03 1.83255517e+02] [ 5.92916029e-01 -8.05262730e-01 -1.58700752e-03 1.23852401e+02] [ 2.69319488e-03 1.22154572e-05 9.99996373e-01 5.97219051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.104012739 meters Centerline goodness : 0.992736 Centerline is valid? [True, True] Translation: X:183.26, Y:123.85, Z:0.60 [[-8.08134133e-01 -5.88994473e-01 2.17582412e-03 1.83264798e+02] [ 5.88992334e-01 -8.08137062e-01 -1.58721051e-03 1.23847292e+02] [ 2.69322233e-03 -1.13525939e-06 9.99996373e-01 5.96459930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.134012739 meters Centerline goodness : 0.992529 Centerline is valid? [True, True] Translation: X:183.29, Y:123.83, Z:0.60 [[-8.14158995e-01 -5.80637923e-01 2.17560328e-03 1.83292643e+02] [ 5.80635754e-01 -8.14161901e-01 -1.58751316e-03 1.23831441e+02] [ 2.69306365e-03 -2.92550618e-05 9.99996373e-01 5.97654247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.164012739 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:183.29, Y:123.84, Z:0.60 [[-8.17000844e-01 -5.76632371e-01 2.17502743e-03 1.83292335e+02] [ 5.76630185e-01 -8.17003738e-01 -1.58830173e-03 1.23835352e+02] [ 2.69287173e-03 -4.34573797e-05 9.99996373e-01 5.99194403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.194012739 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:183.32, Y:123.82, Z:0.60 [[-8.19112088e-01 -5.73629369e-01 2.17559758e-03 1.83315080e+02] [ 5.73627175e-01 -8.19114976e-01 -1.58752038e-03 1.23822843e+02] [ 2.69271287e-03 -5.23752352e-05 9.99996373e-01 6.01272228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.224012739 meters Centerline goodness : 0.993300 Centerline is valid? [True, True] Translation: X:183.32, Y:123.83, Z:0.60 [[-8.22071943e-01 -5.69379478e-01 2.17503214e-03 1.83322097e+02] [ 5.69377267e-01 -8.22074818e-01 -1.58829469e-03 1.23827384e+02] [ 2.69238156e-03 -6.72786477e-05 9.99996373e-01 6.02153410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.254012739 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:183.33, Y:123.83, Z:0.60 [[-8.22658197e-01 -5.68532108e-01 2.17559234e-03 1.83332378e+02] [ 5.68529895e-01 -8.22661071e-01 -1.58752699e-03 1.23829585e+02] [ 2.69233519e-03 -6.91028095e-05 9.99996373e-01 5.99577776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.284012739 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:183.32, Y:123.84, Z:0.60 [[-8.22761176e-01 -5.68383069e-01 2.17594050e-03 1.83323063e+02] [ 5.68380857e-01 -8.22764050e-01 -1.58704964e-03 1.23841715e+02] [ 2.69233776e-03 -6.89999046e-05 9.99996373e-01 5.99202829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.314012739 meters Centerline goodness : 0.993384 Centerline is valid? [True, True] Translation: X:183.33, Y:123.85, Z:0.60 [[-8.22471479e-01 -5.68802189e-01 2.17650137e-03 1.83325156e+02] [ 5.68799981e-01 -8.22474356e-01 -1.58628008e-03 1.23846209e+02] [ 2.69239614e-03 -6.66761917e-05 9.99996373e-01 5.97996296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.344012739 meters Centerline goodness : 0.993778 Centerline is valid? [True, True] Translation: X:183.34, Y:123.85, Z:0.60 [[-8.21400790e-01 -5.70347265e-01 2.17706595e-03 1.83343758e+02] [ 5.70345065e-01 -8.21403673e-01 -1.58550485e-03 1.23845052e+02] [ 2.69253832e-03 -6.06561180e-05 9.99996373e-01 5.95706500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.374012739 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:183.33, Y:123.86, Z:0.59 [[-8.20555860e-01 -5.71562191e-01 2.17762834e-03 1.83331827e+02] [ 5.71559997e-01 -8.20558748e-01 -1.58473205e-03 1.23860002e+02] [ 2.69264491e-03 -5.57159192e-05 9.99996373e-01 5.94933384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.404012739 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:183.33, Y:123.87, Z:0.59 [[-8.18532879e-01 -5.74455553e-01 2.17819203e-03 1.83330271e+02] [ 5.74453371e-01 -8.18535776e-01 -1.58395690e-03 1.23870122e+02] [ 2.69284093e-03 -4.52510470e-05 9.99996373e-01 5.93229580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.434012739 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:183.30, Y:123.89, Z:0.59 [[-8.17416145e-01 -5.76043486e-01 2.17876141e-03 1.83304086e+02] [ 5.76041312e-01 -8.17419048e-01 -1.58317331e-03 1.23892955e+02] [ 2.69293775e-03 -3.90548441e-05 9.99996373e-01 5.93783548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.464012739 meters Centerline goodness : 0.993075 Centerline is valid? [True, True] Translation: X:183.32, Y:123.89, Z:0.60 [[-8.15745307e-01 -5.78407162e-01 2.17933963e-03 1.83315804e+02] [ 5.78404999e-01 -8.15748217e-01 -1.58237696e-03 1.23888096e+02] [ 2.69305058e-03 -3.02756440e-05 9.99996373e-01 5.95208944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.494012739 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:183.30, Y:123.91, Z:0.60 [[-8.11484610e-01 -5.84369726e-01 2.17992329e-03 1.83297790e+02] [ 5.84367586e-01 -8.11487538e-01 -1.58157249e-03 1.23906876e+02] [ 2.69320366e-03 -9.54522336e-06 9.99996373e-01 5.96959475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.524012739 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:183.30, Y:123.91, Z:0.60 [[-8.09448193e-01 -5.87187252e-01 2.18051032e-03 1.83299994e+02] [ 5.87185124e-01 -8.09451130e-01 -1.58076273e-03 1.23905491e+02] [ 2.69322026e-03 8.17686647e-07 9.99996373e-01 5.96473435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55401273900003 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:183.29, Y:123.91, Z:0.59 [[-8.07374020e-01 -5.90035960e-01 2.18110297e-03 1.83289488e+02] [ 5.90033845e-01 -8.07376966e-01 -1.57994458e-03 1.23911713e+02] [ 2.69319642e-03 1.13183599e-05 9.99996373e-01 5.94813013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.584012739 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:183.28, Y:123.92, Z:0.59 [[-8.03551343e-01 -5.95231450e-01 2.18169851e-03 1.83277208e+02] [ 5.95229356e-01 -8.03554305e-01 -1.57912179e-03 1.23917807e+02] [ 2.69305618e-03 2.97055618e-05 9.99996373e-01 5.93074009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61401273900003 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:183.29, Y:123.91, Z:0.59 [[-8.02216347e-01 -5.97029455e-01 2.18230024e-03 1.83288835e+02] [ 5.97027370e-01 -8.02219315e-01 -1.57828978e-03 1.23908267e+02] [ 2.69296889e-03 3.67631065e-05 9.99996373e-01 5.93154955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.644012739 meters Centerline goodness : 0.993858 Centerline is valid? [True, True] Translation: X:183.29, Y:123.90, Z:0.59 [[-8.01614039e-01 -5.97837911e-01 2.18290254e-03 1.83288556e+02] [ 5.97835832e-01 -8.01617010e-01 -1.57745630e-03 1.23903901e+02] [ 2.69291499e-03 4.05062386e-05 9.99996373e-01 5.93524988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.674012739 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:183.28, Y:123.91, Z:0.59 [[-8.02329763e-01 -5.96877025e-01 2.18350185e-03 1.83280318e+02] [ 5.96874944e-01 -8.02332733e-01 -1.57662630e-03 1.23907371e+02] [ 2.69294703e-03 3.83033373e-05 9.99996373e-01 5.93530297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.704012739 meters Centerline goodness : 0.993127 Centerline is valid? [True, True] Translation: X:183.29, Y:123.90, Z:0.59 [[-8.03620234e-01 -5.95138429e-01 2.18410323e-03 1.83291053e+02] [ 5.95136343e-01 -8.03623201e-01 -1.57579277e-03 1.23897523e+02] [ 2.69301087e-03 3.35002519e-05 9.99996373e-01 5.92472366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.734012739 meters Centerline goodness : 0.993252 Centerline is valid? [True, True] Translation: X:183.29, Y:123.90, Z:0.59 [[-8.07878675e-01 -5.89344783e-01 2.18470409e-03 1.83285135e+02] [ 5.89342678e-01 -8.07881629e-01 -1.57495929e-03 1.23900845e+02] [ 2.69317634e-03 1.51633316e-05 9.99996373e-01 5.88297708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.764012739 meters Centerline goodness : 0.994347 Centerline is valid? [True, True] Translation: X:183.29, Y:123.90, Z:0.59 [[-8.10938014e-01 -5.85127988e-01 2.18530423e-03 1.83292483e+02] [ 5.85125870e-01 -8.10940959e-01 -1.57412614e-03 1.23895579e+02] [ 2.69321797e-03 2.15931389e-06 9.99996373e-01 5.87683338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.794012739 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:183.32, Y:123.88, Z:0.59 [[-8.16651807e-01 -5.77126545e-01 2.18590445e-03 1.83319303e+02] [ 5.77124401e-01 -8.16654732e-01 -1.57329220e-03 1.23877408e+02] [ 2.69311791e-03 -2.32931202e-05 9.99996373e-01 5.86557315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.824012739 meters Centerline goodness : 0.992814 Centerline is valid? [True, True] Translation: X:183.33, Y:123.87, Z:0.59 [[-8.19434365e-01 -5.73168864e-01 2.18531328e-03 1.83332154e+02] [ 5.73166703e-01 -8.19437278e-01 -1.57411292e-03 1.23870577e+02] [ 2.69295968e-03 -3.73334102e-05 9.99996373e-01 5.85012999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.854012739 meters Centerline goodness : 0.992085 Centerline is valid? [True, True] Translation: X:183.34, Y:123.86, Z:0.59 [[-8.21754021e-01 -5.69838179e-01 2.18589491e-03 1.83344646e+02] [ 5.69836009e-01 -8.21756927e-01 -1.57330482e-03 1.23864544e+02] [ 2.69280344e-03 -4.72679257e-05 9.99996373e-01 5.85280493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.884012739 meters Centerline goodness : 0.992073 Centerline is valid? [True, True] Translation: X:183.34, Y:123.88, Z:0.58 [[-8.24280553e-01 -5.66177348e-01 2.18647153e-03 1.83335448e+02] [ 5.66175167e-01 -8.24283451e-01 -1.57250306e-03 1.23875698e+02] [ 2.69258791e-03 -5.82578055e-05 9.99996373e-01 5.84521037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.914012739 meters Centerline goodness : 0.992204 Centerline is valid? [True, True] Translation: X:183.35, Y:123.87, Z:0.58 [[-8.25056783e-01 -5.65045592e-01 2.18704887e-03 1.83347797e+02] [ 5.65043410e-01 -8.25059680e-01 -1.57169968e-03 1.23867770e+02] [ 2.69252782e-03 -6.09639355e-05 9.99996373e-01 5.83506033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.944012739 meters Centerline goodness : 0.992346 Centerline is valid? [True, True] Translation: X:183.35, Y:123.87, Z:0.58 [[-8.25340512e-01 -5.64631078e-01 2.18762692e-03 1.83350010e+02] [ 5.64628896e-01 -8.25343409e-01 -1.57089469e-03 1.23867196e+02] [ 2.69251942e-03 -6.13256480e-05 9.99996373e-01 5.82428051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.974012739 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:183.37, Y:123.85, Z:0.58 [[-8.24425539e-01 -5.65966202e-01 2.18820229e-03 1.83373820e+02] [ 5.65964027e-01 -8.24428442e-01 -1.57009281e-03 1.23851174e+02] [ 2.69263567e-03 -5.59808305e-05 9.99996373e-01 5.82168084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.004012739 meters Centerline goodness : 0.992285 Centerline is valid? [True, True] Translation: X:183.35, Y:123.87, Z:0.58 [[-8.23490585e-01 -5.67325716e-01 2.18841555e-03 1.83350791e+02] [ 5.67323546e-01 -8.23493491e-01 -1.56979551e-03 1.23867372e+02] [ 2.69273132e-03 -5.11721548e-05 9.99996373e-01 5.81867916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.034012739 meters Centerline goodness : 0.991203 Centerline is valid? [True, True] Translation: X:183.34, Y:123.88, Z:0.59 [[-8.21149844e-01 -5.70708456e-01 2.18898625e-03 1.83339764e+02] [ 5.70706300e-01 -8.21152761e-01 -1.56899929e-03 1.23876098e+02] [ 2.69293327e-03 -3.91152797e-05 9.99996373e-01 5.86945660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.064012739 meters Centerline goodness : 0.991085 Centerline is valid? [True, True] Translation: X:183.35, Y:123.87, Z:0.59 [[-8.20232042e-01 -5.72026750e-01 2.18949307e-03 1.83349343e+02] [ 5.72024602e-01 -8.20234964e-01 -1.56829172e-03 1.23870678e+02] [ 2.69300359e-03 -3.39192192e-05 9.99996373e-01 5.88037156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.094012739 meters Centerline goodness : 0.992125 Centerline is valid? [True, True] Translation: X:183.35, Y:123.87, Z:0.59 [[-8.19688268e-01 -5.72805679e-01 2.19007395e-03 1.83353541e+02] [ 5.72803536e-01 -8.19691194e-01 -1.56748012e-03 1.23869203e+02] [ 2.69304585e-03 -3.03629603e-05 9.99996373e-01 5.88585620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.124012739 meters Centerline goodness : 0.985705 Centerline is valid? [True, True] Translation: X:183.35, Y:123.88, Z:0.60 [[-8.19084876e-01 -5.73668168e-01 2.19065249e-03 1.83345662e+02] [ 5.73666029e-01 -8.19087805e-01 -1.56667116e-03 1.23877171e+02] [ 2.69308611e-03 -2.65337418e-05 9.99996373e-01 5.97613091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.154012739 meters Centerline goodness : 0.991302 Centerline is valid? [True, True] Translation: X:183.33, Y:123.89, Z:0.58 [[-8.17740713e-01 -5.75582595e-01 2.19123314e-03 1.83329945e+02] [ 5.75580466e-01 -8.17743649e-01 -1.56585860e-03 1.23887721e+02] [ 2.69314795e-03 -1.92353382e-05 9.99996373e-01 5.84606519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.184012739 meters Centerline goodness : 0.990894 Centerline is valid? [True, True] Translation: X:183.33, Y:123.89, Z:0.59 [[-8.16851911e-01 -5.76843264e-01 2.19182078e-03 1.83327639e+02] [ 5.76841141e-01 -8.16854851e-01 -1.56503563e-03 1.23888614e+02] [ 2.69317970e-03 -1.40699419e-05 9.99996373e-01 5.86269097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.214012739 meters Centerline goodness : 0.991778 Centerline is valid? [True, True] Translation: X:183.33, Y:123.89, Z:0.59 [[-8.15410830e-01 -5.78878549e-01 2.19200563e-03 1.83329210e+02] [ 5.78876434e-01 -8.15413776e-01 -1.56477668e-03 1.23887821e+02] [ 2.69320724e-03 -7.03544733e-06 9.99996373e-01 5.89882744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.244012739 meters Centerline goodness : 0.991589 Centerline is valid? [True, True] Translation: X:183.33, Y:123.89, Z:0.59 [[-8.15467957e-01 -5.78798070e-01 2.19219089e-03 1.83332770e+02] [ 5.78795955e-01 -8.15470904e-01 -1.56451710e-03 1.23886871e+02] [ 2.69320736e-03 -6.98233927e-06 9.99996373e-01 5.90452752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.274012739 meters Centerline goodness : 0.991812 Centerline is valid? [True, True] Translation: X:183.30, Y:123.91, Z:0.59 [[-8.15751806e-01 -5.78397945e-01 2.19278508e-03 1.83302769e+02] [ 5.78395831e-01 -8.15754753e-01 -1.56368384e-03 1.23910034e+02] [ 2.69320638e-03 -7.28016979e-06 9.99996373e-01 5.90330342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30401273900003 meters Centerline goodness : 0.991502 Centerline is valid? [True, True] Translation: X:183.33, Y:123.89, Z:0.59 [[-8.15769702e-01 -5.78372702e-01 2.19338750e-03 1.83332647e+02] [ 5.78370590e-01 -8.15772651e-01 -1.56283837e-03 1.23891208e+02] [ 2.69320859e-03 -6.32537045e-06 9.99996373e-01 5.91564165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.334012739 meters Centerline goodness : 0.991462 Centerline is valid? [True, True] Translation: X:183.35, Y:123.88, Z:0.59 [[-8.16288910e-01 -5.77639683e-01 2.19353805e-03 1.83345084e+02] [ 5.77637569e-01 -8.16291858e-01 -1.56262704e-03 1.23883387e+02] [ 2.69320264e-03 -8.48513789e-06 9.99996373e-01 5.93510805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36401273900003 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:183.34, Y:123.89, Z:0.59 [[-8.16921395e-01 -5.76744848e-01 2.19413153e-03 1.83338720e+02] [ 5.76742734e-01 -8.16924342e-01 -1.56179328e-03 1.23888812e+02] [ 2.69319568e-03 -1.04129319e-05 9.99996373e-01 5.93687704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.394012739 meters Centerline goodness : 0.992095 Centerline is valid? [True, True] Translation: X:183.35, Y:123.88, Z:0.59 [[-8.17328131e-01 -5.76168300e-01 2.19472449e-03 1.83351610e+02] [ 5.76166186e-01 -8.17331077e-01 -1.56095957e-03 1.23882967e+02] [ 2.69319195e-03 -1.12901305e-05 9.99996373e-01 5.92711253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.424012739 meters Centerline goodness : 0.991049 Centerline is valid? [True, True] Translation: X:183.35, Y:123.88, Z:0.59 [[-8.17076592e-01 -5.76524954e-01 2.19531694e-03 1.83353947e+02] [ 5.76522844e-01 -8.17079541e-01 -1.56012591e-03 1.23882718e+02] [ 2.69320007e-03 -9.09200072e-06 9.99996373e-01 5.92085021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.454012739 meters Centerline goodness : 0.991425 Centerline is valid? [True, True] Translation: X:183.35, Y:123.89, Z:0.59 [[-8.15376624e-01 -5.78926713e-01 2.19590664e-03 1.83351409e+02] [ 5.78924613e-01 -8.15379581e-01 -1.55929544e-03 1.23887995e+02] [ 2.69321522e-03 -1.48649956e-07 9.99996373e-01 5.91368471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.484012739 meters Centerline goodness : 0.991327 Centerline is valid? [True, True] Translation: X:183.35, Y:123.89, Z:0.59 [[-8.14542631e-01 -5.80099542e-01 2.19649778e-03 1.83354135e+02] [ 5.80097448e-01 -8.14545592e-01 -1.55846229e-03 1.23886390e+02] [ 2.69321085e-03 4.74878075e-06 9.99996373e-01 5.92704850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.514012739 meters Centerline goodness : 0.992126 Centerline is valid? [True, True] Translation: X:183.35, Y:123.89, Z:0.59 [[-8.13970121e-01 -5.80902586e-01 2.19709007e-03 1.83349588e+02] [ 5.80900498e-01 -8.13973087e-01 -1.55762685e-03 1.23890172e+02] [ 2.69320165e-03 8.42899533e-06 9.99996373e-01 5.91345409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.544012739 meters Centerline goodness : 0.991402 Centerline is valid? [True, True] Translation: X:183.33, Y:123.90, Z:0.59 [[-8.13581769e-01 -5.81446366e-01 2.19768380e-03 1.83334961e+02] [ 5.81444282e-01 -8.13584737e-01 -1.55678870e-03 1.23899708e+02] [ 2.69319112e-03 1.12557729e-05 9.99996373e-01 5.90835269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.574012739 meters Centerline goodness : 0.990999 Centerline is valid? [True, True] Translation: X:183.36, Y:123.88, Z:0.59 [[-8.13686458e-01 -5.81299850e-01 2.19828335e-03 1.83355794e+02] [ 5.81297768e-01 -8.13689427e-01 -1.55594163e-03 1.23884008e+02] [ 2.69318856e-03 1.18085763e-05 9.99996373e-01 5.90644598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.604012739 meters Centerline goodness : 0.990867 Centerline is valid? [True, True] Translation: X:183.36, Y:123.88, Z:0.59 [[-8.13765111e-01 -5.81189737e-01 2.19850723e-03 1.83356215e+02] [ 5.81187655e-01 -8.13768081e-01 -1.55562524e-03 1.23883002e+02] [ 2.69318843e-03 1.18317149e-05 9.99996373e-01 5.90442073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.634012739 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:183.35, Y:123.89, Z:0.59 [[-8.13008995e-01 -5.82246974e-01 2.19910088e-03 1.83347123e+02] [ 5.82244898e-01 -8.13011969e-01 -1.55478557e-03 1.23888121e+02] [ 2.69316453e-03 1.63606090e-05 9.99996373e-01 5.86964999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.664012739 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:183.35, Y:123.88, Z:0.58 [[-8.12457018e-01 -5.83016943e-01 2.19958450e-03 1.83352090e+02] [ 5.83014872e-01 -8.12459995e-01 -1.55410108e-03 1.23883146e+02] [ 2.69314167e-03 1.97501440e-05 9.99996373e-01 5.84938101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.694012739 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:183.35, Y:123.88, Z:0.59 [[-8.10709084e-01 -5.85445079e-01 2.20018163e-03 1.83350524e+02] [ 5.85443020e-01 -8.10712069e-01 -1.55325525e-03 1.23880579e+02] [ 2.69305944e-03 2.88428336e-05 9.99996373e-01 5.88512215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.724012739 meters Centerline goodness : 0.990595 Centerline is valid? [True, True] Translation: X:183.35, Y:123.88, Z:0.59 [[-8.10934090e-01 -5.85133368e-01 2.20077803e-03 1.83352618e+02] [ 5.85131310e-01 -8.10937076e-01 -1.55240976e-03 1.23879191e+02] [ 2.69305925e-03 2.88421361e-05 9.99996373e-01 5.88505440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.754012739 meters Centerline goodness : 0.991628 Centerline is valid? [True, True] Translation: X:183.26, Y:123.94, Z:0.59 [[-8.10575287e-01 -5.85630308e-01 2.20137451e-03 1.83257402e+02] [ 5.85628254e-01 -8.10578276e-01 -1.55156347e-03 1.23944203e+02] [ 2.69302895e-03 3.15281052e-05 9.99996373e-01 5.86757610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.784012739 meters Centerline goodness : 0.990512 Centerline is valid? [True, True] Translation: X:183.36, Y:123.87, Z:0.59 [[-8.09432828e-01 -5.87208345e-01 2.20372102e-03 1.83359945e+02] [ 5.87206305e-01 -8.09435827e-01 -1.54823211e-03 1.23869894e+02] [ 2.69290556e-03 4.08489846e-05 9.99996373e-01 5.88707454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.814012739 meters Centerline goodness : 0.990828 Centerline is valid? [True, True] Translation: X:183.36, Y:123.87, Z:0.59 [[-8.09761296e-01 -5.86755313e-01 2.20138299e-03 1.83357052e+02] [ 5.86753263e-01 -8.09764288e-01 -1.55154938e-03 1.23869596e+02] [ 2.69298117e-03 3.52840141e-05 9.99996373e-01 5.86535538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.844012739 meters Centerline goodness : 0.991290 Centerline is valid? [True, True] Translation: X:183.36, Y:123.87, Z:0.58 [[-8.10509016e-01 -5.85722021e-01 2.20197528e-03 1.83359172e+02] [ 5.85719969e-01 -8.10512007e-01 -1.55070834e-03 1.23866983e+02] [ 2.69301142e-03 3.28778027e-05 9.99996373e-01 5.83962813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.874012739 meters Centerline goodness : 0.991531 Centerline is valid? [True, True] Translation: X:183.35, Y:123.87, Z:0.58 [[-8.12041484e-01 -5.83595560e-01 2.20256773e-03 1.83354181e+02] [ 5.83593502e-01 -8.12044471e-01 -1.54986638e-03 1.23867669e+02] [ 2.69307809e-03 2.68484185e-05 9.99996373e-01 5.80423018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.904012739 meters Centerline goodness : 0.991932 Centerline is valid? [True, True] Translation: X:183.35, Y:123.87, Z:0.58 [[-8.12833963e-01 -5.82491284e-01 2.20308682e-03 1.83351630e+02] [ 5.82489224e-01 -8.12836948e-01 -1.54912817e-03 1.23869294e+02] [ 2.69310402e-03 2.40903461e-05 9.99996373e-01 5.79678673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.934012739 meters Centerline goodness : 0.992430 Centerline is valid? [True, True] Translation: X:183.36, Y:123.87, Z:0.58 [[-8.13646140e-01 -5.81356262e-01 2.20368273e-03 1.83355771e+02] [ 5.81354200e-01 -8.13649124e-01 -1.54828000e-03 1.23866486e+02] [ 2.69312679e-03 2.13681625e-05 9.99996373e-01 5.79458388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.964012739 meters Centerline goodness : 0.991825 Centerline is valid? [True, True] Translation: X:183.36, Y:123.87, Z:0.58 [[-8.14936787e-01 -5.79545661e-01 2.20427900e-03 1.83356591e+02] [ 5.79543596e-01 -8.14939768e-01 -1.54743062e-03 1.23865946e+02] [ 2.69316132e-03 1.64176432e-05 9.99996373e-01 5.80240713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.994012739 meters Centerline goodness : 0.991714 Centerline is valid? [True, True] Translation: X:183.37, Y:123.86, Z:0.58 [[-8.15102224e-01 -5.79312958e-01 2.20487495e-03 1.83366381e+02] [ 5.79310893e-01 -8.15105206e-01 -1.54658101e-03 1.23858626e+02] [ 2.69315947e-03 1.66864614e-05 9.99996373e-01 5.81237721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.024012739 meters Centerline goodness : 0.990406 Centerline is valid? [True, True] Translation: X:183.36, Y:123.86, Z:0.59 [[-8.14559217e-01 -5.80076219e-01 2.20506007e-03 1.83358943e+02] [ 5.80074158e-01 -8.14562201e-01 -1.54631703e-03 1.23864104e+02] [ 2.69314032e-03 1.95315713e-05 9.99996373e-01 5.86409132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05401273900003 meters Centerline goodness : 0.991084 Centerline is valid? [True, True] Translation: X:183.36, Y:123.86, Z:0.59 [[-8.14729459e-01 -5.79837085e-01 2.20557923e-03 1.83364713e+02] [ 5.79835025e-01 -8.14732444e-01 -1.54557618e-03 1.23860727e+02] [ 2.69313934e-03 1.96456438e-05 9.99996373e-01 5.87501245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.084012739 meters Centerline goodness : 0.990804 Centerline is valid? [True, True] Translation: X:183.36, Y:123.87, Z:0.59 [[-8.15276368e-01 -5.79067851e-01 2.20609925e-03 1.83359315e+02] [ 5.79065791e-01 -8.15279353e-01 -1.54483356e-03 1.23865357e+02] [ 2.69315062e-03 1.80103114e-05 9.99996373e-01 5.89863290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11401273900003 meters Centerline goodness : 0.991123 Centerline is valid? [True, True] Translation: X:183.37, Y:123.86, Z:0.59 [[-8.16496625e-01 -5.77345989e-01 2.20669480e-03 1.83367747e+02] [ 5.77343925e-01 -8.16499607e-01 -1.54398239e-03 1.23858705e+02] [ 2.69317747e-03 1.33654288e-05 9.99996373e-01 5.94816115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.144012739 meters Centerline goodness : 0.991105 Centerline is valid? [True, True] Translation: X:183.38, Y:123.85, Z:0.60 [[-8.17085056e-01 -5.76512913e-01 2.20721524e-03 1.83375278e+02] [ 5.76510848e-01 -8.17088037e-01 -1.54323803e-03 1.23853059e+02] [ 2.69318582e-03 1.15267999e-05 9.99996373e-01 5.96503165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.174012739 meters Centerline goodness : 0.990711 Centerline is valid? [True, True] Translation: X:183.38, Y:123.86, Z:0.60 [[-8.17938093e-01 -5.75302010e-01 2.20780691e-03 1.83375478e+02] [ 5.75299942e-01 -8.17941072e-01 -1.54239110e-03 1.23855238e+02] [ 2.69319665e-03 8.57074906e-06 9.99996373e-01 5.95014563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.204012739 meters Centerline goodness : 0.990754 Centerline is valid? [True, True] Translation: X:183.40, Y:123.84, Z:0.60 [[-8.18688569e-01 -5.74233533e-01 2.20839766e-03 1.83403934e+02] [ 5.74231463e-01 -8.18691548e-01 -1.54154480e-03 1.23837736e+02] [ 2.69320321e-03 6.08630749e-06 9.99996373e-01 5.96489645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.234012739 meters Centerline goodness : 0.990928 Centerline is valid? [True, True] Translation: X:183.40, Y:123.84, Z:0.60 [[-8.19789932e-01 -5.72660100e-01 2.20854339e-03 1.83399042e+02] [ 5.72658025e-01 -8.19792907e-01 -1.54133599e-03 1.23843619e+02] [ 2.69320982e-03 1.16837059e-06 9.99996373e-01 5.97254591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.264012739 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:183.40, Y:123.85, Z:0.60 [[-8.22049005e-01 -5.69412463e-01 2.20912313e-03 1.83399470e+02] [ 5.69410379e-01 -8.22051973e-01 -1.54050462e-03 1.23848353e+02] [ 2.69319656e-03 -8.47265422e-06 9.99996373e-01 5.97225295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.294012739 meters Centerline goodness : 0.991177 Centerline is valid? [True, True] Translation: X:183.40, Y:123.85, Z:0.60 [[-8.23048606e-01 -5.67966644e-01 2.20970570e-03 1.83401619e+02] [ 5.67964557e-01 -8.23051573e-01 -1.53966853e-03 1.23850383e+02] [ 2.69318212e-03 -1.21875230e-05 9.99996373e-01 5.95125636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.324012739 meters Centerline goodness : 0.990382 Centerline is valid? [True, True] Translation: X:183.42, Y:123.84, Z:0.60 [[-8.23106089e-01 -5.67883334e-01 2.21028919e-03 1.83422111e+02] [ 5.67881249e-01 -8.23109057e-01 -1.53883043e-03 1.23843645e+02] [ 2.69318521e-03 -1.14389092e-05 9.99996373e-01 5.95436997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.354012739 meters Centerline goodness : 0.990054 Centerline is valid? [True, True] Translation: X:183.41, Y:123.85, Z:0.60 [[-8.22211718e-01 -5.69177480e-01 2.21086903e-03 1.83410817e+02] [ 5.69175402e-01 -8.22214690e-01 -1.53799691e-03 1.23854681e+02] [ 2.69320220e-03 -6.18681232e-06 9.99996373e-01 5.97355181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.384012739 meters Centerline goodness : 0.990752 Centerline is valid? [True, True] Translation: X:183.40, Y:123.86, Z:0.60 [[-8.20779118e-01 -5.71241410e-01 2.21144856e-03 1.83400695e+02] [ 5.71239342e-01 -8.20782098e-01 -1.53716317e-03 1.23863724e+02] [ 2.69320865e-03 1.59498411e-06 9.99996373e-01 5.98321751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.414012739 meters Centerline goodness : 0.990997 Centerline is valid? [True, True] Translation: X:183.41, Y:123.86, Z:0.60 [[-8.16160544e-01 -5.77820970e-01 2.21203487e-03 1.83405349e+02] [ 5.77818928e-01 -8.16163541e-01 -1.53631898e-03 1.23862057e+02] [ 2.69309954e-03 2.42726811e-05 9.99996373e-01 5.96568748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.444012739 meters Centerline goodness : 0.990568 Centerline is valid? [True, True] Translation: X:183.44, Y:123.84, Z:0.60 [[-8.13783339e-01 -5.81164160e-01 2.21262388e-03 1.83435322e+02] [ 5.81162133e-01 -8.13786347e-01 -1.53547021e-03 1.23840984e+02] [ 2.69296336e-03 3.63531371e-05 9.99996373e-01 5.95430044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.474012739 meters Centerline goodness : 0.990020 Centerline is valid? [True, True] Translation: X:183.44, Y:123.84, Z:0.60 [[-8.10820176e-01 -5.85291163e-01 2.21284111e-03 1.83436690e+02] [ 5.85289152e-01 -8.10823194e-01 -1.53515710e-03 1.23839924e+02] [ 2.69273678e-03 5.04155432e-05 9.99996373e-01 5.97784852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.504012739 meters Centerline goodness : 0.989991 Centerline is valid? [True, True] Translation: X:183.45, Y:123.83, Z:0.60 [[-8.10492980e-01 -5.85744169e-01 2.21341496e-03 1.83449868e+02] [ 5.85742161e-01 -8.10496000e-01 -1.53432926e-03 1.23830739e+02] [ 2.69268839e-03 5.29273754e-05 9.99996373e-01 5.99492680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.534012739 meters Centerline goodness : 0.989803 Centerline is valid? [True, True] Translation: X:183.45, Y:123.82, Z:0.60 [[-8.10992617e-01 -5.85052198e-01 2.21398592e-03 1.83454990e+02] [ 5.85050190e-01 -8.10995637e-01 -1.53350495e-03 1.23824836e+02] [ 2.69271336e-03 5.16316898e-05 9.99996373e-01 5.98819929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.564012739 meters Centerline goodness : 0.989813 Centerline is valid? [True, True] Translation: X:183.44, Y:123.84, Z:0.60 [[-8.11946002e-01 -5.83728350e-01 2.21455290e-03 1.83437795e+02] [ 5.83726340e-01 -8.11949020e-01 -1.53268572e-03 1.23836075e+02] [ 2.69277616e-03 4.82348132e-05 9.99996373e-01 5.95365275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.594012739 meters Centerline goodness : 0.990378 Centerline is valid? [True, True] Translation: X:183.43, Y:123.84, Z:0.59 [[-8.13037948e-01 -5.82206483e-01 2.21512324e-03 1.83425535e+02] [ 5.82204469e-01 -8.13040964e-01 -1.53186099e-03 1.23844417e+02] [ 2.69284533e-03 4.41935318e-05 9.99996373e-01 5.92159161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.624012739 meters Centerline goodness : 0.990703 Centerline is valid? [True, True] Translation: X:183.44, Y:123.84, Z:0.59 [[-8.14222444e-01 -5.80548795e-01 2.21562844e-03 1.83437698e+02] [ 5.80546777e-01 -8.14225458e-01 -1.53112994e-03 1.23836381e+02] [ 2.69291672e-03 3.95955865e-05 9.99996373e-01 5.89314948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.654012739 meters Centerline goodness : 0.989871 Centerline is valid? [True, True] Translation: X:183.42, Y:123.84, Z:0.59 [[-8.16419842e-01 -5.77454526e-01 2.21620718e-03 1.83424639e+02] [ 5.77452499e-01 -8.16422850e-01 -1.53029180e-03 1.23844163e+02] [ 2.69303610e-03 3.03937870e-05 9.99996373e-01 5.91104739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.684012739 meters Centerline goodness : 0.990476 Centerline is valid? [True, True] Translation: X:183.43, Y:123.84, Z:0.59 [[-8.17441807e-01 -5.76006926e-01 2.21678665e-03 1.83433211e+02] [ 5.76004896e-01 -8.17444812e-01 -1.52945191e-03 1.23837624e+02] [ 2.69307564e-03 2.66420255e-05 9.99996373e-01 5.92010912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.714012739 meters Centerline goodness : 0.990271 Centerline is valid? [True, True] Translation: X:183.44, Y:123.84, Z:0.60 [[-8.19327192e-01 -5.73321930e-01 2.21736790e-03 1.83435804e+02] [ 5.73319893e-01 -8.19330192e-01 -1.52860876e-03 1.23836901e+02] [ 2.69314139e-03 1.88304002e-05 9.99996373e-01 5.96119636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.744012739 meters Centerline goodness : 0.990012 Centerline is valid? [True, True] Translation: X:183.42, Y:123.85, Z:0.60 [[-8.20690211e-01 -5.71369109e-01 2.21787416e-03 1.83419533e+02] [ 5.71367067e-01 -8.20693207e-01 -1.52787388e-03 1.23849093e+02] [ 2.69317419e-03 1.33091184e-05 9.99996373e-01 5.96960187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.774012739 meters Centerline goodness : 0.990936 Centerline is valid? [True, True] Translation: X:183.44, Y:123.84, Z:0.60 [[-8.22483920e-01 -5.68784036e-01 2.21845760e-03 1.83438615e+02] [ 5.68781986e-01 -8.22486912e-01 -1.52702626e-03 1.23837205e+02] [ 2.69320049e-03 5.86417653e-06 9.99996373e-01 5.95387120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80401273900003 meters Centerline goodness : 0.990342 Centerline is valid? [True, True] Translation: X:183.44, Y:123.84, Z:0.59 [[-8.26255997e-01 -5.63290425e-01 2.21904110e-03 1.83442176e+02] [ 5.63288357e-01 -8.26258977e-01 -1.52617785e-03 1.23838694e+02] [ 2.69318400e-03 -1.10535812e-05 9.99996373e-01 5.93139159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.834012739 meters Centerline goodness : 0.990448 Centerline is valid? [True, True] Translation: X:183.45, Y:123.84, Z:0.59 [[-8.28221986e-01 -5.60395767e-01 2.21962034e-03 1.83451984e+02] [ 5.60393692e-01 -8.28224960e-01 -1.52533496e-03 1.23835314e+02] [ 2.69313622e-03 -1.94547125e-05 9.99996373e-01 5.93485747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86401273900003 meters Centerline goodness : 0.990886 Centerline is valid? [True, True] Translation: X:183.46, Y:123.84, Z:0.60 [[-8.30504564e-01 -5.57007396e-01 2.22019774e-03 1.83455591e+02] [ 5.57005311e-01 -8.30507531e-01 -1.52449406e-03 1.23838361e+02] [ 2.69304541e-03 -2.94373474e-05 9.99996373e-01 5.99154714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.894012739 meters Centerline goodness : 0.989889 Centerline is valid? [True, True] Translation: X:183.45, Y:123.84, Z:0.60 [[-8.30653754e-01 -5.56784886e-01 2.22070096e-03 1.83447132e+02] [ 5.56782802e-01 -8.30656722e-01 -1.52376067e-03 1.23844560e+02] [ 2.69304709e-03 -2.92694190e-05 9.99996373e-01 6.03630055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.924012739 meters Centerline goodness : 0.990395 Centerline is valid? [True, True] Translation: X:183.46, Y:123.84, Z:0.60 [[-8.30071935e-01 -5.57651907e-01 2.22127900e-03 1.83459665e+02] [ 5.57649828e-01 -8.30074906e-01 -1.52291756e-03 1.23835751e+02] [ 2.69308584e-03 -2.54352761e-05 9.99996373e-01 6.03418137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.954012739 meters Centerline goodness : 0.989594 Centerline is valid? [True, True] Translation: X:183.46, Y:123.84, Z:0.60 [[-8.28126968e-01 -5.60536162e-01 2.22185672e-03 1.83458746e+02] [ 5.60534096e-01 -8.28129948e-01 -1.52207424e-03 1.23837219e+02] [ 2.69316374e-03 -1.50442747e-05 9.99996373e-01 6.01691294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.984012739 meters Centerline goodness : 0.990968 Centerline is valid? [True, True] Translation: X:183.47, Y:123.83, Z:0.60 [[-8.27504463e-01 -5.61454739e-01 2.22243250e-03 1.83466005e+02] [ 5.61452679e-01 -8.27507447e-01 -1.52123305e-03 1.23832412e+02] [ 2.69318295e-03 -1.10364592e-05 9.99996373e-01 6.01483114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.014012739 meters Centerline goodness : 0.990252 Centerline is valid? [True, True] Translation: X:183.46, Y:123.83, Z:0.60 [[-8.25998121e-01 -5.63668486e-01 2.22300731e-03 1.83464302e+02] [ 5.63666436e-01 -8.26001112e-01 -1.52039261e-03 1.23832966e+02] [ 2.69320391e-03 -2.80683665e-06 9.99996373e-01 6.02034663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.044012739 meters Centerline goodness : 0.989763 Centerline is valid? [True, True] Translation: X:183.45, Y:123.84, Z:0.60 [[-8.25282230e-01 -5.64716120e-01 2.22358142e-03 1.83448962e+02] [ 5.64714075e-01 -8.25285226e-01 -1.51955251e-03 1.23843678e+02] [ 2.69320469e-03 1.62803638e-06 9.99996373e-01 6.01811002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.074012739 meters Centerline goodness : 0.990088 Centerline is valid? [True, True] Translation: X:183.46, Y:123.84, Z:0.60 [[-8.24144264e-01 -5.66375569e-01 2.22416062e-03 1.83458570e+02] [ 5.66373533e-01 -8.24147265e-01 -1.51870426e-03 1.23837642e+02] [ 2.69319288e-03 8.07430110e-06 9.99996373e-01 5.98750308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.104012739 meters Centerline goodness : 0.990777 Centerline is valid? [True, True] Translation: X:183.46, Y:123.84, Z:0.60 [[-8.23957592e-01 -5.66647101e-01 2.22474200e-03 1.83457115e+02] [ 5.66645068e-01 -8.23960596e-01 -1.51785212e-03 1.23837159e+02] [ 2.69318625e-03 9.99330861e-06 9.99996373e-01 5.97398353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.134012739 meters Centerline goodness : 0.990255 Centerline is valid? [True, True] Translation: X:183.46, Y:123.83, Z:0.60 [[-8.23871370e-01 -5.66772454e-01 2.22532200e-03 1.83456955e+02] [ 5.66770424e-01 -8.23874375e-01 -1.51700131e-03 1.23834557e+02] [ 2.69318033e-03 1.14327492e-05 9.99996373e-01 5.97359952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.164012739 meters Centerline goodness : 0.990733 Centerline is valid? [True, True] Translation: X:183.45, Y:123.83, Z:0.60 [[-8.22825916e-01 -5.68289150e-01 2.22590254e-03 1.83452985e+02] [ 5.68287128e-01 -8.22828926e-01 -1.51614900e-03 1.23831167e+02] [ 2.69314802e-03 1.74250686e-05 9.99996373e-01 6.01096310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.194012739 meters Centerline goodness : 0.990407 Centerline is valid? [True, True] Translation: X:183.40, Y:123.87, Z:0.60 [[-8.22645803e-01 -5.68549844e-01 2.22648401e-03 1.83397918e+02] [ 5.68547825e-01 -8.22648816e-01 -1.51529463e-03 1.23866670e+02] [ 2.69313496e-03 1.93118744e-05 9.99996373e-01 6.00502315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.224012739 meters Centerline goodness : 0.989936 Centerline is valid? [True, True] Translation: X:183.47, Y:123.81, Z:0.60 [[-8.20628018e-01 -5.71458386e-01 2.22913098e-03 1.83469118e+02] [ 5.71456388e-01 -8.20631045e-01 -1.51140304e-03 1.23814744e+02] [ 2.69299802e-03 3.35514580e-05 9.99996373e-01 5.97268755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.254012739 meters Centerline goodness : 0.989736 Centerline is valid? [True, True] Translation: X:183.47, Y:123.82, Z:0.60 [[-8.20684262e-01 -5.71377620e-01 2.22650674e-03 1.83466731e+02] [ 5.71375611e-01 -8.20687282e-01 -1.51525907e-03 1.23815674e+02] [ 2.69305088e-03 2.86223737e-05 9.99996373e-01 5.96291683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.284012739 meters Centerline goodness : 0.990465 Centerline is valid? [True, True] Translation: X:183.46, Y:123.82, Z:0.60 [[-8.21248064e-01 -5.70566962e-01 2.22708013e-03 1.83461750e+02] [ 5.70564952e-01 -8.21251083e-01 -1.51441585e-03 1.23818472e+02] [ 2.69306762e-03 2.69827822e-05 9.99996373e-01 5.96924173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.314012739 meters Centerline goodness : 0.990279 Centerline is valid? [True, True] Translation: X:183.47, Y:123.81, Z:0.60 [[-8.23068901e-01 -5.67937163e-01 2.22765594e-03 1.83467491e+02] [ 5.67935147e-01 -8.23071916e-01 -1.51356837e-03 1.23814664e+02] [ 2.69313277e-03 1.93930444e-05 9.99996373e-01 6.01785379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.344012739 meters Centerline goodness : 0.990599 Centerline is valid? [True, True] Translation: X:183.46, Y:123.82, Z:0.60 [[-8.24155675e-01 -5.66358948e-01 2.22815949e-03 1.83458668e+02] [ 5.66356928e-01 -8.24158687e-01 -1.51282673e-03 1.23821481e+02] [ 2.69315995e-03 1.51288247e-05 9.99996373e-01 6.02752739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.374012739 meters Centerline goodness : 0.990618 Centerline is valid? [True, True] Translation: X:183.47, Y:123.82, Z:0.60 [[-8.25738367e-01 -5.64048918e-01 2.22873717e-03 1.83466664e+02] [ 5.64046891e-01 -8.25741375e-01 -1.51197518e-03 1.23816490e+02] [ 2.69318847e-03 8.61635466e-06 9.99996373e-01 6.03904096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.404012739 meters Centerline goodness : 0.990286 Centerline is valid? [True, True] Translation: X:183.47, Y:123.81, Z:0.60 [[-8.26136793e-01 -5.63465198e-01 2.22931598e-03 1.83470888e+02] [ 5.63463172e-01 -8.26139801e-01 -1.51112129e-03 1.23813343e+02] [ 2.69319092e-03 7.74456041e-06 9.99996373e-01 6.02489210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.434012739 meters Centerline goodness : 0.989986 Centerline is valid? [True, True] Translation: X:183.46, Y:123.82, Z:0.60 [[-8.26298706e-01 -5.63227730e-01 2.22989235e-03 1.83461125e+02] [ 5.63225705e-01 -8.26301715e-01 -1.51027028e-03 1.23820476e+02] [ 2.69318998e-03 7.99831277e-06 9.99996373e-01 6.01729832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.464012739 meters Centerline goodness : 0.989771 Centerline is valid? [True, True] Translation: X:183.46, Y:123.82, Z:0.60 [[-8.25852094e-01 -5.63882385e-01 2.23047098e-03 1.83464382e+02] [ 5.63880365e-01 -8.25855106e-01 -1.50941524e-03 1.23820003e+02] [ 2.69317851e-03 1.11650549e-05 9.99996373e-01 6.01040341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.494012739 meters Centerline goodness : 0.990057 Centerline is valid? [True, True] Translation: X:183.47, Y:123.82, Z:0.60 [[-8.25999873e-01 -5.63665887e-01 2.23105228e-03 1.83472075e+02] [ 5.63663868e-01 -8.26002886e-01 -1.50855554e-03 1.23815499e+02] [ 2.69317692e-03 1.14968730e-05 9.99996373e-01 5.98941250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.524012739 meters Centerline goodness : 0.989770 Centerline is valid? [True, True] Translation: X:183.48, Y:123.81, Z:0.60 [[-8.25960586e-01 -5.63723452e-01 2.23163170e-03 1.83477386e+02] [ 5.63721436e-01 -8.25963600e-01 -1.50769791e-03 1.23812532e+02] [ 2.69317122e-03 1.27195819e-05 9.99996373e-01 5.98543873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55401273900003 meters Centerline goodness : 0.990048 Centerline is valid? [True, True] Translation: X:183.48, Y:123.81, Z:0.60 [[-8.26029589e-01 -5.63622334e-01 2.23220867e-03 1.83476308e+02] [ 5.63620320e-01 -8.26032605e-01 -1.50684319e-03 1.23812996e+02] [ 2.69316762e-03 1.34211089e-05 9.99996373e-01 6.00047256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.584012739 meters Centerline goodness : 0.989899 Centerline is valid? [True, True] Translation: X:183.47, Y:123.82, Z:0.60 [[-8.26064754e-01 -5.63570792e-01 2.23278532e-03 1.83470843e+02] [ 5.63568780e-01 -8.26067771e-01 -1.50598825e-03 1.23816360e+02] [ 2.69316298e-03 1.42842871e-05 9.99996373e-01 6.02380751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61401273900003 meters Centerline goodness : 0.989446 Centerline is valid? [True, True] Translation: X:183.48, Y:123.81, Z:0.61 [[-8.26068444e-01 -5.63565381e-01 2.23336443e-03 1.83475978e+02] [ 5.63563371e-01 -8.26071463e-01 -1.50512895e-03 1.23813115e+02] [ 2.69315719e-03 1.53028566e-05 9.99996373e-01 6.06730165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.644012739 meters Centerline goodness : 0.989446 Centerline is valid? [True, True] Translation: X:183.48, Y:123.81, Z:0.61 [[-8.26285363e-01 -5.63247290e-01 2.23394427e-03 1.83478098e+02] [ 5.63245281e-01 -8.26288382e-01 -1.50426784e-03 1.23811776e+02] [ 2.69315698e-03 1.53040652e-05 9.99996373e-01 6.06723390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.674012739 meters Centerline goodness : 0.990285 Centerline is valid? [True, True] Translation: X:183.48, Y:123.81, Z:0.61 [[-8.26954905e-01 -5.62263810e-01 2.23452310e-03 1.83480336e+02] [ 5.62261800e-01 -8.26957924e-01 -1.50340752e-03 1.23810108e+02] [ 2.69316822e-03 1.31367557e-05 9.99996373e-01 6.05047886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.704012739 meters Centerline goodness : 0.990189 Centerline is valid? [True, True] Translation: X:183.49, Y:123.80, Z:0.60 [[-8.29074209e-01 -5.59134116e-01 2.23510141e-03 1.83488418e+02] [ 5.59132097e-01 -8.29077222e-01 -1.50254726e-03 1.23804538e+02] [ 2.69319710e-03 3.99375163e-06 9.99996373e-01 6.03409749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.734012739 meters Centerline goodness : 0.989349 Centerline is valid? [True, True] Translation: X:183.50, Y:123.80, Z:0.60 [[-8.30227085e-01 -5.57420837e-01 2.23567794e-03 1.83496989e+02] [ 5.57418814e-01 -8.30230095e-01 -1.50168894e-03 1.23799063e+02] [ 2.69319981e-03 -5.33887940e-07 9.99996373e-01 6.03869505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.764012739 meters Centerline goodness : 0.990026 Centerline is valid? [True, True] Translation: X:183.49, Y:123.80, Z:0.60 [[-8.31130988e-01 -5.56072190e-01 2.23625099e-03 1.83490724e+02] [ 5.56070164e-01 -8.31133997e-01 -1.50083509e-03 1.23804886e+02] [ 2.69319688e-03 -3.87809991e-06 9.99996373e-01 6.02375951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.794012739 meters Centerline goodness : 0.989990 Centerline is valid? [True, True] Translation: X:183.49, Y:123.81, Z:0.60 [[-8.32928036e-01 -5.53376800e-01 2.23682429e-03 1.83492123e+02] [ 5.53374767e-01 -8.32931040e-01 -1.49998017e-03 1.23806637e+02] [ 2.69317461e-03 -1.15734192e-05 9.99996373e-01 6.01133108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.824012739 meters Centerline goodness : 0.990310 Centerline is valid? [True, True] Translation: X:183.52, Y:123.79, Z:0.60 [[-8.33821007e-01 -5.52030364e-01 2.23740002e-03 1.83518379e+02] [ 5.52028329e-01 -8.33824008e-01 -1.49912090e-03 1.23790246e+02] [ 2.69315811e-03 -1.48903005e-05 9.99996373e-01 6.00465880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.854012739 meters Centerline goodness : 0.990054 Centerline is valid? [True, True] Translation: X:183.51, Y:123.80, Z:0.60 [[-8.34928998e-01 -5.50353125e-01 2.23761313e-03 1.83511488e+02] [ 5.50351085e-01 -8.34931996e-01 -1.49880274e-03 1.23798207e+02] [ 2.69312557e-03 -1.99210520e-05 9.99996373e-01 6.04294704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.884012739 meters Centerline goodness : 0.990332 Centerline is valid? [True, True] Translation: X:183.53, Y:123.79, Z:0.61 [[-8.35489050e-01 -5.49502537e-01 2.23810832e-03 1.83531885e+02] [ 5.49500495e-01 -8.35492048e-01 -1.49806294e-03 1.23786971e+02] [ 2.69311108e-03 -2.17735521e-05 9.99996373e-01 6.08553809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.914012739 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:183.53, Y:123.79, Z:0.61 [[-8.35814006e-01 -5.49008139e-01 2.23860147e-03 1.83530562e+02] [ 5.49006097e-01 -8.35817003e-01 -1.49732563e-03 1.23790583e+02] [ 2.69310513e-03 -2.24798737e-05 9.99996373e-01 6.11319669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.944012739 meters Centerline goodness : 0.990499 Centerline is valid? [True, True] Translation: X:183.53, Y:123.80, Z:0.61 [[-8.36313104e-01 -5.48247551e-01 2.23916218e-03 1.83526981e+02] [ 5.48245509e-01 -8.36316102e-01 -1.49648666e-03 1.23798285e+02] [ 2.69309253e-03 -2.39207908e-05 9.99996373e-01 6.10378705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.974012739 meters Centerline goodness : 0.990189 Centerline is valid? [True, True] Translation: X:183.51, Y:123.81, Z:0.61 [[-8.36838102e-01 -5.47445865e-01 2.23972560e-03 1.83512217e+02] [ 5.47443822e-01 -8.36841099e-01 -1.49564294e-03 1.23811017e+02] [ 2.69307797e-03 -2.54870607e-05 9.99996373e-01 6.08629080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.004012739 meters Centerline goodness : 0.990579 Centerline is valid? [True, True] Translation: X:183.54, Y:123.80, Z:0.61 [[-8.37192726e-01 -5.46903392e-01 2.24029530e-03 1.83540580e+02] [ 5.46901350e-01 -8.37195723e-01 -1.49478911e-03 1.23795370e+02] [ 2.69307088e-03 -2.62060438e-05 9.99996373e-01 6.06972438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.034012739 meters Centerline goodness : 0.990848 Centerline is valid? [True, True] Translation: X:183.55, Y:123.80, Z:0.61 [[-8.37649697e-01 -5.46203226e-01 2.24086299e-03 1.83547632e+02] [ 5.46201183e-01 -8.37652694e-01 -1.49393759e-03 1.23797574e+02] [ 2.69305845e-03 -2.74343506e-05 9.99996373e-01 6.11254999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.064012739 meters Centerline goodness : 0.990799 Centerline is valid? [True, True] Translation: X:183.55, Y:123.80, Z:0.61 [[-8.37740754e-01 -5.46063555e-01 2.24142388e-03 1.83552955e+02] [ 5.46061514e-01 -8.37743752e-01 -1.49309558e-03 1.23797224e+02] [ 2.69306393e-03 -2.68716983e-05 9.99996373e-01 6.10899311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.094012739 meters Centerline goodness : 0.990671 Centerline is valid? [True, True] Translation: X:183.54, Y:123.81, Z:0.61 [[-8.37451345e-01 -5.46507290e-01 2.24198364e-03 1.83536632e+02] [ 5.46505253e-01 -8.37454346e-01 -1.49225460e-03 1.23813363e+02] [ 2.69308696e-03 -2.44347828e-05 9.99996373e-01 6.09047220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.124012739 meters Centerline goodness : 0.990250 Centerline is valid? [True, True] Translation: X:183.54, Y:123.81, Z:0.61 [[-8.37027495e-01 -5.47156233e-01 2.24254767e-03 1.83543590e+02] [ 5.47154201e-01 -8.37030499e-01 -1.49140649e-03 1.23809893e+02] [ 2.69311315e-03 -2.13288593e-05 9.99996373e-01 6.09942064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.154012739 meters Centerline goodness : 0.990447 Centerline is valid? [True, True] Translation: X:183.54, Y:123.81, Z:0.61 [[-8.36462254e-01 -5.48019951e-01 2.24311548e-03 1.83541887e+02] [ 5.48017924e-01 -8.36465261e-01 -1.49055200e-03 1.23811755e+02] [ 2.69314041e-03 -1.75229920e-05 9.99996373e-01 6.10189414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.184012739 meters Centerline goodness : 0.990775 Centerline is valid? [True, True] Translation: X:183.55, Y:123.81, Z:0.61 [[-8.34942807e-01 -5.50332150e-01 2.24368278e-03 1.83546146e+02] [ 5.50330134e-01 -8.34945821e-01 -1.48969757e-03 1.23812629e+02] [ 2.69318203e-03 -9.04602460e-06 9.99996373e-01 6.08484142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.214012739 meters Centerline goodness : 0.990819 Centerline is valid? [True, True] Translation: X:183.55, Y:123.81, Z:0.61 [[-8.34995790e-01 -5.50251756e-01 2.24425078e-03 1.83545741e+02] [ 5.50249741e-01 -8.34998806e-01 -1.48884137e-03 1.23814792e+02] [ 2.69318430e-03 -8.27786310e-06 9.99996373e-01 6.08520247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.244012739 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:183.53, Y:123.82, Z:0.61 [[-8.35283335e-01 -5.49815160e-01 2.24481912e-03 1.83533528e+02] [ 5.49813147e-01 -8.35286352e-01 -1.48798397e-03 1.23824249e+02] [ 2.69318291e-03 -8.65714702e-06 9.99996373e-01 6.07129560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.274012739 meters Centerline goodness : 0.990842 Centerline is valid? [True, True] Translation: X:183.55, Y:123.81, Z:0.61 [[-8.35628763e-01 -5.49290022e-01 2.24539168e-03 1.83550709e+02] [ 5.49288009e-01 -8.35631780e-01 -1.48711946e-03 1.23813906e+02] [ 2.69318053e-03 -9.31306724e-06 9.99996373e-01 6.05701140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30401273900003 meters Centerline goodness : 0.989794 Centerline is valid? [True, True] Translation: X:183.55, Y:123.82, Z:0.61 [[-8.35679029e-01 -5.49213543e-01 2.24596391e-03 1.83545630e+02] [ 5.49211532e-01 -8.35682048e-01 -1.48625473e-03 1.23818364e+02] [ 2.69318294e-03 -8.52263118e-06 9.99996373e-01 6.07251273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.334012739 meters Centerline goodness : 0.990156 Centerline is valid? [True, True] Translation: X:183.55, Y:123.82, Z:0.61 [[-8.35057076e-01 -5.50158734e-01 2.24653418e-03 1.83550987e+02] [ 5.50156729e-01 -8.35060098e-01 -1.48539224e-03 1.23815110e+02] [ 2.69319257e-03 -4.44140308e-06 9.99996373e-01 6.08282793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36401273900003 meters Centerline goodness : 0.989985 Centerline is valid? [True, True] Translation: X:183.55, Y:123.81, Z:0.61 [[-8.34688952e-01 -5.50717081e-01 2.24710517e-03 1.83551613e+02] [ 5.50715080e-01 -8.34691977e-01 -1.48452794e-03 1.23813923e+02] [ 2.69319555e-03 -1.60436905e-06 9.99996373e-01 6.06637608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.394012739 meters Centerline goodness : 0.989547 Centerline is valid? [True, True] Translation: X:183.56, Y:123.81, Z:0.61 [[-8.34505424e-01 -5.50995140e-01 2.24767535e-03 1.83558703e+02] [ 5.50993143e-01 -8.34508451e-01 -1.48366414e-03 1.23808294e+02] [ 2.69319581e-03 3.27930973e-07 9.99996373e-01 6.07282501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.424012739 meters Centerline goodness : 0.989449 Centerline is valid? [True, True] Translation: X:183.57, Y:123.80, Z:0.61 [[-8.34279859e-01 -5.51336614e-01 2.24824416e-03 1.83565488e+02] [ 5.51334620e-01 -8.34282888e-01 -1.48280171e-03 1.23803819e+02] [ 2.69319451e-03 2.46324138e-06 9.99996373e-01 6.09118021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.454012739 meters Centerline goodness : 0.990296 Centerline is valid? [True, True] Translation: X:183.57, Y:123.80, Z:0.61 [[-8.34069512e-01 -5.51654776e-01 2.24881019e-03 1.83566540e+02] [ 5.51652785e-01 -8.34072544e-01 -1.48194278e-03 1.23804781e+02] [ 2.69319165e-03 4.51911382e-06 9.99996373e-01 6.13728571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.484012739 meters Centerline goodness : 0.990485 Centerline is valid? [True, True] Translation: X:183.57, Y:123.81, Z:0.61 [[-8.34023307e-01 -5.51724626e-01 2.24930380e-03 1.83565431e+02] [ 5.51722638e-01 -8.34026341e-01 -1.48119319e-03 1.23807078e+02] [ 2.69318938e-03 5.64218806e-06 9.99996373e-01 6.14098089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.514012739 meters Centerline goodness : 0.990624 Centerline is valid? [True, True] Translation: X:183.56, Y:123.82, Z:0.61 [[-8.34524623e-01 -5.50966054e-01 2.24986940e-03 1.83556293e+02] [ 5.50964065e-01 -8.34527656e-01 -1.48033357e-03 1.23815081e+02] [ 2.69319178e-03 4.22238224e-06 9.99996373e-01 6.12378757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.544012739 meters Centerline goodness : 0.990505 Centerline is valid? [True, True] Translation: X:183.57, Y:123.81, Z:0.61 [[-8.35281254e-01 -5.49818299e-01 2.25043864e-03 1.83567639e+02] [ 5.49816309e-01 -8.35284286e-01 -1.47946770e-03 1.23808336e+02] [ 2.69319444e-03 1.55623142e-06 9.99996373e-01 6.10950076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.574012739 meters Centerline goodness : 0.990161 Centerline is valid? [True, True] Translation: X:183.57, Y:123.81, Z:0.61 [[-8.35958178e-01 -5.48788537e-01 2.25100839e-03 1.83568801e+02] [ 5.48786545e-01 -8.35961208e-01 -1.47860031e-03 1.23809152e+02] [ 2.69319460e-03 -7.24901420e-07 9.99996373e-01 6.09387139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.604012739 meters Centerline goodness : 0.990518 Centerline is valid? [True, True] Translation: X:183.57, Y:123.81, Z:0.61 [[-8.37534811e-01 -5.46379328e-01 2.25157611e-03 1.83574474e+02] [ 5.46377330e-01 -8.37537838e-01 -1.47773530e-03 1.23810738e+02] [ 2.69318420e-03 -7.44461475e-06 9.99996373e-01 6.10116087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.634012739 meters Centerline goodness : 0.990573 Centerline is valid? [True, True] Translation: X:183.58, Y:123.81, Z:0.61 [[-8.38096192e-01 -5.45517828e-01 2.25214349e-03 1.83581955e+02] [ 5.45515829e-01 -8.38099218e-01 -1.47687007e-03 1.23807693e+02] [ 2.69317865e-03 -9.17926326e-06 9.99996373e-01 6.10655746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.664012739 meters Centerline goodness : 0.990300 Centerline is valid? [True, True] Translation: X:183.59, Y:123.81, Z:0.61 [[-8.38272408e-01 -5.45247004e-01 2.25270912e-03 1.83585627e+02] [ 5.45245007e-01 -8.38275435e-01 -1.47600680e-03 1.23807985e+02] [ 2.69317900e-03 -9.01737006e-06 9.99996373e-01 6.12601155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.694012739 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:183.59, Y:123.81, Z:0.61 [[-8.38022108e-01 -5.45631625e-01 2.25327312e-03 1.83590575e+02] [ 5.45629631e-01 -8.38025137e-01 -1.47514530e-03 1.23806763e+02] [ 2.69318544e-03 -6.75179303e-06 9.99996373e-01 6.14986119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.724012739 meters Centerline goodness : 0.990847 Centerline is valid? [True, True] Translation: X:183.58, Y:123.82, Z:0.62 [[-8.37221103e-01 -5.46859895e-01 2.25383641e-03 1.83582013e+02] [ 5.46857908e-01 -8.37224137e-01 -1.47428416e-03 1.23815015e+02] [ 2.69319312e-03 -1.77355108e-06 9.99996373e-01 6.20631862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.754012739 meters Centerline goodness : 0.990566 Centerline is valid? [True, True] Translation: X:183.60, Y:123.80, Z:0.62 [[-8.36922971e-01 -5.47316050e-01 2.25440180e-03 1.83599573e+02] [ 5.47314066e-01 -8.36926007e-01 -1.47341907e-03 1.23803718e+02] [ 2.69319341e-03 7.27550227e-07 9.99996373e-01 6.20325556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.784012739 meters Centerline goodness : 0.990350 Centerline is valid? [True, True] Translation: X:183.60, Y:123.80, Z:0.62 [[-8.36540155e-01 -5.47900981e-01 2.25496584e-03 1.83601147e+02] [ 5.47899002e-01 -8.36543194e-01 -1.47255535e-03 1.23803341e+02] [ 2.69319085e-03 3.64185087e-06 9.99996373e-01 6.17114240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.814012739 meters Centerline goodness : 0.989806 Centerline is valid? [True, True] Translation: X:183.61, Y:123.80, Z:0.61 [[-8.36128116e-01 -5.48529568e-01 2.25552609e-03 1.83608895e+02] [ 5.48527593e-01 -8.36131158e-01 -1.47169670e-03 1.23799428e+02] [ 2.69318480e-03 6.69130969e-06 9.99996373e-01 6.13340195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.844012739 meters Centerline goodness : 0.990196 Centerline is valid? [True, True] Translation: X:183.62, Y:123.79, Z:0.61 [[-8.35880479e-01 -5.48906854e-01 2.25608501e-03 1.83618887e+02] [ 5.48904883e-01 -8.35883524e-01 -1.47083940e-03 1.23793694e+02] [ 2.69317811e-03 8.93013667e-06 9.99996373e-01 6.11408517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.874012739 meters Centerline goodness : 0.990078 Centerline is valid? [True, True] Translation: X:183.60, Y:123.80, Z:0.61 [[-8.36192196e-01 -5.48431872e-01 2.25664057e-03 1.83600620e+02] [ 5.48429903e-01 -8.36195241e-01 -1.46998653e-03 1.23804714e+02] [ 2.69317957e-03 8.41790837e-06 9.99996373e-01 6.12275801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.904012739 meters Centerline goodness : 0.990681 Centerline is valid? [True, True] Translation: X:183.62, Y:123.79, Z:0.61 [[-8.36851626e-01 -5.47425120e-01 2.25719865e-03 1.83622692e+02] [ 5.47423148e-01 -8.36854670e-01 -1.46912908e-03 1.23788167e+02] [ 2.69318540e-03 6.19973021e-06 9.99996373e-01 6.13176812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.934012739 meters Centerline goodness : 0.990072 Centerline is valid? [True, True] Translation: X:183.62, Y:123.79, Z:0.61 [[-8.37568303e-01 -5.46327961e-01 2.25775622e-03 1.83615207e+02] [ 5.46325988e-01 -8.37571346e-01 -1.46827171e-03 1.23793782e+02] [ 2.69318981e-03 3.69304962e-06 9.99996373e-01 6.13008389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.964012739 meters Centerline goodness : 0.989677 Centerline is valid? [True, True] Translation: X:183.61, Y:123.80, Z:0.61 [[-8.38356161e-01 -5.45118195e-01 2.25831081e-03 1.83610192e+02] [ 5.45116220e-01 -8.38359203e-01 -1.46741821e-03 1.23798814e+02] [ 2.69319202e-03 8.22757757e-07 9.99996373e-01 6.12736216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.994012739 meters Centerline goodness : 0.989932 Centerline is valid? [True, True] Translation: X:183.63, Y:123.79, Z:0.61 [[-8.39729015e-01 -5.43000994e-01 2.25886930e-03 1.83625903e+02] [ 5.42999014e-01 -8.39732053e-01 -1.46655800e-03 1.23790102e+02] [ 2.69318741e-03 -4.94750419e-06 9.99996373e-01 6.14840607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.024012739 meters Centerline goodness : 0.990460 Centerline is valid? [True, True] Translation: X:183.61, Y:123.80, Z:0.62 [[-8.40169679e-01 -5.42318914e-01 2.25942626e-03 1.83607247e+02] [ 5.42316934e-01 -8.40172717e-01 -1.46569943e-03 1.23801420e+02] [ 2.69318482e-03 -6.11109676e-06 9.99996373e-01 6.16996056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05401273900003 meters Centerline goodness : 0.990313 Centerline is valid? [True, True] Translation: X:183.60, Y:123.80, Z:0.62 [[-8.40274710e-01 -5.42156161e-01 2.25998473e-03 1.83604766e+02] [ 5.42154183e-01 -8.40277750e-01 -1.46483780e-03 1.23802655e+02] [ 2.69318573e-03 -5.60598314e-06 9.99996373e-01 6.16352296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.084012739 meters Centerline goodness : 0.990594 Centerline is valid? [True, True] Translation: X:183.55, Y:123.84, Z:0.61 [[-8.40716547e-01 -5.41470754e-01 2.26054904e-03 1.83554199e+02] [ 5.41468774e-01 -8.40719587e-01 -1.46396644e-03 1.23835704e+02] [ 2.69318287e-03 -6.76409436e-06 9.99996373e-01 6.13043414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11401273900003 meters Centerline goodness : 0.989978 Centerline is valid? [True, True] Translation: X:183.63, Y:123.79, Z:0.61 [[-8.38904770e-01 -5.44273513e-01 2.26482966e-03 1.83627080e+02] [ 5.44271562e-01 -8.38907827e-01 -1.45735016e-03 1.23787823e+02] [ 2.69318042e-03 1.01043782e-05 9.99996373e-01 6.11849470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.144012739 meters Centerline goodness : 0.990377 Centerline is valid? [True, True] Translation: X:183.62, Y:123.79, Z:0.61 [[-8.37252330e-01 -5.46812057e-01 2.26059670e-03 1.83624249e+02] [ 5.46810098e-01 -8.37255382e-01 -1.46388688e-03 1.23789256e+02] [ 2.69316775e-03 1.04744054e-05 9.99996373e-01 6.14138871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.174012739 meters Centerline goodness : 0.990202 Centerline is valid? [True, True] Translation: X:183.64, Y:123.78, Z:0.62 [[-8.36881082e-01 -5.47380071e-01 2.26115182e-03 1.83641148e+02] [ 5.47378116e-01 -8.36884136e-01 -1.46302892e-03 1.23778463e+02] [ 2.69315496e-03 1.33238019e-05 9.99996373e-01 6.17406338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.204012739 meters Centerline goodness : 0.990321 Centerline is valid? [True, True] Translation: X:183.64, Y:123.78, Z:0.62 [[-8.36603797e-01 -5.47803772e-01 2.26170425e-03 1.83638428e+02] [ 5.47801821e-01 -8.36606854e-01 -1.46217441e-03 1.23780551e+02] [ 2.69314194e-03 1.57050414e-05 9.99996373e-01 6.19339992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.234012739 meters Centerline goodness : 0.990761 Centerline is valid? [True, True] Translation: X:183.64, Y:123.78, Z:0.62 [[-8.35867068e-01 -5.48927251e-01 2.26225393e-03 1.83640683e+02] [ 5.48925306e-01 -8.35870129e-01 -1.46132346e-03 1.23778444e+02] [ 2.69311076e-03 2.03362734e-05 9.99996373e-01 6.20405529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.264012739 meters Centerline goodness : 0.990504 Centerline is valid? [True, True] Translation: X:183.64, Y:123.78, Z:0.62 [[-8.35601893e-01 -5.49330826e-01 2.26280454e-03 1.83636386e+02] [ 5.49328885e-01 -8.35604956e-01 -1.46047037e-03 1.23779685e+02] [ 2.69309208e-03 2.26520954e-05 9.99996373e-01 6.20329351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.294012739 meters Centerline goodness : 0.990706 Centerline is valid? [True, True] Translation: X:183.65, Y:123.77, Z:0.62 [[-8.35315140e-01 -5.49766764e-01 2.26335601e-03 1.83651602e+02] [ 5.49764827e-01 -8.35318206e-01 -1.45961524e-03 1.23767859e+02] [ 2.69307042e-03 2.50748178e-05 9.99996373e-01 6.19784899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.324012739 meters Centerline goodness : 0.990822 Centerline is valid? [True, True] Translation: X:183.64, Y:123.77, Z:0.62 [[-8.34873088e-01 -5.50437828e-01 2.26390517e-03 1.83643423e+02] [ 5.50435895e-01 -8.34876157e-01 -1.45876298e-03 1.23770638e+02] [ 2.69303877e-03 2.82527166e-05 9.99996373e-01 6.17864750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.354012739 meters Centerline goodness : 0.990766 Centerline is valid? [True, True] Translation: X:183.65, Y:123.77, Z:0.62 [[-8.34861096e-01 -5.50456013e-01 2.26445284e-03 1.83647183e+02] [ 5.50454083e-01 -8.34864167e-01 -1.45791232e-03 1.23768547e+02] [ 2.69302714e-03 2.93230360e-05 9.99996373e-01 6.17583108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.384012739 meters Centerline goodness : 0.990759 Centerline is valid? [True, True] Translation: X:183.66, Y:123.76, Z:0.62 [[-8.34431730e-01 -5.51106667e-01 2.26500190e-03 1.83659040e+02] [ 5.51104742e-01 -8.34434803e-01 -1.45705880e-03 1.23761483e+02] [ 2.69299124e-03 3.24371909e-05 9.99996373e-01 6.16674701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.414012739 meters Centerline goodness : 0.990630 Centerline is valid? [True, True] Translation: X:183.64, Y:123.77, Z:0.62 [[-8.34577510e-01 -5.50885876e-01 2.26554814e-03 1.83644145e+02] [ 5.50883952e-01 -8.34580584e-01 -1.45620898e-03 1.23769549e+02] [ 2.69298745e-03 3.27348482e-05 9.99996373e-01 6.16075465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.444012739 meters Centerline goodness : 0.989812 Centerline is valid? [True, True] Translation: X:183.58, Y:123.81, Z:0.62 [[-8.35148544e-01 -5.50019795e-01 2.26609557e-03 1.83580184e+02] [ 5.50017870e-01 -8.35151618e-01 -1.45535658e-03 1.23808703e+02] [ 2.69300831e-03 3.09541275e-05 9.99996373e-01 6.15603434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.474012739 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:183.64, Y:123.77, Z:0.62 [[-8.34622440e-01 -5.50817789e-01 2.26846965e-03 1.83640546e+02] [ 5.50815877e-01 -8.34625522e-01 -1.45165783e-03 1.23766290e+02] [ 2.69292162e-03 3.79229017e-05 9.99996373e-01 6.16346654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.504012739 meters Centerline goodness : 0.991266 Centerline is valid? [True, True] Translation: X:183.67, Y:123.75, Z:0.62 [[-8.34847940e-01 -5.50475960e-01 2.26609103e-03 1.83667531e+02] [ 5.50474037e-01 -8.34851015e-01 -1.45536148e-03 1.23747642e+02] [ 2.69298991e-03 3.24187437e-05 9.99996373e-01 6.19463185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.534012739 meters Centerline goodness : 0.991266 Centerline is valid? [True, True] Translation: X:183.67, Y:123.75, Z:0.62 [[-8.35052108e-01 -5.50166193e-01 2.26663663e-03 1.83669667e+02] [ 5.50164271e-01 -8.35055183e-01 -1.45451125e-03 1.23746359e+02] [ 2.69298958e-03 3.24298060e-05 9.99996373e-01 6.19456407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.564012739 meters Centerline goodness : 0.991217 Centerline is valid? [True, True] Translation: X:183.59, Y:123.79, Z:0.62 [[-8.35982093e-01 -5.48752038e-01 2.26717594e-03 1.83591268e+02] [ 5.48750114e-01 -8.35985167e-01 -1.45367013e-03 1.23794836e+02] [ 2.69302991e-03 2.88708571e-05 9.99996373e-01 6.19660603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.594012739 meters Centerline goodness : 0.990991 Centerline is valid? [True, True] Translation: X:183.66, Y:123.75, Z:0.62 [[-8.34241676e-01 -5.51394296e-01 2.27097221e-03 1.83656742e+02] [ 5.51392397e-01 -8.34244765e-01 -1.44774400e-03 1.23746303e+02] [ 2.69282446e-03 4.44284268e-05 9.99996373e-01 6.15344236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.624012739 meters Centerline goodness : 0.991426 Centerline is valid? [True, True] Translation: X:183.66, Y:123.74, Z:0.61 [[-8.34151543e-01 -5.51530656e-01 2.26715357e-03 1.83655399e+02] [ 5.51528741e-01 -8.34154623e-01 -1.45369946e-03 1.23743714e+02] [ 2.69291644e-03 3.77947075e-05 9.99996373e-01 6.14403072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.654012739 meters Centerline goodness : 0.991131 Centerline is valid? [True, True] Translation: X:183.55, Y:123.81, Z:0.61 [[-8.34745850e-01 -5.50630751e-01 2.26769713e-03 1.83550877e+02] [ 5.50628836e-01 -8.34748929e-01 -1.45285103e-03 1.23807852e+02] [ 2.69294221e-03 3.58980613e-05 9.99996373e-01 6.14585042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.684012739 meters Centerline goodness : 0.991256 Centerline is valid? [True, True] Translation: X:183.64, Y:123.74, Z:0.62 [[-8.35562868e-01 -5.49390153e-01 2.27005777e-03 1.83642832e+02] [ 5.49388243e-01 -8.35565951e-01 -1.44916429e-03 1.23743031e+02] [ 2.69293957e-03 3.62751803e-05 9.99996373e-01 6.15895214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.714012739 meters Centerline goodness : 0.991717 Centerline is valid? [True, True] Translation: X:183.65, Y:123.73, Z:0.62 [[-8.36847177e-01 -5.47431877e-01 2.26768271e-03 1.83652709e+02] [ 5.47429950e-01 -8.36850249e-01 -1.45287134e-03 1.23734693e+02] [ 2.69305893e-03 2.55661564e-05 9.99996373e-01 6.17862270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.744012739 meters Centerline goodness : 0.992349 Centerline is valid? [True, True] Translation: X:183.62, Y:123.75, Z:0.62 [[-8.38911081e-01 -5.44263772e-01 2.26822853e-03 1.83624481e+02] [ 5.44261835e-01 -8.38914147e-01 -1.45201870e-03 1.23748183e+02] [ 2.69313018e-03 1.63956454e-05 9.99996373e-01 6.20314555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.774012739 meters Centerline goodness : 0.991940 Centerline is valid? [True, True] Translation: X:183.63, Y:123.74, Z:0.62 [[-8.39707501e-01 -5.43034221e-01 2.26877860e-03 1.83629715e+02] [ 5.43032282e-01 -8.39710566e-01 -1.45115871e-03 1.23742663e+02] [ 2.69314620e-03 1.34711736e-05 9.99996373e-01 6.20038077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80401273900003 meters Centerline goodness : 0.991718 Centerline is valid? [True, True] Translation: X:183.63, Y:123.74, Z:0.62 [[-8.40369844e-01 -5.42008649e-01 2.26933411e-03 1.83628705e+02] [ 5.42006709e-01 -8.40372908e-01 -1.45028948e-03 1.23741683e+02] [ 2.69315635e-03 1.12147682e-05 9.99996373e-01 6.19792902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.834012739 meters Centerline goodness : 0.992148 Centerline is valid? [True, True] Translation: X:183.63, Y:123.74, Z:0.62 [[-8.40983490e-01 -5.41056021e-01 2.26988873e-03 1.83626407e+02] [ 5.41054079e-01 -8.40986553e-01 -1.44942092e-03 1.23741735e+02] [ 2.69316381e-03 9.19349539e-06 9.99996373e-01 6.19066693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86401273900003 meters Centerline goodness : 0.991674 Centerline is valid? [True, True] Translation: X:183.64, Y:123.73, Z:0.62 [[-8.42717086e-01 -5.38351891e-01 2.27044458e-03 1.83643984e+02] [ 5.38349942e-01 -8.42720144e-01 -1.44854967e-03 1.23729710e+02] [ 2.69317884e-03 1.57615020e-06 9.99996373e-01 6.20444749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.894012739 meters Centerline goodness : 0.992132 Centerline is valid? [True, True] Translation: X:183.64, Y:123.73, Z:0.62 [[-8.43970878e-01 -5.36384190e-01 2.27099707e-03 1.83636144e+02] [ 5.36382236e-01 -8.43973934e-01 -1.44768298e-03 1.23734885e+02] [ 2.69317659e-03 -3.67978999e-06 9.99996373e-01 6.20494029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.924012739 meters Centerline goodness : 0.992080 Centerline is valid? [True, True] Translation: X:183.65, Y:123.73, Z:0.62 [[-8.46038266e-01 -5.33117334e-01 2.27154804e-03 1.83649686e+02] [ 5.33115371e-01 -8.46041316e-01 -1.44681794e-03 1.23726715e+02] [ 2.69314721e-03 -1.30661697e-05 9.99996373e-01 6.22418525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.954012739 meters Centerline goodness : 0.992780 Centerline is valid? [True, True] Translation: X:183.66, Y:123.72, Z:0.62 [[-8.46943600e-01 -5.31677887e-01 2.27209831e-03 1.83656792e+02] [ 5.31675921e-01 -8.46946648e-01 -1.44595327e-03 1.23723961e+02] [ 2.69312743e-03 -1.66209103e-05 9.99996373e-01 6.22834122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.984012739 meters Centerline goodness : 0.992442 Centerline is valid? [True, True] Translation: X:183.65, Y:123.73, Z:0.62 [[-8.47818188e-01 -5.30282147e-01 2.27264465e-03 1.83653332e+02] [ 5.30280179e-01 -8.47821234e-01 -1.44509407e-03 1.23728162e+02] [ 2.69310397e-03 -2.00386244e-05 9.99996373e-01 6.22148753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.014012739 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:183.66, Y:123.73, Z:0.62 [[-8.48719482e-01 -5.28838418e-01 2.27319129e-03 1.83663353e+02] [ 5.28836447e-01 -8.48722526e-01 -1.44423367e-03 1.23725142e+02] [ 2.69307490e-03 -2.36028520e-05 9.99996373e-01 6.19259460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.044012739 meters Centerline goodness : 0.991746 Centerline is valid? [True, True] Translation: X:183.65, Y:123.73, Z:0.62 [[-8.48997664e-01 -5.28391707e-01 2.27373760e-03 1.83652053e+02] [ 5.28389736e-01 -8.49000709e-01 -1.44337307e-03 1.23733374e+02] [ 2.69307119e-03 -2.40007550e-05 9.99996373e-01 6.18234506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.074012739 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:183.67, Y:123.72, Z:0.62 [[-8.49183290e-01 -5.28093332e-01 2.27428538e-03 1.83670455e+02] [ 5.28091363e-01 -8.49186335e-01 -1.44250942e-03 1.23723412e+02] [ 2.69307168e-03 -2.39244298e-05 9.99996373e-01 6.18329709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.104012739 meters Centerline goodness : 0.991850 Centerline is valid? [True, True] Translation: X:183.66, Y:123.73, Z:0.62 [[-8.49290359e-01 -5.27921122e-01 2.27483239e-03 1.83661439e+02] [ 5.27919155e-01 -8.49293405e-01 -1.44164627e-03 1.23733994e+02] [ 2.69307567e-03 -2.34486881e-05 9.99996373e-01 6.21829890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.134012739 meters Centerline goodness : 0.991816 Centerline is valid? [True, True] Translation: X:183.67, Y:123.73, Z:0.62 [[-8.49614366e-01 -5.27399518e-01 2.27537853e-03 1.83665694e+02] [ 5.27397551e-01 -8.49617412e-01 -1.44078378e-03 1.23733833e+02] [ 2.69306989e-03 -2.40815298e-05 9.99996373e-01 6.21178207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.164012739 meters Centerline goodness : 0.991669 Centerline is valid? [True, True] Translation: X:183.60, Y:123.78, Z:0.62 [[-8.49877938e-01 -5.26974677e-01 2.27592732e-03 1.83600937e+02] [ 5.26972711e-01 -8.49880985e-01 -1.43991636e-03 1.23780808e+02] [ 2.69306681e-03 -2.44015580e-05 9.99996373e-01 6.20059569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.194012739 meters Centerline goodness : 0.992339 Centerline is valid? [True, True] Translation: X:183.67, Y:123.74, Z:0.62 [[-8.49797149e-01 -5.27104945e-01 2.27655168e-03 1.83665295e+02] [ 5.27102981e-01 -8.49800198e-01 -1.43892878e-03 1.23743583e+02] [ 2.69308054e-03 -2.28203974e-05 9.99996373e-01 6.19816852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.224012739 meters Centerline goodness : 0.992523 Centerline is valid? [True, True] Translation: X:183.67, Y:123.74, Z:0.62 [[-8.50082643e-01 -5.26644397e-01 2.27585501e-03 1.83671727e+02] [ 5.26642429e-01 -8.50085689e-01 -1.44002980e-03 1.23742188e+02] [ 2.69305540e-03 -2.55825238e-05 9.99996373e-01 6.21869692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.254012739 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:183.66, Y:123.75, Z:0.62 [[-8.50407918e-01 -5.26118989e-01 2.27640425e-03 1.83659864e+02] [ 5.26117022e-01 -8.50410964e-01 -1.43916104e-03 1.23751208e+02] [ 2.69304908e-03 -2.62189232e-05 9.99996373e-01 6.23744392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.284012739 meters Centerline goodness : 0.991755 Centerline is valid? [True, True] Translation: X:183.67, Y:123.75, Z:0.62 [[-8.50479806e-01 -5.26002771e-01 2.27695598e-03 1.83665948e+02] [ 5.26000805e-01 -8.50482854e-01 -1.43828759e-03 1.23752937e+02] [ 2.69305528e-03 -2.55538743e-05 9.99996373e-01 6.20197411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.314012739 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:183.67, Y:123.75, Z:0.61 [[-8.50401849e-01 -5.26128795e-01 2.27751042e-03 1.83670512e+02] [ 5.26126832e-01 -8.50404898e-01 -1.43740910e-03 1.23754825e+02] [ 2.69306834e-03 -2.41160165e-05 9.99996373e-01 6.14802805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.344012739 meters Centerline goodness : 0.991718 Centerline is valid? [True, True] Translation: X:183.68, Y:123.75, Z:0.61 [[-8.49954416e-01 -5.26851309e-01 2.27806415e-03 1.83682221e+02] [ 5.26849351e-01 -8.49957468e-01 -1.43653099e-03 1.23753762e+02] [ 2.69309587e-03 -2.07892421e-05 9.99996373e-01 6.13944549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.374012739 meters Centerline goodness : 0.992126 Centerline is valid? [True, True] Translation: X:183.67, Y:123.76, Z:0.62 [[-8.49053152e-01 -5.28302521e-01 2.27861589e-03 1.83672798e+02] [ 5.28300571e-01 -8.49056209e-01 -1.43565530e-03 1.23760750e+02] [ 2.69313328e-03 -1.51535876e-05 9.99996373e-01 6.15222170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.404012739 meters Centerline goodness : 0.992223 Centerline is valid? [True, True] Translation: X:183.69, Y:123.75, Z:0.62 [[-8.45708778e-01 -5.33639831e-01 2.27916848e-03 1.83691753e+02] [ 5.33637902e-01 -8.45711849e-01 -1.43477750e-03 1.23749401e+02] [ 2.69317421e-03 2.84676531e-06 9.99996373e-01 6.19998294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.434012739 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:183.71, Y:123.74, Z:0.62 [[-8.43834915e-01 -5.36598024e-01 2.27965017e-03 1.83713852e+02] [ 5.36596108e-01 -8.43837995e-01 -1.43401176e-03 1.23736302e+02] [ 2.69314330e-03 1.31822151e-05 9.99996373e-01 6.21196715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.464012739 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:183.70, Y:123.74, Z:0.62 [[-8.42278834e-01 -5.39037259e-01 2.28019217e-03 1.83704766e+02] [ 5.39035354e-01 -8.42281920e-01 -1.43314942e-03 1.23741484e+02] [ 2.69308557e-03 2.19927742e-05 9.99996373e-01 6.21371206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.494012739 meters Centerline goodness : 0.991419 Centerline is valid? [True, True] Translation: X:183.72, Y:123.73, Z:0.62 [[-8.39772184e-01 -5.42934136e-01 2.28073190e-03 1.83717742e+02] [ 5.42932248e-01 -8.39775281e-01 -1.43228997e-03 1.23730233e+02] [ 2.69294139e-03 3.54856177e-05 9.99996373e-01 6.18323193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.524012739 meters Centerline goodness : 0.992257 Centerline is valid? [True, True] Translation: X:183.73, Y:123.72, Z:0.62 [[-8.39495209e-01 -5.43362300e-01 2.28127094e-03 1.83727808e+02] [ 5.43360416e-01 -8.39498308e-01 -1.43143089e-03 1.23722789e+02] [ 2.69290868e-03 3.78729532e-05 9.99996373e-01 6.17536558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55401273900003 meters Centerline goodness : 0.991953 Centerline is valid? [True, True] Translation: X:183.72, Y:123.73, Z:0.62 [[-8.40231607e-01 -5.42222869e-01 2.28180505e-03 1.83720197e+02] [ 5.42220983e-01 -8.40234705e-01 -1.43057899e-03 1.23726398e+02] [ 2.69294443e-03 3.52248909e-05 9.99996373e-01 6.21965268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.584012739 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:183.73, Y:123.72, Z:0.62 [[-8.41171783e-01 -5.40763185e-01 2.28233900e-03 1.83728988e+02] [ 5.40761296e-01 -8.41174879e-01 -1.42972661e-03 1.23719307e+02] [ 2.69298975e-03 3.15549162e-05 9.99996373e-01 6.24051132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61401273900003 meters Centerline goodness : 0.991976 Centerline is valid? [True, True] Translation: X:183.72, Y:123.72, Z:0.62 [[-8.41965185e-01 -5.39527029e-01 2.28287307e-03 1.83716422e+02] [ 5.39525138e-01 -8.41968280e-01 -1.42887334e-03 1.23724712e+02] [ 2.69302250e-03 2.86058000e-05 9.99996373e-01 6.24384850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.644012739 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:183.72, Y:123.72, Z:0.62 [[-8.42578387e-01 -5.38568889e-01 2.28340812e-03 1.83724080e+02] [ 5.38566996e-01 -8.42581481e-01 -1.42801779e-03 1.23717677e+02] [ 2.69304335e-03 2.65513286e-05 9.99996373e-01 6.23145956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.674012739 meters Centerline goodness : 0.991854 Centerline is valid? [True, True] Translation: X:183.71, Y:123.72, Z:0.62 [[-8.43076794e-01 -5.37788344e-01 2.28394460e-03 1.83713251e+02] [ 5.37786451e-01 -8.43079887e-01 -1.42715925e-03 1.23719705e+02] [ 2.69305736e-03 2.50696201e-05 9.99996373e-01 6.20956842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.704012739 meters Centerline goodness : 0.992219 Centerline is valid? [True, True] Translation: X:183.71, Y:123.72, Z:0.62 [[-8.43524242e-01 -5.37086244e-01 2.28448171e-03 1.83705024e+02] [ 5.37084351e-01 -8.43527336e-01 -1.42629896e-03 1.23721918e+02] [ 2.69306832e-03 2.38416331e-05 9.99996373e-01 6.19734160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.734012739 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:183.73, Y:123.70, Z:0.62 [[-8.44467978e-01 -5.35601169e-01 2.28502301e-03 1.83726233e+02] [ 5.35599273e-01 -8.44471070e-01 -1.42543123e-03 1.23703822e+02] [ 2.69309846e-03 2.01256338e-05 9.99996373e-01 6.16481559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.764012739 meters Centerline goodness : 0.991202 Centerline is valid? [True, True] Translation: X:183.69, Y:123.72, Z:0.62 [[-8.45279036e-01 -5.34320248e-01 2.28556106e-03 1.83694379e+02] [ 5.34318350e-01 -8.45282126e-01 -1.42456800e-03 1.23722831e+02] [ 2.69311944e-03 1.70597474e-05 9.99996373e-01 6.16958251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.794012739 meters Centerline goodness : 0.991387 Centerline is valid? [True, True] Translation: X:183.73, Y:123.70, Z:0.62 [[-8.46242225e-01 -5.32793460e-01 2.28610170e-03 1.83729410e+02] [ 5.32791558e-01 -8.46245312e-01 -1.42369987e-03 1.23700693e+02] [ 2.69314082e-03 1.32207449e-05 9.99996373e-01 6.17818906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.824012739 meters Centerline goodness : 0.991456 Centerline is valid? [True, True] Translation: X:183.71, Y:123.72, Z:0.62 [[-8.48550272e-01 -5.29109826e-01 2.28630383e-03 1.83706065e+02] [ 5.29107912e-01 -8.48553352e-01 -1.42337519e-03 1.23715106e+02] [ 2.69317258e-03 1.89604196e-06 9.99996373e-01 6.21066116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.854012739 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:183.70, Y:123.72, Z:0.62 [[-8.49668365e-01 -5.27312468e-01 2.28684243e-03 1.83703343e+02] [ 5.27310550e-01 -8.49671443e-01 -1.42250934e-03 1.23715704e+02] [ 2.69317161e-03 -2.78504775e-06 9.99996373e-01 6.21630777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.884012739 meters Centerline goodness : 0.991204 Centerline is valid? [True, True] Translation: X:183.71, Y:123.71, Z:0.62 [[-8.50299344e-01 -5.26294399e-01 2.28738759e-03 1.83708813e+02] [ 5.26292479e-01 -8.50302420e-01 -1.42163218e-03 1.23710704e+02] [ 2.69316826e-03 -4.97802879e-06 9.99996373e-01 6.23094832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.914012739 meters Centerline goodness : 0.991639 Centerline is valid? [True, True] Translation: X:183.72, Y:123.70, Z:0.63 [[-8.50115266e-01 -5.26591682e-01 2.28793241e-03 1.83716538e+02] [ 5.26589765e-01 -8.50118345e-01 -1.42075482e-03 1.23703952e+02] [ 2.69317098e-03 -3.00356799e-06 9.99996373e-01 6.25322402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.944012739 meters Centerline goodness : 0.991723 Centerline is valid? [True, True] Translation: X:183.72, Y:123.70, Z:0.63 [[-8.49709075e-01 -5.27246860e-01 2.28847455e-03 1.83718570e+02] [ 5.27244948e-01 -8.49712157e-01 -1.41988103e-03 1.23701928e+02] [ 2.69317246e-03 1.00850314e-07 9.99996373e-01 6.25334031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.974012739 meters Centerline goodness : 0.991903 Centerline is valid? [True, True] Translation: X:183.71, Y:123.71, Z:0.62 [[-8.48135263e-01 -5.29774797e-01 2.28901475e-03 1.83706231e+02] [ 5.29772897e-01 -8.48138352e-01 -1.41900963e-03 1.23706793e+02] [ 2.69315674e-03 9.14586912e-06 9.99996373e-01 6.24790200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.004012739 meters Centerline goodness : 0.991567 Centerline is valid? [True, True] Translation: X:183.71, Y:123.70, Z:0.63 [[-8.47521556e-01 -5.30756036e-01 2.28955758e-03 1.83714550e+02] [ 5.30754142e-01 -8.47524649e-01 -1.41813325e-03 1.23700042e+02] [ 2.69313926e-03 1.32936701e-05 9.99996373e-01 6.25518024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.034012739 meters Centerline goodness : 0.991817 Centerline is valid? [True, True] Translation: X:183.73, Y:123.69, Z:0.63 [[-8.47181750e-01 -5.31298257e-01 2.29010142e-03 1.83731086e+02] [ 5.31296367e-01 -8.47184845e-01 -1.41725446e-03 1.23687489e+02] [ 2.69312404e-03 1.60504510e-05 9.99996373e-01 6.26662996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.064012739 meters Centerline goodness : 0.991695 Centerline is valid? [True, True] Translation: X:183.73, Y:123.68, Z:0.63 [[-8.46526080e-01 -5.32342323e-01 2.29063982e-03 1.83731019e+02] [ 5.32340439e-01 -8.46529179e-01 -1.41638374e-03 1.23681710e+02] [ 2.69309446e-03 2.03944359e-05 9.99996373e-01 6.29392297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.094012739 meters Centerline goodness : 0.991734 Centerline is valid? [True, True] Translation: X:183.72, Y:123.69, Z:0.63 [[-8.46470534e-01 -5.32430639e-01 2.29117419e-03 1.83720351e+02] [ 5.32428757e-01 -8.46473635e-01 -1.41551880e-03 1.23685670e+02] [ 2.69308412e-03 2.16920714e-05 9.99996373e-01 6.28759522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.124012739 meters Centerline goodness : 0.991816 Centerline is valid? [True, True] Translation: X:183.72, Y:123.69, Z:0.62 [[-8.47951884e-01 -5.30068251e-01 2.29171096e-03 1.83717028e+02] [ 5.30066363e-01 -8.47954981e-01 -1.41464925e-03 1.23685134e+02] [ 2.69312837e-03 1.52043969e-05 9.99996373e-01 6.24836791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.154012739 meters Centerline goodness : 0.991966 Centerline is valid? [True, True] Translation: X:183.72, Y:123.68, Z:0.62 [[-8.49491623e-01 -5.27597127e-01 2.29225095e-03 1.83721963e+02] [ 5.27595233e-01 -8.49494715e-01 -1.41377373e-03 1.23682184e+02] [ 2.69315802e-03 8.39173529e-06 9.99996373e-01 6.22866543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.184012739 meters Centerline goodness : 0.991978 Centerline is valid? [True, True] Translation: X:183.71, Y:123.69, Z:0.62 [[-8.51063468e-01 -5.25057822e-01 2.29279096e-03 1.83713048e+02] [ 5.25055921e-01 -8.51066557e-01 -1.41289741e-03 1.23687534e+02] [ 2.69317054e-03 1.37809651e-06 9.99996373e-01 6.22229842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.214012739 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:183.72, Y:123.68, Z:0.62 [[-8.53245381e-01 -5.21504612e-01 2.29333262e-03 1.83717022e+02] [ 5.21502701e-01 -8.53248463e-01 -1.41201768e-03 1.23684673e+02] [ 2.69315626e-03 -8.81841080e-06 9.99996373e-01 6.22886824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.244012739 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:183.74, Y:123.67, Z:0.62 [[-8.54166786e-01 -5.19994077e-01 2.29387592e-03 1.83736221e+02] [ 5.19992162e-01 -8.54169866e-01 -1.41113451e-03 1.23672734e+02] [ 2.69314127e-03 -1.25467248e-05 9.99996373e-01 6.22461407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.274012739 meters Centerline goodness : 0.992100 Centerline is valid? [True, True] Translation: X:183.75, Y:123.66, Z:0.62 [[-8.54657350e-01 -5.19187394e-01 2.29441457e-03 1.83747862e+02] [ 5.19185479e-01 -8.54660429e-01 -1.41025816e-03 1.23664872e+02] [ 2.69313360e-03 -1.40607724e-05 9.99996373e-01 6.20655157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30401273900003 meters Centerline goodness : 0.992130 Centerline is valid? [True, True] Translation: X:183.73, Y:123.67, Z:0.62 [[-8.53861412e-01 -5.20495362e-01 2.29494662e-03 1.83729788e+02] [ 5.20493454e-01 -8.53864496e-01 -1.40939180e-03 1.23673507e+02] [ 2.69315534e-03 -8.92057583e-06 9.99996373e-01 6.16826557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.334012739 meters Centerline goodness : 0.991368 Centerline is valid? [True, True] Translation: X:183.74, Y:123.67, Z:0.62 [[-8.52829850e-01 -5.22183855e-01 2.29548053e-03 1.83739305e+02] [ 5.22181956e-01 -8.52832939e-01 -1.40852168e-03 1.23666613e+02] [ 2.69316869e-03 -2.57081935e-06 9.99996373e-01 6.16853389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36401273900003 meters Centerline goodness : 0.991956 Centerline is valid? [True, True] Translation: X:183.74, Y:123.67, Z:0.62 [[-8.49582188e-01 -5.27451263e-01 2.29601659e-03 1.83737211e+02] [ 5.27449384e-01 -8.49585290e-01 -1.40764733e-03 1.23665662e+02] [ 2.69312728e-03 1.51204394e-05 9.99996373e-01 6.19306899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.394012739 meters Centerline goodness : 0.991520 Centerline is valid? [True, True] Translation: X:183.74, Y:123.66, Z:0.62 [[-8.48505435e-01 -5.29181682e-01 2.29655133e-03 1.83744064e+02] [ 5.29179812e-01 -8.48508543e-01 -1.40677436e-03 1.23660336e+02] [ 2.69308264e-03 2.16329159e-05 9.99996373e-01 6.20355810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.424012739 meters Centerline goodness : 0.992207 Centerline is valid? [True, True] Translation: X:183.75, Y:123.66, Z:0.62 [[-8.47765019e-01 -5.30367039e-01 2.29708522e-03 1.83747203e+02] [ 5.30365176e-01 -8.47768131e-01 -1.40590205e-03 1.23657083e+02] [ 2.69303975e-03 2.64194261e-05 9.99996373e-01 6.19799394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.454012739 meters Centerline goodness : 0.992207 Centerline is valid? [True, True] Translation: X:183.75, Y:123.66, Z:0.62 [[-8.47965700e-01 -5.30046123e-01 2.29761719e-03 1.83749378e+02] [ 5.30044262e-01 -8.47968812e-01 -1.40503212e-03 1.23655840e+02] [ 2.69303955e-03 2.64197615e-05 9.99996373e-01 6.19792617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.484012739 meters Centerline goodness : 0.992187 Centerline is valid? [True, True] Translation: X:183.75, Y:123.65, Z:0.62 [[-8.47692375e-01 -5.30483135e-01 2.29814866e-03 1.83754270e+02] [ 5.30481277e-01 -8.47695489e-01 -1.40416228e-03 1.23651625e+02] [ 2.69301466e-03 2.88271819e-05 9.99996373e-01 6.18607432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.514012739 meters Centerline goodness : 0.991744 Centerline is valid? [True, True] Translation: X:183.75, Y:123.65, Z:0.62 [[-8.47571371e-01 -5.30676444e-01 2.29867902e-03 1.83753234e+02] [ 5.30674589e-01 -8.47574487e-01 -1.40329352e-03 1.23649168e+02] [ 2.69299651e-03 3.04591352e-05 9.99996373e-01 6.18341840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.544012739 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:183.74, Y:123.65, Z:0.62 [[-8.47675209e-01 -5.30510560e-01 2.29920870e-03 1.83742354e+02] [ 5.30508707e-01 -8.47678326e-01 -1.40242513e-03 1.23654677e+02] [ 2.69299073e-03 3.09492214e-05 9.99996373e-01 6.19980789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.574012739 meters Centerline goodness : 0.991857 Centerline is valid? [True, True] Translation: X:183.75, Y:123.65, Z:0.62 [[-8.47283157e-01 -5.31136483e-01 2.29974129e-03 1.83746830e+02] [ 5.31134635e-01 -8.47286277e-01 -1.40155124e-03 1.23649674e+02] [ 2.69295423e-03 3.39614928e-05 9.99996373e-01 6.23111350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.604012739 meters Centerline goodness : 0.992201 Centerline is valid? [True, True] Translation: X:183.75, Y:123.64, Z:0.62 [[-8.47321300e-01 -5.31075629e-01 2.30027548e-03 1.83754994e+02] [ 5.31073783e-01 -8.47324422e-01 -1.40067396e-03 1.23642685e+02] [ 2.69294339e-03 3.47951203e-05 9.99996373e-01 6.24618960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.634012739 meters Centerline goodness : 0.992013 Centerline is valid? [True, True] Translation: X:183.75, Y:123.64, Z:0.63 [[-8.47479645e-01 -5.30822907e-01 2.30080704e-03 1.83753799e+02] [ 5.30821062e-01 -8.47482767e-01 -1.39980024e-03 1.23637276e+02] [ 2.69294035e-03 3.50146279e-05 9.99996373e-01 6.26113304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.664012739 meters Centerline goodness : 0.991483 Centerline is valid? [True, True] Translation: X:183.75, Y:123.63, Z:0.63 [[-8.48009065e-01 -5.29976725e-01 2.30133688e-03 1.83753455e+02] [ 5.29974880e-01 -8.48012187e-01 -1.39892861e-03 1.23634383e+02] [ 2.69296133e-03 3.33465920e-05 9.99996373e-01 6.26366081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.694012739 meters Centerline goodness : 0.991994 Centerline is valid? [True, True] Translation: X:183.76, Y:123.63, Z:0.63 [[-8.48792049e-01 -5.28721817e-01 2.30186683e-03 1.83757595e+02] [ 5.28719969e-01 -8.48795169e-01 -1.39805608e-03 1.23628946e+02] [ 2.69299619e-03 3.03840768e-05 9.99996373e-01 6.25920930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.724012739 meters Centerline goodness : 0.991896 Centerline is valid? [True, True] Translation: X:183.75, Y:123.63, Z:0.62 [[-8.51691777e-01 -5.24037992e-01 2.30239601e-03 1.83752502e+02] [ 5.24036129e-01 -8.51694889e-01 -1.39718405e-03 1.23627502e+02] [ 2.69311643e-03 1.65685269e-05 9.99996373e-01 6.21080026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.754012739 meters Centerline goodness : 0.992279 Centerline is valid? [True, True] Translation: X:183.76, Y:123.62, Z:0.62 [[-8.53677702e-01 -5.20796580e-01 2.30292529e-03 1.83761963e+02] [ 5.20794708e-01 -8.53680808e-01 -1.39631111e-03 1.23620775e+02] [ 2.69315717e-03 7.35164433e-06 9.99996373e-01 6.19508042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.784012739 meters Centerline goodness : 0.992291 Centerline is valid? [True, True] Translation: X:183.76, Y:123.62, Z:0.62 [[-8.57814584e-01 -5.13954117e-01 2.30345363e-03 1.83755742e+02] [ 5.13952223e-01 -8.57817676e-01 -1.39543897e-03 1.23624710e+02] [ 2.69313485e-03 -1.31627852e-05 9.99996373e-01 6.20034116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.814012739 meters Centerline goodness : 0.992356 Centerline is valid? [True, True] Translation: X:183.78, Y:123.61, Z:0.62 [[-8.60113111e-01 -5.10098155e-01 2.30398182e-03 1.83776377e+02] [ 5.10096250e-01 -8.60116196e-01 -1.39456634e-03 1.23611797e+02] [ 2.69305780e-03 -2.42323086e-05 9.99996373e-01 6.20820442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.844012739 meters Centerline goodness : 0.992330 Centerline is valid? [True, True] Translation: X:183.79, Y:123.60, Z:0.62 [[-8.62129958e-01 -5.06681977e-01 2.30417840e-03 1.83789403e+02] [ 5.06680060e-01 -8.62133037e-01 -1.39424148e-03 1.23604429e+02] [ 2.69294535e-03 -3.45360987e-05 9.99996373e-01 6.22733470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.874012739 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:183.80, Y:123.60, Z:0.63 [[-8.63698684e-01 -5.04003246e-01 2.30469735e-03 1.83797541e+02] [ 5.04001321e-01 -8.63701758e-01 -1.39338312e-03 1.23600109e+02] [ 2.69284076e-03 -4.18926573e-05 9.99996373e-01 6.26092734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.904012739 meters Centerline goodness : 0.992835 Centerline is valid? [True, True] Translation: X:183.82, Y:123.58, Z:0.62 [[-8.63513182e-01 -5.04320999e-01 2.30521248e-03 1.83823114e+02] [ 5.04319078e-01 -8.63516258e-01 -1.39253035e-03 1.23584135e+02] [ 2.69287076e-03 -3.99056845e-05 9.99996373e-01 6.24923314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.934012739 meters Centerline goodness : 0.992232 Centerline is valid? [True, True] Translation: X:183.80, Y:123.59, Z:0.62 [[-8.61994327e-01 -5.06912681e-01 2.30533932e-03 1.83802024e+02] [ 5.06910770e-01 -8.61997409e-01 -1.39232035e-03 1.23594972e+02] [ 2.69298136e-03 -3.15709147e-05 9.99996373e-01 6.20714260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.964012739 meters Centerline goodness : 0.992125 Centerline is valid? [True, True] Translation: X:183.78, Y:123.61, Z:0.62 [[-8.60991885e-01 -5.08613465e-01 2.30584745e-03 1.83780534e+02] [ 5.08611563e-01 -8.60994972e-01 -1.39147831e-03 1.23608116e+02] [ 2.69304767e-03 -2.52708566e-05 9.99996373e-01 6.19234945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.994012739 meters Centerline goodness : 0.991990 Centerline is valid? [True, True] Translation: X:183.78, Y:123.61, Z:0.62 [[-8.60124873e-01 -5.10078312e-01 2.30636496e-03 1.83779414e+02] [ 5.10076417e-01 -8.60127965e-01 -1.39062002e-03 1.23610088e+02] [ 2.69309411e-03 -1.96844916e-05 9.99996373e-01 6.18946852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.024012739 meters Centerline goodness : 0.992337 Centerline is valid? [True, True] Translation: X:183.78, Y:123.61, Z:0.62 [[-8.59865137e-01 -5.10516037e-01 2.30688814e-03 1.83781964e+02] [ 5.10514146e-01 -8.59868232e-01 -1.38975157e-03 1.23610884e+02] [ 2.69311029e-03 -1.72999006e-05 9.99996373e-01 6.21051638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05401273900003 meters Centerline goodness : 0.992595 Centerline is valid? [True, True] Translation: X:183.79, Y:123.61, Z:0.62 [[-8.60197333e-01 -5.09956101e-01 2.30741193e-03 1.83787512e+02] [ 5.09954210e-01 -8.60200427e-01 -1.38888137e-03 1.23608844e+02] [ 2.69310526e-03 -1.80376226e-05 9.99996373e-01 6.21946011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.084012739 meters Centerline goodness : 0.992130 Centerline is valid? [True, True] Translation: X:183.79, Y:123.61, Z:0.62 [[-8.60883214e-01 -5.08797372e-01 2.30793497e-03 1.83793907e+02] [ 5.08795479e-01 -8.60886307e-01 -1.38801168e-03 1.23610685e+02] [ 2.69308631e-03 -2.06490732e-05 9.99996373e-01 6.21119900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11401273900003 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:183.79, Y:123.61, Z:0.62 [[-8.61274333e-01 -5.08135017e-01 2.30845658e-03 1.83791801e+02] [ 5.08133124e-01 -8.61277426e-01 -1.38714363e-03 1.23614928e+02] [ 2.69307779e-03 -2.17079543e-05 9.99996373e-01 6.20607651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.144012739 meters Centerline goodness : 0.992020 Centerline is valid? [True, True] Translation: X:183.81, Y:123.61, Z:0.62 [[-8.61124102e-01 -5.08389565e-01 2.30897879e-03 1.83808566e+02] [ 5.08387675e-01 -8.61127197e-01 -1.38627383e-03 1.23606811e+02] [ 2.69309159e-03 -1.98974469e-05 9.99996373e-01 6.20502325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.174012739 meters Centerline goodness : 0.991740 Centerline is valid? [True, True] Translation: X:183.79, Y:123.62, Z:0.62 [[-8.58198917e-01 -5.13312074e-01 2.30949881e-03 1.83785195e+02] [ 5.13310204e-01 -8.58202024e-01 -1.38540695e-03 1.23621299e+02] [ 2.69316267e-03 -3.46544006e-06 9.99996373e-01 6.22720820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.204012739 meters Centerline goodness : 0.992022 Centerline is valid? [True, True] Translation: X:183.78, Y:123.62, Z:0.62 [[-8.56097893e-01 -5.16808534e-01 2.31002114e-03 1.83780671e+02] [ 5.16806679e-01 -8.56101010e-01 -1.38453548e-03 1.23624432e+02] [ 2.69315118e-03 8.53644755e-06 9.99996373e-01 6.22835575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.234012739 meters Centerline goodness : 0.991910 Centerline is valid? [True, True] Translation: X:183.79, Y:123.62, Z:0.62 [[-8.53934036e-01 -5.20376137e-01 2.31055041e-03 1.83786202e+02] [ 5.20374298e-01 -8.53937161e-01 -1.38365165e-03 1.23621503e+02] [ 2.69308416e-03 2.08038110e-05 9.99996373e-01 6.20659302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.264012739 meters Centerline goodness : 0.991827 Centerline is valid? [True, True] Translation: X:183.80, Y:123.61, Z:0.62 [[-8.50159338e-01 -5.26520426e-01 2.31108005e-03 1.83799837e+02] [ 5.26518612e-01 -8.50162478e-01 -1.38276643e-03 1.23612605e+02] [ 2.69284832e-03 4.12548652e-05 9.99996373e-01 6.16971217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.294012739 meters Centerline goodness : 0.991724 Centerline is valid? [True, True] Translation: X:183.81, Y:123.61, Z:0.62 [[-8.49180891e-01 -5.28097027e-01 2.31160612e-03 1.83807438e+02] [ 5.28095221e-01 -8.49184036e-01 -1.38188644e-03 1.23607030e+02] [ 2.69274913e-03 4.72765888e-05 9.99996373e-01 6.16037133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.324012739 meters Centerline goodness : 0.991307 Centerline is valid? [True, True] Translation: X:183.82, Y:123.60, Z:0.62 [[-8.48561504e-01 -5.29091701e-01 2.31212788e-03 1.83817543e+02] [ 5.29089901e-01 -8.48564652e-01 -1.38101288e-03 1.23598854e+02] [ 2.69267245e-03 5.14491460e-05 9.99996373e-01 6.17695515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.354012739 meters Centerline goodness : 0.991578 Centerline is valid? [True, True] Translation: X:183.82, Y:123.60, Z:0.62 [[-8.49162837e-01 -5.28126052e-01 2.31264610e-03 1.83816570e+02] [ 5.28124251e-01 -8.49165985e-01 -1.38014454e-03 1.23599171e+02] [ 2.69271069e-03 4.93970377e-05 9.99996373e-01 6.19398201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.384012739 meters Centerline goodness : 0.991905 Centerline is valid? [True, True] Translation: X:183.80, Y:123.61, Z:0.62 [[-8.50458956e-01 -5.26036323e-01 2.31316272e-03 1.83800777e+02] [ 5.26034517e-01 -8.50462101e-01 -1.37927812e-03 1.23608696e+02] [ 2.69280762e-03 4.37840025e-05 9.99996373e-01 6.21842030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.414012739 meters Centerline goodness : 0.992300 Centerline is valid? [True, True] Translation: X:183.80, Y:123.61, Z:0.62 [[-8.54114128e-01 -5.20080477e-01 2.31368367e-03 1.83797416e+02] [ 5.20078651e-01 -8.54117262e-01 -1.37840369e-03 1.23610218e+02] [ 2.69303801e-03 2.59834179e-05 9.99996373e-01 6.21917758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.444012739 meters Centerline goodness : 0.992389 Centerline is valid? [True, True] Translation: X:183.81, Y:123.60, Z:0.62 [[-8.55958536e-01 -5.17039292e-01 2.31420938e-03 1.83808065e+02] [ 5.17037458e-01 -8.55961664e-01 -1.37752051e-03 1.23604124e+02] [ 2.69310674e-03 1.74325007e-05 9.99996373e-01 6.20922983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.474012739 meters Centerline goodness : 0.992017 Centerline is valid? [True, True] Translation: X:183.82, Y:123.60, Z:0.62 [[-8.59065207e-01 -5.11860930e-01 2.31473405e-03 1.83817478e+02] [ 5.11859079e-01 -8.59068326e-01 -1.37663830e-03 1.23599923e+02] [ 2.69316207e-03 2.19557567e-06 9.99996373e-01 6.17350082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.504012739 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:183.80, Y:123.61, Z:0.62 [[-8.60374783e-01 -5.09656622e-01 2.31525512e-03 1.83804997e+02] [ 5.09654766e-01 -8.60377898e-01 -1.37576140e-03 1.23609189e+02] [ 2.69316024e-03 -3.68961162e-06 9.99996373e-01 6.16212637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.534012739 meters Centerline goodness : 0.991071 Centerline is valid? [True, True] Translation: X:183.82, Y:123.60, Z:0.62 [[-8.61743844e-01 -5.07338334e-01 2.31577774e-03 1.83822412e+02] [ 5.07336471e-01 -8.61746955e-01 -1.37488112e-03 1.23600086e+02] [ 2.69314432e-03 -9.91683366e-06 9.99996373e-01 6.17228939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.564012739 meters Centerline goodness : 0.991286 Centerline is valid? [True, True] Translation: X:183.83, Y:123.60, Z:0.62 [[-8.63647082e-01 -5.04091611e-01 2.31630021e-03 1.83829042e+02] [ 5.04089738e-01 -8.63650188e-01 -1.37400035e-03 1.23598591e+02] [ 2.69309516e-03 -1.90282298e-05 9.99996373e-01 6.19141811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.594012739 meters Centerline goodness : 0.991701 Centerline is valid? [True, True] Translation: X:183.84, Y:123.59, Z:0.62 [[-8.64387323e-01 -5.02821229e-01 2.31681840e-03 1.83843646e+02] [ 5.02819354e-01 -8.64390428e-01 -1.37312602e-03 1.23591354e+02] [ 2.69307256e-03 -2.19715968e-05 9.99996373e-01 6.20580251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.624012739 meters Centerline goodness : 0.991200 Centerline is valid? [True, True] Translation: X:183.85, Y:123.59, Z:0.62 [[-8.64877542e-01 -5.01977557e-01 2.31733298e-03 1.83848505e+02] [ 5.01975682e-01 -8.64880646e-01 -1.37225706e-03 1.23590056e+02] [ 2.69305869e-03 -2.35895135e-05 9.99996373e-01 6.19944410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.654012739 meters Centerline goodness : 0.991254 Centerline is valid? [True, True] Translation: X:183.85, Y:123.59, Z:0.62 [[-8.65859422e-01 -5.00282010e-01 2.31784423e-03 1.83850270e+02] [ 5.00280131e-01 -8.65862524e-01 -1.37139296e-03 1.23591467e+02] [ 2.69301769e-03 -2.78620986e-05 9.99996373e-01 6.18526005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.684012739 meters Centerline goodness : 0.991537 Centerline is valid? [True, True] Translation: X:183.84, Y:123.60, Z:0.62 [[-8.66363319e-01 -4.99408876e-01 2.31835501e-03 1.83844027e+02] [ 4.99406996e-01 -8.66366420e-01 -1.37052895e-03 1.23597072e+02] [ 2.69299925e-03 -2.95733010e-05 9.99996373e-01 6.17177270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.714012739 meters Centerline goodness : 0.991161 Centerline is valid? [True, True] Translation: X:183.86, Y:123.59, Z:0.61 [[-8.66799007e-01 -4.98652289e-01 2.31886786e-03 1.83860587e+02] [ 4.98650409e-01 -8.66802108e-01 -1.36966068e-03 1.23592423e+02] [ 2.69298398e-03 -3.09161138e-05 9.99996373e-01 6.14886923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.744012739 meters Centerline goodness : 0.991554 Centerline is valid? [True, True] Translation: X:183.86, Y:123.59, Z:0.62 [[-8.66901797e-01 -4.98473565e-01 2.31937964e-03 1.83864410e+02] [ 4.98471687e-01 -8.66904899e-01 -1.36879349e-03 1.23592113e+02] [ 2.69298894e-03 -3.04644536e-05 9.99996373e-01 6.15265924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.774012739 meters Centerline goodness : 0.991124 Centerline is valid? [True, True] Translation: X:183.86, Y:123.59, Z:0.62 [[-8.66829657e-01 -4.98599000e-01 2.31988837e-03 1.83861479e+02] [ 4.98597125e-01 -8.66832761e-01 -1.36793072e-03 1.23594698e+02] [ 2.69300413e-03 -2.90732503e-05 9.99996373e-01 6.16139400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80401273900003 meters Centerline goodness : 0.991151 Centerline is valid? [True, True] Translation: X:183.86, Y:123.60, Z:0.61 [[-8.65872011e-01 -5.00260208e-01 2.32039785e-03 1.83858537e+02] [ 5.00258341e-01 -8.65875120e-01 -1.36706595e-03 1.23599070e+02] [ 2.69306346e-03 -2.29057680e-05 9.99996373e-01 6.14681141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.834012739 meters Centerline goodness : 0.991209 Centerline is valid? [True, True] Translation: X:183.86, Y:123.60, Z:0.61 [[-8.65353569e-01 -5.01156476e-01 2.32090940e-03 1.83858926e+02] [ 5.01154614e-01 -8.65356682e-01 -1.36619692e-03 1.23600535e+02] [ 2.69309289e-03 -1.91089249e-05 9.99996373e-01 6.14682554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86401273900003 meters Centerline goodness : 0.991131 Centerline is valid? [True, True] Translation: X:183.86, Y:123.60, Z:0.61 [[-8.63540146e-01 -5.04274754e-01 2.32142247e-03 1.83855299e+02] [ 5.04272906e-01 -8.63543266e-01 -1.36532457e-03 1.23603468e+02] [ 2.69314745e-03 -8.38212893e-06 9.99996373e-01 6.12347862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.894012739 meters Centerline goodness : 0.991056 Centerline is valid? [True, True] Translation: X:183.85, Y:123.61, Z:0.61 [[-8.62976017e-01 -5.05239549e-01 2.32193705e-03 1.83851477e+02] [ 5.05237707e-01 -8.62979141e-01 -1.36444889e-03 1.23605869e+02] [ 2.69315678e-03 -4.35652386e-06 9.99996373e-01 6.12341977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.924012739 meters Centerline goodness : 0.991664 Centerline is valid? [True, True] Translation: X:183.85, Y:123.61, Z:0.61 [[-8.62660216e-01 -5.05778566e-01 2.32245409e-03 1.83854477e+02] [ 5.05776728e-01 -8.62663342e-01 -1.36356826e-03 1.23605350e+02] [ 2.69315960e-03 -1.65286095e-06 9.99996373e-01 6.12445049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.954012739 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:183.85, Y:123.61, Z:0.62 [[-8.62309776e-01 -5.06375802e-01 2.32297190e-03 1.83853762e+02] [ 5.06373969e-01 -8.62312905e-01 -1.36268554e-03 1.23609795e+02] [ 2.69315963e-03 1.23543974e-06 9.99996373e-01 6.15022324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.984012739 meters Centerline goodness : 0.992259 Centerline is valid? [True, True] Translation: X:183.85, Y:123.62, Z:0.62 [[-8.62243191e-01 -5.06489172e-01 2.32349032e-03 1.83846467e+02] [ 5.06487341e-01 -8.62246322e-01 -1.36180102e-03 1.23615122e+02] [ 2.69315845e-03 2.61478152e-06 9.99996373e-01 6.15598410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.014012739 meters Centerline goodness : 0.991529 Centerline is valid? [True, True] Translation: X:183.84, Y:123.62, Z:0.62 [[-8.61119957e-01 -5.08396516e-01 2.32401159e-03 1.83844057e+02] [ 5.08394695e-01 -8.61123093e-01 -1.36091085e-03 1.23618223e+02] [ 2.69314239e-03 9.60767354e-06 9.99996373e-01 6.17987856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.044012739 meters Centerline goodness : 0.991418 Centerline is valid? [True, True] Translation: X:183.85, Y:123.62, Z:0.62 [[-8.60395734e-01 -5.09621210e-01 2.32453601e-03 1.83845768e+02] [ 5.09619396e-01 -8.60398874e-01 -1.36001452e-03 1.23618481e+02] [ 2.69312041e-03 1.44779416e-05 9.99996373e-01 6.19428876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.074012739 meters Centerline goodness : 0.991640 Centerline is valid? [True, True] Translation: X:183.88, Y:123.60, Z:0.62 [[-8.59141192e-01 -5.11733335e-01 2.32506139e-03 1.83878900e+02] [ 5.11731530e-01 -8.59144338e-01 -1.35911573e-03 1.23599250e+02] [ 2.69306816e-03 2.21349139e-05 9.99996373e-01 6.20312764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.104012739 meters Centerline goodness : 0.991274 Centerline is valid? [True, True] Translation: X:183.88, Y:123.59, Z:0.62 [[-8.56004773e-01 -5.16962688e-01 2.32525538e-03 1.83883007e+02] [ 5.16960904e-01 -8.56007931e-01 -1.35878377e-03 1.23593626e+02] [ 2.69287756e-03 3.89407321e-05 9.99996373e-01 6.24044060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.134012739 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:183.88, Y:123.59, Z:0.63 [[-8.54335288e-01 -5.19717045e-01 2.32576640e-03 1.83881340e+02] [ 5.19715273e-01 -8.54338452e-01 -1.35790851e-03 1.23593437e+02] [ 2.69271987e-03 4.86271673e-05 9.99996373e-01 6.25817154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.164012739 meters Centerline goodness : 0.991753 Centerline is valid? [True, True] Translation: X:183.91, Y:123.58, Z:0.63 [[-8.51801703e-01 -5.23859187e-01 2.32627710e-03 1.83905093e+02] [ 5.23857433e-01 -8.51804877e-01 -1.35703305e-03 1.23578613e+02] [ 2.69242841e-03 6.27144821e-05 9.99996373e-01 6.26809114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.194012739 meters Centerline goodness : 0.991814 Centerline is valid? [True, True] Translation: X:183.92, Y:123.57, Z:0.62 [[-8.51122885e-01 -5.24961352e-01 2.32678342e-03 1.83915272e+02] [ 5.24959604e-01 -8.51126063e-01 -1.35616436e-03 1.23570878e+02] [ 2.69231989e-03 6.72047815e-05 9.99996373e-01 6.24606638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.224012739 meters Centerline goodness : 0.991415 Centerline is valid? [True, True] Translation: X:183.90, Y:123.58, Z:0.62 [[-8.50737305e-01 -5.25585979e-01 2.32728302e-03 1.83900823e+02] [ 5.25584236e-01 -8.50740486e-01 -1.35530646e-03 1.23576166e+02] [ 2.69224396e-03 7.01734998e-05 9.99996373e-01 6.21816320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.254012739 meters Centerline goodness : 0.991401 Centerline is valid? [True, True] Translation: X:183.91, Y:123.56, Z:0.62 [[-8.50881276e-01 -5.25352868e-01 2.32778374e-03 1.83913747e+02] [ 5.25351127e-01 -8.50884457e-01 -1.35444591e-03 1.23563120e+02] [ 2.69223705e-03 7.04311514e-05 9.99996373e-01 6.18901308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.284012739 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:183.92, Y:123.56, Z:0.62 [[-8.51378145e-01 -5.24547265e-01 2.32828447e-03 1.83917448e+02] [ 5.24545524e-01 -8.51381326e-01 -1.35358461e-03 1.23559547e+02] [ 2.69227703e-03 6.88788448e-05 9.99996373e-01 6.19057564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.314012739 meters Centerline goodness : 0.991927 Centerline is valid? [True, True] Translation: X:183.91, Y:123.56, Z:0.62 [[-8.52633233e-01 -5.22504687e-01 2.32878193e-03 1.83912776e+02] [ 5.22502939e-01 -8.52636411e-01 -1.35272822e-03 1.23559688e+02] [ 2.69241110e-03 6.34143679e-05 9.99996373e-01 6.20112323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.344012739 meters Centerline goodness : 0.991927 Centerline is valid? [True, True] Translation: X:183.91, Y:123.56, Z:0.62 [[-8.52825998e-01 -5.22189996e-01 2.32927971e-03 1.83914981e+02] [ 5.22188250e-01 -8.52829176e-01 -1.35187054e-03 1.23558494e+02] [ 2.69241097e-03 6.34121492e-05 9.99996373e-01 6.20105546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.374012739 meters Centerline goodness : 0.991572 Centerline is valid? [True, True] Translation: X:183.90, Y:123.57, Z:0.62 [[-8.53586944e-01 -5.20945200e-01 2.32977828e-03 1.83900118e+02] [ 5.20943452e-01 -8.53590121e-01 -1.35101077e-03 1.23565207e+02] [ 2.69247830e-03 6.04775883e-05 9.99996373e-01 6.19448366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.404012739 meters Centerline goodness : 0.991332 Centerline is valid? [True, True] Translation: X:183.91, Y:123.56, Z:0.62 [[-8.54173131e-01 -5.19983493e-01 2.33027983e-03 1.83908952e+02] [ 5.19981743e-01 -8.54176307e-01 -1.35014511e-03 1.23557667e+02] [ 2.69252299e-03 5.84452917e-05 9.99996373e-01 6.20073164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.434012739 meters Centerline goodness : 0.991811 Centerline is valid? [True, True] Translation: X:183.92, Y:123.55, Z:0.62 [[-8.54534150e-01 -5.19389982e-01 2.33078285e-03 1.83915139e+02] [ 5.19388233e-01 -8.54537327e-01 -1.34927619e-03 1.23550777e+02] [ 2.69254148e-03 5.75786031e-05 9.99996373e-01 6.18606491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.464012739 meters Centerline goodness : 0.991221 Centerline is valid? [True, True] Translation: X:183.91, Y:123.55, Z:0.62 [[-8.54573325e-01 -5.19325521e-01 2.33128287e-03 1.83908683e+02] [ 5.19323774e-01 -8.54576503e-01 -1.34841170e-03 1.23553815e+02] [ 2.69252417e-03 5.83739517e-05 9.99996373e-01 6.16957901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.494012739 meters Centerline goodness : 0.990839 Centerline is valid? [True, True] Translation: X:183.92, Y:123.54, Z:0.62 [[-8.54318145e-01 -5.19745198e-01 2.33178313e-03 1.83923033e+02] [ 5.19743454e-01 -8.54321325e-01 -1.34754605e-03 1.23543720e+02] [ 2.69247264e-03 6.06959820e-05 9.99996373e-01 6.16753824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.524012739 meters Centerline goodness : 0.991838 Centerline is valid? [True, True] Translation: X:183.91, Y:123.55, Z:0.62 [[-8.54266854e-01 -5.19829494e-01 2.33228219e-03 1.83913328e+02] [ 5.19827753e-01 -8.54270035e-01 -1.34668174e-03 1.23548695e+02] [ 2.69244368e-03 6.19594355e-05 9.99996373e-01 6.18124815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55401273900003 meters Centerline goodness : 0.991477 Centerline is valid? [True, True] Translation: X:183.93, Y:123.54, Z:0.62 [[-8.54359922e-01 -5.19676517e-01 2.33278060e-03 1.83925556e+02] [ 5.19674778e-01 -8.54363105e-01 -1.34581781e-03 1.23541585e+02] [ 2.69243159e-03 6.24744386e-05 9.99996373e-01 6.18954899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.584012739 meters Centerline goodness : 0.991771 Centerline is valid? [True, True] Translation: X:183.93, Y:123.54, Z:0.63 [[-8.55217130e-01 -5.18264619e-01 2.33327902e-03 1.83930413e+02] [ 5.18262877e-01 -8.55220311e-01 -1.34495314e-03 1.23539019e+02] [ 2.69250924e-03 5.90249326e-05 9.99996373e-01 6.25253866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61401273900003 meters Centerline goodness : 0.991746 Centerline is valid? [True, True] Translation: X:183.91, Y:123.55, Z:0.63 [[-8.55808683e-01 -5.17287204e-01 2.33377449e-03 1.83913519e+02] [ 5.17285461e-01 -8.55811863e-01 -1.34409285e-03 1.23549342e+02] [ 2.69255392e-03 5.69412775e-05 9.99996373e-01 6.27399899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.644012739 meters Centerline goodness : 0.992038 Centerline is valid? [True, True] Translation: X:183.92, Y:123.55, Z:0.63 [[-8.56931987e-01 -5.15424214e-01 2.33427315e-03 1.83916267e+02] [ 5.15422467e-01 -8.56935165e-01 -1.34322628e-03 1.23550651e+02] [ 2.69265209e-03 5.20832601e-05 9.99996373e-01 6.27260079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.674012739 meters Centerline goodness : 0.991736 Centerline is valid? [True, True] Translation: X:183.92, Y:123.55, Z:0.63 [[-8.58051770e-01 -5.13557893e-01 2.33477561e-03 1.83919509e+02] [ 5.13556140e-01 -8.58054945e-01 -1.34235234e-03 1.23550213e+02] [ 2.69274139e-03 4.72305508e-05 9.99996373e-01 6.27323285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.704012739 meters Centerline goodness : 0.991820 Centerline is valid? [True, True] Translation: X:183.92, Y:123.55, Z:0.63 [[-8.60167066e-01 -5.10007024e-01 2.33527774e-03 1.83921069e+02] [ 5.10005261e-01 -8.60170235e-01 -1.34147821e-03 1.23549984e+02] [ 2.69289971e-03 3.71085597e-05 9.99996373e-01 6.25015906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.734012739 meters Centerline goodness : 0.991902 Centerline is valid? [True, True] Translation: X:183.91, Y:123.56, Z:0.62 [[-8.61056821e-01 -5.08503388e-01 2.33577955e-03 1.83907382e+02] [ 5.08501622e-01 -8.61059988e-01 -1.34060389e-03 1.23559292e+02] [ 2.69294793e-03 3.34115619e-05 9.99996373e-01 6.23752617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.764012739 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:183.92, Y:123.55, Z:0.62 [[-8.61422399e-01 -5.07883837e-01 2.33628464e-03 1.83922012e+02] [ 5.07882071e-01 -8.61425567e-01 -1.33972309e-03 1.23552707e+02] [ 2.69295902e-03 3.24895988e-05 9.99996373e-01 6.23246387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.794012739 meters Centerline goodness : 0.991593 Centerline is valid? [True, True] Translation: X:183.92, Y:123.55, Z:0.62 [[-8.61126362e-01 -5.08385610e-01 2.33679047e-03 1.83922471e+02] [ 5.08383848e-01 -8.61129532e-01 -1.33884022e-03 1.23552959e+02] [ 2.69292638e-03 3.50759245e-05 9.99996373e-01 6.22236085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.824012739 meters Centerline goodness : 0.991561 Centerline is valid? [True, True] Translation: X:183.92, Y:123.56, Z:0.62 [[-8.60931209e-01 -5.08716022e-01 2.33729399e-03 1.83916498e+02] [ 5.08714264e-01 -8.60934381e-01 -1.33796062e-03 1.23555076e+02] [ 2.69289876e-03 3.71227362e-05 9.99996373e-01 6.23488964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.854012739 meters Centerline goodness : 0.991906 Centerline is valid? [True, True] Translation: X:183.93, Y:123.54, Z:0.63 [[-8.59222544e-01 -5.11596672e-01 2.33779915e-03 1.83928192e+02] [ 5.11594927e-01 -8.59225723e-01 -1.33707737e-03 1.23544775e+02] [ 2.69274150e-03 4.71591720e-05 9.99996373e-01 6.26600579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.884012739 meters Centerline goodness : 0.991953 Centerline is valid? [True, True] Translation: X:183.94, Y:123.54, Z:0.63 [[-8.58113388e-01 -5.13454910e-01 2.33830325e-03 1.83940051e+02] [ 5.13453174e-01 -8.58116573e-01 -1.33619522e-03 1.23536062e+02] [ 2.69261276e-03 5.40022145e-05 9.99996373e-01 6.27854301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.914012739 meters Centerline goodness : 0.992241 Centerline is valid? [True, True] Translation: X:183.93, Y:123.54, Z:0.63 [[-8.57098989e-01 -5.15146439e-01 2.33880251e-03 1.83934342e+02] [ 5.15144711e-01 -8.57102178e-01 -1.33532077e-03 1.23536971e+02] [ 2.69247846e-03 6.03196658e-05 9.99996373e-01 6.27015859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.944012739 meters Centerline goodness : 0.991529 Centerline is valid? [True, True] Translation: X:183.95, Y:123.52, Z:0.62 [[-8.55648309e-01 -5.17552412e-01 2.33930072e-03 1.83954198e+02] [ 5.17550697e-01 -8.55651504e-01 -1.33444740e-03 1.23519262e+02] [ 2.69227265e-03 6.88890595e-05 9.99996373e-01 6.24318739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.974012739 meters Centerline goodness : 0.991195 Centerline is valid? [True, True] Translation: X:183.96, Y:123.51, Z:0.62 [[-8.55604423e-01 -5.17624959e-01 2.33948593e-03 1.83960925e+02] [ 5.17623244e-01 -8.55607619e-01 -1.33412262e-03 1.23512153e+02] [ 2.69225715e-03 6.94910817e-05 9.99996373e-01 6.23090075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.004012739 meters Centerline goodness : 0.991032 Centerline is valid? [True, True] Translation: X:183.93, Y:123.52, Z:0.62 [[-8.57014453e-01 -5.15287058e-01 2.33997568e-03 1.83932004e+02] [ 5.15285337e-01 -8.57017645e-01 -1.33326307e-03 1.23522718e+02] [ 2.69241365e-03 6.31294360e-05 9.99996373e-01 6.23496082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.034012739 meters Centerline goodness : 0.991208 Centerline is valid? [True, True] Translation: X:183.95, Y:123.51, Z:0.62 [[-8.58459440e-01 -5.12876118e-01 2.34046960e-03 1.83945954e+02] [ 5.12874390e-01 -8.58462629e-01 -1.33239545e-03 1.23510943e+02] [ 2.69255949e-03 5.65594662e-05 9.99996374e-01 6.22370999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.064012739 meters Centerline goodness : 0.991354 Centerline is valid? [True, True] Translation: X:183.91, Y:123.53, Z:0.62 [[-8.62315580e-01 -5.06365836e-01 2.34096623e-03 1.83908119e+02] [ 5.06364087e-01 -8.62318757e-01 -1.33152232e-03 1.23525123e+02] [ 2.69289650e-03 3.71887904e-05 9.99996374e-01 6.19183035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.094012739 meters Centerline goodness : 0.991273 Centerline is valid? [True, True] Translation: X:183.91, Y:123.52, Z:0.62 [[-8.64938892e-01 -5.01871727e-01 2.34146733e-03 1.83913273e+02] [ 5.01869964e-01 -8.64942061e-01 -1.33064057e-03 1.23520591e+02] [ 2.69304445e-03 2.41893455e-05 9.99996374e-01 6.18609093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.124012739 meters Centerline goodness : 0.991986 Centerline is valid? [True, True] Translation: X:183.93, Y:123.51, Z:0.62 [[-8.67594644e-01 -4.97266578e-01 2.34197505e-03 1.83930492e+02] [ 4.97264800e-01 -8.67597805e-01 -1.32974635e-03 1.23510892e+02] [ 2.69313083e-03 1.09009433e-05 9.99996374e-01 6.19359254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.154012739 meters Centerline goodness : 0.991746 Centerline is valid? [True, True] Translation: X:183.95, Y:123.50, Z:0.62 [[-8.71574471e-01 -4.90257539e-01 2.34247852e-03 1.83946318e+02] [ 4.90255738e-01 -8.71577619e-01 -1.32885885e-03 1.23501607e+02] [ 2.69313492e-03 -9.78591192e-06 9.99996374e-01 6.24605705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.184012739 meters Centerline goodness : 0.991866 Centerline is valid? [True, True] Translation: X:183.96, Y:123.49, Z:0.63 [[-8.72927746e-01 -4.87843890e-01 2.34297577e-03 1.83960997e+02] [ 4.87842083e-01 -8.72930890e-01 -1.32798155e-03 1.23491571e+02] [ 2.69310361e-03 -1.62297653e-05 9.99996374e-01 6.25504134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.214012739 meters Centerline goodness : 0.991396 Centerline is valid? [True, True] Translation: X:183.96, Y:123.49, Z:0.62 [[-8.74501265e-01 -4.85017573e-01 2.34346725e-03 1.83963276e+02] [ 4.85015758e-01 -8.74504404e-01 -1.32711367e-03 1.23486693e+02] [ 2.69304588e-03 -2.39440331e-05 9.99996374e-01 6.23639589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.244012739 meters Centerline goodness : 0.991619 Centerline is valid? [True, True] Translation: X:183.96, Y:123.49, Z:0.62 [[-8.75086173e-01 -4.83961460e-01 2.34395544e-03 1.83958252e+02] [ 4.83959644e-01 -8.75089312e-01 -1.32625086e-03 1.23489147e+02] [ 2.69302466e-03 -2.62039535e-05 9.99996374e-01 6.21789318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.274012739 meters Centerline goodness : 0.991817 Centerline is valid? [True, True] Translation: X:183.96, Y:123.49, Z:0.62 [[-8.75537880e-01 -4.83143792e-01 2.34444433e-03 1.83955086e+02] [ 4.83141975e-01 -8.75541019e-01 -1.32538608e-03 1.23490530e+02] [ 2.69300923e-03 -2.77262600e-05 9.99996374e-01 6.20856881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30401273900003 meters Centerline goodness : 0.991197 Centerline is valid? [True, True] Translation: X:183.98, Y:123.48, Z:0.62 [[-8.76331264e-01 -4.81703245e-01 2.34493533e-03 1.83978973e+02] [ 4.81701425e-01 -8.76334401e-01 -1.32451681e-03 1.23476852e+02] [ 2.69297154e-03 -3.11567995e-05 9.99996374e-01 6.16225000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.334012739 meters Centerline goodness : 0.991205 Centerline is valid? [True, True] Translation: X:183.97, Y:123.48, Z:0.61 [[-8.77325137e-01 -4.79890723e-01 2.34481348e-03 1.83973712e+02] [ 4.79888896e-01 -8.77328269e-01 -1.32473249e-03 1.23480219e+02] [ 2.69289798e-03 -3.69711624e-05 9.99996374e-01 6.14673769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36401273900003 meters Centerline goodness : 0.991710 Centerline is valid? [True, True] Translation: X:183.99, Y:123.48, Z:0.62 [[-8.79497042e-01 -4.75898574e-01 2.34529670e-03 1.83989053e+02] [ 4.75896735e-01 -8.79500168e-01 -1.32387644e-03 1.23475816e+02] [ 2.69271975e-03 -4.82263748e-05 9.99996374e-01 6.18722847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.394012739 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:183.99, Y:123.48, Z:0.62 [[-8.80602398e-01 -4.73850097e-01 2.34571810e-03 1.83986600e+02] [ 4.73848253e-01 -8.80605520e-01 -1.32312937e-03 1.23479428e+02] [ 2.69261729e-03 -5.36364744e-05 9.99996374e-01 6.21736214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.424012739 meters Centerline goodness : 0.992248 Centerline is valid? [True, True] Translation: X:184.00, Y:123.48, Z:0.62 [[-8.81399142e-01 -4.72366435e-01 2.34619875e-03 1.83998188e+02] [ 4.72364587e-01 -8.81402263e-01 -1.32227651e-03 1.23475170e+02] [ 2.69254393e-03 -5.71921758e-05 9.99996374e-01 6.22948259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.454012739 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:184.01, Y:123.48, Z:0.62 [[-8.81679820e-01 -4.71842334e-01 2.34667857e-03 1.84005282e+02] [ 4.71840487e-01 -8.81682941e-01 -1.32142441e-03 1.23476102e+02] [ 2.69253045e-03 -5.78152770e-05 9.99996374e-01 6.19914709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.484012739 meters Centerline goodness : 0.992093 Centerline is valid? [True, True] Translation: X:183.99, Y:123.49, Z:0.62 [[-8.81131860e-01 -4.72864819e-01 2.34715597e-03 1.83994842e+02] [ 4.72862978e-01 -8.81134984e-01 -1.32057589e-03 1.23485375e+02] [ 2.69261512e-03 -5.37183300e-05 9.99996374e-01 6.18893578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.514012739 meters Centerline goodness : 0.992532 Centerline is valid? [True, True] Translation: X:183.98, Y:123.50, Z:0.62 [[-8.78680531e-01 -4.77404455e-01 2.34763518e-03 1.83983156e+02] [ 4.77402632e-01 -8.78683666e-01 -1.31972345e-03 1.23497638e+02] [ 2.69287054e-03 -3.88480875e-05 9.99996374e-01 6.20837761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.544012739 meters Centerline goodness : 0.992073 Centerline is valid? [True, True] Translation: X:183.99, Y:123.49, Z:0.62 [[-8.77203857e-01 -4.80112361e-01 2.34811995e-03 1.83993100e+02] [ 4.80110551e-01 -8.77206999e-01 -1.31886035e-03 1.23494713e+02] [ 2.69298841e-03 -2.95522275e-05 9.99996374e-01 6.21159491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.574012739 meters Centerline goodness : 0.992341 Centerline is valid? [True, True] Translation: X:183.98, Y:123.51, Z:0.62 [[-8.75719260e-01 -4.82814935e-01 2.34860634e-03 1.83979513e+02] [ 4.82813136e-01 -8.75722410e-01 -1.31799363e-03 1.23505353e+02] [ 2.69307421e-03 -2.02544154e-05 9.99996374e-01 6.21846505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.604012739 meters Centerline goodness : 0.992169 Centerline is valid? [True, True] Translation: X:183.97, Y:123.52, Z:0.62 [[-8.72199564e-01 -4.89144561e-01 2.34909444e-03 1.83966804e+02] [ 4.89142788e-01 -8.72202728e-01 -1.31712310e-03 1.23515616e+02] [ 2.69315018e-03 2.48412658e-07 9.99996374e-01 6.24058432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.634012739 meters Centerline goodness : 0.992628 Centerline is valid? [True, True] Translation: X:183.96, Y:123.52, Z:0.62 [[-8.70197673e-01 -4.92697158e-01 2.34958890e-03 1.83964235e+02] [ 4.92695400e-01 -8.70200845e-01 -1.31624046e-03 1.23517253e+02] [ 2.69312217e-03 1.22422603e-05 9.99996374e-01 6.24351303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.664012739 meters Centerline goodness : 0.991964 Centerline is valid? [True, True] Translation: X:183.96, Y:123.52, Z:0.62 [[-8.66884511e-01 -4.98503482e-01 2.35008725e-03 1.83960216e+02] [ 4.98501747e-01 -8.66887696e-01 -1.31535007e-03 1.23519843e+02] [ 2.69296831e-03 3.12659951e-05 9.99996374e-01 6.21435108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.694012739 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:183.96, Y:123.52, Z:0.62 [[-8.65984095e-01 -5.00066018e-01 2.35058764e-03 1.83959139e+02] [ 5.00064292e-01 -8.65987284e-01 -1.31445523e-03 1.23521591e+02] [ 2.69289340e-03 3.71476199e-05 9.99996374e-01 6.20583063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.724012739 meters Centerline goodness : 0.992300 Centerline is valid? [True, True] Translation: X:183.97, Y:123.52, Z:0.62 [[-8.65424575e-01 -5.01033709e-01 2.35108969e-03 1.83972411e+02] [ 5.01031989e-01 -8.65427768e-01 -1.31355664e-03 1.23515242e+02] [ 2.69283445e-03 4.11869482e-05 9.99996374e-01 6.18144435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.754012739 meters Centerline goodness : 0.991730 Centerline is valid? [True, True] Translation: X:183.98, Y:123.51, Z:0.62 [[-8.65238317e-01 -5.01355289e-01 2.35159014e-03 1.83978182e+02] [ 5.01353572e-01 -8.65241511e-01 -1.31266009e-03 1.23512157e+02] [ 2.69280249e-03 4.32143162e-05 9.99996374e-01 6.18850415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.784012739 meters Centerline goodness : 0.992679 Centerline is valid? [True, True] Translation: X:184.00, Y:123.50, Z:0.62 [[-8.65573243e-01 -5.00776826e-01 2.35208714e-03 1.84002257e+02] [ 5.00775110e-01 -8.65576437e-01 -1.31176894e-03 1.23499047e+02] [ 2.69281469e-03 4.24345973e-05 9.99996374e-01 6.21590100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.814012739 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:183.99, Y:123.50, Z:0.62 [[-8.66002524e-01 -5.00034094e-01 2.35220968e-03 1.83990865e+02] [ 5.00032375e-01 -8.66005718e-01 -1.31154917e-03 1.23504452e+02] [ 2.69284633e-03 4.03761023e-05 9.99996374e-01 6.24717456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.844012739 meters Centerline goodness : 0.992706 Centerline is valid? [True, True] Translation: X:183.99, Y:123.51, Z:0.62 [[-8.66444900e-01 -4.99267162e-01 2.35269917e-03 1.83986265e+02] [ 4.99265444e-01 -8.66448094e-01 -1.31067051e-03 1.23505059e+02] [ 2.69286646e-03 3.89976165e-05 9.99996374e-01 6.24557467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.874012739 meters Centerline goodness : 0.992275 Centerline is valid? [True, True] Translation: X:183.98, Y:123.50, Z:0.62 [[-8.66163592e-01 -4.99755035e-01 2.35319225e-03 1.83981118e+02] [ 4.99753320e-01 -8.66166787e-01 -1.30978464e-03 1.23504196e+02] [ 2.69282844e-03 4.15278735e-05 9.99996374e-01 6.21243838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.904012739 meters Centerline goodness : 0.992319 Centerline is valid? [True, True] Translation: X:184.00, Y:123.49, Z:0.62 [[-8.65723046e-01 -5.00517799e-01 2.35368726e-03 1.83999605e+02] [ 5.00516090e-01 -8.65726245e-01 -1.30889450e-03 1.23492791e+02] [ 2.69277383e-03 4.49182108e-05 9.99996374e-01 6.20739012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.934012739 meters Centerline goodness : 0.992175 Centerline is valid? [True, True] Translation: X:183.98, Y:123.50, Z:0.62 [[-8.65685959e-01 -5.00581941e-01 2.35387153e-03 1.83983924e+02] [ 5.00580233e-01 -8.65689158e-01 -1.30856304e-03 1.23499811e+02] [ 2.69276408e-03 4.54969067e-05 9.99996374e-01 6.20140340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.964012739 meters Centerline goodness : 0.992035 Centerline is valid? [True, True] Translation: X:184.00, Y:123.49, Z:0.62 [[-8.65846340e-01 -5.00304480e-01 2.35436397e-03 1.83996310e+02] [ 5.00302773e-01 -8.65849540e-01 -1.30767643e-03 1.23488376e+02] [ 2.69276134e-03 4.56479693e-05 9.99996374e-01 6.21358439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.994012739 meters Centerline goodness : 0.992485 Centerline is valid? [True, True] Translation: X:183.99, Y:123.49, Z:0.62 [[-8.66193547e-01 -4.99703106e-01 2.35485713e-03 1.83988675e+02] [ 4.99701400e-01 -8.66196746e-01 -1.30678775e-03 1.23490306e+02] [ 2.69277548e-03 4.47942875e-05 9.99996374e-01 6.22129200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.024012739 meters Centerline goodness : 0.993121 Centerline is valid? [True, True] Translation: X:184.00, Y:123.48, Z:0.62 [[-8.67274362e-01 -4.97824902e-01 2.35534923e-03 1.83999127e+02] [ 4.97823190e-01 -8.67277560e-01 -1.30590019e-03 1.23481505e+02] [ 2.69285116e-03 3.99737142e-05 9.99996374e-01 6.24704841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05401273900003 meters Centerline goodness : 0.992554 Centerline is valid? [True, True] Translation: X:183.98, Y:123.49, Z:0.63 [[-8.67815830e-01 -4.96880403e-01 2.35584083e-03 1.83975554e+02] [ 4.96878691e-01 -8.67819027e-01 -1.30501273e-03 1.23493219e+02] [ 2.69287875e-03 3.80563998e-05 9.99996374e-01 6.25631486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.084012739 meters Centerline goodness : 0.992983 Centerline is valid? [True, True] Translation: X:183.99, Y:123.49, Z:0.63 [[-8.68016313e-01 -4.96530089e-01 2.35633533e-03 1.83985545e+02] [ 4.96528377e-01 -8.68019510e-01 -1.30411925e-03 1.23485849e+02] [ 2.69287949e-03 3.79905738e-05 9.99996374e-01 6.25562084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11401273900003 meters Centerline goodness : 0.992004 Centerline is valid? [True, True] Translation: X:183.99, Y:123.48, Z:0.62 [[-8.67945062e-01 -4.96654623e-01 2.35683293e-03 1.83988717e+02] [ 4.96652915e-01 -8.67948261e-01 -1.30321936e-03 1.23478083e+02] [ 2.69285896e-03 3.94051312e-05 9.99996374e-01 6.24475324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.144012739 meters Centerline goodness : 0.992721 Centerline is valid? [True, True] Translation: X:183.98, Y:123.48, Z:0.62 [[-8.67931131e-01 -4.96678966e-01 2.35732781e-03 1.83981886e+02] [ 4.96677260e-01 -8.67934331e-01 -1.30232359e-03 1.23478354e+02] [ 2.69284247e-03 4.05039311e-05 9.99996374e-01 6.24719081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.174012739 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:183.98, Y:123.47, Z:0.63 [[-8.67749129e-01 -4.96996872e-01 2.35782308e-03 1.83981375e+02] [ 4.96995170e-01 -8.67752331e-01 -1.30142629e-03 1.23472345e+02] [ 2.69281127e-03 4.25151473e-05 9.99996374e-01 6.27655857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.204012739 meters Centerline goodness : 0.992452 Centerline is valid? [True, True] Translation: X:183.98, Y:123.47, Z:0.63 [[-8.68125695e-01 -4.96338813e-01 2.35831965e-03 1.83983522e+02] [ 4.96337110e-01 -8.68128897e-01 -1.30052584e-03 1.23468508e+02] [ 2.69282688e-03 4.15016621e-05 9.99996374e-01 6.29409161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.234012739 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:183.98, Y:123.47, Z:0.63 [[-8.68642237e-01 -4.95434253e-01 2.35881563e-03 1.83977525e+02] [ 4.95432550e-01 -8.68645439e-01 -1.29962563e-03 1.23468980e+02] [ 2.69285349e-03 3.97243260e-05 9.99996374e-01 6.31467184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.264012739 meters Centerline goodness : 0.992605 Centerline is valid? [True, True] Translation: X:183.98, Y:123.47, Z:0.63 [[-8.68832287e-01 -4.95100889e-01 2.35931258e-03 1.83979773e+02] [ 4.95099188e-01 -8.68835489e-01 -1.29872285e-03 1.23467827e+02] [ 2.69285334e-03 3.97213982e-05 9.99996374e-01 6.31460409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.294012739 meters Centerline goodness : 0.992504 Centerline is valid? [True, True] Translation: X:183.99, Y:123.46, Z:0.63 [[-8.69407670e-01 -4.94089805e-01 2.35981059e-03 1.83989207e+02] [ 4.94088102e-01 -8.69410871e-01 -1.29781731e-03 1.23459683e+02] [ 2.69288329e-03 3.76220114e-05 9.99996374e-01 6.31976289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.324012739 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:184.00, Y:123.45, Z:0.63 [[-8.70484847e-01 -4.92189556e-01 2.36030645e-03 1.84000587e+02] [ 4.92187849e-01 -8.70488047e-01 -1.29691489e-03 1.23449707e+02] [ 2.69294651e-03 3.27693884e-05 9.99996374e-01 6.31049110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.354012739 meters Centerline goodness : 0.992513 Centerline is valid? [True, True] Translation: X:184.00, Y:123.45, Z:0.63 [[-8.71389938e-01 -4.90585367e-01 2.36079804e-03 1.83997829e+02] [ 4.90583656e-01 -8.71393136e-01 -1.29601942e-03 1.23450078e+02] [ 2.69299137e-03 2.88306464e-05 9.99996374e-01 6.30567834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.384012739 meters Centerline goodness : 0.992666 Centerline is valid? [True, True] Translation: X:184.01, Y:123.44, Z:0.63 [[-8.73239241e-01 -4.87286006e-01 2.36128808e-03 1.84009194e+02] [ 4.87284285e-01 -8.73242434e-01 -1.29512598e-03 1.23440814e+02] [ 2.69307371e-03 1.96637454e-05 9.99996374e-01 6.28499772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.414012739 meters Centerline goodness : 0.992374 Centerline is valid? [True, True] Translation: X:184.02, Y:123.44, Z:0.63 [[-8.74330493e-01 -4.85325264e-01 2.36177650e-03 1.84015836e+02] [ 4.85323539e-01 -8.74333682e-01 -1.29423469e-03 1.23435618e+02] [ 2.69310553e-03 1.46368773e-05 9.99996374e-01 6.26444739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.444012739 meters Centerline goodness : 0.991831 Centerline is valid? [True, True] Translation: X:184.01, Y:123.44, Z:0.62 [[-8.76110420e-01 -4.82104711e-01 2.36226148e-03 1.84014153e+02] [ 4.82102976e-01 -8.76113604e-01 -1.29334887e-03 1.23435613e+02] [ 2.69313901e-03 5.73686658e-06 9.99996374e-01 6.22179439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.474012739 meters Centerline goodness : 0.992199 Centerline is valid? [True, True] Translation: X:184.03, Y:123.43, Z:0.62 [[-8.77144357e-01 -4.80220985e-01 2.36274590e-03 1.84027255e+02] [ 4.80219246e-01 -8.77147539e-01 -1.29246331e-03 1.23430000e+02] [ 2.69314476e-03 9.59161602e-07 9.99996374e-01 6.19807718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.504012739 meters Centerline goodness : 0.991845 Centerline is valid? [True, True] Translation: X:184.04, Y:123.42, Z:0.62 [[-8.77984315e-01 -4.78683567e-01 2.36316780e-03 1.84041737e+02] [ 4.78681825e-01 -8.77987496e-01 -1.29169144e-03 1.23424299e+02] [ 2.69314325e-03 -2.87935029e-06 9.99996374e-01 6.19742382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.534012739 meters Centerline goodness : 0.991746 Centerline is valid? [True, True] Translation: X:184.04, Y:123.43, Z:0.62 [[-8.79989099e-01 -4.74988001e-01 2.36322738e-03 1.84039154e+02] [ 4.74986245e-01 -8.79992272e-01 -1.29158242e-03 1.23429676e+02] [ 2.69310799e-03 -1.40779495e-05 9.99996374e-01 6.18503281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.564012739 meters Centerline goodness : 0.991885 Centerline is valid? [True, True] Translation: X:184.01, Y:123.45, Z:0.62 [[-8.80669644e-01 -4.73725016e-01 2.36370386e-03 1.84011029e+02] [ 4.73723258e-01 -8.80672816e-01 -1.29070984e-03 1.23446129e+02] [ 2.69309127e-03 -1.69474861e-05 9.99996374e-01 6.19978207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.594012739 meters Centerline goodness : 0.991511 Centerline is valid? [True, True] Translation: X:184.05, Y:123.43, Z:0.62 [[-8.80155710e-01 -4.74679194e-01 2.36418713e-03 1.84045559e+02] [ 4.74677442e-01 -8.80158885e-01 -1.28982403e-03 1.23428831e+02] [ 2.69311294e-03 -1.30196817e-05 9.99996374e-01 6.17443686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.624012739 meters Centerline goodness : 0.991768 Centerline is valid? [True, True] Translation: X:184.02, Y:123.44, Z:0.62 [[-8.79769235e-01 -4.75395104e-01 2.36400528e-03 1.84024152e+02] [ 4.75393354e-01 -8.79772411e-01 -1.29015724e-03 1.23442239e+02] [ 2.69312106e-03 -1.12082552e-05 9.99996374e-01 6.15211802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.654012739 meters Centerline goodness : 0.991394 Centerline is valid? [True, True] Translation: X:184.03, Y:123.44, Z:0.61 [[-8.79519131e-01 -4.75857656e-01 2.36448507e-03 1.84030976e+02] [ 4.75855909e-01 -8.79522309e-01 -1.28927732e-03 1.23440164e+02] [ 2.69312985e-03 -8.78987774e-06 9.99996374e-01 6.14530429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.684012739 meters Centerline goodness : 0.992607 Centerline is valid? [True, True] Translation: X:184.04, Y:123.44, Z:0.62 [[-8.78680028e-01 -4.77405294e-01 2.36496851e-03 1.84039193e+02] [ 4.77403556e-01 -8.78683211e-01 -1.28838991e-03 1.23436567e+02] [ 2.69314229e-03 -3.03810916e-06 9.99996374e-01 6.19841481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.714012739 meters Centerline goodness : 0.992159 Centerline is valid? [True, True] Translation: X:184.04, Y:123.43, Z:0.62 [[-8.78079684e-01 -4.78508593e-01 2.36544974e-03 1.84040931e+02] [ 4.78506861e-01 -8.78082870e-01 -1.28750578e-03 1.23434544e+02] [ 2.69314348e-03 1.35125824e-06 9.99996374e-01 6.22435285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.744012739 meters Centerline goodness : 0.991925 Centerline is valid? [True, True] Translation: X:184.04, Y:123.43, Z:0.62 [[-8.76894055e-01 -4.80677875e-01 2.36592963e-03 1.84037166e+02] [ 4.80676153e-01 -8.76897246e-01 -1.28662334e-03 1.23434866e+02] [ 2.69312855e-03 9.01359673e-06 9.99996374e-01 6.19921296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.774012739 meters Centerline goodness : 0.991609 Centerline is valid? [True, True] Translation: X:184.00, Y:123.46, Z:0.62 [[-8.76651312e-01 -4.81120439e-01 2.36641020e-03 1.83995890e+02] [ 4.81118721e-01 -8.76654506e-01 -1.28573885e-03 1.23456725e+02] [ 2.69311940e-03 1.13796003e-05 9.99996374e-01 6.18611837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80401273900003 meters Centerline goodness : 0.991661 Centerline is valid? [True, True] Translation: X:184.02, Y:123.44, Z:0.62 [[-8.76458945e-01 -4.81470784e-01 2.36690005e-03 1.84024455e+02] [ 4.81469070e-01 -8.76462141e-01 -1.28483646e-03 1.23440649e+02] [ 2.69310950e-03 1.34827564e-05 9.99996374e-01 6.19254103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.834012739 meters Centerline goodness : 0.991801 Centerline is valid? [True, True] Translation: X:184.04, Y:123.43, Z:0.62 [[-8.77627865e-01 -4.79336760e-01 2.36671443e-03 1.84041508e+02] [ 4.79335037e-01 -8.77631056e-01 -1.28517828e-03 1.23429939e+02] [ 2.69313528e-03 6.54088443e-06 9.99996374e-01 6.19177582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86401273900003 meters Centerline goodness : 0.991849 Centerline is valid? [True, True] Translation: X:184.05, Y:123.43, Z:0.62 [[-8.78640647e-01 -4.77477761e-01 2.36659367e-03 1.84047549e+02] [ 4.77476031e-01 -8.78643835e-01 -1.28540062e-03 1.23427839e+02] [ 2.69314314e-03 5.86521387e-07 9.99996374e-01 6.19341712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.894012739 meters Centerline goodness : 0.992244 Centerline is valid? [True, True] Translation: X:184.05, Y:123.43, Z:0.62 [[-8.79758864e-01 -4.75414280e-01 2.36707138e-03 1.84049752e+02] [ 4.75412544e-01 -8.79762049e-01 -1.28452031e-03 1.23430616e+02] [ 2.69313886e-03 -4.73269736e-06 9.99996374e-01 6.22743250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.924012739 meters Centerline goodness : 0.992085 Centerline is valid? [True, True] Translation: X:184.06, Y:123.42, Z:0.62 [[-8.80229755e-01 -4.74541856e-01 2.36754861e-03 1.84062470e+02] [ 4.74540120e-01 -8.80232939e-01 -1.28364010e-03 1.23424435e+02] [ 2.69313523e-03 -6.40141097e-06 9.99996374e-01 6.24443324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.954012739 meters Centerline goodness : 0.992087 Centerline is valid? [True, True] Translation: X:184.06, Y:123.42, Z:0.62 [[-8.80621507e-01 -4.73814472e-01 2.36802382e-03 1.84063295e+02] [ 4.73812735e-01 -8.80624691e-01 -1.28276284e-03 1.23423768e+02] [ 2.69313185e-03 -7.62869799e-06 9.99996374e-01 6.24668208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.984012739 meters Centerline goodness : 0.992278 Centerline is valid? [True, True] Translation: X:184.07, Y:123.42, Z:0.62 [[-8.81359068e-01 -4.72441090e-01 2.36849704e-03 1.84070399e+02] [ 4.72439351e-01 -8.81362251e-01 -1.28188849e-03 1.23421749e+02] [ 2.69312068e-03 -1.08328413e-05 9.99996374e-01 6.21993857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.014012739 meters Centerline goodness : 0.991882 Centerline is valid? [True, True] Translation: X:184.05, Y:123.43, Z:0.62 [[-8.81977355e-01 -4.71285830e-01 2.36896941e-03 1.84052289e+02] [ 4.71284089e-01 -8.81980536e-01 -1.28101495e-03 1.23434258e+02] [ 2.69310910e-03 -1.33685836e-05 9.99996374e-01 6.21024882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.044012739 meters Centerline goodness : 0.991351 Centerline is valid? [True, True] Translation: X:184.07, Y:123.43, Z:0.62 [[-8.82438696e-01 -4.70421443e-01 2.36944465e-03 1.84067499e+02] [ 4.70419701e-01 -8.82441877e-01 -1.28013532e-03 1.23428351e+02] [ 2.69310028e-03 -1.50074955e-05 9.99996374e-01 6.20431791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.074012739 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:184.07, Y:123.43, Z:0.63 [[-8.82246745e-01 -4.70781334e-01 2.36992140e-03 1.84069971e+02] [ 4.70779596e-01 -8.82249928e-01 -1.27925209e-03 1.23428284e+02] [ 2.69311099e-03 -1.29053516e-05 9.99996374e-01 6.25312483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.104012739 meters Centerline goodness : 0.992313 Centerline is valid? [True, True] Translation: X:184.05, Y:123.44, Z:0.63 [[-8.81821934e-01 -4.71576567e-01 2.37039568e-03 1.84052111e+02] [ 4.71574834e-01 -8.81825120e-01 -1.27837267e-03 1.23438760e+02] [ 2.69312505e-03 -9.47811636e-06 9.99996374e-01 6.26724671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.134012739 meters Centerline goodness : 0.992016 Centerline is valid? [True, True] Translation: X:184.04, Y:123.45, Z:0.62 [[-8.80341198e-01 -4.74335066e-01 2.37087347e-03 1.84039900e+02] [ 4.74333346e-01 -8.80344390e-01 -1.27748594e-03 1.23445962e+02] [ 2.69314154e-03 -3.91532910e-08 9.99996374e-01 6.24768043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.164012739 meters Centerline goodness : 0.991809 Centerline is valid? [True, True] Translation: X:184.05, Y:123.44, Z:0.62 [[-8.79457888e-01 -4.75970796e-01 2.37135785e-03 1.84045781e+02] [ 4.75969085e-01 -8.79461086e-01 -1.27658616e-03 1.23441411e+02] [ 2.69313468e-03 5.98925417e-06 9.99996374e-01 6.21784501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.194012739 meters Centerline goodness : 0.991595 Centerline is valid? [True, True] Translation: X:184.04, Y:123.45, Z:0.62 [[-8.78406785e-01 -4.77907830e-01 2.37184405e-03 1.84035899e+02] [ 4.77906128e-01 -8.78409987e-01 -1.27568219e-03 1.23445153e+02] [ 2.69311001e-03 1.29509111e-05 9.99996374e-01 6.20316851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.224012739 meters Centerline goodness : 0.991780 Centerline is valid? [True, True] Translation: X:184.04, Y:123.44, Z:0.62 [[-8.76416911e-01 -4.81547268e-01 2.37233127e-03 1.84044867e+02] [ 4.81545581e-01 -8.76420121e-01 -1.27477548e-03 1.23440348e+02] [ 2.69302351e-03 2.51508548e-05 9.99996374e-01 6.23265731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.254012739 meters Centerline goodness : 0.992607 Centerline is valid? [True, True] Translation: X:184.04, Y:123.44, Z:0.63 [[-8.76298722e-01 -4.81762306e-01 2.37281904e-03 1.84041345e+02] [ 4.81760622e-01 -8.76301934e-01 -1.27386692e-03 1.23443023e+02] [ 2.69300698e-03 2.68428235e-05 9.99996374e-01 6.26484608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.284012739 meters Centerline goodness : 0.992638 Centerline is valid? [True, True] Translation: X:184.05, Y:123.44, Z:0.62 [[-8.76605432e-01 -4.81203995e-01 2.37330646e-03 1.84052170e+02] [ 4.81202312e-01 -8.76608644e-01 -1.27295817e-03 1.23436187e+02] [ 2.69301351e-03 2.61585038e-05 9.99996374e-01 6.24903259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.314012739 meters Centerline goodness : 0.992297 Centerline is valid? [True, True] Translation: X:184.05, Y:123.44, Z:0.62 [[-8.77052012e-01 -4.80389564e-01 2.37379280e-03 1.84051494e+02] [ 4.80387880e-01 -8.77055224e-01 -1.27205060e-03 1.23436734e+02] [ 2.69302721e-03 2.46867557e-05 9.99996374e-01 6.22713516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.344012739 meters Centerline goodness : 0.991904 Centerline is valid? [True, True] Translation: X:184.05, Y:123.44, Z:0.62 [[-8.77547297e-01 -4.79484207e-01 2.37427759e-03 1.84052220e+02] [ 4.79482522e-01 -8.77550508e-01 -1.27114510e-03 1.23437813e+02] [ 2.69304251e-03 2.29346669e-05 9.99996374e-01 6.22488387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.374012739 meters Centerline goodness : 0.992441 Centerline is valid? [True, True] Translation: X:184.07, Y:123.43, Z:0.63 [[-8.77892892e-01 -4.78851158e-01 2.37476308e-03 1.84074426e+02] [ 4.78849473e-01 -8.77896104e-01 -1.27023745e-03 1.23428297e+02] [ 2.69304993e-03 2.20216210e-05 9.99996374e-01 6.27015139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.404012739 meters Centerline goodness : 0.992601 Centerline is valid? [True, True] Translation: X:184.07, Y:123.43, Z:0.63 [[-8.78158068e-01 -4.78364682e-01 2.37476308e-03 1.84069696e+02] [ 4.78362995e-01 -8.78161279e-01 -1.27023745e-03 1.23430575e+02] [ 2.69306172e-03 2.05295151e-05 9.99996374e-01 6.28347198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.434012739 meters Centerline goodness : 0.991961 Centerline is valid? [True, True] Translation: X:184.06, Y:123.44, Z:0.62 [[-8.78060733e-01 -4.78543319e-01 2.37524164e-03 1.84055975e+02] [ 4.78541636e-01 -8.78063945e-01 -1.26934196e-03 1.23438160e+02] [ 2.69304916e-03 2.20926848e-05 9.99996374e-01 6.22948340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.464012739 meters Centerline goodness : 0.991891 Centerline is valid? [True, True] Translation: X:184.07, Y:123.43, Z:0.62 [[-8.78078326e-01 -4.78511034e-01 2.37572435e-03 1.84065911e+02] [ 4.78509353e-01 -8.78081540e-01 -1.26843786e-03 1.23434562e+02] [ 2.69304121e-03 2.30185346e-05 9.99996374e-01 6.21230811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.494012739 meters Centerline goodness : 0.991825 Centerline is valid? [True, True] Translation: X:184.07, Y:123.43, Z:0.62 [[-8.78131743e-01 -4.78412996e-01 2.37620865e-03 1.84068836e+02] [ 4.78411318e-01 -8.78134958e-01 -1.26752996e-03 1.23434380e+02] [ 2.69303469e-03 2.37468126e-05 9.99996374e-01 6.20602905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.524012739 meters Centerline goodness : 0.991979 Centerline is valid? [True, True] Translation: X:184.07, Y:123.43, Z:0.62 [[-8.77673510e-01 -4.79253129e-01 2.37669099e-03 1.84071757e+02] [ 4.79251456e-01 -8.77676727e-01 -1.26662489e-03 1.23431987e+02] [ 2.69300031e-03 2.73495101e-05 9.99996374e-01 6.23260303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55401273900003 meters Centerline goodness : 0.992133 Centerline is valid? [True, True] Translation: X:184.07, Y:123.43, Z:0.62 [[-8.77333248e-01 -4.79875734e-01 2.37717284e-03 1.84065333e+02] [ 4.79874066e-01 -8.77336468e-01 -1.26571993e-03 1.23434076e+02] [ 2.69296870e-03 3.02854195e-05 9.99996374e-01 6.23550484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.584012739 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:184.08, Y:123.42, Z:0.62 [[-8.77146621e-01 -4.80216776e-01 2.37765577e-03 1.84082481e+02] [ 4.80215111e-01 -8.77149843e-01 -1.26481209e-03 1.23423997e+02] [ 2.69294437e-03 3.23605798e-05 9.99996374e-01 6.23571785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61401273900003 meters Centerline goodness : 0.992547 Centerline is valid? [True, True] Translation: X:184.07, Y:123.43, Z:0.62 [[-8.78090868e-01 -4.78488006e-01 2.37813692e-03 1.84073838e+02] [ 4.78486337e-01 -8.78094088e-01 -1.26390676e-03 1.23430472e+02] [ 2.69299220e-03 2.80810396e-05 9.99996374e-01 6.24843853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.644012739 meters Centerline goodness : 0.992470 Centerline is valid? [True, True] Translation: X:184.09, Y:123.43, Z:0.63 [[-8.79283005e-01 -4.76293753e-01 2.37861702e-03 1.84088154e+02] [ 4.76292079e-01 -8.79286222e-01 -1.26300260e-03 1.23425342e+02] [ 2.69304542e-03 2.23797260e-05 9.99996374e-01 6.26027781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.674012739 meters Centerline goodness : 0.992631 Centerline is valid? [True, True] Translation: X:184.09, Y:123.43, Z:0.62 [[-8.81493460e-01 -4.72190238e-01 2.37909677e-03 1.84093828e+02] [ 4.72188551e-01 -8.81496670e-01 -1.26209825e-03 1.23427745e+02] [ 2.69311635e-03 1.08509056e-05 9.99996374e-01 6.24060537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.704012739 meters Centerline goodness : 0.991909 Centerline is valid? [True, True] Translation: X:184.08, Y:123.44, Z:0.62 [[-8.82361270e-01 -4.70566602e-01 2.37957397e-03 1.84083262e+02] [ 4.70564912e-01 -8.82364479e-01 -1.26119788e-03 1.23436122e+02] [ 2.69312915e-03 6.91184993e-06 9.99996374e-01 6.20890703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.734012739 meters Centerline goodness : 0.991063 Centerline is valid? [True, True] Translation: X:184.08, Y:123.44, Z:0.62 [[-8.82983324e-01 -4.69398322e-01 2.38005320e-03 1.84078663e+02] [ 4.69396630e-01 -8.82986532e-01 -1.26029287e-03 1.23441441e+02] [ 2.69313428e-03 4.37136121e-06 9.99996374e-01 6.18174291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.764012739 meters Centerline goodness : 0.991468 Centerline is valid? [True, True] Translation: X:184.10, Y:123.43, Z:0.62 [[-8.82777692e-01 -4.69784929e-01 2.38053646e-03 1.84103176e+02] [ 4.69783241e-01 -8.82780902e-01 -1.25937938e-03 1.23433942e+02] [ 2.69312958e-03 6.58411155e-06 9.99996374e-01 6.20772578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.794012739 meters Centerline goodness : 0.991101 Centerline is valid? [True, True] Translation: X:184.10, Y:123.43, Z:0.62 [[-8.82251987e-01 -4.70771457e-01 2.38065630e-03 1.84104369e+02] [ 4.70769773e-01 -8.82255199e-01 -1.25915281e-03 1.23434415e+02] [ 2.69311960e-03 9.85095389e-06 9.99996374e-01 6.24220580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.824012739 meters Centerline goodness : 0.992023 Centerline is valid? [True, True] Translation: X:184.10, Y:123.44, Z:0.63 [[-8.79867412e-01 -4.75213287e-01 2.38113286e-03 1.84098518e+02] [ 4.75211621e-01 -8.79870634e-01 -1.25825096e-03 1.23439346e+02] [ 2.69302645e-03 2.44479870e-05 9.99996374e-01 6.26433281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.854012739 meters Centerline goodness : 0.991499 Centerline is valid? [True, True] Translation: X:184.10, Y:123.44, Z:0.63 [[-8.78478341e-01 -4.77776236e-01 2.38161096e-03 1.84099441e+02] [ 4.77774583e-01 -8.78481569e-01 -1.25734536e-03 1.23440171e+02] [ 2.69293107e-03 3.33225183e-05 9.99996374e-01 6.26430191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.884012739 meters Centerline goodness : 0.991545 Centerline is valid? [True, True] Translation: X:184.11, Y:123.43, Z:0.63 [[-8.77332191e-01 -4.79877643e-01 2.38209086e-03 1.84113209e+02] [ 4.79876000e-01 -8.77335424e-01 -1.25643552e-03 1.23433254e+02] [ 2.69282801e-03 4.07969006e-05 9.99996374e-01 6.26146100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.914012739 meters Centerline goodness : 0.991738 Centerline is valid? [True, True] Translation: X:184.13, Y:123.42, Z:0.63 [[-8.76037033e-01 -4.82237949e-01 2.38256850e-03 1.84129825e+02] [ 4.82236317e-01 -8.76040272e-01 -1.25552911e-03 1.23424535e+02] [ 2.69268974e-03 4.90710606e-05 9.99996374e-01 6.26825516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.944012739 meters Centerline goodness : 0.991749 Centerline is valid? [True, True] Translation: X:184.14, Y:123.42, Z:0.62 [[-8.75805480e-01 -4.82658349e-01 2.38304081e-03 1.84139824e+02] [ 4.82656721e-01 -8.75808721e-01 -1.25463200e-03 1.23419309e+02] [ 2.69264654e-03 5.13770818e-05 9.99996374e-01 6.24828551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.974012739 meters Centerline goodness : 0.991932 Centerline is valid? [True, True] Translation: X:184.14, Y:123.42, Z:0.62 [[-8.75836468e-01 -4.82602114e-01 2.38350859e-03 1.84137824e+02] [ 4.82600488e-01 -8.75839710e-01 -1.25374271e-03 1.23421565e+02] [ 2.69263035e-03 5.22088226e-05 9.99996374e-01 6.24062609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.004012739 meters Centerline goodness : 0.991938 Centerline is valid? [True, True] Translation: X:184.14, Y:123.42, Z:0.62 [[-8.75750140e-01 -4.82758748e-01 2.38397551e-03 1.84142402e+02] [ 4.82757125e-01 -8.75753383e-01 -1.25285425e-03 1.23419616e+02] [ 2.69260096e-03 5.36938810e-05 9.99996374e-01 6.23925876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.034012739 meters Centerline goodness : 0.992147 Centerline is valid? [True, True] Translation: X:184.14, Y:123.42, Z:0.62 [[-8.75708400e-01 -4.82834457e-01 2.38444262e-03 1.84139757e+02] [ 4.82832837e-01 -8.75711644e-01 -1.25196460e-03 1.23421560e+02] [ 2.69257581e-03 5.49312743e-05 9.99996374e-01 6.23513494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.064012739 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:184.15, Y:123.41, Z:0.62 [[-8.76194507e-01 -4.81951759e-01 2.38490985e-03 1.84153383e+02] [ 4.81950138e-01 -8.76197751e-01 -1.25107392e-03 1.23414705e+02] [ 2.69260992e-03 5.32235411e-05 9.99996374e-01 6.24525818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.094012739 meters Centerline goodness : 0.992405 Centerline is valid? [True, True] Translation: X:184.16, Y:123.41, Z:0.63 [[-8.76585278e-01 -4.81240647e-01 2.38537562e-03 1.84161064e+02] [ 4.81239026e-01 -8.76588522e-01 -1.25018522e-03 1.23409369e+02] [ 2.69263284e-03 5.20418836e-05 9.99996374e-01 6.25734669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.124012739 meters Centerline goodness : 0.992077 Centerline is valid? [True, True] Translation: X:184.15, Y:123.41, Z:0.63 [[-8.76741949e-01 -4.80955157e-01 2.38583792e-03 1.84152610e+02] [ 4.80953537e-01 -8.76745194e-01 -1.24930234e-03 1.23413254e+02] [ 2.69263034e-03 5.21614153e-05 9.99996374e-01 6.25729240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.154012739 meters Centerline goodness : 0.992077 Centerline is valid? [True, True] Translation: X:184.15, Y:123.41, Z:0.63 [[-8.76920871e-01 -4.80628851e-01 2.38630072e-03 1.84154872e+02] [ 4.80627232e-01 -8.76924116e-01 -1.24841774e-03 1.23412154e+02] [ 2.69263023e-03 5.21575396e-05 9.99996374e-01 6.25722465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.184012739 meters Centerline goodness : 0.992184 Centerline is valid? [True, True] Translation: X:184.16, Y:123.41, Z:0.62 [[-8.77113880e-01 -4.80276529e-01 2.38676497e-03 1.84156035e+02] [ 4.80274912e-01 -8.77117126e-01 -1.24752952e-03 1.23411674e+02] [ 2.69263158e-03 5.20778758e-05 9.99996374e-01 6.24817110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.214012739 meters Centerline goodness : 0.992480 Centerline is valid? [True, True] Translation: X:184.15, Y:123.42, Z:0.62 [[-8.77441257e-01 -4.79678164e-01 2.38722927e-03 1.84145188e+02] [ 4.79676547e-01 -8.77444503e-01 -1.24664043e-03 1.23417856e+02] [ 2.69264739e-03 5.12441497e-05 9.99996374e-01 6.23841213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.244012739 meters Centerline goodness : 0.991863 Centerline is valid? [True, True] Translation: X:184.15, Y:123.41, Z:0.62 [[-8.78814324e-01 -4.77157922e-01 2.38769588e-03 1.84154641e+02] [ 4.77156298e-01 -8.78817567e-01 -1.24574609e-03 1.23414012e+02] [ 2.69276670e-03 4.45246140e-05 9.99996374e-01 6.24021648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.274012739 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:184.15, Y:123.42, Z:0.63 [[-8.80729619e-01 -4.73613381e-01 2.38816329e-03 1.84148029e+02] [ 4.73611746e-01 -8.80732856e-01 -1.24484939e-03 1.23419570e+02] [ 2.69291120e-03 3.46864543e-05 9.99996374e-01 6.25851341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30401273900003 meters Centerline goodness : 0.992544 Centerline is valid? [True, True] Translation: X:184.15, Y:123.42, Z:0.63 [[-8.81761306e-01 -4.71689828e-01 2.38863105e-03 1.84149631e+02] [ 4.71688189e-01 -8.81764541e-01 -1.24395120e-03 1.23418940e+02] [ 2.69296929e-03 2.98210177e-05 9.99996374e-01 6.26163474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.334012739 meters Centerline goodness : 0.992387 Centerline is valid? [True, True] Translation: X:184.13, Y:123.43, Z:0.63 [[-8.82622820e-01 -4.70075792e-01 2.38910031e-03 1.84134228e+02] [ 4.70074149e-01 -8.82626053e-01 -1.24304930e-03 1.23426624e+02] [ 2.69300956e-03 2.59106178e-05 9.99996374e-01 6.27200725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36401273900003 meters Centerline goodness : 0.992193 Centerline is valid? [True, True] Translation: X:184.14, Y:123.42, Z:0.63 [[-8.83326394e-01 -4.68752357e-01 2.38957286e-03 1.84136372e+02] [ 4.68750712e-01 -8.83329626e-01 -1.24214022e-03 1.23422904e+02] [ 2.69303666e-03 2.28987357e-05 9.99996374e-01 6.26877376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.394012739 meters Centerline goodness : 0.991945 Centerline is valid? [True, True] Translation: X:184.14, Y:123.42, Z:0.63 [[-8.83405026e-01 -4.68604149e-01 2.39004813e-03 1.84137718e+02] [ 4.68602506e-01 -8.83408258e-01 -1.24122507e-03 1.23421548e+02] [ 2.69303147e-03 2.34780795e-05 9.99996374e-01 6.25787315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.424012739 meters Centerline goodness : 0.991957 Centerline is valid? [True, True] Translation: X:184.15, Y:123.42, Z:0.62 [[-8.83967905e-01 -4.67541473e-01 2.39052305e-03 1.84145586e+02] [ 4.67539829e-01 -8.83971137e-01 -1.24030973e-03 1.23416551e+02] [ 2.69304961e-03 2.12707420e-05 9.99996374e-01 6.21955952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.454012739 meters Centerline goodness : 0.991826 Centerline is valid? [True, True] Translation: X:184.14, Y:123.42, Z:0.62 [[-8.84822028e-01 -4.65923022e-01 2.39099659e-03 1.84141737e+02] [ 4.65921374e-01 -8.84825258e-01 -1.23939619e-03 1.23418152e+02] [ 2.69307739e-03 1.73713685e-05 9.99996374e-01 6.21077046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.484012739 meters Centerline goodness : 0.991658 Centerline is valid? [True, True] Translation: X:184.15, Y:123.41, Z:0.62 [[-8.86195857e-01 -4.63304634e-01 2.39146979e-03 1.84151603e+02] [ 4.63302979e-01 -8.86199084e-01 -1.23848246e-03 1.23412214e+02] [ 2.69311300e-03 1.04370468e-05 9.99996374e-01 6.23165336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.514012739 meters Centerline goodness : 0.992511 Centerline is valid? [True, True] Translation: X:184.18, Y:123.40, Z:0.63 [[-8.88929030e-01 -4.58038709e-01 2.39194232e-03 1.84179891e+02] [ 4.58037037e-01 -8.88932248e-01 -1.23756917e-03 1.23399060e+02] [ 2.69312924e-03 -4.51299029e-06 9.99996374e-01 6.25230336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.544012739 meters Centerline goodness : 0.992632 Centerline is valid? [True, True] Translation: X:184.17, Y:123.41, Z:0.63 [[-8.90257327e-01 -4.55451610e-01 2.39205840e-03 1.84165209e+02] [ 4.55449930e-01 -8.90260541e-01 -1.23734475e-03 1.23408953e+02] [ 2.69310587e-03 -1.20923980e-05 9.99996374e-01 6.25506377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.574012739 meters Centerline goodness : 0.991965 Centerline is valid? [True, True] Translation: X:184.19, Y:123.40, Z:0.62 [[-8.92206357e-01 -4.51621626e-01 2.39252236e-03 1.84189663e+02] [ 4.51619934e-01 -8.92209564e-01 -1.23644700e-03 1.23399209e+02] [ 2.69303753e-03 -2.26550861e-05 9.99996374e-01 6.24009261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.604012739 meters Centerline goodness : 0.992152 Centerline is valid? [True, True] Translation: X:184.19, Y:123.40, Z:0.62 [[-8.93352271e-01 -4.49350637e-01 2.39269558e-03 1.84190703e+02] [ 4.49348938e-01 -8.93355475e-01 -1.23611169e-03 1.23400161e+02] [ 2.69297527e-03 -2.91279699e-05 9.99996374e-01 6.24067650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.634012739 meters Centerline goodness : 0.992305 Centerline is valid? [True, True] Translation: X:184.20, Y:123.40, Z:0.62 [[-8.94542989e-01 -4.46975517e-01 2.39315481e-03 1.84200682e+02] [ 4.46973812e-01 -8.94546190e-01 -1.23522197e-03 1.23398278e+02] [ 2.69290150e-03 -3.52816254e-05 9.99996374e-01 6.23341315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.664012739 meters Centerline goodness : 0.992733 Centerline is valid? [True, True] Translation: X:184.23, Y:123.39, Z:0.63 [[-8.96465558e-01 -4.43106956e-01 2.39361290e-03 1.84230826e+02] [ 4.43105239e-01 -8.96468752e-01 -1.23433365e-03 1.23392339e+02] [ 2.69274099e-03 -4.59151949e-05 9.99996374e-01 6.25319001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.694012739 meters Centerline goodness : 0.992600 Centerline is valid? [True, True] Translation: X:184.24, Y:123.39, Z:0.63 [[-8.97160035e-01 -4.41699153e-01 2.39378211e-03 1.84235950e+02] [ 4.41697432e-01 -8.97163227e-01 -1.23400540e-03 1.23393474e+02] [ 2.69267242e-03 -4.97729181e-05 9.99996374e-01 6.25722617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.724012739 meters Centerline goodness : 0.989634 Centerline is valid? [True, True] Translation: X:184.22, Y:123.41, Z:0.63 [[-8.96214386e-01 -4.43614746e-01 2.39422973e-03 1.84223660e+02] [ 4.43613034e-01 -8.96217583e-01 -1.23313631e-03 1.23405464e+02] [ 2.69278823e-03 -4.30429912e-05 9.99996374e-01 6.32964615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.754012739 meters Centerline goodness : 0.992928 Centerline is valid? [True, True] Translation: X:184.22, Y:123.41, Z:0.62 [[-8.94963460e-01 -4.46133019e-01 2.39467987e-03 1.84221826e+02] [ 4.46131318e-01 -8.94966663e-01 -1.23226155e-03 1.23409032e+02] [ 2.69291122e-03 -3.44873791e-05 9.99996374e-01 6.24178731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.784012739 meters Centerline goodness : 0.992445 Centerline is valid? [True, True] Translation: X:184.21, Y:123.42, Z:0.63 [[-8.93477146e-01 -4.49102274e-01 2.39513364e-03 1.84207323e+02] [ 4.49100587e-01 -8.93480356e-01 -1.23137893e-03 1.23418579e+02] [ 2.69301993e-03 -2.45530109e-05 9.99996374e-01 6.25518663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.814012739 meters Centerline goodness : 0.992876 Centerline is valid? [True, True] Translation: X:184.19, Y:123.43, Z:0.63 [[-8.90382888e-01 -4.55206079e-01 2.39559111e-03 1.84187092e+02] [ 4.55204416e-01 -8.90386111e-01 -1.23048830e-03 1.23431077e+02] [ 2.69312680e-03 -5.12207886e-06 9.99996374e-01 6.26903270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.844012739 meters Centerline goodness : 0.992243 Centerline is valid? [True, True] Translation: X:184.19, Y:123.43, Z:0.63 [[-8.88968245e-01 -4.57962574e-01 2.39605581e-03 1.84188766e+02] [ 4.57960923e-01 -8.88971474e-01 -1.22958274e-03 1.23431005e+02] [ 2.69312814e-03 4.23992347e-06 9.99996374e-01 6.25547507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.874012739 meters Centerline goodness : 0.992139 Centerline is valid? [True, True] Translation: X:184.20, Y:123.43, Z:0.62 [[-8.86343409e-01 -4.63022266e-01 2.39652472e-03 1.84202451e+02] [ 4.63020636e-01 -8.86346648e-01 -1.22866814e-03 1.23425248e+02] [ 2.69305236e-03 2.06184887e-05 9.99996374e-01 6.22005765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.904012739 meters Centerline goodness : 0.992408 Centerline is valid? [True, True] Translation: X:184.20, Y:123.43, Z:0.62 [[-8.85115243e-01 -4.65365729e-01 2.39699142e-03 1.84202807e+02] [ 4.65364110e-01 -8.85118488e-01 -1.22775699e-03 1.23425054e+02] [ 2.69297744e-03 2.87673502e-05 9.99996374e-01 6.20323835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.934012739 meters Centerline goodness : 0.991670 Centerline is valid? [True, True] Translation: X:184.21, Y:123.42, Z:0.62 [[-8.84052114e-01 -4.67382191e-01 2.39745608e-03 1.84206808e+02] [ 4.67380582e-01 -8.84055364e-01 -1.22684896e-03 1.23422266e+02] [ 2.69289126e-03 3.59260020e-05 9.99996374e-01 6.19303044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.964012739 meters Centerline goodness : 0.992082 Centerline is valid? [True, True] Translation: X:184.22, Y:123.41, Z:0.62 [[-8.82044539e-01 -4.71159931e-01 2.39792025e-03 1.84223574e+02] [ 4.71158339e-01 -8.82047797e-01 -1.22594105e-03 1.23410713e+02] [ 2.69269458e-03 4.84655099e-05 9.99996374e-01 6.20844421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.994012739 meters Centerline goodness : 0.991940 Centerline is valid? [True, True] Translation: X:184.23, Y:123.40, Z:0.62 [[-8.81085343e-01 -4.72951231e-01 2.39838075e-03 1.84233915e+02] [ 4.72949647e-01 -8.81088605e-01 -1.22503949e-03 1.23403000e+02] [ 2.69256988e-03 5.49489863e-05 9.99996374e-01 6.22496569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.024012739 meters Centerline goodness : 0.992201 Centerline is valid? [True, True] Translation: X:184.24, Y:123.39, Z:0.62 [[-8.78735721e-01 -4.77302607e-01 2.39883652e-03 1.84243033e+02] [ 4.77301042e-01 -8.78738992e-01 -1.22414636e-03 1.23392499e+02] [ 2.69223944e-03 6.92660335e-05 9.99996374e-01 6.23727546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05401273900003 meters Centerline goodness : 0.991983 Centerline is valid? [True, True] Translation: X:184.26, Y:123.38, Z:0.62 [[-8.77823013e-01 -4.78979123e-01 2.39928853e-03 1.84261005e+02] [ 4.78977567e-01 -8.77826289e-01 -1.22325979e-03 1.23381249e+02] [ 2.69207445e-03 7.53997866e-05 9.99996374e-01 6.23424089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.084012739 meters Centerline goodness : 0.992453 Centerline is valid? [True, True] Translation: X:184.26, Y:123.38, Z:0.62 [[-8.77125763e-01 -4.80254763e-01 2.39973570e-03 1.84255386e+02] [ 4.80253215e-01 -8.77129042e-01 -1.22238193e-03 1.23381901e+02] [ 2.69193262e-03 8.02980962e-05 9.99996374e-01 6.23580948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11401273900003 meters Centerline goodness : 0.992707 Centerline is valid? [True, True] Translation: X:184.26, Y:123.37, Z:0.63 [[-8.76239158e-01 -4.81870498e-01 2.40018078e-03 1.84263400e+02] [ 4.81868957e-01 -8.76242441e-01 -1.22150738e-03 1.23369546e+02] [ 2.69174863e-03 8.62400135e-05 9.99996374e-01 6.25399208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.144012739 meters Centerline goodness : 0.992317 Centerline is valid? [True, True] Translation: X:184.26, Y:123.37, Z:0.63 [[-8.76028998e-01 -4.82252457e-01 2.40062526e-03 1.84261592e+02] [ 4.82250921e-01 -8.76032282e-01 -1.22063321e-03 1.23366195e+02] [ 2.69167859e-03 8.83936495e-05 9.99996374e-01 6.25033609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.174012739 meters Centerline goodness : 0.993015 Centerline is valid? [True, True] Translation: X:184.26, Y:123.36, Z:0.62 [[-8.75590366e-01 -4.83048389e-01 2.40106816e-03 1.84258820e+02] [ 4.83046857e-01 -8.75593653e-01 -1.21976137e-03 1.23362214e+02] [ 2.69156381e-03 9.18171274e-05 9.99996374e-01 6.23019144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.204012739 meters Centerline goodness : 0.992901 Centerline is valid? [True, True] Translation: X:184.25, Y:123.37, Z:0.62 [[-8.75898546e-01 -4.82489347e-01 2.40151173e-03 1.84246723e+02] [ 4.82487816e-01 -8.75901833e-01 -1.21888744e-03 1.23365349e+02] [ 2.69158873e-03 9.10784112e-05 9.99996374e-01 6.22396444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.234012739 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:184.26, Y:123.36, Z:0.62 [[-8.76392690e-01 -4.81591199e-01 2.40195772e-03 1.84260124e+02] [ 4.81589667e-01 -8.76395977e-01 -1.21800793e-03 1.23355688e+02] [ 2.69164798e-03 8.93047769e-05 9.99996374e-01 6.22400569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.264012739 meters Centerline goodness : 0.992875 Centerline is valid? [True, True] Translation: X:184.24, Y:123.36, Z:0.62 [[-8.78699613e-01 -4.77369059e-01 2.40240353e-03 1.84243195e+02] [ 4.77367514e-01 -8.78702894e-01 -1.21712797e-03 1.23358740e+02] [ 2.69201817e-03 7.73395285e-05 9.99996374e-01 6.22752974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.294012739 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:184.23, Y:123.37, Z:0.62 [[-8.82852269e-01 -4.69644651e-01 2.40284980e-03 1.84225748e+02] [ 4.69643079e-01 -8.82855537e-01 -1.21624630e-03 1.23366320e+02] [ 2.69257282e-03 5.47159749e-05 9.99996374e-01 6.24452548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.324012739 meters Centerline goodness : 0.993196 Centerline is valid? [True, True] Translation: X:184.22, Y:123.37, Z:0.63 [[-8.85286679e-01 -4.65039483e-01 2.40330209e-03 1.84219734e+02] [ 4.65037897e-01 -8.85289940e-01 -1.21535193e-03 1.23369344e+02] [ 2.69280579e-03 4.16916704e-05 9.99996374e-01 6.25539178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.354012739 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:184.20, Y:123.38, Z:0.63 [[-8.87549610e-01 -4.60705884e-01 2.40375912e-03 1.84199375e+02] [ 4.60704284e-01 -8.87552865e-01 -1.21444732e-03 1.23379726e+02] [ 2.69296632e-03 2.95398777e-05 9.99996374e-01 6.26992202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.384012739 meters Centerline goodness : 0.993160 Centerline is valid? [True, True] Translation: X:184.20, Y:123.38, Z:0.63 [[-8.90960760e-01 -4.54073941e-01 2.40422163e-03 1.84200453e+02] [ 4.54072320e-01 -8.90964004e-01 -1.21353101e-03 1.23380598e+02] [ 2.69310774e-03 1.04819825e-05 9.99996374e-01 6.29466147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.414012739 meters Centerline goodness : 0.992981 Centerline is valid? [True, True] Translation: X:184.23, Y:123.37, Z:0.63 [[-8.91839979e-01 -4.52344637e-01 2.40468834e-03 1.84229428e+02] [ 4.52343011e-01 -8.91843220e-01 -1.21260548e-03 1.23367714e+02] [ 2.69312058e-03 6.29391962e-06 9.99996374e-01 6.29249694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.444012739 meters Centerline goodness : 0.992874 Centerline is valid? [True, True] Translation: X:184.24, Y:123.37, Z:0.63 [[-8.93172817e-01 -4.49707169e-01 2.40457287e-03 1.84235003e+02] [ 4.49705533e-01 -8.93176053e-01 -1.21283443e-03 1.23366149e+02] [ 2.69312724e-03 -1.92101637e-06 9.99996374e-01 6.26323316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.474012739 meters Centerline goodness : 0.993201 Centerline is valid? [True, True] Translation: X:184.22, Y:123.37, Z:0.63 [[-8.93889114e-01 -4.48281683e-01 2.40502792e-03 1.84221865e+02] [ 4.48280045e-01 -8.93892350e-01 -1.21193139e-03 1.23372196e+02] [ 2.69312270e-03 -5.20625629e-06 9.99996374e-01 6.25352570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.504012739 meters Centerline goodness : 0.993166 Centerline is valid? [True, True] Translation: X:184.25, Y:123.36, Z:0.63 [[-8.94341856e-01 -4.47377758e-01 2.40548494e-03 1.84248805e+02] [ 4.47376119e-01 -8.94345091e-01 -1.21102360e-03 1.23358158e+02] [ 2.69311867e-03 -6.91258309e-06 9.99996374e-01 6.25086741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.534012739 meters Centerline goodness : 0.993600 Centerline is valid? [True, True] Translation: X:184.24, Y:123.37, Z:0.63 [[-8.95274413e-01 -4.45508630e-01 2.40554161e-03 1.84237585e+02] [ 4.45506985e-01 -8.95277644e-01 -1.21091103e-03 1.23365780e+02] [ 2.69309894e-03 -1.24120750e-05 9.99996374e-01 6.26066689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.564012739 meters Centerline goodness : 0.994256 Centerline is valid? [True, True] Translation: X:184.26, Y:123.36, Z:0.63 [[-8.96550331e-01 -4.42935339e-01 2.40599402e-03 1.84259381e+02] [ 4.42933687e-01 -8.96553560e-01 -1.21001145e-03 1.23358268e+02] [ 2.69305933e-03 -1.91403690e-05 9.99996374e-01 6.25063514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.594012739 meters Centerline goodness : 0.993561 Centerline is valid? [True, True] Translation: X:184.26, Y:123.36, Z:0.62 [[-8.97439874e-01 -4.41130233e-01 2.40616294e-03 1.84263341e+02] [ 4.41128575e-01 -8.97443100e-01 -1.20967546e-03 1.23357776e+02] [ 2.69301874e-03 -2.41837619e-05 9.99996374e-01 6.24260180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.624012739 meters Centerline goodness : 0.993326 Centerline is valid? [True, True] Translation: X:184.26, Y:123.36, Z:0.62 [[-8.98251087e-01 -4.39476043e-01 2.40661075e-03 1.84263706e+02] [ 4.39474381e-01 -8.98254311e-01 -1.20878390e-03 1.23359295e+02] [ 2.69298004e-03 -2.81476802e-05 9.99996374e-01 6.22956490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.654012739 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:184.28, Y:123.36, Z:0.62 [[-8.99858975e-01 -4.36174313e-01 2.40705852e-03 1.84276942e+02] [ 4.36172642e-01 -8.99862194e-01 -1.20789159e-03 1.23359284e+02] [ 2.69287224e-03 -3.70390195e-05 9.99996374e-01 6.23504635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.684012739 meters Centerline goodness : 0.994182 Centerline is valid? [True, True] Translation: X:184.27, Y:123.36, Z:0.63 [[-9.00639163e-01 -4.34561045e-01 2.40750487e-03 1.84274210e+02] [ 4.34559371e-01 -9.00642380e-01 -1.20700128e-03 1.23364562e+02] [ 2.69281666e-03 -4.08688155e-05 9.99996374e-01 6.25088433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.714012739 meters Centerline goodness : 0.993897 Centerline is valid? [True, True] Translation: X:184.30, Y:123.36, Z:0.62 [[-9.01702776e-01 -4.32349749e-01 2.40795055e-03 1.84298131e+02] [ 4.32348070e-01 -9.01705990e-01 -1.20611150e-03 1.23359968e+02] [ 2.69272544e-03 -4.64813195e-05 9.99996374e-01 6.23921984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.744012739 meters Centerline goodness : 0.993523 Centerline is valid? [True, True] Translation: X:184.28, Y:123.37, Z:0.62 [[-9.02196773e-01 -4.31317961e-01 2.40811630e-03 1.84283267e+02] [ 4.31316278e-01 -9.02199986e-01 -1.20578049e-03 1.23371566e+02] [ 2.69267727e-03 -4.91915083e-05 9.99996374e-01 6.22208474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.774012739 meters Centerline goodness : 0.993492 Centerline is valid? [True, True] Translation: X:184.30, Y:123.37, Z:0.62 [[-9.02353546e-01 -4.30989882e-01 2.40839226e-03 1.84303575e+02] [ 4.30988199e-01 -9.02356759e-01 -1.20522904e-03 1.23365921e+02] [ 2.69267055e-03 -4.95540539e-05 9.99996374e-01 6.20717780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80401273900003 meters Centerline goodness : 0.994010 Centerline is valid? [True, True] Translation: X:184.29, Y:123.38, Z:0.62 [[-9.01553781e-01 -4.32660350e-01 2.40855797e-03 1.84293734e+02] [ 4.32658674e-01 -9.01556998e-01 -1.20489778e-03 1.23379045e+02] [ 2.69276379e-03 -4.41966532e-05 9.99996374e-01 6.23050104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.834012739 meters Centerline goodness : 0.993485 Centerline is valid? [True, True] Translation: X:184.29, Y:123.39, Z:0.62 [[-9.00688091e-01 -4.34459618e-01 2.40900074e-03 1.84286717e+02] [ 4.34457952e-01 -9.00691312e-01 -1.20401189e-03 1.23385171e+02] [ 2.69286058e-03 -3.78296472e-05 9.99996374e-01 6.24204675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86401273900003 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:184.28, Y:123.39, Z:0.62 [[-8.98094617e-01 -4.39795695e-01 2.40944767e-03 1.84279863e+02] [ 4.39794050e-01 -8.98097849e-01 -1.20311683e-03 1.23392459e+02] [ 2.69304537e-03 -2.08519990e-05 9.99996374e-01 6.23085161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.894012739 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:184.27, Y:123.40, Z:0.62 [[-8.96891685e-01 -4.42243709e-01 2.40989797e-03 1.84267625e+02] [ 4.42242075e-01 -8.96894923e-01 -1.20221418e-03 1.23400793e+02] [ 2.69309691e-03 -1.24976218e-05 9.99996374e-01 6.21348985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.924012739 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:184.28, Y:123.40, Z:0.62 [[-8.96074124e-01 -4.43897910e-01 2.41035266e-03 1.84275336e+02] [ 4.43896285e-01 -8.96077366e-01 -1.20130187e-03 1.23399032e+02] [ 2.69311785e-03 -6.50892693e-06 9.99996374e-01 6.20941121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.954012739 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:184.28, Y:123.40, Z:0.62 [[-8.95521503e-01 -4.45011715e-01 2.41080895e-03 1.84281116e+02] [ 4.45010096e-01 -8.95524748e-01 -1.20038546e-03 1.23399952e+02] [ 2.69312467e-03 -2.13667048e-06 9.99996374e-01 6.21827712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.984012739 meters Centerline goodness : 0.993658 Centerline is valid? [True, True] Translation: X:184.27, Y:123.41, Z:0.62 [[-8.96012237e-01 -4.44022811e-01 2.41126377e-03 1.84266330e+02] [ 4.44021191e-01 -8.96015482e-01 -1.19947116e-03 1.23410061e+02] [ 2.69312222e-03 -4.08862174e-06 9.99996374e-01 6.22518202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.014012739 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:184.28, Y:123.41, Z:0.62 [[-8.97992222e-01 -4.40004719e-01 2.41172118e-03 1.84282989e+02] [ 4.40003087e-01 -8.97995461e-01 -1.19855076e-03 1.23409082e+02] [ 2.69308266e-03 -1.51244957e-05 9.99996374e-01 6.22128418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.044012739 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:184.30, Y:123.40, Z:0.62 [[-8.99121776e-01 -4.37691915e-01 2.41217945e-03 1.84300521e+02] [ 4.37690277e-01 -8.99125012e-01 -1.19762775e-03 1.23403397e+02] [ 2.69304286e-03 -2.10256958e-05 9.99996374e-01 6.21785714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.074012739 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:184.29, Y:123.41, Z:0.62 [[-8.99883006e-01 -4.36124702e-01 2.41263270e-03 1.84289586e+02] [ 4.36123061e-01 -8.99886239e-01 -1.19671397e-03 1.23411840e+02] [ 2.69301149e-03 -2.46978043e-05 9.99996374e-01 6.22239739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.104012739 meters Centerline goodness : 0.993896 Centerline is valid? [True, True] Translation: X:184.29, Y:123.41, Z:0.62 [[-9.00049077e-01 -4.35781867e-01 2.41308561e-03 1.84291852e+02] [ 4.35780227e-01 -9.00052312e-01 -1.19580002e-03 1.23410800e+02] [ 2.69301124e-03 -2.47037081e-05 9.99996374e-01 6.22232964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.134012739 meters Centerline goodness : 0.993968 Centerline is valid? [True, True] Translation: X:184.31, Y:123.41, Z:0.62 [[-9.00401331e-01 -4.35053582e-01 2.41354079e-03 1.84307316e+02] [ 4.35051941e-01 -9.00404565e-01 -1.19488060e-03 1.23407252e+02] [ 2.69300023e-03 -2.58564783e-05 9.99996374e-01 6.24060332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.164012739 meters Centerline goodness : 0.993792 Centerline is valid? [True, True] Translation: X:184.30, Y:123.41, Z:0.62 [[-9.00138640e-01 -4.35596835e-01 2.41399352e-03 1.84301749e+02] [ 4.35595199e-01 -9.00141876e-01 -1.19396526e-03 1.23412154e+02] [ 2.69302414e-03 -2.32102764e-05 9.99996374e-01 6.24649534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.194012739 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:184.31, Y:123.41, Z:0.62 [[-8.99434771e-01 -4.37048353e-01 2.41444538e-03 1.84312414e+02] [ 4.37046725e-01 -8.99438012e-01 -1.19305079e-03 1.23410546e+02] [ 2.69306484e-03 -1.78459195e-05 9.99996374e-01 6.24218975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.224012739 meters Centerline goodness : 0.993934 Centerline is valid? [True, True] Translation: X:184.30, Y:123.42, Z:0.62 [[-8.99332412e-01 -4.37258941e-01 2.41489727e-03 1.84299688e+02] [ 4.37257316e-01 -8.99335654e-01 -1.19213541e-03 1.23419129e+02] [ 2.69307508e-03 -1.61945146e-05 9.99996374e-01 6.22872216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.254012739 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:184.30, Y:123.42, Z:0.62 [[-8.99386527e-01 -4.37147620e-01 2.41535045e-03 1.84304765e+02] [ 4.37145997e-01 -8.99389770e-01 -1.19121653e-03 1.23418860e+02] [ 2.69307895e-03 -1.55033147e-05 9.99996374e-01 6.21125540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.284012739 meters Centerline goodness : 0.993692 Centerline is valid? [True, True] Translation: X:184.31, Y:123.42, Z:0.62 [[-8.99556143e-01 -4.36798477e-01 2.41580576e-03 1.84306397e+02] [ 4.36796856e-01 -8.99559387e-01 -1.19029244e-03 1.23421297e+02] [ 2.69307867e-03 -1.55185149e-05 9.99996374e-01 6.20017268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.314012739 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:184.31, Y:123.42, Z:0.62 [[-8.99779272e-01 -4.36338658e-01 2.41626071e-03 1.84306546e+02] [ 4.36337037e-01 -8.99782516e-01 -1.18936817e-03 1.23423016e+02] [ 2.69307645e-03 -1.58647879e-05 9.99996374e-01 6.18997379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.344012739 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:184.30, Y:123.43, Z:0.62 [[-8.99762041e-01 -4.36374185e-01 2.41671615e-03 1.84296640e+02] [ 4.36372567e-01 -8.99765286e-01 -1.18844204e-03 1.23429093e+02] [ 2.69308272e-03 -1.47264099e-05 9.99996374e-01 6.19781883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.374012739 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:184.33, Y:123.42, Z:0.62 [[-8.99568455e-01 -4.36773114e-01 2.41717404e-03 1.84325506e+02] [ 4.36771499e-01 -8.99571702e-01 -1.18751000e-03 1.23415242e+02] [ 2.69309381e-03 -1.24938017e-05 9.99996374e-01 6.20967746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.404012739 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:184.32, Y:123.42, Z:0.62 [[-8.98299747e-01 -4.39376512e-01 2.41762907e-03 1.84318722e+02] [ 4.39374910e-01 -8.98303001e-01 -1.18658290e-03 1.23419536e+02] [ 2.69312010e-03 -3.66156205e-06 9.99996374e-01 6.22481795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.434012739 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:184.32, Y:123.42, Z:0.62 [[-8.97697020e-01 -4.40606643e-01 2.41808058e-03 1.84323433e+02] [ 4.40605047e-01 -8.97700277e-01 -1.18566206e-03 1.23417743e+02] [ 2.69312219e-03 1.05321481e-06 9.99996374e-01 6.23327739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.464012739 meters Centerline goodness : 0.994391 Centerline is valid? [True, True] Translation: X:184.34, Y:123.41, Z:0.62 [[-8.96490370e-01 -4.43056619e-01 2.41853309e-03 1.84344931e+02] [ 4.43055035e-01 -8.96493632e-01 -1.18473830e-03 1.23406917e+02] [ 2.69310566e-03 9.43678690e-06 9.99996374e-01 6.23302149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.494012739 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:184.34, Y:123.41, Z:0.62 [[-8.95854737e-01 -4.44340454e-01 2.41898131e-03 1.84343101e+02] [ 4.44338877e-01 -8.95858003e-01 -1.18382242e-03 1.23407326e+02] [ 2.69308396e-03 1.43145175e-05 9.99996374e-01 6.22342979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.524012739 meters Centerline goodness : 0.994203 Centerline is valid? [True, True] Translation: X:184.34, Y:123.41, Z:0.62 [[-8.95286150e-01 -4.45484968e-01 2.41942627e-03 1.84344103e+02] [ 4.45483398e-01 -8.95289419e-01 -1.18291235e-03 1.23406331e+02] [ 2.69305641e-03 1.87691906e-05 9.99996374e-01 6.21525419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55401273900003 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:184.35, Y:123.40, Z:0.62 [[-8.94500782e-01 -4.47059834e-01 2.41987189e-03 1.84352768e+02] [ 4.47058272e-01 -8.94504055e-01 -1.18200004e-03 1.23400023e+02] [ 2.69300996e-03 2.45237907e-05 9.99996374e-01 6.22751138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.584012739 meters Centerline goodness : 0.994142 Centerline is valid? [True, True] Translation: X:184.36, Y:123.40, Z:0.62 [[-8.94523507e-01 -4.47014360e-01 2.42031602e-03 1.84358758e+02] [ 4.47012800e-01 -8.94526781e-01 -1.18108993e-03 1.23395788e+02] [ 2.69300165e-03 2.53995334e-05 9.99996374e-01 6.23301416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61401273900003 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:184.35, Y:123.40, Z:0.62 [[-8.95502433e-01 -4.45050033e-01 2.42075778e-03 1.84346821e+02] [ 4.45048469e-01 -8.95505705e-01 -1.18018381e-03 1.23398196e+02] [ 2.69304324e-03 2.04970717e-05 9.99996374e-01 6.24779765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.644012739 meters Centerline goodness : 0.994526 Centerline is valid? [True, True] Translation: X:184.35, Y:123.39, Z:0.62 [[-8.96082784e-01 -4.43880368e-01 2.42120078e-03 1.84351534e+02] [ 4.43878802e-01 -8.96086055e-01 -1.17927426e-03 1.23393486e+02] [ 2.69306095e-03 1.79923345e-05 9.99996374e-01 6.24787049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.674012739 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:184.35, Y:123.39, Z:0.62 [[-8.96165588e-01 -4.43713167e-01 2.42164503e-03 1.84347513e+02] [ 4.43711603e-01 -8.96168860e-01 -1.17836128e-03 1.23390011e+02] [ 2.69305728e-03 1.85051672e-05 9.99996374e-01 6.24972214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.704012739 meters Centerline goodness : 0.994375 Centerline is valid? [True, True] Translation: X:184.34, Y:123.39, Z:0.62 [[-8.96132666e-01 -4.43779650e-01 2.42208909e-03 1.84342492e+02] [ 4.43778089e-01 -8.96135939e-01 -1.17744783e-03 1.23389368e+02] [ 2.69304847e-03 1.97206031e-05 9.99996374e-01 6.24188240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.734012739 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:184.34, Y:123.39, Z:0.62 [[-8.96209357e-01 -4.43624752e-01 2.42253455e-03 1.84343650e+02] [ 4.43623192e-01 -8.96212631e-01 -1.17653060e-03 1.23385519e+02] [ 2.69304416e-03 2.02747730e-05 9.99996374e-01 6.23017469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.764012739 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:184.34, Y:123.38, Z:0.62 [[-8.96159365e-01 -4.43725728e-01 2.42298076e-03 1.84343652e+02] [ 4.43724171e-01 -8.96162640e-01 -1.17561094e-03 1.23379325e+02] [ 2.69303366e-03 2.16003797e-05 9.99996374e-01 6.21113285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.794012739 meters Centerline goodness : 0.994606 Centerline is valid? [True, True] Translation: X:184.35, Y:123.37, Z:0.62 [[-8.96448177e-01 -4.43141957e-01 2.42342648e-03 1.84350083e+02] [ 4.43140400e-01 -8.96451452e-01 -1.17469141e-03 1.23373001e+02] [ 2.69303924e-03 2.08682100e-05 9.99996374e-01 6.22712660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.824012739 meters Centerline goodness : 0.994455 Centerline is valid? [True, True] Translation: X:184.35, Y:123.37, Z:0.62 [[-8.96952418e-01 -4.42120441e-01 2.42387090e-03 1.84348565e+02] [ 4.42118883e-01 -8.96955693e-01 -1.17377368e-03 1.23368045e+02] [ 2.69305414e-03 1.88199577e-05 9.99996374e-01 6.24861253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.854012739 meters Centerline goodness : 0.994115 Centerline is valid? [True, True] Translation: X:184.35, Y:123.36, Z:0.62 [[-8.97225451e-01 -4.41566091e-01 2.42431431e-03 1.84351744e+02] [ 4.41564534e-01 -8.97228726e-01 -1.17285713e-03 1.23364079e+02] [ 2.69305838e-03 1.81739513e-05 9.99996374e-01 6.23755952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.884012739 meters Centerline goodness : 0.994394 Centerline is valid? [True, True] Translation: X:184.34, Y:123.36, Z:0.62 [[-8.98324035e-01 -4.39326814e-01 2.42475723e-03 1.84344625e+02] [ 4.39325251e-01 -8.98327307e-01 -1.17194072e-03 1.23361757e+02] [ 2.69309062e-03 1.24745644e-05 9.99996374e-01 6.20806202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.914012739 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:184.34, Y:123.36, Z:0.62 [[-8.99136382e-01 -4.37661838e-01 2.42520076e-03 1.84336178e+02] [ 4.37660272e-01 -8.99139653e-01 -1.17102218e-03 1.23363053e+02] [ 2.69310589e-03 8.50537558e-06 9.99996374e-01 6.20357497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.944012739 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:184.34, Y:123.36, Z:0.62 [[-8.99992622e-01 -4.35898378e-01 2.42564701e-03 1.84343110e+02] [ 4.35896808e-01 -8.99995891e-01 -1.17009709e-03 1.23355522e+02] [ 2.69311576e-03 4.25304404e-06 9.99996374e-01 6.18276828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.974012739 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:184.34, Y:123.35, Z:0.62 [[-9.00344887e-01 -4.35170310e-01 2.42609342e-03 1.84342761e+02] [ 4.35168740e-01 -9.00348156e-01 -1.16917075e-03 1.23354106e+02] [ 2.69311714e-03 3.10310802e-06 9.99996374e-01 6.17933482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.004012739 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:184.33, Y:123.36, Z:0.62 [[-9.00710500e-01 -4.34413060e-01 2.42653867e-03 1.84332351e+02] [ 4.34411489e-01 -9.00713769e-01 -1.16824593e-03 1.23358188e+02] [ 2.69311808e-03 1.86489745e-06 9.99996374e-01 6.18067304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.034012739 meters Centerline goodness : 0.991028 Centerline is valid? [True, True] Translation: X:184.34, Y:123.35, Z:0.63 [[-9.01184859e-01 -4.33428149e-01 2.42698616e-03 1.84337538e+02] [ 4.33426577e-01 -9.01188127e-01 -1.16731556e-03 1.23354800e+02] [ 2.69311853e-03 -4.68020805e-08 9.99996374e-01 6.27514237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.064012739 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:184.33, Y:123.36, Z:0.62 [[-9.01588126e-01 -4.32588672e-01 2.42743493e-03 1.84331387e+02] [ 4.32587100e-01 -9.01591394e-01 -1.16638159e-03 1.23357107e+02] [ 2.69311790e-03 -1.51875467e-06 9.99996374e-01 6.15724230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.094012739 meters Centerline goodness : 0.994190 Centerline is valid? [True, True] Translation: X:184.34, Y:123.35, Z:0.62 [[-9.02075950e-01 -4.31570488e-01 2.42788432e-03 1.84337387e+02] [ 4.31568915e-01 -9.02079217e-01 -1.16544541e-03 1.23353355e+02] [ 2.69311583e-03 -3.52087692e-06 9.99996374e-01 6.17355931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.124012739 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:184.36, Y:123.34, Z:0.62 [[-9.02348958e-01 -4.30999375e-01 2.42833402e-03 1.84356742e+02] [ 4.30997801e-01 -9.02352226e-01 -1.16450765e-03 1.23343348e+02] [ 2.69311468e-03 -4.18564251e-06 9.99996374e-01 6.19282564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.154012739 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:184.35, Y:123.35, Z:0.62 [[-9.02962374e-01 -4.29712757e-01 2.42850064e-03 1.84345731e+02] [ 4.29711180e-01 -9.02965640e-01 -1.16416007e-03 1.23348640e+02] [ 2.69310707e-03 -7.63886716e-06 9.99996374e-01 6.19818646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.184012739 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:184.37, Y:123.34, Z:0.62 [[-9.04992244e-01 -4.25421131e-01 2.42894523e-03 1.84367093e+02] [ 4.25419541e-01 -9.04995503e-01 -1.16323172e-03 1.23341115e+02] [ 2.69304787e-03 -1.93949207e-05 9.99996374e-01 6.16383821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.214012739 meters Centerline goodness : 0.994282 Centerline is valid? [True, True] Translation: X:184.38, Y:123.34, Z:0.61 [[-9.06549424e-01 -4.22092693e-01 2.42911116e-03 1.84380072e+02] [ 4.22091092e-01 -9.06552678e-01 -1.16288512e-03 1.23336876e+02] [ 2.69296254e-03 -2.89066574e-05 9.99996374e-01 6.14642099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.244012739 meters Centerline goodness : 0.994290 Centerline is valid? [True, True] Translation: X:184.40, Y:123.33, Z:0.62 [[-9.08368309e-01 -4.18163978e-01 2.42954952e-03 1.84398001e+02] [ 4.18162365e-01 -9.08371557e-01 -1.16196856e-03 1.23330617e+02] [ 2.69282708e-03 -3.95492385e-05 9.99996374e-01 6.17793077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.274012739 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:184.40, Y:123.33, Z:0.62 [[-9.08757937e-01 -4.17316555e-01 2.42998314e-03 1.84397193e+02] [ 4.17314942e-01 -9.08761185e-01 -1.16106104e-03 1.23332600e+02] [ 2.69280435e-03 -4.10551586e-05 9.99996374e-01 6.20905903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30401273900003 meters Centerline goodness : 0.994735 Centerline is valid? [True, True] Translation: X:184.41, Y:123.33, Z:0.62 [[-9.09078440e-01 -4.16617909e-01 2.43041460e-03 1.84406066e+02] [ 4.16616296e-01 -9.09081688e-01 -1.16015717e-03 1.23330659e+02] [ 2.69278766e-03 -4.21235389e-05 9.99996374e-01 6.22003984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.334012739 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:184.41, Y:123.33, Z:0.62 [[-9.09164483e-01 -4.16430107e-01 2.43084545e-03 1.84409216e+02] [ 4.16428495e-01 -9.09167732e-01 -1.15925373e-03 1.23332562e+02] [ 2.69279439e-03 -4.16790037e-05 9.99996374e-01 6.22157584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36401273900003 meters Centerline goodness : 0.994420 Centerline is valid? [True, True] Translation: X:184.41, Y:123.33, Z:0.62 [[-9.09187528e-01 -4.16379788e-01 2.43127499e-03 1.84407247e+02] [ 4.16378178e-01 -9.09190778e-01 -1.15835215e-03 1.23333972e+02] [ 2.69280722e-03 -4.08294798e-05 9.99996374e-01 6.21588950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.394012739 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:184.41, Y:123.33, Z:0.62 [[-9.09026451e-01 -4.16731327e-01 2.43170496e-03 1.84411889e+02] [ 4.16729721e-01 -9.09029702e-01 -1.15744882e-03 1.23334227e+02] [ 2.69283722e-03 -3.87878637e-05 9.99996374e-01 6.18993969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.424012739 meters Centerline goodness : 0.994665 Centerline is valid? [True, True] Translation: X:184.30, Y:123.39, Z:0.62 [[-9.09434726e-01 -4.15839588e-01 2.43213508e-03 1.84295796e+02] [ 4.15837982e-01 -9.09437978e-01 -1.15654431e-03 1.23392075e+02] [ 2.69281292e-03 -4.04274185e-05 9.99996374e-01 6.19128887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.454012739 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:184.41, Y:123.34, Z:0.62 [[-9.09584885e-01 -4.15511030e-01 2.43340715e-03 1.84410069e+02] [ 4.15509429e-01 -9.09588139e-01 -1.15386704e-03 1.23341457e+02] [ 2.69284276e-03 -3.84364044e-05 9.99996374e-01 6.18454359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.484012739 meters Centerline goodness : 0.995030 Centerline is valid? [True, True] Translation: X:184.42, Y:123.34, Z:0.62 [[-9.09783378e-01 -4.15076246e-01 2.43213042e-03 1.84417315e+02] [ 4.15074637e-01 -9.09786628e-01 -1.15655189e-03 1.23338161e+02] [ 2.69277695e-03 -4.26960359e-05 9.99996374e-01 6.18452809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.514012739 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:184.41, Y:123.34, Z:0.62 [[-9.09603226e-01 -4.15470882e-01 2.43256069e-03 1.84414244e+02] [ 4.15469277e-01 -9.09606478e-01 -1.15564621e-03 1.23338921e+02] [ 2.69281031e-03 -4.05252888e-05 9.99996374e-01 6.16528082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.544012739 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:184.40, Y:123.34, Z:0.62 [[-9.08480603e-01 -4.17919937e-01 2.43299062e-03 1.84399826e+02] [ 4.17918343e-01 -9.08483861e-01 -1.15474036e-03 1.23344545e+02] [ 2.69292173e-03 -3.22678125e-05 9.99996374e-01 6.17835063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.574012739 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:184.40, Y:123.34, Z:0.62 [[-9.07893074e-01 -4.19194758e-01 2.43342386e-03 1.84402636e+02] [ 4.19193171e-01 -9.07896335e-01 -1.15382667e-03 1.23342549e+02] [ 2.69297469e-03 -2.74765785e-05 9.99996374e-01 6.20902504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.604012739 meters Centerline goodness : 0.994162 Centerline is valid? [True, True] Translation: X:184.39, Y:123.34, Z:0.63 [[-9.06140946e-01 -4.22968867e-01 2.43385944e-03 1.84393099e+02] [ 4.22967296e-01 -9.06144215e-01 -1.15290712e-03 1.23343101e+02] [ 2.69307147e-03 -1.52534036e-05 9.99996374e-01 6.28469214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.634012739 meters Centerline goodness : 0.994828 Centerline is valid? [True, True] Translation: X:184.39, Y:123.34, Z:0.63 [[-9.05402292e-01 -4.24547717e-01 2.43429625e-03 1.84385307e+02] [ 4.24546154e-01 -9.05405565e-01 -1.15198408e-03 1.23343538e+02] [ 2.69309758e-03 -9.53791431e-06 9.99996374e-01 6.29068549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.664012739 meters Centerline goodness : 0.994977 Centerline is valid? [True, True] Translation: X:184.39, Y:123.34, Z:0.63 [[-9.04753096e-01 -4.25929462e-01 2.43473604e-03 1.84385046e+02] [ 4.25927907e-01 -9.04756372e-01 -1.15105382e-03 1.23341221e+02] [ 2.69311069e-03 -4.39748461e-06 9.99996374e-01 6.26383610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.694012739 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:184.38, Y:123.34, Z:0.62 [[-9.04233985e-01 -4.27030409e-01 2.43517738e-03 1.84380062e+02] [ 4.27028861e-01 -9.04237264e-01 -1.15011937e-03 1.23338721e+02] [ 2.69311408e-03 -8.59963259e-08 9.99996374e-01 6.23593189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.724012739 meters Centerline goodness : 0.994595 Centerline is valid? [True, True] Translation: X:184.40, Y:123.32, Z:0.62 [[-9.04515625e-01 -4.26433525e-01 2.43561954e-03 1.84397090e+02] [ 4.26431976e-01 -9.04518905e-01 -1.14918225e-03 1.23324165e+02] [ 2.69311375e-03 -8.27249206e-07 9.99996374e-01 6.24292855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.754012739 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:184.41, Y:123.32, Z:0.62 [[-9.05139616e-01 -4.25107449e-01 2.43578405e-03 1.84408048e+02] [ 4.25105897e-01 -9.05142893e-01 -1.14883343e-03 1.23316052e+02] [ 2.69311028e-03 -4.38848795e-06 9.99996374e-01 6.24602630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.784012739 meters Centerline goodness : 0.994700 Centerline is valid? [True, True] Translation: X:184.40, Y:123.32, Z:0.63 [[-9.05932205e-01 -4.23415759e-01 2.43621882e-03 1.84403391e+02] [ 4.23414203e-01 -9.05935481e-01 -1.14791072e-03 1.23316571e+02] [ 2.69310056e-03 -8.39963821e-06 9.99996374e-01 6.25627429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.814012739 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:184.42, Y:123.31, Z:0.63 [[-9.07026089e-01 -4.21067378e-01 2.43665260e-03 1.84420497e+02] [ 4.21065816e-01 -9.07029362e-01 -1.14698921e-03 1.23308283e+02] [ 2.69307519e-03 -1.43580161e-05 9.99996374e-01 6.28424475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.844012739 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:184.43, Y:123.30, Z:0.63 [[-9.07791376e-01 -4.19414925e-01 2.43708468e-03 1.84430119e+02] [ 4.19413359e-01 -9.07794647e-01 -1.14607040e-03 1.23304306e+02] [ 2.69305146e-03 -1.82469532e-05 9.99996374e-01 6.29140006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.874012739 meters Centerline goodness : 0.994240 Centerline is valid? [True, True] Translation: X:184.43, Y:123.31, Z:0.63 [[-9.09319513e-01 -4.16091436e-01 2.43751257e-03 1.84430693e+02] [ 4.16089861e-01 -9.09322779e-01 -1.14515963e-03 1.23305232e+02] [ 2.69297682e-03 -2.70917357e-05 9.99996374e-01 6.27190127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.904012739 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:184.45, Y:123.30, Z:0.63 [[-9.10196785e-01 -4.14168889e-01 2.43793935e-03 1.84449337e+02] [ 4.14167309e-01 -9.10200050e-01 -1.14425033e-03 1.23297945e+02] [ 2.69292540e-03 -3.17781894e-05 9.99996374e-01 6.25717573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.934012739 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:184.45, Y:123.30, Z:0.63 [[-9.11028689e-01 -4.12335764e-01 2.43836353e-03 1.84446445e+02] [ 4.12334180e-01 -9.11031951e-01 -1.14334570e-03 1.23302209e+02] [ 2.69286941e-03 -3.62001053e-05 9.99996374e-01 6.25458034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.964012739 meters Centerline goodness : 0.994555 Centerline is valid? [True, True] Translation: X:184.45, Y:123.30, Z:0.63 [[-9.11181381e-01 -4.11998232e-01 2.43878568e-03 1.84448746e+02] [ 4.11996650e-01 -9.11184644e-01 -1.14244453e-03 1.23301213e+02] [ 2.69286919e-03 -3.62026563e-05 9.99996374e-01 6.25451258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.994012739 meters Centerline goodness : 0.994568 Centerline is valid? [True, True] Translation: X:184.47, Y:123.30, Z:0.63 [[-9.12781900e-01 -4.08440025e-01 2.43920858e-03 1.84467536e+02] [ 4.08438432e-01 -9.12785158e-01 -1.14154090e-03 1.23299555e+02] [ 2.69272438e-03 -4.57113413e-05 9.99996374e-01 6.27641394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.024012739 meters Centerline goodness : 0.994487 Centerline is valid? [True, True] Translation: X:184.46, Y:123.31, Z:0.63 [[-9.13796022e-01 -4.06166072e-01 2.43962891e-03 1.84461004e+02] [ 4.06164473e-01 -9.13799277e-01 -1.14064188e-03 1.23307445e+02] [ 2.69262117e-03 -5.14234161e-05 9.99996374e-01 6.26182787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05401273900003 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:184.46, Y:123.31, Z:0.63 [[-9.13992763e-01 -4.05723150e-01 2.44004831e-03 1.84463896e+02] [ 4.05721553e-01 -9.13996019e-01 -1.13974399e-03 1.23309610e+02] [ 2.69261497e-03 -5.17375699e-05 9.99996374e-01 6.25566763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.084012739 meters Centerline goodness : 0.994267 Centerline is valid? [True, True] Translation: X:184.47, Y:123.31, Z:0.62 [[-9.13817951e-01 -4.06116728e-01 2.44046933e-03 1.84469515e+02] [ 4.06115134e-01 -9.13821209e-01 -1.13884178e-03 1.23310610e+02] [ 2.69265533e-03 -4.95825301e-05 9.99996374e-01 6.24830866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11401273900003 meters Centerline goodness : 0.994870 Centerline is valid? [True, True] Translation: X:184.46, Y:123.32, Z:0.63 [[-9.13013838e-01 -4.07921283e-01 2.44088982e-03 1.84457438e+02] [ 4.07919698e-01 -9.13017100e-01 -1.13793983e-03 1.23320980e+02] [ 2.69276402e-03 -4.32677782e-05 9.99996374e-01 6.26191054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.144012739 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:184.46, Y:123.32, Z:0.63 [[-9.12737738e-01 -4.08538690e-01 2.44131220e-03 1.84460827e+02] [ 4.08537110e-01 -9.12741002e-01 -1.13703293e-03 1.23321195e+02] [ 2.69280769e-03 -4.04462347e-05 9.99996374e-01 6.27298183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.174012739 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:184.45, Y:123.33, Z:0.62 [[-9.12036528e-01 -4.10101707e-01 2.44173699e-03 1.84448212e+02] [ 4.10100135e-01 -9.12039795e-01 -1.13611999e-03 1.23332024e+02] [ 2.69288605e-03 -3.48262615e-05 9.99996374e-01 6.23652436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.204012739 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:184.45, Y:123.33, Z:0.62 [[-9.11979950e-01 -4.10227507e-01 2.44216420e-03 1.84450512e+02] [ 4.10225937e-01 -9.11983219e-01 -1.13520092e-03 1.23333058e+02] [ 2.69290341e-03 -3.34413841e-05 9.99996374e-01 6.21294871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.234012739 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:184.45, Y:123.33, Z:0.62 [[-9.11855867e-01 -4.10503241e-01 2.44259395e-03 1.84452097e+02] [ 4.10501675e-01 -9.11859138e-01 -1.13427549e-03 1.23333752e+02] [ 2.69292538e-03 -3.16068548e-05 9.99996374e-01 6.19536958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.264012739 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:184.46, Y:123.33, Z:0.62 [[-9.11601710e-01 -4.11067334e-01 2.44302369e-03 1.84458569e+02] [ 4.11065773e-01 -9.11604983e-01 -1.13334914e-03 1.23333405e+02] [ 2.69295538e-03 -2.89195914e-05 9.99996374e-01 6.18176758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.294012739 meters Centerline goodness : 0.994364 Centerline is valid? [True, True] Translation: X:184.48, Y:123.33, Z:0.62 [[-9.11584878e-01 -4.11104659e-01 2.44345274e-03 1.84476641e+02] [ 4.11103100e-01 -9.11588152e-01 -1.13242338e-03 1.23327305e+02] [ 2.69296709e-03 -2.77890342e-05 9.99996374e-01 6.19734448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.324012739 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:184.47, Y:123.34, Z:0.62 [[-9.11380637e-01 -4.11557240e-01 2.44387835e-03 1.84467938e+02] [ 4.11555685e-01 -9.11383914e-01 -1.13150411e-03 1.23336313e+02] [ 2.69299013e-03 -2.54389101e-05 9.99996374e-01 6.21100862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.354012739 meters Centerline goodness : 0.994454 Centerline is valid? [True, True] Translation: X:184.47, Y:123.34, Z:0.62 [[-9.11205706e-01 -4.11944398e-01 2.44430334e-03 1.84467879e+02] [ 4.11942847e-01 -9.11208984e-01 -1.13058529e-03 1.23338091e+02] [ 2.69300944e-03 -2.32824883e-05 9.99996374e-01 6.20060604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.384012739 meters Centerline goodness : 0.993987 Centerline is valid? [True, True] Translation: X:184.46, Y:123.34, Z:0.62 [[-9.09626170e-01 -4.15420576e-01 2.44473057e-03 1.84461087e+02] [ 4.15419040e-01 -9.09629455e-01 -1.12966072e-03 1.23343027e+02] [ 2.69308324e-03 -1.19813262e-05 9.99996374e-01 6.15084894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.414012739 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:184.47, Y:123.34, Z:0.62 [[-9.08766884e-01 -4.17296982e-01 2.44515963e-03 1.84472445e+02] [ 4.17295456e-01 -9.08770174e-01 -1.12873126e-03 1.23339085e+02] [ 2.69310429e-03 -5.39958878e-06 9.99996374e-01 6.16466072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.444012739 meters Centerline goodness : 0.994170 Centerline is valid? [True, True] Translation: X:184.48, Y:123.34, Z:0.62 [[-9.08138725e-01 -4.18662244e-01 2.44558847e-03 1.84478479e+02] [ 4.18660725e-01 -9.08142018e-01 -1.12780133e-03 1.23338747e+02] [ 2.69310948e-03 -3.28215875e-07 9.99996374e-01 6.18754258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.474012739 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:184.48, Y:123.34, Z:0.62 [[-9.07418354e-01 -4.20221309e-01 2.44601513e-03 1.84480426e+02] [ 4.20219798e-01 -9.07421651e-01 -1.12687521e-03 1.23341497e+02] [ 2.69310406e-03 5.31673584e-06 9.99996374e-01 6.23112856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.504012739 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:184.48, Y:123.34, Z:0.62 [[-9.07165849e-01 -4.20766131e-01 2.44644130e-03 1.84479265e+02] [ 4.20764625e-01 -9.07169148e-01 -1.12594924e-03 1.23342197e+02] [ 2.69309737e-03 7.95325728e-06 9.99996374e-01 6.23005113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.534012739 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:184.48, Y:123.34, Z:0.62 [[-9.06008265e-01 -4.23252923e-01 2.44686789e-03 1.84482840e+02] [ 4.23251428e-01 -9.06011569e-01 -1.12502143e-03 1.23341537e+02] [ 2.69305922e-03 1.63616142e-05 9.99996374e-01 6.20560341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.564012739 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:184.51, Y:123.33, Z:0.62 [[-9.05039001e-01 -4.25321545e-01 2.44729455e-03 1.84506123e+02] [ 4.25320061e-01 -9.05042310e-01 -1.12409254e-03 1.23332591e+02] [ 2.69300588e-03 2.35358800e-05 9.99996374e-01 6.19997374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.594012739 meters Centerline goodness : 0.995155 Centerline is valid? [True, True] Translation: X:184.51, Y:123.33, Z:0.62 [[-9.03308343e-01 -4.28984902e-01 2.44771737e-03 1.84513401e+02] [ 4.28983433e-01 -9.03311659e-01 -1.12317108e-03 1.23328505e+02] [ 2.69287507e-03 3.54603976e-05 9.99996374e-01 6.24351384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.624012739 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:184.53, Y:123.32, Z:0.63 [[-9.02609329e-01 -4.30453721e-01 2.44813548e-03 1.84528574e+02] [ 4.30452260e-01 -9.02612648e-01 -1.12225900e-03 1.23319621e+02] [ 2.69279861e-03 4.08440080e-05 9.99996374e-01 6.25117578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.654012739 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:184.54, Y:123.31, Z:0.62 [[-9.02187718e-01 -4.31336673e-01 2.44855030e-03 1.84538216e+02] [ 4.31335218e-01 -9.02191040e-01 -1.12135321e-03 1.23313386e+02] [ 2.69274091e-03 4.44748831e-05 9.99996374e-01 6.23636121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.684012739 meters Centerline goodness : 0.994927 Centerline is valid? [True, True] Translation: X:184.53, Y:123.31, Z:0.62 [[-9.00404798e-01 -4.35046199e-01 2.45031242e-03 1.84533403e+02] [ 4.35044767e-01 -9.00408131e-01 -1.11750296e-03 1.23313653e+02] [ 2.69244664e-03 5.97905719e-05 9.99996374e-01 6.16218022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.714012739 meters Centerline goodness : 0.994775 Centerline is valid? [True, True] Translation: X:184.52, Y:123.32, Z:0.62 [[-9.00151051e-01 -4.35570990e-01 2.44906771e-03 1.84521085e+02] [ 4.35569554e-01 -9.00154381e-01 -1.12022417e-03 1.23318368e+02] [ 2.69247618e-03 5.83683683e-05 9.99996374e-01 6.15719960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.744012739 meters Centerline goodness : 0.994909 Centerline is valid? [True, True] Translation: X:184.53, Y:123.31, Z:0.62 [[-9.01013853e-01 -4.33783399e-01 2.44948105e-03 1.84534743e+02] [ 4.33781959e-01 -9.01017181e-01 -1.11931963e-03 1.23309882e+02] [ 2.69256678e-03 5.40181917e-05 9.99996374e-01 6.21418338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.774012739 meters Centerline goodness : 0.994763 Centerline is valid? [True, True] Translation: X:184.53, Y:123.31, Z:0.63 [[-9.02207619e-01 -4.31295039e-01 2.44989432e-03 1.84534482e+02] [ 4.31293592e-01 -9.02210944e-01 -1.11841436e-03 1.23308658e+02] [ 2.69268803e-03 4.75817614e-05 9.99996374e-01 6.25313103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80401273900003 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:184.53, Y:123.31, Z:0.63 [[-9.03458274e-01 -4.28669037e-01 2.45030567e-03 1.84534551e+02] [ 4.28667582e-01 -9.03461596e-01 -1.11751241e-03 1.23307459e+02] [ 2.69280004e-03 4.07407725e-05 9.99996374e-01 6.27563078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.834012739 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:184.52, Y:123.31, Z:0.63 [[-9.05089201e-01 -4.25214689e-01 2.45071728e-03 1.84522142e+02] [ 4.25213225e-01 -9.05092518e-01 -1.11660902e-03 1.23312995e+02] [ 2.69292443e-03 3.14466364e-05 9.99996374e-01 6.26529036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86401273900003 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:184.53, Y:123.31, Z:0.62 [[-9.05785332e-01 -4.23729777e-01 2.45113121e-03 1.84528536e+02] [ 4.23728309e-01 -9.05788648e-01 -1.11569965e-03 1.23310653e+02] [ 2.69296199e-03 2.80293038e-05 9.99996374e-01 6.24664943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.894012739 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:184.52, Y:123.31, Z:0.62 [[-9.07334420e-01 -4.20402474e-01 2.45154653e-03 1.84520115e+02] [ 4.20400996e-01 -9.07337732e-01 -1.11478630e-03 1.23314714e+02] [ 2.69303959e-03 1.91486225e-05 9.99996374e-01 6.21868354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.924012739 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:184.51, Y:123.32, Z:0.62 [[-9.08138543e-01 -4.18662603e-01 2.45196253e-03 1.84512375e+02] [ 4.18661122e-01 -9.08141853e-01 -1.11387057e-03 1.23317649e+02] [ 2.69306574e-03 1.49925859e-05 9.99996374e-01 6.21075275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.954012739 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:184.51, Y:123.32, Z:0.62 [[-9.08789239e-01 -4.17248253e-01 2.45238164e-03 1.84510849e+02] [ 4.17246769e-01 -9.08792548e-01 -1.11294705e-03 1.23318362e+02] [ 2.69308137e-03 1.18140108e-05 9.99996374e-01 6.20697686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.984012739 meters Centerline goodness : 0.995297 Centerline is valid? [True, True] Translation: X:184.52, Y:123.31, Z:0.62 [[-9.08829294e-01 -4.17160998e-01 2.45280268e-03 1.84523655e+02] [ 4.17159516e-01 -9.08832604e-01 -1.11201837e-03 1.23312807e+02] [ 2.69307773e-03 1.25751110e-05 9.99996374e-01 6.21445911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.014012739 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:184.52, Y:123.31, Z:0.62 [[-9.08704752e-01 -4.17432217e-01 2.45322212e-03 1.84521215e+02] [ 4.17430739e-01 -9.08708063e-01 -1.11109226e-03 1.23313157e+02] [ 2.69306843e-03 1.43955081e-05 9.99996374e-01 6.22207514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.044012739 meters Centerline goodness : 0.995439 Centerline is valid? [True, True] Translation: X:184.52, Y:123.31, Z:0.62 [[-9.08437539e-01 -4.18013418e-01 2.45364033e-03 1.84519391e+02] [ 4.18011944e-01 -9.08440852e-01 -1.11016796e-03 1.23311467e+02] [ 2.69305221e-03 1.71327121e-05 9.99996374e-01 6.21926163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.074012739 meters Centerline goodness : 0.995231 Centerline is valid? [True, True] Translation: X:184.45, Y:123.34, Z:0.62 [[-9.08662903e-01 -4.17523301e-01 2.45405941e-03 1.84450293e+02] [ 4.17521828e-01 -9.08666217e-01 -1.10924078e-03 1.23341429e+02] [ 2.69305475e-03 1.66974214e-05 9.99996374e-01 6.19592229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.104012739 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:184.51, Y:123.31, Z:0.62 [[-9.08818644e-01 -4.17184190e-01 2.45438084e-03 1.84511311e+02] [ 4.17182718e-01 -9.08821958e-01 -1.10852891e-03 1.23312595e+02] [ 2.69305593e-03 1.64735255e-05 9.99996374e-01 6.16359006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.134012739 meters Centerline goodness : 0.994945 Centerline is valid? [True, True] Translation: X:184.51, Y:123.31, Z:0.61 [[-9.09328755e-01 -4.16071139e-01 2.45405884e-03 1.84512902e+02] [ 4.16069660e-01 -9.09332067e-01 -1.10924129e-03 1.23310367e+02] [ 2.69307768e-03 1.23944275e-05 9.99996374e-01 6.13845193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.164012739 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:184.49, Y:123.32, Z:0.61 [[-9.10184165e-01 -4.14196526e-01 2.45448048e-03 1.84491849e+02] [ 4.14195043e-01 -9.10187474e-01 -1.10830752e-03 1.23317466e+02] [ 2.69309451e-03 7.86969177e-06 9.99996374e-01 6.11986876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.194012739 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:184.50, Y:123.31, Z:0.62 [[-9.10840133e-01 -4.12752015e-01 2.45490562e-03 1.84504861e+02] [ 4.12750530e-01 -9.10843441e-01 -1.10736503e-03 1.23310967e+02] [ 2.69310183e-03 4.63108210e-06 9.99996374e-01 6.16274755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.224012739 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:184.52, Y:123.30, Z:0.62 [[-9.11698580e-01 -4.10852370e-01 2.45533239e-03 1.84515075e+02] [ 4.10850880e-01 -9.11701887e-01 -1.10641795e-03 1.23304291e+02] [ 2.69310561e-03 5.57981726e-08 9.99996374e-01 6.23799548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.254012739 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:184.52, Y:123.30, Z:0.63 [[-9.12002561e-01 -4.10177155e-01 2.45575513e-03 1.84516657e+02] [ 4.10175665e-01 -9.12005867e-01 -1.10547887e-03 1.23301885e+02] [ 2.69310526e-03 -9.08568603e-07 9.99996374e-01 6.25206790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.284012739 meters Centerline goodness : 0.995468 Centerline is valid? [True, True] Translation: X:184.51, Y:123.30, Z:0.62 [[-9.12237505e-01 -4.09654368e-01 2.45617638e-03 1.84513646e+02] [ 4.09652879e-01 -9.12240812e-01 -1.10454213e-03 1.23302057e+02] [ 2.69310484e-03 -1.42503686e-06 9.99996374e-01 6.23690774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.314012739 meters Centerline goodness : 0.995266 Centerline is valid? [True, True] Translation: X:184.52, Y:123.30, Z:0.62 [[-9.12721044e-01 -4.08575894e-01 2.45659804e-03 1.84516367e+02] [ 4.08574403e-01 -9.12724350e-01 -1.10360353e-03 1.23300522e+02] [ 2.69310264e-03 -3.57908626e-06 9.99996374e-01 6.16999084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.344012739 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:184.52, Y:123.30, Z:0.62 [[-9.13356110e-01 -4.07154245e-01 2.45702011e-03 1.84515313e+02] [ 4.07152752e-01 -9.13359415e-01 -1.10266304e-03 1.23300988e+02] [ 2.69309639e-03 -6.74152665e-06 9.99996374e-01 6.15164858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.374012739 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:184.53, Y:123.30, Z:0.62 [[-9.13913025e-01 -4.05902628e-01 2.45744231e-03 1.84526432e+02] [ 4.05901133e-01 -9.13916329e-01 -1.10172130e-03 1.23296415e+02] [ 2.69308823e-03 -9.39883291e-06 9.99996374e-01 6.18071715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.404012739 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:184.53, Y:123.30, Z:0.62 [[-9.14556178e-01 -4.04451427e-01 2.45786317e-03 1.84526497e+02] [ 4.04449929e-01 -9.14559480e-01 -1.10078159e-03 1.23297664e+02] [ 2.69307475e-03 -1.26440141e-05 9.99996374e-01 6.19852049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.434012739 meters Centerline goodness : 0.995219 Centerline is valid? [True, True] Translation: X:184.56, Y:123.29, Z:0.62 [[-9.16025453e-01 -4.01112611e-01 2.45828263e-03 1.84556913e+02] [ 4.01111104e-01 -9.16028751e-01 -1.09984405e-03 1.23288805e+02] [ 2.69301889e-03 -2.14406795e-05 9.99996374e-01 6.20082079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.464012739 meters Centerline goodness : 0.995103 Centerline is valid? [True, True] Translation: X:184.54, Y:123.30, Z:0.62 [[-9.16816589e-01 -3.99301010e-01 2.45869782e-03 1.84544630e+02] [ 3.99299499e-01 -9.16819886e-01 -1.09891511e-03 1.23296170e+02] [ 2.69298097e-03 -2.57468006e-05 9.99996374e-01 6.20609846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.494012739 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:184.56, Y:123.29, Z:0.62 [[-9.17537164e-01 -3.97642433e-01 2.45911083e-03 1.84562673e+02] [ 3.97640919e-01 -9.17540459e-01 -1.09799012e-03 1.23289227e+02] [ 2.69294114e-03 -2.96036503e-05 9.99996374e-01 6.22991125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.524012739 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:184.57, Y:123.29, Z:0.62 [[-9.18068428e-01 -3.96414318e-01 2.45952349e-03 1.84568990e+02] [ 3.96412802e-01 -9.18071722e-01 -1.09706496e-03 1.23290970e+02] [ 2.69291123e-03 -3.21941101e-05 9.99996374e-01 6.22896686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55401273900003 meters Centerline goodness : 0.994745 Centerline is valid? [True, True] Translation: X:184.56, Y:123.30, Z:0.62 [[-9.18019471e-01 -3.96527679e-01 2.45993306e-03 1.84563273e+02] [ 3.96526165e-01 -9.18022766e-01 -1.09614582e-03 1.23297996e+02] [ 2.69292671e-03 -3.08553809e-05 9.99996374e-01 6.19689981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.584012739 meters Centerline goodness : 0.994837 Centerline is valid? [True, True] Translation: X:184.55, Y:123.31, Z:0.62 [[-9.17322714e-01 -3.98136892e-01 2.46034342e-03 1.84553195e+02] [ 3.98135387e-01 -9.17326013e-01 -1.09522397e-03 1.23308404e+02] [ 2.69298609e-03 -2.51240476e-05 9.99996374e-01 6.15751227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61401273900003 meters Centerline goodness : 0.994412 Centerline is valid? [True, True] Translation: X:184.53, Y:123.32, Z:0.62 [[-9.16683980e-01 -3.99605337e-01 2.46075727e-03 1.84525884e+02] [ 3.99603839e-01 -9.16687283e-01 -1.09429334e-03 1.23321987e+02] [ 2.69303036e-03 -1.97931238e-05 9.99996374e-01 6.15459348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.644012739 meters Centerline goodness : 0.994365 Centerline is valid? [True, True] Translation: X:184.55, Y:123.32, Z:0.62 [[-9.14883653e-01 -4.03710100e-01 2.46117822e-03 1.84549942e+02] [ 4.03708619e-01 -9.14886963e-01 -1.09334575e-03 1.23315473e+02] [ 2.69309459e-03 -6.68529204e-06 9.99996374e-01 6.18559584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.674012739 meters Centerline goodness : 0.994590 Centerline is valid? [True, True] Translation: X:184.56, Y:123.31, Z:0.62 [[-9.14126288e-01 -4.05422088e-01 2.46160051e-03 1.84562932e+02] [ 4.05420617e-01 -9.14129603e-01 -1.09239418e-03 1.23311290e+02] [ 2.69310262e-03 -6.02642851e-07 9.99996374e-01 6.17685052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.704012739 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:184.57, Y:123.31, Z:0.62 [[-9.12560990e-01 -4.08933219e-01 2.46201739e-03 1.84573412e+02] [ 4.08931763e-01 -9.12564311e-01 -1.09145382e-03 1.23306772e+02] [ 2.69308092e-03 1.07789329e-05 9.99996374e-01 6.16388969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.734012739 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:184.57, Y:123.31, Z:0.62 [[-9.12041937e-01 -4.10089554e-01 2.46243089e-03 1.84572776e+02] [ 4.10088104e-01 -9.12045261e-01 -1.09052011e-03 1.23307687e+02] [ 2.69305933e-03 1.52135448e-05 9.99996374e-01 6.15139338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.764012739 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:184.58, Y:123.31, Z:0.62 [[-9.11654281e-01 -4.10950612e-01 2.46284316e-03 1.84576286e+02] [ 4.10949168e-01 -9.11657608e-01 -1.08958824e-03 1.23308498e+02] [ 2.69303666e-03 1.87755674e-05 9.99996374e-01 6.15981705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.794012739 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:184.57, Y:123.32, Z:0.62 [[-9.12272838e-01 -4.09575636e-01 2.46325549e-03 1.84568117e+02] [ 4.09574190e-01 -9.12276163e-01 -1.08865528e-03 1.23316642e+02] [ 2.69305595e-03 1.57352247e-05 9.99996374e-01 6.19098379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.824012739 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:184.61, Y:123.30, Z:0.62 [[-9.12522706e-01 -4.09018633e-01 2.46366943e-03 1.84607256e+02] [ 4.09017187e-01 -9.12526031e-01 -1.08771771e-03 1.23298818e+02] [ 2.69305930e-03 1.51160331e-05 9.99996374e-01 6.22468802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.854012739 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:184.61, Y:123.30, Z:0.62 [[-9.12259426e-01 -4.09605504e-01 2.46377157e-03 1.84606133e+02] [ 4.09604061e-01 -9.12262753e-01 -1.08748630e-03 1.23299406e+02] [ 2.69304741e-03 1.71012093e-05 9.99996374e-01 6.21478087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.884012739 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:184.61, Y:123.30, Z:0.62 [[-9.12057614e-01 -4.10054674e-01 2.46417540e-03 1.84610133e+02] [ 4.10053235e-01 -9.12060943e-01 -1.08657047e-03 1.23298114e+02] [ 2.69303144e-03 1.94282198e-05 9.99996374e-01 6.20946963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.914012739 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:184.61, Y:123.30, Z:0.62 [[-9.12210000e-01 -4.09715562e-01 2.46457916e-03 1.84612436e+02] [ 4.09714124e-01 -9.12213329e-01 -1.08565390e-03 1.23297181e+02] [ 2.69303125e-03 1.94285439e-05 9.99996374e-01 6.20940186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.944012739 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:184.60, Y:123.30, Z:0.62 [[-9.11508613e-01 -4.11273597e-01 2.46498244e-03 1.84600058e+02] [ 4.11272168e-01 -9.11511946e-01 -1.08473747e-03 1.23300965e+02] [ 2.69298482e-03 2.50311191e-05 9.99996374e-01 6.21431844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.974012739 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:184.62, Y:123.29, Z:0.62 [[-9.11103946e-01 -4.12169287e-01 2.46538753e-03 1.84615405e+02] [ 4.12167863e-01 -9.11107281e-01 -1.08381599e-03 1.23291598e+02] [ 2.69294820e-03 2.86844859e-05 9.99996374e-01 6.21383009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.004012739 meters Centerline goodness : 0.994042 Centerline is valid? [True, True] Translation: X:184.61, Y:123.29, Z:0.62 [[-9.10122051e-01 -4.14332925e-01 2.46579228e-03 1.84611458e+02] [ 4.14331511e-01 -9.10125391e-01 -1.08289435e-03 1.23289530e+02] [ 2.69285895e-03 3.60894123e-05 9.99996374e-01 6.18610960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.034012739 meters Centerline goodness : 0.993929 Centerline is valid? [True, True] Translation: X:184.62, Y:123.28, Z:0.62 [[-9.10040302e-01 -4.14512445e-01 2.46619526e-03 1.84622160e+02] [ 4.14511035e-01 -9.10043643e-01 -1.08197585e-03 1.23283320e+02] [ 2.69283777e-03 3.76235211e-05 9.99996374e-01 6.18041156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.064012739 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:184.63, Y:123.28, Z:0.62 [[-9.09952512e-01 -4.14705126e-01 2.46659717e-03 1.84632861e+02] [ 4.14703719e-01 -9.09955854e-01 -1.08105882e-03 1.23275954e+02] [ 2.69281517e-03 3.91948300e-05 9.99996374e-01 6.18590457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.094012739 meters Centerline goodness : 0.993662 Centerline is valid? [True, True] Translation: X:184.61, Y:123.28, Z:0.62 [[-9.09365181e-01 -4.15991443e-01 2.46699591e-03 1.84613482e+02] [ 4.15990043e-01 -9.09368527e-01 -1.08014811e-03 1.23277708e+02] [ 2.69274081e-03 4.39966518e-05 9.99996374e-01 6.21445267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.124012739 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:184.64, Y:123.26, Z:0.62 [[-9.09167052e-01 -4.16424283e-01 2.46739586e-03 1.84637599e+02] [ 4.16422887e-01 -9.09170399e-01 -1.07923374e-03 1.23264411e+02] [ 2.69270241e-03 4.62763499e-05 9.99996374e-01 6.23636690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.154012739 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:184.64, Y:123.26, Z:0.62 [[-9.08441380e-01 -4.18004987e-01 2.46779489e-03 1.84635976e+02] [ 4.18003599e-01 -9.08444731e-01 -1.07832054e-03 1.23257703e+02] [ 2.69259862e-03 5.19561484e-05 9.99996374e-01 6.23974919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.184012739 meters Centerline goodness : 0.993969 Centerline is valid? [True, True] Translation: X:184.64, Y:123.25, Z:0.62 [[-9.08358955e-01 -4.18184072e-01 2.46819022e-03 1.84643930e+02] [ 4.18182687e-01 -9.08362306e-01 -1.07741490e-03 1.23249878e+02] [ 2.69256871e-03 5.34749494e-05 9.99996374e-01 6.20987700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.214012739 meters Centerline goodness : 0.993813 Centerline is valid? [True, True] Translation: X:184.61, Y:123.26, Z:0.62 [[-9.08943133e-01 -4.16912806e-01 2.46858440e-03 1.84612352e+02] [ 4.16911419e-01 -9.08946484e-01 -1.07651098e-03 1.23256502e+02] [ 2.69262232e-03 5.06937587e-05 9.99996374e-01 6.16470529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.244012739 meters Centerline goodness : 0.993508 Centerline is valid? [True, True] Translation: X:184.63, Y:123.25, Z:0.62 [[-9.09740621e-01 -4.15169733e-01 2.46898185e-03 1.84627725e+02] [ 4.15168342e-01 -9.09743970e-01 -1.07559866e-03 1.23246651e+02] [ 2.69269736e-03 4.65273085e-05 9.99996374e-01 6.16295259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.274012739 meters Centerline goodness : 0.994331 Centerline is valid? [True, True] Translation: X:184.60, Y:123.25, Z:0.62 [[-9.10555887e-01 -4.13378614e-01 2.46938152e-03 1.84604866e+02] [ 4.13377219e-01 -9.10559235e-01 -1.07468030e-03 1.23253325e+02] [ 2.69276800e-03 4.22295928e-05 9.99996374e-01 6.16956991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30401273900003 meters Centerline goodness : 0.993965 Centerline is valid? [True, True] Translation: X:184.60, Y:123.25, Z:0.62 [[-9.11712971e-01 -4.10820347e-01 2.46978241e-03 1.84604880e+02] [ 4.10818946e-01 -9.11716316e-01 -1.07375822e-03 1.23245857e+02] [ 2.69286264e-03 3.56741100e-05 9.99996374e-01 6.17998375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.334012739 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:184.62, Y:123.24, Z:0.62 [[-9.12300500e-01 -4.09513974e-01 2.47018668e-03 1.84616378e+02] [ 4.09512570e-01 -9.12303844e-01 -1.07282738e-03 1.23237370e+02] [ 2.69289860e-03 3.28315396e-05 9.99996374e-01 6.17157109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36401273900003 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:184.59, Y:123.24, Z:0.62 [[-9.13636607e-01 -4.06524349e-01 2.47058889e-03 1.84591803e+02] [ 4.06522937e-01 -9.13639947e-01 -1.07190034e-03 1.23241213e+02] [ 2.69298229e-03 2.50236595e-05 9.99996374e-01 6.19505238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.394012739 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:184.58, Y:123.24, Z:0.62 [[-9.14531631e-01 -4.04506849e-01 2.47099292e-03 1.84580548e+02] [ 4.04505431e-01 -9.14534969e-01 -1.07096814e-03 1.23243524e+02] [ 2.69302338e-03 2.00958189e-05 9.99996374e-01 6.21017115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.424012739 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:184.59, Y:123.24, Z:0.62 [[-9.15360001e-01 -4.02628812e-01 2.47140250e-03 1.84590219e+02] [ 4.02627390e-01 -9.15363338e-01 -1.07002215e-03 1.23237976e+02] [ 2.69305298e-03 1.55988622e-05 9.99996374e-01 6.21514124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.454012739 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:184.59, Y:123.24, Z:0.62 [[-9.16587037e-01 -3.99827579e-01 2.47181246e-03 1.84594493e+02] [ 3.99826150e-01 -9.16590370e-01 -1.06907427e-03 1.23236436e+02] [ 2.69308487e-03 8.39564197e-06 9.99996374e-01 6.16743879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.484012739 meters Centerline goodness : 0.994711 Centerline is valid? [True, True] Translation: X:184.59, Y:123.24, Z:0.61 [[-9.16973464e-01 -3.98940539e-01 2.47222057e-03 1.84591253e+02] [ 3.98939109e-01 -9.16976797e-01 -1.06812969e-03 1.23236488e+02] [ 2.69308913e-03 6.81888568e-06 9.99996374e-01 6.13098484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.514012739 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:184.59, Y:123.23, Z:0.61 [[-9.17687857e-01 -3.97294455e-01 2.47262878e-03 1.84588266e+02] [ 3.97293022e-01 -9.17691188e-01 -1.06718387e-03 1.23233370e+02] [ 2.69309588e-03 3.01648594e-06 9.99996374e-01 6.07374555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.544012739 meters Centerline goodness : 0.994297 Centerline is valid? [True, True] Translation: X:184.60, Y:123.23, Z:0.61 [[-9.18123289e-01 -3.96287157e-01 2.47298643e-03 1.84597110e+02] [ 3.96285722e-01 -9.18126620e-01 -1.06635446e-03 1.23230034e+02] [ 2.69309724e-03 9.64349608e-07 9.99996374e-01 6.07987282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.574012739 meters Centerline goodness : 0.994149 Centerline is valid? [True, True] Translation: X:184.61, Y:123.23, Z:0.61 [[-9.18767256e-01 -3.94791859e-01 2.47339471e-03 1.84605406e+02] [ 3.94790422e-01 -9.18770585e-01 -1.06540661e-03 1.23228076e+02] [ 2.69309616e-03 -2.38816369e-06 9.99996374e-01 6.12537802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.604012739 meters Centerline goodness : 0.993519 Centerline is valid? [True, True] Translation: X:184.62, Y:123.22, Z:0.62 [[-9.20000294e-01 -3.91909860e-01 2.47380067e-03 1.84619554e+02] [ 3.91908415e-01 -9.20003620e-01 -1.06446315e-03 1.23223810e+02] [ 2.69307918e-03 -9.80310818e-06 9.99996374e-01 6.17549006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.634012739 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:184.62, Y:123.22, Z:0.62 [[-9.19765186e-01 -3.92461312e-01 2.47415289e-03 1.84622141e+02] [ 3.92459871e-01 -9.19768513e-01 -1.06364384e-03 1.23222243e+02] [ 2.69308699e-03 -7.29685140e-06 9.99996374e-01 6.18210770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.664012739 meters Centerline goodness : 0.993303 Centerline is valid? [True, True] Translation: X:184.60, Y:123.23, Z:0.62 [[-9.19434168e-01 -3.93236171e-01 2.47455355e-03 1.84601492e+02] [ 3.93234735e-01 -9.19437499e-01 -1.06271091e-03 1.23231511e+02] [ 2.69309369e-03 -4.01231563e-06 9.99996374e-01 6.17858209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.694012739 meters Centerline goodness : 0.994404 Centerline is valid? [True, True] Translation: X:184.59, Y:123.24, Z:0.61 [[-9.19304990e-01 -3.93538067e-01 2.47495748e-03 1.84592860e+02] [ 3.93536635e-01 -9.19308321e-01 -1.06176936e-03 1.23235176e+02] [ 2.69309567e-03 -2.10342831e-06 9.99996374e-01 6.14403169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.724012739 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:184.61, Y:123.23, Z:0.62 [[-9.19593334e-01 -3.92863809e-01 2.47536652e-03 1.84609877e+02] [ 3.92862376e-01 -9.19596666e-01 -1.06081487e-03 1.23226798e+02] [ 2.69309457e-03 -3.03990898e-06 9.99996374e-01 6.15000513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.754012739 meters Centerline goodness : 0.993335 Centerline is valid? [True, True] Translation: X:184.62, Y:123.22, Z:0.62 [[-9.19796565e-01 -3.92387754e-01 2.47577445e-03 1.84619241e+02] [ 3.92386323e-01 -9.19799897e-01 -1.05986198e-03 1.23222918e+02] [ 2.69309395e-03 -3.39737976e-06 9.99996374e-01 6.17314552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.784012739 meters Centerline goodness : 0.993506 Centerline is valid? [True, True] Translation: X:184.64, Y:123.22, Z:0.62 [[-9.19434911e-01 -3.93234424e-01 2.47617843e-03 1.84637514e+02] [ 3.93232999e-01 -9.19438246e-01 -1.05891730e-03 1.23215427e+02] [ 2.69309589e-03 1.09535182e-07 9.99996374e-01 6.20803894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.814012739 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:184.62, Y:123.22, Z:0.62 [[-9.19345118e-01 -3.93444303e-01 2.47657842e-03 1.84623234e+02] [ 3.93442881e-01 -9.19348454e-01 -1.05798100e-03 1.23220085e+02] [ 2.69309514e-03 1.74248257e-06 9.99996374e-01 6.21672885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.844012739 meters Centerline goodness : 0.993975 Centerline is valid? [True, True] Translation: X:184.62, Y:123.22, Z:0.62 [[-9.19366104e-01 -3.93395261e-01 2.47697818e-03 1.84620714e+02] [ 3.93393841e-01 -9.19369441e-01 -1.05704423e-03 1.23219091e+02] [ 2.69309424e-03 2.61732328e-06 9.99996374e-01 6.22430435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.874012739 meters Centerline goodness : 0.993540 Centerline is valid? [True, True] Translation: X:184.62, Y:123.21, Z:0.62 [[-9.19065975e-01 -3.94095922e-01 2.47738069e-03 1.84624242e+02] [ 3.94094507e-01 -9.19069314e-01 -1.05610004e-03 1.23214563e+02] [ 2.69308929e-03 5.69651015e-06 9.99996374e-01 6.22210729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.904012739 meters Centerline goodness : 0.993154 Centerline is valid? [True, True] Translation: X:184.63, Y:123.21, Z:0.62 [[-9.19000490e-01 -3.94248602e-01 2.47778310e-03 1.84625154e+02] [ 3.94247190e-01 -9.19003830e-01 -1.05515506e-03 1.23212056e+02] [ 2.69308557e-03 7.17101108e-06 9.99996374e-01 6.24783809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.934012739 meters Centerline goodness : 0.993443 Centerline is valid? [True, True] Translation: X:184.63, Y:123.21, Z:0.62 [[-9.19115670e-01 -3.93980005e-01 2.47818502e-03 1.84628331e+02] [ 3.93978594e-01 -9.19119011e-01 -1.05421024e-03 1.23208899e+02] [ 2.69308472e-03 7.41069981e-06 9.99996374e-01 6.24030457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.964012739 meters Centerline goodness : 0.993482 Centerline is valid? [True, True] Translation: X:184.62, Y:123.21, Z:0.62 [[-9.19420529e-01 -3.93268035e-01 2.47858645e-03 1.84615645e+02] [ 3.93266624e-01 -9.19423870e-01 -1.05326559e-03 1.23212334e+02] [ 2.69308723e-03 6.35132266e-06 9.99996374e-01 6.22710985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.994012739 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:184.63, Y:123.20, Z:0.62 [[-9.20121711e-01 -3.91624683e-01 2.47898939e-03 1.84634983e+02] [ 3.91623269e-01 -9.20125050e-01 -1.05231638e-03 1.23202505e+02] [ 2.69309330e-03 2.57078193e-06 9.99996374e-01 6.18915017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.024012739 meters Centerline goodness : 0.993574 Centerline is valid? [True, True] Translation: X:184.63, Y:123.20, Z:0.62 [[-9.20637224e-01 -3.90411266e-01 2.47908970e-03 1.84630289e+02] [ 3.90409848e-01 -9.20640562e-01 -1.05208001e-03 1.23203995e+02] [ 2.69309442e-03 -7.22986425e-07 9.99996374e-01 6.18635317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05401273900003 meters Centerline goodness : 0.993724 Centerline is valid? [True, True] Translation: X:184.65, Y:123.19, Z:0.62 [[-9.21164528e-01 -3.89165472e-01 2.47948972e-03 1.84648004e+02] [ 3.89164053e-01 -9.21167865e-01 -1.05113641e-03 1.23193370e+02] [ 2.69309225e-03 -3.34131079e-06 9.99996374e-01 6.19985186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.084012739 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:184.64, Y:123.19, Z:0.62 [[-9.21158746e-01 -3.89179154e-01 2.47988793e-03 1.84644545e+02] [ 3.89177737e-01 -9.21162085e-01 -1.05019608e-03 1.23192463e+02] [ 2.69309316e-03 -2.28013392e-06 9.99996374e-01 6.20013401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.114012739 meters Centerline goodness : 0.993920 Centerline is valid? [True, True] Translation: X:184.64, Y:123.19, Z:0.62 [[-9.21138958e-01 -3.89225985e-01 2.48028391e-03 1.84642010e+02] [ 3.89224571e-01 -9.21142298e-01 -1.04926007e-03 1.23191585e+02] [ 2.69309370e-03 -1.12688617e-06 9.99996374e-01 6.19121175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.144012739 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:184.64, Y:123.19, Z:0.62 [[-9.21643760e-01 -3.88029157e-01 2.48068095e-03 1.84639992e+02] [ 3.88027741e-01 -9.21647098e-01 -1.04832051e-03 1.23191395e+02] [ 2.69309133e-03 -3.60503515e-06 9.99996374e-01 6.17449448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.174012739 meters Centerline goodness : 0.994098 Centerline is valid? [True, True] Translation: X:184.65, Y:123.19, Z:0.62 [[-9.22234153e-01 -3.86623864e-01 2.48107895e-03 1.84652645e+02] [ 3.86622445e-01 -9.22237490e-01 -1.04737771e-03 1.23186167e+02] [ 2.69308525e-03 -6.68668603e-06 9.99996374e-01 6.16964838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.204012739 meters Centerline goodness : 0.993455 Centerline is valid? [True, True] Translation: X:184.66, Y:123.18, Z:0.62 [[-9.23028148e-01 -3.84724420e-01 2.48147561e-03 1.84661277e+02] [ 3.84722997e-01 -9.23031484e-01 -1.04643709e-03 1.23183418e+02] [ 2.69307002e-03 -1.12101575e-05 9.99996374e-01 6.17850194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.234012739 meters Centerline goodness : 0.993829 Centerline is valid? [True, True] Translation: X:184.67, Y:123.18, Z:0.62 [[-9.23334848e-01 -3.83987758e-01 2.48186933e-03 1.84668328e+02] [ 3.83986335e-01 -9.23338184e-01 -1.04550247e-03 1.23180546e+02] [ 2.69306487e-03 -1.23449587e-05 9.99996374e-01 6.18637674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.264012739 meters Centerline goodness : 0.994012 Centerline is valid? [True, True] Translation: X:184.65, Y:123.19, Z:0.62 [[-9.23717996e-01 -3.83065141e-01 2.48226115e-03 1.84652880e+02] [ 3.83063717e-01 -9.23721331e-01 -1.04457136e-03 1.23187214e+02] [ 2.69305645e-03 -1.40251752e-05 9.99996374e-01 6.21342728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.294012739 meters Centerline goodness : 0.994100 Centerline is valid? [True, True] Translation: X:184.67, Y:123.18, Z:0.62 [[-9.24040345e-01 -3.82286903e-01 2.48265462e-03 1.84670902e+02] [ 3.82285479e-01 -9.24043680e-01 -1.04363537e-03 1.23179778e+02] [ 2.69304944e-03 -1.52783811e-05 9.99996374e-01 6.22562443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.324012739 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:184.54, Y:123.24, Z:0.62 [[-9.24536153e-01 -3.81086259e-01 2.48304798e-03 1.84543575e+02] [ 3.81084833e-01 -9.24539487e-01 -1.04269862e-03 1.23235492e+02] [ 2.69303402e-03 -1.77606468e-05 9.99996374e-01 6.22444991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.354012739 meters Centerline goodness : 0.994359 Centerline is valid? [True, True] Translation: X:184.65, Y:123.19, Z:0.62 [[-9.24251310e-01 -3.81776567e-01 2.48375935e-03 1.84649895e+02] [ 3.81775148e-01 -9.24254647e-01 -1.04100288e-03 1.23192210e+02] [ 2.69305662e-03 -1.39106856e-05 9.99996374e-01 6.21749644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.384012739 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:184.65, Y:123.19, Z:0.62 [[-9.24466715e-01 -3.81254676e-01 2.48303987e-03 1.84651063e+02] [ 3.81253250e-01 -9.24470049e-01 -1.04271618e-03 1.23193315e+02] [ 2.69303641e-03 -1.72893816e-05 9.99996374e-01 6.20953874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.414012739 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:184.67, Y:123.18, Z:0.62 [[-9.24186763e-01 -3.81932791e-01 2.48408084e-03 1.84674034e+02] [ 3.81931375e-01 -9.24190101e-01 -1.04023502e-03 1.23184926e+02] [ 2.69306279e-03 -1.26230260e-05 9.99996374e-01 6.21762423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.444012739 meters Centerline goodness : 0.994584 Centerline is valid? [True, True] Translation: X:184.69, Y:123.18, Z:0.62 [[-9.24093098e-01 -3.82159362e-01 2.48354347e-03 1.84688031e+02] [ 3.82157943e-01 -9.24096435e-01 -1.04151641e-03 1.23179388e+02] [ 2.69305891e-03 -1.33522607e-05 9.99996374e-01 6.20125547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.474012739 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:184.67, Y:123.19, Z:0.62 [[-9.23619313e-01 -3.83303007e-01 2.48393297e-03 1.84672791e+02] [ 3.83301594e-01 -9.23622653e-01 -1.04058664e-03 1.23186936e+02] [ 2.69307675e-03 -9.01044393e-06 9.99996374e-01 6.20774669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.504012739 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:184.67, Y:123.19, Z:0.62 [[-9.23537044e-01 -3.83501181e-01 2.48432296e-03 1.84671974e+02] [ 3.83499772e-01 -9.23540386e-01 -1.03965475e-03 1.23187444e+02] [ 2.69308140e-03 -7.42238440e-06 9.99996374e-01 6.22182355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.534012739 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:184.69, Y:123.18, Z:0.62 [[-9.23444583e-01 -3.83723766e-01 2.48471579e-03 1.84690290e+02] [ 3.83722360e-01 -9.23447926e-01 -1.03871506e-03 1.23179020e+02] [ 2.69308529e-03 -5.75478447e-06 9.99996374e-01 6.24354286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.564012739 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:184.66, Y:123.19, Z:0.63 [[-9.22970307e-01 -3.84863140e-01 2.48510634e-03 1.84660096e+02] [ 3.84861741e-01 -9.22973653e-01 -1.03777983e-03 1.23187942e+02] [ 2.69309088e-03 -1.41761615e-06 9.99996374e-01 6.25793708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.594012739 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:184.69, Y:123.18, Z:0.62 [[-9.22851107e-01 -3.85148877e-01 2.48549878e-03 1.84686807e+02] [ 3.85147481e-01 -9.22854454e-01 -1.03683908e-03 1.23175724e+02] [ 2.69309102e-03 4.35504330e-07 9.99996374e-01 6.24635386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.624012739 meters Centerline goodness : 0.993909 Centerline is valid? [True, True] Translation: X:184.68, Y:123.18, Z:0.62 [[-9.22720723e-01 -3.85461136e-01 2.48589183e-03 1.84676212e+02] [ 3.85459744e-01 -9.22724072e-01 -1.03589584e-03 1.23179744e+02] [ 2.69308982e-03 2.36866561e-06 9.99996374e-01 6.20786861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.654012739 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:184.68, Y:123.18, Z:0.62 [[-9.22995130e-01 -3.84803597e-01 2.48628272e-03 1.84678021e+02] [ 3.84802206e-01 -9.22998479e-01 -1.03495680e-03 1.23177722e+02] [ 2.69309027e-03 1.46698892e-06 9.99996374e-01 6.19678247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.684012739 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:184.69, Y:123.17, Z:0.62 [[-9.23394958e-01 -3.83843155e-01 2.48667519e-03 1.84687533e+02] [ 3.83841762e-01 -9.23398307e-01 -1.03401296e-03 1.23171182e+02] [ 2.69309046e-03 -3.12565592e-07 9.99996374e-01 6.20060921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.714012739 meters Centerline goodness : 0.993854 Centerline is valid? [True, True] Translation: X:184.69, Y:123.17, Z:0.62 [[-9.24033478e-01 -3.82303475e-01 2.48706621e-03 1.84687682e+02] [ 3.82302079e-01 -9.24036825e-01 -1.03307161e-03 1.23167053e+02] [ 2.69308763e-03 -3.78217291e-06 9.99996374e-01 6.22104815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.744012739 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:184.68, Y:123.17, Z:0.62 [[-9.24419618e-01 -3.81368827e-01 2.48745572e-03 1.84683199e+02] [ 3.81367430e-01 -9.24422965e-01 -1.03213289e-03 1.23169715e+02] [ 2.69308450e-03 -5.48929612e-06 9.99996374e-01 6.23209882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.774012739 meters Centerline goodness : 0.993711 Centerline is valid? [True, True] Translation: X:184.69, Y:123.17, Z:0.62 [[-9.24564303e-01 -3.81017926e-01 2.48784602e-03 1.84685554e+02] [ 3.81016530e-01 -9.24567651e-01 -1.03119125e-03 1.23168819e+02] [ 2.69308430e-03 -5.49215774e-06 9.99996374e-01 6.23203107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80401273900003 meters Centerline goodness : 0.993742 Centerline is valid? [True, True] Translation: X:184.70, Y:123.16, Z:0.62 [[-9.25230553e-01 -3.79397197e-01 2.48823706e-03 1.84702854e+02] [ 3.79395799e-01 -9.25233898e-01 -1.03024681e-03 1.23164379e+02] [ 2.69307403e-03 -9.18914035e-06 9.99996374e-01 6.22272936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.834012739 meters Centerline goodness : 0.993680 Centerline is valid? [True, True] Translation: X:184.72, Y:123.16, Z:0.62 [[-9.25775899e-01 -3.78064533e-01 2.48862563e-03 1.84718155e+02] [ 3.78063132e-01 -9.25779244e-01 -1.02930734e-03 1.23158890e+02] [ 2.69306255e-03 -1.20503245e-05 9.99996374e-01 6.19893905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.864012739 meters Centerline goodness : 0.993739 Centerline is valid? [True, True] Translation: X:184.71, Y:123.16, Z:0.62 [[-9.26230588e-01 -3.76949204e-01 2.48900988e-03 1.84711490e+02] [ 3.76947802e-01 -9.26233932e-01 -1.02837733e-03 1.23162090e+02] [ 2.69305142e-03 -1.42877338e-05 9.99996374e-01 6.18004064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.894012739 meters Centerline goodness : 0.993281 Centerline is valid? [True, True] Translation: X:184.70, Y:123.17, Z:0.62 [[-9.26519774e-01 -3.76237838e-01 2.48939322e-03 1.84702773e+02] [ 3.76236436e-01 -9.26523118e-01 -1.02744853e-03 1.23168777e+02] [ 2.69304539e-03 -1.53509443e-05 9.99996374e-01 6.19672743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.924012739 meters Centerline goodness : 0.993816 Centerline is valid? [True, True] Translation: X:184.73, Y:123.16, Z:0.62 [[-9.26653247e-01 -3.75908981e-01 2.48977935e-03 1.84725694e+02] [ 3.75907579e-01 -9.26656591e-01 -1.02651199e-03 1.23161632e+02] [ 2.69304552e-03 -1.52937446e-05 9.99996374e-01 6.20783636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.954012739 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:184.73, Y:123.16, Z:0.63 [[-9.26646683e-01 -3.75925158e-01 2.48987524e-03 1.84727556e+02] [ 3.75923758e-01 -9.26650028e-01 -1.02627936e-03 1.23163727e+02] [ 2.69304719e-03 -1.49951088e-05 9.99996374e-01 6.25098715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.984012739 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:184.71, Y:123.17, Z:0.63 [[-9.26548659e-01 -3.76166693e-01 2.49025681e-03 1.84710116e+02] [ 3.76165296e-01 -9.26552006e-01 -1.02535263e-03 1.23172809e+02] [ 2.69305595e-03 -1.32909159e-05 9.99996374e-01 6.25232128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.014012739 meters Centerline goodness : 0.994416 Centerline is valid? [True, True] Translation: X:184.63, Y:123.21, Z:0.62 [[-9.26734310e-01 -3.75709084e-01 2.49064133e-03 1.84625792e+02] [ 3.75707687e-01 -9.26737657e-01 -1.02441776e-03 1.23209928e+02] [ 2.69305417e-03 -1.36099921e-05 9.99996374e-01 6.23543765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.044012739 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:184.72, Y:123.18, Z:0.62 [[-9.26845179e-01 -3.75435487e-01 2.49180376e-03 1.84715957e+02] [ 3.75434097e-01 -9.26848529e-01 -1.02158902e-03 1.23176717e+02] [ 2.69306542e-03 -1.13467633e-05 9.99996374e-01 6.19574253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.074012739 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:184.72, Y:123.18, Z:0.62 [[-9.27401409e-01 -3.74059385e-01 2.49064162e-03 1.84719567e+02] [ 3.74057983e-01 -9.27404753e-01 -1.02441452e-03 1.23176081e+02] [ 2.69302474e-03 -1.83990871e-05 9.99996374e-01 6.19007639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.104012739 meters Centerline goodness : 0.993922 Centerline is valid? [True, True] Translation: X:184.71, Y:123.18, Z:0.62 [[-9.27945396e-01 -3.72707843e-01 2.49102760e-03 1.84714961e+02] [ 3.72706438e-01 -9.27948740e-01 -1.02347507e-03 1.23182281e+02] [ 2.69300311e-03 -2.13069490e-05 9.99996374e-01 6.16591859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.134012739 meters Centerline goodness : 0.993966 Centerline is valid? [True, True] Translation: X:184.73, Y:123.18, Z:0.62 [[-9.28090534e-01 -3.72346282e-01 2.49141431e-03 1.84734259e+02] [ 3.72344879e-01 -9.28093878e-01 -1.02253284e-03 1.23177383e+02] [ 2.69300267e-03 -2.13376883e-05 9.99996374e-01 6.17771787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.164012739 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:184.74, Y:123.18, Z:0.62 [[-9.28109605e-01 -3.72298740e-01 2.49179959e-03 1.84744121e+02] [ 3.72297339e-01 -9.28112950e-01 -1.02159310e-03 1.23175199e+02] [ 2.69300929e-03 -2.04600084e-05 9.99996374e-01 6.16138430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.194012739 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:184.75, Y:123.17, Z:0.62 [[-9.27319484e-01 -3.74262426e-01 2.49218108e-03 1.84746994e+02] [ 3.74261034e-01 -9.27322833e-01 -1.02066160e-03 1.23173123e+02] [ 2.69305171e-03 -1.37531173e-05 9.99996374e-01 6.19452352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.224012739 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:184.73, Y:123.18, Z:0.62 [[-9.26535294e-01 -3.76199597e-01 2.49256112e-03 1.84729554e+02] [ 3.76198215e-01 -9.26538646e-01 -1.01973267e-03 1.23179477e+02] [ 2.69307722e-03 -7.12126153e-06 9.99996374e-01 6.22191249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.254012739 meters Centerline goodness : 0.994243 Centerline is valid? [True, True] Translation: X:184.72, Y:123.18, Z:0.62 [[-9.24574071e-01 -3.80994190e-01 2.49294353e-03 1.84720101e+02] [ 3.80992828e-01 -9.24577432e-01 -1.01879693e-03 1.23181916e+02] [ 2.69307504e-03 7.84037916e-06 9.99996374e-01 6.24093552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.284012739 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:184.73, Y:123.18, Z:0.62 [[-9.23945662e-01 -3.82515617e-01 2.49333018e-03 1.84726824e+02] [ 3.82514263e-01 -9.23949026e-01 -1.01784979e-03 1.23177768e+02] [ 2.69305343e-03 1.32964574e-05 9.99996374e-01 6.24149630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.314012739 meters Centerline goodness : 0.994261 Centerline is valid? [True, True] Translation: X:184.72, Y:123.18, Z:0.62 [[-9.23811392e-01 -3.82839776e-01 2.49371743e-03 1.84719985e+02] [ 3.82838426e-01 -9.23814757e-01 -1.01690015e-03 1.23178601e+02] [ 2.69304278e-03 1.52669136e-05 9.99996374e-01 6.23305155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.344012739 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:184.72, Y:123.18, Z:0.62 [[-9.23945497e-01 -3.82516011e-01 2.49410489e-03 1.84717867e+02] [ 3.82514662e-01 -9.23948863e-01 -1.01594894e-03 1.23178238e+02] [ 2.69304211e-03 1.53502383e-05 9.99996374e-01 6.22935853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.374012739 meters Centerline goodness : 0.994505 Centerline is valid? [True, True] Translation: X:184.71, Y:123.18, Z:0.62 [[-9.24243055e-01 -3.81796480e-01 2.49449398e-03 1.84714687e+02] [ 3.81795132e-01 -9.24246421e-01 -1.01499269e-03 1.23179211e+02] [ 2.69304777e-03 1.42857160e-05 9.99996374e-01 6.23108852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.404012739 meters Centerline goodness : 0.994090 Centerline is valid? [True, True] Translation: X:184.73, Y:123.17, Z:0.62 [[-9.24740071e-01 -3.80591089e-01 2.49488414e-03 1.84727322e+02] [ 3.80589738e-01 -9.24743436e-01 -1.01403277e-03 1.23169215e+02] [ 2.69305957e-03 1.18105677e-05 9.99996374e-01 6.24074046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.434012739 meters Centerline goodness : 0.994488 Centerline is valid? [True, True] Translation: X:184.72, Y:123.17, Z:0.62 [[-9.24792133e-01 -3.80464563e-01 2.49527289e-03 1.84717524e+02] [ 3.80463214e-01 -9.24795500e-01 -1.01307525e-03 1.23170308e+02] [ 2.69305637e-03 1.24755221e-05 9.99996374e-01 6.21369115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.464012739 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:184.72, Y:123.17, Z:0.62 [[-9.24101065e-01 -3.82140018e-01 2.49566114e-03 1.84718822e+02] [ 3.82138678e-01 -9.24104435e-01 -1.01211791e-03 1.23167773e+02] [ 2.69302228e-03 1.83894147e-05 9.99996374e-01 6.18148549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.494012739 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:184.73, Y:123.16, Z:0.62 [[-9.23634359e-01 -3.83266670e-01 2.49605077e-03 1.84725546e+02] [ 3.83265337e-01 -9.23637732e-01 -1.01115609e-03 1.23164326e+02] [ 2.69298910e-03 2.27112308e-05 9.99996374e-01 6.20267846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.524012739 meters Centerline goodness : 0.994610 Centerline is valid? [True, True] Translation: X:184.73, Y:123.16, Z:0.62 [[-9.22631967e-01 -3.85673464e-01 2.49643932e-03 1.84731635e+02] [ 3.85672142e-01 -9.22635344e-01 -1.01019590e-03 1.23156514e+02] [ 2.69290890e-03 3.07680717e-05 9.99996374e-01 6.21976721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55401273900003 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:184.74, Y:123.15, Z:0.62 [[-9.22354012e-01 -3.86337730e-01 2.49682589e-03 1.84738381e+02] [ 3.86336413e-01 -9.22357391e-01 -1.00923954e-03 1.23150965e+02] [ 2.69287313e-03 3.37386241e-05 9.99996374e-01 6.18313054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.584012739 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:184.73, Y:123.15, Z:0.61 [[-9.22190428e-01 -3.86728041e-01 2.49721043e-03 1.84731473e+02] [ 3.86726728e-01 -9.22193809e-01 -1.00828715e-03 1.23151758e+02] [ 2.69284491e-03 3.59052619e-05 9.99996374e-01 6.14623190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.614012739 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:184.75, Y:123.14, Z:0.61 [[-9.22068176e-01 -3.87019432e-01 2.49759518e-03 1.84746702e+02] [ 3.87018123e-01 -9.22071558e-01 -1.00733320e-03 1.23142365e+02] [ 2.69281900e-03 3.77847150e-05 9.99996374e-01 6.11187873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.644012739 meters Centerline goodness : 0.994147 Centerline is valid? [True, True] Translation: X:184.73, Y:123.15, Z:0.62 [[-9.22227949e-01 -3.86638553e-01 2.49797874e-03 1.84725391e+02] [ 3.86637245e-01 -9.22231331e-01 -1.00638115e-03 1.23147995e+02] [ 2.69282001e-03 3.76987940e-05 9.99996374e-01 6.18386631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.674012739 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:184.75, Y:123.13, Z:0.63 [[-9.22080693e-01 -3.86989605e-01 2.49831466e-03 1.84752997e+02] [ 3.86988300e-01 -9.22084077e-01 -1.00554655e-03 1.23131267e+02] [ 2.69279223e-03 3.96234789e-05 9.99996374e-01 6.27078202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.704012739 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:184.62, Y:123.18, Z:0.63 [[-9.22622675e-01 -3.85695680e-01 2.49821879e-03 1.84618065e+02] [ 3.85694370e-01 -9.22626057e-01 -1.00578468e-03 1.23184420e+02] [ 2.69284856e-03 3.55891693e-05 9.99996374e-01 6.28998246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.734012739 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:184.73, Y:123.14, Z:0.62 [[-9.22302385e-01 -3.86460941e-01 2.50026435e-03 1.84728787e+02] [ 3.86459648e-01 -9.22305773e-01 -1.00070071e-03 1.23135475e+02] [ 2.69273998e-03 4.33026325e-05 9.99996374e-01 6.24220316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.764012739 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:184.72, Y:123.13, Z:0.62 [[-9.22373590e-01 -3.86290978e-01 2.49819155e-03 1.84723220e+02] [ 3.86289671e-01 -9.22376972e-01 -1.00584887e-03 1.23134512e+02] [ 2.69282470e-03 3.72571596e-05 9.99996374e-01 6.21326742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.794012739 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:184.74, Y:123.12, Z:0.62 [[-9.22213254e-01 -3.86673598e-01 2.49857734e-03 1.84740894e+02] [ 3.86672294e-01 -9.22216638e-01 -1.00488961e-03 1.23124641e+02] [ 2.69279388e-03 3.94081148e-05 9.99996374e-01 6.19260996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.824012739 meters Centerline goodness : 0.994246 Centerline is valid? [True, True] Translation: X:184.74, Y:123.12, Z:0.62 [[-9.21919169e-01 -3.87374239e-01 2.49896137e-03 1.84736155e+02] [ 3.87372941e-01 -9.21922555e-01 -1.00393371e-03 1.23124059e+02] [ 2.69274690e-03 4.24842807e-05 9.99996374e-01 6.20472981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.854012739 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:184.72, Y:123.13, Z:0.62 [[-9.21797630e-01 -3.87663363e-01 2.49934344e-03 1.84724538e+02] [ 3.87662068e-01 -9.21801017e-01 -1.00298161e-03 1.23127535e+02] [ 2.69271655e-03 4.43545763e-05 9.99996374e-01 6.23510221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.884012739 meters Centerline goodness : 0.995253 Centerline is valid? [True, True] Translation: X:184.74, Y:123.12, Z:0.63 [[-9.21707275e-01 -3.87878140e-01 2.49972827e-03 1.84737682e+02] [ 3.87876848e-01 -9.21710663e-01 -1.00202159e-03 1.23116804e+02] [ 2.69268847e-03 4.60161332e-05 9.99996374e-01 6.28479532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.914012739 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:184.72, Y:123.12, Z:0.63 [[-9.22165510e-01 -3.86787436e-01 2.50011286e-03 1.84718800e+02] [ 3.86786143e-01 -9.22168899e-01 -1.00106110e-03 1.23122093e+02] [ 2.69272417e-03 4.38649891e-05 9.99996374e-01 6.27844197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.944012739 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:184.73, Y:123.11, Z:0.63 [[-9.23424310e-01 -3.83772447e-01 2.50049823e-03 1.84733171e+02] [ 3.83771146e-01 -9.23427695e-01 -1.00009757e-03 1.23113724e+02] [ 2.69283921e-03 3.61046586e-05 9.99996374e-01 6.25214180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.974012739 meters Centerline goodness : 0.994979 Centerline is valid? [True, True] Translation: X:184.75, Y:123.11, Z:0.63 [[-9.24516780e-01 -3.81133140e-01 2.50054634e-03 1.84747093e+02] [ 3.81131830e-01 -9.24520161e-01 -9.99977262e-04 1.23106510e+02] [ 2.69292998e-03 2.85420432e-05 9.99996374e-01 6.25486782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.004012739 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:184.76, Y:123.10, Z:0.63 [[-9.25834370e-01 -3.77921242e-01 2.50088002e-03 1.84760548e+02] [ 3.77919922e-01 -9.25837747e-01 -9.99142061e-04 1.23099350e+02] [ 2.69300613e-03 2.00923206e-05 9.99996374e-01 6.25514536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.034012739 meters Centerline goodness : 0.995160 Centerline is valid? [True, True] Translation: X:184.75, Y:123.10, Z:0.62 [[-9.28209821e-01 -3.72048749e-01 2.50125771e-03 1.84748520e+02] [ 3.72047410e-01 -9.28213191e-01 -9.98195655e-04 1.23103243e+02] [ 2.69307784e-03 4.05143970e-06 9.99996374e-01 6.23349470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.064012739 meters Centerline goodness : 0.995018 Centerline is valid? [True, True] Translation: X:184.78, Y:123.09, Z:0.62 [[-9.29017520e-01 -3.70027282e-01 2.50163541e-03 1.84775476e+02] [ 3.70025939e-01 -9.29020888e-01 -9.97248166e-04 1.23092359e+02] [ 2.69308058e-03 -7.91027130e-07 9.99996374e-01 6.21742111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.094012739 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:184.79, Y:123.08, Z:0.62 [[-9.30189991e-01 -3.67069916e-01 2.50149385e-03 1.84791271e+02] [ 3.67068560e-01 -9.30193355e-01 -9.97603119e-04 1.23082371e+02] [ 2.69306305e-03 -9.74068878e-06 9.99996374e-01 6.22256477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.124012739 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:184.74, Y:123.10, Z:0.62 [[-9.30591579e-01 -3.66050618e-01 2.50144790e-03 1.84736794e+02] [ 3.66049259e-01 -9.30594941e-01 -9.97718336e-04 1.23102362e+02] [ 2.69305017e-03 -1.28151330e-05 9.99996374e-01 6.22693919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.154012739 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:184.56, Y:123.17, Z:0.63 [[-9.31212292e-01 -3.64468663e-01 2.50218679e-03 1.84562076e+02] [ 3.64467302e-01 -9.31215654e-01 -9.95864296e-04 1.23170529e+02] [ 2.69303684e-03 -1.53958037e-05 9.99996374e-01 6.25596518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.184012739 meters Centerline goodness : 0.995527 Centerline is valid? [True, True] Translation: X:184.80, Y:123.07, Z:0.63 [[-9.30944672e-01 -3.65151678e-01 2.50385825e-03 1.84801840e+02] [ 3.65150331e-01 -9.30948039e-01 -9.91665999e-04 1.23074751e+02] [ 2.69307043e-03 -8.90150816e-06 9.99996374e-01 6.27875020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.214012739 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:184.81, Y:123.07, Z:0.63 [[-9.31392794e-01 -3.64007150e-01 2.50183433e-03 1.84806054e+02] [ 3.64005785e-01 -9.31396154e-01 -9.96746047e-04 1.23072285e+02] [ 2.69302156e-03 -1.76799156e-05 9.99996374e-01 6.29827787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.244012739 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:184.81, Y:123.07, Z:0.63 [[-9.31953497e-01 -3.62569191e-01 2.50219718e-03 1.84809412e+02] [ 3.62567824e-01 -9.31956856e-01 -9.95834318e-04 1.23069890e+02] [ 2.69299866e-03 -2.08550871e-05 9.99996374e-01 6.27295799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.274012739 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:184.82, Y:123.07, Z:0.63 [[-9.32253794e-01 -3.61796353e-01 2.50255924e-03 1.84815920e+02] [ 3.61794985e-01 -9.32257153e-01 -9.94923618e-04 1.23066909e+02] [ 2.69298849e-03 -2.21079330e-05 9.99996374e-01 6.25519002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30401273900003 meters Centerline goodness : 0.995455 Centerline is valid? [True, True] Translation: X:184.82, Y:123.06, Z:0.62 [[-9.32487635e-01 -3.61193225e-01 2.50292018e-03 1.84819780e+02] [ 3.61191858e-01 -9.32490994e-01 -9.94014788e-04 1.23063480e+02] [ 2.69298193e-03 -2.28721108e-05 9.99996374e-01 6.24140293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.334012739 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:184.81, Y:123.07, Z:0.63 [[-9.32525941e-01 -3.61094313e-01 2.50327993e-03 1.84809014e+02] [ 3.61092948e-01 -9.32529301e-01 -9.93107976e-04 1.23066387e+02] [ 2.69298752e-03 -2.21822192e-05 9.99996374e-01 6.26095988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.364012739 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:184.82, Y:123.06, Z:0.63 [[-9.32384297e-01 -3.61459894e-01 2.50364072e-03 1.84817045e+02] [ 3.61458533e-01 -9.32387658e-01 -9.92197595e-04 1.23061887e+02] [ 2.69300334e-03 -2.01471578e-05 9.99996374e-01 6.28000007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.394012739 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:184.80, Y:123.07, Z:0.63 [[-9.31900814e-01 -3.62704567e-01 2.50400208e-03 1.84803239e+02] [ 3.62703212e-01 -9.31904178e-01 -9.91284783e-04 1.23065145e+02] [ 2.69303352e-03 -1.55694989e-05 9.99996374e-01 6.30569606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.424012739 meters Centerline goodness : 0.995733 Centerline is valid? [True, True] Translation: X:184.81, Y:123.06, Z:0.63 [[-9.32045533e-01 -3.62332517e-01 2.50436437e-03 1.84814124e+02] [ 3.62331164e-01 -9.32048897e-01 -9.90368651e-04 1.23059742e+02] [ 2.69303282e-03 -1.56594199e-05 9.99996374e-01 6.30803371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.454012739 meters Centerline goodness : 0.995046 Centerline is valid? [True, True] Translation: X:184.83, Y:123.05, Z:0.63 [[-9.32769984e-01 -3.60463430e-01 2.50472719e-03 1.84825070e+02] [ 3.60462072e-01 -9.32773346e-01 -9.89450193e-04 1.23053498e+02] [ 2.69300337e-03 -2.00702862e-05 9.99996374e-01 6.29939456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.484012739 meters Centerline goodness : 0.995513 Centerline is valid? [True, True] Translation: X:184.82, Y:123.05, Z:0.63 [[-9.33305221e-01 -3.59075326e-01 2.50504188e-03 1.84821479e+02] [ 3.59073965e-01 -9.33308583e-01 -9.88652837e-04 1.23054623e+02] [ 2.69297793e-03 -2.32195337e-05 9.99996374e-01 6.29226128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.514012739 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:184.83, Y:123.05, Z:0.63 [[-9.34413672e-01 -3.56180872e-01 2.50540105e-03 1.84832578e+02] [ 3.56179503e-01 -9.34417030e-01 -9.87741816e-04 1.23048386e+02] [ 2.69290415e-03 -3.05869568e-05 9.99996374e-01 6.25950622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.544012739 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:184.85, Y:123.04, Z:0.62 [[-9.34980830e-01 -3.54689397e-01 2.50571419e-03 1.84848146e+02] [ 3.54688026e-01 -9.34984187e-01 -9.86946780e-04 1.23041032e+02] [ 2.69286271e-03 -3.40294996e-05 9.99996374e-01 6.24936911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.574012739 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:184.85, Y:123.04, Z:0.63 [[-9.36439843e-01 -3.50819244e-01 2.50562543e-03 1.84852884e+02] [ 3.50817858e-01 -9.36443194e-01 -9.87172076e-04 1.23038209e+02] [ 2.69269484e-03 -4.54091185e-05 9.99996374e-01 6.26302613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.604012739 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:184.85, Y:123.04, Z:0.63 [[-9.37113819e-01 -3.49014913e-01 2.50597712e-03 1.84854060e+02] [ 3.49013523e-01 -9.37117169e-01 -9.86278481e-04 1.23037888e+02] [ 2.69262009e-03 -4.96352899e-05 9.99996374e-01 6.28314390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.634012739 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:184.87, Y:123.03, Z:0.63 [[-9.37656998e-01 -3.47552977e-01 2.50632839e-03 1.84866882e+02] [ 3.47551584e-01 -9.37660346e-01 -9.85385039e-04 1.23033320e+02] [ 2.69255825e-03 -5.28747752e-05 9.99996374e-01 6.31534480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.664012739 meters Centerline goodness : 0.996446 Centerline is valid? [True, True] Translation: X:184.89, Y:123.03, Z:0.64 [[-9.38897562e-01 -3.44187572e-01 2.50663400e-03 1.84889365e+02] [ 3.44186169e-01 -9.38900906e-01 -9.84607000e-04 1.23026972e+02] [ 2.69237043e-03 -6.16963566e-05 9.99996374e-01 6.35770660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.694012739 meters Centerline goodness : 0.996353 Centerline is valid? [True, True] Translation: X:184.89, Y:123.03, Z:0.64 [[-9.39819260e-01 -3.41662812e-01 2.50650381e-03 1.84892942e+02] [ 3.41661399e-01 -9.39822600e-01 -9.84938305e-04 1.23028979e+02] [ 2.69218572e-03 -6.92883892e-05 9.99996374e-01 6.36203580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.724012739 meters Centerline goodness : 0.996353 Centerline is valid? [True, True] Translation: X:184.90, Y:123.03, Z:0.64 [[-9.39938000e-01 -3.41336010e-01 2.50684598e-03 1.84895332e+02] [ 3.41334598e-01 -9.39941341e-01 -9.84066662e-04 1.23028121e+02] [ 2.69218556e-03 -6.92883850e-05 9.99996374e-01 6.36196804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.754012739 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:184.83, Y:123.06, Z:0.63 [[-9.42291375e-01 -3.34784525e-01 2.50718784e-03 1.84831529e+02] [ 3.34783092e-01 -9.42294707e-01 -9.83194899e-04 1.23062052e+02] [ 2.69166827e-03 -8.70919752e-05 9.99996374e-01 6.33361664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.784012739 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:184.91, Y:123.04, Z:0.63 [[-9.43307005e-01 -3.31912042e-01 2.50804004e-03 1.84907119e+02] [ 3.31910605e-01 -9.43310335e-01 -9.81019802e-04 1.23036940e+02] [ 2.69147237e-03 -9.29577668e-05 9.99996374e-01 6.31709646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.814012739 meters Centerline goodness : 0.996260 Centerline is valid? [True, True] Translation: X:184.94, Y:123.03, Z:0.63 [[-9.44691709e-01 -3.27950132e-01 2.50718946e-03 1.84939005e+02] [ 3.27948676e-01 -9.44695030e-01 -9.83188833e-04 1.23033544e+02] [ 2.69096633e-03 -1.06580877e-04 9.99996374e-01 6.29174436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.844012739 meters Centerline goodness : 0.996358 Centerline is valid? [True, True] Translation: X:184.82, Y:123.09, Z:0.63 [[-9.45003651e-01 -3.27050172e-01 2.50706266e-03 1.84816922e+02] [ 3.27048711e-01 -9.45006970e-01 -9.83512053e-04 1.23087528e+02] [ 2.69084947e-03 -1.09490869e-04 9.99996374e-01 6.31192468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.874012739 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:184.92, Y:123.05, Z:0.63 [[-9.44442652e-01 -3.28666675e-01 2.50853357e-03 1.84921182e+02] [ 3.28665231e-01 -9.44445979e-01 -9.79760076e-04 1.23052628e+02] [ 2.69118893e-03 -1.00859441e-04 9.99996374e-01 6.30849655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.904012739 meters Centerline goodness : 0.996835 Centerline is valid? [True, True] Translation: X:184.87, Y:123.08, Z:0.63 [[-9.43606637e-01 -3.31059252e-01 2.50704541e-03 1.84868156e+02] [ 3.31057806e-01 -9.43609963e-01 -9.83553340e-04 1.23084561e+02] [ 2.69128746e-03 -9.81105066e-05 9.99996374e-01 6.30966468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.934012739 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:184.91, Y:123.07, Z:0.63 [[-9.42628073e-01 -3.33835328e-01 2.50780182e-03 1.84911632e+02] [ 3.33833897e-01 -9.42631405e-01 -9.81623550e-04 1.23072044e+02] [ 2.69163337e-03 -8.81166627e-05 9.99996374e-01 6.30031378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.964012739 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:184.89, Y:123.09, Z:0.63 [[-9.40324301e-01 -3.40270369e-01 2.50703964e-03 1.84888848e+02] [ 3.40268955e-01 -9.40327640e-01 -9.83566280e-04 1.23089693e+02] [ 2.69211713e-03 -7.18035165e-05 9.99996374e-01 6.31747507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.994012739 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:184.85, Y:123.11, Z:0.63 [[-9.39140890e-01 -3.43523072e-01 2.50738440e-03 1.84848518e+02] [ 3.43521672e-01 -9.39144236e-01 -9.82686612e-04 1.23109325e+02] [ 2.69237113e-03 -6.15402977e-05 9.99996374e-01 6.31792488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.024012739 meters Centerline goodness : 0.996867 Centerline is valid? [True, True] Translation: X:184.86, Y:123.11, Z:0.63 [[-9.38010519e-01 -3.46597717e-01 2.50773799e-03 1.84859565e+02] [ 3.46596331e-01 -9.38013870e-01 -9.81783443e-04 1.23108955e+02] [ 2.69257692e-03 -5.17504117e-05 9.99996374e-01 6.31950369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05401273900003 meters Centerline goodness : 0.996656 Centerline is valid? [True, True] Translation: X:184.85, Y:123.12, Z:0.63 [[-9.36043287e-01 -3.51875936e-01 2.50809601e-03 1.84845604e+02] [ 3.51874571e-01 -9.36046646e-01 -9.80867972e-04 1.23121244e+02] [ 2.69283870e-03 -3.55996720e-05 9.99996374e-01 6.29544190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.084012739 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:184.85, Y:123.12, Z:0.63 [[-9.35111385e-01 -3.54345037e-01 2.50845524e-03 1.84849436e+02] [ 3.54343683e-01 -9.35114749e-01 -9.79948443e-04 1.23122461e+02] [ 2.69293336e-03 -2.75056792e-05 9.99996374e-01 6.27334335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.114012739 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:184.83, Y:123.13, Z:0.62 [[-9.32899881e-01 -3.60127085e-01 2.50881665e-03 1.84830073e+02] [ 3.60125754e-01 -9.32903255e-01 -9.79022296e-04 1.23133024e+02] [ 2.69305566e-03 -9.84029736e-06 9.99996374e-01 6.23714428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.144012739 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:184.82, Y:123.14, Z:0.62 [[-9.31700164e-01 -3.63219643e-01 2.50918081e-03 1.84820979e+02] [ 3.63218326e-01 -9.31703543e-01 -9.78088083e-04 1.23137619e+02] [ 2.69307345e-03 9.56242273e-08 9.99996374e-01 6.24226764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.174012739 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:184.81, Y:123.14, Z:0.63 [[-9.30503533e-01 -3.66274319e-01 2.50954944e-03 1.84810468e+02] [ 3.66273016e-01 -9.30506917e-01 -9.77141335e-04 1.23143074e+02] [ 2.69305489e-03 9.94677849e-06 9.99996374e-01 6.25385884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.204012739 meters Centerline goodness : 0.996346 Centerline is valid? [True, True] Translation: X:184.81, Y:123.14, Z:0.63 [[-9.29095089e-01 -3.69832416e-01 2.50992131e-03 1.84810893e+02] [ 3.69831129e-01 -9.29098479e-01 -9.76185204e-04 1.23144899e+02] [ 2.69298901e-03 2.12781527e-05 9.99996374e-01 6.26200554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.234012739 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:184.81, Y:123.15, Z:0.63 [[-9.28575161e-01 -3.71135918e-01 2.51029516e-03 1.84810790e+02] [ 3.71134638e-01 -9.28578553e-01 -9.75222891e-04 1.23145011e+02] [ 2.69294649e-03 2.60897322e-05 9.99996374e-01 6.25770772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.264012739 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:184.81, Y:123.15, Z:0.63 [[-9.28510830e-01 -3.71296828e-01 2.51066932e-03 1.84807057e+02] [ 3.71295550e-01 -9.28514225e-01 -9.74258668e-04 1.23147390e+02] [ 2.69293133e-03 2.75906233e-05 9.99996374e-01 6.25126588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.294012739 meters Centerline goodness : 0.996500 Centerline is valid? [True, True] Translation: X:184.83, Y:123.14, Z:0.62 [[-9.28377004e-01 -3.71631313e-01 2.51104449e-03 1.84831651e+02] [ 3.71630040e-01 -9.28380400e-01 -9.73290752e-04 1.23139046e+02] [ 2.69290981e-03 2.95988116e-05 9.99996374e-01 6.24868696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.324012739 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:184.83, Y:123.14, Z:0.62 [[-9.28340865e-01 -3.71721580e-01 2.51118390e-03 1.84830849e+02] [ 3.71720308e-01 -9.28344261e-01 -9.72930935e-04 1.23140435e+02] [ 2.69290258e-03 3.02465053e-05 9.99996374e-01 6.23964227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.354012739 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:184.84, Y:123.14, Z:0.62 [[-9.27910747e-01 -3.72793961e-01 2.51155349e-03 1.84839947e+02] [ 3.72792696e-01 -9.27914145e-01 -9.71975920e-04 1.23135398e+02] [ 2.69285277e-03 3.43818954e-05 9.99996374e-01 6.24893372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.384012739 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:184.85, Y:123.13, Z:0.63 [[-9.27818099e-01 -3.73024483e-01 2.51192223e-03 1.84845728e+02] [ 3.73023221e-01 -9.27821499e-01 -9.71022032e-04 1.23132512e+02] [ 2.69283044e-03 3.60735042e-05 9.99996374e-01 6.26387292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.414012739 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:184.72, Y:123.18, Z:0.63 [[-9.28072176e-01 -3.72391897e-01 2.51228910e-03 1.84718797e+02] [ 3.72390635e-01 -9.28075576e-01 -9.70071912e-04 1.23181812e+02] [ 2.69284107e-03 3.52561845e-05 9.99996374e-01 6.29788821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.444012739 meters Centerline goodness : 0.995958 Centerline is valid? [True, True] Translation: X:184.85, Y:123.13, Z:0.63 [[-9.28031209e-01 -3.72493973e-01 2.51311146e-03 1.84853266e+02] [ 3.72492717e-01 -9.28034611e-01 -9.67939921e-04 1.23129751e+02] [ 2.69280620e-03 3.78372624e-05 9.99996374e-01 6.29990309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.474012739 meters Centerline goodness : 0.995786 Centerline is valid? [True, True] Translation: X:184.85, Y:123.13, Z:0.63 [[-9.28319736e-01 -3.71774335e-01 2.51229076e-03 1.84845049e+02] [ 3.71773070e-01 -9.28323135e-01 -9.70065388e-04 1.23132098e+02] [ 2.69286305e-03 3.34712047e-05 9.99996374e-01 6.28459044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.504012739 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:184.84, Y:123.13, Z:0.63 [[-9.28714285e-01 -3.70787626e-01 2.51265613e-03 1.84835759e+02] [ 3.70786361e-01 -9.28717683e-01 -9.69118093e-04 1.23133993e+02] [ 2.69288517e-03 3.16248054e-05 9.99996374e-01 6.25607967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.534012739 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:184.83, Y:123.14, Z:0.63 [[-9.30227140e-01 -3.66975685e-01 2.51302403e-03 1.84827344e+02] [ 3.66974408e-01 -9.30230534e-01 -9.68163153e-04 1.23138049e+02] [ 2.69298402e-03 2.16038647e-05 9.99996374e-01 6.26103649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.564012739 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:184.84, Y:123.13, Z:0.63 [[-9.31508787e-01 -3.63710136e-01 2.51339480e-03 1.84838780e+02] [ 3.63708850e-01 -9.31512178e-01 -9.67199651e-04 1.23134827e+02] [ 2.69303818e-03 1.31889577e-05 9.99996374e-01 6.26756113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.594012739 meters Centerline goodness : 0.996107 Centerline is valid? [True, True] Translation: X:184.84, Y:123.13, Z:0.63 [[-9.32775496e-01 -3.60449102e-01 2.51376557e-03 1.84843779e+02] [ 3.60447807e-01 -9.32778883e-01 -9.66235037e-04 1.23134077e+02] [ 2.69306600e-03 4.80092343e-06 9.99996374e-01 6.28533314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.624012739 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:184.87, Y:123.13, Z:0.63 [[-9.33952281e-01 -3.57388886e-01 2.51413438e-03 1.84870347e+02] [ 3.57387582e-01 -9.33955665e-01 -9.65274446e-04 1.23125233e+02] [ 2.69306841e-03 -2.99986297e-06 9.99996374e-01 6.27948860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.654012739 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:184.84, Y:123.14, Z:0.63 [[-9.35756559e-01 -3.52637691e-01 2.51427090e-03 1.84836381e+02] [ 3.52636371e-01 -9.35759936e-01 -9.64918730e-04 1.23141314e+02] [ 2.69302069e-03 -1.63056636e-05 9.99996374e-01 6.25106691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.684012739 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:184.83, Y:123.15, Z:0.63 [[-9.36767395e-01 -3.49943601e-01 2.51463744e-03 1.84826292e+02] [ 3.49942274e-01 -9.36770770e-01 -9.63962542e-04 1.23148753e+02] [ 2.69297138e-03 -2.30307328e-05 9.99996374e-01 6.26907991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.714012739 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:184.87, Y:123.13, Z:0.63 [[-9.36246841e-01 -3.51333919e-01 2.51603709e-03 1.84873148e+02] [ 3.51332607e-01 -9.36250222e-01 -9.60308076e-04 1.23131730e+02] [ 2.69302908e-03 -1.51195348e-05 9.99996374e-01 6.28334397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.744012739 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:184.86, Y:123.14, Z:0.63 [[-9.35820470e-01 -3.52468047e-01 2.51465821e-03 1.84861481e+02] [ 3.52466729e-01 -9.35823849e-01 -9.63905327e-04 1.23136516e+02] [ 2.69302295e-03 -1.57089821e-05 9.99996374e-01 6.28390414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.774012739 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:184.86, Y:123.13, Z:0.63 [[-9.34995854e-01 -3.54649725e-01 2.51502161e-03 1.84864324e+02] [ 3.54648418e-01 -9.34999237e-01 -9.62956201e-04 1.23134152e+02] [ 2.69305544e-03 -8.41162036e-06 9.99996374e-01 6.26329650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80401273900003 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:184.86, Y:123.14, Z:0.62 [[-9.34728778e-01 -3.55353041e-01 2.51538651e-03 1.84858182e+02] [ 3.55351739e-01 -9.34732163e-01 -9.62002095e-04 1.23136334e+02] [ 2.69306304e-03 -5.36407341e-06 9.99996374e-01 6.23819030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.834012739 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:184.88, Y:123.13, Z:0.62 [[-9.34376291e-01 -3.56278849e-01 2.51575212e-03 1.84882657e+02] [ 3.56277552e-01 -9.34379678e-01 -9.61045017e-04 1.23126829e+02] [ 2.69306767e-03 -1.67167080e-06 9.99996374e-01 6.22434204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.864012739 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:184.88, Y:123.13, Z:0.62 [[-9.34462901e-01 -3.56051621e-01 2.51597837e-03 1.84876518e+02] [ 3.56050326e-01 -9.34466288e-01 -9.60452345e-04 1.23128851e+02] [ 2.69306758e-03 -1.69216706e-06 9.99996374e-01 6.24047537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.894012739 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:184.87, Y:123.13, Z:0.62 [[-9.34774407e-01 -3.55232988e-01 2.51633929e-03 1.84871986e+02] [ 3.55231692e-01 -9.34777794e-01 -9.59505821e-04 1.23129910e+02] [ 2.69306621e-03 -3.03802307e-06 9.99996374e-01 6.24628386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.924012739 meters Centerline goodness : 0.994885 Centerline is valid? [True, True] Translation: X:184.88, Y:123.13, Z:0.63 [[-9.35694671e-01 -3.52801854e-01 2.51670198e-03 1.84879643e+02] [ 3.52800552e-01 -9.35698056e-01 -9.58553572e-04 1.23126629e+02] [ 2.69305262e-03 -9.01962215e-06 9.99996374e-01 6.25305007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.954012739 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:184.88, Y:123.13, Z:0.63 [[-9.36138941e-01 -3.51621312e-01 2.51706442e-03 1.84883760e+02] [ 3.51620008e-01 -9.36142325e-01 -9.57600870e-04 1.23125315e+02] [ 2.69304342e-03 -1.13972521e-05 9.99996374e-01 6.26875084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.984012739 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:184.87, Y:123.13, Z:0.63 [[-9.36061010e-01 -3.51828720e-01 2.51742545e-03 1.84869345e+02] [ 3.51827420e-01 -9.36064395e-01 -9.56650837e-04 1.23130067e+02] [ 2.69304957e-03 -9.78424848e-06 9.99996374e-01 6.29624926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.014012739 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:184.88, Y:123.12, Z:0.63 [[-9.35606124e-01 -3.53036600e-01 2.51778819e-03 1.84881388e+02] [ 3.53035306e-01 -9.35609512e-01 -9.55695186e-04 1.23124177e+02] [ 2.69306196e-03 -5.28614323e-06 9.99996374e-01 6.31091595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.044012739 meters Centerline goodness : 0.994662 Centerline is valid? [True, True] Translation: X:184.88, Y:123.12, Z:0.63 [[-9.34837669e-01 -3.55066461e-01 2.51815153e-03 1.84879009e+02] [ 3.55065177e-01 -9.34841061e-01 -9.54736877e-04 1.23123955e+02] [ 2.69306649e-03 1.58392147e-06 9.99996374e-01 6.30801032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.074012739 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:184.87, Y:123.13, Z:0.63 [[-9.33450128e-01 -3.58698362e-01 2.51851372e-03 1.84869504e+02] [ 3.58697095e-01 -9.33453526e-01 -9.53780486e-04 1.23125957e+02] [ 2.69303501e-03 1.30770367e-05 9.99996374e-01 6.26484911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.104012739 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:184.88, Y:123.12, Z:0.62 [[-9.33116689e-01 -3.59564875e-01 2.51887777e-03 1.84881832e+02] [ 3.59563613e-01 -9.33120089e-01 -9.52818083e-04 1.23120306e+02] [ 2.69301536e-03 1.66063356e-05 9.99996374e-01 6.24797607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.134012739 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:184.88, Y:123.12, Z:0.63 [[-9.32992318e-01 -3.59887465e-01 2.51924157e-03 1.84876270e+02] [ 3.59886207e-01 -9.32995719e-01 -9.51855220e-04 1.23120022e+02] [ 2.69300236e-03 1.85666842e-05 9.99996374e-01 6.25976731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.164012739 meters Centerline goodness : 0.995288 Centerline is valid? [True, True] Translation: X:184.87, Y:123.12, Z:0.63 [[-9.33268477e-01 -3.59170712e-01 2.51960447e-03 1.84867369e+02] [ 3.59169454e-01 -9.33271878e-01 -9.50893651e-04 1.23122810e+02] [ 2.69300914e-03 1.75258906e-05 9.99996374e-01 6.28492419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.194012739 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:184.89, Y:123.11, Z:0.63 [[-9.33863957e-01 -3.57619575e-01 2.51996965e-03 1.84888560e+02] [ 3.57618313e-01 -9.33867357e-01 -9.49924881e-04 1.23113989e+02] [ 2.69302913e-03 1.40866885e-05 9.99996374e-01 6.32141356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.224012739 meters Centerline goodness : 0.995370 Centerline is valid? [True, True] Translation: X:184.90, Y:123.11, Z:0.63 [[-9.34378006e-01 -3.56274321e-01 2.52010565e-03 1.84903025e+02] [ 3.56273055e-01 -9.34381404e-01 -9.49563940e-04 1.23107572e+02] [ 2.69304511e-03 1.05940793e-05 9.99996374e-01 6.33073858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.254012739 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:184.91, Y:123.10, Z:0.63 [[-9.34811440e-01 -3.55135493e-01 2.52046482e-03 1.84911127e+02] [ 3.55134226e-01 -9.34814838e-01 -9.48609636e-04 1.23103692e+02] [ 2.69305286e-03 8.33218283e-06 9.99996374e-01 6.33545714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.284012739 meters Centerline goodness : 0.995100 Centerline is valid? [True, True] Translation: X:184.88, Y:123.11, Z:0.63 [[-9.34867929e-01 -3.54986762e-01 2.52082105e-03 1.84877106e+02] [ 3.54985497e-01 -9.34871327e-01 -9.47662049e-04 1.23114819e+02] [ 2.69305080e-03 8.91605538e-06 9.99996374e-01 6.30951808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.314012739 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:184.90, Y:123.11, Z:0.63 [[-9.34562763e-01 -3.55789385e-01 2.52118103e-03 1.84898315e+02] [ 3.55788126e-01 -9.34566163e-01 -9.46703373e-04 1.23106348e+02] [ 2.69303749e-03 1.22525541e-05 9.99996374e-01 6.28607205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.344012739 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:184.90, Y:123.11, Z:0.63 [[-9.34232346e-01 -3.56656089e-01 2.52131648e-03 1.84896885e+02] [ 3.56654834e-01 -9.34235749e-01 -9.46342510e-04 1.23105824e+02] [ 2.69302280e-03 1.51359257e-05 9.99996374e-01 6.26894397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.374012739 meters Centerline goodness : 0.994671 Centerline is valid? [True, True] Translation: X:184.89, Y:123.10, Z:0.63 [[-9.33091312e-01 -3.59630706e-01 2.52167613e-03 1.84894843e+02] [ 3.59629464e-01 -9.33094719e-01 -9.45383179e-04 1.23102736e+02] [ 2.69295150e-03 2.47402053e-05 9.99996374e-01 6.25493043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.404012739 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:184.89, Y:123.10, Z:0.63 [[-9.32753989e-01 -3.60504694e-01 2.52203631e-03 1.84892816e+02] [ 3.60503458e-01 -9.32757399e-01 -9.44421324e-04 1.23100981e+02] [ 2.69291635e-03 2.82900553e-05 9.99996374e-01 6.27088705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.434012739 meters Centerline goodness : 0.994607 Centerline is valid? [True, True] Translation: X:184.90, Y:123.09, Z:0.63 [[-9.32020401e-01 -3.62397034e-01 2.52239703e-03 1.84898228e+02] [ 3.62395807e-01 -9.32023813e-01 -9.43456932e-04 1.23094217e+02] [ 2.69284009e-03 3.47849992e-05 9.99996374e-01 6.31507124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.464012739 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:184.90, Y:123.09, Z:0.63 [[-9.31873728e-01 -3.62774022e-01 2.52275725e-03 1.84897840e+02] [ 3.62772800e-01 -9.31877142e-01 -9.42492725e-04 1.23092458e+02] [ 2.69281169e-03 3.69035018e-05 9.99996374e-01 6.31928787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.494012739 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:184.82, Y:123.12, Z:0.63 [[-9.31761247e-01 -3.63062821e-01 2.52311675e-03 1.84822375e+02] [ 3.63061602e-01 -9.31764663e-01 -9.41529346e-04 1.23118744e+02] [ 2.69278533e-03 3.87662503e-05 9.99996374e-01 6.29706172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.524012739 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:184.90, Y:123.09, Z:0.62 [[-9.32032758e-01 -3.62365249e-01 2.52289854e-03 1.84898504e+02] [ 3.62364026e-01 -9.32036172e-01 -9.42114338e-04 1.23085755e+02] [ 2.69282219e-03 3.61262464e-05 9.99996374e-01 6.22395933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55401273900003 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:184.88, Y:123.09, Z:0.62 [[-9.32957745e-01 -3.59977054e-01 2.52311652e-03 1.84878125e+02] [ 3.59975824e-01 -9.32961157e-01 -9.41530186e-04 1.23090117e+02] [ 2.69289897e-03 2.98530690e-05 9.99996374e-01 6.21773659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.584012739 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:184.88, Y:123.09, Z:0.62 [[-9.33097298e-01 -3.59615162e-01 2.52347829e-03 1.84880514e+02] [ 3.59613933e-01 -9.33100710e-01 -9.40559590e-04 1.23089306e+02] [ 2.69289887e-03 2.98443403e-05 9.99996374e-01 6.21766883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.614012739 meters Centerline goodness : 0.995316 Centerline is valid? [True, True] Translation: X:184.89, Y:123.08, Z:0.63 [[-9.33483667e-01 -3.58611034e-01 2.52384272e-03 1.84892787e+02] [ 3.58609804e-01 -9.33487079e-01 -9.39580676e-04 1.23084720e+02] [ 2.69291856e-03 2.79915273e-05 9.99996374e-01 6.25510154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.644012739 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:184.90, Y:123.08, Z:0.63 [[-9.33875381e-01 -3.57589711e-01 2.52420531e-03 1.84901003e+02] [ 3.57588480e-01 -9.33878792e-01 -9.38605564e-04 1.23081941e+02] [ 2.69293749e-03 2.60861101e-05 9.99996374e-01 6.30285213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.674012739 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:184.92, Y:123.08, Z:0.63 [[-9.34686429e-01 -3.55464353e-01 2.52456540e-03 1.84921236e+02] [ 3.55463117e-01 -9.34689838e-01 -9.37636005e-04 1.23076114e+02] [ 2.69298180e-03 2.09942392e-05 9.99996374e-01 6.31956697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.704012739 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:184.92, Y:123.08, Z:0.63 [[-9.35250038e-01 -3.53978800e-01 2.52492187e-03 1.84918756e+02] [ 3.53977561e-01 -9.35253446e-01 -9.36675119e-04 1.23078292e+02] [ 2.69300501e-03 1.77402423e-05 9.99996374e-01 6.28829772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.734012739 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:184.91, Y:123.08, Z:0.62 [[-9.35693257e-01 -3.52805545e-01 2.52527627e-03 1.84912577e+02] [ 3.52804304e-01 -9.35696664e-01 -9.35718677e-04 1.23083411e+02] [ 2.69301932e-03 1.53826803e-05 9.99996374e-01 6.22804192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.764012739 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:184.91, Y:123.08, Z:0.62 [[-9.35492012e-01 -3.53338814e-01 2.52563235e-03 1.84913531e+02] [ 3.53337578e-01 -9.35495421e-01 -9.34756561e-04 1.23084231e+02] [ 2.69300328e-03 1.79435231e-05 9.99996374e-01 6.22930002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.794012739 meters Centerline goodness : 0.995007 Centerline is valid? [True, True] Translation: X:184.92, Y:123.08, Z:0.62 [[-9.35010919e-01 -3.54609927e-01 2.52598967e-03 1.84924261e+02] [ 3.54608698e-01 -9.35014331e-01 -9.33790000e-04 1.23081326e+02] [ 2.69296774e-03 2.26340597e-05 9.99996374e-01 6.24027108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.824012739 meters Centerline goodness : 0.995562 Centerline is valid? [True, True] Translation: X:184.90, Y:123.09, Z:0.63 [[-9.33711715e-01 -3.58016832e-01 2.52634566e-03 1.84902986e+02] [ 3.58015618e-01 -9.33715132e-01 -9.32825858e-04 1.23089746e+02] [ 2.69285453e-03 3.34807724e-05 9.99996374e-01 6.26030498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.854012739 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:184.93, Y:123.08, Z:0.63 [[-9.32185306e-01 -3.61972611e-01 2.52670354e-03 1.84928039e+02] [ 3.61971415e-01 -9.32188729e-01 -9.31855478e-04 1.23078392e+02] [ 2.69267073e-03 4.59324719e-05 9.99996374e-01 6.26680764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.884012739 meters Centerline goodness : 0.995508 Centerline is valid? [True, True] Translation: X:184.93, Y:123.08, Z:0.63 [[-9.31736149e-01 -3.63127202e-01 2.52670354e-03 1.84927393e+02] [ 3.63126010e-01 -9.31739573e-01 -9.31855478e-04 1.23078021e+02] [ 2.69261175e-03 4.92683408e-05 9.99996374e-01 6.26945359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.914012739 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:184.93, Y:123.08, Z:0.63 [[-9.31474718e-01 -3.63797283e-01 2.52705769e-03 1.84925432e+02] [ 3.63796096e-01 -9.31478145e-01 -9.30894100e-04 1.23078184e+02] [ 2.69255575e-03 5.22294016e-05 9.99996374e-01 6.28119526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.944012739 meters Centerline goodness : 0.994875 Centerline is valid? [True, True] Translation: X:184.84, Y:123.11, Z:0.63 [[-9.31457219e-01 -3.63842083e-01 2.52741234e-03 1.84839278e+02] [ 3.63840898e-01 -9.31460647e-01 -9.29930195e-04 1.23108806e+02] [ 2.69253287e-03 5.33857844e-05 9.99996374e-01 6.29963962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.974012739 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:184.95, Y:123.06, Z:0.63 [[-9.30049743e-01 -3.67424935e-01 2.52840960e-03 1.84949994e+02] [ 3.67423771e-01 -9.30053177e-01 -9.27217430e-04 1.23062925e+02] [ 2.69223819e-03 6.66394585e-05 9.99996374e-01 6.28310992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.004012739 meters Centerline goodness : 0.994824 Centerline is valid? [True, True] Translation: X:184.96, Y:123.05, Z:0.63 [[-9.28283066e-01 -3.71865785e-01 2.52737839e-03 1.84955711e+02] [ 3.71864630e-01 -9.28286503e-01 -9.30019796e-04 1.23053633e+02] [ 2.69197379e-03 7.65210023e-05 9.99996374e-01 6.26674017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.034012739 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:184.97, Y:123.04, Z:0.63 [[-9.27358507e-01 -3.74165486e-01 2.52772514e-03 1.84965572e+02] [ 3.74164342e-01 -9.27361948e-01 -9.29076388e-04 1.23044510e+02] [ 2.69174443e-03 8.41977230e-05 9.99996374e-01 6.26699708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.064012739 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:184.96, Y:123.04, Z:0.63 [[-9.26679065e-01 -3.75845073e-01 2.52806959e-03 1.84955328e+02] [ 3.75843938e-01 -9.26682509e-01 -9.28138172e-04 1.23041620e+02] [ 2.69155403e-03 9.00734183e-05 9.99996374e-01 6.27994423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.094012739 meters Centerline goodness : 0.994866 Centerline is valid? [True, True] Translation: X:184.96, Y:123.03, Z:0.63 [[-9.25767351e-01 -3.78085200e-01 2.52841381e-03 1.84962309e+02] [ 3.78084076e-01 -9.25770799e-01 -9.27199525e-04 1.23025812e+02] [ 2.69129209e-03 9.75819498e-05 9.99996374e-01 6.30718144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.124012739 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:184.96, Y:123.02, Z:0.63 [[-9.25979514e-01 -3.77565285e-01 2.52875790e-03 1.84960427e+02] [ 3.77564161e-01 -9.25982962e-01 -9.26260140e-04 1.23021218e+02] [ 2.69131040e-03 9.70704395e-05 9.99996374e-01 6.30433552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.154012739 meters Centerline goodness : 0.994939 Centerline is valid? [True, True] Translation: X:184.94, Y:123.02, Z:0.63 [[-9.28222481e-01 -3.72016975e-01 2.52910080e-03 1.84935620e+02] [ 3.72015833e-01 -9.28225923e-01 -9.25322899e-04 1.23021264e+02] [ 2.69181275e-03 8.19600265e-05 9.99996374e-01 6.26913681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.184012739 meters Centerline goodness : 0.994684 Centerline is valid? [True, True] Translation: X:184.93, Y:123.02, Z:0.63 [[-9.29821148e-01 -3.68003036e-01 2.52944692e-03 1.84930739e+02] [ 3.68001882e-01 -9.29824586e-01 -9.24375781e-04 1.23018206e+02] [ 2.69211503e-03 7.13370781e-05 9.99996374e-01 6.25590370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.214012739 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:184.92, Y:123.02, Z:0.62 [[-9.31538220e-01 -3.63634630e-01 2.52979667e-03 1.84918951e+02] [ 3.63633463e-01 -9.31541653e-01 -9.23417626e-04 1.23017726e+02] [ 2.69239760e-03 5.97199096e-05 9.99996374e-01 6.24869152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.244012739 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:184.93, Y:123.01, Z:0.63 [[-9.34465515e-01 -3.56044661e-01 2.53014847e-03 1.84925071e+02] [ 3.56043468e-01 -9.34468939e-01 -9.22452678e-04 1.23006152e+02] [ 2.69277951e-03 3.88426201e-05 9.99996374e-01 6.25291494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.274012739 meters Centerline goodness : 0.994503 Centerline is valid? [True, True] Translation: X:184.93, Y:123.00, Z:0.63 [[-9.35684540e-01 -3.52828626e-01 2.53050078e-03 1.84932906e+02] [ 3.52827424e-01 -9.35687961e-01 -9.21485187e-04 1.22999398e+02] [ 2.69288547e-03 3.06106288e-05 9.99996374e-01 6.26456536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30401273900003 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:184.97, Y:122.98, Z:0.63 [[-9.37559508e-01 -3.47815706e-01 2.53054444e-03 1.84965063e+02] [ 3.47814486e-01 -9.37562923e-01 -9.21365280e-04 1.22982060e+02] [ 2.69300996e-03 1.63252365e-05 9.99996374e-01 6.28643325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.334012739 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:184.95, Y:122.98, Z:0.63 [[-9.38463614e-01 -3.45368850e-01 2.53041466e-03 1.84952268e+02] [ 3.45367620e-01 -9.38467025e-01 -9.21721566e-04 1.22984596e+02] [ 2.69304464e-03 8.92113917e-06 9.99996374e-01 6.27516926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.364012739 meters Centerline goodness : 0.995215 Centerline is valid? [True, True] Translation: X:184.98, Y:122.97, Z:0.63 [[-9.39174894e-01 -3.43429925e-01 2.53075589e-03 1.84980495e+02] [ 3.43428691e-01 -9.39178304e-01 -9.20783712e-04 1.22973318e+02] [ 2.69305570e-03 4.35723695e-06 9.99996374e-01 6.25301676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.394012739 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:184.99, Y:122.97, Z:0.63 [[-9.40900752e-01 -3.38672955e-01 2.53062798e-03 1.84993126e+02] [ 3.38671702e-01 -9.40904156e-01 -9.21135125e-04 1.22970141e+02] [ 2.69304193e-03 -9.64464769e-06 9.99996374e-01 6.25865471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.424012739 meters Centerline goodness : 0.995077 Centerline is valid? [True, True] Translation: X:185.00, Y:122.97, Z:0.63 [[-9.43075916e-01 -3.32567906e-01 2.53058638e-03 1.84999472e+02] [ 3.32566631e-01 -9.43079311e-01 -9.21249395e-04 1.22969788e+02] [ 2.69292164e-03 -2.72195319e-05 9.99996374e-01 6.31950408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.454012739 meters Centerline goodness : 0.995222 Centerline is valid? [True, True] Translation: X:185.01, Y:122.96, Z:0.63 [[-9.43776858e-01 -3.30573498e-01 2.53091784e-03 1.85013576e+02] [ 3.30572218e-01 -9.43780251e-01 -9.20337878e-04 1.22964810e+02] [ 2.69286958e-03 -3.19424674e-05 9.99996374e-01 6.34214467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.484012739 meters Centerline goodness : 0.995134 Centerline is valid? [True, True] Translation: X:185.02, Y:122.96, Z:0.64 [[-9.44499594e-01 -3.28502834e-01 2.53087681e-03 1.85017135e+02] [ 3.28501547e-01 -9.44502984e-01 -9.20450680e-04 1.22963693e+02] [ 2.69279136e-03 -3.79683445e-05 9.99996374e-01 6.35163263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.514012739 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:185.02, Y:122.96, Z:0.63 [[-9.45023840e-01 -3.26991643e-01 2.53120391e-03 1.85018495e+02] [ 3.26990352e-01 -9.45027229e-01 -9.19550313e-04 1.22963711e+02] [ 2.69274188e-03 -4.13177112e-05 9.99996374e-01 6.32823485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.544012739 meters Centerline goodness : 0.995146 Centerline is valid? [True, True] Translation: X:185.02, Y:122.97, Z:0.63 [[-9.45402203e-01 -3.25896097e-01 2.53153068e-03 1.85015944e+02] [ 3.25894805e-01 -9.45405591e-01 -9.18649830e-04 1.22965440e+02] [ 2.69270765e-03 -4.34808772e-05 9.99996374e-01 6.28881477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.574012739 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:185.03, Y:122.96, Z:0.63 [[-9.45615253e-01 -3.25277394e-01 2.53185793e-03 1.85025213e+02] [ 3.25276102e-01 -9.45618641e-01 -9.17747005e-04 1.22963679e+02] [ 2.69269441e-03 -4.42826874e-05 9.99996374e-01 6.28482889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.604012739 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:185.02, Y:122.97, Z:0.63 [[-9.45974311e-01 -3.24231694e-01 2.53218476e-03 1.85024817e+02] [ 3.24230401e-01 -9.45977699e-01 -9.16844346e-04 1.22965306e+02] [ 2.69266031e-03 -4.62999177e-05 9.99996374e-01 6.28367070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.634012739 meters Centerline goodness : 0.992545 Centerline is valid? [True, True] Translation: X:185.04, Y:122.96, Z:0.64 [[-9.46320681e-01 -3.23219361e-01 2.53251092e-03 1.85041771e+02] [ 3.23218067e-01 -9.46324068e-01 -9.15942543e-04 1.22960610e+02] [ 2.69262640e-03 -4.82220864e-05 9.99996374e-01 6.36343414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.664012739 meters Centerline goodness : 0.994253 Centerline is valid? [True, True] Translation: X:185.05, Y:122.96, Z:0.63 [[-9.47392188e-01 -3.20065040e-01 2.53242974e-03 1.85047227e+02] [ 3.20063734e-01 -9.47395571e-01 -9.16166931e-04 1.22963199e+02] [ 2.69244573e-03 -5.74304741e-05 9.99996374e-01 6.29157582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.694012739 meters Centerline goodness : 0.994410 Centerline is valid? [True, True] Translation: X:185.05, Y:122.96, Z:0.62 [[-9.48026713e-01 -3.18180668e-01 2.53275163e-03 1.85048228e+02] [ 3.18179358e-01 -9.48030094e-01 -9.15276199e-04 1.22963981e+02] [ 2.69234796e-03 -6.18369984e-05 9.99996374e-01 6.23849223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.724012739 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:185.06, Y:122.96, Z:0.62 [[-9.48128248e-01 -3.17877979e-01 2.53307321e-03 1.85061291e+02] [ 3.17876670e-01 -9.48131629e-01 -9.14385354e-04 1.22959884e+02] [ 2.69234980e-03 -6.17497057e-05 9.99996374e-01 6.21381176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.754012739 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:185.05, Y:122.97, Z:0.62 [[-9.48234545e-01 -3.17560751e-01 2.53335315e-03 1.85049118e+02] [ 3.17559442e-01 -9.48237927e-01 -9.13609096e-04 1.22966261e+02] [ 2.69234793e-03 -6.18254909e-05 9.99996374e-01 6.19738638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.784012739 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:185.05, Y:122.97, Z:0.62 [[-9.48390899e-01 -3.17093493e-01 2.53367346e-03 1.85051316e+02] [ 3.17092186e-01 -9.48394281e-01 -9.12719932e-04 1.22968484e+02] [ 2.69233897e-03 -6.22072213e-05 9.99996374e-01 6.19275654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.814012739 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:185.04, Y:122.98, Z:0.62 [[-9.48004151e-01 -3.18247872e-01 2.53399532e-03 1.85042576e+02] [ 3.18246571e-01 -9.48007536e-01 -9.11825484e-04 1.22975638e+02] [ 2.69243318e-03 -5.79790247e-05 9.99996374e-01 6.18859443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.844012739 meters Centerline goodness : 0.993899 Centerline is valid? [True, True] Translation: X:185.06, Y:122.97, Z:0.62 [[-9.46762843e-01 -3.21921878e-01 2.53431849e-03 1.85057904e+02] [ 3.21920593e-01 -9.46766234e-01 -9.10926375e-04 1.22971358e+02] [ 2.69265430e-03 -4.65819343e-05 9.99996374e-01 6.19453306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.874012739 meters Centerline goodness : 0.993939 Centerline is valid? [True, True] Translation: X:185.03, Y:122.98, Z:0.62 [[-9.46176779e-01 -3.23640355e-01 2.53435875e-03 1.85029803e+02] [ 3.23639076e-01 -9.46180173e-01 -9.10814336e-04 1.22982553e+02] [ 2.69273628e-03 -4.15738496e-05 9.99996374e-01 6.21462004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.904012739 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:185.01, Y:122.99, Z:0.62 [[-9.45731669e-01 -3.24938743e-01 2.53468332e-03 1.85014226e+02] [ 3.24937471e-01 -9.45735065e-01 -9.09910222e-04 1.22989152e+02] [ 2.69280397e-03 -3.69173268e-05 9.99996374e-01 6.23012166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.934012739 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:185.03, Y:122.98, Z:0.62 [[-9.44749504e-01 -3.27783388e-01 2.53501338e-03 1.85030934e+02] [ 3.27782129e-01 -9.44752904e-01 -9.08989739e-04 1.22984325e+02] [ 2.69291299e-03 -2.78355242e-05 9.99996374e-01 6.24947233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.964012739 meters Centerline goodness : 0.994494 Centerline is valid? [True, True] Translation: X:185.02, Y:122.99, Z:0.63 [[-9.44458883e-01 -3.28619829e-01 2.53497225e-03 1.85017260e+02] [ 3.28618573e-01 -9.44462285e-01 -9.09104421e-04 1.22989203e+02] [ 2.69293542e-03 -2.55727828e-05 9.99996374e-01 6.25783225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.994012739 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:185.03, Y:122.98, Z:0.63 [[-9.43648851e-01 -3.30938692e-01 2.53530202e-03 1.85032730e+02] [ 3.30937446e-01 -9.43652257e-01 -9.08183833e-04 1.22984131e+02] [ 2.69299664e-03 -1.79802545e-05 9.99996374e-01 6.26880906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.024012739 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:185.03, Y:122.99, Z:0.63 [[-9.43345256e-01 -3.31803103e-01 2.53530202e-03 1.85029728e+02] [ 3.31801861e-01 -9.43348663e-01 -9.08183833e-04 1.22985078e+02] [ 2.69301198e-03 -1.55129832e-05 9.99996374e-01 6.28406759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05401273900003 meters Centerline goodness : 0.994275 Centerline is valid? [True, True] Translation: X:185.03, Y:122.99, Z:0.63 [[-9.42966084e-01 -3.32879159e-01 2.53563032e-03 1.85027160e+02] [ 3.32877923e-01 -9.42969493e-01 -9.07266307e-04 1.22985355e+02] [ 2.69303208e-03 -1.14660043e-05 9.99996374e-01 6.28041063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.084012739 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:185.02, Y:122.99, Z:0.63 [[-9.42425474e-01 -3.34406630e-01 2.53595957e-03 1.85017438e+02] [ 3.34405402e-01 -9.42428886e-01 -9.06345053e-04 1.22985656e+02] [ 2.69304935e-03 -6.12408751e-06 9.99996374e-01 6.27634349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.114012739 meters Centerline goodness : 0.995158 Centerline is valid? [True, True] Translation: X:185.03, Y:122.98, Z:0.63 [[-9.42423416e-01 -3.34412429e-01 2.53629042e-03 1.85032556e+02] [ 3.34411203e-01 -9.42426829e-01 -9.05418267e-04 1.22978928e+02] [ 2.69305126e-03 -5.12344681e-06 9.99996374e-01 6.27223131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.144012739 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:185.02, Y:122.98, Z:0.63 [[-9.42881724e-01 -3.33118030e-01 2.53624929e-03 1.85019309e+02] [ 3.33116800e-01 -9.42885135e-01 -9.05533466e-04 1.22981752e+02] [ 2.69304128e-03 -8.94370948e-06 9.99996374e-01 6.29442162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.174012739 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:185.04, Y:122.97, Z:0.63 [[-9.42941817e-01 -3.32947888e-01 2.53657906e-03 1.85037933e+02] [ 3.32946659e-01 -9.42945228e-01 -9.04608779e-04 1.22973657e+02] [ 2.69304270e-03 -8.44792325e-06 9.99996374e-01 6.30437166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.204012739 meters Centerline goodness : 0.994201 Centerline is valid? [True, True] Translation: X:185.02, Y:122.98, Z:0.63 [[-9.42926291e-01 -3.32991857e-01 2.53649666e-03 1.85019915e+02] [ 3.32990627e-01 -9.42929702e-01 -9.04839749e-04 1.22976997e+02] [ 2.69304231e-03 -8.56757368e-06 9.99996374e-01 6.28244054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.234012739 meters Centerline goodness : 0.994499 Centerline is valid? [True, True] Translation: X:185.01, Y:122.98, Z:0.63 [[-9.42968886e-01 -3.32871214e-01 2.53682535e-03 1.85013170e+02] [ 3.32869987e-01 -9.42972298e-01 -9.03917302e-04 1.22978163e+02] [ 2.69304408e-03 -7.93287213e-06 9.99996374e-01 6.25615162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.264012739 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:185.01, Y:122.98, Z:0.62 [[-9.43081141e-01 -3.32553041e-01 2.53715715e-03 1.85012889e+02] [ 3.32551815e-01 -9.43084554e-01 -9.02985022e-04 1.22976705e+02] [ 2.69304413e-03 -7.85192973e-06 9.99996374e-01 6.22919019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.294012739 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:185.04, Y:122.96, Z:0.62 [[-9.43374045e-01 -3.31721228e-01 2.53748988e-03 1.85041057e+02] [ 3.31720002e-01 -9.43377457e-01 -9.02049034e-04 1.22963456e+02] [ 2.69303957e-03 -9.23349661e-06 9.99996374e-01 6.24478016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.324012739 meters Centerline goodness : 0.994332 Centerline is valid? [True, True] Translation: X:185.04, Y:122.96, Z:0.63 [[-9.43979895e-01 -3.29993211e-01 2.53736574e-03 1.85035756e+02] [ 3.29991977e-01 -9.43983305e-01 -9.02398109e-04 1.22963236e+02] [ 2.69301614e-03 -1.45353366e-05 9.99996374e-01 6.27520389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.354012739 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:185.05, Y:122.96, Z:0.63 [[-9.44223937e-01 -3.29294271e-01 2.53769173e-03 1.85045957e+02] [ 3.29293038e-01 -9.44227347e-01 -9.01480418e-04 1.22960427e+02] [ 2.69301027e-03 -1.55551694e-05 9.99996374e-01 6.26643152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.384012739 meters Centerline goodness : 0.994483 Centerline is valid? [True, True] Translation: X:185.05, Y:122.96, Z:0.62 [[-9.44492642e-01 -3.28522765e-01 2.53801730e-03 1.85047753e+02] [ 3.28521531e-01 -9.44496052e-01 -9.00562900e-04 1.22960383e+02] [ 2.69300273e-03 -1.67817044e-05 9.99996374e-01 6.23692851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.414012739 meters Centerline goodness : 0.994465 Centerline is valid? [True, True] Translation: X:185.04, Y:122.96, Z:0.62 [[-9.44764815e-01 -3.27739227e-01 2.53834171e-03 1.85039760e+02] [ 3.27737993e-01 -9.44768225e-01 -8.99647556e-04 1.22962770e+02] [ 2.69299439e-03 -1.80443392e-05 9.99996374e-01 6.21825063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.444012739 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:185.05, Y:122.95, Z:0.62 [[-9.44646200e-01 -3.28080954e-01 2.53866718e-03 1.85052472e+02] [ 3.28079723e-01 -9.44649611e-01 -8.98728216e-04 1.22954287e+02] [ 2.69300657e-03 -1.60949691e-05 9.99996374e-01 6.21640028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.474012739 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:185.04, Y:122.96, Z:0.63 [[-9.44840283e-01 -3.27521594e-01 2.53862670e-03 1.85039694e+02] [ 3.27520361e-01 -9.44843694e-01 -8.98842531e-04 1.22958618e+02] [ 2.69299577e-03 -1.78106989e-05 9.99996374e-01 6.27194064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.504012739 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:185.05, Y:122.96, Z:0.63 [[-9.45002072e-01 -3.27054487e-01 2.53895141e-03 1.85051760e+02] [ 3.27053255e-01 -9.45005483e-01 -8.97924385e-04 1.22955962e+02] [ 2.69299320e-03 -1.81680815e-05 9.99996374e-01 6.27921691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.534012739 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:185.05, Y:122.96, Z:0.63 [[-9.45120114e-01 -3.26713210e-01 2.53927645e-03 1.85054186e+02] [ 3.26711979e-01 -9.45123525e-01 -8.97004241e-04 1.22955184e+02] [ 2.69299305e-03 -1.81647150e-05 9.99996374e-01 6.27914916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.564012739 meters Centerline goodness : 0.994582 Centerline is valid? [True, True] Translation: X:185.06, Y:122.95, Z:0.63 [[-9.45352278e-01 -3.26040826e-01 2.53960004e-03 1.85061923e+02] [ 3.26039595e-01 -9.45355689e-01 -8.96087154e-04 1.22953240e+02] [ 2.69298635e-03 -1.91078613e-05 9.99996374e-01 6.26617187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.594012739 meters Centerline goodness : 0.994760 Centerline is valid? [True, True] Translation: X:185.06, Y:122.95, Z:0.62 [[-9.45640164e-01 -3.25204902e-01 2.53992275e-03 1.85061718e+02] [ 3.25203670e-01 -9.45643575e-01 -8.95171529e-04 1.22953067e+02] [ 2.69297580e-03 -2.05179516e-05 9.99996374e-01 6.24675198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.624012739 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:185.07, Y:122.95, Z:0.63 [[-9.46117490e-01 -3.23813591e-01 2.54024482e-03 1.85072970e+02] [ 3.23812357e-01 -9.46120900e-01 -8.94256653e-04 1.22948613e+02] [ 2.69295117e-03 -2.35091988e-05 9.99996374e-01 6.25668675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.654012739 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:185.08, Y:122.95, Z:0.63 [[-9.46436192e-01 -3.22880908e-01 2.54056576e-03 1.85075664e+02] [ 3.22879673e-01 -9.46439601e-01 -8.93343938e-04 1.22949385e+02] [ 2.69293574e-03 -2.51959929e-05 9.99996374e-01 6.29522736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.684012739 meters Centerline goodness : 0.995441 Centerline is valid? [True, True] Translation: X:185.08, Y:122.95, Z:0.63 [[-9.46496109e-01 -3.22705221e-01 2.54088537e-03 1.85075455e+02] [ 3.22703988e-01 -9.46499519e-01 -8.92433945e-04 1.22948845e+02] [ 2.69293988e-03 -2.47314132e-05 9.99996374e-01 6.30268177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.714012739 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:185.07, Y:122.95, Z:0.63 [[-9.46494696e-01 -3.22709363e-01 2.54120501e-03 1.85065600e+02] [ 3.22708133e-01 -9.46498107e-01 -8.91522850e-04 1.22951249e+02] [ 2.69294850e-03 -2.37541248e-05 9.99996374e-01 6.29346269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.744012739 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:185.08, Y:122.95, Z:0.63 [[-9.46285093e-01 -3.23323467e-01 2.54152597e-03 1.85081258e+02] [ 3.23322241e-01 -9.46288505e-01 -8.90606936e-04 1.22945129e+02] [ 2.69297093e-03 -2.10361957e-05 9.99996374e-01 6.25692917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.774012739 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:185.07, Y:122.95, Z:0.62 [[-9.46490498e-01 -3.22721673e-01 2.54144581e-03 1.85070689e+02] [ 3.22720444e-01 -9.46493910e-01 -8.90835605e-04 1.22949785e+02] [ 2.69295494e-03 -2.29909133e-05 9.99996374e-01 6.24336190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80401273900003 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:185.10, Y:122.94, Z:0.63 [[-9.47707206e-01 -3.19130993e-01 2.54176542e-03 1.85098930e+02] [ 3.19129754e-01 -9.47710614e-01 -8.89922746e-04 1.22942500e+02] [ 2.69286000e-03 -3.22332264e-05 9.99996374e-01 6.25420628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.834012739 meters Centerline goodness : 0.995085 Centerline is valid? [True, True] Translation: X:185.10, Y:122.94, Z:0.63 [[-9.48727864e-01 -3.16083820e-01 2.54164561e-03 1.85099216e+02] [ 3.16082568e-01 -9.48731267e-01 -8.90264803e-04 1.22943377e+02] [ 2.69273696e-03 -4.12491526e-05 9.99996374e-01 6.26869184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.864012739 meters Centerline goodness : 0.995053 Centerline is valid? [True, True] Translation: X:185.12, Y:122.94, Z:0.63 [[-9.49554864e-01 -3.13590655e-01 2.54195997e-03 1.85115147e+02] [ 3.13589398e-01 -9.49558265e-01 -8.89366306e-04 1.22938774e+02] [ 2.69263606e-03 -4.73704053e-05 9.99996374e-01 6.26291517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.894012739 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:185.11, Y:122.94, Z:0.62 [[-9.50754794e-01 -3.09933638e-01 2.54192101e-03 1.85111331e+02] [ 3.09932367e-01 -9.50758191e-01 -8.89477646e-04 1.22943471e+02] [ 2.69243126e-03 -5.78515414e-05 9.99996374e-01 6.22409928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.924012739 meters Centerline goodness : 0.995031 Centerline is valid? [True, True] Translation: X:185.13, Y:122.94, Z:0.62 [[-9.51176785e-01 -3.08636129e-01 2.54223256e-03 1.85125196e+02] [ 3.08634856e-01 -9.51180181e-01 -8.88586299e-04 1.22940571e+02] [ 2.69237106e-03 -6.05810782e-05 9.99996374e-01 6.20190709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.954012739 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:185.11, Y:122.95, Z:0.62 [[-9.51411414e-01 -3.07912092e-01 2.54250422e-03 1.85111404e+02] [ 3.07910819e-01 -9.51414809e-01 -8.87808323e-04 1.22946874e+02] [ 2.69234309e-03 -6.18064161e-05 9.99996374e-01 6.19486395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.984012739 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:185.12, Y:122.94, Z:0.62 [[-9.51244345e-01 -3.08427837e-01 2.54281519e-03 1.85123000e+02] [ 3.08426567e-01 -9.51247742e-01 -8.86916772e-04 1.22944865e+02] [ 2.69239703e-03 -5.94028049e-05 9.99996374e-01 6.23476447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.014012739 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:185.13, Y:122.94, Z:0.62 [[-9.50671330e-01 -3.10189546e-01 2.54312679e-03 1.85132213e+02] [ 3.10188285e-01 -9.50674730e-01 -8.86022391e-04 1.22944562e+02] [ 2.69252126e-03 -5.34679486e-05 9.99996374e-01 6.23932274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.044012739 meters Centerline goodness : 0.995326 Centerline is valid? [True, True] Translation: X:185.12, Y:122.95, Z:0.62 [[-9.50477836e-01 -3.10781941e-01 2.54343652e-03 1.85124960e+02] [ 3.10780684e-01 -9.50481238e-01 -8.85132385e-04 1.22948471e+02] [ 2.69257185e-03 -5.08477726e-05 9.99996374e-01 6.21709523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.074012739 meters Centerline goodness : 0.995416 Centerline is valid? [True, True] Translation: X:185.11, Y:122.96, Z:0.62 [[-9.50393434e-01 -3.11039948e-01 2.54374631e-03 1.85106322e+02] [ 3.11038695e-01 -9.50396837e-01 -8.84241179e-04 1.22956312e+02] [ 2.69260278e-03 -4.91734768e-05 9.99996374e-01 6.20253207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.104012739 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:185.12, Y:122.95, Z:0.62 [[-9.50557585e-01 -3.10537929e-01 2.54405927e-03 1.85116195e+02] [ 3.10536677e-01 -9.50560988e-01 -8.83339862e-04 1.22953395e+02] [ 2.69259402e-03 -4.96416966e-05 9.99996374e-01 6.20143221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.134012739 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:185.12, Y:122.95, Z:0.62 [[-9.50951367e-01 -3.09329959e-01 2.54437349e-03 1.85120002e+02] [ 3.09328704e-01 -9.50954770e-01 -8.82433835e-04 1.22953180e+02] [ 2.69254733e-03 -5.21039065e-05 9.99996374e-01 6.23000481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.164012739 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:185.14, Y:122.95, Z:0.62 [[-9.51118279e-01 -3.08816360e-01 2.54468643e-03 1.85137567e+02] [ 3.08815106e-01 -9.51121682e-01 -8.81530488e-04 1.22947560e+02] [ 2.69253747e-03 -5.26021498e-05 9.99996374e-01 6.23908777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.194012739 meters Centerline goodness : 0.995037 Centerline is valid? [True, True] Translation: X:185.13, Y:122.95, Z:0.62 [[-9.51441670e-01 -3.07818572e-01 2.54464769e-03 1.85127237e+02] [ 3.07817314e-01 -9.51445071e-01 -8.81642307e-04 1.22951246e+02] [ 2.69247838e-03 -5.55446125e-05 9.99996374e-01 6.23771020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.224012739 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:185.12, Y:122.95, Z:0.62 [[-9.52613308e-01 -3.04173320e-01 2.54495762e-03 1.85121796e+02] [ 3.04172051e-01 -9.52616705e-01 -8.80746731e-04 1.22953959e+02] [ 2.69226880e-03 -6.49060763e-05 9.99996374e-01 6.21603324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.254012739 meters Centerline goodness : 0.995637 Centerline is valid? [True, True] Translation: X:185.15, Y:122.95, Z:0.62 [[-9.53375764e-01 -3.01775039e-01 2.54526953e-03 1.85151971e+02] [ 3.01773765e-01 -9.53379159e-01 -8.79844426e-04 1.22945020e+02] [ 2.69212201e-03 -7.07267821e-05 9.99996374e-01 6.21803743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.284012739 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:185.17, Y:122.94, Z:0.62 [[-9.55470839e-01 -2.95074563e-01 2.54515287e-03 1.85165060e+02] [ 2.95073264e-01 -9.55474225e-01 -8.80181753e-04 1.22944779e+02] [ 2.69154722e-03 -8.99814325e-05 9.99996374e-01 6.21464927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.314012739 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:185.18, Y:122.94, Z:0.62 [[-9.56454389e-01 -2.91870728e-01 2.54545751e-03 1.85180497e+02] [ 2.91869420e-01 -9.56457772e-01 -8.79299881e-04 1.22941556e+02] [ 2.69126451e-03 -9.80690256e-05 9.99996374e-01 6.20706007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.344012739 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:185.19, Y:122.94, Z:0.62 [[-9.57720721e-01 -2.87688267e-01 2.54575952e-03 1.85187938e+02] [ 2.87686947e-01 -9.57724099e-01 -8.78424613e-04 1.22944333e+02] [ 2.69084770e-03 -1.08903671e-04 9.99996374e-01 6.21014534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.374012739 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:185.20, Y:122.94, Z:0.62 [[-9.58182604e-01 -2.86146144e-01 2.54605958e-03 1.85196013e+02] [ 2.86144820e-01 -9.58185980e-01 -8.77554053e-04 1.22944677e+02] [ 2.69070730e-03 -1.12315266e-04 9.99996374e-01 6.24303588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.404012739 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:185.20, Y:122.95, Z:0.63 [[-9.58738570e-01 -2.84277804e-01 2.54635854e-03 1.85200843e+02] [ 2.84276476e-01 -9.58741945e-01 -8.76685707e-04 1.22949032e+02] [ 2.69052303e-03 -1.16642569e-04 9.99996374e-01 6.28190752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.434012739 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:185.19, Y:122.95, Z:0.63 [[-9.58919282e-01 -2.83667630e-01 2.54665663e-03 1.85193732e+02] [ 2.83666302e-01 -9.58922657e-01 -8.75818929e-04 1.22954746e+02] [ 2.69048823e-03 -1.17438988e-04 9.99996374e-01 6.27828457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.464012739 meters Centerline goodness : 0.996134 Centerline is valid? [True, True] Translation: X:185.21, Y:122.95, Z:0.63 [[-9.59134127e-01 -2.82940346e-01 2.54695549e-03 1.85212316e+02] [ 2.82939018e-01 -9.59137501e-01 -8.74948963e-04 1.22952973e+02] [ 2.69043889e-03 -1.18560323e-04 9.99996374e-01 6.26128269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.494012739 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:185.23, Y:122.96, Z:0.62 [[-9.59915538e-01 -2.80277848e-01 2.54725357e-03 1.85225825e+02] [ 2.80276513e-01 -9.59918909e-01 -8.74080312e-04 1.22959174e+02] [ 2.69014221e-03 -1.25107924e-04 9.99996374e-01 6.23293052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.524012739 meters Centerline goodness : 0.995989 Centerline is valid? [True, True] Translation: X:185.22, Y:122.97, Z:0.62 [[-9.60609373e-01 -2.77890524e-01 2.54754903e-03 1.85217232e+02] [ 2.77889182e-01 -9.60612742e-01 -8.73218321e-04 1.22967206e+02] [ 2.68986715e-03 -1.30885387e-04 9.99996374e-01 6.21579942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55401273900003 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:185.24, Y:122.97, Z:0.62 [[-9.61847571e-01 -2.73574048e-01 2.54784468e-03 1.85241465e+02] [ 2.73572694e-01 -9.61850935e-01 -8.72354835e-04 1.22969353e+02] [ 2.68930043e-03 -1.42051647e-04 9.99996374e-01 6.18986060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.584012739 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:185.22, Y:122.98, Z:0.62 [[-9.62400858e-01 -2.71621236e-01 2.54813947e-03 1.85219025e+02] [ 2.71619877e-01 -9.62404220e-01 -8.71492899e-04 1.22983151e+02] [ 2.68905616e-03 -1.46600184e-04 9.99996374e-01 6.19627013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.614012739 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:185.16, Y:123.02, Z:0.62 [[-9.62872806e-01 -2.69943448e-01 2.54843475e-03 1.85159860e+02] [ 2.69942086e-01 -9.62876167e-01 -8.70628582e-04 1.23016461e+02] [ 2.68884756e-03 -1.50374795e-04 9.99996374e-01 6.21699690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.644012739 meters Centerline goodness : 0.995960 Centerline is valid? [True, True] Translation: X:185.23, Y:123.00, Z:0.62 [[-9.62585799e-01 -2.70965096e-01 2.54881112e-03 1.85228665e+02] [ 2.70963740e-01 -9.62589162e-01 -8.69525650e-04 1.22998983e+02] [ 2.68906907e-03 -1.46357647e-04 9.99996374e-01 6.20934744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.674012739 meters Centerline goodness : 0.996199 Centerline is valid? [True, True] Translation: X:185.23, Y:123.00, Z:0.62 [[-9.62274238e-01 -2.72069469e-01 2.54843506e-03 1.85234294e+02] [ 2.72068114e-01 -9.62277602e-01 -8.70626430e-04 1.23003062e+02] [ 2.68917285e-03 -1.44433463e-04 9.99996374e-01 6.22092631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.704012739 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:185.22, Y:123.02, Z:0.63 [[-9.61070780e-01 -2.76290534e-01 2.54873184e-03 1.85221616e+02] [ 2.76289196e-01 -9.61074151e-01 -8.69756756e-04 1.23018835e+02] [ 2.68982585e-03 -1.31710733e-04 9.99996374e-01 6.25620136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.734012739 meters Centerline goodness : 0.996163 Centerline is valid? [True, True] Translation: X:185.21, Y:123.03, Z:0.62 [[-9.60274103e-01 -2.79046859e-01 2.54903008e-03 1.85210588e+02] [ 2.79045534e-01 -9.60277478e-01 -8.68881800e-04 1.23027602e+02] [ 2.69023492e-03 -1.23069231e-04 9.99996374e-01 6.24407967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.764012739 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:185.18, Y:123.05, Z:0.62 [[-9.58404434e-01 -2.85402244e-01 2.54933157e-03 1.85181243e+02] [ 2.85400943e-01 -9.58407819e-01 -8.67996316e-04 1.23046522e+02] [ 2.69102741e-03 -1.04309882e-04 9.99996374e-01 6.19122404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.794012739 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:185.19, Y:123.05, Z:0.62 [[-9.57561085e-01 -2.88219133e-01 2.54963806e-03 1.85185321e+02] [ 2.88217845e-01 -9.57564474e-01 -8.67095105e-04 1.23049332e+02] [ 2.69135623e-03 -9.54453418e-05 9.99996374e-01 6.18287565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.824012739 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:185.18, Y:123.06, Z:0.62 [[-9.55804718e-01 -2.93991221e-01 2.54994799e-03 1.85181100e+02] [ 2.93989956e-01 -9.55808117e-01 -8.66182723e-04 1.23058751e+02] [ 2.69191110e-03 -7.82424385e-05 9.99996374e-01 6.22733612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.854012739 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:185.17, Y:123.07, Z:0.63 [[-9.54975193e-01 -2.96674700e-01 2.55025855e-03 1.85168288e+02] [ 2.96673446e-01 -9.54978596e-01 -8.65267389e-04 1.23066534e+02] [ 2.69214527e-03 -6.97149003e-05 9.99996374e-01 6.25854874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.884012739 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:185.17, Y:123.07, Z:0.63 [[-9.54107177e-01 -2.99454488e-01 2.55057156e-03 1.85171192e+02] [ 2.99453247e-01 -9.54110584e-01 -8.64343738e-04 1.23068437e+02] [ 2.69235893e-03 -6.08996301e-05 9.99996374e-01 6.28364745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.914012739 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:185.14, Y:123.08, Z:0.63 [[-9.52234432e-01 -3.05357299e-01 2.55088616e-03 1.85144306e+02] [ 3.05356081e-01 -9.52237848e-01 -8.63414268e-04 1.23080593e+02] [ 2.69270019e-03 -4.32441936e-05 9.99996374e-01 6.28241287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.944012739 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:185.13, Y:123.09, Z:0.63 [[-9.51450232e-01 -3.07792053e-01 2.55120399e-03 1.85130634e+02] [ 3.07790847e-01 -9.51453651e-01 -8.62474131e-04 1.23086602e+02] [ 2.69281503e-03 -3.53639762e-05 9.99996374e-01 6.26239296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.974012739 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:185.13, Y:123.09, Z:0.62 [[-9.50693655e-01 -3.10121048e-01 2.55152704e-03 1.85132167e+02] [ 3.10119853e-01 -9.50697078e-01 -8.61517348e-04 1.23089425e+02] [ 2.69290397e-03 -2.77598849e-05 9.99996374e-01 6.23523217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.004012739 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:185.14, Y:123.09, Z:0.62 [[-9.50596637e-01 -3.10418303e-01 2.55185206e-03 1.85137777e+02] [ 3.10417111e-01 -9.50600061e-01 -8.60553540e-04 1.23088906e+02] [ 2.69292230e-03 -2.59007559e-05 9.99996374e-01 6.24562524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.034012739 meters Centerline goodness : 0.995700 Centerline is valid? [True, True] Translation: X:185.14, Y:123.09, Z:0.63 [[-9.49868682e-01 -3.12638726e-01 2.55217657e-03 1.85139568e+02] [ 3.12637544e-01 -9.49872111e-01 -8.59590075e-04 1.23088337e+02] [ 2.69298249e-03 -1.85914775e-05 9.99996374e-01 6.26319677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.064012739 meters Centerline goodness : 0.995377 Centerline is valid? [True, True] Translation: X:185.12, Y:123.09, Z:0.62 [[-9.49301958e-01 -3.14355335e-01 2.55250038e-03 1.85121881e+02] [ 3.14354163e-01 -9.49305390e-01 -8.58627441e-04 1.23093773e+02] [ 2.69301649e-03 -1.27075900e-05 9.99996374e-01 6.24699791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.094012739 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:185.11, Y:123.10, Z:0.62 [[-9.48603929e-01 -3.16455476e-01 2.55282640e-03 1.85111431e+02] [ 3.16454314e-01 -9.48607364e-01 -8.57657054e-04 1.23096868e+02] [ 2.69304019e-03 -5.72392442e-06 9.99996374e-01 6.23675079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.124012739 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:185.13, Y:123.09, Z:0.62 [[-9.47029961e-01 -3.21135072e-01 2.55315612e-03 1.85131402e+02] [ 3.21133930e-01 -9.47033403e-01 -8.56674383e-04 1.23088822e+02] [ 2.69303232e-03 8.60875026e-06 9.99996374e-01 6.24376805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.154012739 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:185.16, Y:123.08, Z:0.62 [[-9.46274486e-01 -3.23354415e-01 2.55348486e-03 1.85156137e+02] [ 3.23353283e-01 -9.46277931e-01 -8.55693388e-04 1.23079838e+02] [ 2.69299860e-03 1.59568913e-05 9.99996374e-01 6.22851124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.184012739 meters Centerline goodness : 0.995577 Centerline is valid? [True, True] Translation: X:185.15, Y:123.08, Z:0.62 [[-9.44817191e-01 -3.27588087e-01 2.55380811e-03 1.85153574e+02] [ 3.27586973e-01 -9.44820642e-01 -8.54727566e-04 1.23079791e+02] [ 2.69288918e-03 2.90329698e-05 9.99996374e-01 6.20113550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.214012739 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:185.16, Y:123.08, Z:0.62 [[-9.44224860e-01 -3.29291498e-01 2.55412883e-03 1.85155957e+02] [ 3.29290393e-01 -9.44228314e-01 -8.53768089e-04 1.23078840e+02] [ 2.69281933e-03 3.49010319e-05 9.99996374e-01 6.19616432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.244012739 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:185.16, Y:123.07, Z:0.62 [[-9.43558265e-01 -3.31196732e-01 2.55444977e-03 1.85164347e+02] [ 3.31195637e-01 -9.43561722e-01 -8.52806768e-04 1.23073336e+02] [ 2.69272784e-03 4.13497440e-05 9.99996374e-01 6.21756379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.274012739 meters Centerline goodness : 0.995431 Centerline is valid? [True, True] Translation: X:185.18, Y:123.07, Z:0.62 [[-9.43539453e-01 -3.31250319e-01 2.55476941e-03 1.85181621e+02] [ 3.31249227e-01 -9.43542911e-01 -8.51848140e-04 1.23065141e+02] [ 2.69270953e-03 4.25130632e-05 9.99996374e-01 6.22460006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30401273900003 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:185.16, Y:123.07, Z:0.62 [[-9.43568258e-01 -3.31168257e-01 2.55508606e-03 1.85163374e+02] [ 3.31167167e-01 -9.43571716e-01 -8.50897288e-04 1.23068747e+02] [ 2.69269711e-03 4.32809401e-05 9.99996374e-01 6.21849991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.334012739 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:185.18, Y:123.06, Z:0.62 [[-9.43757456e-01 -3.30628694e-01 2.55540282e-03 1.85178880e+02] [ 3.30627604e-01 -9.43760915e-01 -8.49944936e-04 1.23059918e+02] [ 2.69270549e-03 4.27448426e-05 9.99996374e-01 6.19054415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.364012739 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:185.16, Y:123.06, Z:0.62 [[-9.44104224e-01 -3.29637199e-01 2.55571989e-03 1.85164654e+02] [ 3.29636108e-01 -9.44107682e-01 -8.48990456e-04 1.23063170e+02] [ 2.69273362e-03 4.09220822e-05 9.99996374e-01 6.19129088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.394012739 meters Centerline goodness : 0.994539 Centerline is valid? [True, True] Translation: X:185.17, Y:123.06, Z:0.62 [[-9.44228109e-01 -3.29282165e-01 2.55603686e-03 1.85167048e+02] [ 3.29281075e-01 -9.44231568e-01 -8.48035090e-04 1.23062454e+02] [ 2.69273352e-03 4.09159964e-05 9.99996374e-01 6.19122313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.424012739 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:185.16, Y:123.06, Z:0.62 [[-9.45416432e-01 -3.25854623e-01 2.55635539e-03 1.85159385e+02] [ 3.25853523e-01 -9.45419888e-01 -8.47073830e-04 1.23061813e+02] [ 2.69285214e-03 3.21598910e-05 9.99996374e-01 6.21635483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.454012739 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:185.16, Y:123.06, Z:0.62 [[-9.46618295e-01 -3.22346503e-01 2.55667469e-03 1.85157210e+02] [ 3.22345393e-01 -9.46621747e-01 -8.46108985e-04 1.23061782e+02] [ 2.69294414e-03 2.31900643e-05 9.99996374e-01 6.21527254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.484012739 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:185.14, Y:123.07, Z:0.62 [[-9.49410805e-01 -3.14026408e-01 2.55699526e-03 1.85144361e+02] [ 3.14025271e-01 -9.49414248e-01 -8.45139096e-04 1.23067510e+02] [ 2.69304373e-03 5.76939043e-07 9.99996374e-01 6.22663019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.514012739 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:185.16, Y:123.06, Z:0.62 [[-9.50688533e-01 -3.10136702e-01 2.55731790e-03 1.85160778e+02] [ 3.10135554e-01 -9.50691972e-01 -8.44161679e-04 1.23062402e+02] [ 2.69302712e-03 -9.41962520e-06 9.99996374e-01 6.24304388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.544012739 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:185.17, Y:123.06, Z:0.63 [[-9.51702981e-01 -3.07009600e-01 2.55764044e-03 1.85166611e+02] [ 3.07008443e-01 -9.51706417e-01 -8.43183335e-04 1.23060629e+02] [ 2.69298819e-03 -1.72428852e-05 9.99996374e-01 6.26465126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.574012739 meters Centerline goodness : 0.994518 Centerline is valid? [True, True] Translation: X:185.17, Y:123.06, Z:0.62 [[-9.52660623e-01 -3.04024991e-01 2.55796037e-03 1.85168760e+02] [ 3.04023825e-01 -9.52664057e-01 -8.42211642e-04 1.23062457e+02] [ 2.69293029e-03 -2.46609724e-05 9.99996374e-01 6.24057426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.604012739 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:185.18, Y:123.07, Z:0.62 [[-9.52842855e-01 -3.03453372e-01 2.55827967e-03 1.85175460e+02] [ 3.03452207e-01 -9.52846289e-01 -8.41240622e-04 1.23065038e+02] [ 2.69292459e-03 -2.52545041e-05 9.99996374e-01 6.20807426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.634012739 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:185.17, Y:123.07, Z:0.62 [[-9.52682258e-01 -3.03957182e-01 2.55859839e-03 1.85174658e+02] [ 3.03956021e-01 -9.52685694e-01 -8.40270125e-04 1.23067072e+02] [ 2.69294622e-03 -2.28090537e-05 9.99996374e-01 6.20985008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.664012739 meters Centerline goodness : 0.994794 Centerline is valid? [True, True] Translation: X:185.17, Y:123.07, Z:0.62 [[-9.52242162e-01 -3.05333124e-01 2.55891685e-03 1.85169848e+02] [ 3.05331971e-01 -9.52245600e-01 -8.39299185e-04 1.23069683e+02] [ 2.69298315e-03 -1.78969449e-05 9.99996374e-01 6.23075350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.694012739 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:185.17, Y:123.07, Z:0.63 [[-9.50794910e-01 -3.09810407e-01 2.55923620e-03 1.85165509e+02] [ 3.09809273e-01 -9.50798355e-01 -8.38324268e-04 1.23072858e+02] [ 2.69303915e-03 -4.19934027e-06 9.99996374e-01 6.25838592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.724012739 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:185.17, Y:123.07, Z:0.63 [[-9.49224086e-01 -3.14590341e-01 2.55955708e-03 1.85174698e+02] [ 3.14589227e-01 -9.49227537e-01 -8.37343398e-04 1.23073433e+02] [ 2.69302221e-03 1.03825623e-05 9.99996374e-01 6.28321934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.754012739 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:185.19, Y:123.07, Z:0.63 [[-9.48603260e-01 -3.16457426e-01 2.55987770e-03 1.85189212e+02] [ 3.16456322e-01 -9.48606714e-01 -8.36362077e-04 1.23069824e+02] [ 2.69299016e-03 1.67136882e-05 9.99996374e-01 6.26692469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.784012739 meters Centerline goodness : 0.994923 Centerline is valid? [True, True] Translation: X:185.20, Y:123.07, Z:0.62 [[-9.47960330e-01 -3.18378169e-01 2.56019583e-03 1.85198002e+02] [ 3.18377074e-01 -9.47963787e-01 -8.35387119e-04 1.23066486e+02] [ 2.69294195e-03 2.31938066e-05 9.99996374e-01 6.24610375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.814012739 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:185.20, Y:123.06, Z:0.62 [[-9.45938043e-01 -3.24337266e-01 2.56051140e-03 1.85204799e+02] [ 3.24336195e-01 -9.45941508e-01 -8.34418762e-04 1.23062334e+02] [ 2.69272711e-03 4.11580721e-05 9.99996374e-01 6.22325185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.844012739 meters Centerline goodness : 0.994495 Centerline is valid? [True, True] Translation: X:185.22, Y:123.06, Z:0.62 [[-9.45119394e-01 -3.26715127e-01 2.56082526e-03 1.85215704e+02] [ 3.26714067e-01 -9.45122862e-01 -8.33454407e-04 1.23058422e+02] [ 2.69259666e-03 4.89437121e-05 9.99996374e-01 6.22237012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.874012739 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:185.24, Y:123.04, Z:0.62 [[-9.43602873e-01 -3.31069568e-01 2.56113708e-03 1.85242835e+02] [ 3.31068527e-01 -9.43606347e-01 -8.32495109e-04 1.23044663e+02] [ 2.69231900e-03 6.23671036e-05 9.99996374e-01 6.23777632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.904012739 meters Centerline goodness : 0.994723 Centerline is valid? [True, True] Translation: X:185.24, Y:123.04, Z:0.62 [[-9.43060753e-01 -3.32610668e-01 2.56125213e-03 1.85241831e+02] [ 3.32609634e-01 -9.43064229e-01 -8.32140992e-04 1.23041277e+02] [ 2.69220423e-03 6.71376225e-05 9.99996374e-01 6.24648811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.934012739 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:185.26, Y:123.03, Z:0.62 [[-9.42220123e-01 -3.34984593e-01 2.56155673e-03 1.85257226e+02] [ 3.34983570e-01 -9.42223602e-01 -8.31202297e-04 1.23029774e+02] [ 2.69199917e-03 7.49038867e-05 9.99996374e-01 6.21491167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.964012739 meters Centerline goodness : 0.994250 Centerline is valid? [True, True] Translation: X:185.25, Y:123.03, Z:0.62 [[-9.42347476e-01 -3.34626166e-01 2.56185959e-03 1.85249218e+02] [ 3.34625145e-01 -9.42350955e-01 -8.30267799e-04 1.23029899e+02] [ 2.69200016e-03 7.48618701e-05 9.99996374e-01 6.19199341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.994012739 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:185.25, Y:123.02, Z:0.62 [[-9.43401852e-01 -3.31641947e-01 2.56216158e-03 1.85253257e+02] [ 3.31640917e-01 -9.43405329e-01 -8.29334815e-04 1.23024586e+02] [ 2.69219910e-03 6.73216150e-05 9.99996374e-01 6.20100531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.024012739 meters Centerline goodness : 0.994356 Centerline is valid? [True, True] Translation: X:185.23, Y:123.03, Z:0.62 [[-9.44235137e-01 -3.29261964e-01 2.56246395e-03 1.85225962e+02] [ 3.29260927e-01 -9.44238612e-01 -8.28399500e-04 1.23031342e+02] [ 2.69233785e-03 6.15153424e-05 9.99996374e-01 6.21706272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05401273900003 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:185.23, Y:123.02, Z:0.62 [[-9.45412593e-01 -3.25865711e-01 2.56276887e-03 1.85225333e+02] [ 3.25864665e-01 -9.45416065e-01 -8.27455101e-04 1.23024316e+02] [ 2.69252211e-03 5.28293469e-05 9.99996374e-01 6.23394174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.084012739 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:185.22, Y:123.02, Z:0.62 [[-9.45810883e-01 -3.24707875e-01 2.56307690e-03 1.85217548e+02] [ 3.24706827e-01 -9.45814355e-01 -8.26499889e-04 1.23022919e+02] [ 2.69256594e-03 5.05359775e-05 9.99996374e-01 6.21592646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.114012739 meters Centerline goodness : 0.994738 Centerline is valid? [True, True] Translation: X:185.23, Y:123.01, Z:0.62 [[-9.46132420e-01 -3.23769784e-01 2.56338566e-03 1.85232947e+02] [ 3.23768735e-01 -9.46135891e-01 -8.25541149e-04 1.23014438e+02] [ 2.69259645e-03 4.88728876e-05 9.99996374e-01 6.18768753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.144012739 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:185.22, Y:123.02, Z:0.62 [[-9.46811937e-01 -3.21777227e-01 2.56369351e-03 1.85218644e+02] [ 3.21776173e-01 -9.46815407e-01 -8.24584004e-04 1.23015308e+02] [ 2.69267687e-03 4.42095104e-05 9.99996374e-01 6.19119946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.174012739 meters Centerline goodness : 0.994480 Centerline is valid? [True, True] Translation: X:185.22, Y:123.01, Z:0.62 [[-9.47210874e-01 -3.20600976e-01 2.56400126e-03 1.85221713e+02] [ 3.20599921e-01 -9.47214344e-01 -8.23625974e-04 1.23013812e+02] [ 2.69271406e-03 4.18711211e-05 9.99996374e-01 6.19129293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.204012739 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:185.20, Y:123.02, Z:0.62 [[-9.47910858e-01 -3.18525398e-01 2.56431030e-03 1.85198701e+02] [ 3.18524337e-01 -9.47914326e-01 -8.22662673e-04 1.23020160e+02] [ 2.69278542e-03 3.69843583e-05 9.99996374e-01 6.21440282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.234012739 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:185.23, Y:123.01, Z:0.62 [[-9.48007661e-01 -3.18237171e-01 2.56462187e-03 1.85227516e+02] [ 3.18236113e-01 -9.48011129e-01 -8.21690213e-04 1.23009525e+02] [ 2.69278244e-03 3.71866768e-05 9.99996374e-01 6.22216420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.264012739 meters Centerline goodness : 0.994614 Centerline is valid? [True, True] Translation: X:185.22, Y:123.01, Z:0.62 [[-9.48100653e-01 -3.17960021e-01 2.56469944e-03 1.85216861e+02] [ 3.17958962e-01 -9.48104121e-01 -8.21448025e-04 1.23009871e+02] [ 2.69278974e-03 3.66537620e-05 9.99996374e-01 6.23986166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.294012739 meters Centerline goodness : 0.994280 Centerline is valid? [True, True] Translation: X:185.22, Y:123.01, Z:0.62 [[-9.48234580e-01 -3.17560390e-01 2.56500842e-03 1.85224529e+02] [ 3.17559332e-01 -9.48238049e-01 -8.20482094e-04 1.23006668e+02] [ 2.69279119e-03 3.65328656e-05 9.99996374e-01 6.23615044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.324012739 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:185.22, Y:123.01, Z:0.62 [[-9.48518899e-01 -3.16710148e-01 2.56531779e-03 1.85217533e+02] [ 3.16709090e-01 -9.48522367e-01 -8.19513668e-04 1.23008722e+02] [ 2.69280960e-03 3.51352595e-05 9.99996374e-01 6.22452352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.354012739 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:185.21, Y:123.01, Z:0.62 [[-9.49167229e-01 -3.14761797e-01 2.56562725e-03 1.85213617e+02] [ 3.14760735e-01 -9.49170696e-01 -8.18543697e-04 1.23010312e+02] [ 2.69286449e-03 3.06238653e-05 9.99996374e-01 6.22789098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.384012739 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:185.21, Y:123.01, Z:0.62 [[-9.49750074e-01 -3.12998742e-01 2.56593813e-03 1.85210831e+02] [ 3.12997675e-01 -9.49753540e-01 -8.17568001e-04 1.23011226e+02] [ 2.69290658e-03 2.66473987e-05 9.99996374e-01 6.23428538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.414012739 meters Centerline goodness : 0.994807 Centerline is valid? [True, True] Translation: X:185.22, Y:123.01, Z:0.63 [[-9.51298249e-01 -3.08261344e-01 2.56625002e-03 1.85217161e+02] [ 3.08260263e-01 -9.51301710e-01 -8.16587826e-04 1.23011886e+02] [ 2.69300050e-03 1.42543378e-05 9.99996374e-01 6.25138666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.444012739 meters Centerline goodness : 0.994740 Centerline is valid? [True, True] Translation: X:185.22, Y:123.01, Z:0.63 [[-9.52239927e-01 -3.05340031e-01 2.56656186e-03 1.85223092e+02] [ 3.05338942e-01 -9.52243386e-01 -8.15606548e-04 1.23012102e+02] [ 2.69302888e-03 7.01816215e-06 9.99996374e-01 6.26344164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.474012739 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:185.22, Y:123.02, Z:0.63 [[-9.53618090e-01 -3.01008222e-01 2.56687254e-03 1.85219228e+02] [ 3.01007120e-01 -9.53621545e-01 -8.14627594e-04 1.23015764e+02] [ 2.69303456e-03 -4.19670024e-06 9.99996374e-01 6.26840838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.504012739 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:185.24, Y:123.01, Z:0.63 [[-9.53999934e-01 -2.99795823e-01 2.56718331e-03 1.85240623e+02] [ 2.99794719e-01 -9.54003388e-01 -8.13647062e-04 1.23010278e+02] [ 2.69302957e-03 -6.59124326e-06 9.99996374e-01 6.25371764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.534012739 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:185.23, Y:123.02, Z:0.62 [[-9.54268131e-01 -2.98941038e-01 2.56729900e-03 1.85226019e+02] [ 2.98939932e-01 -9.54271584e-01 -8.13281869e-04 1.23017959e+02] [ 2.69302381e-03 -8.62078235e-06 9.99996374e-01 6.19433401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.564012739 meters Centerline goodness : 0.994400 Centerline is valid? [True, True] Translation: X:185.25, Y:123.01, Z:0.62 [[-9.54129772e-01 -2.99382340e-01 2.56760777e-03 1.85245504e+02] [ 2.99381238e-01 -9.54133227e-01 -8.12305864e-04 1.23013647e+02] [ 2.69302992e-03 -6.35161474e-06 9.99996374e-01 6.18172566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.594012739 meters Centerline goodness : 0.994336 Centerline is valid? [True, True] Translation: X:185.24, Y:123.02, Z:0.62 [[-9.54081078e-01 -2.99537484e-01 2.56768478e-03 1.85237465e+02] [ 2.99536384e-01 -9.54084533e-01 -8.12062379e-04 1.23018436e+02] [ 2.69303145e-03 -5.65833705e-06 9.99996374e-01 6.16454829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.624012739 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:185.23, Y:123.02, Z:0.62 [[-9.54132217e-01 -2.99374544e-01 2.56799243e-03 1.85232222e+02] [ 2.99373446e-01 -9.54135673e-01 -8.11088319e-04 1.23020667e+02] [ 2.69303238e-03 -5.09675337e-06 9.99996374e-01 6.15704044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.654012739 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:185.21, Y:123.03, Z:0.62 [[-9.54270075e-01 -2.98934822e-01 2.56830195e-03 1.85212446e+02] [ 2.98933724e-01 -9.54273531e-01 -8.10107032e-04 1.23027887e+02] [ 2.69303178e-03 -5.30883094e-06 9.99996374e-01 6.19337396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.684012739 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:185.23, Y:123.02, Z:0.62 [[-9.54264759e-01 -2.98951787e-01 2.56861473e-03 1.85234767e+02] [ 2.98950692e-01 -9.54268216e-01 -8.09114094e-04 1.23023573e+02] [ 2.69303350e-03 -4.21991422e-06 9.99996374e-01 6.24922988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.714012739 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:185.23, Y:123.03, Z:0.63 [[-9.54500981e-01 -2.98196712e-01 2.56869271e-03 1.85233276e+02] [ 2.98195615e-01 -9.54504437e-01 -8.08866444e-04 1.23026174e+02] [ 2.69302991e-03 -6.09091130e-06 9.99996374e-01 6.25553580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.744012739 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:185.24, Y:123.02, Z:0.62 [[-9.54596308e-01 -2.97891404e-01 2.56900344e-03 1.85243690e+02] [ 2.97890309e-01 -9.54599765e-01 -8.07878338e-04 1.23022973e+02] [ 2.69303010e-03 -5.91644956e-06 9.99996374e-01 6.24646748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.774012739 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:185.23, Y:123.03, Z:0.62 [[-9.54533923e-01 -2.98091242e-01 2.56931343e-03 1.85227165e+02] [ 2.98090150e-01 -9.54537381e-01 -8.06891262e-04 1.23027993e+02] [ 2.69303293e-03 -4.31805396e-06 9.99996374e-01 6.23489890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80401273900003 meters Centerline goodness : 0.995206 Centerline is valid? [True, True] Translation: X:185.24, Y:123.03, Z:0.62 [[-9.54106678e-01 -2.99455914e-01 2.56962429e-03 1.85238905e+02] [ 2.99454830e-01 -9.54110138e-01 -8.05900098e-04 1.23025894e+02] [ 2.69303614e-03 5.71738139e-07 9.99996374e-01 6.20862325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.834012739 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:185.25, Y:123.02, Z:0.62 [[-9.53673628e-01 -3.00832191e-01 2.56993591e-03 1.85249475e+02] [ 3.00831114e-01 -9.53677091e-01 -8.04905149e-04 1.23023839e+02] [ 2.69303038e-03 5.49986845e-06 9.99996374e-01 6.21182899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.864012739 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:185.25, Y:123.02, Z:0.62 [[-9.53531070e-01 -3.01283741e-01 2.57024522e-03 1.85251116e+02] [ 3.01282668e-01 -9.53534534e-01 -8.03916233e-04 1.23023110e+02] [ 2.69302447e-03 7.81123138e-06 9.99996374e-01 6.24696560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.894012739 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:185.27, Y:123.02, Z:0.63 [[-9.53323935e-01 -3.01938514e-01 2.57055323e-03 1.85268720e+02] [ 3.01937447e-01 -9.53327401e-01 -8.02930159e-04 1.23017938e+02] [ 2.69301436e-03 1.06937390e-05 9.99996374e-01 6.26969915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.924012739 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:185.25, Y:123.02, Z:0.62 [[-9.53003218e-01 -3.02949266e-01 2.57085918e-03 1.85254323e+02] [ 3.02948205e-01 -9.53006685e-01 -8.01949356e-04 1.23024564e+02] [ 2.69299595e-03 1.45768560e-05 9.99996374e-01 6.24901624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.954012739 meters Centerline goodness : 0.995285 Centerline is valid? [True, True] Translation: X:185.26, Y:123.02, Z:0.62 [[-9.52922053e-01 -3.03204470e-01 2.57116510e-03 1.85264469e+02] [ 3.03203413e-01 -9.52925521e-01 -8.00967304e-04 1.23021354e+02] [ 2.69298571e-03 1.63266277e-05 9.99996374e-01 6.21694107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.984012739 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:185.26, Y:123.02, Z:0.62 [[-9.52214001e-01 -3.05420831e-01 2.57147177e-03 1.85260333e+02] [ 3.05419784e-01 -9.52217473e-01 -7.99981538e-04 1.23020463e+02] [ 2.69293138e-03 2.36247333e-05 9.99996374e-01 6.19514094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.014012739 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:185.27, Y:123.02, Z:0.62 [[-9.51823035e-01 -3.06637076e-01 2.57177781e-03 1.85265851e+02] [ 3.06636037e-01 -9.51826509e-01 -7.98996468e-04 1.23018485e+02] [ 2.69288824e-03 2.80965134e-05 9.99996374e-01 6.21917538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.044012739 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:185.28, Y:123.01, Z:0.63 [[-9.50839918e-01 -3.09672139e-01 2.57208383e-03 1.85282569e+02] [ 3.09671113e-01 -9.50843397e-01 -7.98010137e-04 1.23012578e+02] [ 2.69277043e-03 3.77201698e-05 9.99996374e-01 6.25058782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.074012739 meters Centerline goodness : 0.995811 Centerline is valid? [True, True] Translation: X:185.29, Y:123.01, Z:0.62 [[-9.50310262e-01 -3.11293733e-01 2.57238735e-03 1.85289689e+02] [ 3.11292716e-01 -9.50313743e-01 -7.97030537e-04 1.23009084e+02] [ 2.69268566e-03 4.33391456e-05 9.99996374e-01 6.24912346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.104012739 meters Centerline goodness : 0.995671 Centerline is valid? [True, True] Translation: X:185.30, Y:123.00, Z:0.62 [[-9.49850056e-01 -3.12695143e-01 2.57268821e-03 1.85304674e+02] [ 3.12694134e-01 -9.49853539e-01 -7.96058217e-04 1.23002504e+02] [ 2.69260054e-03 4.83285700e-05 9.99996374e-01 6.24990646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.134012739 meters Centerline goodness : 0.995994 Centerline is valid? [True, True] Translation: X:185.33, Y:122.99, Z:0.63 [[-9.48687134e-01 -3.16205789e-01 2.57298665e-03 1.85331848e+02] [ 3.16204795e-01 -9.48690622e-01 -7.95092437e-04 1.22992228e+02] [ 2.69238114e-03 5.92967514e-05 9.99996374e-01 6.26732446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.164012739 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:185.32, Y:122.99, Z:0.63 [[-9.48066986e-01 -3.18060324e-01 2.57309665e-03 1.85323364e+02] [ 3.18059338e-01 -9.48070475e-01 -7.94736296e-04 1.22992668e+02] [ 2.69225105e-03 6.49341739e-05 9.99996374e-01 6.27702603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.194012739 meters Centerline goodness : 0.995414 Centerline is valid? [True, True] Translation: X:185.33, Y:122.99, Z:0.63 [[-9.47809941e-01 -3.18825490e-01 2.57338875e-03 1.85329187e+02] [ 3.18824509e-01 -9.47813432e-01 -7.93789345e-04 1.22988706e+02] [ 2.69217270e-03 6.80979717e-05 9.99996374e-01 6.27604259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.224012739 meters Centerline goodness : 0.995674 Centerline is valid? [True, True] Translation: X:185.31, Y:122.99, Z:0.63 [[-9.47622842e-01 -3.19381161e-01 2.57368120e-03 1.85313709e+02] [ 3.19380184e-01 -9.47626334e-01 -7.92840007e-04 1.22991667e+02] [ 2.69210624e-03 7.06694752e-05 9.99996374e-01 6.26106975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.254012739 meters Centerline goodness : 0.995080 Centerline is valid? [True, True] Translation: X:185.33, Y:122.99, Z:0.63 [[-9.47640891e-01 -3.19327602e-01 2.57397475e-03 1.85330047e+02] [ 3.19326628e-01 -9.47644384e-01 -7.91885828e-04 1.22986477e+02] [ 2.69208372e-03 7.15152871e-05 9.99996374e-01 6.25759471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.284012739 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:185.33, Y:122.99, Z:0.63 [[-9.48102275e-01 -3.17955105e-01 2.57426828e-03 1.85328342e+02] [ 3.17954128e-01 -9.48105768e-01 -7.90930467e-04 1.22987263e+02] [ 2.69215899e-03 6.86162531e-05 9.99996374e-01 6.25628402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.314012739 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:185.31, Y:122.99, Z:0.63 [[-9.49793574e-01 -3.12866648e-01 2.57456042e-03 1.85308175e+02] [ 3.12865655e-01 -9.49797061e-01 -7.89978373e-04 1.22992395e+02] [ 2.69246781e-03 5.51751518e-05 9.99996374e-01 6.25180181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.344012739 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:185.31, Y:122.99, Z:0.63 [[-9.49911325e-01 -3.12508951e-01 2.57485510e-03 1.85310595e+02] [ 3.12507960e-01 -9.49914813e-01 -7.89016747e-04 1.22991730e+02] [ 2.69246780e-03 5.51667695e-05 9.99996374e-01 6.25173406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.374012739 meters Centerline goodness : 0.995165 Centerline is valid? [True, True] Translation: X:185.31, Y:122.99, Z:0.63 [[-9.50945503e-01 -3.09347732e-01 2.57515186e-03 1.85314102e+02] [ 3.09346732e-01 -9.50948988e-01 -7.88046996e-04 1.22990812e+02] [ 2.69261861e-03 4.72250656e-05 9.99996374e-01 6.25218928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.404012739 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:185.29, Y:123.00, Z:0.63 [[-9.52619534e-01 -3.04153564e-01 2.57544816e-03 1.85293746e+02] [ 3.04152547e-01 -9.52623015e-01 -7.87077453e-04 1.22999444e+02] [ 2.69282360e-03 3.35437618e-05 9.99996374e-01 6.26039329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.434012739 meters Centerline goodness : 0.995213 Centerline is valid? [True, True] Translation: X:185.29, Y:123.00, Z:0.62 [[-9.53249358e-01 -3.02173835e-01 2.57574653e-03 1.85291403e+02] [ 3.02172814e-01 -9.53252838e-01 -7.86099803e-04 1.22999927e+02] [ 2.69287648e-03 2.89714434e-05 9.99996374e-01 6.24814394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.464012739 meters Centerline goodness : 0.995596 Centerline is valid? [True, True] Translation: X:185.29, Y:123.00, Z:0.62 [[-9.53496036e-01 -3.01394547e-01 2.57604780e-03 1.85293846e+02] [ 3.01393525e-01 -9.53499516e-01 -7.85111290e-04 1.22997954e+02] [ 2.69288860e-03 2.78036265e-05 9.99996374e-01 6.22556782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.494012739 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:185.30, Y:123.00, Z:0.62 [[-9.53393544e-01 -3.01718598e-01 2.57634915e-03 1.85297814e+02] [ 3.01717581e-01 -9.53397025e-01 -7.84121179e-04 1.22997556e+02] [ 2.69286756e-03 2.97537625e-05 9.99996374e-01 6.23259886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.524012739 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:185.31, Y:122.99, Z:0.63 [[-9.52659089e-01 -3.04029639e-01 2.57664991e-03 1.85312773e+02] [ 3.04028633e-01 -9.52662573e-01 -7.83131617e-04 1.22994735e+02] [ 2.69277316e-03 3.73178980e-05 9.99996374e-01 6.25595392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55401273900003 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:185.33, Y:122.99, Z:0.63 [[-9.52386936e-01 -3.04881096e-01 2.57694875e-03 1.85325970e+02] [ 3.04880096e-01 -9.52390422e-01 -7.82147026e-04 1.22990531e+02] [ 2.69272315e-03 4.07537715e-05 9.99996374e-01 6.25586524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.584012739 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:185.34, Y:122.99, Z:0.63 [[-9.51777545e-01 -3.06778196e-01 2.57724462e-03 1.85337512e+02] [ 3.06777205e-01 -9.51781034e-01 -7.81170901e-04 1.22988174e+02] [ 2.69261875e-03 4.71389787e-05 9.99996374e-01 6.25710149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.614012739 meters Centerline goodness : 0.995268 Centerline is valid? [True, True] Translation: X:185.36, Y:122.98, Z:0.63 [[-9.51633059e-01 -3.07226103e-01 2.57753799e-03 1.85355779e+02] [ 3.07225116e-01 -9.51636548e-01 -7.80201675e-04 1.22984798e+02] [ 2.69257768e-03 4.94187032e-05 9.99996374e-01 6.26578968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.644012739 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:185.35, Y:122.99, Z:0.63 [[-9.51484831e-01 -3.07684856e-01 2.57782840e-03 1.85351309e+02] [ 3.07683873e-01 -9.51488322e-01 -7.79240966e-04 1.22987872e+02] [ 2.69253427e-03 5.17202694e-05 9.99996374e-01 6.28421814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.674012739 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:185.35, Y:122.99, Z:0.63 [[-9.50864963e-01 -3.09595179e-01 2.57811752e-03 1.85346996e+02] [ 3.09594206e-01 -9.50868457e-01 -7.78283244e-04 1.22989179e+02] [ 2.69240337e-03 5.81279792e-05 9.99996374e-01 6.30502442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.704012739 meters Centerline goodness : 0.995390 Centerline is valid? [True, True] Translation: X:185.37, Y:122.98, Z:0.63 [[-9.49093566e-01 -3.14983737e-01 2.57840782e-03 1.85367298e+02] [ 3.14982786e-01 -9.49097066e-01 -7.77320291e-04 1.22979470e+02] [ 2.69200255e-03 7.44043939e-05 9.99996374e-01 6.27314960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.734012739 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:185.38, Y:122.97, Z:0.62 [[-9.48002548e-01 -3.18252290e-01 2.57851582e-03 1.85382585e+02] [ 3.18251353e-01 -9.48006051e-01 -7.76961894e-04 1.22972870e+02] [ 2.69171850e-03 8.40542909e-05 9.99996374e-01 6.24305701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.764012739 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:185.38, Y:122.97, Z:0.62 [[-9.46868241e-01 -3.21611388e-01 2.57880096e-03 1.85384488e+02] [ 3.21610465e-01 -9.46871748e-01 -7.76014312e-04 1.22969548e+02] [ 2.69136882e-03 9.45860719e-05 9.99996374e-01 6.22155598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.794012739 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:185.40, Y:122.96, Z:0.62 [[-9.45237190e-01 -3.26374023e-01 2.57908427e-03 1.85404537e+02] [ 3.26373121e-01 -9.45240702e-01 -7.75071588e-04 1.22957467e+02] [ 2.69081866e-03 1.09117294e-04 9.99996374e-01 6.19900990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.824012739 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:185.39, Y:122.96, Z:0.62 [[-9.45344132e-01 -3.26064136e-01 2.57915437e-03 1.85392370e+02] [ 3.26063233e-01 -9.45347644e-01 -7.74838264e-04 1.22958168e+02] [ 2.69084448e-03 1.08478607e-04 9.99996374e-01 6.19676198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.854012739 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:185.39, Y:122.95, Z:0.63 [[-9.46572303e-01 -3.22481351e-01 2.57943454e-03 1.85387494e+02] [ 3.22480438e-01 -9.46575812e-01 -7.73904456e-04 1.22954602e+02] [ 2.69120010e-03 9.92606568e-05 9.99996374e-01 6.26430693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.884012739 meters Centerline goodness : 0.995616 Centerline is valid? [True, True] Translation: X:185.40, Y:122.95, Z:0.63 [[-9.47599057e-01 -3.19451676e-01 2.57971641e-03 1.85396026e+02] [ 3.19450754e-01 -9.47602564e-01 -7.72963744e-04 1.22949774e+02] [ 2.69147044e-03 9.16326351e-05 9.99996374e-01 6.28978282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.914012739 meters Centerline goodness : 0.995555 Centerline is valid? [True, True] Translation: X:185.38, Y:122.95, Z:0.63 [[-9.49515857e-01 -3.13708432e-01 2.57999784e-03 1.85375292e+02] [ 3.13707492e-01 -9.49519359e-01 -7.72023229e-04 1.22953451e+02] [ 2.69194809e-03 7.63163525e-05 9.99996374e-01 6.28765801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.944012739 meters Centerline goodness : 0.995833 Centerline is valid? [True, True] Translation: X:185.37, Y:122.95, Z:0.63 [[-9.50310815e-01 -3.11291980e-01 2.58028050e-03 1.85368813e+02] [ 3.11291033e-01 -9.50314316e-01 -7.71077370e-04 1.22954457e+02] [ 2.69210769e-03 7.04550163e-05 9.99996374e-01 6.26921576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.974012739 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:185.36, Y:122.95, Z:0.62 [[-9.51120886e-01 -3.08808031e-01 2.58056607e-03 1.85355844e+02] [ 3.08807078e-01 -9.51124385e-01 -7.70120437e-04 1.22953859e+02] [ 2.69225870e-03 6.44194357e-05 9.99996374e-01 6.22253697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.004012739 meters Centerline goodness : 0.995684 Centerline is valid? [True, True] Translation: X:185.35, Y:122.95, Z:0.62 [[-9.51394195e-01 -3.07964973e-01 2.58085375e-03 1.85350773e+02] [ 3.07964019e-01 -9.51397694e-01 -7.69155164e-04 1.22953375e+02] [ 2.69229115e-03 6.30403338e-05 9.99996374e-01 6.20067093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.034012739 meters Centerline goodness : 0.995371 Centerline is valid? [True, True] Translation: X:185.36, Y:122.95, Z:0.62 [[-9.51775686e-01 -3.06783933e-01 2.58114336e-03 1.85361437e+02] [ 3.06782977e-01 -9.51779184e-01 -7.68182048e-04 1.22948786e+02] [ 2.69234443e-03 6.07138487e-05 9.99996374e-01 6.22248071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.064012739 meters Centerline goodness : 0.995847 Centerline is valid? [True, True] Translation: X:185.36, Y:122.95, Z:0.62 [[-9.53080595e-01 -3.02705657e-01 2.58143237e-03 1.85361123e+02] [ 3.02704689e-01 -9.53084090e-01 -7.67209613e-04 1.22949187e+02] [ 2.69256081e-03 5.01990884e-05 9.99996374e-01 6.23794537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.094012739 meters Centerline goodness : 0.995260 Centerline is valid? [True, True] Translation: X:185.34, Y:122.96, Z:0.62 [[-9.55075778e-01 -2.96350457e-01 2.58172040e-03 1.85343510e+02] [ 2.96349468e-01 -9.55079267e-01 -7.66239134e-04 1.22957264e+02] [ 2.69282295e-03 3.32750309e-05 9.99996374e-01 6.21823466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.124012739 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:185.32, Y:122.97, Z:0.62 [[-9.56288857e-01 -2.92412304e-01 2.58201058e-03 1.85319378e+02] [ 2.92411303e-01 -9.56292342e-01 -7.65260081e-04 1.22965566e+02] [ 2.69292840e-03 2.31993902e-05 9.99996374e-01 6.20102162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.154012739 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:185.34, Y:122.96, Z:0.62 [[-9.57429624e-01 -2.88655240e-01 2.58230571e-03 1.85339385e+02] [ 2.88654229e-01 -9.57433106e-01 -7.64262861e-04 1.22960893e+02] [ 2.69299346e-03 1.36655615e-05 9.99996374e-01 6.19058581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.184012739 meters Centerline goodness : 0.995767 Centerline is valid? [True, True] Translation: X:185.37, Y:122.96, Z:0.62 [[-9.59139216e-01 -2.82922771e-01 2.58260156e-03 1.85371634e+02] [ 2.82921741e-01 -9.59142693e-01 -7.63261835e-04 1.22956816e+02] [ 2.69302757e-03 -1.40022758e-06 9.99996374e-01 6.20055143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.214012739 meters Centerline goodness : 0.996058 Centerline is valid? [True, True] Translation: X:185.36, Y:122.97, Z:0.62 [[-9.60526400e-01 -2.78176860e-01 2.58256540e-03 1.85358320e+02] [ 2.78175812e-01 -9.60529872e-01 -7.63384165e-04 1.22970113e+02] [ 2.69298702e-03 -1.48434165e-05 9.99996374e-01 6.23543855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.244012739 meters Centerline goodness : 0.995882 Centerline is valid? [True, True] Translation: X:185.38, Y:122.97, Z:0.63 [[-9.61054796e-01 -2.76345814e-01 2.58265543e-03 1.85381757e+02] [ 2.76344761e-01 -9.61058266e-01 -7.63079449e-04 1.22967499e+02] [ 2.69295616e-03 -1.96578669e-05 9.99996374e-01 6.25136104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.274012739 meters Centerline goodness : 0.995882 Centerline is valid? [True, True] Translation: X:185.39, Y:122.97, Z:0.62 [[-9.61394256e-01 -2.75162523e-01 2.58276329e-03 1.85388969e+02] [ 2.75161467e-01 -9.61397725e-01 -7.62714197e-04 1.22969269e+02] [ 2.69293312e-03 -2.25921125e-05 9.99996374e-01 6.23612833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30401273900003 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:185.38, Y:122.98, Z:0.62 [[-9.61206388e-01 -2.75818070e-01 2.58304894e-03 1.85380298e+02] [ 2.75817019e-01 -9.61209858e-01 -7.61745594e-04 1.22981232e+02] [ 2.69295530e-03 -1.97458729e-05 9.99996374e-01 6.21985953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.334012739 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:185.38, Y:122.99, Z:0.62 [[-9.60763689e-01 -2.77356198e-01 2.58333533e-03 1.85381369e+02] [ 2.77355155e-01 -9.60767162e-01 -7.60773081e-04 1.22985671e+02] [ 2.69298889e-03 -1.44217806e-05 9.99996374e-01 6.24308874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.364012739 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:185.36, Y:123.00, Z:0.63 [[-9.59101652e-01 -2.83050076e-01 2.58362310e-03 1.85360268e+02] [ 2.83049056e-01 -9.59105132e-01 -7.59794540e-04 1.22999297e+02] [ 2.69302608e-03 2.57188156e-06 9.99996374e-01 6.30307605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.394012739 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:185.38, Y:123.00, Z:0.63 [[-9.58070213e-01 -2.86521884e-01 2.58391355e-03 1.85382141e+02] [ 2.86520880e-01 -9.58073697e-01 -7.58805484e-04 1.22995767e+02] [ 2.69299399e-03 1.33562532e-05 9.99996374e-01 6.31556380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.424012739 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:185.39, Y:123.00, Z:0.63 [[-9.56380497e-01 -2.92112424e-01 2.58402243e-03 1.85386212e+02] [ 2.92111441e-01 -9.56383987e-01 -7.58434554e-04 1.22999980e+02] [ 2.69286583e-03 2.94705001e-05 9.99996374e-01 6.27057917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.454012739 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:185.40, Y:123.00, Z:0.62 [[-9.55705148e-01 -2.94314442e-01 2.58431097e-03 1.85400327e+02] [ 2.94313469e-01 -9.55708642e-01 -7.57450084e-04 1.22997129e+02] [ 2.69277683e-03 3.66985822e-05 9.99996374e-01 6.24399933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.484012739 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:185.42, Y:122.99, Z:0.62 [[-9.54309286e-01 -2.98809482e-01 2.58459791e-03 1.85424737e+02] [ 2.98808529e-01 -9.54312785e-01 -7.56469725e-04 1.22990813e+02] [ 2.69255515e-03 5.03938140e-05 9.99996374e-01 6.20845608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.514012739 meters Centerline goodness : 0.995649 Centerline is valid? [True, True] Translation: X:185.43, Y:122.99, Z:0.62 [[-9.53695062e-01 -3.00764108e-01 2.58466851e-03 1.85432798e+02] [ 3.00763162e-01 -9.53698563e-01 -7.56228397e-04 1.22988796e+02] [ 2.69244101e-03 5.61617878e-05 9.99996374e-01 6.22634003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.544012739 meters Centerline goodness : 0.995926 Centerline is valid? [True, True] Translation: X:185.44, Y:122.99, Z:0.63 [[-9.53120078e-01 -3.02581286e-01 2.58494849e-03 1.85443576e+02] [ 3.02580350e-01 -9.53123582e-01 -7.55270150e-04 1.22985101e+02] [ 2.69230598e-03 6.22914756e-05 9.99996374e-01 6.26171233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.574012739 meters Centerline goodness : 0.996306 Centerline is valid? [True, True] Translation: X:185.46, Y:122.98, Z:0.63 [[-9.51788231e-01 -3.06744974e-01 2.58522664e-03 1.85458069e+02] [ 3.06744056e-01 -9.51791739e-01 -7.54316861e-04 1.22976405e+02] [ 2.69198027e-03 7.50529956e-05 9.99996374e-01 6.29633076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.604012739 meters Centerline goodness : 0.996249 Centerline is valid? [True, True] Translation: X:185.47, Y:122.97, Z:0.62 [[-9.50652085e-01 -3.10248171e-01 2.58550224e-03 1.85472295e+02] [ 3.10247268e-01 -9.50655597e-01 -7.53371047e-04 1.22969039e+02] [ 2.69165416e-03 8.59512502e-05 9.99996374e-01 6.23063961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.634012739 meters Centerline goodness : 0.995668 Centerline is valid? [True, True] Translation: X:185.47, Y:122.97, Z:0.62 [[-9.50399605e-01 -3.11020745e-01 2.58577489e-03 1.85468983e+02] [ 3.11019848e-01 -9.50403119e-01 -7.52434054e-04 1.22969139e+02] [ 2.69155112e-03 8.91142862e-05 9.99996374e-01 6.22597899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.664012739 meters Centerline goodness : 0.996273 Centerline is valid? [True, True] Translation: X:185.47, Y:122.97, Z:0.62 [[-9.50238794e-01 -3.11511712e-01 2.58604657e-03 1.85474771e+02] [ 3.11510819e-01 -9.50242309e-01 -7.51499172e-04 1.22966354e+02] [ 2.69147165e-03 9.14778165e-05 9.99996374e-01 6.22342366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.694012739 meters Centerline goodness : 0.996478 Centerline is valid? [True, True] Translation: X:185.47, Y:122.96, Z:0.62 [[-9.50993469e-01 -3.09200151e-01 2.58631799e-03 1.85474276e+02] [ 3.09199252e-01 -9.50996982e-01 -7.50563897e-04 1.22961843e+02] [ 2.69165507e-03 8.59062242e-05 9.99996374e-01 6.24877262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.724012739 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:185.45, Y:122.97, Z:0.62 [[-9.52550035e-01 -3.04371058e-01 2.58658890e-03 1.85448812e+02] [ 3.04370144e-01 -9.52553544e-01 -7.49629115e-04 1.22966899e+02] [ 2.69202983e-03 7.32211971e-05 9.99996374e-01 6.23207334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.754012739 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:185.44, Y:122.97, Z:0.62 [[-9.53289828e-01 -3.02046042e-01 2.58686231e-03 1.85441445e+02] [ 3.02045122e-01 -9.53293336e-01 -7.48684454e-04 1.22968443e+02] [ 2.69217577e-03 6.76358661e-05 9.99996374e-01 6.23905713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.784012739 meters Centerline goodness : 0.996342 Centerline is valid? [True, True] Translation: X:185.44, Y:122.97, Z:0.63 [[-9.54207259e-01 -2.99135108e-01 2.58713909e-03 1.85436562e+02] [ 2.99134180e-01 -9.54210765e-01 -7.47726779e-04 1.22967329e+02] [ 2.69234730e-03 6.04154093e-05 9.99996374e-01 6.27850987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.814012739 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:185.43, Y:122.97, Z:0.63 [[-9.54607321e-01 -2.97855951e-01 2.58741721e-03 1.85434998e+02] [ 2.97855021e-01 -9.54610826e-01 -7.46763123e-04 1.22966375e+02] [ 2.69240432e-03 5.78096637e-05 9.99996374e-01 6.28314512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.844012739 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:185.43, Y:122.97, Z:0.63 [[-9.55091011e-01 -2.96301306e-01 2.58769597e-03 1.85426438e+02] [ 2.96300372e-01 -9.55094515e-01 -7.45795924e-04 1.22968235e+02] [ 2.69247453e-03 5.44322948e-05 9.99996374e-01 6.28241669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.874012739 meters Centerline goodness : 0.996339 Centerline is valid? [True, True] Translation: X:185.43, Y:122.97, Z:0.63 [[-9.56305953e-01 -2.92356336e-01 2.58797586e-03 1.85425388e+02] [ 2.92355390e-01 -9.56309454e-01 -7.44823413e-04 1.22968569e+02] [ 2.69265962e-03 4.43296284e-05 9.99996374e-01 6.25890867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.904012739 meters Centerline goodness : 0.996432 Centerline is valid? [True, True] Translation: X:185.43, Y:122.97, Z:0.63 [[-9.57748582e-01 -2.87595124e-01 2.58825689e-03 1.85425384e+02] [ 2.87594164e-01 -9.57752078e-01 -7.43845532e-04 1.22968626e+02] [ 2.69283477e-03 3.19505733e-05 9.99996374e-01 6.27218561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.934012739 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:185.41, Y:122.97, Z:0.63 [[-9.58439148e-01 -2.85285295e-01 2.58853816e-03 1.85411412e+02] [ 2.85284329e-01 -9.58442643e-01 -7.42865454e-04 1.22973525e+02] [ 2.69289394e-03 2.64780383e-05 9.99996374e-01 6.28882408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.964012739 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:185.42, Y:122.97, Z:0.63 [[-9.59516198e-01 -2.81641553e-01 2.58882110e-03 1.85422541e+02] [ 2.81640576e-01 -9.59519690e-01 -7.41878129e-04 1.22972112e+02] [ 2.69296852e-03 1.72729845e-05 9.99996374e-01 6.29486020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.994012739 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:185.41, Y:122.98, Z:0.63 [[-9.59871901e-01 -2.80426873e-01 2.58910460e-03 1.85411992e+02] [ 2.80425894e-01 -9.59875392e-01 -7.40887417e-04 1.22975058e+02] [ 2.69298253e-03 1.48949583e-05 9.99996374e-01 6.28459858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.024012739 meters Centerline goodness : 0.995988 Centerline is valid? [True, True] Translation: X:185.41, Y:122.97, Z:0.63 [[-9.60066909e-01 -2.79758511e-01 2.58938823e-03 1.85412088e+02] [ 2.79757533e-01 -9.60070401e-01 -7.39894783e-04 1.22974436e+02] [ 2.69298686e-03 1.40523667e-05 9.99996374e-01 6.27401983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05401273900003 meters Centerline goodness : 0.996201 Centerline is valid? [True, True] Translation: X:185.40, Y:122.98, Z:0.63 [[-9.59897985e-01 -2.80337569e-01 2.58967305e-03 1.85403037e+02] [ 2.80336596e-01 -9.59901478e-01 -7.38896559e-04 1.22978164e+02] [ 2.69297145e-03 1.67148097e-05 9.99996374e-01 6.27987831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.084012739 meters Centerline goodness : 0.995893 Centerline is valid? [True, True] Translation: X:185.43, Y:122.98, Z:0.63 [[-9.59781039e-01 -2.80737686e-01 2.58995906e-03 1.85427279e+02] [ 2.80736717e-01 -9.59784534e-01 -7.37892681e-04 1.22976117e+02] [ 2.69295693e-03 1.88811994e-05 9.99996374e-01 6.27239048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.114012739 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:185.43, Y:122.98, Z:0.63 [[-9.59932233e-01 -2.80220270e-01 2.59006559e-03 1.85431992e+02] [ 2.80219300e-01 -9.59935727e-01 -7.37518570e-04 1.22977189e+02] [ 2.69296414e-03 1.78185195e-05 9.99996374e-01 6.26743370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.144012739 meters Centerline goodness : 0.995012 Centerline is valid? [True, True] Translation: X:185.43, Y:122.98, Z:0.62 [[-9.59986018e-01 -2.80035952e-01 2.59034770e-03 1.85428782e+02] [ 2.80034984e-01 -9.59989513e-01 -7.36526387e-04 1.22979755e+02] [ 2.69296049e-03 1.83329441e-05 9.99996374e-01 6.24043683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.174012739 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:185.45, Y:122.97, Z:0.62 [[-9.59473218e-01 -2.81787921e-01 2.59062985e-03 1.85448026e+02] [ 2.81786962e-01 -9.59476715e-01 -7.35532611e-04 1.22973325e+02] [ 2.69291323e-03 2.42818756e-05 9.99996374e-01 6.24421745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.204012739 meters Centerline goodness : 0.995589 Centerline is valid? [True, True] Translation: X:185.45, Y:122.97, Z:0.62 [[-9.59580104e-01 -2.81423724e-01 2.59073488e-03 1.85450453e+02] [ 2.81422765e-01 -9.59583601e-01 -7.35162488e-04 1.22972714e+02] [ 2.69291887e-03 2.36444765e-05 9.99996374e-01 6.24414994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.234012739 meters Centerline goodness : 0.995888 Centerline is valid? [True, True] Translation: X:185.46, Y:122.97, Z:0.63 [[-9.59100818e-01 -2.83052834e-01 2.59101355e-03 1.85461912e+02] [ 2.83051883e-01 -9.59104318e-01 -7.34179043e-04 1.22969053e+02] [ 2.69286374e-03 2.92395422e-05 9.99996374e-01 6.25955516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.264012739 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:185.46, Y:122.97, Z:0.63 [[-9.58048210e-01 -2.86595381e-01 2.59129083e-03 1.85464572e+02] [ 2.86594446e-01 -9.58051714e-01 -7.33199045e-04 1.22967686e+02] [ 2.69272208e-03 4.02095286e-05 9.99996374e-01 6.27314316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.294012739 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:185.49, Y:122.96, Z:0.63 [[-9.57613808e-01 -2.88043534e-01 2.59156676e-03 1.85487905e+02] [ 2.88042607e-01 -9.57617314e-01 -7.32222470e-04 1.22959741e+02] [ 2.69264114e-03 4.52952965e-05 9.99996374e-01 6.27444825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.324012739 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:185.49, Y:122.96, Z:0.63 [[-9.56742291e-01 -2.90925200e-01 2.59166908e-03 1.85486101e+02] [ 2.90924284e-01 -9.56745800e-01 -7.31860123e-04 1.22956141e+02] [ 2.69248506e-03 5.37779413e-05 9.99996374e-01 6.27313573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.354012739 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:185.49, Y:122.95, Z:0.63 [[-9.56481012e-01 -2.91783062e-01 2.59194050e-03 1.85489945e+02] [ 2.91782152e-01 -9.56484523e-01 -7.30897580e-04 1.22952929e+02] [ 2.69241451e-03 5.71923206e-05 9.99996374e-01 6.25457477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.384012739 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:185.48, Y:122.95, Z:0.63 [[-9.56227310e-01 -2.92613419e-01 2.59221166e-03 1.85481733e+02] [ 2.92612514e-01 -9.56230821e-01 -7.29934623e-04 1.22950355e+02] [ 2.69234135e-03 6.05301514e-05 9.99996374e-01 6.25068172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.414012739 meters Centerline goodness : 0.995709 Centerline is valid? [True, True] Translation: X:185.49, Y:122.94, Z:0.63 [[-9.56567135e-01 -2.91500593e-01 2.59248325e-03 1.85491604e+02] [ 2.91499687e-01 -9.56570646e-01 -7.28968766e-04 1.22944648e+02] [ 2.69238820e-03 5.84004919e-05 9.99996374e-01 6.26476255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.444012739 meters Centerline goodness : 0.995632 Centerline is valid? [True, True] Translation: X:185.48, Y:122.94, Z:0.63 [[-9.57032113e-01 -2.89970365e-01 2.59275456e-03 1.85482935e+02] [ 2.89969456e-01 -9.57035624e-01 -7.28002494e-04 1.22943914e+02] [ 2.69245762e-03 5.50978647e-05 9.99996374e-01 6.28045451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.474012739 meters Centerline goodness : 0.996619 Centerline is valid? [True, True] Translation: X:185.47, Y:122.94, Z:0.63 [[-9.57838965e-01 -2.87293914e-01 2.59302573e-03 1.85474895e+02] [ 2.87292998e-01 -9.57842474e-01 -7.27035344e-04 1.22939695e+02] [ 2.69258301e-03 4.85753546e-05 9.99996374e-01 6.30144057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.504012739 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:185.47, Y:122.94, Z:0.63 [[-9.58519340e-01 -2.85015700e-01 2.59329848e-03 1.85473459e+02] [ 2.85014779e-01 -9.58522847e-01 -7.26061153e-04 1.22936094e+02] [ 2.69267467e-03 4.31847347e-05 9.99996374e-01 6.30462996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.534012739 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:185.47, Y:122.93, Z:0.63 [[-9.58848498e-01 -2.83906377e-01 2.59357202e-03 1.85473118e+02] [ 2.83905454e-01 -9.58852005e-01 -7.25082707e-04 1.22934283e+02] [ 2.69270734e-03 4.10847771e-05 9.99996374e-01 6.29699210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.564012739 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:185.48, Y:122.93, Z:0.63 [[-9.59121839e-01 -2.82981570e-01 2.59384569e-03 1.85483003e+02] [ 2.82980647e-01 -9.59125346e-01 -7.24102391e-04 1.22929381e+02] [ 2.69273078e-03 3.95057137e-05 9.99996374e-01 6.28708765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.594012739 meters Centerline goodness : 0.996637 Centerline is valid? [True, True] Translation: X:185.46, Y:122.93, Z:0.63 [[-9.59703558e-01 -2.81002406e-01 2.59411840e-03 1.85459575e+02] [ 2.81001478e-01 -9.59707063e-01 -7.23124061e-04 1.22932004e+02] [ 2.69279336e-03 3.49663708e-05 9.99996374e-01 6.28964355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.624012739 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:185.46, Y:122.93, Z:0.63 [[-9.60399197e-01 -2.78615597e-01 2.59439250e-03 1.85459947e+02] [ 2.78614662e-01 -9.60402701e-01 -7.22139334e-04 1.22932551e+02] [ 2.69286085e-03 2.92937536e-05 9.99996374e-01 6.31893399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.654012739 meters Centerline goodness : 0.996188 Centerline is valid? [True, True] Translation: X:185.47, Y:122.93, Z:0.63 [[-9.60946953e-01 -2.76720475e-01 2.59466904e-03 1.85467943e+02] [ 2.76719536e-01 -9.60950456e-01 -7.21144342e-04 1.22932153e+02] [ 2.69290380e-03 2.50141554e-05 9.99996374e-01 6.31899271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.684012739 meters Centerline goodness : 0.995927 Centerline is valid? [True, True] Translation: X:185.48, Y:122.93, Z:0.63 [[-9.61789061e-01 -2.73779233e-01 2.59494488e-03 1.85477809e+02] [ 2.73778286e-01 -9.61792562e-01 -7.20150399e-04 1.22932276e+02] [ 2.69296091e-03 1.78067860e-05 9.99996374e-01 6.30611451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.714012739 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:185.47, Y:122.94, Z:0.63 [[-9.62171026e-01 -2.72433811e-01 2.59521915e-03 1.85466183e+02] [ 2.72432862e-01 -9.62174526e-01 -7.19160633e-04 1.22936273e+02] [ 2.69297743e-03 1.50674582e-05 9.99996374e-01 6.30026993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.744012739 meters Centerline goodness : 0.996199 Centerline is valid? [True, True] Translation: X:185.48, Y:122.93, Z:0.63 [[-9.62458039e-01 -2.71418104e-01 2.59549373e-03 1.85480310e+02] [ 2.71417154e-01 -9.62461538e-01 -7.18168294e-04 1.22933476e+02] [ 2.69298677e-03 1.32546740e-05 9.99996374e-01 6.29491579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.774012739 meters Centerline goodness : 0.996022 Centerline is valid? [True, True] Translation: X:185.48, Y:122.94, Z:0.63 [[-9.62690527e-01 -2.70592335e-01 2.59576825e-03 1.85479463e+02] [ 2.70591385e-01 -9.62694026e-01 -7.17174700e-04 1.22938494e+02] [ 2.69299256e-03 1.19752346e-05 9.99996374e-01 6.28274923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80401273900003 meters Centerline goodness : 0.995880 Centerline is valid? [True, True] Translation: X:185.49, Y:122.94, Z:0.63 [[-9.62922847e-01 -2.69764438e-01 2.59604170e-03 1.85494761e+02] [ 2.69763487e-01 -9.62926346e-01 -7.16183477e-04 1.22936828e+02] [ 2.69299778e-03 1.06878299e-05 9.99996374e-01 6.27795462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.834012739 meters Centerline goodness : 0.995705 Centerline is valid? [True, True] Translation: X:185.48, Y:122.95, Z:0.62 [[-9.63259138e-01 -2.68561153e-01 2.59631397e-03 1.85481058e+02] [ 2.68560201e-01 -9.63262637e-01 -7.15195094e-04 1.22945289e+02] [ 2.69300586e-03 8.34839106e-06 9.99996374e-01 6.24201749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.864012739 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:185.49, Y:122.95, Z:0.62 [[-9.63558106e-01 -2.67486514e-01 2.59658635e-03 1.85487786e+02] [ 2.67485560e-01 -9.63561604e-01 -7.14204807e-04 1.22948226e+02] [ 2.69301106e-03 6.37152416e-06 9.99996374e-01 6.20194002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.894012739 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:185.48, Y:122.95, Z:0.62 [[-9.63757311e-01 -2.66767881e-01 2.59685985e-03 1.85483643e+02] [ 2.66766928e-01 -9.63760809e-01 -7.13208975e-04 1.22951966e+02] [ 2.69301300e-03 5.39596124e-06 9.99996374e-01 6.20092228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.924012739 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:185.48, Y:122.96, Z:0.62 [[-9.63774870e-01 -2.66704433e-01 2.59713337e-03 1.85478187e+02] [ 2.66703482e-01 -9.63778370e-01 -7.12211547e-04 1.22956810e+02] [ 2.69301095e-03 6.25292325e-06 9.99996374e-01 6.21205301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.954012739 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:185.49, Y:122.96, Z:0.62 [[-9.63623215e-01 -2.67251852e-01 2.59740821e-03 1.85489213e+02] [ 2.67250906e-01 -9.63626716e-01 -7.11207817e-04 1.22959340e+02] [ 2.69300355e-03 8.82333318e-06 9.99996374e-01 6.21929624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.984012739 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:185.50, Y:122.96, Z:0.62 [[-9.63366474e-01 -2.68175855e-01 2.59768289e-03 1.85498138e+02] [ 2.68174915e-01 -9.63369976e-01 -7.10203145e-04 1.22959375e+02] [ 2.69298904e-03 1.24474885e-05 9.99996374e-01 6.22520395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.014012739 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:185.52, Y:122.96, Z:0.62 [[-9.62216277e-01 -2.72273918e-01 2.59795576e-03 1.85516774e+02] [ 2.72272995e-01 -9.62219784e-01 -7.09203567e-04 1.22958180e+02] [ 2.69290206e-03 2.49459790e-05 9.99996374e-01 6.19894573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.044012739 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:185.53, Y:122.96, Z:0.62 [[-9.60679719e-01 -2.77646765e-01 2.59822603e-03 1.85531458e+02] [ 2.77645864e-01 -9.60683232e-01 -7.08211994e-04 1.22956015e+02] [ 2.69270495e-03 4.10218139e-05 9.99996374e-01 6.19875914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.074012739 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:185.42, Y:122.99, Z:0.62 [[-9.59905587e-01 -2.80311455e-01 2.59849324e-03 1.85422275e+02] [ 2.80310567e-01 -9.59909103e-01 -7.07230246e-04 1.22985612e+02] [ 2.69256205e-03 4.95108472e-05 9.99996374e-01 6.22671735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.104012739 meters Centerline goodness : 0.996474 Centerline is valid? [True, True] Translation: X:185.54, Y:122.95, Z:0.62 [[-9.59366013e-01 -2.82152620e-01 2.59839463e-03 1.85543429e+02] [ 2.82151738e-01 -9.59369531e-01 -7.07592712e-04 1.22952537e+02] [ 2.69246977e-03 5.43011611e-05 9.99996374e-01 6.22156250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.134012739 meters Centerline goodness : 0.995765 Centerline is valid? [True, True] Translation: X:185.57, Y:122.95, Z:0.62 [[-9.58701508e-01 -2.84402296e-01 2.59849253e-03 1.85569918e+02] [ 2.84401423e-01 -9.58705028e-01 -7.07233002e-04 1.22946326e+02] [ 2.69232655e-03 6.09896290e-05 9.99996374e-01 6.23304774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.164012739 meters Centerline goodness : 0.995703 Centerline is valid? [True, True] Translation: X:185.56, Y:122.95, Z:0.62 [[-9.58905912e-01 -2.83712354e-01 2.59855765e-03 1.85561626e+02] [ 2.83711479e-01 -9.58909431e-01 -7.06993660e-04 1.22950753e+02] [ 2.69236427e-03 5.93002336e-05 9.99996374e-01 6.22450527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.194012739 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:185.56, Y:122.95, Z:0.62 [[-9.59264849e-01 -2.82496364e-01 2.59881729e-03 1.85560835e+02] [ 2.82495487e-01 -9.59268368e-01 -7.06037967e-04 1.22951783e+02] [ 2.69241638e-03 5.68767522e-05 9.99996374e-01 6.24020877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.224012739 meters Centerline goodness : 0.996506 Centerline is valid? [True, True] Translation: X:185.56, Y:122.95, Z:0.63 [[-9.59671030e-01 -2.81113428e-01 2.59907795e-03 1.85559815e+02] [ 2.81112549e-01 -9.59674548e-01 -7.05077117e-04 1.22951826e+02] [ 2.69247560e-03 5.39913442e-05 9.99996374e-01 6.33173850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.254012739 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:185.57, Y:122.95, Z:0.64 [[-9.59665626e-01 -2.81131871e-01 2.59933888e-03 1.85570651e+02] [ 2.81130995e-01 -9.59669145e-01 -7.04113847e-04 1.22948728e+02] [ 2.69245417e-03 5.50408707e-05 9.99996374e-01 6.35897621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.284012739 meters Centerline goodness : 0.996619 Centerline is valid? [True, True] Translation: X:185.46, Y:122.98, Z:0.64 [[-9.59501868e-01 -2.81690268e-01 2.59959900e-03 1.85459378e+02] [ 2.81689396e-01 -9.59505388e-01 -7.03152182e-04 1.22978521e+02] [ 2.69240037e-03 5.76036388e-05 9.99996374e-01 6.35871706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.314012739 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:185.58, Y:122.94, Z:0.63 [[-9.58258118e-01 -2.85892669e-01 2.60010856e-03 1.85577970e+02] [ 2.85891818e-01 -9.58261643e-01 -7.01265675e-04 1.22944450e+02] [ 2.69207101e-03 7.13562349e-05 9.99996374e-01 6.27806975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.344012739 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:185.59, Y:122.94, Z:0.63 [[-9.57984870e-01 -2.86806959e-01 2.59960011e-03 1.85588243e+02] [ 2.86806106e-01 -9.57988394e-01 -7.03145449e-04 1.22939681e+02] [ 2.69205374e-03 7.19784850e-05 9.99996374e-01 6.26630618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.374012739 meters Centerline goodness : 0.996411 Centerline is valid? [True, True] Translation: X:185.60, Y:122.93, Z:0.63 [[-9.57687977e-01 -2.87796768e-01 2.59985678e-03 1.85596776e+02] [ 2.87795921e-01 -9.57691503e-01 -7.02195132e-04 1.22934016e+02] [ 2.69195024e-03 7.57443415e-05 9.99996374e-01 6.30164689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.404012739 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:185.60, Y:122.93, Z:0.63 [[-9.57798416e-01 -2.87429006e-01 2.60011169e-03 1.85600457e+02] [ 2.87428161e-01 -9.57801942e-01 -7.01249973e-04 1.22931694e+02] [ 2.69195161e-03 7.56892088e-05 9.99996374e-01 6.32533085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.434012739 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:185.59, Y:122.93, Z:0.63 [[-9.58071027e-01 -2.86519013e-01 2.60036546e-03 1.85594279e+02] [ 2.86518167e-01 -9.58074553e-01 -7.00307692e-04 1.22930056e+02] [ 2.69199544e-03 7.41074343e-05 9.99996374e-01 6.31234854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.464012739 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:185.57, Y:122.93, Z:0.63 [[-9.58400796e-01 -2.85414000e-01 2.60061940e-03 1.85569978e+02] [ 2.85413152e-01 -9.58404322e-01 -6.99363387e-04 1.22934357e+02] [ 2.69205298e-03 7.19805533e-05 9.99996374e-01 6.27342770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.494012739 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:185.57, Y:122.93, Z:0.62 [[-9.59653961e-01 -2.81171675e-01 2.60087624e-03 1.85567661e+02] [ 2.81170815e-01 -9.59657483e-01 -6.98406937e-04 1.22932103e+02] [ 2.69232259e-03 6.10615070e-05 9.99996374e-01 6.22337150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.524012739 meters Centerline goodness : 0.996154 Centerline is valid? [True, True] Translation: X:185.57, Y:122.93, Z:0.62 [[-9.60625469e-01 -2.77834381e-01 2.60113553e-03 1.85572704e+02] [ 2.77833511e-01 -9.60628989e-01 -6.97439892e-04 1.22929579e+02] [ 2.69249897e-03 5.27040929e-05 9.99996374e-01 6.23443172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55401273900003 meters Centerline goodness : 0.996157 Centerline is valid? [True, True] Translation: X:185.57, Y:122.93, Z:0.63 [[-9.61641924e-01 -2.74295540e-01 2.60139455e-03 1.85565319e+02] [ 2.74294659e-01 -9.61645441e-01 -6.96472436e-04 1.22930021e+02] [ 2.69265849e-03 4.37915370e-05 9.99996374e-01 6.26967052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.584012739 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:185.55, Y:122.93, Z:0.63 [[-9.63319416e-01 -2.68344806e-01 2.60165383e-03 1.85553855e+02] [ 2.68343907e-01 -9.63322928e-01 -6.95502531e-04 1.22931085e+02] [ 2.69286728e-03 2.81468610e-05 9.99996374e-01 6.29444078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.614012739 meters Centerline goodness : 0.996380 Centerline is valid? [True, True] Translation: X:185.54, Y:122.94, Z:0.63 [[-9.64869632e-01 -2.62716242e-01 2.60191491e-03 1.85542319e+02] [ 2.62715324e-01 -9.64873140e-01 -6.94524461e-04 1.22935382e+02] [ 2.69298066e-03 1.34373570e-05 9.99996374e-01 6.28802827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.644012739 meters Centerline goodness : 0.996689 Centerline is valid? [True, True] Translation: X:185.53, Y:122.94, Z:0.63 [[-9.65576076e-01 -2.60107807e-01 2.60217836e-03 1.85533408e+02] [ 2.60106882e-01 -9.65579582e-01 -6.93535971e-04 1.22938444e+02] [ 2.69300441e-03 7.18275900e-06 9.99996374e-01 6.28767550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.674012739 meters Centerline goodness : 0.996789 Centerline is valid? [True, True] Translation: X:185.54, Y:122.94, Z:0.63 [[-9.66251750e-01 -2.57586458e-01 2.60244402e-03 1.85543612e+02] [ 2.57585528e-01 -9.66255254e-01 -6.92537663e-04 1.22936219e+02] [ 2.69301353e-03 1.18618674e-06 9.99996374e-01 6.28487052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.704012739 meters Centerline goodness : 0.996931 Centerline is valid? [True, True] Translation: X:185.55, Y:122.94, Z:0.63 [[-9.67315083e-01 -2.53564105e-01 2.60270969e-03 1.85554184e+02] [ 2.53563162e-01 -9.67318585e-01 -6.91537758e-04 1.22935849e+02] [ 2.69299861e-03 -8.98360396e-06 9.99996374e-01 6.27288593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.734012739 meters Centerline goodness : 0.996152 Centerline is valid? [True, True] Translation: X:185.56, Y:122.94, Z:0.63 [[-9.67972793e-01 -2.51041622e-01 2.60297345e-03 1.85563441e+02] [ 2.51040673e-01 -9.67976293e-01 -6.90543556e-04 1.22939047e+02] [ 2.69297176e-03 -1.49751700e-05 9.99996374e-01 6.25827774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.764012739 meters Centerline goodness : 0.996494 Centerline is valid? [True, True] Translation: X:185.57, Y:122.94, Z:0.62 [[-9.68190457e-01 -2.50200845e-01 2.60323547e-03 1.85572303e+02] [ 2.50199896e-01 -9.68193956e-01 -6.89554336e-04 1.22939582e+02] [ 2.69296393e-03 -1.62906834e-05 9.99996374e-01 6.24959577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.794012739 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:185.56, Y:122.95, Z:0.62 [[-9.68584254e-01 -2.48672004e-01 2.60349610e-03 1.85561097e+02] [ 2.48671052e-01 -9.68587752e-01 -6.88568920e-04 1.22947878e+02] [ 2.69294225e-03 -1.95229015e-05 9.99996374e-01 6.23607293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.824012739 meters Centerline goodness : 0.996561 Centerline is valid? [True, True] Translation: X:185.57, Y:122.95, Z:0.62 [[-9.68845963e-01 -2.47650400e-01 2.60375720e-03 1.85570371e+02] [ 2.47649446e-01 -9.68849462e-01 -6.87580159e-04 1.22948916e+02] [ 2.69292826e-03 -2.13402320e-05 9.99996374e-01 6.22961758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.854012739 meters Centerline goodness : 0.996161 Centerline is valid? [True, True] Translation: X:185.58, Y:122.95, Z:0.62 [[-9.69013685e-01 -2.46993313e-01 2.60401888e-03 1.85581938e+02] [ 2.46992360e-01 -9.69017184e-01 -6.86587699e-04 1.22949964e+02] [ 2.69292161e-03 -2.21401086e-05 9.99996374e-01 6.22191666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.884012739 meters Centerline goodness : 0.996663 Centerline is valid? [True, True] Translation: X:185.57, Y:122.96, Z:0.62 [[-9.68901293e-01 -2.47433835e-01 2.60427876e-03 1.85574017e+02] [ 2.47432886e-01 -9.68904792e-01 -6.85600529e-04 1.22959806e+02] [ 2.69293894e-03 -1.98950293e-05 9.99996374e-01 6.24938537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.914012739 meters Centerline goodness : 0.996431 Centerline is valid? [True, True] Translation: X:185.57, Y:122.97, Z:0.63 [[-9.68740535e-01 -2.48062477e-01 2.60453861e-03 1.85572150e+02] [ 2.48061533e-01 -9.68744036e-01 -6.84611951e-04 1.22967632e+02] [ 2.69295778e-03 -1.71255083e-05 9.99996374e-01 6.29410353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.944012739 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:185.57, Y:122.97, Z:0.63 [[-9.68684791e-01 -2.48280066e-01 2.60479989e-03 1.85572968e+02] [ 2.48279125e-01 -9.68688293e-01 -6.83616387e-04 1.22971505e+02] [ 2.69296748e-03 -1.54913582e-05 9.99996374e-01 6.30524583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.974012739 meters Centerline goodness : 0.996588 Centerline is valid? [True, True] Translation: X:185.57, Y:122.98, Z:0.63 [[-9.68659361e-01 -2.48379259e-01 2.60506166e-03 1.85568879e+02] [ 2.48378322e-01 -9.68662864e-01 -6.82617410e-04 1.22977469e+02] [ 2.69297449e-03 -1.41829015e-05 9.99996374e-01 6.31240086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.004012739 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:185.56, Y:122.99, Z:0.63 [[-9.68536393e-01 -2.48858329e-01 2.60532409e-03 1.85556813e+02] [ 2.48857396e-01 -9.68539897e-01 -6.81614323e-04 1.22988117e+02] [ 2.69298573e-03 -1.18141100e-05 9.99996374e-01 6.29271819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.034012739 meters Centerline goodness : 0.996472 Centerline is valid? [True, True] Translation: X:185.59, Y:122.98, Z:0.63 [[-9.68367320e-01 -2.49515418e-01 2.60558856e-03 1.85586998e+02] [ 2.49514490e-01 -9.68370826e-01 -6.80601827e-04 1.22982407e+02] [ 2.69299660e-03 -8.94046578e-06 9.99996374e-01 6.26333881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.064012739 meters Centerline goodness : 0.995798 Centerline is valid? [True, True] Translation: X:185.58, Y:122.99, Z:0.63 [[-9.67687221e-01 -2.52140146e-01 2.60568694e-03 1.85584283e+02] [ 2.52139229e-01 -9.67690729e-01 -6.80224980e-04 1.22988828e+02] [ 2.69301112e-03 -1.24912539e-06 9.99996374e-01 6.26161192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.094012739 meters Centerline goodness : 0.995923 Centerline is valid? [True, True] Translation: X:185.61, Y:122.99, Z:0.63 [[-9.67350088e-01 -2.53430498e-01 2.60594771e-03 1.85610965e+02] [ 2.53429588e-01 -9.67353598e-01 -6.79224502e-04 1.22985309e+02] [ 2.69300909e-03 3.37637113e-06 9.99996374e-01 6.28585850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.124012739 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:185.59, Y:122.99, Z:0.63 [[-9.67359473e-01 -2.53394670e-01 2.60601225e-03 1.85592864e+02] [ 2.53393760e-01 -9.67362983e-01 -6.78976763e-04 1.22994598e+02] [ 2.69300888e-03 3.53264066e-06 9.99996374e-01 6.32145260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.154012739 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:185.60, Y:122.99, Z:0.63 [[-9.67456717e-01 -2.53023136e-01 2.60627053e-03 1.85595283e+02] [ 2.53022227e-01 -9.67460228e-01 -6.77983929e-04 1.22994045e+02] [ 2.69300870e-03 3.52426741e-06 9.99996374e-01 6.32138485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.184012739 meters Centerline goodness : 0.996400 Centerline is valid? [True, True] Translation: X:185.61, Y:122.99, Z:0.63 [[-9.67633598e-01 -2.52345845e-01 2.60653052e-03 1.85606012e+02] [ 2.52344937e-01 -9.67637109e-01 -6.76982891e-04 1.22992591e+02] [ 2.69300948e-03 2.67338920e-06 9.99996374e-01 6.30869989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.214012739 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:185.62, Y:123.00, Z:0.63 [[-9.67681631e-01 -2.52161586e-01 2.60678936e-03 1.85615829e+02] [ 2.52160680e-01 -9.67685142e-01 -6.75984745e-04 1.22995577e+02] [ 2.69300871e-03 3.19175704e-06 9.99996374e-01 6.29301169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.244012739 meters Centerline goodness : 0.996336 Centerline is valid? [True, True] Translation: X:185.62, Y:123.00, Z:0.63 [[-9.67627048e-01 -2.52370954e-01 2.60704640e-03 1.85621885e+02] [ 2.52370051e-01 -9.67630561e-01 -6.74991946e-04 1.22997444e+02] [ 2.69300613e-03 4.79997040e-06 9.99996374e-01 6.30362330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.274012739 meters Centerline goodness : 0.996591 Centerline is valid? [True, True] Translation: X:185.64, Y:123.00, Z:0.63 [[-9.67410034e-01 -2.53201557e-01 2.60730223e-03 1.85642467e+02] [ 2.53200660e-01 -9.67413547e-01 -6.74002319e-04 1.22995714e+02] [ 2.69299793e-03 8.13403854e-06 9.99996374e-01 6.29610215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30401273900003 meters Centerline goodness : 0.996386 Centerline is valid? [True, True] Translation: X:185.64, Y:123.00, Z:0.63 [[-9.67304991e-01 -2.53602555e-01 2.60755576e-03 1.85643931e+02] [ 2.53601662e-01 -9.67308505e-01 -6.73020042e-04 1.22997748e+02] [ 2.69299046e-03 1.02648286e-05 9.99996374e-01 6.27274855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.334012739 meters Centerline goodness : 0.995714 Centerline is valid? [True, True] Translation: X:185.64, Y:123.01, Z:0.62 [[-9.67259542e-01 -2.53775843e-01 2.60780748e-03 1.85640088e+02] [ 2.53774954e-01 -9.67263057e-01 -6.72043263e-04 1.23005642e+02] [ 2.69298418e-03 1.17559634e-05 9.99996374e-01 6.23580468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.364012739 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:185.65, Y:123.01, Z:0.62 [[-9.67379758e-01 -2.53317198e-01 2.60805973e-03 1.85651618e+02] [ 2.53316309e-01 -9.67383273e-01 -6.71062883e-04 1.23006679e+02] [ 2.69298513e-03 1.14914169e-05 9.99996374e-01 6.23146815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.394012739 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:185.64, Y:123.01, Z:0.63 [[-9.67525318e-01 -2.52760668e-01 2.60831154e-03 1.85642521e+02] [ 2.52759780e-01 -9.67528834e-01 -6.70082730e-04 1.23011901e+02] [ 2.69298718e-03 1.09542426e-05 9.99996374e-01 6.25469812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.424012739 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:185.67, Y:123.01, Z:0.63 [[-9.67167210e-01 -2.54127495e-01 2.60856342e-03 1.85670839e+02] [ 2.54126615e-01 -9.67170727e-01 -6.69100721e-04 1.23008511e+02] [ 2.69296307e-03 1.57731146e-05 9.99996374e-01 6.28793000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.454012739 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:185.66, Y:123.01, Z:0.63 [[-9.65622540e-01 -2.59935193e-01 2.60881367e-03 1.85661786e+02] [ 2.59934336e-01 -9.65626064e-01 -6.68123565e-04 1.23013099e+02] [ 2.69280731e-03 3.29650764e-05 9.99996374e-01 6.25013487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.484012739 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:185.68, Y:123.01, Z:0.62 [[-9.64678162e-01 -2.63418368e-01 2.60906239e-03 1.85676011e+02] [ 2.63417527e-01 -9.64681689e-01 -6.67150898e-04 1.23009862e+02] [ 2.69265452e-03 4.36868608e-05 9.99996374e-01 6.24237667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.514012739 meters Centerline goodness : 0.996408 Centerline is valid? [True, True] Translation: X:185.72, Y:123.00, Z:0.63 [[-9.63612215e-01 -2.67291397e-01 2.60931074e-03 1.85724354e+02] [ 2.67290572e-01 -9.63615746e-01 -6.66178139e-04 1.22996876e+02] [ 2.69243660e-03 5.55067699e-05 9.99996374e-01 6.25190995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.544012739 meters Centerline goodness : 0.996364 Centerline is valid? [True, True] Translation: X:185.74, Y:122.99, Z:0.63 [[-9.61835086e-01 -2.73617356e-01 2.60940163e-03 1.85739231e+02] [ 2.73616556e-01 -9.61838623e-01 -6.65821947e-04 1.22991383e+02] [ 2.69200371e-03 7.35645772e-05 9.99996374e-01 6.28382580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.574012739 meters Centerline goodness : 0.996542 Centerline is valid? [True, True] Translation: X:185.77, Y:122.98, Z:0.63 [[-9.60647077e-01 -2.77759577e-01 2.60963935e-03 1.85765020e+02] [ 2.77758795e-01 -9.60650618e-01 -6.64888926e-04 1.22984109e+02] [ 2.69163092e-03 8.61266762e-05 9.99996374e-01 6.28354202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.604012739 meters Centerline goodness : 0.996762 Centerline is valid? [True, True] Translation: X:185.76, Y:122.98, Z:0.63 [[-9.60363059e-01 -2.78739993e-01 2.60987372e-03 1.85762369e+02] [ 2.78739217e-01 -9.60366601e-01 -6.63967694e-04 1.22983829e+02] [ 2.69150990e-03 8.98241105e-05 9.99996374e-01 6.27765802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.634012739 meters Centerline goodness : 0.996088 Centerline is valid? [True, True] Translation: X:185.76, Y:122.98, Z:0.63 [[-9.60346636e-01 -2.78796568e-01 2.61010626e-03 1.85762831e+02] [ 2.78795794e-01 -9.60350179e-01 -6.63052269e-04 1.22981587e+02] [ 2.69147271e-03 9.09266333e-05 9.99996374e-01 6.25451682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.664012739 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:185.74, Y:122.98, Z:0.63 [[-9.60337583e-01 -2.78827749e-01 2.61033895e-03 1.85742972e+02] [ 2.78826978e-01 -9.60341126e-01 -6.62134944e-04 1.22982205e+02] [ 2.69143744e-03 9.19598487e-05 9.99996374e-01 6.27954118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.694012739 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:185.77, Y:122.97, Z:0.63 [[-9.60208616e-01 -2.79271551e-01 2.61057321e-03 1.85766483e+02] [ 2.79270784e-01 -9.60212160e-01 -6.61210062e-04 1.22974491e+02] [ 2.69136130e-03 9.41572287e-05 9.99996374e-01 6.29516608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.724012739 meters Centerline goodness : 0.996494 Centerline is valid? [True, True] Translation: X:185.77, Y:122.97, Z:0.63 [[-9.59812730e-01 -2.80629126e-01 2.61080706e-03 1.85767154e+02] [ 2.80628367e-01 -9.59816276e-01 -6.60285384e-04 1.22970279e+02] [ 2.69119042e-03 9.89162050e-05 9.99996374e-01 6.27040765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.754012739 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:185.77, Y:122.97, Z:0.62 [[-9.59589827e-01 -2.81390380e-01 2.61103895e-03 1.85771621e+02] [ 2.81389626e-01 -9.59593374e-01 -6.59367119e-04 1.22966194e+02] [ 2.69107524e-03 1.01997294e-04 9.99996374e-01 6.24813709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.784012739 meters Centerline goodness : 0.996405 Centerline is valid? [True, True] Translation: X:185.78, Y:122.96, Z:0.62 [[-9.58695996e-01 -2.84420761e-01 2.61127034e-03 1.85778875e+02] [ 2.84420021e-01 -9.58699545e-01 -6.58449467e-04 1.22958943e+02] [ 2.69070039e-03 1.11444699e-04 9.99996374e-01 6.22107230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.814012739 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:185.79, Y:122.95, Z:0.62 [[-9.58199270e-01 -2.86089739e-01 2.61150071e-03 1.85791873e+02] [ 2.86089008e-01 -9.58202822e-01 -6.57534524e-04 1.22952935e+02] [ 2.69046123e-03 1.17072546e-04 9.99996374e-01 6.24003583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.844012739 meters Centerline goodness : 0.996614 Centerline is valid? [True, True] Translation: X:185.78, Y:122.95, Z:0.62 [[-9.57892335e-01 -2.87115749e-01 2.61172940e-03 1.85776142e+02] [ 2.87115024e-01 -9.57895888e-01 -6.56624902e-04 1.22953210e+02] [ 2.69029221e-03 1.20890790e-04 9.99996374e-01 6.24893397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.874012739 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:185.79, Y:122.94, Z:0.63 [[-9.57549307e-01 -2.88257702e-01 2.61195823e-03 1.85794040e+02] [ 2.88256984e-01 -9.57552861e-01 -6.55713406e-04 1.22941451e+02] [ 2.69010251e-03 1.25037282e-04 9.99996374e-01 6.27361366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.904012739 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:185.79, Y:122.94, Z:0.63 [[-9.57545010e-01 -2.88271973e-01 2.61218673e-03 1.85791690e+02] [ 2.88271256e-01 -9.57548565e-01 -6.54801831e-04 1.22939148e+02] [ 2.69005667e-03 1.26016126e-04 9.99996374e-01 6.28874518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.934012739 meters Centerline goodness : 0.996745 Centerline is valid? [True, True] Translation: X:185.80, Y:122.93, Z:0.63 [[-9.57527949e-01 -2.88328637e-01 2.61241386e-03 1.85803313e+02] [ 2.88327924e-01 -9.57531504e-01 -6.53894436e-04 1.22929649e+02] [ 2.69000506e-03 1.27109666e-04 9.99996374e-01 6.31353855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.964012739 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:185.81, Y:122.92, Z:0.63 [[-9.57511015e-01 -2.88384864e-01 2.61264022e-03 1.85810926e+02] [ 2.88384153e-01 -9.57514571e-01 -6.52988739e-04 1.22923381e+02] [ 2.68995315e-03 1.28200127e-04 9.99996374e-01 6.31762768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.994012739 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:185.77, Y:122.92, Z:0.63 [[-9.57225161e-01 -2.89332274e-01 2.61286492e-03 1.85773197e+02] [ 2.89331570e-01 -9.57228718e-01 -6.52088380e-04 1.22924559e+02] [ 2.68977955e-03 1.31788905e-04 9.99996374e-01 6.31317179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.024012739 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:185.79, Y:122.92, Z:0.63 [[-9.57090590e-01 -2.89777111e-01 2.61309179e-03 1.85789818e+02] [ 2.89776410e-01 -9.57094148e-01 -6.51178006e-04 1.22917149e+02] [ 2.68967134e-03 1.33976016e-04 9.99996374e-01 6.30348047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05401273900003 meters Centerline goodness : 0.996594 Centerline is valid? [True, True] Translation: X:185.78, Y:122.91, Z:0.63 [[-9.57469440e-01 -2.88522862e-01 2.61332016e-03 1.85778954e+02] [ 2.88522159e-01 -9.57472998e-01 -6.50260198e-04 1.22913364e+02] [ 2.68979842e-03 1.31396507e-04 9.99996374e-01 6.26843057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.084012739 meters Centerline goodness : 0.996356 Centerline is valid? [True, True] Translation: X:185.78, Y:122.91, Z:0.63 [[-9.57970763e-01 -2.86853947e-01 2.61354797e-03 1.85781618e+02] [ 2.86853241e-01 -9.57974319e-01 -6.49343285e-04 1.22909547e+02] [ 2.68997852e-03 1.27652824e-04 9.99996374e-01 6.25898786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.114012739 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:185.77, Y:122.91, Z:0.63 [[-9.58942608e-01 -2.83588158e-01 2.61377629e-03 1.85768916e+02] [ 2.83587442e-01 -9.58946162e-01 -6.48422925e-04 1.22906588e+02] [ 2.69035581e-03 1.19433762e-04 9.99996374e-01 6.25013282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.144012739 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:185.77, Y:122.90, Z:0.63 [[-9.59285590e-01 -2.82425785e-01 2.61400530e-03 1.85771458e+02] [ 2.82425067e-01 -9.59289144e-01 -6.47498391e-04 1.22903278e+02] [ 2.69045715e-03 1.17124746e-04 9.99996374e-01 6.25879602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.174012739 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:185.77, Y:122.90, Z:0.63 [[-9.59969559e-01 -2.80092150e-01 2.61423501e-03 1.85766300e+02] [ 2.80091426e-01 -9.59973112e-01 -6.46569645e-04 1.22898644e+02] [ 2.69069440e-03 1.11537633e-04 9.99996374e-01 6.31376183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.204012739 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:185.76, Y:122.90, Z:0.63 [[-9.60481823e-01 -2.78330436e-01 2.61446484e-03 1.85759716e+02] [ 2.78329708e-01 -9.60485376e-01 -6.45638949e-04 1.22897224e+02] [ 2.69085621e-03 1.07558762e-04 9.99996374e-01 6.32532828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.234012739 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:185.76, Y:122.89, Z:0.63 [[-9.61636694e-01 -2.74313749e-01 2.61469552e-03 1.85756014e+02] [ 2.74313009e-01 -9.61640243e-01 -6.44703400e-04 1.22893813e+02] [ 2.69124744e-03 9.72745493e-05 9.99996374e-01 6.34866857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.264012739 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:185.76, Y:122.89, Z:0.64 [[-9.62178402e-01 -2.72407570e-01 2.61492697e-03 1.85757666e+02] [ 2.72406825e-01 -9.62181951e-01 -6.43763244e-04 1.22891410e+02] [ 2.69140152e-03 9.29088657e-05 9.99996374e-01 6.37686286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.294012739 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:185.74, Y:122.89, Z:0.64 [[-9.62634840e-01 -2.70790188e-01 2.61515849e-03 1.85737453e+02] [ 2.70789439e-01 -9.62638388e-01 -6.42821387e-04 1.22891962e+02] [ 2.69152167e-03 8.93550370e-05 9.99996374e-01 6.39712585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.324012739 meters Centerline goodness : 0.996300 Centerline is valid? [True, True] Translation: X:185.75, Y:122.89, Z:0.64 [[-9.62499488e-01 -2.71270889e-01 2.61539148e-03 1.85747527e+02] [ 2.71270145e-01 -9.62503037e-01 -6.41872020e-04 1.22886051e+02] [ 2.69144344e-03 9.16761368e-05 9.99996374e-01 6.38513795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.354012739 meters Centerline goodness : 0.996188 Centerline is valid? [True, True] Translation: X:185.76, Y:122.87, Z:0.63 [[-9.61627791e-01 -2.74344946e-01 2.61562520e-03 1.85755997e+02] [ 2.74344216e-01 -9.61631343e-01 -6.40918213e-04 1.22874644e+02] [ 2.69109984e-03 1.01256878e-04 9.99996374e-01 6.31585712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.384012739 meters Centerline goodness : 0.996331 Centerline is valid? [True, True] Translation: X:185.76, Y:122.87, Z:0.63 [[-9.61320198e-01 -2.75420831e-01 2.61585717e-03 1.85763530e+02] [ 2.75420107e-01 -9.61323751e-01 -6.39970019e-04 1.22867706e+02] [ 2.69094670e-03 1.05243557e-04 9.99996374e-01 6.28909327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.414012739 meters Centerline goodness : 0.995801 Centerline is valid? [True, True] Translation: X:185.77, Y:122.86, Z:0.63 [[-9.61108588e-01 -2.76158356e-01 2.61608761e-03 1.85766038e+02] [ 2.76157638e-01 -9.61112143e-01 -6.39026640e-04 1.22862352e+02] [ 2.69082611e-03 1.08278584e-04 9.99996374e-01 6.29210848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.444012739 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:185.74, Y:122.86, Z:0.63 [[-9.61210858e-01 -2.75802178e-01 2.61631717e-03 1.85744862e+02] [ 2.75801461e-01 -9.61214413e-01 -6.38085392e-04 1.22859720e+02] [ 2.69082711e-03 1.08249490e-04 9.99996374e-01 6.32505435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.474012739 meters Centerline goodness : 0.996444 Centerline is valid? [True, True] Translation: X:185.75, Y:122.86, Z:0.63 [[-9.61690838e-01 -2.74123850e-01 2.61654804e-03 1.85748662e+02] [ 2.74123129e-01 -9.61694392e-01 -6.37137248e-04 1.22855209e+02] [ 2.69097410e-03 1.04527284e-04 9.99996374e-01 6.34213760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.504012739 meters Centerline goodness : 0.996388 Centerline is valid? [True, True] Translation: X:185.73, Y:122.85, Z:0.63 [[-9.63375194e-01 -2.68144342e-01 2.61678018e-03 1.85731707e+02] [ 2.68143602e-01 -9.63378744e-01 -6.36182411e-04 1.22852165e+02] [ 2.69153912e-03 8.87905100e-05 9.99996374e-01 6.34446221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.534012739 meters Centerline goodness : 0.996058 Centerline is valid? [True, True] Translation: X:185.71, Y:122.85, Z:0.63 [[-9.65191670e-01 -2.61530480e-01 2.61701326e-03 1.85713047e+02] [ 2.61529718e-01 -9.65195215e-01 -6.35222164e-04 1.22853257e+02] [ 2.69205863e-03 7.13155984e-05 9.99996374e-01 6.31187593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.564012739 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:185.71, Y:122.85, Z:0.63 [[-9.65964398e-01 -2.58661809e-01 2.61724929e-03 1.85709174e+02] [ 2.58661040e-01 -9.65967942e-01 -6.34248179e-04 1.22852013e+02] [ 2.69223469e-03 6.43192625e-05 9.99996374e-01 6.29087798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.594012739 meters Centerline goodness : 0.996053 Centerline is valid? [True, True] Translation: X:185.71, Y:122.85, Z:0.63 [[-9.66573097e-01 -2.56377839e-01 2.61748718e-03 1.85705214e+02] [ 2.56377064e-01 -9.66576640e-01 -6.33264901e-04 1.22850001e+02] [ 2.69235705e-03 5.89668612e-05 9.99996374e-01 6.27690454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.624012739 meters Centerline goodness : 0.995613 Centerline is valid? [True, True] Translation: X:185.70, Y:122.85, Z:0.63 [[-9.67334280e-01 -2.53490705e-01 2.61772571e-03 1.85695736e+02] [ 2.53489922e-01 -9.67337821e-01 -6.32277342e-04 1.22848141e+02] [ 2.69250151e-03 5.19435390e-05 9.99996374e-01 6.27273969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.654012739 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:185.69, Y:122.85, Z:0.63 [[-9.67973163e-01 -2.51040040e-01 2.61796532e-03 1.85690491e+02] [ 2.51039250e-01 -9.67976702e-01 -6.31283668e-04 1.22851782e+02] [ 2.69260692e-03 4.61464023e-05 9.99996374e-01 6.28295876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.684012739 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:185.71, Y:122.85, Z:0.63 [[-9.68288994e-01 -2.49819074e-01 2.61820630e-03 1.85712194e+02] [ 2.49818283e-01 -9.68292532e-01 -6.30282645e-04 1.22845851e+02] [ 2.69264623e-03 4.37800532e-05 9.99996374e-01 6.29178846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.714012739 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:185.69, Y:122.85, Z:0.63 [[-9.68614042e-01 -2.48555791e-01 2.61844594e-03 1.85694140e+02] [ 2.48554997e-01 -9.68617581e-01 -6.29285505e-04 1.22846305e+02] [ 2.69268533e-03 4.12930470e-05 9.99996374e-01 6.31275397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.744012739 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:185.69, Y:122.85, Z:0.63 [[-9.68624330e-01 -2.48515694e-01 2.61868520e-03 1.85690130e+02] [ 2.48514903e-01 -9.68627869e-01 -6.28288273e-04 1.22847346e+02] [ 2.69267096e-03 4.22069917e-05 9.99996374e-01 6.31859166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.774012739 meters Centerline goodness : 0.996014 Centerline is valid? [True, True] Translation: X:185.70, Y:122.85, Z:0.63 [[-9.68564314e-01 -2.48749493e-01 2.61892647e-03 1.85701475e+02] [ 2.48748706e-01 -9.68567854e-01 -6.27280966e-04 1.22845347e+02] [ 2.69264381e-03 4.38926100e-05 9.99996374e-01 6.32275734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80401273900003 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:185.70, Y:122.84, Z:0.63 [[-9.68152611e-01 -2.50347084e-01 2.61916715e-03 1.85704202e+02] [ 2.50346305e-01 -9.68156152e-01 -6.26274400e-04 1.22843782e+02] [ 2.69254876e-03 4.93696241e-05 9.99996374e-01 6.33676828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.834012739 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:185.72, Y:122.84, Z:0.63 [[-9.67889633e-01 -2.51361883e-01 2.61940657e-03 1.85720754e+02] [ 2.51361111e-01 -9.67893176e-01 -6.25271422e-04 1.22836871e+02] [ 2.69247515e-03 5.32232189e-05 9.99996374e-01 6.34619436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.864012739 meters Centerline goodness : 0.994981 Centerline is valid? [True, True] Translation: X:185.72, Y:122.84, Z:0.64 [[-9.67982385e-01 -2.51004463e-01 2.61964422e-03 1.85720071e+02] [ 2.51003692e-01 -9.67985928e-01 -6.24274157e-04 1.22837518e+02] [ 2.69247434e-03 5.32539847e-05 9.99996374e-01 6.35879786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.894012739 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:185.73, Y:122.83, Z:0.64 [[-9.68084059e-01 -2.50612032e-01 2.61988056e-03 1.85733499e+02] [ 2.50611263e-01 -9.68087603e-01 -6.23280745e-04 1.22833962e+02] [ 2.69247554e-03 5.31834215e-05 9.99996374e-01 6.37367175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.924012739 meters Centerline goodness : 0.994753 Centerline is valid? [True, True] Translation: X:185.74, Y:122.83, Z:0.64 [[-9.68098637e-01 -2.50555712e-01 2.62011582e-03 1.85736098e+02] [ 2.50554945e-01 -9.68102181e-01 -6.22290173e-04 1.22831167e+02] [ 2.69245820e-03 5.40447087e-05 9.99996374e-01 6.37031152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.954012739 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:185.73, Y:122.83, Z:0.64 [[-9.68152696e-01 -2.50346743e-01 2.62034972e-03 1.85730427e+02] [ 2.50345978e-01 -9.68156240e-01 -6.21303727e-04 1.22829819e+02] [ 2.69244930e-03 5.44771343e-05 9.99996374e-01 6.36031338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.984012739 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:185.73, Y:122.83, Z:0.63 [[-9.68321935e-01 -2.49691335e-01 2.62058381e-03 1.85730861e+02] [ 2.49690571e-01 -9.68325480e-01 -6.20314764e-04 1.22828992e+02] [ 2.69246530e-03 5.36706756e-05 9.99996374e-01 6.33607796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.014012739 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:185.73, Y:122.83, Z:0.63 [[-9.68416466e-01 -2.49324445e-01 2.62081830e-03 1.85733340e+02] [ 2.49323682e-01 -9.68420011e-01 -6.19322463e-04 1.22828482e+02] [ 2.69246512e-03 5.36699965e-05 9.99996374e-01 6.33601021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.044012739 meters Centerline goodness : 0.994540 Centerline is valid? [True, True] Translation: X:185.74, Y:122.83, Z:0.63 [[-9.68775961e-01 -2.47923914e-01 2.62105257e-03 1.85740062e+02] [ 2.47923148e-01 -9.68779506e-01 -6.18329417e-04 1.22827352e+02] [ 2.69252066e-03 5.07969296e-05 9.99996374e-01 6.32433964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.074012739 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:185.74, Y:122.83, Z:0.63 [[-9.69518756e-01 -2.45003084e-01 2.62128616e-03 1.85736889e+02] [ 2.45002310e-01 -9.69522298e-01 -6.17337596e-04 1.22826573e+02] [ 2.69264499e-03 4.37007862e-05 9.99996374e-01 6.32367548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.104012739 meters Centerline goodness : 0.994705 Centerline is valid? [True, True] Translation: X:185.72, Y:122.83, Z:0.63 [[-9.69845728e-01 -2.43705542e-01 2.62151944e-03 1.85721512e+02] [ 2.43704766e-01 -9.69849270e-01 -6.16345358e-04 1.22829952e+02] [ 2.69268550e-03 4.11168677e-05 9.99996374e-01 6.31896912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.134012739 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:185.72, Y:122.83, Z:0.63 [[-9.70038475e-01 -2.42937201e-01 2.62175439e-03 1.85715842e+02] [ 2.42936425e-01 -9.70042017e-01 -6.15344317e-04 1.22834814e+02] [ 2.69270194e-03 4.00119759e-05 9.99996374e-01 6.29259873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.164012739 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:185.73, Y:122.83, Z:0.63 [[-9.70038166e-01 -2.42938431e-01 2.62199127e-03 1.85728431e+02] [ 2.42937658e-01 -9.70041709e-01 -6.14333295e-04 1.22833565e+02] [ 2.69268606e-03 4.10536761e-05 9.99996374e-01 6.27981935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.194012739 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:185.75, Y:122.83, Z:0.63 [[-9.69544938e-01 -2.44899445e-01 2.62222769e-03 1.85745855e+02] [ 2.44898681e-01 -9.69548482e-01 -6.13322522e-04 1.22829586e+02] [ 2.69257922e-03 4.75363570e-05 9.99996374e-01 6.27691960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.224012739 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:185.75, Y:122.83, Z:0.63 [[-9.69307795e-01 -2.45836372e-01 2.62246156e-03 1.85754446e+02] [ 2.45835615e-01 -9.69311341e-01 -6.12320876e-04 1.22828281e+02] [ 2.69251248e-03 5.11670532e-05 9.99996374e-01 6.28786934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.254012739 meters Centerline goodness : 0.993994 Centerline is valid? [True, True] Translation: X:185.75, Y:122.83, Z:0.63 [[-9.69156600e-01 -2.46431746e-01 2.62269329e-03 1.85754790e+02] [ 2.46430994e-01 -9.69160148e-01 -6.11326727e-04 1.22832291e+02] [ 2.69246013e-03 5.38415813e-05 9.99996374e-01 6.32497104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.284012739 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:185.76, Y:122.83, Z:0.63 [[-9.69264616e-01 -2.46006555e-01 2.62292438e-03 1.85763636e+02] [ 2.46005803e-01 -9.69268163e-01 -6.10333629e-04 1.22831670e+02] [ 2.69246317e-03 5.36798285e-05 9.99996374e-01 6.33429299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.314012739 meters Centerline goodness : 0.993977 Centerline is valid? [True, True] Translation: X:185.77, Y:122.83, Z:0.63 [[-9.69118499e-01 -2.46581535e-01 2.62315475e-03 1.85773703e+02] [ 2.46580789e-01 -9.69122048e-01 -6.09341908e-04 1.22830477e+02] [ 2.69240956e-03 5.62950501e-05 9.99996374e-01 6.32486518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.344012739 meters Centerline goodness : 0.993964 Centerline is valid? [True, True] Translation: X:185.77, Y:122.83, Z:0.63 [[-9.68962188e-01 -2.47195057e-01 2.62338369e-03 1.85769067e+02] [ 2.47194316e-01 -9.68965737e-01 -6.08354645e-04 1.22833185e+02] [ 2.69235117e-03 5.90128889e-05 9.99996374e-01 6.31833626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.374012739 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:185.79, Y:122.83, Z:0.63 [[-9.68573958e-01 -2.48711889e-01 2.62361226e-03 1.85788191e+02] [ 2.48711156e-01 -9.68577510e-01 -6.07367295e-04 1.22829829e+02] [ 2.69223130e-03 6.42414919e-05 9.99996374e-01 6.31396945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.404012739 meters Centerline goodness : 0.993887 Centerline is valid? [True, True] Translation: X:185.78, Y:122.83, Z:0.63 [[-9.68483163e-01 -2.49065207e-01 2.62383972e-03 1.85778410e+02] [ 2.49064478e-01 -9.68486716e-01 -6.06383073e-04 1.22830891e+02] [ 2.69218284e-03 6.62334733e-05 9.99996374e-01 6.30448206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.434012739 meters Centerline goodness : 0.992965 Centerline is valid? [True, True] Translation: X:185.78, Y:122.83, Z:0.63 [[-9.68293501e-01 -2.49801543e-01 2.62406640e-03 1.85778486e+02] [ 2.49800819e-01 -9.68297054e-01 -6.05400526e-04 1.22829293e+02] [ 2.69210575e-03 6.92885423e-05 9.99996374e-01 6.29594467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.464012739 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:185.80, Y:122.83, Z:0.63 [[-9.68339876e-01 -2.49621710e-01 2.62429386e-03 1.85795271e+02] [ 2.49620988e-01 -9.68343429e-01 -6.04412920e-04 1.22826140e+02] [ 2.69209231e-03 6.98016947e-05 9.99996374e-01 6.29215053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.494012739 meters Centerline goodness : 0.993235 Centerline is valid? [True, True] Translation: X:185.79, Y:122.83, Z:0.63 [[-9.68318556e-01 -2.49704397e-01 2.62451996e-03 1.85786579e+02] [ 2.49703678e-01 -9.68322110e-01 -6.03429560e-04 1.22828440e+02] [ 2.69205972e-03 7.10402478e-05 9.99996374e-01 6.29639174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.524012739 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:185.81, Y:122.82, Z:0.63 [[-9.67993817e-01 -2.50960318e-01 2.62474546e-03 1.85811000e+02] [ 2.50959606e-01 -9.67997373e-01 -6.02447080e-04 1.22820164e+02] [ 2.69193702e-03 7.55400388e-05 9.99996374e-01 6.29355601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55401273900003 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:185.79, Y:122.82, Z:0.63 [[-9.67966531e-01 -2.51065541e-01 2.62474546e-03 1.85786817e+02] [ 2.51064830e-01 -9.67970086e-01 -6.02447080e-04 1.22824451e+02] [ 2.69192880e-03 7.58326638e-05 9.99996374e-01 6.28260675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.584012739 meters Centerline goodness : 0.993108 Centerline is valid? [True, True] Translation: X:185.80, Y:122.82, Z:0.63 [[-9.68090017e-01 -2.50588962e-01 2.62496955e-03 1.85797432e+02] [ 2.50588251e-01 -9.68093573e-01 -6.01469120e-04 1.22820247e+02] [ 2.69193767e-03 7.55102772e-05 9.99996374e-01 6.26488324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.614012739 meters Centerline goodness : 0.993590 Centerline is valid? [True, True] Translation: X:185.79, Y:122.82, Z:0.63 [[-9.68435178e-01 -2.49251708e-01 2.62519472e-03 1.85793979e+02] [ 2.49250996e-01 -9.68438734e-01 -6.00484713e-04 1.22817592e+02] [ 2.69201209e-03 7.28018782e-05 9.99996374e-01 6.27720145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.644012739 meters Centerline goodness : 0.993649 Centerline is valid? [True, True] Translation: X:185.80, Y:122.82, Z:0.63 [[-9.68630427e-01 -2.48491858e-01 2.62541927e-03 1.85800144e+02] [ 2.48491146e-01 -9.68633982e-01 -5.99501337e-04 1.22815051e+02] [ 2.69204152e-03 7.16982055e-05 9.99996374e-01 6.28279947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.674012739 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:185.80, Y:122.81, Z:0.63 [[-9.68932721e-01 -2.47310511e-01 2.62564352e-03 1.85802982e+02] [ 2.47309797e-01 -9.68936276e-01 -5.98517556e-04 1.22811984e+02] [ 2.69210094e-03 6.94241229e-05 9.99996374e-01 6.29060460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.704012739 meters Centerline goodness : 0.992896 Centerline is valid? [True, True] Translation: X:185.80, Y:122.81, Z:0.63 [[-9.69162462e-01 -2.46408658e-01 2.62586701e-03 1.85802707e+02] [ 2.46407943e-01 -9.69166017e-01 -5.97535447e-04 1.22809330e+02] [ 2.69213898e-03 6.79255624e-05 9.99996374e-01 6.30016659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.734012739 meters Centerline goodness : 0.992798 Centerline is valid? [True, True] Translation: X:185.79, Y:122.81, Z:0.63 [[-9.69361921e-01 -2.45622818e-01 2.62609031e-03 1.85794671e+02] [ 2.45622103e-01 -9.69365476e-01 -5.96552464e-04 1.22807740e+02] [ 2.69216818e-03 6.67505805e-05 9.99996374e-01 6.30795161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.764012739 meters Centerline goodness : 0.993035 Centerline is valid? [True, True] Translation: X:185.80, Y:122.80, Z:0.63 [[-9.69499503e-01 -2.45079205e-01 2.62631418e-03 1.85802933e+02] [ 2.45078491e-01 -9.69503058e-01 -5.95565222e-04 1.22800590e+02] [ 2.69218028e-03 6.62529284e-05 9.99996374e-01 6.30952657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.794012739 meters Centerline goodness : 0.993564 Centerline is valid? [True, True] Translation: X:185.80, Y:122.80, Z:0.63 [[-9.69352281e-01 -2.45660858e-01 2.62653794e-03 1.85801416e+02] [ 2.45660148e-01 -9.69355837e-01 -5.94576772e-04 1.22797338e+02] [ 2.69211412e-03 6.88813494e-05 9.99996374e-01 6.29550000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.824012739 meters Centerline goodness : 0.993745 Centerline is valid? [True, True] Translation: X:185.79, Y:122.80, Z:0.63 [[-9.69327596e-01 -2.45758238e-01 2.62676100e-03 1.85791541e+02] [ 2.45757531e-01 -9.69331153e-01 -5.93589686e-04 1.22796262e+02] [ 2.69208082e-03 7.01634351e-05 9.99996374e-01 6.29046540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.854012739 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:185.80, Y:122.79, Z:0.63 [[-9.69300884e-01 -2.45863570e-01 2.62698489e-03 1.85804000e+02] [ 2.45862866e-01 -9.69304441e-01 -5.92597174e-04 1.22790200e+02] [ 2.69204618e-03 7.14730704e-05 9.99996374e-01 6.28373897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.884012739 meters Centerline goodness : 0.993082 Centerline is valid? [True, True] Translation: X:185.80, Y:122.79, Z:0.63 [[-9.69747345e-01 -2.44096669e-01 2.62720848e-03 1.85800762e+02] [ 2.44095961e-01 -9.69750902e-01 -5.91604249e-04 1.22786901e+02] [ 2.69214642e-03 6.75843299e-05 9.99996374e-01 6.29295588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.914012739 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:185.79, Y:122.79, Z:0.63 [[-9.71383313e-01 -2.37502749e-01 2.62743122e-03 1.85792026e+02] [ 2.37502020e-01 -9.71386865e-01 -5.90613356e-04 1.22786600e+02] [ 2.69252447e-03 5.03082655e-05 9.99996374e-01 6.29704492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.944012739 meters Centerline goodness : 0.993283 Centerline is valid? [True, True] Translation: X:185.79, Y:122.79, Z:0.63 [[-9.72594621e-01 -2.32492579e-01 2.62765487e-03 1.85790736e+02] [ 2.32491835e-01 -9.72598170e-01 -5.89616665e-04 1.22785333e+02] [ 2.69273381e-03 3.74503046e-05 9.99996374e-01 6.29477617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.974012739 meters Centerline goodness : 0.992729 Centerline is valid? [True, True] Translation: X:185.82, Y:122.78, Z:0.63 [[-9.74789939e-01 -2.23109097e-01 2.62787935e-03 1.85815822e+02] [ 2.23108321e-01 -9.74793481e-01 -5.88614443e-04 1.22778256e+02] [ 2.69296490e-03 1.25263124e-05 9.99996374e-01 6.29177159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.004012739 meters Centerline goodness : 0.993119 Centerline is valid? [True, True] Translation: X:185.83, Y:122.78, Z:0.63 [[-9.75683544e-01 -2.19168239e-01 2.62782363e-03 1.85832294e+02] [ 2.19167448e-01 -9.75687083e-01 -5.88863112e-04 1.22775185e+02] [ 2.69299366e-03 1.38935069e-06 9.99996374e-01 6.30391458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.034012739 meters Centerline goodness : 0.993310 Centerline is valid? [True, True] Translation: X:185.85, Y:122.77, Z:0.63 [[-9.76421285e-01 -2.15857751e-01 2.62804258e-03 1.85850239e+02] [ 2.15856950e-01 -9.76424821e-01 -5.87884326e-04 1.22771839e+02] [ 2.69298540e-03 -6.74151217e-06 9.99996374e-01 6.31427305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.064012739 meters Centerline goodness : 0.993392 Centerline is valid? [True, True] Translation: X:185.87, Y:122.77, Z:0.64 [[-9.77226385e-01 -2.12183139e-01 2.62825886e-03 1.85866092e+02] [ 2.12182328e-01 -9.77229919e-01 -5.86915794e-04 1.22766663e+02] [ 2.69294683e-03 -1.58795164e-05 9.99996374e-01 6.35259252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.094012739 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:185.86, Y:122.77, Z:0.64 [[-9.77291211e-01 -2.11884356e-01 2.62847254e-03 1.85858680e+02] [ 2.11883547e-01 -9.77294745e-01 -5.85957302e-04 1.22766534e+02] [ 2.69294759e-03 -1.57208374e-05 9.99996374e-01 6.36514065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.124012739 meters Centerline goodness : 0.993100 Centerline is valid? [True, True] Translation: X:185.87, Y:122.76, Z:0.63 [[-9.77130608e-01 -2.12623763e-01 2.62868556e-03 1.85865965e+02] [ 2.12622958e-01 -9.77134144e-01 -5.85000095e-04 1.22763325e+02] [ 2.69296334e-03 -1.27025980e-05 9.99996374e-01 6.33734242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.154012739 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:185.87, Y:122.76, Z:0.63 [[-9.77351084e-01 -2.11608006e-01 2.62889853e-03 1.85871929e+02] [ 2.11607200e-01 -9.77354619e-01 -5.84041448e-04 1.22762581e+02] [ 2.69295397e-03 -1.45196832e-05 9.99996374e-01 6.32181254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.184012739 meters Centerline goodness : 0.993546 Centerline is valid? [True, True] Translation: X:185.89, Y:122.76, Z:0.63 [[-9.78321330e-01 -2.07075983e-01 2.62911049e-03 1.85888964e+02] [ 2.07075164e-01 -9.78324863e-01 -5.83085747e-04 1.22761206e+02] [ 2.69286721e-03 -2.60217392e-05 9.99996374e-01 6.32333242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.214012739 meters Centerline goodness : 0.993469 Centerline is valid? [True, True] Translation: X:185.89, Y:122.76, Z:0.63 [[-9.79037492e-01 -2.03663142e-01 2.62932087e-03 1.85889205e+02] [ 2.03662313e-01 -9.79041022e-01 -5.82135522e-04 1.22763043e+02] [ 2.69277254e-03 -3.44389312e-05 9.99996374e-01 6.34415663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.244012739 meters Centerline goodness : 0.993874 Centerline is valid? [True, True] Translation: X:185.92, Y:122.76, Z:0.64 [[-9.80557298e-01 -1.96215370e-01 2.62953003e-03 1.85916964e+02] [ 1.96214517e-01 -9.80560822e-01 -5.81189223e-04 1.22762565e+02] [ 2.69245238e-03 -5.39373698e-05 9.99996374e-01 6.35643915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.274012739 meters Centerline goodness : 0.993804 Centerline is valid? [True, True] Translation: X:185.92, Y:122.76, Z:0.63 [[-9.81565142e-01 -1.91109804e-01 2.62947813e-03 1.85922470e+02] [ 1.91108932e-01 -9.81568662e-01 -5.81423920e-04 1.22764585e+02] [ 2.69212914e-03 -6.81886969e-05 9.99996374e-01 6.33656106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30401273900003 meters Centerline goodness : 0.993730 Centerline is valid? [True, True] Translation: X:185.94, Y:122.77, Z:0.63 [[-9.83438584e-01 -1.81222613e-01 2.62968297e-03 1.85938172e+02] [ 1.81221708e-01 -9.83442096e-01 -5.80495982e-04 1.22769589e+02] [ 2.69133993e-03 -9.43265089e-05 9.99996374e-01 6.31270341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.334012739 meters Centerline goodness : 0.993458 Centerline is valid? [True, True] Translation: X:185.94, Y:122.77, Z:0.63 [[-9.84187378e-01 -1.77110951e-01 2.62988652e-03 1.85942734e+02] [ 1.77110034e-01 -9.84190886e-01 -5.79572356e-04 1.22774055e+02] [ 2.69095895e-03 -1.04628507e-04 9.99996374e-01 6.30372933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.364012739 meters Centerline goodness : 0.993332 Centerline is valid? [True, True] Translation: X:185.99, Y:122.77, Z:0.63 [[-9.85120250e-01 -1.71846374e-01 2.63008891e-03 1.85989764e+02] [ 1.71845440e-01 -9.85123754e-01 -5.78652439e-04 1.22774555e+02] [ 2.69040238e-03 -1.18073449e-04 9.99996374e-01 6.30625689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.394012739 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:185.97, Y:122.78, Z:0.63 [[-9.85367693e-01 -1.70421806e-01 2.63001382e-03 1.85971814e+02] [ 1.70420866e-01 -9.85371196e-01 -5.78993531e-04 1.22783313e+02] [ 2.69021299e-03 -1.22312288e-04 9.99996374e-01 6.31156327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.424012739 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:185.95, Y:122.80, Z:0.63 [[-9.85324763e-01 -1.70669839e-01 2.63021102e-03 1.85951161e+02] [ 1.70668903e-01 -9.85328266e-01 -5.78096323e-04 1.22796957e+02] [ 2.69028487e-03 -1.20717393e-04 9.99996374e-01 6.26888333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.454012739 meters Centerline goodness : 0.993118 Centerline is valid? [True, True] Translation: X:185.97, Y:122.80, Z:0.62 [[-9.85162631e-01 -1.71603240e-01 2.63033563e-03 1.85967578e+02] [ 1.71602309e-01 -9.85166135e-01 -5.77528802e-04 1.22798371e+02] [ 2.69042340e-03 -1.17588127e-04 9.99996374e-01 6.23851365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.484012739 meters Centerline goodness : 0.992634 Centerline is valid? [True, True] Translation: X:185.96, Y:122.81, Z:0.62 [[-9.84532925e-01 -1.75179905e-01 2.63053612e-03 1.85961439e+02] [ 1.75178989e-01 -9.84536434e-01 -5.76614151e-04 1.22809806e+02] [ 2.69086986e-03 -1.06880960e-04 9.99996374e-01 6.21466242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.514012739 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:185.95, Y:122.82, Z:0.62 [[-9.84218434e-01 -1.76938279e-01 2.63073614e-03 1.85953545e+02] [ 1.76937371e-01 -9.84221944e-01 -5.75700114e-04 1.22816570e+02] [ 2.69109163e-03 -1.01139127e-04 9.99996374e-01 6.23419211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.544012739 meters Centerline goodness : 0.993911 Centerline is valid? [True, True] Translation: X:185.93, Y:122.83, Z:0.63 [[-9.83569443e-01 -1.80511020e-01 2.63093733e-03 1.85932738e+02] [ 1.80510127e-01 -9.83572958e-01 -5.74779207e-04 1.22829723e+02] [ 2.69147280e-03 -9.04244323e-05 9.99996374e-01 6.28409051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.574012739 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:185.95, Y:122.83, Z:0.63 [[-9.83241005e-01 -1.82291535e-01 2.63114076e-03 1.85945541e+02] [ 1.82290652e-01 -9.83244522e-01 -5.73846460e-04 1.22830980e+02] [ 2.69166209e-03 -8.45970054e-05 9.99996374e-01 6.28501960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.604012739 meters Centerline goodness : 0.993826 Centerline is valid? [True, True] Translation: X:185.92, Y:122.84, Z:0.63 [[-9.82939369e-01 -1.83911049e-01 2.63134499e-03 1.85917184e+02] [ 1.83910174e-01 -9.82942887e-01 -5.72908453e-04 1.22841677e+02] [ 2.69182604e-03 -7.92031590e-05 9.99996374e-01 6.28059851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.634012739 meters Centerline goodness : 0.993621 Centerline is valid? [True, True] Translation: X:185.91, Y:122.85, Z:0.63 [[-9.82128730e-01 -1.88192009e-01 2.63155041e-03 1.85914524e+02] [ 1.88191151e-01 -9.82132254e-01 -5.71963348e-04 1.22850971e+02] [ 2.69216946e-03 -6.65071361e-05 9.99996374e-01 6.28253785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.664012739 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:185.90, Y:122.86, Z:0.63 [[-9.81017420e-01 -1.93901768e-01 2.63175833e-03 1.85904869e+02] [ 1.93900933e-01 -9.81020949e-01 -5.71005022e-04 1.22859370e+02] [ 2.69252894e-03 -4.98654761e-05 9.99996374e-01 6.31101916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.694012739 meters Centerline goodness : 0.993886 Centerline is valid? [True, True] Translation: X:185.89, Y:122.86, Z:0.63 [[-9.80456558e-01 -1.96718101e-01 2.63196743e-03 1.85890941e+02] [ 1.96717279e-01 -9.80460090e-01 -5.70039597e-04 1.22864713e+02] [ 2.69267613e-03 -4.11455896e-05 9.99996374e-01 6.30692591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.724012739 meters Centerline goodness : 0.993473 Centerline is valid? [True, True] Translation: X:185.91, Y:122.86, Z:0.63 [[-9.79679193e-01 -2.00553610e-01 2.63217845e-03 1.85907313e+02] [ 2.00552804e-01 -9.79682729e-01 -5.69063525e-04 1.22862948e+02] [ 2.69282751e-03 -2.96089254e-05 9.99996374e-01 6.30049269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.754012739 meters Centerline goodness : 0.993876 Centerline is valid? [True, True] Translation: X:185.87, Y:122.87, Z:0.63 [[-9.78117605e-01 -2.08036107e-01 2.63225740e-03 1.85866037e+02] [ 2.08035330e-01 -9.78121147e-01 -5.68698105e-04 1.22873524e+02] [ 2.69297636e-03 -8.65109300e-06 9.99996374e-01 6.30166066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.784012739 meters Centerline goodness : 0.993676 Centerline is valid? [True, True] Translation: X:185.88, Y:122.87, Z:0.63 [[-9.77455582e-01 -2.11124740e-01 2.63247049e-03 1.85882548e+02] [ 2.11123977e-01 -9.77459127e-01 -5.67709998e-04 1.22869595e+02] [ 2.69298993e-03 8.66331488e-07 9.99996374e-01 6.30474635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.814012739 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:185.87, Y:122.87, Z:0.63 [[-9.76392621e-01 -2.15987313e-01 2.63255105e-03 1.85865248e+02] [ 2.15986568e-01 -9.76396170e-01 -5.67336201e-04 1.22868816e+02] [ 2.69295018e-03 1.46527862e-05 9.99996374e-01 6.29996403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.844012739 meters Centerline goodness : 0.993983 Centerline is valid? [True, True] Translation: X:185.88, Y:122.86, Z:0.63 [[-9.75410181e-01 -2.20381594e-01 2.63276639e-03 1.85883978e+02] [ 2.20380868e-01 -9.75413734e-01 -5.66335094e-04 1.22859008e+02] [ 2.69284633e-03 2.78023271e-05 9.99996374e-01 6.30098254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.874012739 meters Centerline goodness : 0.993985 Centerline is valid? [True, True] Translation: X:185.88, Y:122.86, Z:0.63 [[-9.75171259e-01 -2.21436412e-01 2.63284687e-03 1.85875069e+02] [ 2.21435691e-01 -9.75174812e-01 -5.65960737e-04 1.22858020e+02] [ 2.69281026e-03 3.10976208e-05 9.99996374e-01 6.31413635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.904012739 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:185.88, Y:122.85, Z:0.63 [[-9.75131336e-01 -2.21612150e-01 2.63306123e-03 1.85881144e+02] [ 2.21611432e-01 -9.75134890e-01 -5.64961664e-04 1.22853523e+02] [ 2.69279224e-03 3.26046494e-05 9.99996374e-01 6.33326173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.934012739 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:185.89, Y:122.85, Z:0.63 [[-9.75660977e-01 -2.19268611e-01 2.63327578e-03 1.85887377e+02] [ 2.19267887e-01 -9.75664530e-01 -5.63959877e-04 1.22845355e+02] [ 2.69285248e-03 2.71591730e-05 9.99996374e-01 6.32942598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.964012739 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:185.89, Y:122.84, Z:0.63 [[-9.75743872e-01 -2.18899431e-01 2.63348918e-03 1.85889850e+02] [ 2.18898709e-01 -9.75747426e-01 -5.62961635e-04 1.22844902e+02] [ 2.69285227e-03 2.71610153e-05 9.99996374e-01 6.32935821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.994012739 meters Centerline goodness : 0.994486 Centerline is valid? [True, True] Translation: X:185.88, Y:122.84, Z:0.63 [[-9.76499744e-01 -2.15502468e-01 2.63370181e-03 1.85879172e+02] [ 2.15501736e-01 -9.76503296e-01 -5.61965116e-04 1.22844001e+02] [ 2.69292336e-03 1.88085191e-05 9.99996374e-01 6.32744493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.024012739 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:185.90, Y:122.84, Z:0.63 [[-9.78099211e-01 -2.08122552e-01 2.63391504e-03 1.85895909e+02] [ 2.08121796e-01 -9.78102757e-01 -5.60963905e-04 1.22835043e+02] [ 2.69298881e-03 -5.03224379e-07 9.99996374e-01 6.30778519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05401273900003 meters Centerline goodness : 0.993841 Centerline is valid? [True, True] Translation: X:185.93, Y:122.83, Z:0.63 [[-9.78840774e-01 -2.04606454e-01 2.63399461e-03 1.85925433e+02] [ 2.04605686e-01 -9.78844318e-01 -5.60590062e-04 1.22826195e+02] [ 2.69297100e-03 -9.79813599e-06 9.99996374e-01 6.29727102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.084012739 meters Centerline goodness : 0.994237 Centerline is valid? [True, True] Translation: X:185.92, Y:122.82, Z:0.63 [[-9.80015366e-01 -1.98904357e-01 2.63404678e-03 1.85924483e+02] [ 1.98903570e-01 -9.80018906e-01 -5.60344830e-04 1.22820970e+02] [ 2.69287067e-03 -2.52252378e-05 9.99996374e-01 6.27083009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.114012739 meters Centerline goodness : 0.993978 Centerline is valid? [True, True] Translation: X:185.93, Y:122.82, Z:0.63 [[-9.80504717e-01 -1.96477889e-01 2.63425377e-03 1.85927871e+02] [ 1.96477095e-01 -9.80508255e-01 -5.59370031e-04 1.22818366e+02] [ 2.69281141e-03 -3.08944245e-05 9.99996374e-01 6.26324519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.144012739 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:185.94, Y:122.81, Z:0.63 [[-9.81527688e-01 -1.91302006e-01 2.63446047e-03 1.85940665e+02] [ 1.91301196e-01 -9.81531222e-01 -5.58394839e-04 1.22814218e+02] [ 2.69262726e-03 -4.41045555e-05 9.99996374e-01 6.30555112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.174012739 meters Centerline goodness : 0.994997 Centerline is valid? [True, True] Translation: X:185.97, Y:122.81, Z:0.64 [[-9.82506386e-01 -1.86210259e-01 2.63466595e-03 1.85968974e+02] [ 1.86209433e-01 -9.82509917e-01 -5.57423633e-04 1.22808334e+02] [ 2.69238342e-03 -5.70726257e-05 9.99996374e-01 6.35165541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.204012739 meters Centerline goodness : 0.995084 Centerline is valid? [True, True] Translation: X:185.97, Y:122.81, Z:0.64 [[-9.82950656e-01 -1.83850664e-01 2.63469121e-03 1.85967765e+02] [ 1.83849831e-01 -9.82954185e-01 -5.57304195e-04 1.22808715e+02] [ 2.69224150e-03 -6.34149905e-05 9.99996374e-01 6.36415089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.234012739 meters Centerline goodness : 0.995101 Centerline is valid? [True, True] Translation: X:185.96, Y:122.81, Z:0.64 [[-9.83319686e-01 -1.81866579e-01 2.63489184e-03 1.85963132e+02] [ 1.81865740e-01 -9.83323214e-01 -5.56354035e-04 1.22810343e+02] [ 2.69213252e-03 -6.78773203e-05 9.99996374e-01 6.36185871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.264012739 meters Centerline goodness : 0.995384 Centerline is valid? [True, True] Translation: X:186.00, Y:122.81, Z:0.63 [[-9.83823551e-01 -1.79120846e-01 2.63509291e-03 1.85996119e+02] [ 1.79120000e-01 -9.83827077e-01 -5.55400078e-04 1.22808758e+02] [ 2.69195948e-03 -7.44178339e-05 9.99996374e-01 6.32432948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.294012739 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:185.98, Y:122.81, Z:0.63 [[-9.84135318e-01 -1.77399921e-01 2.63504303e-03 1.85984537e+02] [ 1.77399069e-01 -9.84138843e-01 -5.55636605e-04 1.22814654e+02] [ 2.69181809e-03 -7.93674264e-05 9.99996374e-01 6.30428358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.324012739 meters Centerline goodness : 0.994681 Centerline is valid? [True, True] Translation: X:185.99, Y:122.82, Z:0.63 [[-9.84610694e-01 -1.74742201e-01 2.63524068e-03 1.85989469e+02] [ 1.74741341e-01 -9.84614217e-01 -5.54697636e-04 1.22820690e+02] [ 2.69162452e-03 -8.56757344e-05 9.99996374e-01 6.31336664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.354012739 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:185.98, Y:122.83, Z:0.63 [[-9.84786826e-01 -1.73746833e-01 2.63543894e-03 1.85984444e+02] [ 1.73745972e-01 -9.84790349e-01 -5.53754075e-04 1.22825688e+02] [ 2.69156784e-03 -8.74328177e-05 9.99996374e-01 6.32747888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.384012739 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:185.98, Y:122.83, Z:0.63 [[-9.84578369e-01 -1.74924235e-01 2.63563735e-03 1.85980096e+02] [ 1.74923381e-01 -9.84581894e-01 -5.52808097e-04 1.22834531e+02] [ 2.69170034e-03 -8.32482973e-05 9.99996374e-01 6.34543902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.414012739 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:185.98, Y:122.84, Z:0.63 [[-9.84226639e-01 -1.76892552e-01 2.63583657e-03 1.85980962e+02] [ 1.76891708e-01 -9.84230166e-01 -5.51856557e-04 1.22837543e+02] [ 2.69188918e-03 -7.68942915e-05 9.99996374e-01 6.33093405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.444012739 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:185.98, Y:122.84, Z:0.63 [[-9.83304764e-01 -1.81947226e-01 2.63603620e-03 1.85977788e+02] [ 1.81946402e-01 -9.83308295e-01 -5.50901352e-04 1.22843118e+02] [ 2.69227123e-03 -6.20866209e-05 9.99996374e-01 6.28072685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.474012739 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:185.97, Y:122.85, Z:0.63 [[-9.82764307e-01 -1.84844172e-01 2.63623610e-03 1.85972148e+02] [ 1.84843361e-01 -9.82767841e-01 -5.49943061e-04 1.22846658e+02] [ 2.69246183e-03 -5.31736686e-05 9.99996374e-01 6.25888243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.504012739 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:185.95, Y:122.86, Z:0.63 [[-9.81451642e-01 -1.91691740e-01 2.63643677e-03 1.85945041e+02] [ 1.91690957e-01 -9.81455183e-01 -5.48979373e-04 1.22855859e+02] [ 2.69277934e-03 -3.34156201e-05 9.99996374e-01 6.27025397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.534012739 meters Centerline goodness : 0.995392 Centerline is valid? [True, True] Translation: X:185.93, Y:122.86, Z:0.63 [[-9.80792902e-01 -1.95034182e-01 2.63663985e-03 1.85934652e+02] [ 1.95033414e-01 -9.80796445e-01 -5.48002279e-04 1.22858816e+02] [ 2.69288617e-03 -2.32438748e-05 9.99996374e-01 6.28357965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.564012739 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:185.92, Y:122.86, Z:0.63 [[-9.79320576e-01 -2.02297448e-01 2.63684584e-03 1.85922492e+02] [ 2.02296708e-01 -9.79324126e-01 -5.47009296e-04 1.22861521e+02] [ 2.69298533e-03 -2.27222506e-06 9.99996374e-01 6.30003722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.594012739 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:185.92, Y:122.86, Z:0.63 [[-9.78563938e-01 -2.05926358e-01 2.63705356e-03 1.85920179e+02] [ 2.05925634e-01 -9.78567491e-01 -5.46006072e-04 1.22861966e+02] [ 2.69297193e-03 8.73507486e-06 9.99996374e-01 6.29709000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.624012739 meters Centerline goodness : 0.995061 Centerline is valid? [True, True] Translation: X:185.93, Y:122.86, Z:0.63 [[-9.77042251e-01 -2.13029305e-01 2.63726242e-03 1.85925458e+02] [ 2.13028609e-01 -9.77045810e-01 -5.44995424e-04 1.22859555e+02] [ 2.69282619e-03 2.93287890e-05 9.99996374e-01 6.31209265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.654012739 meters Centerline goodness : 0.995292 Centerline is valid? [True, True] Translation: X:185.93, Y:122.86, Z:0.63 [[-9.76372555e-01 -2.16077942e-01 2.63747095e-03 1.85929055e+02] [ 2.16077261e-01 -9.76376117e-01 -5.43984358e-04 1.22856748e+02] [ 2.69270667e-03 3.87661017e-05 9.99996374e-01 6.33009042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.684012739 meters Centerline goodness : 0.995464 Centerline is valid? [True, True] Translation: X:185.96, Y:122.85, Z:0.63 [[-9.75172929e-01 -2.21428996e-01 2.63767879e-03 1.85962258e+02] [ 2.21428337e-01 -9.75176495e-01 -5.42974722e-04 1.22845488e+02] [ 2.69243270e-03 5.45625776e-05 9.99996374e-01 6.32330143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.714012739 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:185.97, Y:122.84, Z:0.63 [[-9.74858985e-01 -2.22807094e-01 2.63770434e-03 1.85973968e+02] [ 2.22806441e-01 -9.74862552e-01 -5.42850550e-04 1.22841034e+02] [ 2.69235014e-03 5.84947802e-05 9.99996374e-01 6.29748201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.744012739 meters Centerline goodness : 0.995214 Centerline is valid? [True, True] Translation: X:185.97, Y:122.84, Z:0.63 [[-9.74622775e-01 -2.23838085e-01 2.63790586e-03 1.85967870e+02] [ 2.23837438e-01 -9.74626343e-01 -5.41869516e-04 1.22839591e+02] [ 2.69226358e-03 6.23437192e-05 9.99996374e-01 6.29288423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.774012739 meters Centerline goodness : 0.995162 Centerline is valid? [True, True] Translation: X:185.98, Y:122.83, Z:0.63 [[-9.74205798e-01 -2.25645968e-01 2.63810695e-03 1.85983227e+02] [ 2.25645330e-01 -9.74209368e-01 -5.40888726e-04 1.22827862e+02] [ 2.69211787e-03 6.83395824e-05 9.99996374e-01 6.31733115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80401273900003 meters Centerline goodness : 0.994689 Centerline is valid? [True, True] Translation: X:185.98, Y:122.82, Z:0.63 [[-9.73954812e-01 -2.26726849e-01 2.63830716e-03 1.85975376e+02] [ 2.26726218e-01 -9.73958383e-01 -5.39910381e-04 1.22820907e+02] [ 2.69201356e-03 7.23250910e-05 9.99996374e-01 6.32232448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.834012739 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:185.96, Y:122.82, Z:0.63 [[-9.74009642e-01 -2.26491181e-01 2.63850660e-03 1.85962735e+02] [ 2.26490551e-01 -9.74013213e-01 -5.38934007e-04 1.22819929e+02] [ 2.69200409e-03 7.26698935e-05 9.99996374e-01 6.30893621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.864012739 meters Centerline goodness : 0.994822 Centerline is valid? [True, True] Translation: X:185.98, Y:122.81, Z:0.63 [[-9.74179823e-01 -2.25758078e-01 2.63870731e-03 1.85983170e+02] [ 2.25757448e-01 -9.74183394e-01 -5.37949499e-04 1.22808802e+02] [ 2.69203128e-03 7.16482814e-05 9.99996374e-01 6.28347339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.894012739 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:185.95, Y:122.81, Z:0.63 [[-9.74405012e-01 -2.24784138e-01 2.63890729e-03 1.85954940e+02] [ 2.24783508e-01 -9.74408583e-01 -5.36966666e-04 1.22810690e+02] [ 2.69207551e-03 6.99598270e-05 9.99996374e-01 6.29595254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.924012739 meters Centerline goodness : 0.995150 Centerline is valid? [True, True] Translation: X:185.98, Y:122.80, Z:0.63 [[-9.74425276e-01 -2.24696275e-01 2.63910769e-03 1.85980284e+02] [ 2.24695646e-01 -9.74428848e-01 -5.35979928e-04 1.22797883e+02] [ 2.69205536e-03 7.07236189e-05 9.99996374e-01 6.30730626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.954012739 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:185.97, Y:122.80, Z:0.63 [[-9.74394231e-01 -2.24830863e-01 2.63910769e-03 1.85967024e+02] [ 2.24830236e-01 -9.74397803e-01 -5.35979928e-04 1.22797542e+02] [ 2.69204557e-03 7.10954541e-05 9.99996374e-01 6.30732303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.984012739 meters Centerline goodness : 0.995531 Centerline is valid? [True, True] Translation: X:185.87, Y:122.81, Z:0.63 [[-9.74486652e-01 -2.24429943e-01 2.63930708e-03 1.85867712e+02] [ 2.24429317e-01 -9.74490223e-01 -5.34996307e-04 1.22812870e+02] [ 2.69204813e-03 7.09911245e-05 9.99996374e-01 6.33692626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.014012739 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:185.96, Y:122.79, Z:0.63 [[-9.73997955e-01 -2.26541410e-01 2.64063775e-03 1.85963243e+02] [ 2.26540809e-01 -9.74001531e-01 -5.28416645e-04 1.22789358e+02] [ 2.69169347e-03 8.35354824e-05 9.99996374e-01 6.34663797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.044012739 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:185.97, Y:122.78, Z:0.64 [[-9.73985763e-01 -2.26593838e-01 2.63930277e-03 1.85971907e+02] [ 2.26593220e-01 -9.73989336e-01 -5.35002447e-04 1.22783518e+02] [ 2.69188101e-03 7.69633466e-05 9.99996374e-01 6.35027130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.074012739 meters Centerline goodness : 0.995570 Centerline is valid? [True, True] Translation: X:185.97, Y:122.78, Z:0.63 [[-9.73874781e-01 -2.27070350e-01 2.63950273e-03 1.85972412e+02] [ 2.27069736e-01 -9.73878355e-01 -5.34014120e-04 1.22775837e+02] [ 2.69181334e-03 7.92883015e-05 9.99996374e-01 6.32376640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.104012739 meters Centerline goodness : 0.994818 Centerline is valid? [True, True] Translation: X:185.97, Y:122.77, Z:0.63 [[-9.73973514e-01 -2.26646479e-01 2.63970179e-03 1.85972375e+02] [ 2.26645866e-01 -9.73977088e-01 -5.33028276e-04 1.22768224e+02] [ 2.69181805e-03 7.91220756e-05 9.99996374e-01 6.29811277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.134012739 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:185.96, Y:122.77, Z:0.63 [[-9.74235352e-01 -2.25518315e-01 2.63990065e-03 1.85964401e+02] [ 2.25517701e-01 -9.74238925e-01 -5.32041564e-04 1.22766312e+02] [ 2.69187909e-03 7.70106260e-05 9.99996374e-01 6.30835739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.164012739 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:185.96, Y:122.76, Z:0.63 [[-9.75410005e-01 -2.20382285e-01 2.64009992e-03 1.85962511e+02] [ 2.20381654e-01 -9.75413576e-01 -5.31050918e-04 1.22760392e+02] [ 2.69222352e-03 6.38372092e-05 9.99996374e-01 6.32422239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.194012739 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:185.95, Y:122.76, Z:0.63 [[-9.76195430e-01 -2.16876717e-01 2.64029976e-03 1.85946948e+02] [ 2.16876077e-01 -9.76198999e-01 -5.30055500e-04 1.22760756e+02] [ 2.69241468e-03 5.51800962e-05 9.99996374e-01 6.31270891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.224012739 meters Centerline goodness : 0.995256 Centerline is valid? [True, True] Translation: X:185.96, Y:122.75, Z:0.63 [[-9.77328753e-01 -2.11710976e-01 2.64050073e-03 1.85963174e+02] [ 2.11710319e-01 -9.77332319e-01 -5.29052452e-04 1.22751623e+02] [ 2.69265291e-03 4.19630782e-05 9.99996374e-01 6.28942540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.254012739 meters Centerline goodness : 0.995570 Centerline is valid? [True, True] Translation: X:185.96, Y:122.75, Z:0.63 [[-9.77658047e-01 -2.10185084e-01 2.64070152e-03 1.85964369e+02] [ 2.10184424e-01 -9.77661613e-01 -5.28048328e-04 1.22749232e+02] [ 2.69270039e-03 3.87836298e-05 9.99996374e-01 6.29703406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.284012739 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:185.97, Y:122.74, Z:0.64 [[-9.77778259e-01 -2.09625146e-01 2.64090094e-03 1.85965014e+02] [ 2.09624487e-01 -9.77781825e-01 -5.27049085e-04 1.22744157e+02] [ 2.69270768e-03 3.82603660e-05 9.99996374e-01 6.35406349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.314012739 meters Centerline goodness : 0.995902 Centerline is valid? [True, True] Translation: X:185.97, Y:122.74, Z:0.64 [[-9.77624611e-01 -2.10340546e-01 2.64110005e-03 1.85965239e+02] [ 2.10339892e-01 -9.77628177e-01 -5.26049437e-04 1.22741305e+02] [ 2.69266335e-03 4.12498224e-05 9.99996374e-01 6.35018045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.344012739 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:185.97, Y:122.74, Z:0.63 [[-9.77410393e-01 -2.11333736e-01 2.64129897e-03 1.85966701e+02] [ 2.11333088e-01 -9.77413961e-01 -5.25048719e-04 1.22738163e+02] [ 2.69260300e-03 4.50057944e-05 9.99996374e-01 6.32980126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.374012739 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:185.96, Y:122.74, Z:0.63 [[-9.77272584e-01 -2.11970090e-01 2.64149768e-03 1.85961618e+02] [ 2.11969447e-01 -9.77276153e-01 -5.24047110e-04 1.22735209e+02] [ 2.69255501e-03 4.77799301e-05 9.99996374e-01 6.30043249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.404012739 meters Centerline goodness : 0.995517 Centerline is valid? [True, True] Translation: X:185.97, Y:122.73, Z:0.63 [[-9.77578703e-01 -2.10553794e-01 2.64169657e-03 1.85972257e+02] [ 2.10553149e-01 -9.77582272e-01 -5.23042608e-04 1.22728698e+02] [ 2.69260434e-03 4.49022184e-05 9.99996374e-01 6.30492275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.434012739 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:185.97, Y:122.73, Z:0.63 [[-9.77785447e-01 -2.09591603e-01 2.64189494e-03 1.85971466e+02] [ 2.09590957e-01 -9.77789015e-01 -5.22038697e-04 1.22726303e+02] [ 2.69263078e-03 4.32754486e-05 9.99996374e-01 6.31854382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.464012739 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:185.98, Y:122.72, Z:0.63 [[-9.78008943e-01 -2.08546220e-01 2.64209245e-03 1.85976993e+02] [ 2.08545574e-01 -9.78012511e-01 -5.21037194e-04 1.22723311e+02] [ 2.69265981e-03 4.14176487e-05 9.99996374e-01 6.32553462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.494012739 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:185.99, Y:122.72, Z:0.63 [[-9.78393215e-01 -2.06735908e-01 2.64228957e-03 1.85991221e+02] [ 2.06735258e-01 -9.78396782e-01 -5.20035617e-04 1.22718189e+02] [ 2.69271765e-03 3.74550957e-05 9.99996374e-01 6.32175522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.524012739 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:185.93, Y:122.73, Z:0.63 [[-9.78858191e-01 -2.04523006e-01 2.64248516e-03 1.85925658e+02] [ 2.04522350e-01 -9.78861757e-01 -5.19039854e-04 1.22727222e+02] [ 2.69278325e-03 3.23808617e-05 9.99996374e-01 6.32058206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55401273900003 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:185.98, Y:122.71, Z:0.63 [[-9.78590260e-01 -2.05801155e-01 2.64339088e-03 1.85983794e+02] [ 2.05800516e-01 -9.78593829e-01 -5.14422793e-04 1.22713134e+02] [ 2.69267481e-03 4.06020730e-05 9.99996374e-01 6.31382380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.584012739 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:185.94, Y:122.72, Z:0.63 [[-9.78614282e-01 -2.05686909e-01 2.64248018e-03 1.85942919e+02] [ 2.05686257e-01 -9.78617849e-01 -5.19059111e-04 1.22719579e+02] [ 2.69274193e-03 3.55631976e-05 9.99996374e-01 6.32712336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.614012739 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:185.99, Y:122.71, Z:0.63 [[-9.78149801e-01 -2.07884536e-01 2.64311788e-03 1.85988184e+02] [ 2.07883901e-01 -9.78153371e-01 -5.15807457e-04 1.22707883e+02] [ 2.69260306e-03 4.49246932e-05 9.99996374e-01 6.34726157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.644012739 meters Centerline goodness : 0.995855 Centerline is valid? [True, True] Translation: X:186.01, Y:122.70, Z:0.64 [[-9.78242083e-01 -2.07449859e-01 2.64248005e-03 1.86005431e+02] [ 2.07449214e-01 -9.78245651e-01 -5.19054606e-04 1.22702882e+02] [ 2.69267243e-03 4.04193500e-05 9.99996374e-01 6.36231204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.674012739 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:186.01, Y:122.70, Z:0.63 [[-9.78531461e-01 -2.06080560e-01 2.64267347e-03 1.86010506e+02] [ 2.06079912e-01 -9.78535028e-01 -5.18067973e-04 1.22698524e+02] [ 2.69271230e-03 3.76561055e-05 9.99996374e-01 6.34517765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.704012739 meters Centerline goodness : 0.995454 Centerline is valid? [True, True] Translation: X:186.01, Y:122.70, Z:0.63 [[-9.78698040e-01 -2.05287997e-01 2.64286531e-03 1.86009817e+02] [ 2.05287349e-01 -9.78701608e-01 -5.17087474e-04 1.22698127e+02] [ 2.69272838e-03 3.64743172e-05 9.99996374e-01 6.30098566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.734012739 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:186.00, Y:122.70, Z:0.63 [[-9.78830430e-01 -2.04655815e-01 2.64304468e-03 1.86003783e+02] [ 2.04655167e-01 -9.78833998e-01 -5.16169018e-04 1.22699246e+02] [ 2.69273898e-03 3.56708087e-05 9.99996374e-01 6.28678830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.764012739 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:186.02, Y:122.69, Z:0.63 [[-9.79292254e-01 -2.02434420e-01 2.64323640e-03 1.86024478e+02] [ 2.02433767e-01 -9.79295821e-01 -5.15185362e-04 1.22692611e+02] [ 2.69280161e-03 3.05632675e-05 9.99996374e-01 6.31977016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.794012739 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:186.03, Y:122.69, Z:0.63 [[-9.79692511e-01 -2.00488395e-01 2.64342708e-03 1.86031343e+02] [ 2.00487738e-01 -9.79696077e-01 -5.14205119e-04 1.22690243e+02] [ 2.69284730e-03 2.62118109e-05 9.99996374e-01 6.34022671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.824012739 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:186.03, Y:122.69, Z:0.64 [[-9.80263587e-01 -1.97677290e-01 2.64361582e-03 1.86026122e+02] [ 1.97676625e-01 -9.80267152e-01 -5.13232951e-04 1.22690935e+02] [ 2.69290425e-03 1.94774786e-05 9.99996374e-01 6.35183029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.854012739 meters Centerline goodness : 0.995483 Centerline is valid? [True, True] Translation: X:186.03, Y:122.69, Z:0.64 [[-9.80336494e-01 -1.97315405e-01 2.64380444e-03 1.86028650e+02] [ 1.97314741e-01 -9.80340059e-01 -5.12259463e-04 1.22690520e+02] [ 2.69290408e-03 1.94749417e-05 9.99996374e-01 6.35176252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.884012739 meters Centerline goodness : 0.995639 Centerline is valid? [True, True] Translation: X:186.05, Y:122.69, Z:0.63 [[-9.81464170e-01 -1.91627485e-01 2.64399318e-03 1.86053930e+02] [ 1.91626803e-01 -9.81467731e-01 -5.11283415e-04 1.22687866e+02] [ 2.69296994e-03 4.85360887e-06 9.99996374e-01 6.33059068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.914012739 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:186.00, Y:122.70, Z:0.63 [[-9.82542899e-01 -1.86017363e-01 2.64418010e-03 1.86001176e+02] [ 1.86016663e-01 -9.82546457e-01 -5.10314896e-04 1.22700629e+02] [ 2.69295722e-03 -9.54471898e-06 9.99996374e-01 6.30436581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.944012739 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:186.07, Y:122.69, Z:0.63 [[-9.82855355e-01 -1.84359313e-01 2.64476362e-03 1.86072242e+02] [ 1.84358616e-01 -9.82858913e-01 -5.07286540e-04 1.22687774e+02] [ 2.69295249e-03 -1.10043323e-05 9.99996374e-01 6.30069315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.974012739 meters Centerline goodness : 0.995609 Centerline is valid? [True, True] Translation: X:186.08, Y:122.69, Z:0.63 [[-9.83674875e-01 -1.79935400e-01 2.64418310e-03 1.86078658e+02] [ 1.79934678e-01 -9.83678429e-01 -5.10294589e-04 1.22690180e+02] [ 2.69284594e-03 -2.61837303e-05 9.99996374e-01 6.32167941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.004012739 meters Centerline goodness : 0.995833 Centerline is valid? [True, True] Translation: X:186.08, Y:122.69, Z:0.63 [[-9.84016006e-01 -1.78060405e-01 2.64436572e-03 1.86082700e+02] [ 1.78059679e-01 -9.84019558e-01 -5.09346507e-04 1.22691391e+02] [ 2.69280203e-03 -3.03502047e-05 9.99996374e-01 6.33828886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.034012739 meters Centerline goodness : 0.995815 Centerline is valid? [True, True] Translation: X:186.08, Y:122.69, Z:0.63 [[-9.84243529e-01 -1.76798419e-01 2.64454768e-03 1.86084140e+02] [ 1.76797691e-01 -9.84247082e-01 -5.08399981e-04 1.22693258e+02] [ 2.69277265e-03 -3.28394669e-05 9.99996374e-01 6.34493223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.064012739 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:186.08, Y:122.70, Z:0.63 [[-9.84237052e-01 -1.76834474e-01 2.64472931e-03 1.86080724e+02] [ 1.76833749e-01 -9.84240605e-01 -5.07453390e-04 1.22698521e+02] [ 2.69278523e-03 -3.17770311e-05 9.99996374e-01 6.32484147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.094012739 meters Centerline goodness : 0.995462 Centerline is valid? [True, True] Translation: X:186.04, Y:122.71, Z:0.63 [[-9.84120947e-01 -1.77479483e-01 2.64491116e-03 1.86037251e+02] [ 1.77478762e-01 -9.84124501e-01 -5.06503785e-04 1.22710851e+02] [ 2.69281590e-03 -2.90454257e-05 9.99996374e-01 6.26210935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.124012739 meters Centerline goodness : 0.995117 Centerline is valid? [True, True] Translation: X:186.07, Y:122.71, Z:0.63 [[-9.83852137e-01 -1.78963609e-01 2.64574220e-03 1.86074313e+02] [ 1.78962906e-01 -9.83855694e-01 -5.02158702e-04 1.22705387e+02] [ 2.69289666e-03 -2.05601991e-05 9.99996374e-01 6.26677546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.154012739 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:186.07, Y:122.71, Z:0.63 [[-9.83899700e-01 -1.78701942e-01 2.64490645e-03 1.86071538e+02] [ 1.78701226e-01 -9.83903255e-01 -5.06522746e-04 1.22711688e+02] [ 2.69284866e-03 -2.57195540e-05 9.99996374e-01 6.29832280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.184012739 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:186.10, Y:122.71, Z:0.63 [[-9.83995558e-01 -1.78173357e-01 2.64508970e-03 1.86096397e+02] [ 1.78172641e-01 -9.83999113e-01 -5.05563955e-04 1.22710150e+02] [ 2.69284395e-03 -2.61900676e-05 9.99996374e-01 6.31142947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.214012739 meters Centerline goodness : 0.995685 Centerline is valid? [True, True] Translation: X:186.09, Y:122.72, Z:0.63 [[-9.84147869e-01 -1.77330131e-01 2.64524875e-03 1.86088471e+02] [ 1.77329415e-01 -9.84151423e-01 -5.04730419e-04 1.22718128e+02] [ 2.69282923e-03 -2.76489523e-05 9.99996374e-01 6.32136543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.244012739 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:186.09, Y:122.72, Z:0.63 [[-9.84083242e-01 -1.77688420e-01 2.64542968e-03 1.86090503e+02] [ 1.77687708e-01 -9.84086797e-01 -5.03780329e-04 1.22720740e+02] [ 2.69284835e-03 -2.57014439e-05 9.99996374e-01 6.33312212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.274012739 meters Centerline goodness : 0.996331 Centerline is valid? [True, True] Translation: X:186.08, Y:122.72, Z:0.64 [[-9.83931730e-01 -1.78525493e-01 2.64561100e-03 1.86082717e+02] [ 1.78524787e-01 -9.83935286e-01 -5.02826304e-04 1.22724929e+02] [ 2.69287733e-03 -2.24396153e-05 9.99996374e-01 6.36090891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30401273900003 meters Centerline goodness : 0.996639 Centerline is valid? [True, True] Translation: X:186.09, Y:122.73, Z:0.64 [[-9.83351057e-01 -1.81696723e-01 2.64579274e-03 1.86085122e+02] [ 1.81696031e-01 -9.83354616e-01 -5.01868170e-04 1.22728078e+02] [ 2.69294031e-03 -1.27825550e-05 9.99996374e-01 6.42299944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.334012739 meters Centerline goodness : 0.996336 Centerline is valid? [True, True] Translation: X:186.08, Y:122.73, Z:0.64 [[-9.82760882e-01 -1.84862238e-01 2.64597489e-03 1.86080243e+02] [ 1.84861559e-01 -9.82764444e-01 -5.00906033e-04 1.22731238e+02] [ 2.69296865e-03 -3.13181252e-06 9.99996374e-01 6.41160474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.364012739 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:186.08, Y:122.73, Z:0.64 [[-9.82577829e-01 -1.85832741e-01 2.64615725e-03 1.86084101e+02] [ 1.85832068e-01 -9.82581392e-01 -4.99940785e-04 1.22730762e+02] [ 2.69297024e-03 5.10143911e-07 9.99996374e-01 6.37748043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.394012739 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:186.09, Y:122.73, Z:0.63 [[-9.82493778e-01 -1.86276605e-01 2.64633970e-03 1.86086820e+02] [ 1.86275937e-01 -9.82497342e-01 -4.98973168e-04 1.22730158e+02] [ 2.69296874e-03 2.71137468e-06 9.99996374e-01 6.33725769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.424012739 meters Centerline goodness : 0.995226 Centerline is valid? [True, True] Translation: X:186.05, Y:122.74, Z:0.63 [[-9.82736506e-01 -1.84991771e-01 2.64652167e-03 1.86052743e+02] [ 1.84991101e-01 -9.82740070e-01 -4.98006102e-04 1.22735855e+02] [ 2.69296992e-03 1.74181494e-07 9.99996374e-01 6.29245124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.454012739 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:186.08, Y:122.73, Z:0.63 [[-9.83077534e-01 -1.83170840e-01 2.64670566e-03 1.86075729e+02] [ 1.83170166e-01 -9.83081097e-01 -4.97026378e-04 1.22731389e+02] [ 2.69296704e-03 -3.81795248e-06 9.99996374e-01 6.30236213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.484012739 meters Centerline goodness : 0.995804 Centerline is valid? [True, True] Translation: X:186.10, Y:122.73, Z:0.64 [[-9.83718110e-01 -1.79698842e-01 2.64689034e-03 1.86099320e+02] [ 1.79698158e-01 -9.83721671e-01 -4.96040893e-04 1.22727360e+02] [ 2.69294136e-03 -1.23230907e-05 9.99996374e-01 6.35195072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.514012739 meters Centerline goodness : 0.996501 Centerline is valid? [True, True] Translation: X:186.10, Y:122.73, Z:0.64 [[-9.84075927e-01 -1.77728904e-01 2.64707194e-03 1.86100789e+02] [ 1.77728215e-01 -9.84079487e-01 -4.95069928e-04 1.22725873e+02] [ 2.69291743e-03 -1.67270279e-05 9.99996374e-01 6.36995182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.544012739 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:186.11, Y:122.72, Z:0.64 [[-9.84089831e-01 -1.77651899e-01 2.64725186e-03 1.86106358e+02] [ 1.77651212e-01 -9.84093391e-01 -4.94105960e-04 1.22723500e+02] [ 2.69292192e-03 -1.59571484e-05 9.99996374e-01 6.35990062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.574012739 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:186.12, Y:122.72, Z:0.63 [[-9.84277354e-01 -1.76609971e-01 2.64743132e-03 1.86123422e+02] [ 1.76609283e-01 -9.84280914e-01 -4.93142539e-04 1.22717990e+02] [ 2.69291001e-03 -1.78280865e-05 9.99996374e-01 6.32250855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.604012739 meters Centerline goodness : 0.995978 Centerline is valid? [True, True] Translation: X:186.12, Y:122.72, Z:0.63 [[-9.84600139e-01 -1.74801478e-01 2.64760925e-03 1.86120292e+02] [ 1.74800787e-01 -9.84603698e-01 -4.92185402e-04 1.22718527e+02] [ 2.69288059e-03 -2.18016364e-05 9.99996374e-01 6.33161247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.634012739 meters Centerline goodness : 0.995839 Centerline is valid? [True, True] Translation: X:186.14, Y:122.72, Z:0.63 [[-9.85353558e-01 -1.70503242e-01 2.64778622e-03 1.86138989e+02] [ 1.70502537e-01 -9.85357115e-01 -4.91231495e-04 1.22716438e+02] [ 2.69277155e-03 -3.25824325e-05 9.99996374e-01 6.34401580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.664012739 meters Centerline goodness : 0.995859 Centerline is valid? [True, True] Translation: X:186.15, Y:122.72, Z:0.63 [[-9.85827902e-01 -1.67738893e-01 2.64796225e-03 1.86146207e+02] [ 1.67738181e-01 -9.85831457e-01 -4.90280795e-04 1.22715758e+02] [ 2.69268364e-03 -3.91681171e-05 9.99996374e-01 6.34627947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.694012739 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:186.16, Y:122.72, Z:0.64 [[-9.86772353e-01 -1.62090441e-01 2.64813668e-03 1.86155285e+02] [ 1.62089712e-01 -9.86775905e-01 -4.89336801e-04 1.22716652e+02] [ 2.69243429e-03 -5.36283157e-05 9.99996374e-01 6.36374352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.724012739 meters Centerline goodness : 0.996558 Centerline is valid? [True, True] Translation: X:186.17, Y:122.71, Z:0.64 [[-9.87200821e-01 -1.59460108e-01 2.64831012e-03 1.86172251e+02] [ 1.59459371e-01 -9.87204371e-01 -4.88396376e-04 1.22714970e+02] [ 2.69230306e-03 -5.98474381e-05 9.99996374e-01 6.37657132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.754012739 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:186.17, Y:122.72, Z:0.64 [[-9.87719163e-01 -1.56217285e-01 2.64848200e-03 1.86169320e+02] [ 1.56216539e-01 -9.87722712e-01 -4.87462513e-04 1.22717947e+02] [ 2.69211589e-03 -6.77393753e-05 9.99996374e-01 6.38955214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.784012739 meters Centerline goodness : 0.996350 Centerline is valid? [True, True] Translation: X:186.19, Y:122.72, Z:0.64 [[-9.87967607e-01 -1.54638263e-01 2.64865310e-03 1.86186557e+02] [ 1.54637514e-01 -9.87971155e-01 -4.86531020e-04 1.22716896e+02] [ 2.69202918e-03 -7.10957557e-05 9.99996374e-01 6.39744487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.814012739 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:186.19, Y:122.72, Z:0.64 [[-9.88438639e-01 -1.51598289e-01 2.64882336e-03 1.86187131e+02] [ 1.51597531e-01 -9.88442185e-01 -4.85602301e-04 1.22723043e+02] [ 2.69182523e-03 -7.84329952e-05 9.99996374e-01 6.41474115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.844012739 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:186.21, Y:122.72, Z:0.64 [[-9.88717302e-01 -1.49770090e-01 2.64899268e-03 1.86206301e+02] [ 1.49769328e-01 -9.88720847e-01 -4.84676905e-04 1.22722880e+02] [ 2.69170439e-03 -8.24705873e-05 9.99996374e-01 6.39770636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.874012739 meters Centerline goodness : 0.996358 Centerline is valid? [True, True] Translation: X:186.21, Y:122.73, Z:0.64 [[-9.88846945e-01 -1.48911724e-01 2.64916093e-03 1.86208098e+02] [ 1.48910962e-01 -9.88850490e-01 -4.83755497e-04 1.22728490e+02] [ 2.69166095e-03 -8.38710416e-05 9.99996374e-01 6.37754123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.904012739 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:186.20, Y:122.74, Z:0.64 [[-9.88550834e-01 -1.50864939e-01 2.64932804e-03 1.86203737e+02] [ 1.50864186e-01 -9.88554381e-01 -4.82838600e-04 1.22735224e+02] [ 2.69184825e-03 -7.76217821e-05 9.99996374e-01 6.40813224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.934012739 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:186.20, Y:122.74, Z:0.64 [[-9.88308272e-01 -1.52445859e-01 2.64949538e-03 1.86198309e+02] [ 1.52445114e-01 -9.88311821e-01 -4.81918604e-04 1.22739411e+02] [ 2.69199410e-03 -7.23815171e-05 9.99996374e-01 6.42362070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.964012739 meters Centerline goodness : 0.996451 Centerline is valid? [True, True] Translation: X:186.19, Y:122.74, Z:0.64 [[-9.88038021e-01 -1.54187706e-01 2.64966328e-03 1.86187282e+02] [ 1.54186970e-01 -9.88041572e-01 -4.80993669e-04 1.22743754e+02] [ 2.69214078e-03 -6.66964797e-05 9.99996374e-01 6.43199738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.994012739 meters Centerline goodness : 0.996397 Centerline is valid? [True, True] Translation: X:186.18, Y:122.75, Z:0.64 [[-9.87484865e-01 -1.57691531e-01 2.64983216e-03 1.86181794e+02] [ 1.57690810e-01 -9.87488419e-01 -4.80061474e-04 1.22749083e+02] [ 2.69238020e-03 -5.61992593e-05 9.99996374e-01 6.40632637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.024012739 meters Centerline goodness : 0.996579 Centerline is valid? [True, True] Translation: X:186.18, Y:122.75, Z:0.64 [[-9.87361929e-01 -1.58459456e-01 2.65000201e-03 1.86175533e+02] [ 1.58458741e-01 -9.87365483e-01 -4.79122041e-04 1.22753182e+02] [ 2.69244194e-03 -5.31508801e-05 9.99996374e-01 6.37794438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05401273900003 meters Centerline goodness : 0.996295 Centerline is valid? [True, True] Translation: X:186.17, Y:122.76, Z:0.63 [[-9.86938412e-01 -1.61076219e-01 2.65017263e-03 1.86174486e+02] [ 1.61075516e-01 -9.86941969e-01 -4.78176438e-04 1.22759793e+02] [ 2.69258945e-03 -4.50527708e-05 9.99996374e-01 6.32992358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.084012739 meters Centerline goodness : 0.995973 Centerline is valid? [True, True] Translation: X:186.16, Y:122.77, Z:0.63 [[-9.86439321e-01 -1.64104970e-01 2.65034373e-03 1.86161333e+02] [ 1.64104280e-01 -9.86442881e-01 -4.77226213e-04 1.22768257e+02] [ 2.69272790e-03 -3.58219520e-05 9.99996374e-01 6.34359178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.114012739 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:186.15, Y:122.77, Z:0.64 [[-9.86317208e-01 -1.64837312e-01 2.65051572e-03 1.86149736e+02] [ 1.64836627e-01 -9.86320769e-01 -4.76269073e-04 1.22773464e+02] [ 2.69276561e-03 -3.28503124e-05 9.99996374e-01 6.36099707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.144012739 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:186.15, Y:122.78, Z:0.64 [[-9.86043574e-01 -1.66466346e-01 2.65068929e-03 1.86154456e+02] [ 1.66465669e-01 -9.86047136e-01 -4.75301103e-04 1.22778207e+02] [ 2.69282622e-03 -2.74188318e-05 9.99996374e-01 6.37066404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.174012739 meters Centerline goodness : 0.996301 Centerline is valid? [True, True] Translation: X:186.14, Y:122.78, Z:0.63 [[-9.85801555e-01 -1.67893619e-01 2.65086333e-03 1.86140476e+02] [ 1.67892950e-01 -9.85805119e-01 -4.74328436e-04 1.22782823e+02] [ 2.69287136e-03 -2.25324442e-05 9.99996374e-01 6.34481271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.204012739 meters Centerline goodness : 0.996167 Centerline is valid? [True, True] Translation: X:186.13, Y:122.79, Z:0.63 [[-9.85515080e-01 -1.69567093e-01 2.65103801e-03 1.86125628e+02] [ 1.69566433e-01 -9.85518646e-01 -4.73350103e-04 1.22786895e+02] [ 2.69291199e-03 -1.69666044e-05 9.99996374e-01 6.33633704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.234012739 meters Centerline goodness : 0.996202 Centerline is valid? [True, True] Translation: X:186.12, Y:122.79, Z:0.63 [[-9.84622399e-01 -1.74675993e-01 2.65121451e-03 1.86117745e+02] [ 1.74675354e-01 -9.84625968e-01 -4.72359486e-04 1.22789566e+02] [ 2.69296452e-03 -1.99389758e-06 9.99996374e-01 6.32945253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.264012739 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:186.08, Y:122.80, Z:0.63 [[-9.84177140e-01 -1.77167509e-01 2.65139239e-03 1.86082668e+02] [ 1.77166882e-01 -9.84180712e-01 -4.71358896e-04 1.22796729e+02] [ 2.69295873e-03 5.83827272e-06 9.99996374e-01 6.34481477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.294012739 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:186.11, Y:122.79, Z:0.64 [[-9.83472388e-01 -1.81038756e-01 2.65157309e-03 1.86109516e+02] [ 1.81038146e-01 -9.83475962e-01 -4.70340218e-04 1.22792117e+02] [ 2.69290820e-03 1.74692586e-05 9.99996374e-01 6.35467267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.324012739 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:186.12, Y:122.79, Z:0.63 [[-9.83066695e-01 -1.83228934e-01 2.65175432e-03 1.86117102e+02] [ 1.83228335e-01 -9.83070271e-01 -4.69316179e-04 1.22788989e+02] [ 2.69285314e-03 2.45074246e-05 9.99996374e-01 6.33955816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.354012739 meters Centerline goodness : 0.996288 Centerline is valid? [True, True] Translation: X:186.11, Y:122.79, Z:0.63 [[-9.83026916e-01 -1.83442225e-01 2.65193319e-03 1.86114823e+02] [ 1.83441630e-01 -9.83030493e-01 -4.68303277e-04 1.22788692e+02] [ 2.69283779e-03 2.61202202e-05 9.99996374e-01 6.33768554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.384012739 meters Centerline goodness : 0.996689 Centerline is valid? [True, True] Translation: X:186.10, Y:122.79, Z:0.64 [[-9.83269741e-01 -1.82136166e-01 2.65211161e-03 1.86098644e+02] [ 1.82135568e-01 -9.83273317e-01 -4.67290645e-04 1.22790022e+02] [ 2.69286111e-03 2.35711030e-05 9.99996374e-01 6.39624974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.414012739 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:186.13, Y:122.78, Z:0.64 [[-9.83489878e-01 -1.80943706e-01 2.65229113e-03 1.86132072e+02] [ 1.80943106e-01 -9.83493454e-01 -4.66269475e-04 1.22783096e+02] [ 2.69287950e-03 2.13424881e-05 9.99996374e-01 6.42838744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.444012739 meters Centerline goodness : 0.996630 Centerline is valid? [True, True] Translation: X:186.14, Y:122.78, Z:0.64 [[-9.84199770e-01 -1.77041742e-01 2.65222386e-03 1.86142838e+02] [ 1.77041128e-01 -9.84203344e-01 -4.66651822e-04 1.22779777e+02] [ 2.69294444e-03 1.02740865e-05 9.99996374e-01 6.43651357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.474012739 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:186.15, Y:122.78, Z:0.64 [[-9.84504057e-01 -1.75341741e-01 2.65239910e-03 1.86149167e+02] [ 1.75341123e-01 -9.84507630e-01 -4.65653639e-04 1.22778109e+02] [ 2.69295567e-03 6.63673894e-06 9.99996374e-01 6.42151783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.504012739 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:186.14, Y:122.78, Z:0.64 [[-9.84401081e-01 -1.75918944e-01 2.65257314e-03 1.86138809e+02] [ 1.75918330e-01 -9.84404655e-01 -4.64660093e-04 1.22777126e+02] [ 2.69294786e-03 9.22434005e-06 9.99996374e-01 6.37363901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.534012739 meters Centerline goodness : 0.996798 Centerline is valid? [True, True] Translation: X:186.13, Y:122.78, Z:0.64 [[-9.84135063e-01 -1.77401076e-01 2.65274738e-03 1.86131965e+02] [ 1.77400470e-01 -9.84138638e-01 -4.63663242e-04 1.22776259e+02] [ 2.69292555e-03 1.42913792e-05 9.99996374e-01 6.37943669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.564012739 meters Centerline goodness : 0.997142 Centerline is valid? [True, True] Translation: X:186.13, Y:122.77, Z:0.64 [[-9.83490363e-01 -1.80941060e-01 2.65292261e-03 1.86132826e+02] [ 1.80940470e-01 -9.83493941e-01 -4.62658454e-04 1.22770844e+02] [ 2.69284722e-03 2.50009334e-05 9.99996374e-01 6.43429772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.594012739 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:186.12, Y:122.77, Z:0.65 [[-9.83257818e-01 -1.82200506e-01 2.65309804e-03 1.86121976e+02] [ 1.82199924e-01 -9.83261397e-01 -4.61650286e-04 1.22770016e+02] [ 2.69280180e-03 2.94730063e-05 9.99996374e-01 6.45439147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.624012739 meters Centerline goodness : 0.996829 Centerline is valid? [True, True] Translation: X:186.13, Y:122.76, Z:0.64 [[-9.82757563e-01 -1.84879780e-01 2.65327398e-03 1.86132042e+02] [ 1.84879210e-01 -9.82761144e-01 -4.60636872e-04 1.22763527e+02] [ 2.69269701e-03 3.78408265e-05 9.99996374e-01 6.41852931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.654012739 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:186.11, Y:122.76, Z:0.64 [[-9.82651807e-01 -1.85441057e-01 2.65344985e-03 1.86114890e+02] [ 1.85440492e-01 -9.82655389e-01 -4.59621539e-04 1.22762890e+02] [ 2.69265950e-03 4.04091082e-05 9.99996374e-01 6.39007613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.684012739 meters Centerline goodness : 0.995832 Centerline is valid? [True, True] Translation: X:186.13, Y:122.75, Z:0.64 [[-9.82699394e-01 -1.85188712e-01 2.65362603e-03 1.86134755e+02] [ 1.85188148e-01 -9.82702976e-01 -4.58602072e-04 1.22751807e+02] [ 2.69265413e-03 4.07521123e-05 9.99996374e-01 6.37436003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.714012739 meters Centerline goodness : 0.996256 Centerline is valid? [True, True] Translation: X:186.13, Y:122.75, Z:0.64 [[-9.83162055e-01 -1.82716532e-01 2.65380183e-03 1.86131236e+02] [ 1.82715962e-01 -9.83165636e-01 -4.57582538e-04 1.22748851e+02] [ 2.69273465e-03 3.50141653e-05 9.99996374e-01 6.37960359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.744012739 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:186.14, Y:122.75, Z:0.64 [[-9.83597766e-01 -1.80356289e-01 2.65397639e-03 1.86141506e+02] [ 1.80355714e-01 -9.83601346e-01 -4.56567839e-04 1.22746177e+02] [ 2.69279963e-03 2.95806992e-05 9.99996374e-01 6.37024762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.774012739 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:186.14, Y:122.75, Z:0.64 [[-9.83666377e-01 -1.79981707e-01 2.65415038e-03 1.86144016e+02] [ 1.79981133e-01 -9.83669957e-01 -4.55554090e-04 1.22745821e+02] [ 2.69279940e-03 2.95837527e-05 9.99996374e-01 6.37017987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80401273900003 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:186.17, Y:122.74, Z:0.64 [[-9.84664667e-01 -1.74437517e-01 2.65432348e-03 1.86173962e+02] [ 1.74436925e-01 -9.84668245e-01 -4.54543287e-04 1.22737846e+02] [ 2.69291745e-03 1.54393125e-05 9.99996374e-01 6.36734733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.834012739 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:186.19, Y:122.74, Z:0.64 [[-9.85338455e-01 -1.70590401e-01 2.65428067e-03 1.86187739e+02] [ 1.70589795e-01 -9.85342030e-01 -4.54793141e-04 1.22735028e+02] [ 2.69295765e-03 4.66802431e-06 9.99996374e-01 6.37434719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.864012739 meters Centerline goodness : 0.994911 Centerline is valid? [True, True] Translation: X:186.21, Y:122.74, Z:0.64 [[-9.86773958e-01 -1.62080568e-01 2.65444879e-03 1.86208326e+02] [ 1.62079933e-01 -9.86777528e-01 -4.53809767e-04 1.22735980e+02] [ 2.69290416e-03 -1.75747766e-05 9.99996374e-01 6.38065759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.894012739 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:186.23, Y:122.73, Z:0.64 [[-9.87434104e-01 -1.58008999e-01 2.65461484e-03 1.86234857e+02] [ 1.58008353e-01 -9.87437672e-01 -4.52836347e-04 1.22733625e+02] [ 2.69281892e-03 -2.76947342e-05 9.99996374e-01 6.37946025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.924012739 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:186.21, Y:122.74, Z:0.64 [[-9.88166862e-01 -1.53359725e-01 2.65463523e-03 1.86212395e+02] [ 1.53359062e-01 -9.88170427e-01 -4.52716770e-04 1.22739281e+02] [ 2.69266055e-03 -4.02473413e-05 9.99996374e-01 6.35011687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.954012739 meters Centerline goodness : 0.994417 Centerline is valid? [True, True] Translation: X:186.23, Y:122.74, Z:0.63 [[-9.88260146e-01 -1.52757444e-01 2.65479842e-03 1.86234780e+02] [ 1.52756782e-01 -9.88263711e-01 -4.51757780e-04 1.22737442e+02] [ 2.69265030e-03 -4.09157466e-05 9.99996374e-01 6.33071181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.984012739 meters Centerline goodness : 0.994855 Centerline is valid? [True, True] Translation: X:186.21, Y:122.75, Z:0.64 [[-9.88300884e-01 -1.52493651e-01 2.65496162e-03 1.86212788e+02] [ 1.52492991e-01 -9.88304449e-01 -4.50796630e-04 1.22749035e+02] [ 2.69265400e-03 -4.06596710e-05 9.99996374e-01 6.35680505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.014012739 meters Centerline goodness : 0.994651 Centerline is valid? [True, True] Translation: X:186.24, Y:122.75, Z:0.64 [[-9.88363008e-01 -1.52090479e-01 2.65512480e-03 1.86238259e+02] [ 1.52089820e-01 -9.88366574e-01 -4.49833451e-04 1.22747847e+02] [ 2.69265199e-03 -4.07812908e-05 9.99996374e-01 6.38607345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.044012739 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:186.24, Y:122.75, Z:0.64 [[-9.88216271e-01 -1.53041011e-01 2.65528779e-03 1.86236198e+02] [ 1.53040358e-01 -9.88219838e-01 -4.48869295e-04 1.22751194e+02] [ 2.69270348e-03 -3.72137482e-05 9.99996374e-01 6.40999753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.074012739 meters Centerline goodness : 0.994411 Centerline is valid? [True, True] Translation: X:186.25, Y:122.75, Z:0.64 [[-9.88011051e-01 -1.54360328e-01 2.65544949e-03 1.86245959e+02] [ 1.54359681e-01 -9.88014619e-01 -4.47910676e-04 1.22752389e+02] [ 2.69276255e-03 -3.26463615e-05 9.99996374e-01 6.39378625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.104012739 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:186.20, Y:122.77, Z:0.64 [[-9.87411121e-01 -1.58152537e-01 2.65561073e-03 1.86198618e+02] [ 1.58151907e-01 -9.87414692e-01 -4.46952603e-04 1.22767096e+02] [ 2.69287574e-03 -2.13360688e-05 9.99996374e-01 6.35905320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.134012739 meters Centerline goodness : 0.995001 Centerline is valid? [True, True] Translation: X:186.21, Y:122.77, Z:0.63 [[-9.87157292e-01 -1.59729231e-01 2.65577416e-03 1.86210331e+02] [ 1.59728609e-01 -9.87160865e-01 -4.45979382e-04 1.22766521e+02] [ 2.69291226e-03 -1.60486859e-05 9.99996374e-01 6.34432471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.164012739 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:186.19, Y:122.77, Z:0.63 [[-9.86478372e-01 -1.63869970e-01 2.65593966e-03 1.86190107e+02] [ 1.63869366e-01 -9.86481948e-01 -4.44991641e-04 1.22770305e+02] [ 2.69295729e-03 -3.74748146e-06 9.99996374e-01 6.30610669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.194012739 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:186.19, Y:122.77, Z:0.63 [[-9.85830269e-01 -1.67724849e-01 2.65610561e-03 1.86194232e+02] [ 1.67724261e-01 -9.85833848e-01 -4.43998873e-04 1.22772148e+02] [ 2.69294846e-03 7.78582313e-06 9.99996374e-01 6.32489237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.224012739 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:186.18, Y:122.77, Z:0.63 [[-9.85719141e-01 -1.68376719e-01 2.65627249e-03 1.86182305e+02] [ 1.68376137e-01 -9.85722720e-01 -4.42998244e-04 1.22774852e+02] [ 2.69293873e-03 1.05810516e-05 9.99996374e-01 6.34992411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.254012739 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:186.19, Y:122.77, Z:0.64 [[-9.85735801e-01 -1.68279152e-01 2.65643978e-03 1.86185321e+02] [ 1.68278572e-01 -9.85739381e-01 -4.41992789e-04 1.22774525e+02] [ 2.69293548e-03 1.13337767e-05 9.99996374e-01 6.37416789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.284012739 meters Centerline goodness : 0.994545 Centerline is valid? [True, True] Translation: X:186.20, Y:122.77, Z:0.64 [[-9.86036227e-01 -1.66509764e-01 2.65660760e-03 1.86195709e+02] [ 1.66509180e-01 -9.86039806e-01 -4.40981790e-04 1.22774053e+02] [ 2.69294862e-03 7.52553453e-06 9.99996374e-01 6.40310622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.314012739 meters Centerline goodness : 0.994122 Centerline is valid? [True, True] Translation: X:186.22, Y:122.77, Z:0.64 [[-9.86467467e-01 -1.63935589e-01 2.65677449e-03 1.86218816e+02] [ 1.63934999e-01 -9.86471045e-01 -4.39974054e-04 1.22774910e+02] [ 2.69295851e-03 1.51823231e-06 9.99996374e-01 6.43637271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.344012739 meters Centerline goodness : 0.994439 Centerline is valid? [True, True] Translation: X:186.22, Y:122.78, Z:0.64 [[-9.86777208e-01 -1.62060734e-01 2.65693931e-03 1.86215970e+02] [ 1.62060140e-01 -9.86780785e-01 -4.38976434e-04 1.22777080e+02] [ 2.69295751e-03 -2.58798413e-06 9.99996374e-01 6.43715795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.374012739 meters Centerline goodness : 0.994549 Centerline is valid? [True, True] Translation: X:186.23, Y:122.78, Z:0.64 [[-9.87334970e-01 -1.58627225e-01 2.65710296e-03 1.86233051e+02] [ 1.58626620e-01 -9.87338546e-01 -4.37983617e-04 1.22776489e+02] [ 2.69293630e-03 -1.09492789e-05 9.99996374e-01 6.39957948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.404012739 meters Centerline goodness : 0.994355 Centerline is valid? [True, True] Translation: X:186.23, Y:122.78, Z:0.64 [[-9.87495726e-01 -1.57623382e-01 2.65726572e-03 1.86233565e+02] [ 1.57622777e-01 -9.87499301e-01 -4.36993948e-04 1.22778136e+02] [ 2.69292850e-03 -1.26840548e-05 9.99996374e-01 6.38269430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.434012739 meters Centerline goodness : 0.994479 Centerline is valid? [True, True] Translation: X:186.22, Y:122.78, Z:0.64 [[-9.87233451e-01 -1.59257816e-01 2.65742740e-03 1.86221840e+02] [ 1.59257219e-01 -9.87237027e-01 -4.36008512e-04 1.22782649e+02] [ 2.69294849e-03 -7.22769063e-06 9.99996374e-01 6.38355184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.464012739 meters Centerline goodness : 0.994072 Centerline is valid? [True, True] Translation: X:186.21, Y:122.78, Z:0.64 [[-9.86978479e-01 -1.60830407e-01 2.65758971e-03 1.86213448e+02] [ 1.60829819e-01 -9.86982057e-01 -4.35016959e-04 1.22783890e+02] [ 2.69295731e-03 -1.93270437e-06 9.99996374e-01 6.38695326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.494012739 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:186.20, Y:122.78, Z:0.64 [[-9.86298781e-01 -1.64947417e-01 2.65775315e-03 1.86202288e+02] [ 1.64946847e-01 -9.86302362e-01 -4.34016102e-04 1.22784833e+02] [ 2.69293804e-03 1.03184485e-05 9.99996374e-01 6.38756939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.524012739 meters Centerline goodness : 0.994065 Centerline is valid? [True, True] Translation: X:186.20, Y:122.78, Z:0.64 [[-9.86053315e-01 -1.66408521e-01 2.65791769e-03 1.86203780e+02] [ 1.66407959e-01 -9.86056897e-01 -4.33006103e-04 1.22784542e+02] [ 2.69291397e-03 1.53315535e-05 9.99996374e-01 6.37657254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55401273900003 meters Centerline goodness : 0.993547 Centerline is valid? [True, True] Translation: X:186.20, Y:122.78, Z:0.63 [[-9.85611145e-01 -1.69007707e-01 2.65808269e-03 1.86203303e+02] [ 1.69007157e-01 -9.85614729e-01 -4.31990852e-04 1.22782203e+02] [ 2.69285523e-03 2.34599991e-05 9.99996374e-01 6.34954262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.584012739 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:186.20, Y:122.78, Z:0.63 [[-9.85447287e-01 -1.69960517e-01 2.65824754e-03 1.86197802e+02] [ 1.69959973e-01 -9.85450872e-01 -4.30974024e-04 1.22781162e+02] [ 2.69282093e-03 2.70934972e-05 9.99996374e-01 6.34142774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.614012739 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:186.22, Y:122.77, Z:0.63 [[-9.85245380e-01 -1.71127071e-01 2.65841261e-03 1.86219923e+02] [ 1.71126533e-01 -9.85248966e-01 -4.29953403e-04 1.22772898e+02] [ 2.69277494e-03 3.13153298e-05 9.99996374e-01 6.32960494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.644012739 meters Centerline goodness : 0.994677 Centerline is valid? [True, True] Translation: X:186.22, Y:122.77, Z:0.63 [[-9.85266380e-01 -1.71006120e-01 2.65857650e-03 1.86224228e+02] [ 1.71005585e-01 -9.85269966e-01 -4.28937625e-04 1.22770295e+02] [ 2.69276653e-03 3.20136075e-05 9.99996374e-01 6.34761628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.674012739 meters Centerline goodness : 0.994340 Centerline is valid? [True, True] Translation: X:186.21, Y:122.77, Z:0.64 [[-9.85494785e-01 -1.69684881e-01 2.65873871e-03 1.86211191e+02] [ 1.69684344e-01 -9.85498372e-01 -4.27929812e-04 1.22770232e+02] [ 2.69279588e-03 2.94237359e-05 9.99996374e-01 6.41728259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.704012739 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:186.23, Y:122.77, Z:0.64 [[-9.85799114e-01 -1.67907824e-01 2.65890128e-03 1.86225109e+02] [ 1.67907283e-01 -9.85802699e-01 -4.26917266e-04 1.22767558e+02] [ 2.69283481e-03 2.55942279e-05 9.99996374e-01 6.42565281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.734012739 meters Centerline goodness : 0.994298 Centerline is valid? [True, True] Translation: X:186.23, Y:122.77, Z:0.64 [[-9.86571013e-01 -1.63311254e-01 2.65906371e-03 1.86230962e+02] [ 1.63310699e-01 -9.86574596e-01 -4.25903151e-04 1.22766300e+02] [ 2.69291949e-03 1.40698509e-05 9.99996374e-01 6.38446937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.764012739 meters Centerline goodness : 0.994097 Centerline is valid? [True, True] Translation: X:186.24, Y:122.77, Z:0.64 [[-9.87416499e-01 -1.58118901e-01 2.65922488e-03 1.86241865e+02] [ 1.58118330e-01 -9.87420079e-01 -4.24894485e-04 1.22767131e+02] [ 2.69295589e-03 9.24372049e-07 9.99996374e-01 6.36009592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.794012739 meters Centerline goodness : 0.994773 Centerline is valid? [True, True] Translation: X:186.24, Y:122.77, Z:0.64 [[-9.87848642e-01 -1.55396233e-01 2.65938498e-03 1.86244305e+02] [ 1.55395655e-01 -9.87852221e-01 -4.23890064e-04 1.22769017e+02] [ 2.69295028e-03 -5.48235334e-06 9.99996374e-01 6.38348553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.824012739 meters Centerline goodness : 0.994446 Centerline is valid? [True, True] Translation: X:186.26, Y:122.77, Z:0.64 [[-9.88554234e-01 -1.50842478e-01 2.65954423e-03 1.86260930e+02] [ 1.50841886e-01 -9.88557811e-01 -4.22888533e-04 1.22770102e+02] [ 2.69290278e-03 -1.68775809e-05 9.99996374e-01 6.41441669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.854012739 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:186.28, Y:122.77, Z:0.64 [[-9.88835528e-01 -1.48987330e-01 2.65970236e-03 1.86284839e+02] [ 1.48986734e-01 -9.88839105e-01 -4.21891663e-04 1.22767602e+02] [ 2.69287421e-03 -2.09210972e-05 9.99996374e-01 6.40074540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.884012739 meters Centerline goodness : 0.994304 Centerline is valid? [True, True] Translation: X:186.28, Y:122.77, Z:0.63 [[-9.88917548e-01 -1.48441936e-01 2.65985816e-03 1.86281964e+02] [ 1.48441341e-01 -9.88921125e-01 -4.20907070e-04 1.22771154e+02] [ 2.69287019e-03 -2.14094755e-05 9.99996374e-01 6.34544022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.914012739 meters Centerline goodness : 0.994071 Centerline is valid? [True, True] Translation: X:186.27, Y:122.77, Z:0.64 [[-9.88743183e-01 -1.49598942e-01 2.66001274e-03 1.86269688e+02] [ 1.49598354e-01 -9.88746761e-01 -4.19927928e-04 1.22774697e+02] [ 2.69289975e-03 -1.72673506e-05 9.99996374e-01 6.35046132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.944012739 meters Centerline goodness : 0.994180 Centerline is valid? [True, True] Translation: X:186.27, Y:122.78, Z:0.64 [[-9.88262073e-01 -1.52744883e-01 2.66016809e-03 1.86268151e+02] [ 1.52744309e-01 -9.88265653e-01 -4.18941477e-04 1.22775607e+02] [ 2.69294392e-03 -7.69843676e-06 9.99996374e-01 6.39270033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.974012739 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:186.27, Y:122.78, Z:0.64 [[-9.88129976e-01 -1.53597116e-01 2.66032418e-03 1.86265869e+02] [ 1.53596548e-01 -9.88133557e-01 -4.17947931e-04 1.22776011e+02] [ 2.69295119e-03 -4.37026896e-06 9.99996374e-01 6.40629523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.004012739 meters Centerline goodness : 0.994169 Centerline is valid? [True, True] Translation: X:186.25, Y:122.78, Z:0.64 [[-9.88115908e-01 -1.53687584e-01 2.66048040e-03 1.86252006e+02] [ 1.53687019e-01 -9.88119490e-01 -4.16951096e-04 1.22781078e+02] [ 2.69295275e-03 -3.11470977e-06 9.99996374e-01 6.39011932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.034012739 meters Centerline goodness : 0.994193 Centerline is valid? [True, True] Translation: X:186.26, Y:122.78, Z:0.64 [[-9.88242796e-01 -1.52869541e-01 2.66063743e-03 1.86262356e+02] [ 1.52868975e-01 -9.88246378e-01 -4.15946686e-04 1.22781817e+02] [ 2.69295088e-03 -4.32740041e-06 9.99996374e-01 6.38614941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.064012739 meters Centerline goodness : 0.994258 Centerline is valid? [True, True] Translation: X:186.27, Y:122.78, Z:0.64 [[-9.88589902e-01 -1.50608519e-01 2.66079464e-03 1.86270516e+02] [ 1.50607948e-01 -9.88593483e-01 -4.14938583e-04 1.22783647e+02] [ 2.69293752e-03 -9.46727332e-06 9.99996374e-01 6.36899616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.094012739 meters Centerline goodness : 0.994300 Centerline is valid? [True, True] Translation: X:186.28, Y:122.78, Z:0.64 [[-9.88744221e-01 -1.49592061e-01 2.66095075e-03 1.86275586e+02] [ 1.49591489e-01 -9.88747802e-01 -4.13935048e-04 1.22784718e+02] [ 2.69293060e-03 -1.12203031e-05 9.99996374e-01 6.35541856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.124012739 meters Centerline goodness : 0.994409 Centerline is valid? [True, True] Translation: X:186.28, Y:122.79, Z:0.63 [[-9.88820962e-01 -1.49083950e-01 2.66110602e-03 1.86280257e+02] [ 1.49083378e-01 -9.88824543e-01 -4.12934399e-04 1.22786554e+02] [ 2.69292883e-03 -1.15915138e-05 9.99996374e-01 6.34929864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.154012739 meters Centerline goodness : 0.994192 Centerline is valid? [True, True] Translation: X:186.27, Y:122.79, Z:0.64 [[-9.88720972e-01 -1.49745642e-01 2.66126069e-03 1.86269801e+02] [ 1.49745076e-01 -9.88724554e-01 -4.11935157e-04 1.22787640e+02] [ 2.69293928e-03 -8.77824522e-06 9.99996374e-01 6.35426903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.184012739 meters Centerline goodness : 0.994628 Centerline is valid? [True, True] Translation: X:186.26, Y:122.79, Z:0.63 [[-9.88161010e-01 -1.53397309e-01 2.66141562e-03 1.86264045e+02] [ 1.53396759e-01 -9.88164594e-01 -4.10931778e-04 1.22786654e+02] [ 2.69295251e-03 2.18576845e-06 9.99996374e-01 6.33957205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.214012739 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:186.27, Y:122.79, Z:0.63 [[-9.87830323e-01 -1.55512604e-01 2.66157133e-03 1.86271646e+02] [ 1.55512064e-01 -9.87833908e-01 -4.09920726e-04 1.22785307e+02] [ 2.69293825e-03 8.97432849e-06 9.99996374e-01 6.34359929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.244012739 meters Centerline goodness : 0.995330 Centerline is valid? [True, True] Translation: X:186.27, Y:122.78, Z:0.64 [[-9.87934164e-01 -1.54851548e-01 2.66172682e-03 1.86273457e+02] [ 1.54851008e-01 -9.87937750e-01 -4.08908607e-04 1.22784761e+02] [ 2.69294054e-03 8.19629891e-06 9.99996374e-01 6.35700101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.274012739 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:186.28, Y:122.78, Z:0.64 [[-9.88079466e-01 -1.53921681e-01 2.66188172e-03 1.86279682e+02] [ 1.53921141e-01 -9.88083051e-01 -4.07897773e-04 1.22783178e+02] [ 2.69294452e-03 6.68445732e-06 9.99996374e-01 6.37271222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30401273900003 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:186.28, Y:122.78, Z:0.64 [[-9.88191984e-01 -1.53197635e-01 2.66203600e-03 1.86282272e+02] [ 1.53197095e-01 -9.88195570e-01 -4.06888376e-04 1.22782356e+02] [ 2.69294652e-03 5.73235091e-06 9.99996374e-01 6.37327796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.334012739 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:186.29, Y:122.78, Z:0.64 [[-9.88223078e-01 -1.52996929e-01 2.66218968e-03 1.86293592e+02] [ 1.52996390e-01 -9.88226664e-01 -4.05880412e-04 1.22781120e+02] [ 2.69294528e-03 6.20502121e-06 9.99996374e-01 6.35897978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.364012739 meters Centerline goodness : 0.994746 Centerline is valid? [True, True] Translation: X:186.27, Y:122.78, Z:0.63 [[-9.88171431e-01 -1.53330149e-01 2.66234247e-03 1.86271562e+02] [ 1.53329615e-01 -9.88175018e-01 -4.04875689e-04 1.22783197e+02] [ 2.69293997e-03 8.12935530e-06 9.99996374e-01 6.33717647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.394012739 meters Centerline goodness : 0.994757 Centerline is valid? [True, True] Translation: X:186.28, Y:122.78, Z:0.63 [[-9.87785545e-01 -1.55796756e-01 2.66249576e-03 1.86277986e+02] [ 1.55796233e-01 -9.87789133e-01 -4.03865113e-04 1.22779246e+02] [ 2.69290525e-03 1.58746900e-05 9.99996374e-01 6.30670433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.424012739 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:186.29, Y:122.78, Z:0.63 [[-9.87606889e-01 -1.56925280e-01 2.66264978e-03 1.86286417e+02] [ 1.56924764e-01 -9.87610478e-01 -4.02847098e-04 1.22776516e+02] [ 2.69287772e-03 1.99811203e-05 9.99996374e-01 6.31269216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.454012739 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:186.28, Y:122.77, Z:0.64 [[-9.87418871e-01 -1.58104026e-01 2.66280286e-03 1.86284458e+02] [ 1.58103518e-01 -9.87422461e-01 -4.01832728e-04 1.22773377e+02] [ 2.69284272e-03 2.42212797e-05 9.99996374e-01 6.36452720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.484012739 meters Centerline goodness : 0.995212 Centerline is valid? [True, True] Translation: X:186.29, Y:122.77, Z:0.64 [[-9.87455508e-01 -1.57875039e-01 2.66295539e-03 1.86286385e+02] [ 1.57874532e-01 -9.87459099e-01 -4.00819313e-04 1.22772040e+02] [ 2.69283890e-03 2.46215977e-05 9.99996374e-01 6.40246710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.514012739 meters Centerline goodness : 0.995214 Centerline is valid? [True, True] Translation: X:186.28, Y:122.77, Z:0.64 [[-9.87695471e-01 -1.56366763e-01 2.66310782e-03 1.86282925e+02] [ 1.56366254e-01 -9.87699061e-01 -3.99803994e-04 1.22771208e+02] [ 2.69286515e-03 2.15355981e-05 9.99996374e-01 6.43942681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.544012739 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:186.30, Y:122.77, Z:0.64 [[-9.87805910e-01 -1.55667566e-01 2.66326019e-03 1.86295633e+02] [ 1.55667056e-01 -9.87809500e-01 -3.98786426e-04 1.22768348e+02] [ 2.69287183e-03 2.06582845e-05 9.99996374e-01 6.43897798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.574012739 meters Centerline goodness : 0.995287 Centerline is valid? [True, True] Translation: X:186.29, Y:122.76, Z:0.64 [[-9.87815737e-01 -1.55605193e-01 2.66341189e-03 1.86291346e+02] [ 1.55604686e-01 -9.87819327e-01 -3.97770653e-04 1.22764835e+02] [ 2.69286492e-03 2.15152598e-05 9.99996374e-01 6.36724397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.604012739 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:186.29, Y:122.76, Z:0.63 [[-9.87781369e-01 -1.55823209e-01 2.66356298e-03 1.86288325e+02] [ 1.55822706e-01 -9.87784960e-01 -3.96756332e-04 1.22763388e+02] [ 2.69285130e-03 2.31350775e-05 9.99996374e-01 6.34156200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.634012739 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:186.31, Y:122.76, Z:0.63 [[-9.87728980e-01 -1.56154942e-01 2.66371436e-03 1.86308868e+02] [ 1.56154443e-01 -9.87732572e-01 -3.95737412e-04 1.22757140e+02] [ 2.69283378e-03 2.50695211e-05 9.99996374e-01 6.34107754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.664012739 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:186.31, Y:122.76, Z:0.63 [[-9.87787946e-01 -1.55781505e-01 2.66386457e-03 1.86311372e+02] [ 1.55781007e-01 -9.87791538e-01 -3.94723650e-04 1.22756844e+02] [ 2.69283353e-03 2.50762418e-05 9.99996374e-01 6.34100979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.694012739 meters Centerline goodness : 0.995352 Centerline is valid? [True, True] Translation: X:186.31, Y:122.76, Z:0.64 [[-9.87905118e-01 -1.55036711e-01 2.66401342e-03 1.86306546e+02] [ 1.55036213e-01 -9.87908709e-01 -3.93716483e-04 1.22756115e+02] [ 2.69284257e-03 2.40640244e-05 9.99996374e-01 6.35625213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.724012739 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:186.31, Y:122.75, Z:0.64 [[-9.88217106e-01 -1.53035466e-01 2.66416228e-03 1.86313707e+02] [ 1.53034963e-01 -9.88220697e-01 -3.92706614e-04 1.22752455e+02] [ 2.69287835e-03 1.96305835e-05 9.99996374e-01 6.38329622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.754012739 meters Centerline goodness : 0.995395 Centerline is valid? [True, True] Translation: X:186.31, Y:122.75, Z:0.64 [[-9.88357474e-01 -1.52126280e-01 2.66431085e-03 1.86311480e+02] [ 1.52125777e-01 -9.88361065e-01 -3.91696019e-04 1.22752457e+02] [ 2.69288837e-03 1.81746700e-05 9.99996374e-01 6.38566757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.784012739 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:186.30, Y:122.75, Z:0.64 [[-9.88671486e-01 -1.50071961e-01 2.66445900e-03 1.86302662e+02] [ 1.50071453e-01 -9.88675076e-01 -3.90685704e-04 1.22754727e+02] [ 2.69291517e-03 1.35994183e-05 9.99996374e-01 6.35747801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.814012739 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:186.33, Y:122.75, Z:0.63 [[-9.88850399e-01 -1.48888510e-01 2.66460766e-03 1.86331547e+02] [ 1.48888001e-01 -9.88853989e-01 -3.89669136e-04 1.22752486e+02] [ 2.69292517e-03 1.14036273e-05 9.99996374e-01 6.32837525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.844012739 meters Centerline goodness : 0.995023 Centerline is valid? [True, True] Translation: X:186.32, Y:122.76, Z:0.63 [[-9.88924582e-01 -1.48394985e-01 2.66460766e-03 1.86320115e+02] [ 1.48394473e-01 -9.88928172e-01 -3.89669136e-04 1.22755901e+02] [ 2.69293052e-03 1.00596631e-05 9.99996374e-01 6.32995811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.874012739 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:186.32, Y:122.76, Z:0.63 [[-9.88874180e-01 -1.48730480e-01 2.66475424e-03 1.86320218e+02] [ 1.48729973e-01 -9.88877770e-01 -3.88664166e-04 1.22758843e+02] [ 2.69292243e-03 1.19888654e-05 9.99996374e-01 6.32977951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.904012739 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:186.32, Y:122.76, Z:0.63 [[-9.88733755e-01 -1.49661152e-01 2.66490132e-03 1.86321811e+02] [ 1.49660650e-01 -9.88737346e-01 -3.87653013e-04 1.22759296e+02] [ 2.69290406e-03 1.55452467e-05 9.99996374e-01 6.33410231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.934012739 meters Centerline goodness : 0.995137 Centerline is valid? [True, True] Translation: X:186.32, Y:122.76, Z:0.63 [[-9.88245306e-01 -1.52853241e-01 2.66504825e-03 1.86315674e+02] [ 1.52852754e-01 -9.88248899e-01 -3.86640304e-04 1.22760439e+02] [ 2.69283022e-03 2.52644978e-05 9.99996374e-01 6.32298366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.964012739 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:186.32, Y:122.76, Z:0.63 [[-9.88133032e-01 -1.53577366e-01 2.66519532e-03 1.86320430e+02] [ 1.53576884e-01 -9.88136626e-01 -3.85623851e-04 1.22760271e+02] [ 2.69280020e-03 2.82647277e-05 9.99996374e-01 6.31730564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.994012739 meters Centerline goodness : 0.995478 Centerline is valid? [True, True] Translation: X:186.31, Y:122.76, Z:0.63 [[-9.88111711e-01 -1.53714484e-01 2.66534231e-03 1.86309572e+02] [ 1.53714006e-01 -9.88115305e-01 -3.84605147e-04 1.22762706e+02] [ 2.69278491e-03 2.96675950e-05 9.99996374e-01 6.31129698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.024012739 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:186.32, Y:122.76, Z:0.63 [[-9.88148831e-01 -1.53475673e-01 2.66548958e-03 1.86323386e+02] [ 1.53475196e-01 -9.88152426e-01 -3.83581810e-04 1.22760521e+02] [ 2.69278047e-03 3.00506194e-05 9.99996374e-01 6.31800904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05401273900003 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:186.33, Y:122.76, Z:0.64 [[-9.88218544e-01 -1.53026156e-01 2.66563655e-03 1.86330990e+02] [ 1.53025681e-01 -9.88222138e-01 -3.82557729e-04 1.22757806e+02] [ 2.69278239e-03 2.98602063e-05 9.99996374e-01 6.36633136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.084012739 meters Centerline goodness : 0.995378 Centerline is valid? [True, True] Translation: X:186.33, Y:122.76, Z:0.64 [[-9.88377687e-01 -1.51994875e-01 2.66578223e-03 1.86330717e+02] [ 1.51994399e-01 -9.88381281e-01 -3.81539877e-04 1.22757152e+02] [ 2.69280136e-03 2.80784667e-05 9.99996374e-01 6.39290026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.114012739 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:186.34, Y:122.76, Z:0.64 [[-9.89029980e-01 -1.47690865e-01 2.66592735e-03 1.86340080e+02] [ 1.47690376e-01 -9.89033573e-01 -3.80523145e-04 1.22755940e+02] [ 2.69289145e-03 1.73830142e-05 9.99996374e-01 6.41461168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.144012739 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:186.36, Y:122.75, Z:0.64 [[-9.89757067e-01 -1.42736960e-01 2.66607187e-03 1.86360732e+02] [ 1.42736456e-01 -9.89760658e-01 -3.79507868e-04 1.22753804e+02] [ 2.69294285e-03 4.92505620e-06 9.99996374e-01 6.41018275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.174012739 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:186.35, Y:122.76, Z:0.64 [[-9.90069750e-01 -1.40551707e-01 2.66621471e-03 1.86351016e+02] [ 1.40551198e-01 -9.90073340e-01 -3.78501684e-04 1.22755914e+02] [ 2.69294716e-03 -3.39630107e-09 9.99996374e-01 6.40389263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.204012739 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:186.34, Y:122.76, Z:0.64 [[-9.90657284e-01 -1.36348949e-01 2.66635687e-03 1.86339621e+02] [ 1.36348427e-01 -9.90660872e-01 -3.77497588e-04 1.22760758e+02] [ 2.69292682e-03 -1.04171708e-05 9.99996374e-01 6.36773495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.234012739 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:186.36, Y:122.76, Z:0.64 [[-9.90802074e-01 -1.35292791e-01 2.66662629e-03 1.86363663e+02] [ 1.35292270e-01 -9.90805662e-01 -3.75589860e-04 1.22758672e+02] [ 2.69292302e-03 -1.13612889e-05 9.99996374e-01 6.36090223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.264012739 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:186.36, Y:122.76, Z:0.63 [[-9.90801832e-01 -1.35294564e-01 2.66653635e-03 1.86361924e+02] [ 1.35294042e-01 -9.90805420e-01 -3.76227295e-04 1.22759746e+02] [ 2.69292018e-03 -1.20002129e-05 9.99996374e-01 6.33354876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.294012739 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:186.36, Y:122.76, Z:0.63 [[-9.90466053e-01 -1.37731211e-01 2.66667770e-03 1.86355882e+02] [ 1.37730700e-01 -9.90469643e-01 -3.75222747e-04 1.22760499e+02] [ 2.69294319e-03 -4.36200847e-06 9.99996374e-01 6.34318502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.324012739 meters Centerline goodness : 0.995971 Centerline is valid? [True, True] Translation: X:186.35, Y:122.76, Z:0.64 [[-9.90255115e-01 -1.39239705e-01 2.66681933e-03 1.86350584e+02] [ 1.39239202e-01 -9.90258706e-01 -3.74213364e-04 1.22761384e+02] [ 2.69294642e-03 7.59097862e-07 9.99996374e-01 6.36014749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.354012739 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:186.35, Y:122.76, Z:0.64 [[-9.89978941e-01 -1.41189887e-01 2.66696141e-03 1.86354116e+02] [ 1.41189394e-01 -9.89982533e-01 -3.73198086e-04 1.22760471e+02] [ 2.69293700e-03 7.08841869e-06 9.99996374e-01 6.36982709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.384012739 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:186.34, Y:122.76, Z:0.64 [[-9.89495274e-01 -1.44540614e-01 2.66710344e-03 1.86341191e+02] [ 1.44540136e-01 -9.89498868e-01 -3.72180227e-04 1.22761053e+02] [ 2.69289100e-03 1.72329197e-05 9.99996374e-01 6.35645376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.414012739 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:186.36, Y:122.76, Z:0.63 [[-9.89369034e-01 -1.45402200e-01 2.66724587e-03 1.86360130e+02] [ 1.45401727e-01 -9.89372630e-01 -3.71156717e-04 1.22757597e+02] [ 2.69286706e-03 2.06111933e-05 9.99996374e-01 6.34527216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.444012739 meters Centerline goodness : 0.996351 Centerline is valid? [True, True] Translation: X:186.35, Y:122.76, Z:0.64 [[-9.89309923e-01 -1.45803845e-01 2.66738781e-03 1.86345198e+02] [ 1.45803377e-01 -9.89313519e-01 -3.70133840e-04 1.22758371e+02] [ 2.69284975e-03 2.27370692e-05 9.99996374e-01 6.35655597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.474012739 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:186.37, Y:122.75, Z:0.64 [[-9.89465534e-01 -1.44744053e-01 2.66752940e-03 1.86368708e+02] [ 1.44743584e-01 -9.89469130e-01 -3.69110565e-04 1.22754944e+02] [ 2.69286455e-03 2.08855826e-05 9.99996374e-01 6.37402139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.504012739 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:186.37, Y:122.76, Z:0.64 [[-9.90009812e-01 -1.40973248e-01 2.66767039e-03 1.86368851e+02] [ 1.40972768e-01 -9.90013406e-01 -3.68088765e-04 1.22756198e+02] [ 2.69292011e-03 1.16573879e-05 9.99996374e-01 6.37595618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.534012739 meters Centerline goodness : 0.996300 Centerline is valid? [True, True] Translation: X:186.39, Y:122.76, Z:0.64 [[-9.90752698e-01 -1.35653877e-01 2.66781003e-03 1.86388863e+02] [ 1.35653381e-01 -9.90756290e-01 -3.67073840e-04 1.22756768e+02] [ 2.69294456e-03 -1.78194724e-06 9.99996374e-01 6.36222795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.564012739 meters Centerline goodness : 0.996028 Centerline is valid? [True, True] Translation: X:186.39, Y:122.76, Z:0.64 [[-9.91186049e-01 -1.32450364e-01 2.66794859e-03 1.86394148e+02] [ 1.32449859e-01 -9.91189639e-01 -3.66064029e-04 1.22758101e+02] [ 2.69292831e-03 -9.46814468e-06 9.99996374e-01 6.36415770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.594012739 meters Centerline goodness : 0.996295 Centerline is valid? [True, True] Translation: X:186.40, Y:122.76, Z:0.64 [[-9.91522549e-01 -1.29907336e-01 2.66808577e-03 1.86399625e+02] [ 1.29906824e-01 -9.91526139e-01 -3.65061415e-04 1.22761594e+02] [ 2.69290094e-03 -1.53640759e-05 9.99996374e-01 6.37698943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.624012739 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:186.41, Y:122.76, Z:0.64 [[-9.91478047e-01 -1.30246549e-01 2.66822233e-03 1.86406184e+02] [ 1.30246041e-01 -9.91481637e-01 -3.64060545e-04 1.22763054e+02] [ 2.69291108e-03 -1.34326429e-05 9.99996374e-01 6.38935721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.654012739 meters Centerline goodness : 0.996189 Centerline is valid? [True, True] Translation: X:186.39, Y:122.77, Z:0.64 [[-9.90861143e-01 -1.34859466e-01 2.66835823e-03 1.86393804e+02] [ 1.34858977e-01 -9.90864736e-01 -3.63061740e-04 1.22767455e+02] [ 2.69294439e-03 1.08290436e-07 9.99996374e-01 6.39144184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.684012739 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:186.38, Y:122.77, Z:0.64 [[-9.90393712e-01 -1.38250407e-01 2.66849429e-03 1.86379757e+02] [ 1.38249933e-01 -9.90397307e-01 -3.62058972e-04 1.22769562e+02] [ 2.69292436e-03 1.03382274e-05 9.99996374e-01 6.36413212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.714012739 meters Centerline goodness : 0.996389 Centerline is valid? [True, True] Translation: X:186.40, Y:122.77, Z:0.63 [[-9.89310622e-01 -1.45799078e-01 2.66863153e-03 1.86400906e+02] [ 1.45798635e-01 -9.89314221e-01 -3.61044565e-04 1.22767478e+02] [ 2.69275509e-03 3.18976104e-05 9.99996374e-01 6.32367921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.744012739 meters Centerline goodness : 0.996337 Centerline is valid? [True, True] Translation: X:186.41, Y:122.77, Z:0.63 [[-9.88832482e-01 -1.49007385e-01 2.66876829e-03 1.86413223e+02] [ 1.49006956e-01 -9.88836082e-01 -3.60030779e-04 1.22765752e+02] [ 2.69262163e-03 4.16549101e-05 9.99996374e-01 6.34587654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.774012739 meters Centerline goodness : 0.996343 Centerline is valid? [True, True] Translation: X:186.42, Y:122.76, Z:0.64 [[-9.88120475e-01 -1.53658076e-01 2.66890330e-03 1.86417320e+02] [ 1.53657666e-01 -9.88124078e-01 -3.59027198e-04 1.22762637e+02] [ 2.69237504e-03 5.53353273e-05 9.99996374e-01 6.37663376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80401273900003 meters Centerline goodness : 0.996205 Centerline is valid? [True, True] Translation: X:186.41, Y:122.76, Z:0.63 [[-9.87851517e-01 -1.55377787e-01 2.66903736e-03 1.86414358e+02] [ 1.55377386e-01 -9.87855121e-01 -3.58027812e-04 1.22759127e+02] [ 2.69225179e-03 6.10297301e-05 9.99996374e-01 6.32285336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.834012739 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:186.43, Y:122.76, Z:0.63 [[-9.87909221e-01 -1.55010474e-01 2.66917117e-03 1.86426389e+02] [ 1.55010075e-01 -9.87912825e-01 -3.57027394e-04 1.22755465e+02] [ 2.69225142e-03 6.10377693e-05 9.99996374e-01 6.29411001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.864012739 meters Centerline goodness : 0.995902 Centerline is valid? [True, True] Translation: X:186.41, Y:122.75, Z:0.63 [[-9.88211695e-01 -1.53070315e-01 2.66930437e-03 1.86410255e+02] [ 1.53069912e-01 -9.88215298e-01 -3.56028713e-04 1.22753493e+02] [ 2.69234485e-03 5.67584476e-05 9.99996374e-01 6.29560112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.894012739 meters Centerline goodness : 0.996446 Centerline is valid? [True, True] Translation: X:186.41, Y:122.75, Z:0.63 [[-9.88531253e-01 -1.50992832e-01 2.66943759e-03 1.86411887e+02] [ 1.50992423e-01 -9.88534856e-01 -3.55027059e-04 1.22751162e+02] [ 2.69243865e-03 5.21095077e-05 9.99996374e-01 6.31582173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.924012739 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:186.41, Y:122.75, Z:0.64 [[-9.89235647e-01 -1.46306900e-01 2.66957135e-03 1.86409594e+02] [ 1.46306478e-01 -9.89239248e-01 -3.54018456e-04 1.22748843e+02] [ 2.69264009e-03 4.03679035e-05 9.99996374e-01 6.37150257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.954012739 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:186.40, Y:122.75, Z:0.64 [[-9.89675951e-01 -1.43298240e-01 2.66970496e-03 1.86403381e+02] [ 1.43297809e-01 -9.89679551e-01 -3.53007981e-04 1.22749769e+02] [ 2.69273783e-03 3.31993617e-05 9.99996374e-01 6.37676435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.984012739 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:186.41, Y:122.75, Z:0.63 [[-9.90652191e-01 -1.36385879e-01 2.66983887e-03 1.86413873e+02] [ 1.36385426e-01 -9.90655789e-01 -3.51992284e-04 1.22749434e+02] [ 2.69289811e-03 1.54251828e-05 9.99996374e-01 6.33057605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.014012739 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:186.41, Y:122.75, Z:0.63 [[-9.91113982e-01 -1.32988521e-01 2.66997239e-03 1.86410507e+02] [ 1.32988058e-01 -9.91117578e-01 -3.50976536e-04 1.22749897e+02] [ 2.69293242e-03 7.21669132e-06 9.99996374e-01 6.31003468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.044012739 meters Centerline goodness : 0.996678 Centerline is valid? [True, True] Translation: X:186.41, Y:122.75, Z:0.63 [[-9.91763081e-01 -1.28058038e-01 2.67010542e-03 1.86414652e+02] [ 1.28057560e-01 -9.91766676e-01 -3.49961568e-04 1.22748866e+02] [ 2.69293697e-03 -5.15177743e-06 9.99996374e-01 6.31774812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.074012739 meters Centerline goodness : 0.996976 Centerline is valid? [True, True] Translation: X:186.45, Y:122.74, Z:0.63 [[-9.92181856e-01 -1.24771929e-01 2.67023830e-03 1.86446842e+02] [ 1.24771441e-01 -9.92185449e-01 -3.48944705e-04 1.22744184e+02] [ 2.69291009e-03 -1.30471234e-05 9.99996374e-01 6.33878243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.104012739 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:186.44, Y:122.75, Z:0.63 [[-9.92366577e-01 -1.23294150e-01 2.67020545e-03 1.86435900e+02] [ 1.23293657e-01 -9.92370169e-01 -3.49195883e-04 1.22745417e+02] [ 2.69288605e-03 -1.73109281e-05 9.99996374e-01 6.32510649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.134012739 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:186.44, Y:122.74, Z:0.63 [[-9.92526442e-01 -1.22000541e-01 2.67033537e-03 1.86440651e+02] [ 1.22000045e-01 -9.92530034e-01 -3.48199574e-04 1.22744475e+02] [ 2.69286859e-03 -1.98162480e-05 9.99996374e-01 6.30851909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.164012739 meters Centerline goodness : 0.996454 Centerline is valid? [True, True] Translation: X:186.44, Y:122.74, Z:0.63 [[-9.92708469e-01 -1.20510435e-01 2.67046542e-03 1.86439644e+02] [ 1.20509937e-01 -9.92712060e-01 -3.47199326e-04 1.22741921e+02] [ 2.69284437e-03 -2.28500924e-05 9.99996374e-01 6.30974547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.194012739 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:186.47, Y:122.74, Z:0.63 [[-9.92726277e-01 -1.20363647e-01 2.67059513e-03 1.86470172e+02] [ 1.20363151e-01 -9.92729869e-01 -3.46198702e-04 1.22735489e+02] [ 2.69284929e-03 -2.22393028e-05 9.99996374e-01 6.32166912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.224012739 meters Centerline goodness : 0.996706 Centerline is valid? [True, True] Translation: X:186.47, Y:122.73, Z:0.63 [[-9.92785382e-01 -1.19875156e-01 2.67057912e-03 1.86466467e+02] [ 1.19874658e-01 -9.92788974e-01 -3.46322127e-04 1.22733965e+02] [ 2.69283693e-03 -2.36887860e-05 9.99996374e-01 6.32545008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.254012739 meters Centerline goodness : 0.996760 Centerline is valid? [True, True] Translation: X:186.48, Y:122.73, Z:0.64 [[-9.92964626e-01 -1.18381246e-01 2.67070602e-03 1.86475491e+02] [ 1.18380745e-01 -9.92968217e-01 -3.45340774e-04 1.22730852e+02] [ 2.69280807e-03 -2.67510044e-05 9.99996374e-01 6.35057665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.284012739 meters Centerline goodness : 0.996633 Centerline is valid? [True, True] Translation: X:186.46, Y:122.73, Z:0.64 [[-9.93101852e-01 -1.17224476e-01 2.67083255e-03 1.86464681e+02] [ 1.17223974e-01 -9.93105443e-01 -3.44359375e-04 1.22731088e+02] [ 2.69278570e-03 -2.88983272e-05 9.99996374e-01 6.37074430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.314012739 meters Centerline goodness : 0.996938 Centerline is valid? [True, True] Translation: X:186.47, Y:122.73, Z:0.64 [[-9.93372106e-01 -1.14911817e-01 2.67095899e-03 1.86473478e+02] [ 1.14911309e-01 -9.93375696e-01 -3.43375887e-04 1.22725840e+02] [ 2.69272369e-03 -3.41766339e-05 9.99996374e-01 6.35521701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.344012739 meters Centerline goodness : 0.996784 Centerline is valid? [True, True] Translation: X:186.48, Y:122.72, Z:0.63 [[-9.93604294e-01 -1.12886549e-01 2.67108539e-03 1.86483259e+02] [ 1.12886036e-01 -9.93607883e-01 -3.42389838e-04 1.22723394e+02] [ 2.69266270e-03 -3.86717728e-05 9.99996374e-01 6.34205442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.374012739 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:186.51, Y:122.72, Z:0.63 [[-9.94255556e-01 -1.06998852e-01 2.67121076e-03 1.86513173e+02] [ 1.06998320e-01 -9.94259143e-01 -3.41408930e-04 1.22720307e+02] [ 2.69240608e-03 -5.36326612e-05 9.99996374e-01 6.34389554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.404012739 meters Centerline goodness : 0.997276 Centerline is valid? [True, True] Translation: X:186.53, Y:122.72, Z:0.63 [[-9.94949255e-01 -1.00343631e-01 2.67122618e-03 1.86525828e+02] [ 1.00343076e-01 -9.94952838e-01 -3.41288190e-04 1.22721397e+02] [ 2.69199017e-03 -7.15253779e-05 9.99996374e-01 6.34854877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.434012739 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:186.54, Y:122.72, Z:0.63 [[-9.95436659e-01 -9.53872191e-02 2.67134792e-03 1.86542033e+02] [ 9.53866489e-02 -9.95440240e-01 -3.40332670e-04 1.22724190e+02] [ 2.69163060e-03 -8.39686901e-05 9.99996374e-01 6.33718471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.464012739 meters Centerline goodness : 0.996891 Centerline is valid? [True, True] Translation: X:186.56, Y:122.72, Z:0.63 [[-9.95613101e-01 -9.35276246e-02 2.67146836e-03 1.86564898e+02] [ 9.35270503e-02 -9.95616681e-01 -3.39384610e-04 1.22724259e+02] [ 2.69150030e-03 -8.80412082e-05 9.99996374e-01 6.33052232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.494012739 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:186.56, Y:122.73, Z:0.63 [[-9.95698009e-01 -9.26193162e-02 2.67158713e-03 1.86555826e+02] [ 9.26187411e-02 -9.95701589e-01 -3.38447047e-04 1.22731082e+02] [ 2.69145029e-03 -8.95520134e-05 9.99996374e-01 6.31032637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.524012739 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:186.54, Y:122.74, Z:0.63 [[-9.95615839e-01 -9.34984714e-02 2.67170527e-03 1.86535787e+02] [ 9.34979020e-02 -9.95619420e-01 -3.37511870e-04 1.22737082e+02] [ 2.69155850e-03 -8.62333260e-05 9.99996374e-01 6.31804070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55401273900003 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:186.56, Y:122.74, Z:0.63 [[-9.95450887e-01 -9.52386127e-02 2.67182451e-03 1.86556097e+02] [ 9.52380521e-02 -9.95454469e-01 -3.36565288e-04 1.22738274e+02] [ 2.69173366e-03 -8.05748521e-05 9.99996374e-01 6.32272732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.584012739 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:186.56, Y:122.74, Z:0.63 [[-9.95484432e-01 -9.48873401e-02 2.67194362e-03 1.86558605e+02] [ 9.48867807e-02 -9.95488014e-01 -3.35617059e-04 1.22738034e+02] [ 2.69173366e-03 -8.05694289e-05 9.99996374e-01 6.32265955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.614012739 meters Centerline goodness : 0.997174 Centerline is valid? [True, True] Translation: X:186.55, Y:122.75, Z:0.63 [[-9.94887280e-01 -1.00956230e-01 2.67206171e-03 1.86549268e+02] [ 1.00955695e-01 -9.94890866e-01 -3.34674167e-04 1.22745668e+02] [ 2.69219724e-03 -6.32032229e-05 9.99996374e-01 6.31956682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.644012739 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:186.51, Y:122.76, Z:0.63 [[-9.94143696e-01 -1.08033196e-01 2.67217998e-03 1.86509696e+02] [ 1.08032689e-01 -9.94147286e-01 -3.33727165e-04 1.22756618e+02] [ 2.69259409e-03 -4.30899673e-05 9.99996374e-01 6.28584334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.674012739 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:186.50, Y:122.76, Z:0.63 [[-9.93879412e-01 -1.10438098e-01 2.67230015e-03 1.86495865e+02] [ 1.10437603e-01 -9.93883004e-01 -3.32762157e-04 1.22761635e+02] [ 2.69270332e-03 -3.56030350e-05 9.99996374e-01 6.28468798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.704012739 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:186.49, Y:122.77, Z:0.63 [[-9.93577987e-01 -1.13117824e-01 2.67242249e-03 1.86487955e+02] [ 1.13117341e-01 -9.93581581e-01 -3.31776716e-04 1.22769533e+02] [ 2.69279962e-03 -2.73487155e-05 9.99996374e-01 6.31402640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.734012739 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:186.48, Y:122.77, Z:0.63 [[-9.93629109e-01 -1.12667878e-01 2.67254573e-03 1.86483054e+02] [ 1.12667396e-01 -9.93632703e-01 -3.30781031e-04 1.22773241e+02] [ 2.69279723e-03 -2.75648947e-05 9.99996374e-01 6.31741680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.764012739 meters Centerline goodness : 0.997671 Centerline is valid? [True, True] Translation: X:186.51, Y:122.78, Z:0.63 [[-9.93773283e-01 -1.11389042e-01 2.67266943e-03 1.86507836e+02] [ 1.11388557e-01 -9.93776877e-01 -3.29778493e-04 1.22776476e+02] [ 2.69277079e-03 -3.00202633e-05 9.99996374e-01 6.29070681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.794012739 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:186.51, Y:122.78, Z:0.63 [[-9.93881336e-01 -1.10420774e-01 2.67271540e-03 1.86510812e+02] [ 1.10420287e-01 -9.93884929e-01 -3.29405479e-04 1.22779437e+02] [ 2.69274476e-03 -3.22679540e-05 9.99996374e-01 6.26387141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.824012739 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:186.49, Y:122.79, Z:0.63 [[-9.93970469e-01 -1.09615520e-01 2.67283703e-03 1.86494977e+02] [ 1.09615033e-01 -9.93974062e-01 -3.28415613e-04 1.22787779e+02] [ 2.69273013e-03 -3.34523008e-05 9.99996374e-01 6.27823726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.854012739 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:186.53, Y:122.79, Z:0.63 [[-9.93923743e-01 -1.10038398e-01 2.67295909e-03 1.86525722e+02] [ 1.10037915e-01 -9.93927336e-01 -3.27419125e-04 1.22786855e+02] [ 2.69275579e-03 -3.13027956e-05 9.99996374e-01 6.32560051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.884012739 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:186.50, Y:122.79, Z:0.64 [[-9.93807872e-01 -1.11080008e-01 2.67298940e-03 1.86500006e+02] [ 1.11079530e-01 -9.93811467e-01 -3.27171486e-04 1.22794242e+02] [ 2.69278973e-03 -2.82311927e-05 9.99996374e-01 6.35655961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.914012739 meters Centerline goodness : 0.997742 Centerline is valid? [True, True] Translation: X:186.50, Y:122.80, Z:0.63 [[-9.93703577e-01 -1.12009173e-01 2.67311057e-03 1.86504130e+02] [ 1.12008701e-01 -9.93707172e-01 -3.26178477e-04 1.22795190e+02] [ 2.69282413e-03 -2.47130757e-05 9.99996374e-01 6.30137065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.944012739 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:186.49, Y:122.80, Z:0.63 [[-9.93674311e-01 -1.12268507e-01 2.67323259e-03 1.86491937e+02] [ 1.12268039e-01 -9.93677907e-01 -3.25175398e-04 1.22796927e+02] [ 2.69283912e-03 -2.29998604e-05 9.99996374e-01 6.27367325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.974012739 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:186.48, Y:122.80, Z:0.63 [[-9.93681320e-01 -1.12206449e-01 2.67335480e-03 1.86478709e+02] [ 1.12205982e-01 -9.93684916e-01 -3.24167518e-04 1.22799177e+02] [ 2.69284603e-03 -2.21528051e-05 9.99996374e-01 6.25878548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.004012739 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:186.36, Y:122.81, Z:0.63 [[-9.93994168e-01 -1.09400401e-01 2.67341162e-03 1.86357200e+02] [ 1.09399926e-01 -9.93997762e-01 -3.23697297e-04 1.22812499e+02] [ 2.69277778e-03 -2.92821908e-05 9.99996374e-01 6.30637010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.034012739 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:186.53, Y:122.79, Z:0.63 [[-9.93952931e-01 -1.09774411e-01 2.67394799e-03 1.86525866e+02] [ 1.09773949e-01 -9.93956527e-01 -3.19247175e-04 1.22791168e+02] [ 2.69283323e-03 -2.37868345e-05 9.99996374e-01 6.31072091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.064012739 meters Centerline goodness : 0.997577 Centerline is valid? [True, True] Translation: X:186.50, Y:122.79, Z:0.63 [[-9.93901138e-01 -1.10242375e-01 2.67349108e-03 1.86501731e+02] [ 1.10241905e-01 -9.93904733e-01 -3.23028655e-04 1.22792702e+02] [ 2.69280689e-03 -2.63277985e-05 9.99996374e-01 6.32816533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.094012739 meters Centerline goodness : 0.997596 Centerline is valid? [True, True] Translation: X:186.51, Y:122.79, Z:0.63 [[-9.93859795e-01 -1.10614462e-01 2.67361153e-03 1.86507182e+02] [ 1.10613996e-01 -9.93863391e-01 -3.22028690e-04 1.22791073e+02] [ 2.69282565e-03 -2.43125128e-05 9.99996374e-01 6.31337150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.124012739 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:186.51, Y:122.79, Z:0.63 [[-9.93879228e-01 -1.10439722e-01 2.67373260e-03 1.86507012e+02] [ 1.10439258e-01 -9.93882824e-01 -3.21020334e-04 1.22789468e+02] [ 2.69283030e-03 -2.37703986e-05 9.99996374e-01 6.28701758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.154012739 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:186.52, Y:122.79, Z:0.63 [[-9.93974392e-01 -1.09579923e-01 2.67385328e-03 1.86515929e+02] [ 1.09579459e-01 -9.93977988e-01 -3.20011934e-04 1.22789023e+02] [ 2.69281819e-03 -2.50842713e-05 9.99996374e-01 6.28127179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.184012739 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:186.52, Y:122.79, Z:0.63 [[-9.94050589e-01 -1.08886533e-01 2.67397341e-03 1.86518454e+02] [ 1.08886069e-01 -9.94054185e-01 -3.19004969e-04 1.22790123e+02] [ 2.69280981e-03 -2.59486243e-05 9.99996374e-01 6.29237745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.214012739 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:186.50, Y:122.79, Z:0.63 [[-9.94027081e-01 -1.09100919e-01 2.67409291e-03 1.86503793e+02] [ 1.09100458e-01 -9.94030678e-01 -3.18000097e-04 1.22791168e+02] [ 2.69282449e-03 -2.43559457e-05 9.99996374e-01 6.29908373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.244012739 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:186.51, Y:122.79, Z:0.63 [[-9.93783684e-01 -1.11296172e-01 2.67421275e-03 1.86511771e+02] [ 1.11295721e-01 -9.93787282e-01 -3.16989073e-04 1.22787389e+02] [ 2.69287829e-03 -1.73901314e-05 9.99996374e-01 6.32103120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.274012739 meters Centerline goodness : 0.998121 Centerline is valid? [True, True] Translation: X:186.52, Y:122.79, Z:0.63 [[-9.93670779e-01 -1.12299741e-01 2.67433269e-03 1.86515486e+02] [ 1.12299297e-01 -9.93674377e-01 -3.15974004e-04 1.22786470e+02] [ 2.69289966e-03 -1.36484534e-05 9.99996374e-01 6.33910756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30401273900003 meters Centerline goodness : 0.997262 Centerline is valid? [True, True] Translation: X:186.52, Y:122.79, Z:0.63 [[-9.93345585e-01 -1.15140767e-01 2.67445194e-03 1.86515919e+02] [ 1.15140337e-01 -9.93349185e-01 -3.14961397e-04 1.22785409e+02] [ 2.69292955e-03 -4.92821696e-06 9.99996374e-01 6.34771675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.334012739 meters Centerline goodness : 0.997565 Centerline is valid? [True, True] Translation: X:186.52, Y:122.78, Z:0.63 [[-9.93314350e-01 -1.15409920e-01 2.67457084e-03 1.86515001e+02] [ 1.15409493e-01 -9.93317950e-01 -3.13948409e-04 1.22783338e+02] [ 2.69293199e-03 -3.17859599e-06 9.99996374e-01 6.32313906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.364012739 meters Centerline goodness : 0.997730 Centerline is valid? [True, True] Translation: X:186.51, Y:122.78, Z:0.63 [[-9.93292540e-01 -1.15597470e-01 2.67468958e-03 1.86513942e+02] [ 1.15597047e-01 -9.93296142e-01 -3.12933541e-04 1.22779994e+02] [ 2.69293317e-03 -1.64833573e-06 9.99996374e-01 6.26584392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.394012739 meters Centerline goodness : 0.997353 Centerline is valid? [True, True] Translation: X:186.51, Y:122.78, Z:0.63 [[-9.93298373e-01 -1.15547338e-01 2.67480819e-03 1.86512707e+02] [ 1.15546917e-01 -9.93301975e-01 -3.11916448e-04 1.22779827e+02] [ 2.69293337e-03 -7.60261472e-07 9.99996374e-01 6.26341981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.424012739 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:186.53, Y:122.78, Z:0.63 [[-9.93332620e-01 -1.15252551e-01 2.67492672e-03 1.86534424e+02] [ 1.15252132e-01 -9.93336222e-01 -3.10896624e-04 1.22775799e+02] [ 2.69293323e-03 -5.32751714e-07 9.99996374e-01 6.26385724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.454012739 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:186.53, Y:122.77, Z:0.63 [[-9.93300118e-01 -1.15532335e-01 2.67497071e-03 1.86526537e+02] [ 1.15531918e-01 -9.93303720e-01 -3.10517649e-04 1.22771710e+02] [ 2.69293319e-03 6.07278035e-07 9.99996374e-01 6.26758117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.484012739 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:186.52, Y:122.77, Z:0.63 [[-9.92923101e-01 -1.18728929e-01 2.67508765e-03 1.86518297e+02] [ 1.18728526e-01 -9.92926705e-01 -3.09506963e-04 1.22768002e+02] [ 2.69291339e-03 1.02925995e-05 9.99996374e-01 6.28148794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.514012739 meters Centerline goodness : 0.997808 Centerline is valid? [True, True] Translation: X:186.51, Y:122.77, Z:0.63 [[-9.92727229e-01 -1.20355692e-01 2.67520504e-03 1.86512362e+02] [ 1.20355298e-01 -9.92730833e-01 -3.08488886e-04 1.22765797e+02] [ 2.69288693e-03 1.57297833e-05 9.99996374e-01 6.30012405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.544012739 meters Centerline goodness : 0.997868 Centerline is valid? [True, True] Translation: X:186.53, Y:122.76, Z:0.63 [[-9.92265726e-01 -1.24103069e-01 2.67532281e-03 1.86533626e+02] [ 1.24102691e-01 -9.92269332e-01 -3.07464155e-04 1.22755869e+02] [ 2.69279803e-03 2.69286183e-05 9.99996374e-01 6.31231626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.574012739 meters Centerline goodness : 0.997745 Centerline is valid? [True, True] Translation: X:186.51, Y:122.76, Z:0.63 [[-9.92228760e-01 -1.24398275e-01 2.67536663e-03 1.86506086e+02] [ 1.24397899e-01 -9.92232366e-01 -3.07082421e-04 1.22755975e+02] [ 2.69278588e-03 2.81139777e-05 9.99996374e-01 6.30248015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.604012739 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:186.53, Y:122.75, Z:0.63 [[-9.92494491e-01 -1.22260084e-01 2.67548382e-03 1.86526964e+02] [ 1.22259703e-01 -9.92498096e-01 -3.06057971e-04 1.22746925e+02] [ 2.69283127e-03 2.33430072e-05 9.99996374e-01 6.27368872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.634012739 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:186.54, Y:122.74, Z:0.63 [[-9.93090049e-01 -1.17324320e-01 2.67560104e-03 1.86541642e+02] [ 1.17323924e-01 -9.93093653e-01 -3.05029716e-04 1.22737489e+02] [ 2.69290982e-03 1.09900378e-05 9.99996374e-01 6.27429397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.664012739 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:186.54, Y:122.73, Z:0.63 [[-9.93457485e-01 -1.14171216e-01 2.67571653e-03 1.86539088e+02] [ 1.14170811e-01 -9.93461088e-01 -3.04013292e-04 1.22734348e+02] [ 2.69292982e-03 3.46444603e-06 9.99996374e-01 6.28883959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.694012739 meters Centerline goodness : 0.997280 Centerline is valid? [True, True] Translation: X:186.55, Y:122.73, Z:0.63 [[-9.93820350e-01 -1.10968250e-01 2.67583125e-03 1.86553979e+02] [ 1.10967837e-01 -9.93823952e-01 -3.03000162e-04 1.22730172e+02] [ 2.69292859e-03 -4.19652145e-06 9.99996374e-01 6.30018593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.724012739 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:186.57, Y:122.72, Z:0.63 [[-9.94438309e-01 -1.05286700e-01 2.67594526e-03 1.86572545e+02] [ 1.05286269e-01 -9.94441909e-01 -3.01989973e-04 1.22724660e+02] [ 2.69286764e-03 -1.85701071e-05 9.99996374e-01 6.29284552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.754012739 meters Centerline goodness : 0.996811 Centerline is valid? [True, True] Translation: X:186.60, Y:122.72, Z:0.63 [[-9.95058208e-01 -9.92572509e-02 2.67605772e-03 1.86598981e+02] [ 9.92568003e-02 -9.95061806e-01 -3.00990074e-04 1.22719600e+02] [ 2.69271827e-03 -3.38857165e-05 9.99996374e-01 6.26594702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.784012739 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:186.62, Y:122.72, Z:0.63 [[-9.95369306e-01 -9.60873750e-02 2.67616819e-03 1.86622786e+02] [ 9.60869156e-02 -9.95372902e-01 -3.00004668e-04 1.22717323e+02] [ 2.69261196e-03 -4.14706917e-05 9.99996374e-01 6.25455242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.814012739 meters Centerline goodness : 0.996890 Centerline is valid? [True, True] Translation: X:186.63, Y:122.72, Z:0.62 [[-9.95914114e-01 -9.02658022e-02 2.67627658e-03 1.86628116e+02] [ 9.02653244e-02 -9.95917708e-01 -2.99034573e-04 1.22719851e+02] [ 2.69234383e-03 -5.62377783e-05 9.99996374e-01 6.23410942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.844012739 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:186.62, Y:122.72, Z:0.63 [[-9.96157078e-01 -8.75437824e-02 2.67638375e-03 1.86615263e+02] [ 8.75432974e-02 -9.96160671e-01 -2.98072321e-04 1.22723879e+02] [ 2.69220261e-03 -6.26273941e-05 9.99996374e-01 6.25835194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.874012739 meters Centerline goodness : 0.997035 Centerline is valid? [True, True] Translation: X:186.63, Y:122.72, Z:0.63 [[-9.96203669e-01 -8.70119840e-02 2.67649104e-03 1.86626486e+02] [ 8.70114996e-02 -9.96207263e-01 -2.97105801e-04 1.22724224e+02] [ 2.69219158e-03 -6.30923901e-05 9.99996374e-01 6.28377530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.904012739 meters Centerline goodness : 0.996696 Centerline is valid? [True, True] Translation: X:186.63, Y:122.73, Z:0.63 [[-9.96229935e-01 -8.67107385e-02 2.67659824e-03 1.86633817e+02] [ 8.67102557e-02 -9.96233529e-01 -2.96136818e-04 1.22728491e+02] [ 2.69219516e-03 -6.29318445e-05 9.99996374e-01 6.33525106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.934012739 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:186.63, Y:122.73, Z:0.63 [[-9.96209776e-01 -8.69420362e-02 2.67670462e-03 1.86632642e+02] [ 8.69415567e-02 -9.96213370e-01 -2.95172188e-04 1.22731415e+02] [ 2.69223180e-03 -6.13365525e-05 9.99996374e-01 6.33730818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.964012739 meters Centerline goodness : 0.996816 Centerline is valid? [True, True] Translation: X:186.62, Y:122.74, Z:0.63 [[-9.95992963e-01 -8.93915684e-02 2.67681065e-03 1.86615673e+02] [ 8.93911004e-02 -9.95996559e-01 -2.94207520e-04 1.22738291e+02] [ 2.69239386e-03 -5.37455701e-05 9.99996374e-01 6.30338442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.994012739 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:186.62, Y:122.74, Z:0.63 [[-9.95738300e-01 -9.21849871e-02 2.67691720e-03 1.86615602e+02] [ 9.21845318e-02 -9.95741897e-01 -2.93234750e-04 1.22740913e+02] [ 2.69255046e-03 -4.52147124e-05 9.99996374e-01 6.29178273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.024012739 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:186.61, Y:122.74, Z:0.63 [[-9.95611381e-01 -9.35457751e-02 2.67702425e-03 1.86607632e+02] [ 9.35453273e-02 -9.95614979e-01 -2.92254201e-04 1.22742935e+02] [ 2.69262459e-03 -4.05484990e-05 9.99996374e-01 6.31245240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05401273900003 meters Centerline goodness : 0.996403 Centerline is valid? [True, True] Translation: X:186.61, Y:122.75, Z:0.63 [[-9.95363561e-01 -9.61468399e-02 2.67713147e-03 1.86609192e+02] [ 9.61464042e-02 -9.95367161e-01 -2.91268758e-04 1.22745094e+02] [ 2.69273332e-03 -3.25217444e-05 9.99996374e-01 6.33399596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.084012739 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:186.60, Y:122.75, Z:0.63 [[-9.95277035e-01 -9.70384252e-02 2.67723873e-03 1.86603401e+02] [ 9.70379954e-02 -9.95280635e-01 -2.90279480e-04 1.22746109e+02] [ 2.69277213e-03 -2.91146208e-05 9.99996374e-01 6.32311418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.114012739 meters Centerline goodness : 0.997024 Centerline is valid? [True, True] Translation: X:186.61, Y:122.74, Z:0.63 [[-9.95157666e-01 -9.82550293e-02 2.67734600e-03 1.86609952e+02] [ 9.82546066e-02 -9.95161268e-01 -2.89286659e-04 1.22744859e+02] [ 2.69281491e-03 -2.48242577e-05 9.99996374e-01 6.26999876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.144012739 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:186.60, Y:122.75, Z:0.63 [[-9.95144571e-01 -9.83875673e-02 2.67745306e-03 1.86603076e+02] [ 9.83871477e-02 -9.95148173e-01 -2.88292359e-04 1.22746282e+02] [ 2.69282691e-03 -2.34656061e-05 9.99996374e-01 6.25885870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.174012739 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:186.60, Y:122.75, Z:0.63 [[-9.95179837e-01 -9.80302088e-02 2.67755998e-03 1.86600101e+02] [ 9.80297906e-02 -9.95183439e-01 -2.87295930e-04 1.22747794e+02] [ 2.69282703e-03 -2.34304726e-05 9.99996374e-01 6.28771813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.204012739 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:186.60, Y:122.75, Z:0.63 [[-9.95197809e-01 -9.78475944e-02 2.67766709e-03 1.86602055e+02] [ 9.78471782e-02 -9.95201411e-01 -2.86294120e-04 1.22746780e+02] [ 2.69283126e-03 -2.29171117e-05 9.99996374e-01 6.29760779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.234012739 meters Centerline goodness : 0.996593 Centerline is valid? [True, True] Translation: X:186.60, Y:122.75, Z:0.63 [[-9.95184209e-01 -9.79858094e-02 2.67777407e-03 1.86595262e+02] [ 9.79853965e-02 -9.95187812e-01 -2.85289996e-04 1.22746900e+02] [ 2.69284249e-03 -2.15333453e-05 9.99996374e-01 6.27958465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.264012739 meters Centerline goodness : 0.996314 Centerline is valid? [True, True] Translation: X:186.58, Y:122.75, Z:0.63 [[-9.95104602e-01 -9.87909878e-02 2.67788105e-03 1.86580405e+02] [ 9.87905805e-02 -9.95108205e-01 -2.84282224e-04 1.22747191e+02] [ 2.69286593e-03 -1.83411251e-05 9.99996374e-01 6.26110085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.294012739 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:186.60, Y:122.74, Z:0.63 [[-9.95057832e-01 -9.92609704e-02 2.67798866e-03 1.86601854e+02] [ 9.92605675e-02 -9.95061435e-01 -2.83264936e-04 1.22744026e+02] [ 2.69288039e-03 -1.60463185e-05 9.99996374e-01 6.28241831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.324012739 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:186.60, Y:122.74, Z:0.63 [[-9.95124801e-01 -9.85873122e-02 2.67802883e-03 1.86596541e+02] [ 9.85869079e-02 -9.95128405e-01 -2.82884681e-04 1.22743581e+02] [ 2.69287139e-03 -1.74869806e-05 9.99996374e-01 6.30344251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.354012739 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:186.62, Y:122.74, Z:0.63 [[-9.95191037e-01 -9.79164295e-02 2.67813539e-03 1.86624377e+02] [ 9.79160255e-02 -9.95194641e-01 -2.81872174e-04 1.22740492e+02] [ 2.69286591e-03 -1.82842882e-05 9.99996374e-01 6.29924516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.384012739 meters Centerline goodness : 0.996360 Centerline is valid? [True, True] Translation: X:186.63, Y:122.74, Z:0.63 [[-9.95306652e-01 -9.67341457e-02 2.67817492e-03 1.86630917e+02] [ 9.67337384e-02 -9.95310256e-01 -2.81496138e-04 1.22738005e+02] [ 2.69284525e-03 -2.11051067e-05 9.99996374e-01 6.29029696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.414012739 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:186.61, Y:122.74, Z:0.63 [[-9.95338402e-01 -9.64069086e-02 2.67827917e-03 1.86609235e+02] [ 9.64065028e-02 -9.95342005e-01 -2.80500736e-04 1.22739002e+02] [ 2.69284596e-03 -2.09896264e-05 9.99996374e-01 6.28533383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.444012739 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:186.64, Y:122.73, Z:0.63 [[-9.95436240e-01 -9.53913927e-02 2.67838379e-03 1.86637319e+02] [ 9.53909859e-02 -9.95439843e-01 -2.79498179e-04 1.22732740e+02] [ 2.69283166e-03 -2.27289462e-05 9.99996374e-01 6.30293073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.474012739 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:186.64, Y:122.73, Z:0.63 [[-9.95471522e-01 -9.50224933e-02 2.67848798e-03 1.86639831e+02] [ 9.50220879e-02 -9.95475125e-01 -2.78496062e-04 1.22732553e+02] [ 2.69283155e-03 -2.27193781e-05 9.99996374e-01 6.30286297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.504012739 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:186.64, Y:122.73, Z:0.64 [[-9.95690444e-01 -9.27004043e-02 2.67859082e-03 1.86638945e+02] [ 9.26999931e-02 -9.95694047e-01 -2.77503422e-04 1.22731271e+02] [ 2.69278161e-03 -2.80021552e-05 9.99996374e-01 6.35046714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.534012739 meters Centerline goodness : 0.996402 Centerline is valid? [True, True] Translation: X:186.65, Y:122.73, Z:0.64 [[-9.95976017e-01 -8.95801246e-02 2.67869344e-03 1.86649062e+02] [ 8.95797049e-02 -9.95979618e-01 -2.76509308e-04 1.22730971e+02] [ 2.69269381e-03 -3.54400714e-05 9.99996374e-01 6.37294388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.564012739 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:186.65, Y:122.73, Z:0.64 [[-9.96137915e-01 -8.77614820e-02 2.67879551e-03 1.86650479e+02] [ 8.77610584e-02 -9.96141516e-01 -2.75516914e-04 1.22730696e+02] [ 2.69263919e-03 -3.93589157e-05 9.99996374e-01 6.36256703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.594012739 meters Centerline goodness : 0.996248 Centerline is valid? [True, True] Translation: X:186.67, Y:122.73, Z:0.63 [[-9.96341178e-01 -8.54229514e-02 2.67889700e-03 1.86672579e+02] [ 8.54225219e-02 -9.96344778e-01 -2.74526555e-04 1.22727540e+02] [ 2.69255590e-03 -4.46839743e-05 9.99996374e-01 6.32479250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.624012739 meters Centerline goodness : 0.996180 Centerline is valid? [True, True] Translation: X:186.66, Y:122.73, Z:0.63 [[-9.96437882e-01 -8.42874279e-02 2.67899744e-03 1.86663248e+02] [ 8.42869970e-02 -9.96441482e-01 -2.73542788e-04 1.22728651e+02] [ 2.69252040e-03 -4.67637467e-05 9.99996374e-01 6.31365208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.654012739 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:186.67, Y:122.73, Z:0.63 [[-9.96521976e-01 -8.32873013e-02 2.67909725e-03 1.86672999e+02] [ 8.32868694e-02 -9.96525576e-01 -2.72561794e-04 1.22728402e+02] [ 2.69248986e-03 -4.84801948e-05 9.99996374e-01 6.31767576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.684012739 meters Centerline goodness : 0.996058 Centerline is valid? [True, True] Translation: X:186.69, Y:122.73, Z:0.63 [[-9.96628596e-01 -8.20016103e-02 2.67919686e-03 1.86685462e+02] [ 8.20011764e-02 -9.96632196e-01 -2.71579045e-04 1.22727311e+02] [ 2.69244377e-03 -5.09661478e-05 9.99996374e-01 6.33935622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.714012739 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:186.72, Y:122.73, Z:0.64 [[-9.97004754e-01 -7.72938639e-02 2.67929554e-03 1.86716111e+02] [ 7.72934156e-02 -9.97008352e-01 -2.70602021e-04 1.22726640e+02] [ 2.69219591e-03 -6.26995975e-05 9.99996374e-01 6.36635436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.744012739 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:186.70, Y:122.73, Z:0.64 [[-9.97258472e-01 -7.39483694e-02 2.67938037e-03 1.86697936e+02] [ 7.39479113e-02 -9.97262069e-01 -2.69759418e-04 1.22731881e+02] [ 2.69199268e-03 -7.08852826e-05 9.99996374e-01 6.36208416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.774012739 meters Centerline goodness : 0.995845 Centerline is valid? [True, True] Translation: X:186.73, Y:122.74, Z:0.64 [[-9.97611799e-01 -6.90182522e-02 2.67947681e-03 1.86730243e+02] [ 6.90177789e-02 -9.97615394e-01 -2.68798146e-04 1.22736434e+02] [ 2.69163929e-03 -8.32246637e-05 9.99996374e-01 6.35726659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80401273900003 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:186.73, Y:122.74, Z:0.64 [[-9.97761813e-01 -6.68145607e-02 2.67947681e-03 1.86729271e+02] [ 6.68140795e-02 -9.97765407e-01 -2.68798146e-04 1.22742822e+02] [ 2.69144890e-03 -8.91697486e-05 9.99996374e-01 6.35725409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.834012739 meters Centerline goodness : 0.995730 Centerline is valid? [True, True] Translation: X:186.72, Y:122.75, Z:0.64 [[-9.97724323e-01 -6.73720586e-02 2.67957167e-03 1.86724801e+02] [ 6.73715820e-02 -9.97727918e-01 -2.67849112e-04 1.22747006e+02] [ 2.69152901e-03 -8.67125919e-05 9.99996374e-01 6.35089026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.864012739 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:186.72, Y:122.75, Z:0.63 [[-9.97406825e-01 -7.19197062e-02 2.67966658e-03 1.86722890e+02] [ 7.19192485e-02 -9.97410422e-01 -2.66896232e-04 1.22753647e+02] [ 2.69192247e-03 -7.34845172e-05 9.99996374e-01 6.34409788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.894012739 meters Centerline goodness : 0.995676 Centerline is valid? [True, True] Translation: X:186.69, Y:122.76, Z:0.63 [[-9.97198344e-01 -7.47548078e-02 2.67976154e-03 1.86692908e+02] [ 7.47543629e-02 -9.97201943e-01 -2.65939337e-04 1.22758704e+02] [ 2.69214366e-03 -6.48703998e-05 9.99996374e-01 6.34100200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.924012739 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:186.69, Y:122.76, Z:0.63 [[-9.96641359e-01 -8.18463192e-02 2.67985739e-03 1.86688729e+02] [ 8.18459025e-02 -9.96644961e-01 -2.64969929e-04 1.22762194e+02] [ 2.69255318e-03 -4.47446436e-05 9.99996374e-01 6.32391688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.954012739 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:186.69, Y:122.76, Z:0.63 [[-9.96378817e-01 -8.49827645e-02 2.67995422e-03 1.86687802e+02] [ 8.49823618e-02 -9.96382421e-01 -2.63986903e-04 1.22763999e+02] [ 2.69269361e-03 -3.52821186e-05 9.99996374e-01 6.32682369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.984012739 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:186.67, Y:122.77, Z:0.63 [[-9.95891204e-01 -9.05181057e-02 2.68005103e-03 1.86668162e+02] [ 9.05177257e-02 -9.95894810e-01 -2.63000385e-04 1.22768916e+02] [ 2.69285521e-03 -1.93276461e-05 9.99996374e-01 6.34233992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.014012739 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:186.64, Y:122.77, Z:0.63 [[-9.95511753e-01 -9.46000318e-02 2.68014841e-03 1.86643733e+02] [ 9.45996692e-02 -9.95515361e-01 -2.62004289e-04 1.22769355e+02] [ 2.69291452e-03 -7.28719595e-06 9.99996374e-01 6.32556786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.044012739 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:186.65, Y:122.77, Z:0.63 [[-9.95388334e-01 -9.58899374e-02 2.68024711e-03 1.86648761e+02] [ 9.58895822e-02 -9.95391943e-01 -2.60990649e-04 1.22766744e+02] [ 2.69292276e-03 -2.77927134e-06 9.99996374e-01 6.32458871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.074012739 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:186.66, Y:122.76, Z:0.64 [[-9.95215710e-01 -9.76652750e-02 2.68034629e-03 1.86662980e+02] [ 9.76649290e-02 -9.95219320e-01 -2.59968077e-04 1.22764430e+02] [ 2.69292227e-03 3.05151652e-06 9.99996374e-01 6.35333138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.104012739 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:186.67, Y:122.77, Z:0.64 [[-9.95300757e-01 -9.67947225e-02 2.68038313e-03 1.86668053e+02] [ 9.67943745e-02 -9.95304366e-01 -2.59587700e-04 1.22765266e+02] [ 2.69292375e-03 1.07817429e-06 9.99996374e-01 6.36553094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.134012739 meters Centerline goodness : 0.994996 Centerline is valid? [True, True] Translation: X:186.66, Y:122.77, Z:0.64 [[-9.95440087e-01 -9.53511842e-02 2.68048075e-03 1.86662158e+02] [ 9.53508336e-02 -9.95443696e-01 -2.58575799e-04 1.22765624e+02] [ 2.69292317e-03 -1.81064211e-06 9.99996374e-01 6.35630557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.164012739 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:186.65, Y:122.77, Z:0.63 [[-9.95672784e-01 -9.28898328e-02 2.68057820e-03 1.86651897e+02] [ 9.28894760e-02 -9.95676393e-01 -2.57561543e-04 1.22767335e+02] [ 2.69291328e-03 -7.44951472e-06 9.99996374e-01 6.33714560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.194012739 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:186.66, Y:122.77, Z:0.63 [[-9.95810444e-01 -9.14022598e-02 2.68067601e-03 1.86661418e+02] [ 9.14019004e-02 -9.95814052e-01 -2.56539527e-04 1.22767953e+02] [ 2.69290313e-03 -1.04458590e-05 9.99996374e-01 6.33174199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.224012739 meters Centerline goodness : 0.995010 Centerline is valid? [True, True] Translation: X:186.68, Y:122.77, Z:0.63 [[-9.95922033e-01 -9.01782507e-02 2.68077363e-03 1.86683937e+02] [ 9.01778896e-02 -9.95925641e-01 -2.55515267e-04 1.22769685e+02] [ 2.69289312e-03 -1.27267760e-05 9.99996374e-01 6.33858139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.254012739 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:186.68, Y:122.77, Z:0.63 [[-9.95920605e-01 -9.01940257e-02 2.68080973e-03 1.86682515e+02] [ 9.01936656e-02 -9.95924213e-01 -2.55135939e-04 1.22770878e+02] [ 2.69289506e-03 -1.23030815e-05 9.99996374e-01 6.34121852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.284012739 meters Centerline goodness : 0.994830 Centerline is valid? [True, True] Translation: X:186.66, Y:122.77, Z:0.63 [[-9.95605243e-01 -9.36109632e-02 2.68090537e-03 1.86662944e+02] [ 9.36106183e-02 -9.95608853e-01 -2.54127028e-04 1.22772969e+02] [ 2.69292219e-03 -2.04899200e-06 9.99996374e-01 6.33634595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.314012739 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:186.67, Y:122.77, Z:0.63 [[-9.94966323e-01 -1.00173988e-01 2.68100152e-03 1.86665883e+02] [ 1.00173670e-01 -9.94969935e-01 -2.53108595e-04 1.22770302e+02] [ 2.69287080e-03 1.67312318e-05 9.99996374e-01 6.34406921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.344012739 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:186.68, Y:122.77, Z:0.63 [[-9.94643729e-01 -1.03327946e-01 2.68109804e-03 1.86682813e+02] [ 1.03327642e-01 -9.94647342e-01 -2.52081996e-04 1.22767103e+02] [ 2.69279415e-03 2.62997622e-05 9.99996374e-01 6.34219399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.374012739 meters Centerline goodness : 0.994484 Centerline is valid? [True, True] Translation: X:186.68, Y:122.76, Z:0.63 [[-9.94384527e-01 -1.05793305e-01 2.68113387e-03 1.86682256e+02] [ 1.05793011e-01 -9.94388141e-01 -2.51700346e-04 1.22764541e+02] [ 2.69271594e-03 3.33582950e-05 9.99996374e-01 6.34920884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.404012739 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:186.68, Y:122.76, Z:0.64 [[-9.94423126e-01 -1.05429869e-01 2.68122889e-03 1.86683728e+02] [ 1.05429576e-01 -9.94426740e-01 -2.50684008e-04 1.22763128e+02] [ 2.69271529e-03 3.33948497e-05 9.99996374e-01 6.35527143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.434012739 meters Centerline goodness : 0.994054 Centerline is valid? [True, True] Translation: X:186.68, Y:122.76, Z:0.64 [[-9.94670783e-01 -1.03067183e-01 2.68132366e-03 1.86683050e+02] [ 1.03066885e-01 -9.94674397e-01 -2.49666286e-04 1.22761850e+02] [ 2.69277639e-03 2.80199160e-05 9.99996374e-01 6.35511545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.464012739 meters Centerline goodness : 0.993850 Centerline is valid? [True, True] Translation: X:186.68, Y:122.76, Z:0.63 [[-9.94967719e-01 -1.00160117e-01 2.68141817e-03 1.86680368e+02] [ 1.00159810e-01 -9.94971332e-01 -2.48647018e-04 1.22762227e+02] [ 2.69283872e-03 2.11745792e-05 9.99996374e-01 6.34867611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.494012739 meters Centerline goodness : 0.995017 Centerline is valid? [True, True] Translation: X:186.68, Y:122.76, Z:0.63 [[-9.95673711e-01 -9.28798754e-02 2.68151258e-03 1.86679788e+02] [ 9.28795454e-02 -9.95677322e-01 -2.47624683e-04 1.22762687e+02] [ 2.69292061e-03 2.50428280e-06 9.99996374e-01 6.33701443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.524012739 meters Centerline goodness : 0.994674 Centerline is valid? [True, True] Translation: X:186.69, Y:122.76, Z:0.63 [[-9.95984734e-01 -8.94830602e-02 2.68160691e-03 1.86694247e+02] [ 8.94827206e-02 -9.95988344e-01 -2.46598918e-04 1.22761180e+02] [ 2.69291565e-03 -5.65127639e-06 9.99996374e-01 6.33377500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55401273900003 meters Centerline goodness : 0.994195 Centerline is valid? [True, True] Translation: X:186.71, Y:122.76, Z:0.63 [[-9.96311975e-01 -8.57628020e-02 2.68164200e-03 1.86707710e+02] [ 8.57624499e-02 -9.96315583e-01 -2.46216717e-04 1.22759496e+02] [ 2.69287795e-03 -1.53244760e-05 9.99996374e-01 6.29295401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.584012739 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:186.69, Y:122.76, Z:0.63 [[-9.96317591e-01 -8.56975266e-02 2.68166517e-03 1.86685970e+02] [ 8.56971750e-02 -9.96321200e-01 -2.45964080e-04 1.22761942e+02] [ 2.69287838e-03 -1.52472099e-05 9.99996374e-01 6.30132341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.614012739 meters Centerline goodness : 0.994393 Centerline is valid? [True, True] Translation: X:186.70, Y:122.76, Z:0.63 [[-9.96290123e-01 -8.60162728e-02 2.68175814e-03 1.86704174e+02] [ 8.60159250e-02 -9.96293732e-01 -2.44946192e-04 1.22761093e+02] [ 2.69288819e-03 -1.33635644e-05 9.99996374e-01 6.32512256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.644012739 meters Centerline goodness : 0.994438 Centerline is valid? [True, True] Translation: X:186.69, Y:122.77, Z:0.64 [[-9.96287155e-01 -8.60506383e-02 2.68178136e-03 1.86692942e+02] [ 8.60502913e-02 -9.96290765e-01 -2.44691712e-04 1.22766259e+02] [ 2.69288988e-03 -1.30151421e-05 9.99996374e-01 6.35842522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.674012739 meters Centerline goodness : 0.994244 Centerline is valid? [True, True] Translation: X:186.70, Y:122.77, Z:0.64 [[-9.96305154e-01 -8.58419972e-02 2.68187406e-03 1.86696332e+02] [ 8.58416523e-02 -9.96308763e-01 -2.43671436e-04 1.22768641e+02] [ 2.69289187e-03 -1.25546069e-05 9.99996374e-01 6.36807747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.704012739 meters Centerline goodness : 0.994116 Centerline is valid? [True, True] Translation: X:186.70, Y:122.77, Z:0.64 [[-9.96209747e-01 -8.69422089e-02 2.68196681e-03 1.86695693e+02] [ 8.69418708e-02 -9.96213357e-01 -2.42646378e-04 1.22773326e+02] [ 2.69290737e-03 -8.55147591e-06 9.99996374e-01 6.38314663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.734012739 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:186.70, Y:122.77, Z:0.64 [[-9.96111847e-01 -8.80567667e-02 2.68205926e-03 1.86702579e+02] [ 8.80564353e-02 -9.96115458e-01 -2.41620098e-04 1.22774780e+02] [ 2.69291697e-03 -4.50806448e-06 9.99996374e-01 6.38146148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.764012739 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:186.70, Y:122.78, Z:0.64 [[-9.95837551e-01 -9.11064156e-02 2.68215132e-03 1.86701106e+02] [ 9.11060980e-02 -9.95841163e-01 -2.40593783e-04 1.22777073e+02] [ 2.69291633e-03 4.76801814e-06 9.99996374e-01 6.37463252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.794012739 meters Centerline goodness : 0.994050 Centerline is valid? [True, True] Translation: X:186.71, Y:122.78, Z:0.64 [[-9.95677043e-01 -9.28441283e-02 2.68224299e-03 1.86708762e+02] [ 9.28438198e-02 -9.95680656e-01 -2.39567432e-04 1.22776798e+02] [ 2.69289989e-03 1.04978928e-05 9.99996374e-01 6.36215091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.824012739 meters Centerline goodness : 0.993548 Centerline is valid? [True, True] Translation: X:186.72, Y:122.78, Z:0.64 [[-9.95269690e-01 -9.71135926e-02 2.68233424e-03 1.86720879e+02] [ 9.71133024e-02 -9.95273304e-01 -2.38541390e-04 1.22778292e+02] [ 2.69282127e-03 2.30773212e-05 9.99996374e-01 6.35638037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.854012739 meters Centerline goodness : 0.994197 Centerline is valid? [True, True] Translation: X:186.73, Y:122.78, Z:0.64 [[-9.94938824e-01 -1.00446709e-01 2.68242460e-03 1.86725958e+02] [ 1.00446434e-01 -9.94942439e-01 -2.37520904e-04 1.22778129e+02] [ 2.69271627e-03 3.31212164e-05 9.99996374e-01 6.36676121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.884012739 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:186.74, Y:122.78, Z:0.64 [[-9.94857889e-01 -1.01245177e-01 2.68251418e-03 1.86736223e+02] [ 1.01244907e-01 -9.94861504e-01 -2.36504908e-04 1.22775451e+02] [ 2.69267507e-03 3.63021246e-05 9.99996374e-01 6.36327815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.914012739 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:186.73, Y:122.77, Z:0.63 [[-9.94729849e-01 -1.02495513e-01 2.68260302e-03 1.86732596e+02] [ 1.02495251e-01 -9.94733466e-01 -2.35492874e-04 1.22772627e+02] [ 2.69261196e-03 4.07022779e-05 9.99996374e-01 6.34734145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.944012739 meters Centerline goodness : 0.993937 Centerline is valid? [True, True] Translation: X:186.74, Y:122.77, Z:0.64 [[-9.94754350e-01 -1.02257449e-01 2.68269142e-03 1.86740125e+02] [ 1.02257188e-01 -9.94757967e-01 -2.34481474e-04 1.22770805e+02] [ 2.69260614e-03 4.10730157e-05 9.99996374e-01 6.35481048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.974012739 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:186.74, Y:122.77, Z:0.64 [[-9.94772832e-01 -1.02077500e-01 2.68277947e-03 1.86739672e+02] [ 1.02077241e-01 -9.94776448e-01 -2.33469706e-04 1.22767280e+02] [ 2.69259783e-03 4.16014062e-05 9.99996374e-01 6.37877380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.004012739 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:186.76, Y:122.76, Z:0.64 [[-9.94737084e-01 -1.02425273e-01 2.68286706e-03 1.86761073e+02] [ 1.02425019e-01 -9.94740701e-01 -2.32458727e-04 1.22762285e+02] [ 2.69256671e-03 4.35573932e-05 9.99996374e-01 6.37844858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.034012739 meters Centerline goodness : 0.993946 Centerline is valid? [True, True] Translation: X:186.75, Y:122.76, Z:0.64 [[-9.94580770e-01 -1.03932165e-01 2.68289957e-03 1.86745243e+02] [ 1.03931917e-01 -9.94584387e-01 -2.32082956e-04 1.22757886e+02] [ 2.69249091e-03 4.80136497e-05 9.99996374e-01 6.37777552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.064012739 meters Centerline goodness : 0.994024 Centerline is valid? [True, True] Translation: X:186.76, Y:122.75, Z:0.64 [[-9.94459375e-01 -1.05087360e-01 2.68298610e-03 1.86761400e+02] [ 1.05087119e-01 -9.94462993e-01 -2.31078347e-04 1.22753952e+02] [ 2.69241380e-03 5.21492512e-05 9.99996374e-01 6.38928619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.094012739 meters Centerline goodness : 0.993240 Centerline is valid? [True, True] Translation: X:186.78, Y:122.75, Z:0.64 [[-9.94216856e-01 -1.07357554e-01 2.68301843e-03 1.86777298e+02] [ 1.07357322e-01 -9.94220475e-01 -2.30702303e-04 1.22746535e+02] [ 2.69227949e-03 5.86735556e-05 9.99996374e-01 6.40155551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.124012739 meters Centerline goodness : 0.994007 Centerline is valid? [True, True] Translation: X:186.75, Y:122.74, Z:0.64 [[-9.94168176e-01 -1.07807414e-01 2.68305040e-03 1.86753433e+02] [ 1.07807185e-01 -9.94171795e-01 -2.30329832e-04 1.22740230e+02] [ 2.69224430e-03 6.02655216e-05 9.99996374e-01 6.38872481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.154012739 meters Centerline goodness : 0.993175 Centerline is valid? [True, True] Translation: X:186.77, Y:122.74, Z:0.64 [[-9.94296263e-01 -1.06619617e-01 2.68313587e-03 1.86770954e+02] [ 1.06619386e-01 -9.94299881e-01 -2.29329876e-04 1.22735186e+02] [ 2.69229274e-03 5.80524615e-05 9.99996374e-01 6.37709678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.184012739 meters Centerline goodness : 0.993982 Centerline is valid? [True, True] Translation: X:186.76, Y:122.73, Z:0.64 [[-9.94886986e-01 -1.00958832e-01 2.68316792e-03 1.86757885e+02] [ 1.00958581e-01 -9.94890603e-01 -2.28954323e-04 1.22730825e+02] [ 2.69257351e-03 4.31051492e-05 9.99996374e-01 6.37942268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.214012739 meters Centerline goodness : 0.993860 Centerline is valid? [True, True] Translation: X:186.75, Y:122.73, Z:0.64 [[-9.95263753e-01 -9.71743902e-02 2.68325320e-03 1.86746839e+02] [ 9.71741288e-02 -9.95267370e-01 -2.27950424e-04 1.22728813e+02] [ 2.69270530e-03 3.38719981e-05 9.99996374e-01 6.38943773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.244012739 meters Centerline goodness : 0.994057 Centerline is valid? [True, True] Translation: X:186.74, Y:122.72, Z:0.63 [[-9.95902441e-01 -9.03942895e-02 2.68333897e-03 1.86735288e+02] [ 9.03940061e-02 -9.95906056e-01 -2.26936285e-04 1.22723028e+02] [ 2.69286727e-03 1.65513592e-05 9.99996374e-01 6.34541762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.274012739 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:186.75, Y:122.72, Z:0.63 [[-9.96337129e-01 -8.54700239e-02 2.68342519e-03 1.86750898e+02] [ 8.54697254e-02 -9.96340742e-01 -2.25912196e-04 1.22716364e+02] [ 2.69291456e-03 4.26690475e-06 9.99996374e-01 6.32381142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30401273900003 meters Centerline goodness : 0.993475 Centerline is valid? [True, True] Translation: X:186.77, Y:122.71, Z:0.63 [[-9.96479638e-01 -8.37921819e-02 2.68351101e-03 1.86770893e+02] [ 8.37918801e-02 -9.96483251e-01 -2.24888075e-04 1.22712096e+02] [ 2.69291764e-03 7.60045089e-07 9.99996374e-01 6.34402378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.334012739 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:186.80, Y:122.70, Z:0.64 [[-9.96599156e-01 -8.23584893e-02 2.68359550e-03 1.86800445e+02] [ 8.23581850e-02 -9.96602769e-01 -2.23875333e-04 1.22704088e+02] [ 2.69291674e-03 -2.09791287e-06 9.99996374e-01 6.40136887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.364012739 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:186.80, Y:122.70, Z:0.64 [[-9.96629332e-01 -8.19925188e-02 2.68360585e-03 1.86802967e+02] [ 8.19922136e-02 -9.96632945e-01 -2.23751231e-04 1.22703953e+02] [ 2.69291592e-03 -2.96225669e-06 9.99996374e-01 6.40130092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.394012739 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:186.79, Y:122.70, Z:0.64 [[-9.96734155e-01 -8.07082492e-02 2.68368765e-03 1.86789081e+02] [ 8.07079419e-02 -9.96737768e-01 -2.22765742e-04 1.22703440e+02] [ 2.69291187e-03 -5.44331645e-06 9.99996374e-01 6.41865415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.424012739 meters Centerline goodness : 0.993958 Centerline is valid? [True, True] Translation: X:186.78, Y:122.70, Z:0.64 [[-9.97048552e-01 -7.67266785e-02 2.68376957e-03 1.86781662e+02] [ 7.67263595e-02 -9.97052163e-01 -2.21774370e-04 1.22704776e+02] [ 2.69287427e-03 -1.52039458e-05 9.99996374e-01 6.43027136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.454012739 meters Centerline goodness : 0.994286 Centerline is valid? [True, True] Translation: X:186.81, Y:122.70, Z:0.64 [[-9.97232738e-01 -7.42944304e-02 2.68385188e-03 1.86808164e+02] [ 7.42941053e-02 -9.97236350e-01 -2.20773821e-04 1.22704830e+02] [ 2.69283691e-03 -2.07685087e-05 9.99996374e-01 6.44998183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.484012739 meters Centerline goodness : 0.994008 Centerline is valid? [True, True] Translation: X:186.81, Y:122.71, Z:0.65 [[-9.97417892e-01 -7.17659114e-02 2.68393341e-03 1.86809578e+02] [ 7.17655798e-02 -9.97421502e-01 -2.19778085e-04 1.22709249e+02] [ 2.69278547e-03 -2.65965570e-05 9.99996374e-01 6.48432577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.514012739 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:186.81, Y:122.71, Z:0.65 [[-9.97460067e-01 -7.11773252e-02 2.68401395e-03 1.86808140e+02] [ 7.11769942e-02 -9.97463677e-01 -2.18790109e-04 1.22710825e+02] [ 2.69277932e-03 -2.71943515e-05 9.99996374e-01 6.46434908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.544012739 meters Centerline goodness : 0.993843 Centerline is valid? [True, True] Translation: X:186.77, Y:122.72, Z:0.64 [[-9.97428278e-01 -7.16214080e-02 2.68409426e-03 1.86774957e+02] [ 7.16210812e-02 -9.97431889e-01 -2.17800363e-04 1.22715229e+02] [ 2.69280038e-03 -2.50025083e-05 9.99996374e-01 6.41299082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.574012739 meters Centerline goodness : 0.993578 Centerline is valid? [True, True] Translation: X:186.80, Y:122.72, Z:0.64 [[-9.97348090e-01 -7.27295167e-02 2.68417535e-03 1.86800618e+02] [ 7.27291966e-02 -9.97351702e-01 -2.16796447e-04 1.22717988e+02] [ 2.69283435e-03 -2.10036059e-05 9.99996374e-01 6.41112169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.604012739 meters Centerline goodness : 0.994010 Centerline is valid? [True, True] Translation: X:186.82, Y:122.72, Z:0.64 [[-9.97316127e-01 -7.31665052e-02 2.68425644e-03 1.86816920e+02] [ 7.31661894e-02 -9.97319739e-01 -2.15787756e-04 1.22719903e+02] [ 2.69285036e-03 -1.88117941e-05 9.99996374e-01 6.41386991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.634012739 meters Centerline goodness : 0.993563 Centerline is valid? [True, True] Translation: X:186.79, Y:122.73, Z:0.64 [[-9.97236665e-01 -7.42416850e-02 2.68433612e-03 1.86785052e+02] [ 7.42413758e-02 -9.97240278e-01 -2.14791870e-04 1.22726694e+02] [ 2.69287461e-03 -1.49095216e-05 9.99996374e-01 6.40225843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.664012739 meters Centerline goodness : 0.993949 Centerline is valid? [True, True] Translation: X:186.80, Y:122.73, Z:0.64 [[-9.97186164e-01 -7.49169366e-02 2.68441603e-03 1.86802082e+02] [ 7.49166326e-02 -9.97189778e-01 -2.13788520e-04 1.22726680e+02] [ 2.69288860e-03 -1.20795449e-05 9.99996374e-01 6.37898259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.694012739 meters Centerline goodness : 0.993530 Centerline is valid? [True, True] Translation: X:186.79, Y:122.73, Z:0.64 [[-9.97086570e-01 -7.62310034e-02 2.68449616e-03 1.86789583e+02] [ 7.62307068e-02 -9.97090184e-01 -2.12777593e-04 1.22730819e+02] [ 2.69290502e-03 -7.51664059e-06 9.99996374e-01 6.35273360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.724012739 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:186.81, Y:122.73, Z:0.64 [[-9.97047394e-01 -7.67416980e-02 2.68457590e-03 1.86807958e+02] [ 7.67414060e-02 -9.97051008e-01 -2.11766635e-04 1.22731656e+02] [ 2.69291044e-03 -5.12324246e-06 9.99996374e-01 6.35847791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.754012739 meters Centerline goodness : 0.994179 Centerline is valid? [True, True] Translation: X:186.79, Y:122.74, Z:0.64 [[-9.96926765e-01 -7.82931541e-02 2.68460567e-03 1.86787411e+02] [ 7.82928687e-02 -9.96930380e-01 -2.11388603e-04 1.22737439e+02] [ 2.69291523e-03 -5.53476305e-07 9.99996374e-01 6.38282715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.784012739 meters Centerline goodness : 0.993885 Centerline is valid? [True, True] Translation: X:186.78, Y:122.74, Z:0.64 [[-9.96734788e-01 -8.07003983e-02 2.68468513e-03 1.86778391e+02] [ 8.07001244e-02 -9.96738404e-01 -2.10374625e-04 1.22740983e+02] [ 2.69290609e-03 6.96671629e-06 9.99996374e-01 6.36130090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.814012739 meters Centerline goodness : 0.993419 Centerline is valid? [True, True] Translation: X:186.78, Y:122.74, Z:0.63 [[-9.96598243e-01 -8.23695024e-02 2.68476521e-03 1.86782142e+02] [ 8.23692373e-02 -9.96601859e-01 -2.09347653e-04 1.22742140e+02] [ 2.69288586e-03 1.25065596e-05 9.99996374e-01 6.34592698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.844012739 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:186.78, Y:122.74, Z:0.63 [[-9.96331181e-01 -8.55392812e-02 2.68484521e-03 1.86777424e+02] [ 8.55390304e-02 -9.96334799e-01 -2.08316539e-04 1.22744666e+02] [ 2.69282396e-03 2.21067932e-05 9.99996374e-01 6.34345971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.874012739 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:186.80, Y:122.74, Z:0.64 [[-9.96215961e-01 -8.68708814e-02 2.68492499e-03 1.86804763e+02] [ 8.68706382e-02 -9.96219579e-01 -2.07283152e-04 1.22743512e+02] [ 2.69278171e-03 2.67423632e-05 9.99996374e-01 6.37439166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.904012739 meters Centerline goodness : 0.994384 Centerline is valid? [True, True] Translation: X:186.79, Y:122.75, Z:0.64 [[-9.96139364e-01 -8.77448498e-02 2.68494473e-03 1.86792868e+02] [ 8.77446105e-02 -9.96142982e-01 -2.07027157e-04 1.22746188e+02] [ 2.69275442e-03 2.93615287e-05 9.99996374e-01 6.44760293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.934012739 meters Centerline goodness : 0.994312 Centerline is valid? [True, True] Translation: X:186.80, Y:122.75, Z:0.65 [[-9.96155438e-01 -8.75621687e-02 2.68502315e-03 1.86799600e+02] [ 8.75619315e-02 -9.96159057e-01 -2.06005004e-04 1.22746402e+02] [ 2.69274838e-03 2.98928087e-05 9.99996374e-01 6.46456351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.964012739 meters Centerline goodness : 0.993454 Centerline is valid? [True, True] Translation: X:186.80, Y:122.75, Z:0.64 [[-9.96203257e-01 -8.70164378e-02 2.68510150e-03 1.86800208e+02] [ 8.70162014e-02 -9.96206876e-01 -2.04978748e-04 1.22747669e+02] [ 2.69275309e-03 2.94468365e-05 9.99996374e-01 6.41775019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.994012739 meters Centerline goodness : 0.993697 Centerline is valid? [True, True] Translation: X:186.80, Y:122.75, Z:0.64 [[-9.96221592e-01 -8.68062739e-02 2.68517940e-03 1.86802734e+02] [ 8.68060395e-02 -9.96225211e-01 -2.03953147e-04 1.22748377e+02] [ 2.69274782e-03 2.99072595e-05 9.99996374e-01 6.39679709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.024012739 meters Centerline goodness : 0.993953 Centerline is valid? [True, True] Translation: X:186.82, Y:122.75, Z:0.64 [[-9.96143952e-01 -8.76927375e-02 2.68525696e-03 1.86824998e+02] [ 8.76925091e-02 -9.96147571e-01 -2.02926832e-04 1.22748345e+02] [ 2.69270740e-03 3.33325836e-05 9.99996374e-01 6.39387458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05401273900003 meters Centerline goodness : 0.993176 Centerline is valid? [True, True] Translation: X:186.83, Y:122.75, Z:0.64 [[-9.95981752e-01 -8.95161353e-02 2.68528570e-03 1.86832588e+02] [ 8.95159145e-02 -9.95985371e-01 -2.02545759e-04 1.22749516e+02] [ 2.69263639e-03 3.86439247e-05 9.99996374e-01 6.37426239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.084012739 meters Centerline goodness : 0.993943 Centerline is valid? [True, True] Translation: X:186.83, Y:122.75, Z:0.64 [[-9.95888579e-01 -9.05468231e-02 2.68536148e-03 1.86833655e+02] [ 9.05466088e-02 -9.95892199e-01 -2.01535990e-04 1.22750116e+02] [ 2.69257899e-03 4.24429853e-05 9.99996374e-01 6.36051571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.114012739 meters Centerline goodness : 0.993688 Centerline is valid? [True, True] Translation: X:186.84, Y:122.75, Z:0.63 [[-9.95842915e-01 -9.10476611e-02 2.68543681e-03 1.86841278e+02] [ 9.10474513e-02 -9.95846535e-01 -2.00527186e-04 1.22749990e+02] [ 2.69254048e-03 4.48085999e-05 9.99996374e-01 6.34825093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.144012739 meters Centerline goodness : 0.993113 Centerline is valid? [True, True] Translation: X:186.84, Y:122.75, Z:0.64 [[-9.95794620e-01 -9.15743610e-02 2.68551165e-03 1.86841420e+02] [ 9.15741558e-02 -9.95798240e-01 -1.99519831e-04 1.22750072e+02] [ 2.69249868e-03 4.72426888e-05 9.99996374e-01 6.36785601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.174012739 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:186.86, Y:122.75, Z:0.64 [[-9.95763141e-01 -9.19160209e-02 2.68558606e-03 1.86857345e+02] [ 9.19158196e-02 -9.95766761e-01 -1.98513260e-04 1.22749094e+02] [ 2.69246388e-03 4.91756565e-05 9.99996374e-01 6.38708231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.204012739 meters Centerline goodness : 0.994084 Centerline is valid? [True, True] Translation: X:186.86, Y:122.75, Z:0.64 [[-9.95831231e-01 -9.11753645e-02 2.68561371e-03 1.86859249e+02] [ 9.11751616e-02 -9.95834851e-01 -1.98138446e-04 1.22750295e+02] [ 2.69249307e-03 4.75488118e-05 9.99996374e-01 6.40051573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.234012739 meters Centerline goodness : 0.994442 Centerline is valid? [True, True] Translation: X:186.86, Y:122.75, Z:0.64 [[-9.95774689e-01 -9.17908310e-02 2.68568698e-03 1.86864147e+02] [ 9.17906330e-02 -9.95778309e-01 -1.97140291e-04 1.22750870e+02] [ 2.69244451e-03 5.02135964e-05 9.99996374e-01 6.39522105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.264012739 meters Centerline goodness : 0.994168 Centerline is valid? [True, True] Translation: X:186.85, Y:122.75, Z:0.64 [[-9.95723543e-01 -9.23439947e-02 2.68575982e-03 1.86852060e+02] [ 9.23438015e-02 -9.95727163e-01 -1.96142907e-04 1.22750878e+02] [ 2.69239663e-03 5.27091617e-05 9.99996374e-01 6.40415543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.294012739 meters Centerline goodness : 0.994049 Centerline is valid? [True, True] Translation: X:186.88, Y:122.75, Z:0.64 [[-9.95434544e-01 -9.54088801e-02 2.68583260e-03 1.86884894e+02] [ 9.54087007e-02 -9.95438166e-01 -1.95141142e-04 1.22745773e+02] [ 2.69219848e-03 6.20015651e-05 9.99996374e-01 6.39739186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.324012739 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:186.89, Y:122.74, Z:0.64 [[-9.95239318e-01 -9.74242585e-02 2.68583260e-03 1.86888401e+02] [ 9.74240864e-02 -9.95242940e-01 -1.95141142e-04 1.22744230e+02] [ 2.69206742e-03 6.74526504e-05 9.99996374e-01 6.38568738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.354012739 meters Centerline goodness : 0.993691 Centerline is valid? [True, True] Translation: X:186.88, Y:122.74, Z:0.64 [[-9.94722666e-01 -1.02565121e-01 2.68590370e-03 1.86882460e+02] [ 1.02564970e-01 -9.94726289e-01 -1.94157656e-04 1.22740542e+02] [ 2.69165282e-03 8.23466108e-05 9.99996374e-01 6.38475521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.384012739 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:186.89, Y:122.74, Z:0.64 [[-9.94517473e-01 -1.04536030e-01 2.68597461e-03 1.86889709e+02] [ 1.04535889e-01 -9.94521096e-01 -1.93171643e-04 1.22737034e+02] [ 2.69145181e-03 8.86681707e-05 9.99996374e-01 6.39325382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.414012739 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:186.90, Y:122.73, Z:0.64 [[-9.94271688e-01 -1.06848468e-01 2.68604523e-03 1.86901380e+02] [ 1.06848338e-01 -9.94275312e-01 -1.92184653e-04 1.22730244e+02] [ 2.69120309e-03 9.59157087e-05 9.99996374e-01 6.39019500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.444012739 meters Centerline goodness : 0.993643 Centerline is valid? [True, True] Translation: X:186.91, Y:122.73, Z:0.64 [[-9.94230509e-01 -1.07230965e-01 2.68611512e-03 1.86913299e+02] [ 1.07230840e-01 -9.94234133e-01 -1.91202806e-04 1.22727092e+02] [ 2.69113020e-03 9.79347161e-05 9.99996374e-01 6.38512469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.474012739 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:186.92, Y:122.72, Z:0.64 [[-9.94207435e-01 -1.07444687e-01 2.68618419e-03 1.86915717e+02] [ 1.07444565e-01 -9.94211059e-01 -1.90227432e-04 1.22721012e+02] [ 2.69107295e-03 9.94903635e-05 9.99996374e-01 6.40731515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.504012739 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:186.93, Y:122.71, Z:0.65 [[-9.94118904e-01 -1.08260744e-01 2.68625267e-03 1.86932339e+02] [ 1.08260627e-01 -9.94122528e-01 -1.89255403e-04 1.22711703e+02] [ 2.69095323e-03 1.02673024e-04 9.99996374e-01 6.45595339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.534012739 meters Centerline goodness : 0.994435 Centerline is valid? [True, True] Translation: X:186.91, Y:122.71, Z:0.65 [[-9.94154022e-01 -1.07937781e-01 2.68632045e-03 1.86914205e+02] [ 1.07937666e-01 -9.94157646e-01 -1.88288363e-04 1.22708928e+02] [ 2.69094945e-03 1.02767527e-04 9.99996374e-01 6.46480428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.564012739 meters Centerline goodness : 0.994039 Centerline is valid? [True, True] Translation: X:186.91, Y:122.70, Z:0.64 [[-9.94400811e-01 -1.05640001e-01 2.68638803e-03 1.86905239e+02] [ 1.05639879e-01 -9.94404435e-01 -1.87319186e-04 1.22700995e+02] [ 2.69114457e-03 9.75193572e-05 9.99996374e-01 6.43576848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.594012739 meters Centerline goodness : 0.994196 Centerline is valid? [True, True] Translation: X:186.89, Y:122.70, Z:0.64 [[-9.94609042e-01 -1.03661158e-01 2.68645598e-03 1.86893460e+02] [ 1.03661032e-01 -9.94612666e-01 -1.86339551e-04 1.22697333e+02] [ 2.69129932e-03 9.31457989e-05 9.99996374e-01 6.41915156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.624012739 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:186.90, Y:122.69, Z:0.64 [[-9.94994923e-01 -9.98893656e-02 2.68652417e-03 1.86899123e+02] [ 9.98892289e-02 -9.94998547e-01 -1.85351286e-04 1.22690431e+02] [ 2.69160226e-03 8.39312386e-05 9.99996374e-01 6.40965471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.654012739 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:186.88, Y:122.69, Z:0.64 [[-9.95446644e-01 -9.52825317e-02 2.68659223e-03 1.86879063e+02] [ 9.52823809e-02 -9.95450267e-01 -1.84359513e-04 1.22686162e+02] [ 2.69193519e-03 7.24648451e-05 9.99996374e-01 6.40911557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.684012739 meters Centerline goodness : 0.994043 Centerline is valid? [True, True] Translation: X:186.88, Y:122.68, Z:0.64 [[-9.95719848e-01 -9.23838000e-02 2.68666037e-03 1.86875327e+02] [ 9.23836414e-02 -9.95723470e-01 -1.83360996e-04 1.22683232e+02] [ 2.69211038e-03 6.56272848e-05 9.99996374e-01 6.41746900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.714012739 meters Centerline goodness : 0.993559 Centerline is valid? [True, True] Translation: X:186.87, Y:122.68, Z:0.64 [[-9.96210270e-01 -8.69360622e-02 2.68672882e-03 1.86865994e+02] [ 8.69358865e-02 -9.96213892e-01 -1.82352523e-04 1.22679211e+02] [ 2.69240958e-03 5.19116953e-05 9.99996374e-01 6.41728729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.744012739 meters Centerline goodness : 0.993510 Centerline is valid? [True, True] Translation: X:186.86, Y:122.68, Z:0.64 [[-9.96451247e-01 -8.41290328e-02 2.68679733e-03 1.86858084e+02] [ 8.41288496e-02 -9.96454868e-01 -1.81337413e-04 1.22679666e+02] [ 2.69252802e-03 4.53432777e-05 9.99996374e-01 6.39858921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.774012739 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:186.87, Y:122.68, Z:0.64 [[-9.96767846e-01 -8.02909776e-02 2.68686600e-03 1.86872891e+02] [ 8.02907832e-02 -9.96771467e-01 -1.80314217e-04 1.22679046e+02] [ 2.69266897e-03 3.59991617e-05 9.99996374e-01 6.36130945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80401273900003 meters Centerline goodness : 0.994377 Centerline is valid? [True, True] Translation: X:186.86, Y:122.68, Z:0.64 [[-9.96873295e-01 -7.89709763e-02 2.68693423e-03 1.86862570e+02] [ 7.89707799e-02 -9.96876915e-01 -1.79291676e-04 1.22679936e+02] [ 2.69270154e-03 3.34582076e-05 9.99996374e-01 6.35792732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.834012739 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:186.87, Y:122.68, Z:0.64 [[-9.97012880e-01 -7.71887151e-02 2.68700209e-03 1.86874122e+02] [ 7.71885150e-02 -9.97016500e-01 -1.78268769e-04 1.22681734e+02] [ 2.69274576e-03 2.96694424e-05 9.99996374e-01 6.37163146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.864012739 meters Centerline goodness : 0.994176 Centerline is valid? [True, True] Translation: X:186.87, Y:122.68, Z:0.64 [[-9.97102634e-01 -7.60205016e-02 2.68706967e-03 1.86873825e+02] [ 7.60203000e-02 -9.97106254e-01 -1.77244315e-04 1.22683529e+02] [ 2.69276817e-03 2.75410688e-05 9.99996374e-01 6.36429347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.894012739 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:186.88, Y:122.68, Z:0.64 [[-9.97246293e-01 -7.41121503e-02 2.68713671e-03 1.86876152e+02] [ 7.41119445e-02 -9.97249913e-01 -1.76222037e-04 1.22684314e+02] [ 2.69280704e-03 2.34121532e-05 9.99996374e-01 6.37115052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.924012739 meters Centerline goodness : 0.993426 Centerline is valid? [True, True] Translation: X:186.89, Y:122.69, Z:0.64 [[-9.97342651e-01 -7.28039484e-02 2.68720343e-03 1.86890351e+02] [ 7.28037406e-02 -9.97346271e-01 -1.75198713e-04 1.22685206e+02] [ 2.69282748e-03 2.09053123e-05 9.99996374e-01 6.39372840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.954012739 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:186.89, Y:122.69, Z:0.64 [[-9.97388985e-01 -7.21664195e-02 2.68726949e-03 1.86894117e+02] [ 7.21662121e-02 -9.97392605e-01 -1.74179410e-04 1.22686760e+02] [ 2.69283262e-03 2.02054355e-05 9.99996374e-01 6.40523746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.984012739 meters Centerline goodness : 0.993462 Centerline is valid? [True, True] Translation: X:186.89, Y:122.69, Z:0.64 [[-9.97449420e-01 -7.13262433e-02 2.68733487e-03 1.86886505e+02] [ 7.13260357e-02 -9.97453040e-01 -1.73164922e-04 1.22688881e+02] [ 2.69284153e-03 1.89536919e-05 9.99996374e-01 6.40772903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.014012739 meters Centerline goodness : 0.993573 Centerline is valid? [True, True] Translation: X:186.90, Y:122.69, Z:0.64 [[-9.97589992e-01 -6.93324343e-02 2.68740007e-03 1.86901086e+02] [ 6.93322222e-02 -9.97593611e-01 -1.72147075e-04 1.22688291e+02] [ 2.69286851e-03 1.45912195e-05 9.99996374e-01 6.41103192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.044012739 meters Centerline goodness : 0.993275 Centerline is valid? [True, True] Translation: X:186.92, Y:122.69, Z:0.64 [[-9.97676529e-01 -6.80758471e-02 2.68746484e-03 1.86921315e+02] [ 6.80756331e-02 -9.97680149e-01 -1.71129877e-04 1.22687009e+02] [ 2.69288013e-03 1.22186084e-05 9.99996374e-01 6.41513275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.074012739 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:186.90, Y:122.69, Z:0.64 [[-9.97775612e-01 -6.66078412e-02 2.68752856e-03 1.86900177e+02] [ 6.66076246e-02 -9.97779232e-01 -1.70123238e-04 1.22690953e+02] [ 2.69289172e-03 9.26507541e-06 9.99996374e-01 6.41216135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.104012739 meters Centerline goodness : 0.993468 Centerline is valid? [True, True] Translation: X:186.91, Y:122.69, Z:0.64 [[-9.97784914e-01 -6.64683565e-02 2.68759204e-03 1.86912724e+02] [ 6.64681421e-02 -9.97788534e-01 -1.69114441e-04 1.22691942e+02] [ 2.69288928e-03 9.89941168e-06 9.99996374e-01 6.42744363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.134012739 meters Centerline goodness : 0.993762 Centerline is valid? [True, True] Translation: X:186.89, Y:122.69, Z:0.64 [[-9.97767376e-01 -6.67310991e-02 2.68765545e-03 1.86891451e+02] [ 6.67308884e-02 -9.97770996e-01 -1.68100500e-04 1.22693470e+02] [ 2.69288219e-03 1.16244409e-05 9.99996374e-01 6.44124835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.164012739 meters Centerline goodness : 0.993846 Centerline is valid? [True, True] Translation: X:186.91, Y:122.69, Z:0.64 [[-9.97756371e-01 -6.68954440e-02 2.68771881e-03 1.86912435e+02] [ 6.68952366e-02 -9.97759991e-01 -1.67081365e-04 1.22692856e+02] [ 2.69287528e-03 1.30890895e-05 9.99996374e-01 6.44049001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.194012739 meters Centerline goodness : 0.993054 Centerline is valid? [True, True] Translation: X:186.90, Y:122.70, Z:0.64 [[-9.97739947e-01 -6.71399647e-02 2.68778189e-03 1.86902703e+02] [ 6.71397610e-02 -9.97743567e-01 -1.66060357e-04 1.22695728e+02] [ 2.69286638e-03 1.47719823e-05 9.99996374e-01 6.40917923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.224012739 meters Centerline goodness : 0.993420 Centerline is valid? [True, True] Translation: X:186.92, Y:122.69, Z:0.64 [[-9.97672062e-01 -6.81412644e-02 2.68784445e-03 1.86923895e+02] [ 6.81410671e-02 -9.97675683e-01 -1.65041511e-04 1.22693163e+02] [ 2.69284318e-03 1.84952843e-05 9.99996374e-01 6.38670201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.254012739 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:186.90, Y:122.69, Z:0.64 [[-9.97627513e-01 -6.87904096e-02 2.68790648e-03 1.86899560e+02] [ 6.87902173e-02 -9.97631134e-01 -1.64024974e-04 1.22693885e+02] [ 2.69282254e-03 2.12658438e-05 9.99996374e-01 6.38585714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.284012739 meters Centerline goodness : 0.993631 Centerline is valid? [True, True] Translation: X:186.90, Y:122.69, Z:0.64 [[-9.97653789e-01 -6.84082812e-02 2.68796831e-03 1.86902087e+02] [ 6.84080903e-02 -9.97657410e-01 -1.63005406e-04 1.22693806e+02] [ 2.69282242e-03 2.12558179e-05 9.99996374e-01 6.38578939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.314012739 meters Centerline goodness : 0.993803 Centerline is valid? [True, True] Translation: X:186.91, Y:122.69, Z:0.64 [[-9.97587851e-01 -6.93632003e-02 2.68803035e-03 1.86905724e+02] [ 6.93630157e-02 -9.97591472e-01 -1.61975808e-04 1.22692179e+02] [ 2.69279132e-03 2.48647934e-05 9.99996374e-01 6.39279885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.344012739 meters Centerline goodness : 0.994030 Centerline is valid? [True, True] Translation: X:186.90, Y:122.69, Z:0.64 [[-9.97603091e-01 -6.91436705e-02 2.68809196e-03 1.86900074e+02] [ 6.91434878e-02 -9.97606712e-01 -1.60946875e-04 1.22691314e+02] [ 2.69278704e-03 2.53029536e-05 9.99996374e-01 6.38994967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.374012739 meters Centerline goodness : 0.993230 Centerline is valid? [True, True] Translation: X:186.90, Y:122.69, Z:0.64 [[-9.97589934e-01 -6.93332353e-02 2.68815332e-03 1.86900422e+02] [ 6.93330560e-02 -9.97593555e-01 -1.59915343e-04 1.22687872e+02] [ 2.69277188e-03 2.68479487e-05 9.99996374e-01 6.38645642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.404012739 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:186.92, Y:122.68, Z:0.64 [[-9.97694100e-01 -6.78178162e-02 2.68821452e-03 1.86919866e+02] [ 6.78176342e-02 -9.97697721e-01 -1.58879993e-04 1.22684863e+02] [ 2.69280039e-03 2.37947168e-05 9.99996374e-01 6.41102582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.434012739 meters Centerline goodness : 0.994025 Centerline is valid? [True, True] Translation: X:186.93, Y:122.68, Z:0.64 [[-9.97818235e-01 -6.59662322e-02 2.68827498e-03 1.86933712e+02] [ 6.59660463e-02 -9.97821856e-01 -1.57850301e-04 1.22683290e+02] [ 2.69283232e-03 1.98289627e-05 9.99996374e-01 6.42317893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.464012739 meters Centerline goodness : 0.994239 Centerline is valid? [True, True] Translation: X:186.95, Y:122.68, Z:0.64 [[-9.98001357e-01 -6.31352886e-02 2.68833445e-03 1.86947588e+02] [ 6.31350952e-02 -9.98004978e-01 -1.56830932e-04 1.22679986e+02] [ 2.69287272e-03 1.32107679e-05 9.99996374e-01 6.42848765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.494012739 meters Centerline goodness : 0.994051 Centerline is valid? [True, True] Translation: X:186.93, Y:122.68, Z:0.64 [[-9.98050579e-01 -6.23523385e-02 2.68839304e-03 1.86929664e+02] [ 6.23521450e-02 -9.98054200e-01 -1.55820022e-04 1.22680278e+02] [ 2.69287771e-03 1.21108089e-05 9.99996374e-01 6.41917770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.524012739 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:186.93, Y:122.68, Z:0.64 [[-9.98040981e-01 -6.25057738e-02 2.68845144e-03 1.86930241e+02] [ 6.25055836e-02 -9.98044602e-01 -1.54805782e-04 1.22678445e+02] [ 2.69287070e-03 1.35407118e-05 9.99996374e-01 6.38581917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55401273900003 meters Centerline goodness : 0.993866 Centerline is valid? [True, True] Translation: X:186.93, Y:122.68, Z:0.64 [[-9.97997348e-01 -6.31986120e-02 2.68850992e-03 1.86930359e+02] [ 6.31984270e-02 -9.98000970e-01 -1.53783479e-04 1.22676534e+02] [ 2.69285441e-03 1.64340939e-05 9.99996374e-01 6.38788800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.584012739 meters Centerline goodness : 0.993839 Centerline is valid? [True, True] Translation: X:186.93, Y:122.67, Z:0.64 [[-9.97748446e-01 -6.70135045e-02 2.68856809e-03 1.86926962e+02] [ 6.70133361e-02 -9.97752068e-01 -1.52759635e-04 1.22672073e+02] [ 2.69276133e-03 2.77542288e-05 9.99996374e-01 6.41892422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.614012739 meters Centerline goodness : 0.993888 Centerline is valid? [True, True] Translation: X:186.93, Y:122.67, Z:0.64 [[-9.97519175e-01 -7.03439146e-02 2.68862604e-03 1.86927825e+02] [ 7.03437611e-02 -9.97522798e-01 -1.51732718e-04 1.22666464e+02] [ 2.69263925e-03 3.77717723e-05 9.99996374e-01 6.44503128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.644012739 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:186.94, Y:122.66, Z:0.64 [[-9.97488834e-01 -7.07728544e-02 2.68868375e-03 1.86940679e+02] [ 7.07727052e-02 -9.97492457e-01 -1.50703214e-04 1.22662979e+02] [ 2.69260745e-03 3.99606490e-05 9.99996374e-01 6.44459616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.674012739 meters Centerline goodness : 0.994414 Centerline is valid? [True, True] Translation: X:186.94, Y:122.66, Z:0.65 [[-9.97543518e-01 -6.99978585e-02 2.68874087e-03 1.86943905e+02] [ 6.99977093e-02 -9.97547141e-01 -1.49677097e-04 1.22660750e+02] [ 2.69262284e-03 3.88962838e-05 9.99996374e-01 6.45271370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.704012739 meters Centerline goodness : 0.994251 Centerline is valid? [True, True] Translation: X:186.96, Y:122.66, Z:0.65 [[-9.97839654e-01 -6.56414119e-02 2.68879738e-03 1.86959618e+02] [ 6.56412496e-02 -9.97843276e-01 -1.48655024e-04 1.22657458e+02] [ 2.69275631e-03 2.81621419e-05 9.99996374e-01 6.45021906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.734012739 meters Centerline goodness : 0.994167 Centerline is valid? [True, True] Translation: X:186.96, Y:122.66, Z:0.64 [[-9.98063526e-01 -6.21447323e-02 2.68885321e-03 1.86962401e+02] [ 6.21445601e-02 -9.98067148e-01 -1.47638129e-04 1.22655714e+02] [ 2.69283099e-03 1.97453679e-05 9.99996374e-01 6.44614107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.764012739 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:186.98, Y:122.65, Z:0.64 [[-9.98431549e-01 -5.59214701e-02 2.68890839e-03 1.86976107e+02] [ 5.59212780e-02 -9.98435170e-01 -1.46626207e-04 1.22651578e+02] [ 2.69290026e-03 3.97096284e-06 9.99996374e-01 6.42612005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.794012739 meters Centerline goodness : 0.994079 Centerline is valid? [True, True] Translation: X:187.00, Y:122.65, Z:0.64 [[-9.98576206e-01 -5.32759910e-02 2.68896295e-03 1.86995211e+02] [ 5.32757921e-02 -9.98579826e-01 -1.45618701e-04 1.22650128e+02] [ 2.69290214e-03 -2.15473836e-06 9.99996374e-01 6.42507396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.824012739 meters Centerline goodness : 0.994600 Centerline is valid? [True, True] Translation: X:187.01, Y:122.65, Z:0.65 [[-9.98747145e-01 -4.99690790e-02 2.68901661e-03 1.87013498e+02] [ 4.99688707e-02 -9.98750765e-01 -1.44621079e-04 1.22649798e+02] [ 2.69288398e-03 -1.00727662e-05 9.99996374e-01 6.45771322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.854012739 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:187.01, Y:122.65, Z:0.65 [[-9.98686784e-01 -5.11612778e-02 2.68906929e-03 1.87012078e+02] [ 5.11610765e-02 -9.98690404e-01 -1.43634709e-04 1.22647538e+02] [ 2.69289623e-03 -5.87040552e-06 9.99996374e-01 6.48170042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.884012739 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:187.01, Y:122.65, Z:0.65 [[-9.98586329e-01 -5.30858997e-02 2.68912140e-03 1.87010327e+02] [ 5.30857080e-02 -9.98589950e-01 -1.42652391e-04 1.22645735e+02] [ 2.69290244e-03 3.03186360e-07 9.99996374e-01 6.47036713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.914012739 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:187.00, Y:122.64, Z:0.64 [[-9.98306616e-01 -5.81091071e-02 2.68917329e-03 1.86997362e+02] [ 5.81089363e-02 -9.98310238e-01 -1.41667392e-04 1.22644020e+02] [ 2.69286140e-03 1.48375047e-05 9.99996374e-01 6.43000898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.944012739 meters Centerline goodness : 0.994228 Centerline is valid? [True, True] Translation: X:186.99, Y:122.64, Z:0.64 [[-9.98211326e-01 -5.97236734e-02 2.68922518e-03 1.86990697e+02] [ 5.97235112e-02 -9.98214948e-01 -1.40675435e-04 1.22643344e+02] [ 2.69282643e-03 2.01861580e-05 9.99996374e-01 6.42587594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.974012739 meters Centerline goodness : 0.994917 Centerline is valid? [True, True] Translation: X:186.98, Y:122.64, Z:0.64 [[-9.98148157e-01 -6.07702615e-02 2.68927715e-03 1.86979470e+02] [ 6.07701057e-02 -9.98151779e-01 -1.39674970e-04 1.22641854e+02] [ 2.69279485e-03 2.40113422e-05 9.99996374e-01 6.43521242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.004012739 meters Centerline goodness : 0.994560 Centerline is valid? [True, True] Translation: X:186.97, Y:122.64, Z:0.64 [[-9.98216646e-01 -5.96346823e-02 2.68932916e-03 1.86966214e+02] [ 5.96345251e-02 -9.98220268e-01 -1.38666183e-04 1.22640931e+02] [ 2.69281219e-03 2.19579753e-05 9.99996374e-01 6.43365215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.034012739 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:187.00, Y:122.64, Z:0.64 [[-9.98310466e-01 -5.80429136e-02 2.68938135e-03 1.86996655e+02] [ 5.80427534e-02 -9.98314089e-01 -1.37646417e-04 1.22638166e+02] [ 2.69283669e-03 1.86852399e-05 9.99996374e-01 6.42967631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.064012739 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:187.00, Y:122.64, Z:0.64 [[-9.98425249e-01 -5.60338304e-02 2.68943292e-03 1.87002519e+02] [ 5.60336656e-02 -9.98428871e-01 -1.36631471e-04 1.22636083e+02] [ 2.69286345e-03 1.42824740e-05 9.99996374e-01 6.43347323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.094012739 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:187.04, Y:122.63, Z:0.65 [[-9.98630705e-01 -5.22444414e-02 2.68948354e-03 1.87039223e+02] [ 5.22442656e-02 -9.98634327e-01 -1.35627690e-04 1.22631286e+02] [ 2.69289637e-03 5.06811592e-06 9.99996374e-01 6.45971456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.124012739 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:187.00, Y:122.63, Z:0.65 [[-9.98740305e-01 -5.01055885e-02 2.68948975e-03 1.87001984e+02] [ 5.01054053e-02 -9.98743926e-01 -1.35504273e-04 1.22633639e+02] [ 2.69290108e-03 -5.75604667e-07 9.99996374e-01 6.45652571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.154012739 meters Centerline goodness : 0.995517 Centerline is valid? [True, True] Translation: X:187.04, Y:122.63, Z:0.64 [[-9.98862477e-01 -4.76079627e-02 2.68953932e-03 1.87043422e+02] [ 4.76077731e-02 -9.98866098e-01 -1.34513158e-04 1.22634089e+02] [ 2.69289355e-03 -6.31716882e-06 9.99996374e-01 6.44657255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.184012739 meters Centerline goodness : 0.995760 Centerline is valid? [True, True] Translation: X:187.04, Y:122.63, Z:0.65 [[-9.98911380e-01 -4.65706160e-02 2.68952691e-03 1.87039454e+02] [ 4.65704219e-02 -9.98915000e-01 -1.34760948e-04 1.22634200e+02] [ 2.69288467e-03 -9.36184186e-06 9.99996374e-01 6.45937846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.214012739 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:187.05, Y:122.63, Z:0.65 [[-9.98921253e-01 -4.63583567e-02 2.68957554e-03 1.87050520e+02] [ 4.63581645e-02 -9.98924873e-01 -1.33783268e-04 1.22631684e+02] [ 2.69288588e-03 -8.95516445e-06 9.99996374e-01 6.48498020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.244012739 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:187.04, Y:122.63, Z:0.65 [[-9.98928757e-01 -4.61963610e-02 2.68962378e-03 1.87040748e+02] [ 4.61961708e-02 -9.98932378e-01 -1.32806191e-04 1.22631861e+02] [ 2.69288745e-03 -8.41360408e-06 9.99996374e-01 6.48946784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.274012739 meters Centerline goodness : 0.995443 Centerline is valid? [True, True] Translation: X:187.04, Y:122.63, Z:0.65 [[-9.98975075e-01 -4.51836837e-02 2.68967172e-03 1.87044181e+02] [ 4.51834925e-02 -9.98978696e-01 -1.31828166e-04 1.22632629e+02] [ 2.69288123e-03 -1.01642897e-05 9.99996374e-01 6.45792340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30401273900003 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:187.06, Y:122.63, Z:0.65 [[-9.99025229e-01 -4.40608456e-02 2.68971950e-03 1.87060826e+02] [ 4.40606531e-02 -9.99028849e-01 -1.30845943e-04 1.22633075e+02] [ 2.69287256e-03 -1.22076002e-05 9.99996374e-01 6.45282518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.334012739 meters Centerline goodness : 0.995606 Centerline is valid? [True, True] Translation: X:187.07, Y:122.63, Z:0.65 [[-9.99057847e-01 -4.33149294e-02 2.68976668e-03 1.87070766e+02] [ 4.33147368e-02 -9.99061468e-01 -1.29868814e-04 1.22633221e+02] [ 2.69286751e-03 -1.32399225e-05 9.99996374e-01 6.46186995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.364012739 meters Centerline goodness : 0.995666 Centerline is valid? [True, True] Translation: X:187.06, Y:122.63, Z:0.65 [[-9.99130448e-01 -4.16066396e-02 2.68981315e-03 1.87056729e+02] [ 4.16064434e-02 -9.99134069e-01 -1.28899155e-04 1.22634885e+02] [ 2.69284701e-03 -1.68735120e-05 9.99996374e-01 6.47803472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.394012739 meters Centerline goodness : 0.995154 Centerline is valid? [True, True] Translation: X:187.09, Y:122.63, Z:0.65 [[-9.99179648e-01 -4.04078608e-02 2.68985942e-03 1.87092052e+02] [ 4.04076628e-02 -9.99183269e-01 -1.27926129e-04 1.22633546e+02] [ 2.69283175e-03 -1.91302520e-05 9.99996374e-01 6.47924994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.424012739 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:187.09, Y:122.64, Z:0.65 [[-9.99269671e-01 -3.81167815e-02 2.68990508e-03 1.87091094e+02] [ 3.81165778e-02 -9.99273291e-01 -1.26958711e-04 1.22636354e+02] [ 2.69278956e-03 -2.43360134e-05 9.99996374e-01 6.46151565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.454012739 meters Centerline goodness : 0.995401 Centerline is valid? [True, True] Translation: X:187.09, Y:122.64, Z:0.64 [[-9.99325918e-01 -3.66124738e-02 2.68994995e-03 1.87092794e+02] [ 3.66122673e-02 -9.99329538e-01 -1.26000846e-04 1.22637896e+02] [ 2.69275964e-03 -2.74307449e-05 9.99996374e-01 6.44690115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.484012739 meters Centerline goodness : 0.994938 Centerline is valid? [True, True] Translation: X:187.08, Y:122.64, Z:0.64 [[-9.99455362e-01 -3.28898561e-02 2.68999455e-03 1.87077301e+02] [ 3.28896387e-02 -9.99458982e-01 -1.25041334e-04 1.22642882e+02] [ 2.69265181e-03 -3.65002825e-05 9.99996374e-01 6.42033000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.514012739 meters Centerline goodness : 0.995756 Centerline is valid? [True, True] Translation: X:187.10, Y:122.64, Z:0.64 [[-9.99542043e-01 -3.01408194e-02 2.69003910e-03 1.87099231e+02] [ 3.01405946e-02 -9.99545661e-01 -1.24075527e-04 1.22644646e+02] [ 2.69255665e-03 -4.29393272e-05 9.99996374e-01 6.40675061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.544012739 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:187.10, Y:122.65, Z:0.64 [[-9.99617442e-01 -2.75269584e-02 2.69008329e-03 1.87104789e+02] [ 2.75267267e-02 -9.99621060e-01 -1.23110007e-04 1.22647942e+02] [ 2.69245275e-03 -4.90137224e-05 9.99996374e-01 6.40179658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.574012739 meters Centerline goodness : 0.995507 Centerline is valid? [True, True] Translation: X:187.12, Y:122.65, Z:0.64 [[-9.99708723e-01 -2.39840008e-02 2.69012680e-03 1.87122306e+02] [ 2.39837589e-02 -9.99712341e-01 -1.22151780e-04 1.22654135e+02] [ 2.69228264e-03 -5.75968476e-05 9.99996374e-01 6.40276315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.604012739 meters Centerline goodness : 0.995567 Centerline is valid? [True, True] Translation: X:187.13, Y:122.66, Z:0.64 [[-9.99717317e-01 -2.36230582e-02 2.69016971e-03 1.87126722e+02] [ 2.36228176e-02 -9.99720935e-01 -1.21199288e-04 1.22657353e+02] [ 2.69228207e-03 -5.76156390e-05 9.99996374e-01 6.40793551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.634012739 meters Centerline goodness : 0.995514 Centerline is valid? [True, True] Translation: X:187.13, Y:122.66, Z:0.64 [[-9.99662651e-01 -2.58330795e-02 2.69021205e-03 1.87125215e+02] [ 2.58328494e-02 -9.99666269e-01 -1.20252014e-04 1.22663835e+02] [ 2.69242072e-03 -5.07156044e-05 9.99996374e-01 6.43992408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.664012739 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:187.11, Y:122.67, Z:0.65 [[-9.99620368e-01 -2.74204619e-02 2.69025409e-03 1.87106013e+02] [ 2.74202401e-02 -9.99623987e-01 -1.19304007e-04 1.22667446e+02] [ 2.69251389e-03 -4.54913026e-05 9.99996374e-01 6.45334357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.694012739 meters Centerline goodness : 0.996171 Centerline is valid? [True, True] Translation: X:187.10, Y:122.67, Z:0.65 [[-9.99571863e-01 -2.91350965e-02 2.69029618e-03 1.87096475e+02] [ 2.91348835e-02 -9.99575482e-01 -1.18347347e-04 1.22669916e+02] [ 2.69260216e-03 -3.99152128e-05 9.99996374e-01 6.45481605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.724012739 meters Centerline goodness : 0.995607 Centerline is valid? [True, True] Translation: X:187.10, Y:122.67, Z:0.64 [[-9.99432035e-01 -3.35912002e-02 2.69033840e-03 1.87100039e+02] [ 3.35910059e-02 -9.99435656e-01 -1.17379470e-04 1.22671591e+02] [ 2.69276305e-03 -2.69416292e-05 9.99996374e-01 6.43024916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.754012739 meters Centerline goodness : 0.995839 Centerline is valid? [True, True] Translation: X:187.08, Y:122.67, Z:0.64 [[-9.99287796e-01 -3.76385711e-02 2.69038044e-03 1.87078195e+02] [ 3.76383941e-02 -9.99291418e-01 -1.16407933e-04 1.22673311e+02] [ 2.69285551e-03 -1.50634280e-05 9.99996374e-01 6.41992334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.784012739 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:187.08, Y:122.67, Z:0.64 [[-9.99221965e-01 -3.93475063e-02 2.69042246e-03 1.87082781e+02] [ 3.93473381e-02 -9.99225587e-01 -1.15428557e-04 1.22673450e+02] [ 2.69288079e-03 -9.47778726e-06 9.99996374e-01 6.43885128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.814012739 meters Centerline goodness : 0.996598 Centerline is valid? [True, True] Translation: X:187.06, Y:122.67, Z:0.65 [[-9.99151780e-01 -4.10911419e-02 2.69046445e-03 1.87062171e+02] [ 4.10909827e-02 -9.99155402e-01 -1.14441359e-04 1.22674677e+02] [ 2.69289462e-03 -3.79045886e-06 9.99996374e-01 6.45861955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.844012739 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:187.07, Y:122.67, Z:0.65 [[-9.99094361e-01 -4.24643230e-02 2.69050639e-03 1.87066358e+02] [ 4.24641714e-02 -9.99097984e-01 -1.13446708e-04 1.22673590e+02] [ 2.69289695e-03 9.06158405e-07 9.99996374e-01 6.46386079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.874012739 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:187.06, Y:122.67, Z:0.64 [[-9.99114569e-01 -4.19861750e-02 2.69054827e-03 1.87060110e+02] [ 4.19860245e-02 -9.99118192e-01 -1.12444643e-04 1.22672495e+02] [ 2.69289684e-03 6.20344937e-07 9.99996374e-01 6.44750179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.904012739 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:187.08, Y:122.67, Z:0.64 [[-9.99175059e-01 -4.05211280e-02 2.69058988e-03 1.87083272e+02] [ 4.05209749e-02 -9.99178682e-01 -1.11440121e-04 1.22668025e+02] [ 2.69289573e-03 -2.32286476e-06 9.99996374e-01 6.42224751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.934012739 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:187.08, Y:122.67, Z:0.64 [[-9.99236052e-01 -3.89881148e-02 2.69063094e-03 1.87077023e+02] [ 3.89879588e-02 -9.99239674e-01 -1.10439804e-04 1.22667165e+02] [ 2.69289102e-03 -5.45322529e-06 9.99996374e-01 6.42450715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.964012739 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:187.11, Y:122.67, Z:0.64 [[-9.99292093e-01 -3.75243113e-02 2.69067145e-03 1.87107017e+02] [ 3.75241526e-02 -9.99295715e-01 -1.09443804e-04 1.22665146e+02] [ 2.69288325e-03 -8.40116229e-06 9.99996374e-01 6.42221529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.994012739 meters Centerline goodness : 0.996148 Centerline is valid? [True, True] Translation: X:187.09, Y:122.66, Z:0.64 [[-9.99409917e-01 -3.42429341e-02 2.69071134e-03 1.87094968e+02] [ 3.42427662e-02 -9.99413539e-01 -1.08454000e-04 1.22662090e+02] [ 2.69284713e-03 -1.62526035e-05 9.99996374e-01 6.43029986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.024012739 meters Centerline goodness : 0.995935 Centerline is valid? [True, True] Translation: X:187.11, Y:122.66, Z:0.64 [[-9.99473670e-01 -3.23286606e-02 2.69075068e-03 1.87108371e+02] [ 3.23284884e-02 -9.99477292e-01 -1.07469054e-04 1.22659720e+02] [ 2.69281854e-03 -2.04245877e-05 9.99996374e-01 6.44389665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05401273900003 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:187.14, Y:122.66, Z:0.65 [[-9.99571991e-01 -2.91306373e-02 2.69078972e-03 1.87136062e+02] [ 2.91304562e-02 -9.99575613e-01 -1.06482686e-04 1.22655748e+02] [ 2.69274969e-03 -2.80531784e-05 9.99996374e-01 6.46005730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.084012739 meters Centerline goodness : 0.995863 Centerline is valid? [True, True] Translation: X:187.13, Y:122.65, Z:0.65 [[-9.99609236e-01 -2.78232929e-02 2.69082791e-03 1.87128519e+02] [ 2.78231097e-02 -9.99612857e-01 -1.05508551e-04 1.22654465e+02] [ 2.69272177e-03 -3.06001221e-05 9.99996374e-01 6.46328787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.114012739 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:187.14, Y:122.65, Z:0.64 [[-9.99648893e-01 -2.63600230e-02 2.69086556e-03 1.87144566e+02] [ 2.63598371e-02 -9.99652514e-01 -1.04539429e-04 1.22650065e+02] [ 2.69268619e-03 -3.35719465e-05 9.99996374e-01 6.44185060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.144012739 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:187.15, Y:122.65, Z:0.64 [[-9.99677741e-01 -2.52422899e-02 2.69090281e-03 1.87151107e+02] [ 2.52421026e-02 -9.99681362e-01 -1.03571653e-04 1.22648845e+02] [ 2.69265977e-03 -3.56142309e-05 9.99996374e-01 6.42829287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.174012739 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:187.15, Y:122.65, Z:0.64 [[-9.99686687e-01 -2.48854825e-02 2.69093949e-03 1.87153648e+02] [ 2.48852965e-02 -9.99690308e-01 -1.02609865e-04 1.22648823e+02] [ 2.69265962e-03 -3.56128889e-05 9.99996374e-01 6.42822512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.204012739 meters Centerline goodness : 0.995660 Centerline is valid? [True, True] Translation: X:187.15, Y:122.65, Z:0.64 [[-9.99725857e-01 -2.32587605e-02 2.69097577e-03 1.87146506e+02] [ 2.32585712e-02 -9.99729478e-01 -1.01649403e-04 1.22648639e+02] [ 2.69261204e-03 -3.90332852e-05 9.99996374e-01 6.41829051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.234012739 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:187.17, Y:122.65, Z:0.64 [[-9.99813145e-01 -1.91424325e-02 2.69101183e-03 1.87165881e+02] [ 1.91422308e-02 -9.99816766e-01 -1.00685643e-04 1.22647932e+02] [ 2.69244611e-03 -4.91548605e-05 9.99996374e-01 6.41573468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.264012739 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:187.18, Y:122.65, Z:0.64 [[-9.99850080e-01 -1.71048305e-02 2.69104746e-03 1.87178236e+02] [ 1.71046240e-02 -9.99853700e-01 -9.97241176e-05 1.22647573e+02] [ 2.69235952e-03 -5.36798120e-05 9.99996374e-01 6.41452274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.294012739 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:187.16, Y:122.65, Z:0.64 [[-9.99882506e-01 -1.50907985e-02 2.69108243e-03 1.87164693e+02] [ 1.50905873e-02 -9.99886126e-01 -9.87713027e-05 1.22649706e+02] [ 2.69226652e-03 -5.81496832e-05 9.99996374e-01 6.41558239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.324012739 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:187.20, Y:122.65, Z:0.64 [[-9.99896318e-01 -1.41460854e-02 2.69111713e-03 1.87195557e+02] [ 1.41458733e-02 -9.99899937e-01 -9.78165658e-05 1.22649135e+02] [ 2.69223157e-03 -5.97382219e-05 9.99996374e-01 6.42546300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.354012739 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:187.18, Y:122.65, Z:0.64 [[-9.99899989e-01 -1.38841531e-02 2.69115136e-03 1.87182414e+02] [ 1.38839427e-02 -9.99903609e-01 -9.68657638e-05 1.22649715e+02] [ 2.69223685e-03 -5.94922851e-05 9.99996374e-01 6.44045639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.384012739 meters Centerline goodness : 0.995517 Centerline is valid? [True, True] Translation: X:187.16, Y:122.65, Z:0.64 [[-9.99882867e-01 -1.50668383e-02 2.69118510e-03 1.87160310e+02] [ 1.50666347e-02 -9.99886487e-01 -9.59190218e-05 1.22649459e+02] [ 2.69232481e-03 -5.53606837e-05 9.99996374e-01 6.44650106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.414012739 meters Centerline goodness : 0.995541 Centerline is valid? [True, True] Translation: X:187.20, Y:122.65, Z:0.64 [[-9.99872017e-01 -1.57704660e-02 2.69121897e-03 1.87195066e+02] [ 1.57702675e-02 -9.99875637e-01 -9.49590724e-05 1.22648702e+02] [ 2.69238183e-03 -5.25056762e-05 9.99996374e-01 6.43843591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.444012739 meters Centerline goodness : 0.995569 Centerline is valid? [True, True] Translation: X:187.17, Y:122.65, Z:0.64 [[-9.99839457e-01 -1.77148904e-02 2.69125241e-03 1.87173753e+02] [ 1.77147016e-02 -9.99843078e-01 -9.40017748e-05 1.22650466e+02] [ 2.69249532e-03 -4.63119503e-05 9.99996374e-01 6.42022271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.474012739 meters Centerline goodness : 0.995220 Centerline is valid? [True, True] Translation: X:187.19, Y:122.65, Z:0.64 [[-9.99815134e-01 -1.90382313e-02 2.69128542e-03 1.87188151e+02] [ 1.90380498e-02 -9.99818756e-01 -9.30469783e-05 1.22649923e+02] [ 2.69256909e-03 -4.17929514e-05 9.99996374e-01 6.43016726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.504012739 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:187.18, Y:122.65, Z:0.64 [[-9.99783822e-01 -2.06171316e-02 2.69131822e-03 1.87178595e+02] [ 2.06169584e-02 -9.99787444e-01 -9.20883273e-05 1.22649994e+02] [ 2.69264476e-03 -3.65816241e-05 9.99996374e-01 6.44292798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.534012739 meters Centerline goodness : 0.994362 Centerline is valid? [True, True] Translation: X:187.18, Y:122.65, Z:0.64 [[-9.99725227e-01 -2.32857775e-02 2.69135068e-03 1.87182720e+02] [ 2.32856165e-02 -9.99728849e-01 -9.11296647e-05 1.22648506e+02] [ 2.69274294e-03 -2.84348649e-05 9.99996374e-01 6.43363534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.564012739 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:187.16, Y:122.65, Z:0.64 [[-9.99709503e-01 -2.39513284e-02 2.69138292e-03 1.87159454e+02] [ 2.39511724e-02 -9.99713126e-01 -9.01674177e-05 1.22647890e+02] [ 2.69277046e-03 -2.56794480e-05 9.99996374e-01 6.42633080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.594012739 meters Centerline goodness : 0.993621 Centerline is valid? [True, True] Translation: X:187.18, Y:122.64, Z:0.64 [[-9.99675925e-01 -2.53140502e-02 2.69141507e-03 1.87178301e+02] [ 2.53139018e-02 -9.99679548e-01 -8.91971808e-05 1.22643564e+02] [ 2.69281055e-03 -2.10380574e-05 9.99996374e-01 6.41296568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.624012739 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:187.18, Y:122.64, Z:0.64 [[-9.99670455e-01 -2.55291629e-02 2.69144698e-03 1.87179395e+02] [ 2.55290179e-02 -9.99674078e-01 -8.82238884e-05 1.22642753e+02] [ 2.69282206e-03 -1.94848165e-05 9.99996374e-01 6.41047359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.654012739 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:187.17, Y:122.64, Z:0.64 [[-9.99677039e-01 -2.52700232e-02 2.69147837e-03 1.87170253e+02] [ 2.52698799e-02 -9.99680662e-01 -8.72556006e-05 1.22643196e+02] [ 2.69282383e-03 -1.92140853e-05 9.99996374e-01 6.39806569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.684012739 meters Centerline goodness : 0.993236 Centerline is valid? [True, True] Translation: X:187.19, Y:122.64, Z:0.64 [[-9.99728708e-01 -2.31358177e-02 2.69150955e-03 1.87192380e+02] [ 2.31356692e-02 -9.99732331e-01 -8.62829008e-05 1.22642307e+02] [ 2.69278534e-03 -2.39896182e-05 9.99996374e-01 6.37280145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.714012739 meters Centerline goodness : 0.993270 Centerline is valid? [True, True] Translation: X:187.19, Y:122.64, Z:0.64 [[-9.99782667e-01 -2.06730340e-02 2.69154030e-03 1.87188621e+02] [ 2.06728793e-02 -9.99786290e-01 -8.53129244e-05 1.22641947e+02] [ 2.69272876e-03 -2.96524956e-05 9.99996374e-01 6.37364926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.744012739 meters Centerline goodness : 0.993216 Centerline is valid? [True, True] Translation: X:187.20, Y:122.64, Z:0.64 [[-9.99884782e-01 -1.49391427e-02 2.69157056e-03 1.87201474e+02] [ 1.49389697e-02 -9.99888404e-01 -8.43473134e-05 1.22642432e+02] [ 2.69253026e-03 -4.41283041e-05 9.99996374e-01 6.39207099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.774012739 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:187.23, Y:122.64, Z:0.64 [[-9.99928808e-01 -1.16247360e-02 2.69160043e-03 1.87231791e+02] [ 1.16245537e-02 -9.99932429e-01 -8.33829019e-05 1.22642530e+02] [ 2.69238786e-03 -5.20883119e-05 9.99996374e-01 6.41116754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80401273900003 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:187.25, Y:122.64, Z:0.64 [[-9.99988564e-01 -3.95318506e-03 2.69162959e-03 1.87254506e+02] [ 3.95297750e-03 -9.99992184e-01 -8.24309132e-05 1.22644547e+02] [ 2.69193441e-03 -7.17900193e-05 9.99996374e-01 6.42579899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.834012739 meters Centerline goodness : 0.992892 Centerline is valid? [True, True] Translation: X:187.25, Y:122.65, Z:0.64 [[-9.99996368e-01 1.40746193e-04 2.69165795e-03 1.87247039e+02] [-1.40966051e-04 -9.99999987e-01 -8.14941551e-05 1.22647146e+02] [ 2.69164644e-03 -8.18732915e-05 9.99996374e-01 6.42645048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.864012739 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:187.27, Y:122.65, Z:0.64 [[-9.99986711e-01 4.39684629e-03 2.69168589e-03 1.87270653e+02] [-4.39707904e-03 -9.99990330e-01 -8.05604903e-05 1.22648809e+02] [ 2.69130565e-03 -9.23949754e-05 9.99996374e-01 6.41847526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.894012739 meters Centerline goodness : 0.992789 Centerline is valid? [True, True] Translation: X:187.28, Y:122.65, Z:0.64 [[-9.99960250e-01 8.50019444e-03 2.69171341e-03 1.87275477e+02] [-8.50043953e-03 -9.99963868e-01 -7.96301800e-05 1.22651260e+02] [ 2.69093928e-03 -1.02507762e-04 9.99996374e-01 6.41581251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.924012739 meters Centerline goodness : 0.991312 Centerline is valid? [True, True] Translation: X:187.29, Y:122.66, Z:0.65 [[-9.99892359e-01 1.44230803e-02 2.69174041e-03 1.87289686e+02] [-1.44233443e-02 -9.99895975e-01 -7.87067930e-05 1.22656744e+02] [ 2.69032521e-03 -1.17522220e-04 9.99996374e-01 6.50654745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.954012739 meters Centerline goodness : 0.992937 Centerline is valid? [True, True] Translation: X:187.31, Y:122.66, Z:0.64 [[-9.99842429e-01 1.75462860e-02 2.69176698e-03 1.87308749e+02] [-1.75465589e-02 -9.99846044e-01 -7.77876380e-05 1.22662621e+02] [ 2.68998768e-03 -1.25006629e-04 9.99996374e-01 6.42924091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.984012739 meters Centerline goodness : 0.992731 Centerline is valid? [True, True] Translation: X:187.31, Y:122.67, Z:0.64 [[-9.99829264e-01 1.82810338e-02 2.69179299e-03 1.87309875e+02] [-1.82813068e-02 -9.99832880e-01 -7.68768404e-05 1.22666070e+02] [ 2.68993775e-03 -1.26073208e-04 9.99996374e-01 6.42413982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.014012739 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:187.30, Y:122.67, Z:0.64 [[-9.99820704e-01 1.87433887e-02 2.69181857e-03 1.87304601e+02] [-1.87436610e-02 -9.99824319e-01 -7.59704274e-05 1.22669181e+02] [ 2.68992173e-03 -1.26411341e-04 9.99996374e-01 6.41625721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.044012739 meters Centerline goodness : 0.993187 Centerline is valid? [True, True] Translation: X:187.28, Y:122.68, Z:0.64 [[-9.99842719e-01 1.75297274e-02 2.69184393e-03 1.87284908e+02] [-1.75299929e-02 -9.99846335e-01 -7.50610817e-05 1.22675604e+02] [ 2.69011448e-03 -1.22237281e-04 9.99996374e-01 6.43937001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.074012739 meters Centerline goodness : 0.992622 Centerline is valid? [True, True] Translation: X:187.28, Y:122.68, Z:0.65 [[-9.99867165e-01 1.60750147e-02 2.69186922e-03 1.87280854e+02] [-1.60752725e-02 -9.99870782e-01 -7.41428405e-05 1.22679731e+02] [ 2.69032953e-03 -1.17405523e-04 9.99996374e-01 6.45253706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.104012739 meters Centerline goodness : 0.993067 Centerline is valid? [True, True] Translation: X:187.27, Y:122.69, Z:0.64 [[-9.99922268e-01 1.21742288e-02 2.69189443e-03 1.87273418e+02] [-1.21744700e-02 -9.99925886e-01 -7.32158076e-05 1.22689269e+02] [ 2.69080358e-03 -1.05982504e-04 9.99996374e-01 6.43479632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.134012739 meters Centerline goodness : 0.992900 Centerline is valid? [True, True] Translation: X:187.09, Y:122.70, Z:0.64 [[-9.99936063e-01 1.09828701e-02 2.69191946e-03 1.87088527e+02] [-1.09831044e-02 -9.99939681e-01 -7.22836058e-05 1.22698416e+02] [ 2.69096321e-03 -1.01844617e-04 9.99996374e-01 6.41339143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.164012739 meters Centerline goodness : 0.992729 Centerline is valid? [True, True] Translation: X:187.24, Y:122.70, Z:0.64 [[-9.99952226e-01 9.39673503e-03 2.69194168e-03 1.87239030e+02] [-9.39696137e-03 -9.99955845e-01 -7.14446368e-05 1.22698638e+02] [ 2.69115147e-03 -9.67372955e-05 9.99996374e-01 6.39607187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.194012739 meters Centerline goodness : 0.992990 Centerline is valid? [True, True] Translation: X:187.24, Y:122.71, Z:0.64 [[-9.99980088e-01 5.70767675e-03 2.69191892e-03 1.87240507e+02] [-5.70789201e-03 -9.99983707e-01 -7.22920749e-05 1.22707851e+02] [ 2.69146244e-03 -8.76558179e-05 9.99996374e-01 6.41864579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.224012739 meters Centerline goodness : 0.993253 Centerline is valid? [True, True] Translation: X:187.24, Y:122.71, Z:0.64 [[-9.99992369e-01 2.83106889e-03 2.69194430e-03 1.87237614e+02] [-2.83127116e-03 -9.99995989e-01 -7.13340961e-05 1.22712171e+02] [ 2.69173155e-03 -7.89551761e-05 9.99996374e-01 6.44382737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.254012739 meters Centerline goodness : 0.993145 Centerline is valid? [True, True] Translation: X:187.21, Y:122.72, Z:0.65 [[-9.99984987e-01 -4.77284219e-03 2.69196940e-03 1.87211443e+02] [ 4.77267004e-03 -9.99988608e-01 -7.03738791e-05 1.22716507e+02] [ 2.69227462e-03 -5.75249408e-05 9.99996374e-01 6.46697007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.284012739 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:187.09, Y:122.72, Z:0.64 [[-9.99950982e-01 -9.52817950e-03 2.69199445e-03 1.87093954e+02] [ 9.52802719e-03 -9.99954605e-01 -6.94023735e-05 1.22720385e+02] [ 2.69253353e-03 -4.37495752e-05 9.99996374e-01 6.44695200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.314012739 meters Centerline goodness : 0.993423 Centerline is valid? [True, True] Translation: X:187.21, Y:122.72, Z:0.64 [[-9.99902784e-01 -1.36812457e-02 2.69197021e-03 1.87208486e+02] [ 1.36811059e-02 -9.99906407e-01 -7.03476060e-05 1.22718322e+02] [ 2.69268071e-03 -3.35116374e-05 9.99996374e-01 6.44327815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.344012739 meters Centerline goodness : 0.993070 Centerline is valid? [True, True] Translation: X:187.19, Y:122.72, Z:0.65 [[-9.99796608e-01 -1.99874161e-02 2.69199463e-03 1.87193189e+02] [ 1.99873017e-02 -9.99800232e-01 -6.94005513e-05 1.22719256e+02] [ 2.69284399e-03 -1.55807271e-05 9.99996374e-01 6.45030996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.374012739 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:187.18, Y:122.72, Z:0.64 [[-9.99707693e-01 -2.40266758e-02 2.69201978e-03 1.87179061e+02] [ 2.40265787e-02 -9.99711318e-01 -6.84110487e-05 1.22715868e+02] [ 2.69288633e-03 -3.71102684e-06 9.99996374e-01 6.44124276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.404012739 meters Centerline goodness : 0.992608 Centerline is valid? [True, True] Translation: X:187.17, Y:122.71, Z:0.64 [[-9.99677050e-01 -2.52695355e-02 2.69204485e-03 1.87173667e+02] [ 2.52694456e-02 -9.99680674e-01 -6.74095547e-05 1.22714117e+02] [ 2.69288862e-03 6.38696162e-07 9.99996374e-01 6.43480053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.434012739 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:187.15, Y:122.71, Z:0.64 [[-9.99659193e-01 -2.59663292e-02 2.69206977e-03 1.87151919e+02] [ 2.59662446e-02 -9.99662818e-01 -6.63994081e-05 1.22713259e+02] [ 2.69288620e-03 3.52616329e-06 9.99996374e-01 6.43536837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.464012739 meters Centerline goodness : 0.992904 Centerline is valid? [True, True] Translation: X:187.18, Y:122.71, Z:0.65 [[-9.99678351e-01 -2.52179966e-02 2.69209458e-03 1.87179797e+02] [ 2.52179120e-02 -9.99681976e-01 -6.53775971e-05 1.22709141e+02] [ 2.69288712e-03 2.53243595e-06 9.99996374e-01 6.45759439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.494012739 meters Centerline goodness : 0.992353 Centerline is valid? [True, True] Translation: X:187.19, Y:122.71, Z:0.65 [[-9.99708964e-01 -2.39737495e-02 2.69211900e-03 1.87189960e+02] [ 2.39736631e-02 -9.99712588e-01 -6.43561158e-05 1.22706924e+02] [ 2.69288811e-03 2.02568135e-07 9.99996374e-01 6.45396473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.524012739 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:187.18, Y:122.71, Z:0.64 [[-9.99763557e-01 -2.15773629e-02 2.69214276e-03 1.87180137e+02] [ 2.15772706e-02 -9.99767182e-01 -6.33466040e-05 1.22705644e+02] [ 2.69288283e-03 -5.24253353e-06 9.99996374e-01 6.43660599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.55401273900003 meters Centerline goodness : 0.992065 Centerline is valid? [True, True] Translation: X:187.21, Y:122.70, Z:0.64 [[-9.99793521e-01 -2.01412132e-02 2.69216617e-03 1.87209362e+02] [ 2.01411184e-02 -9.99797145e-01 -6.23352727e-05 1.22704946e+02] [ 2.69287556e-03 -8.09916419e-06 9.99996374e-01 6.42223680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.584012739 meters Centerline goodness : 0.991883 Centerline is valid? [True, True] Translation: X:187.19, Y:122.71, Z:0.64 [[-9.99811287e-01 -1.92391079e-02 2.69218909e-03 1.87187230e+02] [ 1.92390125e-02 -9.99814911e-01 -6.13293458e-05 1.22705521e+02] [ 2.69287072e-03 -9.52271266e-06 9.99996374e-01 6.41015199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.614012739 meters Centerline goodness : 0.992198 Centerline is valid? [True, True] Translation: X:187.20, Y:122.70, Z:0.64 [[-9.99825637e-01 -1.84783124e-02 2.69221161e-03 1.87203071e+02] [ 1.84782169e-02 -9.99829261e-01 -6.03242189e-05 1.22704789e+02] [ 2.69286664e-03 -1.05664304e-05 9.99996374e-01 6.38626829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.644012739 meters Centerline goodness : 0.992422 Centerline is valid? [True, True] Translation: X:187.20, Y:122.71, Z:0.64 [[-9.99829531e-01 -1.82663772e-02 2.69223385e-03 1.87196780e+02] [ 1.82662837e-02 -9.99833156e-01 -5.93146729e-05 1.22705787e+02] [ 2.69286813e-03 -1.01274542e-05 9.99996374e-01 6.39599737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.674012739 meters Centerline goodness : 0.992206 Centerline is valid? [True, True] Translation: X:187.19, Y:122.71, Z:0.64 [[-9.99831630e-01 -1.81511519e-02 2.69225568e-03 1.87188614e+02] [ 1.81510607e-02 -9.99835254e-01 -5.83069232e-05 1.22707228e+02] [ 2.69287048e-03 -9.42980986e-06 9.99996374e-01 6.39861088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.704012739 meters Centerline goodness : 0.992395 Centerline is valid? [True, True] Translation: X:187.20, Y:122.71, Z:0.64 [[-9.99820097e-01 -1.87756688e-02 2.69227728e-03 1.87200795e+02] [ 1.87755826e-02 -9.99823722e-01 -5.72919088e-05 1.22709397e+02] [ 2.69287838e-03 -6.73252750e-06 9.99996374e-01 6.41050395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.734012739 meters Centerline goodness : 0.991967 Centerline is valid? [True, True] Translation: X:187.20, Y:122.71, Z:0.64 [[-9.99817382e-01 -1.89196637e-02 2.69229850e-03 1.87200903e+02] [ 1.89195807e-02 -9.99821007e-01 -5.62765517e-05 1.22711255e+02] [ 2.69288133e-03 -5.32911581e-06 9.99996374e-01 6.41845737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.764012739 meters Centerline goodness : 0.992459 Centerline is valid? [True, True] Translation: X:187.20, Y:122.72, Z:0.64 [[-9.99787531e-01 -2.04363267e-02 2.69231929e-03 1.87196788e+02] [ 2.04362519e-02 -9.99791157e-01 -5.52638325e-05 1.22716699e+02] [ 2.69288640e-03 -2.31175407e-07 9.99996374e-01 6.39441827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.794012739 meters Centerline goodness : 0.992407 Centerline is valid? [True, True] Translation: X:187.20, Y:122.72, Z:0.64 [[-9.99768136e-01 -2.13641359e-02 2.69233976e-03 1.87196410e+02] [ 2.13640673e-02 -9.99771761e-01 -5.42477899e-05 1.22719826e+02] [ 2.69288422e-03 3.28411609e-06 9.99996374e-01 6.37849914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.824012739 meters Centerline goodness : 0.992617 Centerline is valid? [True, True] Translation: X:187.19, Y:122.72, Z:0.64 [[-9.99744089e-01 -2.24612435e-02 2.69235991e-03 1.87191976e+02] [ 2.24611816e-02 -9.99747714e-01 -5.32284022e-05 1.22722382e+02] [ 2.69287625e-03 7.25880439e-06 9.99996374e-01 6.37963932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.854012739 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:187.19, Y:122.73, Z:0.64 [[-9.99638640e-01 -2.67458432e-02 2.69237975e-03 1.87188029e+02] [ 2.67457996e-02 -9.99642266e-01 -5.22053078e-05 1.22725312e+02] [ 2.69281287e-03 1.98234063e-05 9.99996374e-01 6.41571098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.884012739 meters Centerline goodness : 0.992437 Centerline is valid? [True, True] Translation: X:187.18, Y:122.73, Z:0.64 [[-9.99552829e-01 -2.97807380e-02 2.69239930e-03 1.87176731e+02] [ 2.97807082e-02 -9.99556455e-01 -5.11769498e-05 1.22726260e+02] [ 2.69272919e-03 2.90274929e-05 9.99996374e-01 6.43288708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.914012739 meters Centerline goodness : 0.992873 Centerline is valid? [True, True] Translation: X:187.23, Y:122.73, Z:0.65 [[-9.99241972e-01 -3.88359554e-02 2.69241859e-03 1.87227424e+02] [ 3.88359613e-02 -9.99245598e-01 -5.01410273e-05 1.22726140e+02] [ 2.69233470e-03 5.44596451e-05 9.99996374e-01 6.45215958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.944012739 meters Centerline goodness : 0.992829 Centerline is valid? [True, True] Translation: X:187.22, Y:122.73, Z:0.65 [[-9.99082169e-01 -4.27500872e-02 2.69239920e-03 1.87224083e+02] [ 4.27501045e-02 -9.99085795e-01 -5.11613335e-05 1.22726210e+02] [ 2.69212495e-03 6.39859712e-05 9.99996374e-01 6.46116150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.974012739 meters Centerline goodness : 0.992520 Centerline is valid? [True, True] Translation: X:187.25, Y:122.72, Z:0.65 [[-9.98754166e-01 -4.98283801e-02 2.69241791e-03 1.87254539e+02] [ 4.98284258e-02 -9.98757791e-01 -5.01571128e-05 1.22721931e+02] [ 2.69157261e-03 8.40643207e-05 9.99996374e-01 6.47653154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.004012739 meters Centerline goodness : 0.992805 Centerline is valid? [True, True] Translation: X:187.27, Y:122.72, Z:0.65 [[-9.98627653e-01 -5.23025903e-02 2.69242480e-03 1.87272231e+02] [ 5.23026460e-02 -9.98631279e-01 -4.97846573e-05 1.22719094e+02] [ 2.69134348e-03 9.11046055e-05 9.99996374e-01 6.47852938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.034012739 meters Centerline goodness : 0.992895 Centerline is valid? [True, True] Translation: X:187.27, Y:122.72, Z:0.65 [[-9.98534208e-01 -5.40572432e-02 2.69244258e-03 1.87273555e+02] [ 5.40573079e-02 -9.98537834e-01 -4.88036085e-05 1.22716601e+02] [ 2.69114397e-03 9.68141249e-05 9.99996374e-01 6.46831217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.064012739 meters Centerline goodness : 0.993122 Centerline is valid? [True, True] Translation: X:187.29, Y:122.71, Z:0.65 [[-9.98360150e-01 -5.71818244e-02 2.69245992e-03 1.87286357e+02] [ 5.71819030e-02 -9.98363775e-01 -4.78271953e-05 1.22710131e+02] [ 2.69078930e-03 1.06211216e-04 9.99996374e-01 6.46420841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.094012739 meters Centerline goodness : 0.993122 Centerline is valid? [True, True] Translation: X:187.29, Y:122.71, Z:0.65 [[-9.98380680e-01 -5.68222573e-02 2.69247686e-03 1.87288876e+02] [ 5.68223373e-02 -9.98384305e-01 -4.68538383e-05 1.22710161e+02] [ 2.69078898e-03 1.06214861e-04 9.99996374e-01 6.46414065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.124012739 meters Centerline goodness : 0.993585 Centerline is valid? [True, True] Translation: X:187.29, Y:122.71, Z:0.65 [[-9.98333127e-01 -5.76516927e-02 2.69249339e-03 1.87289305e+02] [ 5.76517783e-02 -9.98336752e-01 -4.58841296e-05 1.22705545e+02] [ 2.69066040e-03 1.09419385e-04 9.99996374e-01 6.47108256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.154012739 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:187.29, Y:122.70, Z:0.65 [[-9.98251076e-01 -5.90553882e-02 2.69250957e-03 1.87287882e+02] [ 5.90554815e-02 -9.98254701e-01 -4.49138040e-05 1.22698623e+02] [ 2.69046274e-03 1.14172196e-04 9.99996374e-01 6.48355377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.184012739 meters Centerline goodness : 0.992890 Centerline is valid? [True, True] Translation: X:187.30, Y:122.70, Z:0.65 [[-9.98266198e-01 -5.87992278e-02 2.69252544e-03 1.87297040e+02] [ 5.87993228e-02 -9.98269822e-01 -4.39414931e-05 1.22696732e+02] [ 2.69045062e-03 1.14453365e-04 9.99996374e-01 6.48029166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.214012739 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:187.30, Y:122.69, Z:0.65 [[-9.98316450e-01 -5.79397621e-02 2.69254094e-03 1.87298282e+02] [ 5.79398566e-02 -9.98320075e-01 -4.29700968e-05 1.22694432e+02] [ 2.69050735e-03 1.13107682e-04 9.99996374e-01 6.46655447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.244012739 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:187.28, Y:122.69, Z:0.64 [[-9.98428948e-01 -5.59677250e-02 2.69255607e-03 1.87282544e+02] [ 5.59678150e-02 -9.98432573e-01 -4.20003655e-05 1.22685532e+02] [ 2.69068635e-03 1.08762099e-04 9.99996374e-01 6.43061125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.274012739 meters Centerline goodness : 0.992740 Centerline is valid? [True, True] Translation: X:187.27, Y:122.68, Z:0.64 [[-9.98483644e-01 -5.49832903e-02 2.69257094e-03 1.87273868e+02] [ 5.49833793e-02 -9.98487269e-01 -4.10243642e-05 1.22680804e+02] [ 2.69075346e-03 1.07084493e-04 9.99996374e-01 6.42336365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.30401273900003 meters Centerline goodness : 0.992595 Centerline is valid? [True, True] Translation: X:187.27, Y:122.67, Z:0.64 [[-9.98544888e-01 -5.38596021e-02 2.69258561e-03 1.87274169e+02] [ 5.38596897e-02 -9.98548513e-01 -4.00381156e-05 1.22673311e+02] [ 2.69083379e-03 1.05041969e-04 9.99996374e-01 6.44391083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.334012739 meters Centerline goodness : 0.992202 Centerline is valid? [True, True] Translation: X:187.19, Y:122.67, Z:0.64 [[-9.98609748e-01 -5.26433482e-02 2.69259997e-03 1.87192085e+02] [ 5.26434340e-02 -9.98613372e-01 -3.90472976e-05 1.22670097e+02] [ 2.69092192e-03 1.02754697e-04 9.99996374e-01 6.44263267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.364012739 meters Centerline goodness : 0.992123 Centerline is valid? [True, True] Translation: X:187.26, Y:122.66, Z:0.64 [[-9.98666151e-01 -5.15622757e-02 2.69260850e-03 1.87257188e+02] [ 5.15623592e-02 -9.98669776e-01 -3.84449900e-05 1.22664090e+02] [ 2.69100904e-03 1.00443537e-04 9.99996374e-01 6.44124789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.394012739 meters Centerline goodness : 0.991479 Centerline is valid? [True, True] Translation: X:187.26, Y:122.66, Z:0.64 [[-9.98899826e-01 -4.68175971e-02 2.69259975e-03 1.87257250e+02] [ 4.68176617e-02 -9.98903451e-01 -3.90485584e-05 1.22656081e+02] [ 2.69147534e-03 8.70556260e-05 9.99996374e-01 6.40204883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.424012739 meters Centerline goodness : 0.991230 Centerline is valid? [True, True] Translation: X:187.25, Y:122.65, Z:0.64 [[-9.99057147e-01 -4.33308943e-02 2.69261394e-03 1.87252602e+02] [ 4.33309490e-02 -9.99060773e-01 -3.80442646e-05 1.22654571e+02] [ 2.69173345e-03 7.86651228e-05 9.99996374e-01 6.38535297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.454012739 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:187.23, Y:122.65, Z:0.64 [[-9.99357242e-01 -3.57470532e-02 2.69262780e-03 1.87226693e+02] [ 3.57470831e-02 -9.99360868e-01 -3.70363756e-05 1.22652699e+02] [ 2.69223080e-03 5.92410196e-05 9.99996374e-01 6.40619120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.484012739 meters Centerline goodness : 0.991487 Centerline is valid? [True, True] Translation: X:187.23, Y:122.65, Z:0.64 [[-9.99491389e-01 -3.17759822e-02 2.69264145e-03 1.87230147e+02] [ 3.17760004e-02 -9.99495015e-01 -3.60157117e-05 1.22651065e+02] [ 2.69242614e-03 4.95639822e-05 9.99996374e-01 6.41584094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.514012739 meters Centerline goodness : 0.990940 Centerline is valid? [True, True] Translation: X:187.23, Y:122.65, Z:0.64 [[-9.99593274e-01 -2.83907683e-02 2.69265485e-03 1.87234089e+02] [ 2.83907771e-02 -9.99596900e-01 -3.49846873e-05 1.22649807e+02] [ 2.69256268e-03 4.14761055e-05 9.99996374e-01 6.41116242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.544012739 meters Centerline goodness : 0.991072 Centerline is valid? [True, True] Translation: X:187.24, Y:122.65, Z:0.64 [[-9.99681307e-01 -2.51004743e-02 2.69266784e-03 1.87242059e+02] [ 2.51004739e-02 -9.99684933e-01 -3.39546921e-05 1.22647742e+02] [ 2.69267175e-03 3.36433679e-05 9.99996374e-01 6.39822694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.574012739 meters Centerline goodness : 0.990980 Centerline is valid? [True, True] Translation: X:187.22, Y:122.65, Z:0.64 [[-9.99689836e-01 -2.47584686e-02 2.69268040e-03 1.87224748e+02] [ 2.47584697e-02 -9.99693462e-01 -3.29274143e-05 1.22646246e+02] [ 2.69267022e-03 3.37494448e-05 9.99996374e-01 6.41374234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.604012739 meters Centerline goodness : 0.991300 Centerline is valid? [True, True] Translation: X:187.26, Y:122.64, Z:0.64 [[-9.99675543e-01 -2.53289914e-02 2.69269264e-03 1.87261641e+02] [ 2.53289973e-02 -9.99679169e-01 -3.18944869e-05 1.22641869e+02] [ 2.69263659e-03 3.63190661e-05 9.99996374e-01 6.43347036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.634012739 meters Centerline goodness : 0.991572 Centerline is valid? [True, True] Translation: X:187.25, Y:122.64, Z:0.64 [[-9.99695941e-01 -2.45107093e-02 2.69270441e-03 1.87251446e+02] [ 2.45107151e-02 -9.99699567e-01 -3.08671998e-05 1.22640650e+02] [ 2.69265201e-03 3.51422962e-05 9.99996374e-01 6.44648628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.664012739 meters Centerline goodness : 0.991168 Centerline is valid? [True, True] Translation: X:187.26, Y:122.64, Z:0.65 [[-9.99738927e-01 -2.26897936e-02 2.69271571e-03 1.87262831e+02] [ 2.26897955e-02 -9.99742553e-01 -2.98476775e-05 1.22640220e+02] [ 2.69269972e-03 3.12572838e-05 9.99996374e-01 6.45276223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.694012739 meters Centerline goodness : 0.991048 Centerline is valid? [True, True] Translation: X:187.29, Y:122.64, Z:0.65 [[-9.99860466e-01 -1.64863039e-02 2.69272664e-03 1.87289526e+02] [ 1.64862860e-02 -9.99864092e-01 -2.88269813e-05 1.22641733e+02] [ 2.69283593e-03 1.55701026e-05 9.99996374e-01 6.45912476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.724012739 meters Centerline goodness : 0.991829 Centerline is valid? [True, True] Translation: X:187.28, Y:122.64, Z:0.65 [[-9.99925485e-01 -1.19068453e-02 2.69273706e-03 1.87283910e+02] [ 1.19068136e-02 -9.99929111e-01 -2.78180609e-05 1.22643471e+02] [ 2.69287740e-03 4.24593013e-06 9.99996374e-01 6.45383683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.754012739 meters Centerline goodness : 0.991524 Centerline is valid? [True, True] Translation: X:187.33, Y:122.65, Z:0.64 [[-9.99988372e-01 -4.00056893e-03 2.69274705e-03 1.87332005e+02] [ 4.00051123e-03 -9.99991998e-01 -2.68148499e-05 1.22646900e+02] [ 2.69283278e-03 -1.60421733e-05 9.99996374e-01 6.44390911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.784012739 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:187.33, Y:122.65, Z:0.64 [[-9.99996070e-01 -7.81112592e-04 2.69274329e-03 1.87327848e+02] [ 7.81042220e-04 -9.99999695e-01 -2.71874572e-05 1.22648228e+02] [ 2.69276370e-03 -2.50842042e-05 9.99996374e-01 6.44137803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.814012739 meters Centerline goodness : 0.992090 Centerline is valid? [True, True] Translation: X:187.34, Y:122.65, Z:0.64 [[-9.99995412e-01 1.38715171e-03 2.69275276e-03 1.87335275e+02] [-1.38722732e-03 -9.99999038e-01 -2.62143080e-05 1.22649352e+02] [ 2.69271381e-03 -2.99496480e-05 9.99996374e-01 6.44564457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.844012739 meters Centerline goodness : 0.991618 Centerline is valid? [True, True] Translation: X:187.35, Y:122.65, Z:0.65 [[-9.99992965e-01 2.61142484e-03 2.69276189e-03 1.87348404e+02] [-2.61150227e-03 -9.99996590e-01 -2.52405402e-05 1.22652358e+02] [ 2.69268680e-03 -3.22725164e-05 9.99996374e-01 6.45426541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.874012739 meters Centerline goodness : 0.991857 Centerline is valid? [True, True] Translation: X:187.35, Y:122.65, Z:0.64 [[-9.99992333e-01 2.84305518e-03 2.69277062e-03 1.87351905e+02] [-2.84313084e-03 -9.99995958e-01 -2.42717875e-05 1.22654375e+02] [ 2.69269073e-03 -3.19275006e-05 9.99996374e-01 6.44615085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.904012739 meters Centerline goodness : 0.991436 Centerline is valid? [True, True] Translation: X:187.35, Y:122.66, Z:0.64 [[-9.99989312e-01 3.75825389e-03 2.69277897e-03 1.87352651e+02] [-3.75833027e-03 -9.99992937e-01 -2.33069536e-05 1.22658678e+02] [ 2.69267236e-03 -3.34270573e-05 9.99996374e-01 6.38893606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.934012739 meters Centerline goodness : 0.991230 Centerline is valid? [True, True] Translation: X:187.35, Y:122.66, Z:0.64 [[-9.99983357e-01 5.10241606e-03 2.69278698e-03 1.87348513e+02] [-5.10249471e-03 -9.99986982e-01 -2.23418145e-05 1.22661195e+02] [ 2.69263793e-03 -3.60813740e-05 9.99996374e-01 6.37636977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.964012739 meters Centerline goodness : 0.991711 Centerline is valid? [True, True] Translation: X:187.34, Y:122.66, Z:0.64 [[-9.99974443e-01 6.62292633e-03 2.69279467e-03 1.87339778e+02] [-6.62300789e-03 -9.99978067e-01 -2.13736623e-05 1.22664135e+02] [ 2.69259405e-03 -3.92075163e-05 9.99996374e-01 6.37053886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.994012739 meters Centerline goodness : 0.992343 Centerline is valid? [True, True] Translation: X:187.35, Y:122.67, Z:0.64 [[-9.99954515e-01 9.14970856e-03 2.69280205e-03 1.87349988e+02] [-9.14979666e-03 -9.99958140e-01 -2.03995719e-05 1.22669694e+02] [ 2.69250267e-03 -4.50372352e-05 9.99996374e-01 6.38802556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.024012739 meters Centerline goodness : 0.991933 Centerline is valid? [True, True] Translation: X:187.36, Y:122.67, Z:0.64 [[-9.99945836e-01 1.00535519e-02 2.69280908e-03 1.87359527e+02] [-1.00536406e-02 -9.99949461e-01 -1.94244115e-05 1.22672356e+02] [ 2.69247770e-03 -4.64958941e-05 9.99996374e-01 6.39211162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.05401273900003 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:187.34, Y:122.68, Z:0.64 [[-9.99950695e-01 9.55801537e-03 2.69281573e-03 1.87344012e+02] [-9.55809971e-03 -9.99954320e-01 -1.84539755e-05 1.22678903e+02] [ 2.69251634e-03 -4.41912670e-05 9.99996374e-01 6.36918986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.084012739 meters Centerline goodness : 0.991753 Centerline is valid? [True, True] Translation: X:187.34, Y:122.68, Z:0.64 [[-9.99955225e-01 9.07176871e-03 2.69282205e-03 1.87337222e+02] [-9.07184866e-03 -9.99958850e-01 -1.74798779e-05 1.22681734e+02] [ 2.69255267e-03 -4.19079694e-05 9.99996374e-01 6.35387725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.114012739 meters Centerline goodness : 0.991793 Centerline is valid? [True, True] Translation: X:187.36, Y:122.68, Z:0.64 [[-9.99961441e-01 8.35852875e-03 2.69282808e-03 1.87356177e+02] [-8.35860347e-03 -9.99965066e-01 -1.64965200e-05 1.22684401e+02] [ 2.69259612e-03 -3.90041661e-05 9.99996374e-01 6.36236380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.144012739 meters Centerline goodness : 0.991703 Centerline is valid? [True, True] Translation: X:187.29, Y:122.69, Z:0.64 [[-9.99971377e-01 7.07059829e-03 2.69283373e-03 1.87286100e+02] [-7.07066570e-03 -9.99975002e-01 -1.55156412e-05 1.22690278e+02] [ 2.69265671e-03 -3.45553242e-05 9.99996374e-01 6.40820164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.174012739 meters Centerline goodness : 0.991774 Centerline is valid? [True, True] Translation: X:187.32, Y:122.69, Z:0.64 [[-9.99980242e-01 5.68011401e-03 2.69284485e-03 1.87318519e+02] [-5.68017087e-03 -9.99983868e-01 -1.34708445e-05 1.22692977e+02] [ 2.69272489e-03 -2.87663972e-05 9.99996374e-01 6.39250333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.204012739 meters Centerline goodness : 0.991675 Centerline is valid? [True, True] Translation: X:187.34, Y:122.70, Z:0.64 [[-9.99989619e-01 3.67580407e-03 2.69284055e-03 1.87336363e+02] [-3.67585585e-03 -9.99993244e-01 -1.42817105e-05 1.22697867e+02] [ 2.69276986e-03 -2.41800559e-05 9.99996374e-01 6.37864035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.234012739 meters Centerline goodness : 0.990019 Centerline is valid? [True, True] Translation: X:187.33, Y:122.70, Z:0.65 [[-9.99993743e-01 2.29413919e-03 2.69284547e-03 1.87326801e+02] [-2.29418327e-03 -9.99997368e-01 -1.32826681e-05 1.22700529e+02] [ 2.69280792e-03 -1.94604660e-05 9.99996374e-01 6.46116540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.264012739 meters Centerline goodness : 0.991698 Centerline is valid? [True, True] Translation: X:187.34, Y:122.70, Z:0.64 [[-9.99995910e-01 9.63521402e-04 2.69285003e-03 1.87336627e+02] [-9.63557970e-04 -9.99999536e-01 -1.22847444e-05 1.22702738e+02] [ 2.69283694e-03 -1.48794113e-05 9.99996374e-01 6.37654723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.294012739 meters Centerline goodness : 0.992606 Centerline is valid? [True, True] Translation: X:187.32, Y:122.71, Z:0.64 [[-9.99993193e-01 -2.52258292e-03 2.69285422e-03 1.87320434e+02] [ 2.52256169e-03 -9.99996818e-01 -1.12850503e-05 1.22707596e+02] [ 2.69287412e-03 -4.49208259e-06 9.99996374e-01 6.41521382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.324012739 meters Centerline goodness : 0.992999 Centerline is valid? [True, True] Translation: X:187.33, Y:122.71, Z:0.64 [[-9.99988955e-01 -3.85206638e-03 2.69285805e-03 1.87325919e+02] [ 3.85205266e-03 -9.99992581e-01 -1.02814710e-05 1.22709372e+02] [ 2.69287767e-03 9.16735515e-08 9.99996374e-01 6.44784667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.354012739 meters Centerline goodness : 0.992774 Centerline is valid? [True, True] Translation: X:187.33, Y:122.71, Z:0.65 [[-9.99981690e-01 -5.41930639e-03 2.69286152e-03 1.87325319e+02] [ 5.41930108e-03 -9.99985316e-01 -9.27217338e-06 1.22712505e+02] [ 2.69287223e-03 5.32142374e-06 9.99996374e-01 6.49964203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.384012739 meters Centerline goodness : 0.993258 Centerline is valid? [True, True] Translation: X:187.32, Y:122.71, Z:0.65 [[-9.99979844e-01 -5.74980403e-03 2.69286462e-03 1.87317417e+02] [ 5.74980263e-03 -9.99983470e-01 -8.26287462e-06 1.22713740e+02] [ 2.69286762e-03 7.22073199e-06 9.99996374e-01 6.49951266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.414012739 meters Centerline goodness : 0.992698 Centerline is valid? [True, True] Translation: X:187.32, Y:122.71, Z:0.65 [[-9.99978480e-01 -5.98236452e-03 2.69286735e-03 1.87315674e+02] [ 5.98236669e-03 -9.99982106e-01 -7.24846086e-06 1.22714434e+02] [ 2.69286253e-03 8.86141507e-06 9.99996374e-01 6.48947473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.444012739 meters Centerline goodness : 0.992700 Centerline is valid? [True, True] Translation: X:187.32, Y:122.71, Z:0.64 [[-9.99977176e-01 -6.19637430e-03 2.69286971e-03 1.87317287e+02] [ 6.19638000e-03 -9.99980802e-01 -6.22888017e-06 1.22714458e+02] [ 2.69285661e-03 1.04573060e-05 9.99996374e-01 6.44068849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.474012739 meters Centerline goodness : 0.992394 Centerline is valid? [True, True] Translation: X:187.32, Y:122.71, Z:0.64 [[-9.99983771e-01 -5.02049459e-03 2.69287168e-03 1.87317351e+02] [ 5.02049878e-03 -9.99987397e-01 -5.20711330e-06 1.22714180e+02] [ 2.69286389e-03 8.31253019e-06 9.99996374e-01 6.42807332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.504012739 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:187.32, Y:122.72, Z:0.64 [[-9.99996272e-01 -4.52557256e-04 2.69287327e-03 1.87323428e+02] [ 4.52547635e-04 -9.99999898e-01 -4.18417108e-06 1.22715185e+02] [ 2.69287489e-03 -2.96550206e-06 9.99996374e-01 6.43933322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.534012739 meters Centerline goodness : 0.992883 Centerline is valid? [True, True] Translation: X:187.35, Y:122.72, Z:0.64 [[-9.99993147e-01 2.54052338e-03 2.69287447e-03 1.87349503e+02] [-2.54054110e-03 -9.99996773e-01 -3.16156799e-06 1.22716708e+02] [ 2.69285775e-03 -1.00029046e-05 9.99996374e-01 6.43569192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.564012739 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:187.35, Y:122.72, Z:0.64 [[-9.99980449e-01 5.64359029e-03 2.69287528e-03 1.87353901e+02] [-5.64361653e-03 -9.99984075e-01 -2.14897265e-06 1.22718416e+02] [ 2.69282027e-03 -1.73464861e-05 9.99996374e-01 6.42255442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.594012739 meters Centerline goodness : 0.992945 Centerline is valid? [True, True] Translation: X:187.35, Y:122.72, Z:0.64 [[-9.99940523e-01 1.05687673e-02 2.69287571e-03 1.87352151e+02] [-1.05688087e-02 -9.99944149e-01 -1.14571369e-06 1.22720596e+02] [ 2.69271320e-03 -2.96061338e-05 9.99996374e-01 6.39254063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.624012739 meters Centerline goodness : 0.992815 Centerline is valid? [True, True] Translation: X:187.36, Y:122.72, Z:0.64 [[-9.99917698e-01 1.25437862e-02 2.69287576e-03 1.87355888e+02] [-1.25438321e-02 -9.99921323e-01 -1.41322216e-07 1.22721641e+02] [ 2.69266212e-03 -3.39202920e-05 9.99996374e-01 6.39859017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.654012739 meters Centerline goodness : 0.992735 Centerline is valid? [True, True] Translation: X:187.38, Y:122.72, Z:0.64 [[-9.99911717e-01 1.30117940e-02 2.69287492e-03 1.87381483e+02] [-1.30118322e-02 -9.99915343e-01 3.32904225e-06 1.22724905e+02] [ 2.69269026e-03 -3.17104882e-05 9.99996374e-01 6.37533705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.684012739 meters Centerline goodness : 0.992051 Centerline is valid? [True, True] Translation: X:187.35, Y:122.73, Z:0.64 [[-9.99911523e-01 1.30266780e-02 2.69287585e-03 1.87354908e+02] [-1.30267222e-02 -9.99915149e-01 1.14338897e-06 1.22726979e+02] [ 2.69266225e-03 -3.39360578e-05 9.99996374e-01 6.35722926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.714012739 meters Centerline goodness : 0.992442 Centerline is valid? [True, True] Translation: X:187.37, Y:122.73, Z:0.63 [[-9.99923730e-01 1.20532959e-02 2.69287505e-03 1.87371996e+02] [-1.20533339e-02 -9.99927356e-01 2.14164531e-06 1.22729358e+02] [ 2.69270525e-03 -3.03166401e-05 9.99996374e-01 6.32482850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.744012739 meters Centerline goodness : 0.992485 Centerline is valid? [True, True] Translation: X:187.37, Y:122.73, Z:0.63 [[-9.99924070e-01 1.20250634e-02 2.69287388e-03 1.87366204e+02] [-1.20250985e-02 -9.99927696e-01 3.14490358e-06 1.22730474e+02] [ 2.69271699e-03 -2.92374089e-05 9.99996374e-01 6.32153268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.774012739 meters Centerline goodness : 0.992642 Centerline is valid? [True, True] Translation: X:187.38, Y:122.73, Z:0.63 [[-9.99925302e-01 1.19222000e-02 2.69287234e-03 1.87379494e+02] [-1.19222320e-02 -9.99928928e-01 4.14605423e-06 1.22732034e+02] [ 2.69273038e-03 -2.79593043e-05 9.99996374e-01 6.30775152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.80401273900003 meters Centerline goodness : 0.992128 Centerline is valid? [True, True] Translation: X:187.37, Y:122.73, Z:0.63 [[-9.99944048e-01 1.02298135e-02 2.69287043e-03 1.87369086e+02] [-1.02298367e-02 -9.99947674e-01 5.14607899e-06 1.22734355e+02] [ 2.69278216e-03 -2.24018337e-05 9.99996374e-01 6.32137232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.834012739 meters Centerline goodness : 0.992195 Centerline is valid? [True, True] Translation: X:187.37, Y:122.73, Z:0.63 [[-9.99956421e-01 8.93897763e-03 2.69286814e-03 1.87365083e+02] [-8.93899348e-03 -9.99960046e-01 6.14722808e-06 1.22734144e+02] [ 2.69281550e-03 -1.79245706e-05 9.99996374e-01 6.33698067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.864012739 meters Centerline goodness : 0.992904 Centerline is valid? [True, True] Translation: X:187.35, Y:122.73, Z:0.64 [[-9.99986031e-01 4.54814617e-03 2.69286547e-03 1.87352672e+02] [-4.54814338e-03 -9.99989657e-01 7.15520604e-06 1.22733261e+02] [ 2.69287016e-03 -5.09243217e-06 9.99996374e-01 6.39805722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.894012739 meters Centerline goodness : 0.993305 Centerline is valid? [True, True] Translation: X:187.33, Y:122.73, Z:0.64 [[-9.99994359e-01 2.00772441e-03 2.69286281e-03 1.87332208e+02] [-2.00771002e-03 -9.99997985e-01 8.04292973e-06 1.22732741e+02] [ 2.69287353e-03 2.63639668e-06 9.99996374e-01 6.43161441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.924012739 meters Centerline goodness : 0.993028 Centerline is valid? [True, True] Translation: X:187.35, Y:122.73, Z:0.64 [[-9.99985330e-01 -4.69974907e-03 2.69285935e-03 1.87354521e+02] [ 4.69979055e-03 -9.99988956e-01 9.07215069e-06 1.22730249e+02] [ 2.69278697e-03 2.17278925e-05 9.99996374e-01 6.44228634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.954012739 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:187.36, Y:122.73, Z:0.64 [[-9.99966347e-01 -7.74943981e-03 2.69285799e-03 1.87359374e+02] [ 7.74949338e-03 -9.99969972e-01 9.45734844e-06 1.22728061e+02] [ 2.69270384e-03 3.03253153e-05 9.99996374e-01 6.42833092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.984012739 meters Centerline goodness : 0.993336 Centerline is valid? [True, True] Translation: X:187.36, Y:122.73, Z:0.64 [[-9.99969213e-01 -7.37026828e-03 2.69285402e-03 1.87361887e+02] [ 7.37032323e-03 -9.99972839e-01 1.04794476e-05 1.22728145e+02] [ 2.69270364e-03 3.03263295e-05 9.99996374e-01 6.42826316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.014012739 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:187.36, Y:122.73, Z:0.64 [[-9.99942339e-01 -1.03955406e-02 2.69284966e-03 1.87358519e+02] [ 1.03956093e-02 -9.99945964e-01 1.15005288e-05 1.22726496e+02] [ 2.69258459e-03 3.94936785e-05 9.99996374e-01 6.39918867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.044012739 meters Centerline goodness : 0.992611 Centerline is valid? [True, True] Translation: X:187.38, Y:122.72, Z:0.64 [[-9.99870476e-01 -1.58675912e-02 2.69284490e-03 1.87384587e+02] [ 1.58676824e-02 -9.99874100e-01 1.25238000e-05 1.22723083e+02] [ 2.69230715e-03 5.52513855e-05 9.99996374e-01 6.37045386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.074012739 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:187.38, Y:122.72, Z:0.64 [[-9.99834582e-01 -1.79876833e-02 2.69283978e-03 1.87383435e+02] [ 1.79877850e-02 -9.99838207e-01 1.35408574e-05 1.22721082e+02] [ 2.69216053e-03 6.19768405e-05 9.99996374e-01 6.36403593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.104012739 meters Centerline goodness : 0.993763 Centerline is valid? [True, True] Translation: X:187.40, Y:122.72, Z:0.64 [[-9.99780474e-01 -2.07786785e-02 2.69283433e-03 1.87403909e+02] [ 2.07787930e-02 -9.99784098e-01 1.45506285e-05 1.22716329e+02] [ 2.69195059e-03 7.05012813e-05 9.99996374e-01 6.40986936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.134012739 meters Centerline goodness : 0.993981 Centerline is valid? [True, True] Translation: X:187.40, Y:122.71, Z:0.64 [[-9.99775854e-01 -2.09997926e-02 2.69282852e-03 1.87395152e+02] [ 2.09999107e-02 -9.99779478e-01 1.55553300e-05 1.22713573e+02] [ 2.69190803e-03 7.21010016e-05 9.99996374e-01 6.42395884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.164012739 meters Centerline goodness : 0.993882 Centerline is valid? [True, True] Translation: X:187.39, Y:122.71, Z:0.64 [[-9.99792346e-01 -2.01993496e-02 2.69282236e-03 1.87392116e+02] [ 2.01994675e-02 -9.99795970e-01 1.65574391e-05 1.22710025e+02] [ 2.69193849e-03 7.09475786e-05 9.99996374e-01 6.43066692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.194012739 meters Centerline goodness : 0.993707 Centerline is valid? [True, True] Translation: X:187.41, Y:122.70, Z:0.64 [[-9.99851585e-01 -1.70163650e-02 2.69281578e-03 1.87413374e+02] [ 1.70164740e-02 -9.99855209e-01 1.75657285e-05 1.22703826e+02] [ 2.69212698e-03 6.33853512e-05 9.99996374e-01 6.41228842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.224012739 meters Centerline goodness : 0.993429 Centerline is valid? [True, True] Translation: X:187.38, Y:122.70, Z:0.64 [[-9.99886022e-01 -1.48556692e-02 2.69280886e-03 1.87383838e+02] [ 1.48557730e-02 -9.99889647e-01 1.85692894e-05 1.22700871e+02] [ 2.69223584e-03 5.85709301e-05 9.99996374e-01 6.40741154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.254012739 meters Centerline goodness : 0.993791 Centerline is valid? [True, True] Translation: X:187.38, Y:122.69, Z:0.64 [[-9.99933808e-01 -1.11860593e-02 2.69280153e-03 1.87383916e+02] [ 1.11861525e-02 -9.99937433e-01 1.95775734e-05 1.22694457e+02] [ 2.69241406e-03 4.96983662e-05 9.99996374e-01 6.39615684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.284012739 meters Centerline goodness : 0.993736 Centerline is valid? [True, True] Translation: X:187.38, Y:122.69, Z:0.64 [[-9.99954553e-01 -9.14550970e-03 2.69279372e-03 1.87381079e+02] [ 9.14559833e-03 -9.99958178e-01 2.05986333e-05 1.22690230e+02] [ 2.69249272e-03 4.52249069e-05 9.99996374e-01 6.39825843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.314012739 meters Centerline goodness : 0.993251 Centerline is valid? [True, True] Translation: X:187.38, Y:122.69, Z:0.64 [[-9.99972018e-01 -6.97937396e-03 2.69278550e-03 1.87380580e+02] [ 6.97945749e-03 -9.99975643e-01 2.16225622e-05 1.22685970e+02] [ 2.69256900e-03 4.04161391e-05 9.99996374e-01 6.41406631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.344012739 meters Centerline goodness : 0.993942 Centerline is valid? [True, True] Translation: X:187.39, Y:122.68, Z:0.64 [[-9.99991712e-01 -3.05369685e-03 2.69277686e-03 1.87390329e+02] [ 3.05376892e-03 -9.99995337e-01 2.26495343e-05 1.22678566e+02] [ 2.69269514e-03 3.08724649e-05 9.99996374e-01 6.43615437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.374012739 meters Centerline goodness : 0.993269 Centerline is valid? [True, True] Translation: X:187.40, Y:122.67, Z:0.64 [[-9.99993165e-01 2.53357112e-03 2.69276785e-03 1.87404815e+02] [-2.53351655e-03 -9.99996790e-01 2.36749775e-05 1.22672544e+02] [ 2.69281919e-03 1.68526438e-05 9.99996374e-01 6.38706862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.404012739 meters Centerline goodness : 0.993252 Centerline is valid? [True, True] Translation: X:187.43, Y:122.67, Z:0.64 [[-9.99979994e-01 5.72371665e-03 2.69275851e-03 1.87427564e+02] [-5.72367090e-03 -9.99983619e-01 2.46933492e-05 1.22669925e+02] [ 2.69285574e-03 9.28039168e-06 9.99996374e-01 6.37150166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.434012739 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:187.43, Y:122.67, Z:0.64 [[-9.99956597e-01 8.91922138e-03 2.69274890e-03 1.87426614e+02] [-8.91918450e-03 -9.99960223e-01 2.57001430e-05 1.22666758e+02] [ 2.69287101e-03 1.68190326e-06 9.99996374e-01 6.38321485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.464012739 meters Centerline goodness : 0.993391 Centerline is valid? [True, True] Translation: X:187.45, Y:122.66, Z:0.64 [[-9.99927522e-01 1.17345444e-02 2.69273897e-03 1.87453864e+02] [-1.17345151e-02 -9.99931148e-01 2.67009188e-05 1.22663447e+02] [ 2.69286690e-03 -4.89900253e-06 9.99996374e-01 6.39988090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.494012739 meters Centerline goodness : 0.993827 Centerline is valid? [True, True] Translation: X:187.47, Y:122.66, Z:0.64 [[-9.99873925e-01 1.56487364e-02 2.69272876e-03 1.87468496e+02] [-1.56487185e-02 -9.99877551e-01 2.76941684e-05 1.22658223e+02] [ 2.69283242e-03 -1.44470775e-05 9.99996374e-01 6.42756987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.524012739 meters Centerline goodness : 0.994040 Centerline is valid? [True, True] Translation: X:187.48, Y:122.66, Z:0.64 [[-9.99840814e-01 1.76378908e-02 2.69271832e-03 1.87475087e+02] [-1.76378775e-02 -9.99844440e-01 2.86746929e-05 1.22656635e+02] [ 2.69280520e-03 -1.88237076e-05 9.99996374e-01 6.43167972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.55401273900003 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:187.47, Y:122.65, Z:0.64 [[-9.99764887e-01 2.15155879e-02 2.69270758e-03 1.87472314e+02] [-2.15155861e-02 -9.99768513e-01 2.96498165e-05 1.22652862e+02] [ 2.69272219e-03 -2.82923363e-05 9.99996374e-01 6.42308042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.584012739 meters Centerline goodness : 0.994185 Centerline is valid? [True, True] Translation: X:187.49, Y:122.65, Z:0.64 [[-9.99696601e-01 2.44837628e-02 2.69269649e-03 1.87490297e+02] [-2.44837691e-02 -9.99700227e-01 3.06252451e-05 1.22650822e+02] [ 2.69263911e-03 -3.53114057e-05 9.99996374e-01 6.41380188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.614012739 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:187.49, Y:122.65, Z:0.64 [[-9.99610473e-01 2.77786135e-02 2.69268508e-03 1.87490735e+02] [-2.77786291e-02 -9.99614099e-01 3.15973066e-05 1.22649366e+02] [ 2.69252370e-03 -4.32141015e-05 9.99996374e-01 6.41074887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.644012739 meters Centerline goodness : 0.994105 Centerline is valid? [True, True] Translation: X:187.54, Y:122.65, Z:0.64 [[-9.99355387e-01 3.57988751e-02 2.69267338e-03 1.87536471e+02] [-3.57989172e-02 -9.99359013e-01 3.25649709e-05 1.22650306e+02] [ 2.69211320e-03 -6.38508122e-05 9.99996374e-01 6.42456635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.674012739 meters Centerline goodness : 0.993930 Centerline is valid? [True, True] Translation: X:187.54, Y:122.65, Z:0.64 [[-9.99175371e-01 4.05133088e-02 2.69267624e-03 1.87537596e+02] [-4.05133687e-02 -9.99178996e-01 3.23264171e-05 1.22651248e+02] [ 2.69177519e-03 -7.67896255e-05 9.99996374e-01 6.42936054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.704012739 meters Centerline goodness : 0.993699 Centerline is valid? [True, True] Translation: X:187.55, Y:122.65, Z:0.64 [[-9.98880439e-01 4.72294140e-02 2.69266465e-03 1.87553900e+02] [-4.72294957e-02 -9.98884064e-01 3.32647993e-05 1.22652797e+02] [ 2.69123088e-03 -9.39456361e-05 9.99996374e-01 6.39902173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.734012739 meters Centerline goodness : 0.993604 Centerline is valid? [True, True] Translation: X:187.55, Y:122.65, Z:0.64 [[-9.98794108e-01 4.90212102e-02 2.69265278e-03 1.87551835e+02] [-4.90212959e-02 -9.98797733e-01 3.41992133e-05 1.22653208e+02] [ 2.69109198e-03 -9.78393560e-05 9.99996374e-01 6.38999568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.764012739 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:187.55, Y:122.65, Z:0.64 [[-9.98773194e-01 4.94454991e-02 2.69264063e-03 1.87545049e+02] [-4.94455838e-02 -9.98776818e-01 3.51308184e-05 1.22654078e+02] [ 2.69108410e-03 -9.80514681e-05 9.99996374e-01 6.38179147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.794012739 meters Centerline goodness : 0.993353 Centerline is valid? [True, True] Translation: X:187.57, Y:122.66, Z:0.64 [[-9.98751235e-01 4.98870716e-02 2.69262809e-03 1.87567480e+02] [-4.98871554e-02 -9.98754860e-01 3.60667747e-05 1.22655687e+02] [ 2.69107466e-03 -9.83058200e-05 9.99996374e-01 6.37736813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.824012739 meters Centerline goodness : 0.993095 Centerline is valid? [True, True] Translation: X:187.57, Y:122.66, Z:0.64 [[-9.98709574e-01 5.07142684e-02 2.69261527e-03 1.87571486e+02] [-5.07143527e-02 -9.98713199e-01 3.69996299e-05 1.22658206e+02] [ 2.69102682e-03 -9.96023559e-05 9.99996374e-01 6.35129891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.854012739 meters Centerline goodness : 0.992945 Centerline is valid? [True, True] Translation: X:187.58, Y:122.66, Z:0.64 [[-9.98664303e-01 5.15980547e-02 2.69260223e-03 1.87579300e+02] [-5.15981397e-02 -9.98667928e-01 3.79256628e-05 1.22660542e+02] [ 2.69097238e-03 -1.01058260e-04 9.99996374e-01 6.35164383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.884012739 meters Centerline goodness : 0.992467 Centerline is valid? [True, True] Translation: X:187.58, Y:122.66, Z:0.64 [[-9.98637452e-01 5.21151648e-02 2.69258890e-03 1.87584129e+02] [-5.21152492e-02 -9.98641076e-01 3.88496179e-05 1.22663542e+02] [ 2.69095453e-03 -1.01528258e-04 9.99996374e-01 6.35258106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.914012739 meters Centerline goodness : 0.993278 Centerline is valid? [True, True] Translation: X:187.57, Y:122.67, Z:0.64 [[-9.98618463e-01 5.24777670e-02 2.69257528e-03 1.87572087e+02] [-5.24778502e-02 -9.98622088e-01 3.97713777e-05 1.22669715e+02] [ 2.69095226e-03 -1.01584130e-04 9.99996374e-01 6.35916724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.944012739 meters Centerline goodness : 0.993372 Centerline is valid? [True, True] Translation: X:187.56, Y:122.67, Z:0.64 [[-9.98628248e-01 5.22912343e-02 2.69256129e-03 1.87562391e+02] [-5.22913143e-02 -9.98631873e-01 4.06968397e-05 1.22673006e+02] [ 2.69100561e-03 -1.00156555e-04 9.99996374e-01 6.35861410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.974012739 meters Centerline goodness : 0.992894 Centerline is valid? [True, True] Translation: X:187.55, Y:122.68, Z:0.64 [[-9.98627400e-01 5.23074224e-02 2.69254686e-03 1.87553700e+02] [-5.23075000e-02 -9.98631025e-01 4.16302369e-05 1.22676585e+02] [ 2.69103840e-03 -9.92672997e-05 9.99996374e-01 6.35997268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.004012739 meters Centerline goodness : 0.993142 Centerline is valid? [True, True] Translation: X:187.57, Y:122.69, Z:0.64 [[-9.98691955e-01 5.10600583e-02 2.69253198e-03 1.87573287e+02] [-5.10601289e-02 -9.98695580e-01 4.25711307e-05 1.22686255e+02] [ 2.69119348e-03 -9.49655843e-05 9.99996374e-01 6.36198363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.034012739 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:187.56, Y:122.69, Z:0.64 [[-9.98743145e-01 5.00487858e-02 2.69251681e-03 1.87560830e+02] [-5.00488501e-02 -9.98746770e-01 4.35101655e-05 1.22689766e+02] [ 2.69132010e-03 -9.13018908e-05 9.99996374e-01 6.37016976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.064012739 meters Centerline goodness : 0.993889 Centerline is valid? [True, True] Translation: X:187.56, Y:122.70, Z:0.64 [[-9.98893179e-01 4.69592061e-02 2.69250133e-03 1.87557470e+02] [-4.69592568e-02 -9.98896805e-01 4.44482049e-05 1.22696273e+02] [ 2.69161822e-03 -8.20388523e-05 9.99996374e-01 6.36472425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.094012739 meters Centerline goodness : 0.993572 Centerline is valid? [True, True] Translation: X:187.52, Y:122.70, Z:0.64 [[-9.98967305e-01 4.53549731e-02 2.69248540e-03 1.87517964e+02] [-4.53550154e-02 -9.98970931e-01 4.53928121e-05 1.22698993e+02] [ 2.69177344e-03 -7.67717815e-05 9.99996374e-01 6.36432867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.124012739 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:187.55, Y:122.70, Z:0.64 [[-9.99059669e-01 4.32727258e-02 2.69246887e-03 1.87551293e+02] [-4.32727579e-02 -9.99063294e-01 4.63529078e-05 1.22702612e+02] [ 2.69195264e-03 -7.02012329e-05 9.99996374e-01 6.37308890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.154012739 meters Centerline goodness : 0.994021 Centerline is valid? [True, True] Translation: X:187.50, Y:122.70, Z:0.64 [[-9.99213306e-01 3.95666535e-02 2.69247093e-03 1.87497441e+02] [-3.95666725e-02 -9.99216932e-01 4.62329191e-05 1.22704885e+02] [ 2.69219182e-03 -6.03355676e-05 9.99996374e-01 6.40263570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.184012739 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:187.52, Y:122.71, Z:0.64 [[-9.99259866e-01 3.83727824e-02 2.69245393e-03 1.87517759e+02] [-3.83727945e-02 -9.99263492e-01 4.72029189e-05 1.22706461e+02] [ 2.69228222e-03 -5.61489986e-05 9.99996374e-01 6.40463606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.214012739 meters Centerline goodness : 0.994257 Centerline is valid? [True, True] Translation: X:187.53, Y:122.71, Z:0.64 [[-9.99279066e-01 3.78694886e-02 2.69243634e-03 1.87525919e+02] [-3.78694961e-02 -9.99282692e-01 4.81856753e-05 1.22708040e+02] [ 2.69232980e-03 -5.38102708e-05 9.99996374e-01 6.40512104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.244012739 meters Centerline goodness : 0.993721 Centerline is valid? [True, True] Translation: X:187.52, Y:122.71, Z:0.64 [[-9.99290429e-01 3.75684671e-02 2.69241853e-03 1.87520924e+02] [-3.75684709e-02 -9.99294055e-01 4.91606943e-05 1.22709886e+02] [ 2.69236473e-03 -5.20242362e-05 9.99996374e-01 6.40670001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.274012739 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:187.52, Y:122.71, Z:0.64 [[-9.99317514e-01 3.68409847e-02 2.69240037e-03 1.87517429e+02] [-3.68409832e-02 -9.99321139e-01 5.01363245e-05 1.22712150e+02] [ 2.69241967e-03 -4.90885696e-05 9.99996374e-01 6.40530054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.30401273900003 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:187.54, Y:122.71, Z:0.64 [[-9.99343202e-01 3.61374531e-02 2.69238176e-03 1.87540295e+02] [-3.61374465e-02 -9.99346828e-01 5.11164144e-05 1.22712490e+02] [ 2.69247039e-03 -4.62129605e-05 9.99996374e-01 6.39937033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.334012739 meters Centerline goodness : 0.994044 Centerline is valid? [True, True] Translation: X:187.49, Y:122.71, Z:0.64 [[-9.99454500e-01 3.29158568e-02 2.69236289e-03 1.87489599e+02] [-3.29158359e-02 -9.99458126e-01 5.20917220e-05 1.22710447e+02] [ 2.69261861e-03 -3.65580689e-05 9.99996374e-01 6.36544017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.364012739 meters Centerline goodness : 0.994109 Centerline is valid? [True, True] Translation: X:187.50, Y:122.71, Z:0.64 [[-9.99497464e-01 3.15843439e-02 2.69234344e-03 1.87503987e+02] [-3.15843154e-02 -9.99501090e-01 5.30783437e-05 1.22710943e+02] [ 2.69267665e-03 -3.19841545e-05 9.99996374e-01 6.36584761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.394012739 meters Centerline goodness : 0.993675 Centerline is valid? [True, True] Translation: X:187.51, Y:122.71, Z:0.64 [[-9.99522031e-01 3.07970887e-02 2.69232333e-03 1.87510340e+02] [-3.07970547e-02 -9.99525657e-01 5.40792902e-05 1.22711389e+02] [ 2.69271173e-03 -2.88621870e-05 9.99996374e-01 6.38455107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.424012739 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:187.48, Y:122.71, Z:0.64 [[-9.99520723e-01 3.08395072e-02 2.69230297e-03 1.87481112e+02] [-3.08394707e-02 -9.99524349e-01 5.50746050e-05 1.22710946e+02] [ 2.69272085e-03 -2.79809897e-05 9.99996374e-01 6.39875847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.454012739 meters Centerline goodness : 0.994265 Centerline is valid? [True, True] Translation: X:187.50, Y:122.71, Z:0.64 [[-9.99476520e-01 3.22403102e-02 2.69228204e-03 1.87504553e+02] [-3.22402761e-02 -9.99480146e-01 5.60797583e-05 1.22712530e+02] [ 2.69269047e-03 -3.07495145e-05 9.99996374e-01 6.40072930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.484012739 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:187.50, Y:122.71, Z:0.64 [[-9.99414725e-01 3.41022011e-02 2.69226064e-03 1.87499161e+02] [-3.41021711e-02 -9.99418350e-01 5.70888307e-05 1.22714313e+02] [ 2.69264154e-03 -3.47565149e-05 9.99996374e-01 6.40028425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.514012739 meters Centerline goodness : 0.994283 Centerline is valid? [True, True] Translation: X:187.43, Y:122.72, Z:0.64 [[-9.99346023e-01 3.60593766e-02 2.69223896e-03 1.87429308e+02] [-3.60593509e-02 -9.99349649e-01 5.80933122e-05 1.22715738e+02] [ 2.69258287e-03 -3.90250692e-05 9.99996374e-01 6.41020762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.544012739 meters Centerline goodness : 0.994459 Centerline is valid? [True, True] Translation: X:187.51, Y:122.72, Z:0.64 [[-9.99308216e-01 3.70923408e-02 2.69217340e-03 1.87506465e+02] [-3.70923108e-02 -9.99311842e-01 6.10881725e-05 1.22721621e+02] [ 2.69258666e-03 -3.88130199e-05 9.99996374e-01 6.41875473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.574012739 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:187.53, Y:122.72, Z:0.64 [[-9.99293704e-01 3.74812578e-02 2.69223788e-03 1.87528930e+02] [-3.74812373e-02 -9.99297330e-01 5.81003528e-05 1.22724022e+02] [ 2.69252380e-03 -4.28490901e-05 9.99996374e-01 6.41309988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.604012739 meters Centerline goodness : 0.994077 Centerline is valid? [True, True] Translation: X:187.51, Y:122.73, Z:0.64 [[-9.99334611e-01 3.63742718e-02 2.69221604e-03 1.87511342e+02] [-3.63742446e-02 -9.99338237e-01 5.90951655e-05 1.22727314e+02] [ 2.69258398e-03 -3.88714805e-05 9.99996374e-01 6.37448288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.634012739 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:187.50, Y:122.73, Z:0.64 [[-9.99376632e-01 3.52008327e-02 2.69219384e-03 1.87501460e+02] [-3.52007985e-02 -9.99380258e-01 6.00899700e-05 1.22729610e+02] [ 2.69264059e-03 -3.47148610e-05 9.99996374e-01 6.36002233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.664012739 meters Centerline goodness : 0.993671 Centerline is valid? [True, True] Translation: X:187.50, Y:122.73, Z:0.64 [[-9.99423962e-01 3.38304217e-02 2.69217100e-03 1.87497654e+02] [-3.38303798e-02 -9.99427587e-01 6.10962188e-05 1.22732032e+02] [ 2.69269688e-03 -3.00161426e-05 9.99996374e-01 6.36008908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.694012739 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:187.53, Y:122.74, Z:0.64 [[-9.99527747e-01 3.06110246e-02 2.69214763e-03 1.87526958e+02] [-3.06109683e-02 -9.99531373e-01 6.21093605e-05 1.22736014e+02] [ 2.69278725e-03 -2.03292166e-05 9.99996374e-01 6.39264754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.724012739 meters Centerline goodness : 0.994847 Centerline is valid? [True, True] Translation: X:187.50, Y:122.74, Z:0.64 [[-9.99547453e-01 2.99606751e-02 2.69214473e-03 1.87500404e+02] [-2.99606161e-02 -9.99551078e-01 6.22346572e-05 1.22736288e+02] [ 2.69280076e-03 -1.84518219e-05 9.99996374e-01 6.41334148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.754012739 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:187.50, Y:122.74, Z:0.64 [[-9.99548969e-01 2.99100552e-02 2.69212112e-03 1.87498015e+02] [-2.99099933e-02 -9.99552594e-01 6.32397505e-05 1.22737489e+02] [ 2.69280816e-03 -1.73100975e-05 9.99996374e-01 6.43750341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.784012739 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:187.50, Y:122.74, Z:0.65 [[-9.99530746e-01 3.05129614e-02 2.69209684e-03 1.87503944e+02] [-3.05128990e-02 -9.99534371e-01 6.42571991e-05 1.22737418e+02] [ 2.69280400e-03 -1.79166327e-05 9.99996374e-01 6.51646014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.814012739 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:187.52, Y:122.74, Z:0.64 [[-9.99549451e-01 2.98939569e-02 2.69207215e-03 1.87519057e+02] [-2.98938895e-02 -9.99553076e-01 6.52753111e-05 1.22739614e+02] [ 2.69282034e-03 -1.52306061e-05 9.99996374e-01 6.44810522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.844012739 meters Centerline goodness : 0.995304 Centerline is valid? [True, True] Translation: X:187.50, Y:122.74, Z:0.65 [[-9.99565022e-01 2.93686877e-02 2.69206292e-03 1.87495994e+02] [-2.93686174e-02 -9.99568647e-01 6.56537155e-05 1.22739594e+02] [ 2.69282986e-03 -1.34370083e-05 9.99996374e-01 6.45053480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.874012739 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:187.50, Y:122.74, Z:0.64 [[-9.99628869e-01 2.71086034e-02 2.69203774e-03 1.87500653e+02] [-2.71085221e-02 -9.99632494e-01 6.66704700e-05 1.22740597e+02] [ 2.69285575e-03 -6.33143822e-06 9.99996374e-01 6.44342217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.904012739 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:187.50, Y:122.74, Z:0.64 [[-9.99618477e-01 2.74891486e-02 2.69201195e-03 1.87503160e+02] [-2.74890659e-02 -9.99622102e-01 6.76959667e-05 1.22740734e+02] [ 2.69285555e-03 -6.33075498e-06 9.99996374e-01 6.44335442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.934012739 meters Centerline goodness : 0.995834 Centerline is valid? [True, True] Translation: X:187.48, Y:122.74, Z:0.64 [[-9.99645551e-01 2.64863458e-02 2.69198579e-03 1.87481009e+02] [-2.64862568e-02 -9.99649175e-01 6.87207709e-05 1.22740531e+02] [ 2.69286154e-03 -2.60421399e-06 9.99996374e-01 6.43686672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.964012739 meters Centerline goodness : 0.995666 Centerline is valid? [True, True] Translation: X:187.49, Y:122.74, Z:0.64 [[-9.99683239e-01 2.50234769e-02 2.69195900e-03 1.87492302e+02] [-2.50233798e-02 -9.99686864e-01 6.97546173e-05 1.22741179e+02] [ 2.69286156e-03 2.37060929e-06 9.99996374e-01 6.41546409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.994012739 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:187.49, Y:122.74, Z:0.64 [[-9.99689271e-01 2.47813346e-02 2.69193166e-03 1.87493868e+02] [-2.47812338e-02 -9.99692896e-01 7.07945232e-05 1.22742254e+02] [ 2.69285933e-03 4.06313749e-06 9.99996374e-01 6.38744930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.024012739 meters Centerline goodness : 0.995810 Centerline is valid? [True, True] Translation: X:187.50, Y:122.74, Z:0.64 [[-9.99694769e-01 2.45585611e-02 2.69190399e-03 1.87504490e+02] [-2.45584567e-02 -9.99698393e-01 7.18312937e-05 1.22744156e+02] [ 2.69285617e-03 5.70036090e-06 9.99996374e-01 6.36228770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.05401273900003 meters Centerline goodness : 0.996052 Centerline is valid? [True, True] Translation: X:187.50, Y:122.75, Z:0.64 [[-9.99712657e-01 2.38192798e-02 2.69187600e-03 1.87503679e+02] [-2.38191700e-02 -9.99716281e-01 7.28654554e-05 1.22747697e+02] [ 2.69284786e-03 8.72626609e-06 9.99996374e-01 6.37231848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.084012739 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:187.51, Y:122.75, Z:0.64 [[-9.99712821e-01 2.38123980e-02 2.69184766e-03 1.87513076e+02] [-2.38122854e-02 -9.99716445e-01 7.38977125e-05 1.22748868e+02] [ 2.69284405e-03 9.77744606e-06 9.99996374e-01 6.39643839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.114012739 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:187.51, Y:122.75, Z:0.64 [[-9.99709677e-01 2.39440134e-02 2.69181897e-03 1.87510070e+02] [-2.39438985e-02 -9.99713301e-01 7.49284169e-05 1.22749763e+02] [ 2.69284131e-03 1.04540234e-05 9.99996374e-01 6.40335206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.144012739 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:187.50, Y:122.75, Z:0.64 [[-9.99698390e-01 2.44107102e-02 2.69178989e-03 1.87504101e+02] [-2.44105941e-02 -9.99702014e-01 7.59587653e-05 1.22753234e+02] [ 2.69284199e-03 1.02276648e-05 9.99996374e-01 6.37776105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.174012739 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:187.51, Y:122.76, Z:0.64 [[-9.99693577e-01 2.46070548e-02 2.69176027e-03 1.87508823e+02] [-2.46069366e-02 -9.99697201e-01 7.69944345e-05 1.22755407e+02] [ 2.69283981e-03 1.07348672e-05 9.99996374e-01 6.36213626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.204012739 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:187.52, Y:122.76, Z:0.63 [[-9.99754685e-01 2.19846344e-02 2.69173018e-03 1.87520678e+02] [-2.19845040e-02 -9.99758309e-01 7.80323480e-05 1.22757527e+02] [ 2.69279512e-03 1.88368527e-05 9.99996374e-01 6.34603821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.234012739 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:187.52, Y:122.76, Z:0.64 [[-9.99798413e-01 1.98969425e-02 2.69172269e-03 1.87520099e+02] [-1.98968038e-02 -9.99802036e-01 7.82899269e-05 1.22757893e+02] [ 2.69274755e-03 2.47174664e-05 9.99996374e-01 6.35962630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.264012739 meters Centerline goodness : 0.996440 Centerline is valid? [True, True] Translation: X:187.53, Y:122.76, Z:0.64 [[-9.99851742e-01 1.70073383e-02 2.69169233e-03 1.87534640e+02] [-1.70071864e-02 -9.99855364e-01 7.93202379e-05 1.22758690e+02] [ 2.69265204e-03 3.35303649e-05 9.99996374e-01 6.39384439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.294012739 meters Centerline goodness : 0.996866 Centerline is valid? [True, True] Translation: X:187.56, Y:122.76, Z:0.64 [[-9.99946861e-01 9.95134298e-03 2.69168476e-03 1.87560426e+02] [-9.95116481e-03 -9.99950483e-01 7.95761215e-05 1.22758075e+02] [ 2.69234337e-03 5.27864943e-05 9.99996374e-01 6.41235268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.324012739 meters Centerline goodness : 0.996913 Centerline is valid? [True, True] Translation: X:187.56, Y:122.76, Z:0.64 [[-9.99976948e-01 6.23364415e-03 2.69167728e-03 1.87560788e+02] [-6.23345183e-03 -9.99980569e-01 7.98285136e-05 1.22755617e+02] [ 2.69212260e-03 6.30482327e-05 9.99996374e-01 6.41170406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.354012739 meters Centerline goodness : 0.996189 Centerline is valid? [True, True] Translation: X:187.59, Y:122.75, Z:0.64 [[-9.99994427e-01 1.97531864e-03 2.69164710e-03 1.87591886e+02] [-1.97510821e-03 -9.99998046e-01 8.08334299e-05 1.22753325e+02] [ 2.69180151e-03 7.55166850e-05 9.99996374e-01 6.39436352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.384012739 meters Centerline goodness : 0.996344 Centerline is valid? [True, True] Translation: X:187.58, Y:122.75, Z:0.64 [[-9.99995479e-01 -1.34078601e-03 2.69165081e-03 1.87582649e+02] [ 1.34100811e-03 -9.99999098e-01 8.07094680e-05 1.22751026e+02] [ 2.69154017e-03 8.43186287e-05 9.99996374e-01 6.38531429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.414012739 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:187.61, Y:122.75, Z:0.64 [[-9.99980926e-01 -5.55909206e-03 2.69162084e-03 1.87610914e+02] [ 5.55933208e-03 -9.99984544e-01 8.16970906e-05 1.22749792e+02] [ 2.69112507e-03 9.66591463e-05 9.99996374e-01 6.40153123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.444012739 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:187.61, Y:122.75, Z:0.64 [[-9.99980817e-01 -5.57852146e-03 2.69161338e-03 1.87607168e+02] [ 5.57876221e-03 -9.99984435e-01 8.19421194e-05 1.22748251e+02] [ 2.69111437e-03 9.69564185e-05 9.99996374e-01 6.40229055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.474012739 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:187.61, Y:122.74, Z:0.64 [[-9.99989494e-01 -3.71033126e-03 2.69158332e-03 1.87608365e+02] [ 3.71056788e-03 -9.99993112e-01 8.29177627e-05 1.22743693e+02] [ 2.69125713e-03 9.29041942e-05 9.99996374e-01 6.40541970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.504012739 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:187.60, Y:122.74, Z:0.64 [[-9.99993211e-01 -2.51648498e-03 2.69155283e-03 1.87604743e+02] [ 2.51671991e-03 -9.99996830e-01 8.38961616e-05 1.22741657e+02] [ 2.69133317e-03 9.06694766e-05 9.99996374e-01 6.41053530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.534012739 meters Centerline goodness : 0.996876 Centerline is valid? [True, True] Translation: X:187.60, Y:122.74, Z:0.64 [[-9.99995655e-01 -1.20269963e-03 2.69152190e-03 1.87602316e+02] [ 1.20293244e-03 -9.99999273e-01 8.48768749e-05 1.22739768e+02] [ 2.69141786e-03 8.81142250e-05 9.99996374e-01 6.41140342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.564012739 meters Centerline goodness : 0.996633 Centerline is valid? [True, True] Translation: X:187.61, Y:122.74, Z:0.64 [[-9.99995945e-01 9.30875093e-04 2.69149049e-03 1.87610601e+02] [-9.30647359e-04 -9.99999563e-01 8.58614611e-05 1.22737574e+02] [ 2.69156924e-03 8.33562844e-05 9.99996374e-01 6.40597289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.594012739 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:187.37, Y:122.73, Z:0.64 [[-9.99992193e-01 2.89309498e-03 2.69145872e-03 1.87372359e+02] [-2.89287169e-03 -9.99995812e-01 8.68460357e-05 1.22728916e+02] [ 2.69169870e-03 7.90593130e-05 9.99996374e-01 6.43960667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.624012739 meters Centerline goodness : 0.997001 Centerline is valid? [True, True] Translation: X:187.58, Y:122.73, Z:0.64 [[-9.99993965e-01 2.19697139e-03 2.69132793e-03 1.87575287e+02] [-2.19673478e-03 -9.99997583e-01 9.08661294e-05 1.22734466e+02] [ 2.69152106e-03 8.49534474e-05 9.99996374e-01 6.41412696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.654012739 meters Centerline goodness : 0.996951 Centerline is valid? [True, True] Translation: X:187.59, Y:122.73, Z:0.64 [[-9.99987492e-01 4.21562688e-03 2.69145983e-03 1.87591798e+02] [-4.21540857e-03 -9.99991111e-01 8.67750044e-05 1.22732554e+02] [ 2.69180172e-03 7.54283162e-05 9.99996374e-01 6.38809919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.684012739 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:187.58, Y:122.73, Z:0.64 [[-9.99978531e-01 5.97438691e-03 2.69142714e-03 1.87582685e+02] [-5.97417227e-03 -9.99982151e-01 8.77773972e-05 1.22730977e+02] [ 2.69190352e-03 7.16964633e-05 9.99996374e-01 6.39987137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.714012739 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:187.58, Y:122.73, Z:0.64 [[-9.99940030e-01 1.06157150e-02 2.69139410e-03 1.87582728e+02] [-1.06155145e-02 -9.99943650e-01 8.87789750e-05 1.22729739e+02] [ 2.69218489e-03 6.02031178e-05 9.99996374e-01 6.44055564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.744012739 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:187.57, Y:122.73, Z:0.65 [[-9.99913906e-01 1.28428222e-02 2.69136052e-03 1.87569551e+02] [-1.28426271e-02 -9.99917526e-01 8.97855787e-05 1.22729286e+02] [ 2.69229165e-03 5.52137091e-05 9.99996374e-01 6.45929449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.774012739 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:187.59, Y:122.73, Z:0.65 [[-9.99893591e-01 1.43375003e-02 2.69132634e-03 1.87592495e+02] [-1.43373078e-02 -9.99897211e-01 9.07987445e-05 1.22729546e+02] [ 2.69235153e-03 5.22027086e-05 9.99996374e-01 6.47164737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.80401273900003 meters Centerline goodness : 0.997567 Centerline is valid? [True, True] Translation: X:187.57, Y:122.73, Z:0.64 [[-9.99867158e-01 1.60755234e-02 2.69131353e-03 1.87565182e+02] [-1.60753362e-02 -9.99870779e-01 9.11768347e-05 1.22727183e+02] [ 2.69243147e-03 4.79009528e-05 9.99996374e-01 6.44845739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.834012739 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:187.57, Y:122.73, Z:0.64 [[-9.99851559e-01 1.70181676e-02 2.69127876e-03 1.87570423e+02] [-1.70179811e-02 -9.99855179e-01 9.21918072e-05 1.22727025e+02] [ 2.69245795e-03 4.63779911e-05 9.99996374e-01 6.42945239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.864012739 meters Centerline goodness : 0.997559 Centerline is valid? [True, True] Translation: X:187.58, Y:122.73, Z:0.64 [[-9.99839376e-01 1.77194376e-02 2.69124326e-03 1.87584683e+02] [-1.77192509e-02 -9.99842997e-01 9.32166698e-05 1.22726950e+02] [ 2.69247248e-03 4.55148824e-05 9.99996374e-01 6.42791232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.894012739 meters Centerline goodness : 0.997773 Centerline is valid? [True, True] Translation: X:187.58, Y:122.72, Z:0.65 [[-9.99852003e-01 1.69920407e-02 2.69120756e-03 1.87580431e+02] [-1.69918486e-02 -9.99855624e-01 9.42362961e-05 1.22723361e+02] [ 2.69242028e-03 4.84937580e-05 9.99996374e-01 6.46242430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.924012739 meters Centerline goodness : 0.997777 Centerline is valid? [True, True] Translation: X:187.60, Y:122.72, Z:0.65 [[-9.99869744e-01 1.59139210e-02 2.69117154e-03 1.87599073e+02] [-1.59137223e-02 -9.99873364e-01 9.52540676e-05 1.22721892e+02] [ 2.69234660e-03 5.24151038e-05 9.99996374e-01 6.45541593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.954012739 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:187.60, Y:122.72, Z:0.64 [[-9.99928204e-01 1.16766968e-02 2.69113524e-03 1.87600214e+02] [-1.16764799e-02 -9.99931823e-01 9.62686515e-05 1.22718685e+02] [ 2.69207587e-03 6.48387531e-05 9.99996374e-01 6.41389831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.984012739 meters Centerline goodness : 0.997457 Centerline is valid? [True, True] Translation: X:187.62, Y:122.72, Z:0.64 [[-9.99945949e-01 1.00427381e-02 2.69109876e-03 1.87621092e+02] [-1.00425127e-02 -9.99949568e-01 9.72777718e-05 1.22717545e+02] [ 2.69193998e-03 7.02471204e-05 9.99996374e-01 6.40545742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.014012739 meters Centerline goodness : 0.997505 Centerline is valid? [True, True] Translation: X:187.60, Y:122.71, Z:0.64 [[-9.99958600e-01 8.69232177e-03 2.69106214e-03 1.87600985e+02] [-8.69208873e-03 -9.99962218e-01 9.82806817e-05 1.22713781e+02] [ 2.69181475e-03 7.48856620e-05 9.99996374e-01 6.39946008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.044012739 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:187.61, Y:122.71, Z:0.64 [[-9.99961967e-01 8.29601651e-03 2.69102507e-03 1.87605836e+02] [-8.29577933e-03 -9.99965585e-01 9.92853657e-05 1.22710369e+02] [ 2.69175613e-03 7.69574394e-05 9.99996374e-01 6.41820252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.074012739 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:187.62, Y:122.71, Z:0.65 [[-9.99961844e-01 8.31075855e-03 2.69098736e-03 1.87619141e+02] [-8.31051870e-03 -9.99965462e-01 1.00297251e-04 1.22707168e+02] [ 2.69172796e-03 7.79299235e-05 9.99996374e-01 6.46460227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.104012739 meters Centerline goodness : 0.997765 Centerline is valid? [True, True] Translation: X:187.61, Y:122.71, Z:0.64 [[-9.99954760e-01 9.12337317e-03 2.69095427e-03 1.87612089e+02] [-9.12313389e-03 -9.99958378e-01 1.01177217e-04 1.22707213e+02] [ 2.69176534e-03 7.66227034e-05 9.99996374e-01 6.44501522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.134012739 meters Centerline goodness : 0.997347 Centerline is valid? [True, True] Translation: X:187.61, Y:122.71, Z:0.64 [[-9.99948559e-01 9.77947869e-03 2.69091605e-03 1.87613243e+02] [-9.77923908e-03 -9.99952177e-01 1.02183654e-04 1.22707411e+02] [ 2.69178667e-03 7.58632863e-05 9.99996374e-01 6.41960220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.164012739 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:187.62, Y:122.71, Z:0.64 [[-9.99957656e-01 8.80027153e-03 2.69087732e-03 1.87624783e+02] [-8.80002567e-03 -9.99961274e-01 1.03193685e-04 1.22705094e+02] [ 2.69168124e-03 7.95095256e-05 9.99996374e-01 6.35235393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.194012739 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:187.62, Y:122.70, Z:0.64 [[-9.99968877e-01 7.41648476e-03 2.69084326e-03 1.87624419e+02] [-7.41623153e-03 -9.99972494e-01 1.04074145e-04 1.22703837e+02] [ 2.69154111e-03 8.41149891e-05 9.99996374e-01 6.35260659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.224012739 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:187.62, Y:122.70, Z:0.64 [[-9.99985512e-01 4.66204873e-03 2.69080403e-03 1.87624518e+02] [-4.66178283e-03 -9.99989128e-01 1.05078746e-04 1.22701612e+02] [ 2.69126466e-03 9.25332799e-05 9.99996374e-01 6.41046042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.254012739 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:187.59, Y:122.70, Z:0.64 [[-9.99988206e-01 4.04315619e-03 2.69076939e-03 1.87590570e+02] [-4.04288569e-03 -9.99991822e-01 1.05958391e-04 1.22699093e+02] [ 2.69117579e-03 9.50786687e-05 9.99996374e-01 6.41868518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.284012739 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:187.64, Y:122.70, Z:0.64 [[-9.99993065e-01 2.57494395e-03 2.69072883e-03 1.87638730e+02] [-2.57466540e-03 -9.99996680e-01 1.06978668e-04 1.22698174e+02] [ 2.69099536e-03 1.00050200e-04 9.99996374e-01 6.41745162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.314012739 meters Centerline goodness : 0.997949 Centerline is valid? [True, True] Translation: X:187.65, Y:122.70, Z:0.64 [[-9.99992138e-01 2.91287243e-03 2.69074399e-03 1.87648995e+02] [-2.91259613e-03 -9.99995753e-01 1.06595960e-04 1.22697894e+02] [ 2.69104306e-03 9.87580713e-05 9.99996374e-01 6.43490783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.344012739 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:187.64, Y:122.70, Z:0.65 [[-9.99991003e-01 3.27924724e-03 2.69070423e-03 1.87644630e+02] [-3.27896959e-03 -9.99994618e-01 1.07590214e-04 1.22696888e+02] [ 2.69104257e-03 9.87665087e-05 9.99996374e-01 6.47636851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.374012739 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:187.66, Y:122.70, Z:0.65 [[-9.99989263e-01 3.77287979e-03 2.69066923e-03 1.87660931e+02] [-3.77260159e-03 -9.99992878e-01 1.08458724e-04 1.22696019e+02] [ 2.69105926e-03 9.83067366e-05 9.99996374e-01 6.50826133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.404012739 meters Centerline goodness : 0.997658 Centerline is valid? [True, True] Translation: X:187.53, Y:122.69, Z:0.65 [[-9.99987667e-01 4.17442838e-03 2.69062891e-03 1.87530900e+02] [-4.17414897e-03 -9.99991282e-01 1.09449921e-04 1.22686259e+02] [ 2.69106234e-03 9.82174849e-05 9.99996374e-01 6.49897744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.434012739 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:187.63, Y:122.69, Z:0.65 [[-9.99985759e-01 4.60876562e-03 2.69076783e-03 1.87626706e+02] [-4.60849691e-03 -9.99989375e-01 1.06055978e-04 1.22688090e+02] [ 2.69122803e-03 9.36540724e-05 9.99996374e-01 6.47891708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.464012739 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:187.65, Y:122.69, Z:0.64 [[-9.99968746e-01 7.43410280e-03 2.69086795e-03 1.87649488e+02] [-7.43385095e-03 -9.99972363e-01 1.03583132e-04 1.22687512e+02] [ 2.69156363e-03 8.35763831e-05 9.99996374e-01 6.43064378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.494012739 meters Centerline goodness : 0.997237 Centerline is valid? [True, True] Translation: X:187.63, Y:122.68, Z:0.64 [[-9.99944488e-01 1.01872812e-02 2.69060186e-03 1.87632043e+02] [-1.01870218e-02 -9.99948105e-01 1.10086476e-04 1.22681168e+02] [ 2.69158371e-03 8.26711446e-05 9.99996374e-01 6.40042684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.524012739 meters Centerline goodness : 0.997187 Centerline is valid? [True, True] Translation: X:187.62, Y:122.68, Z:0.64 [[-9.99931671e-01 1.13760361e-02 2.69056046e-03 1.87624462e+02] [-1.13757783e-02 -9.99935288e-01 1.11089199e-04 1.22678113e+02] [ 2.69165010e-03 8.04743886e-05 9.99996374e-01 6.41731521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.55401273900003 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:187.64, Y:122.67, Z:0.64 [[-9.99902068e-01 1.37337173e-02 2.69051823e-03 1.87635700e+02] [-1.37334654e-02 -9.99905685e-01 1.12102727e-04 1.22673350e+02] [ 2.69180406e-03 7.51416100e-05 9.99996374e-01 6.44427497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.584012739 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:187.62, Y:122.67, Z:0.65 [[-9.99883010e-01 1.50574685e-02 2.69048102e-03 1.87616774e+02] [-1.50572189e-02 -9.99886627e-01 1.12988863e-04 1.22669568e+02] [ 2.69187732e-03 7.24644832e-05 9.99996374e-01 6.47449907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.614012739 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:187.64, Y:122.67, Z:0.65 [[-9.99867595e-01 1.60484893e-02 2.69043785e-03 1.87639515e+02] [-1.60482406e-02 -9.99871212e-01 1.14007523e-04 1.22666772e+02] [ 2.69192100e-03 7.08156342e-05 9.99996374e-01 6.46788672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.644012739 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:187.63, Y:122.66, Z:0.65 [[-9.99840800e-01 1.76390584e-02 2.69039428e-03 1.87627706e+02] [-1.76388127e-02 -9.99844417e-01 1.15026504e-04 1.22662371e+02] [ 2.69200467e-03 6.75528310e-05 9.99996374e-01 6.48620978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.674012739 meters Centerline goodness : 0.997426 Centerline is valid? [True, True] Translation: X:187.62, Y:122.66, Z:0.64 [[-9.99791430e-01 2.02449456e-02 2.69035041e-03 1.87623101e+02] [-2.02447066e-02 -9.99795048e-01 1.16043629e-04 1.22656307e+02] [ 2.69214832e-03 6.15540707e-05 9.99996374e-01 6.44756564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.704012739 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:187.57, Y:122.65, Z:0.65 [[-9.99766310e-01 2.14496382e-02 2.69030579e-03 1.87566478e+02] [-2.14494008e-02 -9.99769928e-01 1.17068975e-04 1.22651450e+02] [ 2.69219792e-03 5.93361697e-05 9.99996374e-01 6.45189796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.734012739 meters Centerline goodness : 0.997323 Centerline is valid? [True, True] Translation: X:187.57, Y:122.65, Z:0.64 [[-9.99688033e-01 2.48314149e-02 2.69036052e-03 1.87568209e+02] [-2.48311931e-02 -9.99691652e-01 1.15816299e-04 1.22645550e+02] [ 2.69240683e-03 4.89753069e-05 9.99996374e-01 6.41343943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.764012739 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:187.62, Y:122.64, Z:0.64 [[-9.99629392e-01 2.70894905e-02 2.69034164e-03 1.87617409e+02] [-2.70892757e-02 -9.99633012e-01 1.16244912e-04 1.22644100e+02] [ 2.69250334e-03 4.33224244e-05 9.99996374e-01 6.40665309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.794012739 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:187.62, Y:122.64, Z:0.64 [[-9.99618899e-01 2.74739774e-02 2.69022942e-03 1.87619954e+02] [-2.74737571e-02 -9.99622518e-01 1.18786624e-04 1.22644285e+02] [ 2.69247744e-03 4.48306450e-05 9.99996374e-01 6.40658666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.824012739 meters Centerline goodness : 0.997434 Centerline is valid? [True, True] Translation: X:187.62, Y:122.64, Z:0.64 [[-9.99569134e-01 2.92285622e-02 2.69018333e-03 1.87618991e+02] [-2.92283456e-02 -9.99572754e-01 1.19821339e-04 1.22640818e+02] [ 2.69253616e-03 4.11401040e-05 9.99996374e-01 6.41809583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.854012739 meters Centerline goodness : 0.997007 Centerline is valid? [True, True] Translation: X:187.63, Y:122.64, Z:0.64 [[-9.99511435e-01 3.11392800e-02 2.69013680e-03 1.87634123e+02] [-3.11390674e-02 -9.99515054e-01 1.20857080e-04 1.22635508e+02] [ 2.69259563e-03 3.70296824e-05 9.99996374e-01 6.44816854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.884012739 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:187.66, Y:122.63, Z:0.65 [[-9.99482129e-01 3.20661480e-02 2.69009596e-03 1.87658759e+02] [-3.20659364e-02 -9.99485748e-01 1.21759305e-04 1.22633528e+02] [ 2.69261693e-03 3.54358036e-05 9.99996374e-01 6.45613065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.914012739 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:187.61, Y:122.63, Z:0.65 [[-9.99480727e-01 3.21098150e-02 2.69004944e-03 1.87608194e+02] [-3.21096008e-02 -9.99484346e-01 1.22778493e-04 1.22627703e+02] [ 2.69260470e-03 3.63383236e-05 9.99996374e-01 6.45705414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.944012739 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:187.67, Y:122.62, Z:0.65 [[-9.99377861e-01 3.51660913e-02 2.69017885e-03 1.87665534e+02] [-3.51658958e-02 -9.99381481e-01 1.19955862e-04 1.22623273e+02] [ 2.69273331e-03 2.52786837e-05 9.99996374e-01 6.45308248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.974012739 meters Centerline goodness : 0.997500 Centerline is valid? [True, True] Translation: X:187.69, Y:122.62, Z:0.65 [[-9.99304599e-01 3.71898249e-02 2.69001433e-03 1.87693539e+02] [-3.71896270e-02 -9.99308219e-01 1.23538388e-04 1.22621450e+02] [ 2.69274780e-03 2.34118492e-05 9.99996374e-01 6.46858102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.004012739 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:187.69, Y:122.62, Z:0.65 [[-9.99216707e-01 3.94808441e-02 2.68996812e-03 1.87692526e+02] [-3.94806519e-02 -9.99220327e-01 1.24536362e-04 1.22619433e+02] [ 2.69278763e-03 1.82371188e-05 9.99996374e-01 6.50069345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.034012739 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:187.71, Y:122.62, Z:0.65 [[-9.99022850e-01 4.41147330e-02 2.68992196e-03 1.87711651e+02] [-4.41145549e-02 -9.99026471e-01 1.25525605e-04 1.22617135e+02] [ 2.69284077e-03 6.73823731e-06 9.99996374e-01 6.54682200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.064012739 meters Centerline goodness : 0.997055 Centerline is valid? [True, True] Translation: X:187.70, Y:122.61, Z:0.65 [[-9.98926025e-01 4.62553959e-02 2.68988147e-03 1.87704933e+02] [-4.62552233e-02 -9.98929646e-01 1.26387287e-04 1.22614846e+02] [ 2.69284844e-03 1.83048171e-06 9.99996374e-01 6.54795125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.094012739 meters Centerline goodness : 0.997251 Centerline is valid? [True, True] Translation: X:187.72, Y:122.61, Z:0.65 [[-9.98803865e-01 4.88221695e-02 2.68983493e-03 1.87723632e+02] [-4.88220035e-02 -9.98807487e-01 1.27370179e-04 1.22613654e+02] [ 2.69284576e-03 -4.10530328e-06 9.99996374e-01 6.50334598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.124012739 meters Centerline goodness : 0.996996 Centerline is valid? [True, True] Translation: X:187.70, Y:122.61, Z:0.65 [[-9.98807046e-01 4.87570477e-02 2.68978813e-03 1.87703854e+02] [-4.87568788e-02 -9.98810668e-01 1.28351030e-04 1.22612761e+02] [ 2.69284709e-03 -2.94776088e-06 9.99996374e-01 6.46534377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.154012739 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:187.71, Y:122.61, Z:0.64 [[-9.98742362e-01 5.00645365e-02 2.68995220e-03 1.87710816e+02] [-5.00643815e-02 -9.98745985e-01 1.24929539e-04 1.22613735e+02] [ 2.69283349e-03 -9.89837052e-06 9.99996374e-01 6.44805220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.184012739 meters Centerline goodness : 0.997212 Centerline is valid? [True, True] Translation: X:187.71, Y:122.61, Z:0.65 [[-9.98747357e-01 4.99648187e-02 2.68972688e-03 1.87711652e+02] [-4.99646508e-02 -9.98750978e-01 1.29605535e-04 1.22612651e+02] [ 2.69284307e-03 -4.94807848e-06 9.99996374e-01 6.46830661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.214012739 meters Centerline goodness : 0.997380 Centerline is valid? [True, True] Translation: X:187.73, Y:122.61, Z:0.65 [[-9.98757864e-01 4.97543387e-02 2.68967894e-03 1.87728502e+02] [-4.97541674e-02 -9.98761486e-01 1.30592908e-04 1.22612137e+02] [ 2.69284530e-03 -3.39204219e-06 9.99996374e-01 6.48333024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.244012739 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:187.73, Y:122.61, Z:0.65 [[-9.98769546e-01 4.95192851e-02 2.68963085e-03 1.87731744e+02] [-4.95191104e-02 -9.98773168e-01 1.31576040e-04 1.22611493e+02] [ 2.69284667e-03 -1.77398459e-06 9.99996374e-01 6.50752681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.274012739 meters Centerline goodness : 0.997502 Centerline is valid? [True, True] Translation: X:187.73, Y:122.61, Z:0.65 [[-9.98748860e-01 4.99347589e-02 2.68958265e-03 1.87726067e+02] [-4.99345830e-02 -9.98752482e-01 1.32554034e-04 1.22612711e+02] [ 2.69284640e-03 -1.91499753e-06 9.99996374e-01 6.50961427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.30401273900003 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:187.74, Y:122.61, Z:0.65 [[-9.98689767e-01 5.11029970e-02 2.68953395e-03 1.87737030e+02] [-5.11028227e-02 -9.98693388e-01 1.33534792e-04 1.22614809e+02] [ 2.69284380e-03 -4.08294659e-06 9.99996374e-01 6.49640859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.334012739 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:187.75, Y:122.62, Z:0.65 [[-9.98603498e-01 5.27619234e-02 2.68948492e-03 1.87746503e+02] [-5.27617524e-02 -9.98607120e-01 1.34515219e-04 1.22616583e+02] [ 2.69283607e-03 -7.57456876e-06 9.99996374e-01 6.48903457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.364012739 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:187.73, Y:122.62, Z:0.65 [[-9.98567481e-01 5.34392371e-02 2.68943578e-03 1.87733621e+02] [-5.34390660e-02 -9.98571103e-01 1.35490536e-04 1.22615850e+02] [ 2.69283336e-03 -8.42449310e-06 9.99996374e-01 6.48929890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.394012739 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:187.76, Y:122.62, Z:0.65 [[-9.98542645e-01 5.39013287e-02 2.68938616e-03 1.87763708e+02] [-5.39011566e-02 -9.98546267e-01 1.36468458e-04 1.22617522e+02] [ 2.69283234e-03 -8.69144942e-06 9.99996374e-01 6.46211534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.424012739 meters Centerline goodness : 0.997026 Centerline is valid? [True, True] Translation: X:187.75, Y:122.62, Z:0.64 [[-9.98543347e-01 5.38883228e-02 2.68933638e-03 1.87748002e+02] [-5.38881480e-02 -9.98546969e-01 1.37442361e-04 1.22617780e+02] [ 2.69283523e-03 -7.68120229e-06 9.99996374e-01 6.44359766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.454012739 meters Centerline goodness : 0.997132 Centerline is valid? [True, True] Translation: X:187.73, Y:122.62, Z:0.64 [[-9.98602974e-01 5.27718459e-02 2.68928642e-03 1.87730477e+02] [-5.27716645e-02 -9.98606595e-01 1.38413195e-04 1.22618577e+02] [ 2.69284347e-03 -3.69829201e-06 9.99996374e-01 6.43287858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.484012739 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:187.75, Y:122.62, Z:0.64 [[-9.98628603e-01 5.22846163e-02 2.68923542e-03 1.87745573e+02] [-5.22844305e-02 -9.98632224e-01 1.39396957e-04 1.22619417e+02] [ 2.69284547e-03 -1.39935450e-06 9.99996374e-01 6.44101409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.514012739 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:187.76, Y:122.62, Z:0.65 [[-9.98647444e-01 5.19235174e-02 2.68918395e-03 1.87760039e+02] [-5.19233276e-02 -9.98651064e-01 1.40383052e-04 1.22620673e+02] [ 2.69284559e-03 5.61797459e-07 9.99996374e-01 6.47055577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.544012739 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:187.68, Y:122.62, Z:0.65 [[-9.98598244e-01 5.28612857e-02 2.68913907e-03 1.87683462e+02] [-5.28610970e-02 -9.98601865e-01 1.41237523e-04 1.22617875e+02] [ 2.69284529e-03 -1.11129913e-06 9.99996374e-01 6.49414389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.574012739 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:187.75, Y:122.62, Z:0.65 [[-9.98415214e-01 5.62123484e-02 2.68934782e-03 1.87752191e+02] [-5.62121825e-02 -9.98418836e-01 1.37282062e-04 1.22622526e+02] [ 2.69281247e-03 -1.41096112e-05 9.99996374e-01 6.45900708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.604012739 meters Centerline goodness : 0.996904 Centerline is valid? [True, True] Translation: X:187.78, Y:122.63, Z:0.64 [[-9.98049005e-01 6.23775026e-02 2.68910524e-03 1.87778082e+02] [-6.23773467e-02 -9.98052627e-01 1.41879859e-04 1.22625307e+02] [ 2.69271866e-03 -2.61361981e-05 9.99996374e-01 6.41246652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.634012739 meters Centerline goodness : 0.996836 Centerline is valid? [True, True] Translation: X:187.79, Y:122.63, Z:0.64 [[-9.97852240e-01 6.54497926e-02 2.68906021e-03 1.87788715e+02] [-6.54496456e-02 -9.97855863e-01 1.42728177e-04 1.22626772e+02] [ 2.69263603e-03 -3.35764073e-05 9.99996374e-01 6.42565662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.664012739 meters Centerline goodness : 0.996752 Centerline is valid? [True, True] Translation: X:187.81, Y:122.63, Z:0.64 [[-9.97703716e-01 6.76761726e-02 2.68900895e-03 1.87814847e+02] [-6.76760311e-02 -9.97707339e-01 1.43687637e-04 1.22629307e+02] [ 2.69256819e-03 -3.86237638e-05 9.99996374e-01 6.43695760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.694012739 meters Centerline goodness : 0.996806 Centerline is valid? [True, True] Translation: X:187.79, Y:122.63, Z:0.65 [[-9.97459079e-01 7.11909730e-02 2.68899310e-03 1.87792837e+02] [-7.11908435e-02 -9.97462703e-01 1.43983560e-04 1.22629848e+02] [ 2.69242065e-03 -4.78139778e-05 9.99996374e-01 6.47361732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.724012739 meters Centerline goodness : 0.996525 Centerline is valid? [True, True] Translation: X:187.81, Y:122.63, Z:0.65 [[-9.97293199e-01 7.34781912e-02 2.68894840e-03 1.87813709e+02] [-7.34780678e-02 -9.97296823e-01 1.44813505e-04 1.22631627e+02] [ 2.69232033e-03 -5.31572097e-05 9.99996374e-01 6.47871024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.754012739 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:187.83, Y:122.63, Z:0.65 [[-9.97140663e-01 7.55199873e-02 2.68889685e-03 1.87829099e+02] [-7.55198687e-02 -9.97144287e-01 1.45764527e-04 1.22633457e+02] [ 2.69222626e-03 -5.77174001e-05 9.99996374e-01 6.48329996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.784012739 meters Centerline goodness : 0.996963 Centerline is valid? [True, True] Translation: X:187.84, Y:122.64, Z:0.65 [[-9.96870002e-01 7.90124581e-02 2.68884550e-03 1.87837616e+02] [-7.90123496e-02 -9.96873627e-01 1.46705703e-04 1.22637836e+02] [ 2.69203074e-03 -6.62054861e-05 9.99996374e-01 6.48715303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.814012739 meters Centerline goodness : 0.996348 Centerline is valid? [True, True] Translation: X:187.82, Y:122.64, Z:0.65 [[-9.96701871e-01 8.11058038e-02 2.68882316e-03 1.87820180e+02] [-8.11057018e-02 -9.96705495e-01 1.47114021e-04 1.22639257e+02] [ 2.69189662e-03 -7.14500693e-05 9.99996374e-01 6.48644236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.844012739 meters Centerline goodness : 0.996432 Centerline is valid? [True, True] Translation: X:187.84, Y:122.65, Z:0.65 [[-9.96329734e-01 8.55560171e-02 2.68877140e-03 1.87840575e+02] [-8.55559288e-02 -9.96333359e-01 1.48053888e-04 1.22645290e+02] [ 2.69157954e-03 -8.25298439e-05 9.99996374e-01 6.46299474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.874012739 meters Centerline goodness : 0.996449 Centerline is valid? [True, True] Translation: X:187.85, Y:122.65, Z:0.65 [[-9.96138949e-01 8.77494463e-02 2.68871929e-03 1.87846366e+02] [-8.77493634e-02 -9.96142574e-01 1.48994312e-04 1.22648249e+02] [ 2.69142192e-03 -8.75143691e-05 9.99996374e-01 6.45753469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.904012739 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:187.87, Y:122.65, Z:0.65 [[-9.95993898e-01 8.93807967e-02 2.68866723e-03 1.87869728e+02] [-8.93807172e-02 -9.95997523e-01 1.49927909e-04 1.22651903e+02] [ 2.69130658e-03 -9.09877228e-05 9.99996374e-01 6.45786242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.934012739 meters Centerline goodness : 0.996760 Centerline is valid? [True, True] Translation: X:187.86, Y:122.65, Z:0.65 [[-9.95904326e-01 9.03733614e-02 2.68861526e-03 1.87860748e+02] [-9.03732831e-02 -9.95907951e-01 1.50854092e-04 1.22654297e+02] [ 2.69124651e-03 -9.27427458e-05 9.99996374e-01 6.49388713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.964012739 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:187.87, Y:122.66, Z:0.65 [[-9.95889535e-01 9.05362074e-02 2.68856315e-03 1.87867147e+02] [-9.05361272e-02 -9.95893160e-01 1.51777220e-04 1.22660486e+02] [ 2.69126299e-03 -9.22587507e-05 9.99996374e-01 6.52156838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.994012739 meters Centerline goodness : 0.996879 Centerline is valid? [True, True] Translation: X:187.86, Y:122.66, Z:0.65 [[-9.95878411e-01 9.06584967e-02 2.68851058e-03 1.87863167e+02] [-9.06584145e-02 -9.95882036e-01 1.52702808e-04 1.22663028e+02] [ 2.69128319e-03 -9.16626762e-05 9.99996374e-01 6.51346205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.024012739 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:187.87, Y:122.67, Z:0.65 [[-9.95852849e-01 9.09388513e-02 2.68845766e-03 1.87870290e+02] [-9.09387676e-02 -9.95856474e-01 1.53628937e-04 1.22668971e+02] [ 2.69128880e-03 -9.14932115e-05 9.99996374e-01 6.49467787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.05401273900003 meters Centerline goodness : 0.997157 Centerline is valid? [True, True] Translation: X:187.87, Y:122.67, Z:0.65 [[-9.95809337e-01 9.14140982e-02 2.68840440e-03 1.87867641e+02] [-9.14140137e-02 -9.95812962e-01 1.54555326e-04 1.22672397e+02] [ 2.69127648e-03 -9.18502000e-05 9.99996374e-01 6.49545072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.084012739 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:187.86, Y:122.68, Z:0.65 [[-9.95805269e-01 9.14584060e-02 2.68835082e-03 1.87862132e+02] [-9.14583191e-02 -9.95808893e-01 1.55481697e-04 1.22679543e+02] [ 2.69130376e-03 -9.10425548e-05 9.99996374e-01 6.49616834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.114012739 meters Centerline goodness : 0.997180 Centerline is valid? [True, True] Translation: X:187.87, Y:122.68, Z:0.65 [[-9.95823095e-01 9.12641032e-02 2.68829669e-03 1.87866956e+02] [-9.12640131e-02 -9.95826720e-01 1.56412080e-04 1.22681931e+02] [ 2.69135248e-03 -8.95859826e-05 9.99996374e-01 6.48768373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.144012739 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:187.85, Y:122.68, Z:0.65 [[-9.95867226e-01 9.07812817e-02 2.68824214e-03 1.87854923e+02] [-9.07811873e-02 -9.95870851e-01 1.57343985e-04 1.22682116e+02] [ 2.69142588e-03 -8.73480958e-05 9.99996374e-01 6.45696403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.174012739 meters Centerline goodness : 0.997177 Centerline is valid? [True, True] Translation: X:187.86, Y:122.68, Z:0.65 [[-9.95945681e-01 8.99164807e-02 2.68818706e-03 1.87861905e+02] [-8.99163807e-02 -9.95949306e-01 1.58279535e-04 1.22683188e+02] [ 2.69152997e-03 -8.40742315e-05 9.99996374e-01 6.45012573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.204012739 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] Translation: X:187.85, Y:122.69, Z:0.64 [[-9.96168560e-01 8.74126630e-02 2.68813146e-03 1.87850342e+02] [-8.74125514e-02 -9.96172184e-01 1.59218186e-04 1.22685117e+02] [ 2.69175948e-03 -7.63682790e-05 9.99996374e-01 6.43779467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.234012739 meters Centerline goodness : 0.996876 Centerline is valid? [True, True] Translation: X:187.85, Y:122.69, Z:0.65 [[-9.96219787e-01 8.68268940e-02 2.68807535e-03 1.87852813e+02] [-8.68267776e-02 -9.96223411e-01 1.60159957e-04 1.22686828e+02] [ 2.69182979e-03 -7.38424026e-05 9.99996374e-01 6.46698195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.264012739 meters Centerline goodness : 0.997334 Centerline is valid? [True, True] Translation: X:187.87, Y:122.69, Z:0.65 [[-9.96217338e-01 8.68549937e-02 2.68801864e-03 1.87865110e+02] [-8.68548749e-02 -9.96220962e-01 1.61106167e-04 1.22690136e+02] [ 2.69185339e-03 -7.29707657e-05 9.99996374e-01 6.50898053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.294012739 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:187.85, Y:122.69, Z:0.65 [[-9.96168077e-01 8.74181701e-02 2.68796179e-03 1.87853155e+02] [-8.74180508e-02 -9.96171701e-01 1.62049187e-04 1.22691372e+02] [ 2.69183751e-03 -7.35481527e-05 9.99996374e-01 6.50740669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.324012739 meters Centerline goodness : 0.996904 Centerline is valid? [True, True] Translation: X:187.87, Y:122.69, Z:0.65 [[-9.96136848e-01 8.77733205e-02 2.68790453e-03 1.87866854e+02] [-8.77731999e-02 -9.96140471e-01 1.62993480e-04 1.22694281e+02] [ 2.69183696e-03 -7.35621704e-05 9.99996374e-01 6.48409781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.354012739 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:187.84, Y:122.70, Z:0.64 [[-9.96181347e-01 8.72668311e-02 2.68784687e-03 1.87840458e+02] [-8.72667062e-02 -9.96184970e-01 1.63938757e-04 1.22695426e+02] [ 2.69189907e-03 -7.12468120e-05 9.99996374e-01 6.43644268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.384012739 meters Centerline goodness : 0.997025 Centerline is valid? [True, True] Translation: X:187.87, Y:122.70, Z:0.64 [[-9.96245786e-01 8.65280886e-02 2.68778853e-03 1.87867716e+02] [-8.65279585e-02 -9.96249409e-01 1.64889681e-04 1.22697609e+02] [ 2.69197533e-03 -6.82982050e-05 9.99996374e-01 6.43717515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.414012739 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:187.86, Y:122.70, Z:0.64 [[-9.96355695e-01 8.52531826e-02 2.68772978e-03 1.87859278e+02] [-8.52530452e-02 -9.96359318e-01 1.65841898e-04 1.22697697e+02] [ 2.69208316e-03 -6.38996285e-05 9.99996374e-01 6.44712731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.444012739 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:187.86, Y:122.70, Z:0.65 [[-9.96625900e-01 8.20340921e-02 2.68767097e-03 1.87857150e+02] [-8.20339405e-02 -9.96629522e-01 1.66789579e-04 1.22699863e+02] [ 2.69229467e-03 -5.42534259e-05 9.99996374e-01 6.48119229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.474012739 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:187.84, Y:122.70, Z:0.65 [[-9.96780488e-01 8.01338633e-02 2.68761152e-03 1.87842863e+02] [-8.01337022e-02 -9.96784110e-01 1.67742050e-04 1.22699936e+02] [ 2.69241028e-03 -4.81662591e-05 9.99996374e-01 6.47918241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.504012739 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:187.84, Y:122.70, Z:0.65 [[-9.97060043e-01 7.65770754e-02 2.68755128e-03 1.87842433e+02] [-7.65768988e-02 -9.97063664e-01 1.68701727e-04 1.22700302e+02] [ 2.69257841e-03 -3.75985917e-05 9.99996374e-01 6.47363682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.534012739 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:187.83, Y:122.70, Z:0.65 [[-9.97183210e-01 7.49561376e-02 2.68749031e-03 1.87832439e+02] [-7.49559525e-02 -9.97186831e-01 1.69667528e-04 1.22699516e+02] [ 2.69264757e-03 -3.22537853e-05 9.99996374e-01 6.47586798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.564012739 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:187.83, Y:122.70, Z:0.65 [[-9.97280804e-01 7.36462860e-02 2.68742864e-03 1.87832410e+02] [-7.36460935e-02 -9.97284425e-01 1.70638753e-04 1.22699271e+02] [ 2.69269764e-03 -2.77438678e-05 9.99996374e-01 6.48703845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.594012739 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:187.84, Y:122.70, Z:0.65 [[-9.97351416e-01 7.26837810e-02 2.68736630e-03 1.87840478e+02] [-7.26835824e-02 -9.97355036e-01 1.71615010e-04 1.22699538e+02] [ 2.69273194e-03 -2.41669365e-05 9.99996374e-01 6.50101598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.624012739 meters Centerline goodness : 0.997521 Centerline is valid? [True, True] Translation: X:187.83, Y:122.70, Z:0.65 [[-9.97375641e-01 7.23505996e-02 2.68730367e-03 1.87828965e+02] [-7.23503971e-02 -9.97379261e-01 1.72590172e-04 1.22698860e+02] [ 2.69274795e-03 -2.22902545e-05 9.99996374e-01 6.49894366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.654012739 meters Centerline goodness : 0.997140 Centerline is valid? [True, True] Translation: X:187.85, Y:122.70, Z:0.65 [[-9.97275454e-01 7.37187032e-02 2.68724049e-03 1.87849198e+02] [-7.37185031e-02 -9.97279074e-01 1.73568390e-04 1.22701110e+02] [ 2.69272394e-03 -2.50038511e-05 9.99996374e-01 6.47658744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.684012739 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:187.86, Y:122.70, Z:0.65 [[-9.97014312e-01 7.71702084e-02 2.68717704e-03 1.87861408e+02] [-7.71700182e-02 -9.97017933e-01 1.74545198e-04 1.22703891e+02] [ 2.69263338e-03 -3.33454401e-05 9.99996374e-01 6.46758253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.714012739 meters Centerline goodness : 0.997305 Centerline is valid? [True, True] Translation: X:187.86, Y:122.70, Z:0.65 [[-9.96986563e-01 7.75278873e-02 2.68711385e-03 1.87863930e+02] [-7.75276958e-02 -9.96990183e-01 1.75512524e-04 1.22704130e+02] [ 2.69263325e-03 -3.33421171e-05 9.99996374e-01 6.46751479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.744012739 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:187.84, Y:122.70, Z:0.65 [[-9.96859225e-01 7.91483726e-02 2.68705054e-03 1.87839564e+02] [-7.91481844e-02 -9.96862846e-01 1.76476514e-04 1.22703488e+02] [ 2.69258868e-03 -3.67529308e-05 9.99996374e-01 6.48021271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.774012739 meters Centerline goodness : 0.997289 Centerline is valid? [True, True] Translation: X:187.87, Y:122.71, Z:0.65 [[-9.96707979e-01 8.10307647e-02 2.68698628e-03 1.87872038e+02] [-8.10305807e-02 -9.96711600e-01 1.77449566e-04 1.22706764e+02] [ 2.69252927e-03 -4.08626608e-05 9.99996374e-01 6.49859315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.80401273900003 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:187.88, Y:122.71, Z:0.65 [[-9.96405101e-01 8.46738149e-02 2.68692174e-03 1.87878245e+02] [-8.46736415e-02 -9.96408723e-01 1.78421529e-04 1.22711669e+02] [ 2.69237989e-03 -4.97313266e-05 9.99996374e-01 6.51552451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.834012739 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:187.87, Y:122.71, Z:0.65 [[-9.96226953e-01 8.67446760e-02 2.68685761e-03 1.87871208e+02] [-8.67445075e-02 -9.96230575e-01 1.79382158e-04 1.22713929e+02] [ 2.69229014e-03 -5.43647991e-05 9.99996374e-01 6.50955484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.864012739 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] Translation: X:187.87, Y:122.72, Z:0.65 [[-9.95898309e-01 9.04397031e-02 2.68679302e-03 1.87872558e+02] [-9.04395455e-02 -9.95901931e-01 1.80344407e-04 1.22719218e+02] [ 2.69209265e-03 -6.33876498e-05 9.99996374e-01 6.48116494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.894012739 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:187.88, Y:122.72, Z:0.65 [[-9.95729365e-01 9.22811636e-02 2.68672783e-03 1.87880123e+02] [-9.22810101e-02 -9.95732988e-01 1.81310378e-04 1.22722173e+02] [ 2.69199506e-03 -6.73978908e-05 9.99996374e-01 6.48731677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.924012739 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:187.89, Y:122.73, Z:0.65 [[-9.95623247e-01 9.34191247e-02 2.68666241e-03 1.87887122e+02] [-9.34189727e-02 -9.95626869e-01 1.82274670e-04 1.22725216e+02] [ 2.69194122e-03 -6.95083438e-05 9.99996374e-01 6.50391875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.954012739 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:187.90, Y:122.73, Z:0.65 [[-9.95436777e-01 9.53855584e-02 2.68659687e-03 1.87902127e+02] [-9.53854110e-02 -9.95440400e-01 1.83235644e-04 1.22731877e+02] [ 2.69182509e-03 -7.38626469e-05 9.99996374e-01 6.51849610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.984012739 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:187.91, Y:122.74, Z:0.65 [[-9.95354863e-01 9.62365844e-02 2.68653137e-03 1.87905178e+02] [-9.62364375e-02 -9.95358485e-01 1.84190965e-04 1.22735349e+02] [ 2.69178770e-03 -7.52068352e-05 9.99996374e-01 6.49341082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.014012739 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:187.91, Y:122.74, Z:0.65 [[-9.95427587e-01 9.54814203e-02 2.68646585e-03 1.87908691e+02] [-9.54812681e-02 -9.95431210e-01 1.85141716e-04 1.22741671e+02] [ 2.69186954e-03 -7.22119942e-05 9.99996374e-01 6.45698569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.044012739 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:187.89, Y:122.74, Z:0.65 [[-9.95544406e-01 9.42556031e-02 2.68640003e-03 1.87891283e+02] [-9.42554439e-02 -9.95548028e-01 1.86091855e-04 1.22742866e+02] [ 2.69198045e-03 -6.79451220e-05 9.99996374e-01 6.47143790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.074012739 meters Centerline goodness : 0.997552 Centerline is valid? [True, True] Translation: X:187.85, Y:122.74, Z:0.65 [[-9.95742135e-01 9.21432824e-02 2.68633346e-03 1.87853487e+02] [-9.21431129e-02 -9.95745757e-01 1.87047837e-04 1.22742132e+02] [ 2.69214035e-03 -6.12757149e-05 9.99996374e-01 6.49418447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.104012739 meters Centerline goodness : 0.997749 Centerline is valid? [True, True] Translation: X:187.88, Y:122.75, Z:0.65 [[-9.95969856e-01 8.96483695e-02 2.68626516e-03 1.87884384e+02] [-8.96481883e-02 -9.95973477e-01 1.88023694e-04 1.22745680e+02] [ 2.69230487e-03 -5.35528739e-05 9.99996374e-01 6.50966084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.134012739 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:187.87, Y:122.75, Z:0.65 [[-9.96376920e-01 8.50048136e-02 2.68619622e-03 1.87868944e+02] [-8.50046129e-02 -9.96380540e-01 1.89003547e-04 1.22746106e+02] [ 2.69253985e-03 -4.00202977e-05 9.99996374e-01 6.49381836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.164012739 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:187.85, Y:122.75, Z:0.65 [[-9.96476469e-01 8.38297753e-02 2.68612716e-03 1.87851432e+02] [-8.38295677e-02 -9.96480089e-01 1.89979973e-04 1.22746038e+02] [ 2.69259821e-03 -3.58663053e-05 9.99996374e-01 6.47978407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.194012739 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:187.87, Y:122.75, Z:0.65 [[-9.96641034e-01 8.18500747e-02 2.68605684e-03 1.87868196e+02] [-8.18498572e-02 -9.96644653e-01 1.90969020e-04 1.22752779e+02] [ 2.69267502e-03 -2.95258070e-05 9.99996374e-01 6.46251627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.224012739 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:187.86, Y:122.75, Z:0.65 [[-9.96658963e-01 8.16314758e-02 2.68598600e-03 1.87855691e+02] [-8.16312549e-02 -9.96662582e-01 1.91960250e-04 1.22754597e+02] [ 2.69269174e-03 -2.79415042e-05 9.99996374e-01 6.47587053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.254012739 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:187.85, Y:122.76, Z:0.65 [[-9.96782692e-01 8.01064909e-02 2.68591479e-03 1.87848938e+02] [-8.01062618e-02 -9.96786311e-01 1.92951453e-04 1.22757565e+02] [ 2.69273976e-03 -2.28279243e-05 9.99996374e-01 6.50504138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.284012739 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:187.85, Y:122.76, Z:0.65 [[-9.96867646e-01 7.90422823e-02 2.68584262e-03 1.87854829e+02] [-7.90420466e-02 -9.96871264e-01 1.93950965e-04 1.22758616e+02] [ 2.69276965e-03 -1.89510551e-05 9.99996374e-01 6.49019159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.314012739 meters Centerline goodness : 0.997516 Centerline is valid? [True, True] Translation: X:187.83, Y:122.76, Z:0.65 [[-9.96996836e-01 7.73957056e-02 2.68576994e-03 1.87832202e+02] [-7.73954613e-02 -9.97000454e-01 1.94952229e-04 1.22757523e+02] [ 2.69280231e-03 -1.34996476e-05 9.99996374e-01 6.47269407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.344012739 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:187.85, Y:122.76, Z:0.65 [[-9.97173108e-01 7.50904712e-02 2.68569630e-03 1.87850931e+02] [-7.50902157e-02 -9.97176725e-01 1.95961461e-04 1.22759699e+02] [ 2.69282868e-03 -6.26201491e-06 9.99996374e-01 6.47127717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.374012739 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:187.82, Y:122.76, Z:0.65 [[-9.97572927e-01 6.95775981e-02 2.68566863e-03 1.87823941e+02] [-6.95773216e-02 -9.97576542e-01 1.96339903e-04 1.22757964e+02] [ 2.69282089e-03 9.00174196e-06 9.99996374e-01 6.49906959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.404012739 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:187.82, Y:122.76, Z:0.65 [[-9.97760644e-01 6.68317700e-02 2.68559388e-03 1.87824336e+02] [-6.68314808e-02 -9.97764258e-01 1.97357066e-04 1.22757006e+02] [ 2.69277931e-03 1.74328970e-05 9.99996374e-01 6.51742559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.434012739 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:187.84, Y:122.75, Z:0.65 [[-9.98132807e-01 6.10220286e-02 2.68551786e-03 1.87835652e+02] [-6.10217157e-02 -9.98136419e-01 1.98386206e-04 1.22754268e+02] [ 2.69261911e-03 3.41408733e-05 9.99996374e-01 6.53582542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.464012739 meters Centerline goodness : 0.997781 Centerline is valid? [True, True] Translation: X:187.85, Y:122.75, Z:0.65 [[-9.98278088e-01 5.85973297e-02 2.68544162e-03 1.87851256e+02] [-5.85970052e-02 -9.98281699e-01 1.99412935e-04 1.22753205e+02] [ 2.69251229e-03 4.17107269e-05 9.99996374e-01 6.53807368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.494012739 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:187.87, Y:122.75, Z:0.65 [[-9.98393615e-01 5.65948691e-02 2.68536559e-03 1.87868753e+02] [-5.65945346e-02 -9.98397225e-01 2.00431516e-04 1.22751803e+02] [ 2.69240495e-03 4.81325295e-05 9.99996374e-01 6.51606810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.524012739 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:187.87, Y:122.75, Z:0.65 [[-9.98543264e-01 5.38900736e-02 2.68528995e-03 1.87870736e+02] [-5.38897267e-02 -9.98546873e-01 2.01439780e-04 1.22746358e+02] [ 2.69224349e-03 5.64367936e-05 9.99996374e-01 6.47694351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.55401273900003 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:187.87, Y:122.74, Z:0.65 [[-9.98540265e-01 5.39456131e-02 2.68521431e-03 1.87865016e+02] [-5.39452636e-02 -9.98543874e-01 2.02443101e-04 1.22743805e+02] [ 2.69222522e-03 5.72929933e-05 9.99996374e-01 6.47273603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.584012739 meters Centerline goodness : 0.998030 Centerline is valid? [True, True] Translation: X:187.87, Y:122.74, Z:0.65 [[-9.98491094e-01 5.48481955e-02 2.68513802e-03 1.87867941e+02] [-5.48478466e-02 -9.98494703e-01 2.03449986e-04 1.22741491e+02] [ 2.69225496e-03 5.58689607e-05 9.99996374e-01 6.48163360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.614012739 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:187.88, Y:122.73, Z:0.65 [[-9.98303177e-01 5.81683556e-02 2.68506114e-03 1.87875015e+02] [-5.81680160e-02 -9.98306787e-01 2.04459643e-04 1.22734918e+02] [ 2.69240784e-03 4.79280316e-05 9.99996374e-01 6.48571748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.644012739 meters Centerline goodness : 0.998172 Centerline is valid? [True, True] Translation: X:187.85, Y:122.73, Z:0.65 [[-9.98180955e-01 6.02293233e-02 2.68498399e-03 1.87849929e+02] [-6.02289884e-02 -9.98184566e-01 2.05467792e-04 1.22729720e+02] [ 2.69248476e-03 4.33801672e-05 9.99996374e-01 6.48771096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.674012739 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:187.86, Y:122.73, Z:0.65 [[-9.97983260e-01 6.34208555e-02 2.68490579e-03 1.87856622e+02] [-6.34205294e-02 -9.97986871e-01 2.06484694e-04 1.22726826e+02] [ 2.69259616e-03 3.57901217e-05 9.99996374e-01 6.49240712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.704012739 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:187.86, Y:122.73, Z:0.65 [[-9.97900711e-01 6.47067448e-02 2.68482650e-03 1.87856758e+02] [-6.47064206e-02 -9.97904322e-01 2.07510502e-04 1.22725340e+02] [ 2.69262730e-03 3.33493648e-05 9.99996374e-01 6.49128326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.734012739 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:187.86, Y:122.72, Z:0.65 [[-9.97813919e-01 6.60316216e-02 2.68474688e-03 1.87855795e+02] [-6.60312994e-02 -9.97817530e-01 2.08535595e-04 1.22723242e+02] [ 2.69265744e-03 3.08023944e-05 9.99996374e-01 6.49344654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.764012739 meters Centerline goodness : 0.998246 Centerline is valid? [True, True] Translation: X:187.86, Y:122.72, Z:0.65 [[-9.97644796e-01 6.85394314e-02 2.68466669e-03 1.87861016e+02] [-6.85391156e-02 -9.97648408e-01 2.09562873e-04 1.22719735e+02] [ 2.69271677e-03 2.50646292e-05 9.99996374e-01 6.51021905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.794012739 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:187.87, Y:122.72, Z:0.65 [[-9.97531717e-01 7.01659930e-02 2.68458605e-03 1.87873521e+02] [-7.01656803e-02 -9.97535329e-01 2.10590808e-04 1.22719518e+02] [ 2.69274575e-03 2.17052035e-05 9.99996374e-01 6.52813484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.824012739 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:187.89, Y:122.72, Z:0.65 [[-9.97399421e-01 7.20221456e-02 2.68450540e-03 1.87892439e+02] [-7.20218369e-02 -9.97403033e-01 2.11613943e-04 1.22720646e+02] [ 2.69277472e-03 1.77206143e-05 9.99996374e-01 6.53553396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.854012739 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:187.91, Y:122.72, Z:0.65 [[-9.97146303e-01 7.54456359e-02 2.68442513e-03 1.87906188e+02] [-7.54453368e-02 -9.97149917e-01 2.12627333e-04 1.22720250e+02] [ 2.69281610e-03 9.49320113e-06 9.99996374e-01 6.52345131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.884012739 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:187.89, Y:122.72, Z:0.65 [[-9.97009630e-01 7.72307654e-02 2.68434528e-03 1.87890249e+02] [-7.72304701e-02 -9.97013244e-01 2.13630657e-04 1.22719088e+02] [ 2.69282666e-03 5.67857434e-06 9.99996374e-01 6.51054315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.914012739 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:187.92, Y:122.72, Z:0.65 [[-9.96787382e-01 8.00481759e-02 2.68426484e-03 1.87924590e+02] [-8.00478882e-02 -9.96790996e-01 2.14636733e-04 1.22722565e+02] [ 2.69283230e-03 -9.22544660e-07 9.99996374e-01 6.48116593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.944012739 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:187.92, Y:122.72, Z:0.65 [[-9.96663113e-01 8.15808411e-02 2.68419461e-03 1.87918402e+02] [-8.15805565e-02 -9.96666728e-01 2.15511366e-04 1.22722868e+02] [ 2.69282906e-03 -4.18586113e-06 9.99996374e-01 6.47106337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.974012739 meters Centerline goodness : 0.998198 Centerline is valid? [True, True] Translation: X:187.92, Y:122.72, Z:0.65 [[-9.96583625e-01 8.25461984e-02 2.68411458e-03 1.87919164e+02] [-8.25459146e-02 -9.96587239e-01 2.16503654e-04 1.22723468e+02] [ 2.69282589e-03 -5.79869657e-06 9.99996374e-01 6.46291067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.004012739 meters Centerline goodness : 0.998114 Centerline is valid? [True, True] Translation: X:187.91, Y:122.72, Z:0.65 [[-9.96539739e-01 8.30743268e-02 2.68403386e-03 1.87913511e+02] [-8.30740423e-02 -9.96543354e-01 2.17499750e-04 1.22722547e+02] [ 2.69282475e-03 -6.22639764e-06 9.99996374e-01 6.46626527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.034012739 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:187.92, Y:122.72, Z:0.65 [[-9.96556799e-01 8.28694329e-02 2.68395248e-03 1.87923441e+02] [-8.28691450e-02 -9.96560413e-01 2.18499359e-04 1.22723453e+02] [ 2.69282771e-03 -4.66982521e-06 9.99996374e-01 6.47911791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.064012739 meters Centerline goodness : 0.998072 Centerline is valid? [True, True] Translation: X:187.93, Y:122.72, Z:0.65 [[-9.96569080e-01 8.27216174e-02 2.68387073e-03 1.87925396e+02] [-8.27213262e-02 -9.96572694e-01 2.19498938e-04 1.22723744e+02] [ 2.69282959e-03 -3.26749179e-06 9.99996374e-01 6.49713226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.094012739 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:187.91, Y:122.72, Z:0.65 [[-9.96584051e-01 8.25410557e-02 2.68378882e-03 1.87908560e+02] [-8.25407612e-02 -9.96587665e-01 2.20495914e-04 1.22722374e+02] [ 2.69283080e-03 -1.77926108e-06 9.99996374e-01 6.49635180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.124012739 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:187.91, Y:122.72, Z:0.65 [[-9.96628736e-01 8.19997543e-02 2.68370595e-03 1.87911682e+02] [-8.19994551e-02 -9.96632350e-01 2.21499983e-04 1.22722676e+02] [ 2.69283111e-03 6.90822481e-07 9.99996374e-01 6.48478582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.154012739 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:187.93, Y:122.72, Z:0.65 [[-9.96793378e-01 7.99734886e-02 2.68362213e-03 1.87926613e+02] [-7.99731793e-02 -9.96796991e-01 2.22510914e-04 1.22724454e+02] [ 2.69282144e-03 7.17961178e-06 9.99996374e-01 6.48661871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.184012739 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:187.92, Y:122.72, Z:0.65 [[-9.96870925e-01 7.90009958e-02 2.68353831e-03 1.87921804e+02] [-7.90006803e-02 -9.96874537e-01 2.23517199e-04 1.22723828e+02] [ 2.69280909e-03 1.08164446e-05 9.99996374e-01 6.49126143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.214012739 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:187.90, Y:122.72, Z:0.65 [[-9.96990501e-01 7.74773543e-02 2.68345427e-03 1.87898230e+02] [-7.74770306e-02 -9.96994112e-01 2.24521654e-04 1.22721618e+02] [ 2.69278345e-03 1.59398877e-05 9.99996374e-01 6.49351286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.244012739 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:187.92, Y:122.72, Z:0.65 [[-9.97085859e-01 7.62403397e-02 2.68336882e-03 1.87924916e+02] [-7.62400088e-02 -9.97089470e-01 2.25538311e-04 1.22723605e+02] [ 2.69275391e-03 2.03009977e-05 9.99996374e-01 6.48602996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.274012739 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:187.92, Y:122.72, Z:0.65 [[-9.97335541e-01 7.29014325e-02 2.68328291e-03 1.87915699e+02] [-7.29010868e-02 -9.97339150e-01 2.26555764e-04 1.22723698e+02] [ 2.69265934e-03 3.03378751e-05 9.99996374e-01 6.47610183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.30401273900003 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:187.91, Y:122.72, Z:0.65 [[-9.97424311e-01 7.16766647e-02 2.68319703e-03 1.87906021e+02] [-7.16763118e-02 -9.97427920e-01 2.27568357e-04 1.22723517e+02] [ 2.69260698e-03 3.46605440e-05 9.99996374e-01 6.47752899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.334012739 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:187.89, Y:122.72, Z:0.65 [[-9.97616147e-01 6.89552402e-02 2.68311001e-03 1.87893412e+02] [-6.89548747e-02 -9.97619754e-01 2.28589782e-04 1.22722707e+02] [ 2.69248601e-03 4.30313425e-05 9.99996374e-01 6.47462390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.364012739 meters Centerline goodness : 0.998352 Centerline is valid? [True, True] Translation: X:187.92, Y:122.72, Z:0.65 [[-9.97741639e-01 6.71150045e-02 2.68302174e-03 1.87921078e+02] [-6.71146295e-02 -9.97745245e-01 2.29621235e-04 1.22724830e+02] [ 2.69238321e-03 4.90326569e-05 9.99996374e-01 6.47218552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.394012739 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:187.92, Y:122.72, Z:0.65 [[-9.97868262e-01 6.52053127e-02 2.68293339e-03 1.87922547e+02] [-6.52049281e-02 -9.97871868e-01 2.30648881e-04 1.22724344e+02] [ 2.69226329e-03 5.52167188e-05 9.99996374e-01 6.48745337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.424012739 meters Centerline goodness : 0.998003 Centerline is valid? [True, True] Translation: X:187.93, Y:122.72, Z:0.65 [[-9.98081664e-01 6.18530060e-02 2.68284542e-03 1.87933198e+02] [-6.18526066e-02 -9.98085268e-01 2.31667675e-04 1.22724522e+02] [ 2.69203783e-03 6.52822766e-05 9.99996374e-01 6.50585201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.454012739 meters Centerline goodness : 0.998248 Centerline is valid? [True, True] Translation: X:187.94, Y:122.72, Z:0.65 [[-9.98130249e-01 6.10639674e-02 2.68275729e-03 1.87941646e+02] [-6.10635624e-02 -9.98133852e-01 2.32683764e-04 1.22724754e+02] [ 2.69195946e-03 6.84299857e-05 9.99996374e-01 6.50575437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.484012739 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:187.93, Y:122.72, Z:0.65 [[-9.98106302e-01 6.14541599e-02 2.68266923e-03 1.87932932e+02] [-6.14537536e-02 -9.98109905e-01 2.33694669e-04 1.22723283e+02] [ 2.69196024e-03 6.83920278e-05 9.99996374e-01 6.50748412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.514012739 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:187.94, Y:122.72, Z:0.65 [[-9.98010103e-01 6.29971253e-02 2.68258058e-03 1.87938870e+02] [-6.29967218e-02 -9.98013706e-01 2.34707851e-04 1.22724870e+02] [ 2.69203811e-03 6.52470242e-05 9.99996374e-01 6.48572199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.544012739 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:187.95, Y:122.73, Z:0.65 [[-9.97884608e-01 6.49547082e-02 2.68249133e-03 1.87952624e+02] [-6.49543091e-02 -9.97888211e-01 2.35723502e-04 1.22727371e+02] [ 2.69213783e-03 6.09854836e-05 9.99996374e-01 6.46847267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.574012739 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:187.94, Y:122.73, Z:0.65 [[-9.97699341e-01 6.77409035e-02 2.68240218e-03 1.87943220e+02] [-6.77405118e-02 -9.97702945e-01 2.36733641e-04 1.22726281e+02] [ 2.69227711e-03 5.44817013e-05 9.99996374e-01 6.48321769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.604012739 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:187.95, Y:122.73, Z:0.65 [[-9.97673638e-01 6.81184014e-02 2.68231262e-03 1.87945733e+02] [-6.81180083e-02 -9.97677243e-01 2.37744079e-04 1.22726578e+02] [ 2.69227701e-03 5.44772068e-05 9.99996374e-01 6.48314993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.634012739 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:187.96, Y:122.73, Z:0.65 [[-9.97620383e-01 6.88939565e-02 2.68222228e-03 1.87956964e+02] [-6.88935635e-02 -9.97623987e-01 2.38758956e-04 1.22725854e+02] [ 2.69229834e-03 5.34029504e-05 9.99996374e-01 6.50192094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.664012739 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:187.96, Y:122.72, Z:0.65 [[-9.97621036e-01 6.88845098e-02 2.68213186e-03 1.87958729e+02] [-6.88841140e-02 -9.97624640e-01 2.39770479e-04 1.22724370e+02] [ 2.69227730e-03 5.44437974e-05 9.99996374e-01 6.51192484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.694012739 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:187.96, Y:122.72, Z:0.65 [[-9.97739935e-01 6.71403702e-02 2.68204129e-03 1.87955835e+02] [-6.71399654e-02 -9.97743538e-01 2.40779332e-04 1.22722095e+02] [ 2.69215538e-03 6.01629963e-05 9.99996374e-01 6.50630101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.724012739 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:187.96, Y:122.72, Z:0.65 [[-9.97770984e-01 6.66773632e-02 2.68195013e-03 1.87956709e+02] [-6.66769540e-02 -9.97774587e-01 2.41790453e-04 1.22721140e+02] [ 2.69210363e-03 6.24272332e-05 9.99996374e-01 6.50254536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.754012739 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:187.96, Y:122.72, Z:0.65 [[-9.97795271e-01 6.63129291e-02 2.68185833e-03 1.87963382e+02] [-6.63125159e-02 -9.97798873e-01 2.42804367e-04 1.22717578e+02] [ 2.69205629e-03 6.44282763e-05 9.99996374e-01 6.51389303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.784012739 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:187.95, Y:122.71, Z:0.65 [[-9.97803382e-01 6.61907713e-02 2.68176622e-03 1.87954519e+02] [-6.61903549e-02 -9.97806984e-01 2.43817577e-04 1.22714375e+02] [ 2.69202353e-03 6.57749453e-05 9.99996374e-01 6.51512607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.814012739 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:187.96, Y:122.71, Z:0.65 [[-9.97825366e-01 6.58585408e-02 2.68167349e-03 1.87964500e+02] [-6.58581205e-02 -9.97828967e-01 2.44833255e-04 1.22713624e+02] [ 2.69197585e-03 6.76908565e-05 9.99996374e-01 6.50362958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.844012739 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:187.97, Y:122.71, Z:0.65 [[-9.97822456e-01 6.59026141e-02 2.68158020e-03 1.87971686e+02] [-6.59021912e-02 -9.97826057e-01 2.45850737e-04 1.22711686e+02] [ 2.69195281e-03 6.85933753e-05 9.99996374e-01 6.50665451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.874012739 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:187.98, Y:122.71, Z:0.65 [[-9.97776054e-01 6.66014621e-02 2.68148693e-03 1.87975020e+02] [-6.66010390e-02 -9.97779655e-01 2.46863841e-04 1.22710231e+02] [ 2.69197460e-03 6.77250137e-05 9.99996374e-01 6.50165621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.904012739 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:187.96, Y:122.71, Z:0.65 [[-9.97698361e-01 6.77553722e-02 2.68139345e-03 1.87963203e+02] [-6.77549506e-02 -9.97701962e-01 2.47875086e-04 1.22705495e+02] [ 2.69202638e-03 6.56268860e-05 9.99996374e-01 6.46206420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.934012739 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:187.97, Y:122.70, Z:0.65 [[-9.97623588e-01 6.88475707e-02 2.68129911e-03 1.87971042e+02] [-6.88471502e-02 -9.97627189e-01 2.48891450e-04 1.22704886e+02] [ 2.69207246e-03 6.37001791e-05 9.99996374e-01 6.46172980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.964012739 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:187.97, Y:122.70, Z:0.65 [[-9.97554293e-01 6.98444223e-02 2.68120408e-03 1.87965707e+02] [-6.98440027e-02 -9.97557895e-01 2.49910975e-04 1.22703639e+02] [ 2.69211118e-03 6.20337414e-05 9.99996374e-01 6.47323154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.994012739 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:187.97, Y:122.70, Z:0.65 [[-9.97446725e-01 7.13641537e-02 2.68110855e-03 1.87973704e+02] [-7.13637369e-02 -9.97450327e-01 2.50931639e-04 1.22701220e+02] [ 2.69218013e-03 5.89570159e-05 9.99996374e-01 6.49522762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.024012739 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:187.96, Y:122.70, Z:0.65 [[-9.97392717e-01 7.21150549e-02 2.68101253e-03 1.87955830e+02] [-7.21146381e-02 -9.97396318e-01 2.51953443e-04 1.22697512e+02] [ 2.69220166e-03 5.79562808e-05 9.99996374e-01 6.49733246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.05401273900003 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:187.96, Y:122.70, Z:0.65 [[-9.97321396e-01 7.30947719e-02 2.68091555e-03 1.87962899e+02] [-7.30943559e-02 -9.97324998e-01 2.52981163e-04 1.22695299e+02] [ 2.69223569e-03 5.63437319e-05 9.99996374e-01 6.47835906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.084012739 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:187.96, Y:122.69, Z:0.65 [[-9.97300922e-01 7.33735923e-02 2.68081760e-03 1.87964921e+02] [-7.33731745e-02 -9.97304524e-01 2.54014869e-04 1.22694415e+02] [ 2.69222950e-03 5.66291656e-05 9.99996374e-01 6.47264353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.114012739 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:187.96, Y:122.69, Z:0.65 [[-9.97258924e-01 7.39422289e-02 2.68071940e-03 1.87962976e+02] [-7.39418104e-02 -9.97262525e-01 2.55046984e-04 1.22691975e+02] [ 2.69223974e-03 5.61306354e-05 9.99996374e-01 6.47781536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.144012739 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:187.97, Y:122.69, Z:0.65 [[-9.97200140e-01 7.47308230e-02 2.68062059e-03 1.87970352e+02] [-7.47304045e-02 -9.97203741e-01 2.56081311e-04 1.22686792e+02] [ 2.69226205e-03 5.50404582e-05 9.99996374e-01 6.51104422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.174012739 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:187.98, Y:122.69, Z:0.65 [[-9.97131901e-01 7.56358875e-02 2.68052138e-03 1.87976970e+02] [-7.56354695e-02 -9.97135502e-01 2.57115600e-04 1.22686306e+02] [ 2.69229020e-03 5.36356736e-05 9.99996374e-01 6.52680945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.204012739 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:187.99, Y:122.69, Z:0.65 [[-9.96901666e-01 7.86122348e-02 2.68042206e-03 1.87992120e+02] [-7.86118248e-02 -9.96905269e-01 2.58146907e-04 1.22687597e+02] [ 2.69242038e-03 4.66342123e-05 9.99996374e-01 6.53132606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.234012739 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:187.99, Y:122.69, Z:0.65 [[-9.96741484e-01 8.06178030e-02 2.68032297e-03 1.87986611e+02] [-8.06173974e-02 -9.96745087e-01 2.59171679e-04 1.22686732e+02] [ 2.69249260e-03 4.22465016e-05 9.99996374e-01 6.51350091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.264012739 meters Centerline goodness : 0.998320 Centerline is valid? [True, True] Translation: X:188.00, Y:122.69, Z:0.65 [[-9.96574051e-01 8.26618311e-02 2.68022367e-03 1.88001135e+02] [-8.26614302e-02 -9.96577654e-01 2.60194546e-04 1.22687355e+02] [ 2.69255918e-03 3.77520103e-05 9.99996374e-01 6.49902805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.294012739 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:188.02, Y:122.69, Z:0.65 [[-9.96284332e-01 8.60833707e-02 2.68012408e-03 1.88017987e+02] [-8.60829794e-02 -9.96287937e-01 2.61216352e-04 1.22688019e+02] [ 2.69266168e-03 2.95326920e-05 9.99996374e-01 6.47540400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.324012739 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:188.02, Y:122.69, Z:0.65 [[-9.96126598e-01 8.78898106e-02 2.68002509e-03 1.88019452e+02] [-8.78894231e-02 -9.96130203e-01 2.62228081e-04 1.22688551e+02] [ 2.69270111e-03 2.56665067e-05 9.99996374e-01 6.47340987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.354012739 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:188.03, Y:122.69, Z:0.65 [[-9.95949827e-01 8.98707930e-02 2.67992617e-03 1.88026210e+02] [-8.98704100e-02 -9.95953433e-01 2.63235145e-04 1.22688834e+02] [ 2.69273882e-03 2.13229329e-05 9.99996374e-01 6.49263538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.384012739 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:188.01, Y:122.69, Z:0.65 [[-9.95918461e-01 9.02177202e-02 2.67982699e-03 1.88005442e+02] [-9.02173358e-02 -9.95922067e-01 2.64241027e-04 1.22685741e+02] [ 2.69273805e-03 2.13956663e-05 9.99996374e-01 6.51697889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.414012739 meters Centerline goodness : 0.998456 Centerline is valid? [True, True] Translation: X:188.03, Y:122.69, Z:0.65 [[-9.95875313e-01 9.06927813e-02 2.67972674e-03 1.88025727e+02] [-9.06923959e-02 -9.95878918e-01 2.65253801e-04 1.22686651e+02] [ 2.69273997e-03 2.11288738e-05 9.99996374e-01 6.52844149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.444012739 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:188.04, Y:122.69, Z:0.65 [[-9.95853173e-01 9.09355632e-02 2.67962589e-03 1.88036969e+02] [-9.09351759e-02 -9.95856778e-01 2.66268703e-04 1.22687618e+02] [ 2.69273690e-03 2.14922813e-05 9.99996374e-01 6.52890360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.474012739 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:188.04, Y:122.69, Z:0.65 [[-9.95830352e-01 9.11851424e-02 2.67952560e-03 1.88038635e+02] [-9.11847533e-02 -9.95833957e-01 2.67274143e-04 1.22687067e+02] [ 2.69273401e-03 2.18278231e-05 9.99996374e-01 6.51299955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.504012739 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:188.04, Y:122.68, Z:0.65 [[-9.95815613e-01 9.13459626e-02 2.67942523e-03 1.88044248e+02] [-9.13455714e-02 -9.95819218e-01 2.68276610e-04 1.22684000e+02] [ 2.69272912e-03 2.24004089e-05 9.99996374e-01 6.50366571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.534012739 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:188.06, Y:122.68, Z:0.65 [[-9.95849476e-01 9.09760519e-02 2.67932455e-03 1.88056929e+02] [-9.09756567e-02 -9.95853080e-01 2.69278385e-04 1.22682893e+02] [ 2.69271149e-03 2.44074284e-05 9.99996374e-01 6.49972439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.564012739 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:188.06, Y:122.68, Z:0.65 [[-9.95911655e-01 9.02928376e-02 2.67922397e-03 1.88055885e+02] [-9.02924372e-02 -9.95915259e-01 2.70275434e-04 1.22680600e+02] [ 2.69268397e-03 2.72567928e-05 9.99996374e-01 6.49047693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.594012739 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:188.03, Y:122.68, Z:0.65 [[-9.96008964e-01 8.92130399e-02 2.67912323e-03 1.88031294e+02] [-8.92126329e-02 -9.96012567e-01 2.71270353e-04 1.22675918e+02] [ 2.69264125e-03 3.11760664e-05 9.99996374e-01 6.48505610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.624012739 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:188.06, Y:122.67, Z:0.65 [[-9.96148971e-01 8.76358927e-02 2.67902099e-03 1.88062353e+02] [-8.76354773e-02 -9.96152573e-01 2.72276264e-04 1.22673072e+02] [ 2.69257483e-03 3.64504364e-05 9.99996374e-01 6.48108913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.654012739 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:188.03, Y:122.67, Z:0.65 [[-9.96172681e-01 8.73659680e-02 2.67891838e-03 1.88027317e+02] [-8.73655489e-02 -9.96176283e-01 2.73282135e-04 1.22666344e+02] [ 2.69255051e-03 3.81910225e-05 9.99996374e-01 6.47934803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.684012739 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:188.04, Y:122.66, Z:0.65 [[-9.96097310e-01 8.82211641e-02 2.67881502e-03 1.88040324e+02] [-8.82207454e-02 -9.96100911e-01 2.74291588e-04 1.22662645e+02] [ 2.69256841e-03 3.68940548e-05 9.99996374e-01 6.50595974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.714012739 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:188.08, Y:122.66, Z:0.65 [[-9.95949163e-01 8.98781900e-02 2.67871021e-03 1.88077638e+02] [-8.98777746e-02 -9.95952765e-01 2.75311338e-04 1.22664506e+02] [ 2.69261333e-03 3.34395842e-05 9.99996374e-01 6.51957255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.744012739 meters Centerline goodness : 0.998355 Centerline is valid? [True, True] Translation: X:188.08, Y:122.66, Z:0.65 [[-9.95713948e-01 9.24476007e-02 2.67860672e-03 1.88078656e+02] [-9.24471918e-02 -9.95717551e-01 2.76314636e-04 1.22661766e+02] [ 2.69268035e-03 2.75006676e-05 9.99996374e-01 6.52967870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.774012739 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:188.10, Y:122.66, Z:0.65 [[-9.95472510e-01 9.50121444e-02 2.67850407e-03 1.88097728e+02] [-9.50117422e-02 -9.95476113e-01 2.77306131e-04 1.22660693e+02] [ 2.69273427e-03 2.15612923e-05 9.99996374e-01 6.53294880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.80401273900003 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:188.11, Y:122.66, Z:0.65 [[-9.94976812e-01 1.00069822e-01 2.67840155e-03 1.88109884e+02] [-1.00069435e-01 -9.94980417e-01 2.78292823e-04 1.22658088e+02] [ 2.69280580e-03 8.86877505e-06 9.99996374e-01 6.50963169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.834012739 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:188.10, Y:122.66, Z:0.65 [[-9.94723591e-01 1.02556348e-01 2.67829961e-03 1.88101528e+02] [-1.02555968e-01 -9.94727197e-01 2.79270419e-04 1.22655538e+02] [ 2.69281842e-03 3.12126478e-06 9.99996374e-01 6.50439305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.864012739 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:188.13, Y:122.65, Z:0.65 [[-9.94422840e-01 1.05432647e-01 2.67819724e-03 1.88128426e+02] [-1.05432275e-01 -9.94426446e-01 2.80248747e-04 1.22652826e+02] [ 2.69281753e-03 -3.68267247e-06 9.99996374e-01 6.49256732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.894012739 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:188.14, Y:122.65, Z:0.65 [[-9.94355914e-01 1.06061983e-01 2.67809498e-03 1.88137146e+02] [-1.06061610e-01 -9.94359520e-01 2.81222563e-04 1.22650918e+02] [ 2.69281626e-03 -4.40774758e-06 9.99996374e-01 6.48740744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.924012739 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:188.13, Y:122.65, Z:0.65 [[-9.94283697e-01 1.06736864e-01 2.67799340e-03 1.88134381e+02] [-1.06736492e-01 -9.94287303e-01 2.82186606e-04 1.22648348e+02] [ 2.69281455e-03 -5.26607777e-06 9.99996374e-01 6.48437588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.954012739 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:188.16, Y:122.65, Z:0.65 [[-9.93959205e-01 1.09717494e-01 2.67789150e-03 1.88161720e+02] [-1.09717129e-01 -9.93962812e-01 2.83150309e-04 1.22646870e+02] [ 2.69279111e-03 -1.23707124e-05 9.99996374e-01 6.48575548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.984012739 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:188.15, Y:122.64, Z:0.65 [[-9.93696343e-01 1.12073225e-01 2.67778992e-03 1.88153650e+02] [-1.12072867e-01 -9.93699951e-01 2.84107696e-04 1.22643531e+02] [ 2.69276058e-03 -1.77908145e-05 9.99996374e-01 6.47988605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.014012739 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:188.16, Y:122.64, Z:0.65 [[-9.93184440e-01 1.16522521e-01 2.67768845e-03 1.88161349e+02] [-1.16522176e-01 -9.93188049e-01 2.85060898e-04 1.22639689e+02] [ 2.69266418e-03 -2.88920343e-05 9.99996374e-01 6.45552941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.044012739 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:188.18, Y:122.64, Z:0.65 [[-9.92911223e-01 1.18828171e-01 2.67758643e-03 1.88184116e+02] [-1.18827831e-01 -9.92914833e-01 2.86015985e-04 1.22640782e+02] [ 2.69260203e-03 -3.41833071e-05 9.99996374e-01 6.45040237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.074012739 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:188.19, Y:122.64, Z:0.65 [[-9.92102293e-01 1.25402834e-01 2.67748493e-03 1.88191345e+02] [-1.25402516e-01 -9.92105905e-01 2.86962971e-04 1.22638869e+02] [ 2.69233458e-03 -5.10667258e-05 9.99996374e-01 6.47448826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.104012739 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:188.22, Y:122.64, Z:0.65 [[-9.91569328e-01 1.29549603e-01 2.67738393e-03 1.88222608e+02] [-1.29549298e-01 -9.91572941e-01 2.87902280e-04 1.22641141e+02] [ 2.69211908e-03 -6.13781378e-05 9.99996374e-01 6.50621410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.134012739 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:188.23, Y:122.64, Z:0.65 [[-9.90974215e-01 1.34025880e-01 2.67728374e-03 1.88225237e+02] [-1.34025589e-01 -9.90977829e-01 2.88830949e-04 1.22642018e+02] [ 2.69183965e-03 -7.26005058e-05 9.99996374e-01 6.51604076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.164012739 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:188.26, Y:122.65, Z:0.65 [[-9.89782386e-01 1.42561081e-01 2.67718415e-03 1.88259175e+02] [-1.42560818e-01 -9.89786002e-01 2.89751126e-04 1.22651231e+02] [ 2.69114663e-03 -9.48710008e-05 9.99996374e-01 6.49064819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.194012739 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:188.28, Y:122.66, Z:0.65 [[-9.89190067e-01 1.46614613e-01 2.67708532e-03 1.88281234e+02] [-1.46614362e-01 -9.89193684e-01 2.90661359e-04 1.22656946e+02] [ 2.69077109e-03 -1.04979828e-04 9.99996374e-01 6.46781130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.224012739 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:188.27, Y:122.66, Z:0.64 [[-9.88400994e-01 1.51843039e-01 2.67698783e-03 1.88274940e+02] [-1.51842805e-01 -9.88404612e-01 2.91556494e-04 1.22661304e+02] [ 2.69021794e-03 -1.18306612e-04 9.99996374e-01 6.44966556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.254012739 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:188.29, Y:122.67, Z:0.65 [[-9.88219760e-01 1.53018103e-01 2.67689042e-03 1.88290144e+02] [-1.53017871e-01 -9.88223378e-01 2.92448108e-04 1.22666425e+02] [ 2.69011555e-03 -1.20609075e-04 9.99996374e-01 6.45889292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.284012739 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:188.28, Y:122.67, Z:0.65 [[-9.88160107e-01 1.53402864e-01 2.67679283e-03 1.88284596e+02] [-1.53402631e-01 -9.88163725e-01 2.93338651e-04 1.22670299e+02] [ 2.69010856e-03 -1.20761511e-04 9.99996374e-01 6.47133103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.314012739 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:188.28, Y:122.68, Z:0.65 [[-9.88334533e-01 1.52275036e-01 2.67669514e-03 1.88278773e+02] [-1.52274796e-01 -9.88338151e-01 2.94227373e-04 1.22677582e+02] [ 2.69028341e-03 -1.16798134e-04 9.99996374e-01 6.45802083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.344012739 meters Centerline goodness : 0.998069 Centerline is valid? [True, True] Translation: X:188.26, Y:122.68, Z:0.64 [[-9.88496576e-01 1.51219556e-01 2.67659669e-03 1.88261261e+02] [-1.51219311e-01 -9.88500194e-01 2.95120309e-04 1.22678820e+02] [ 2.69044431e-03 -1.13027691e-04 9.99996374e-01 6.43462427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.374012739 meters Centerline goodness : 0.997815 Centerline is valid? [True, True] Translation: X:188.24, Y:122.68, Z:0.64 [[-9.88890493e-01 1.48621764e-01 2.67649704e-03 1.88239966e+02] [-1.48621506e-01 -9.88894110e-01 2.96021297e-04 1.22682905e+02] [ 2.69076736e-03 -1.05052375e-04 9.99996374e-01 6.40685403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.404012739 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:188.27, Y:122.69, Z:0.64 [[-9.88997392e-01 1.47908739e-01 2.67639567e-03 1.88269892e+02] [-1.47908476e-01 -9.89001008e-01 2.96934931e-04 1.22690494e+02] [ 2.69087729e-03 -1.02193732e-04 9.99996374e-01 6.41165740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.434012739 meters Centerline goodness : 0.997719 Centerline is valid? [True, True] Translation: X:188.26, Y:122.69, Z:0.64 [[-9.89099774e-01 1.47222532e-01 2.67629416e-03 1.88258179e+02] [-1.47222265e-01 -9.89103390e-01 2.97847043e-04 1.22693017e+02] [ 2.69098143e-03 -9.94096453e-05 9.99996374e-01 6.43158730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.464012739 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:188.25, Y:122.70, Z:0.64 [[-9.89520451e-01 1.44367984e-01 2.67619281e-03 1.88245207e+02] [-1.44367703e-01 -9.89524066e-01 2.98754958e-04 1.22697423e+02] [ 2.69128784e-03 -9.07316681e-05 9.99996374e-01 6.44676438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.494012739 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:188.23, Y:122.70, Z:0.64 [[-9.89812669e-01 1.42350689e-01 2.67609018e-03 1.88227787e+02] [-1.42350399e-01 -9.89816283e-01 2.99671475e-04 1.22698041e+02] [ 2.69149607e-03 -8.43238811e-05 9.99996374e-01 6.44087788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.524012739 meters Centerline goodness : 0.997928 Centerline is valid? [True, True] Translation: X:188.23, Y:122.70, Z:0.64 [[-9.89762985e-01 1.42695732e-01 2.67598603e-03 1.88230312e+02] [-1.42695441e-01 -9.89766599e-01 3.00598569e-04 1.22698399e+02] [ 2.69149573e-03 -8.43296695e-05 9.99996374e-01 6.44081012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.55401273900003 meters Centerline goodness : 0.997651 Centerline is valid? [True, True] Translation: X:188.23, Y:122.70, Z:0.64 [[-9.90426045e-01 1.38018440e-01 2.67588092e-03 1.88233713e+02] [-1.38018129e-01 -9.90429657e-01 3.01531387e-04 1.22702294e+02] [ 2.69188871e-03 -7.06755398e-05 9.99996374e-01 6.42562639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.584012739 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:188.23, Y:122.70, Z:0.64 [[-9.90776993e-01 1.35476161e-01 2.67577551e-03 1.88227873e+02] [-1.35475838e-01 -9.90780604e-01 3.02463883e-04 1.22702373e+02] [ 2.69208313e-03 -6.28286742e-05 9.99996374e-01 6.42496272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.614012739 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:188.20, Y:122.70, Z:0.64 [[-9.91119163e-01 1.32949787e-01 2.67566952e-03 1.88204428e+02] [-1.32949452e-01 -9.91122773e-01 3.03398599e-04 1.22699892e+02] [ 2.69225378e-03 -5.50246311e-05 9.99996374e-01 6.42675702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.644012739 meters Centerline goodness : 0.997777 Centerline is valid? [True, True] Translation: X:188.20, Y:122.70, Z:0.64 [[-9.91531840e-01 1.29836253e-01 2.67556195e-03 1.88202666e+02] [-1.29835905e-01 -9.91535448e-01 3.04344320e-04 1.22700728e+02] [ 2.69242944e-03 -4.56169228e-05 9.99996374e-01 6.43507050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.674012739 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:188.21, Y:122.70, Z:0.65 [[-9.91408088e-01 1.30777849e-01 2.67545293e-03 1.88210350e+02] [-1.30777501e-01 -9.91411697e-01 3.05299676e-04 1.22701007e+02] [ 2.69240176e-03 -4.72124805e-05 9.99996374e-01 6.46297594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.704012739 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:188.19, Y:122.70, Z:0.65 [[-9.91124140e-01 1.32912687e-01 2.67534362e-03 1.88187235e+02] [-1.32912344e-01 -9.91127749e-01 3.06254559e-04 1.22698460e+02] [ 2.69231242e-03 -5.20499063e-05 9.99996374e-01 6.47793222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.734012739 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:188.21, Y:122.70, Z:0.65 [[-9.90818674e-01 1.35170994e-01 2.67523317e-03 1.88209101e+02] [-1.35170657e-01 -9.90822284e-01 3.07216397e-04 1.22702244e+02] [ 2.69220738e-03 -5.72172818e-05 9.99996374e-01 6.48035602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.764012739 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:188.22, Y:122.71, Z:0.65 [[-9.90502654e-01 1.37467581e-01 2.67512214e-03 1.88220635e+02] [-1.37467250e-01 -9.90506265e-01 3.08180153e-04 1.22705091e+02] [ 2.69209002e-03 -6.24884253e-05 9.99996374e-01 6.49030956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.794012739 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:188.26, Y:122.71, Z:0.65 [[-9.90039016e-01 1.40767864e-01 2.67501187e-03 1.88255831e+02] [-1.40767543e-01 -9.90042627e-01 3.09134321e-04 1.22709864e+02] [ 2.69189196e-03 -7.04998086e-05 9.99996374e-01 6.50939447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.824012739 meters Centerline goodness : 0.997432 Centerline is valid? [True, True] Translation: X:188.25, Y:122.71, Z:0.65 [[-9.89914104e-01 1.41643611e-01 2.67490283e-03 1.88247387e+02] [-1.41643290e-01 -9.89917715e-01 3.10075046e-04 1.22707227e+02] [ 2.69185384e-03 -7.19343748e-05 9.99996374e-01 6.53117475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.854012739 meters Centerline goodness : 0.997431 Centerline is valid? [True, True] Translation: X:188.26, Y:122.71, Z:0.65 [[-9.89928355e-01 1.41543974e-01 2.67479426e-03 1.88256704e+02] [-1.41543650e-01 -9.89931967e-01 3.11008754e-04 1.22708012e+02] [ 2.69188576e-03 -7.07237575e-05 9.99996374e-01 6.54384146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.884012739 meters Centerline goodness : 0.997533 Centerline is valid? [True, True] Translation: X:187.93, Y:122.67, Z:0.65 [[-9.89654369e-01 1.43447117e-01 2.67468519e-03 1.87931816e+02] [-1.43446797e-01 -9.89657981e-01 3.11943983e-04 1.22670696e+02] [ 2.69177100e-03 -7.49582971e-05 9.99996374e-01 6.52246948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.914012739 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:188.25, Y:122.71, Z:0.65 [[-9.89962501e-01 1.41304984e-01 2.67372901e-03 1.88252309e+02] [-1.41304634e-01 -9.89966110e-01 3.20114876e-04 1.22708345e+02] [ 2.69213493e-03 -6.09085764e-05 9.99996374e-01 6.52353668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.944012739 meters Centerline goodness : 0.997476 Centerline is valid? [True, True] Translation: X:188.24, Y:122.71, Z:0.65 [[-9.89482227e-01 1.44629764e-01 2.67468423e-03 1.88244922e+02] [-1.44629448e-01 -9.89485839e-01 3.11924078e-04 1.22710578e+02] [ 2.69167567e-03 -7.81947738e-05 9.99996374e-01 6.50531311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.974012739 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:188.28, Y:122.72, Z:0.65 [[-9.89024076e-01 1.47730240e-01 2.67457443e-03 1.88279668e+02] [-1.47729934e-01 -9.89027689e-01 3.12862689e-04 1.22718030e+02] [ 2.69144745e-03 -8.56859715e-05 9.99996374e-01 6.50696028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.004012739 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:188.28, Y:122.73, Z:0.65 [[-9.88058668e-01 1.54054910e-01 2.67446515e-03 1.88282412e+02] [-1.54054624e-01 -9.88062283e-01 3.13794161e-04 1.22726873e+02] [ 2.69087967e-03 -1.01966681e-04 9.99996374e-01 6.51307422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.034012739 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:188.30, Y:122.73, Z:0.65 [[-9.87598308e-01 1.56979073e-01 2.67435676e-03 1.88300023e+02] [-1.56978796e-01 -9.87601923e-01 3.14715154e-04 1.22732681e+02] [ 2.69060358e-03 -1.09005150e-04 9.99996374e-01 6.49868323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.064012739 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:188.29, Y:122.74, Z:0.64 [[-9.87049388e-01 1.60394371e-01 2.67424867e-03 1.88290110e+02] [-1.60394104e-01 -9.87053004e-01 3.15631041e-04 1.22739345e+02] [ 2.69025062e-03 -1.17390292e-04 9.99996374e-01 6.43383057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.094012739 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:188.30, Y:122.75, Z:0.64 [[-9.86947246e-01 1.61021683e-01 2.67414040e-03 1.88297927e+02] [-1.61021415e-01 -9.86950862e-01 3.16545668e-04 1.22745310e+02] [ 2.69021589e-03 -1.18179995e-04 9.99996374e-01 6.40592478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.124012739 meters Centerline goodness : 0.997320 Centerline is valid? [True, True] Translation: X:188.29, Y:122.75, Z:0.64 [[-9.87052157e-01 1.60377333e-01 2.67403161e-03 1.88291312e+02] [-1.60377060e-01 -9.87055772e-01 3.17462029e-04 1.22750093e+02] [ 2.69033205e-03 -1.15501748e-04 9.99996374e-01 6.39669517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.154012739 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:188.29, Y:122.76, Z:0.64 [[-9.87621152e-01 1.56835298e-01 2.67392244e-03 1.88292608e+02] [-1.56835010e-01 -9.87624766e-01 3.18378902e-04 1.22759942e+02] [ 2.69076507e-03 -1.04926915e-04 9.99996374e-01 6.42323921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.184012739 meters Centerline goodness : 0.997076 Centerline is valid? [True, True] Translation: X:188.27, Y:122.76, Z:0.64 [[-9.87915044e-01 1.54973277e-01 2.67381262e-03 1.88271437e+02] [-1.54972980e-01 -9.87918657e-01 3.19298473e-04 1.22761228e+02] [ 2.69099211e-03 -9.89289449e-05 9.99996374e-01 6.44795053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.214012739 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:188.27, Y:122.77, Z:0.65 [[-9.88534855e-01 1.50969176e-01 2.67370165e-03 1.88270707e+02] [-1.50968861e-01 -9.88538467e-01 3.20225056e-04 1.22768742e+02] [ 2.69140104e-03 -8.70920641e-05 9.99996374e-01 6.47816567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.244012739 meters Centerline goodness : 0.997595 Centerline is valid? [True, True] Translation: X:188.25, Y:122.77, Z:0.65 [[-9.88815394e-01 1.49120652e-01 2.67358939e-03 1.88248132e+02] [-1.49120328e-01 -9.88819005e-01 3.21159616e-04 1.22770150e+02] [ 2.69158753e-03 -8.11189541e-05 9.99996374e-01 6.47314284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.274012739 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:188.23, Y:122.77, Z:0.65 [[-9.89056438e-01 1.47513438e-01 2.67347578e-03 1.88225325e+02] [-1.47513105e-01 -9.89060049e-01 3.22102582e-04 1.22770679e+02] [ 2.69174254e-03 -7.57950814e-05 9.99996374e-01 6.47128530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.30401273900003 meters Centerline goodness : 0.997504 Centerline is valid? [True, True] Translation: X:188.25, Y:122.78, Z:0.65 [[-9.89525503e-01 1.44333409e-01 2.67335988e-03 1.88246477e+02] [-1.44333063e-01 -9.89529112e-01 3.23061660e-04 1.22777358e+02] [ 2.69199602e-03 -6.61764672e-05 9.99996374e-01 6.46806493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.334012739 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:188.23, Y:122.78, Z:0.65 [[-9.89773373e-01 1.42623715e-01 2.67324338e-03 1.88234179e+02] [-1.42623359e-01 -9.89776981e-01 3.24022783e-04 1.22777658e+02] [ 2.69212810e-03 -6.05578284e-05 9.99996374e-01 6.46780333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.364012739 meters Centerline goodness : 0.997464 Centerline is valid? [True, True] Translation: X:188.21, Y:122.78, Z:0.65 [[-9.90219004e-01 1.39496162e-01 2.67312674e-03 1.88214038e+02] [-1.39495793e-01 -9.90222610e-01 3.24982217e-04 1.22777756e+02] [ 2.69232431e-03 -5.10863681e-05 9.99996374e-01 6.48963813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.394012739 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:188.22, Y:122.78, Z:0.65 [[-9.90348314e-01 1.38575148e-01 2.67300821e-03 1.88223360e+02] [-1.38574772e-01 -9.90351920e-01 3.25954184e-04 1.22779042e+02] [ 2.69238797e-03 -4.76033288e-05 9.99996374e-01 6.50433711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.424012739 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:188.22, Y:122.78, Z:0.65 [[-9.90439633e-01 1.37920955e-01 2.67288871e-03 1.88222025e+02] [-1.37920574e-01 -9.90443238e-01 3.26931196e-04 1.22778631e+02] [ 2.69243521e-03 -4.48407333e-05 9.99996374e-01 6.52826534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.454012739 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:188.21, Y:122.78, Z:0.65 [[-9.90732130e-01 1.35803911e-01 2.67276897e-03 1.88209825e+02] [-1.35803521e-01 -9.90735735e-01 3.27907229e-04 1.22776569e+02] [ 2.69253881e-03 -3.81032088e-05 9.99996374e-01 6.54460609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.484012739 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:188.22, Y:122.78, Z:0.65 [[-9.91043476e-01 1.33512868e-01 2.67264808e-03 1.88217644e+02] [-1.33512466e-01 -9.91047079e-01 3.28889611e-04 1.22776878e+02] [ 2.69263107e-03 -3.08879337e-05 9.99996374e-01 6.53171307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.514012739 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:188.22, Y:122.78, Z:0.65 [[-9.91148700e-01 1.32729468e-01 2.67252640e-03 1.88216895e+02] [-1.32729061e-01 -9.91152303e-01 3.29875409e-04 1.22775434e+02] [ 2.69266488e-03 -2.77663366e-05 9.99996374e-01 6.51750441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.544012739 meters Centerline goodness : 0.997573 Centerline is valid? [True, True] Translation: X:188.22, Y:122.77, Z:0.65 [[-9.91242733e-01 1.32025387e-01 2.67240444e-03 1.88216263e+02] [-1.32024975e-01 -9.91246335e-01 3.30860526e-04 1.22773524e+02] [ 2.69269309e-03 -2.48610370e-05 9.99996374e-01 6.51012930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.574012739 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:188.20, Y:122.77, Z:0.65 [[-9.91303985e-01 1.31564691e-01 2.67228181e-03 1.88204291e+02] [-1.31564274e-01 -9.91307587e-01 3.31847973e-04 1.22770556e+02] [ 2.69271271e-03 -2.26145997e-05 9.99996374e-01 6.49854910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.604012739 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:188.20, Y:122.77, Z:0.65 [[-9.91316504e-01 1.31470332e-01 2.67215803e-03 1.88196500e+02] [-1.31469912e-01 -9.91320105e-01 3.32841745e-04 1.22767483e+02] [ 2.69272279e-03 -2.13568669e-05 9.99996374e-01 6.49384105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.634012739 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:188.22, Y:122.77, Z:0.65 [[-9.91204383e-01 1.32313007e-01 2.67203276e-03 1.88218429e+02] [-1.32312587e-01 -9.91207984e-01 3.33844373e-04 1.22767224e+02] [ 2.69271216e-03 -2.26355619e-05 9.99996374e-01 6.50131688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.664012739 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:188.20, Y:122.76, Z:0.65 [[-9.91089286e-01 1.33172399e-01 2.67190748e-03 1.88204956e+02] [-1.33171980e-01 -9.91092887e-01 3.34844028e-04 1.22764151e+02] [ 2.69270049e-03 -2.39628824e-05 9.99996374e-01 6.51571599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.694012739 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:188.24, Y:122.77, Z:0.65 [[-9.90961192e-01 1.34122252e-01 2.67178196e-03 1.88237090e+02] [-1.34121834e-01 -9.90964793e-01 3.35842656e-04 1.22767294e+02] [ 2.69268583e-03 -2.55372562e-05 9.99996374e-01 6.52053718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.724012739 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:188.25, Y:122.77, Z:0.65 [[-9.90517799e-01 1.37358482e-01 2.67165669e-03 1.88254256e+02] [-1.37358073e-01 -9.90521401e-01 3.36836242e-04 1.22768256e+02] [ 2.69260044e-03 -3.33313207e-05 9.99996374e-01 6.48980045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.754012739 meters Centerline goodness : 0.997618 Centerline is valid? [True, True] Translation: X:188.24, Y:122.77, Z:0.65 [[-9.90236346e-01 1.39373030e-01 2.67153299e-03 1.88236716e+02] [-1.39372626e-01 -9.90239949e-01 3.37814466e-04 1.22765320e+02] [ 2.69254092e-03 -3.78224046e-05 9.99996374e-01 6.46779277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.784012739 meters Centerline goodness : 0.996945 Centerline is valid? [True, True] Translation: X:188.25, Y:122.77, Z:0.65 [[-9.89954721e-01 1.41359523e-01 2.67140868e-03 1.88254122e+02] [-1.41359123e-01 -9.89958324e-01 3.38794673e-04 1.22766263e+02] [ 2.69247511e-03 -4.22366037e-05 9.99996374e-01 6.45710591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.814012739 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:188.26, Y:122.77, Z:0.65 [[-9.89667051e-01 1.43359660e-01 2.67128379e-03 1.88259431e+02] [-1.43359265e-01 -9.89670655e-01 3.39776553e-04 1.22765293e+02] [ 2.69240143e-03 -4.66876204e-05 9.99996374e-01 6.46307600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.844012739 meters Centerline goodness : 0.997168 Centerline is valid? [True, True] Translation: X:188.27, Y:122.77, Z:0.65 [[-9.89478872e-01 1.44652782e-01 2.67115927e-03 1.88272762e+02] [-1.44652389e-01 -9.89482476e-01 3.40752622e-04 1.22766133e+02] [ 2.69235611e-03 -4.92220503e-05 9.99996374e-01 6.47283826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.874012739 meters Centerline goodness : 0.997028 Centerline is valid? [True, True] Translation: X:188.29, Y:122.77, Z:0.65 [[-9.89137064e-01 1.46971879e-01 2.67103502e-03 1.88287704e+02] [-1.46971492e-01 -9.89140669e-01 3.41723871e-04 1.22766825e+02] [ 2.69225316e-03 -5.45542551e-05 9.99996374e-01 6.48525893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.904012739 meters Centerline goodness : 0.996824 Centerline is valid? [True, True] Translation: X:188.28, Y:122.77, Z:0.65 [[-9.88960516e-01 1.48155201e-01 2.67091138e-03 1.88275096e+02] [-1.48154816e-01 -9.88964121e-01 3.42687464e-04 1.22765121e+02] [ 2.69220646e-03 -5.68040126e-05 9.99996374e-01 6.49303485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.934012739 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:188.29, Y:122.77, Z:0.65 [[-9.88758394e-01 1.49498181e-01 2.67078729e-03 1.88293101e+02] [-1.49497797e-01 -9.88761999e-01 3.43651925e-04 1.22768015e+02] [ 2.69214831e-03 -5.94880914e-05 9.99996374e-01 6.49368497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.964012739 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:188.30, Y:122.77, Z:0.65 [[-9.88235089e-01 1.52919181e-01 2.67066288e-03 1.88302347e+02] [-1.52918808e-01 -9.88238696e-01 3.44616036e-04 1.22771614e+02] [ 2.69195080e-03 -6.78329241e-05 9.99996374e-01 6.49769074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.994012739 meters Centerline goodness : 0.997092 Centerline is valid? [True, True] Translation: X:188.32, Y:122.78, Z:0.65 [[-9.87858319e-01 1.55334512e-01 2.67053906e-03 1.88318355e+02] [-1.55334145e-01 -9.87861926e-01 3.45572901e-04 1.22776004e+02] [ 2.69180325e-03 -7.34488371e-05 9.99996374e-01 6.49450544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.024012739 meters Centerline goodness : 0.996987 Centerline is valid? [True, True] Translation: X:188.32, Y:122.78, Z:0.65 [[-9.86896562e-01 1.61332094e-01 2.67041580e-03 1.88324903e+02] [-1.61331746e-01 -9.86900171e-01 3.46522787e-04 1.22782847e+02] [ 2.69133905e-03 -8.88406970e-05 9.99996374e-01 6.49226337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.05401273900003 meters Centerline goodness : 0.997090 Centerline is valid? [True, True] Translation: X:188.35, Y:122.79, Z:0.65 [[-9.86371530e-01 1.64511622e-01 2.67029298e-03 1.88348442e+02] [-1.64511283e-01 -9.86375140e-01 3.47466646e-04 1.22789228e+02] [ 2.69107291e-03 -9.65621176e-05 9.99996374e-01 6.50256358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.084012739 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:188.34, Y:122.79, Z:0.65 [[-9.86033901e-01 1.66523322e-01 2.67017095e-03 1.88340178e+02] [-1.66522988e-01 -9.86037511e-01 3.48401858e-04 1.22792127e+02] [ 2.69090576e-03 -1.01108802e-04 9.99996374e-01 6.51634800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.114012739 meters Centerline goodness : 0.997314 Centerline is valid? [True, True] Translation: X:188.36, Y:122.80, Z:0.66 [[-9.85948947e-01 1.67025581e-01 2.67004905e-03 1.88355964e+02] [-1.67025247e-01 -9.85952557e-01 3.49333625e-04 1.22803111e+02] [ 2.69088934e-03 -1.01540481e-04 9.99996374e-01 6.55607123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.144012739 meters Centerline goodness : 0.997330 Centerline is valid? [True, True] Translation: X:188.32, Y:122.80, Z:0.66 [[-9.86152646e-01 1.65818667e-01 2.66992698e-03 1.88315460e+02] [-1.65818326e-01 -9.86156256e-01 3.50264083e-04 1.22802551e+02] [ 2.69104552e-03 -9.73089691e-05 9.99996374e-01 6.56305866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.174012739 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:188.31, Y:122.81, Z:0.65 [[-9.86968532e-01 1.60891233e-01 2.66980343e-03 1.88314418e+02] [-1.60890871e-01 -9.86972140e-01 3.51203303e-04 1.22811669e+02] [ 2.69152714e-03 -8.29203900e-05 9.99996374e-01 6.51592285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.204012739 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:188.30, Y:122.81, Z:0.65 [[-9.87446034e-01 1.57934171e-01 2.66967764e-03 1.88296423e+02] [-1.57933795e-01 -9.87449640e-01 3.52156896e-04 1.22812767e+02] [ 2.69178984e-03 -7.38963926e-05 9.99996374e-01 6.49772261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.234012739 meters Centerline goodness : 0.997046 Centerline is valid? [True, True] Translation: X:188.29, Y:122.82, Z:0.65 [[-9.88465821e-01 1.51420587e-01 2.66955052e-03 1.88288666e+02] [-1.51420185e-01 -9.88469424e-01 3.53117899e-04 1.22819510e+02] [ 2.69223839e-03 -5.51788600e-05 9.99996374e-01 6.48239641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.264012739 meters Centerline goodness : 0.997476 Centerline is valid? [True, True] Translation: X:188.26, Y:122.82, Z:0.65 [[-9.88942773e-01 1.48273618e-01 2.66942177e-03 1.88261262e+02] [-1.48273202e-01 -9.88946375e-01 3.54088562e-04 1.22819640e+02] [ 2.69241697e-03 -4.56303893e-05 9.99996374e-01 6.48702894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.294012739 meters Centerline goodness : 0.996904 Centerline is valid? [True, True] Translation: X:188.27, Y:122.82, Z:0.65 [[-9.89391347e-01 1.45250261e-01 2.66929088e-03 1.88265264e+02] [-1.45249832e-01 -9.89394947e-01 3.55072532e-04 1.22823723e+02] [ 2.69255729e-03 -3.64083614e-05 9.99996374e-01 6.50620782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.324012739 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:188.24, Y:122.83, Z:0.65 [[-9.90396041e-01 1.38233707e-01 2.66915831e-03 1.88236078e+02] [-1.38233250e-01 -9.90399638e-01 3.56066307e-04 1.22825149e+02] [ 2.69275379e-03 -1.63197667e-05 9.99996374e-01 6.53140406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.354012739 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:188.23, Y:122.83, Z:0.65 [[-9.90810644e-01 1.35229965e-01 2.66902400e-03 1.88234402e+02] [-1.35229494e-01 -9.90814239e-01 3.57070264e-04 1.22825975e+02] [ 2.69279358e-03 -7.14174745e-06 9.99996374e-01 6.52944872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.384012739 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:188.22, Y:122.82, Z:0.65 [[-9.91561236e-01 1.29611696e-01 2.66888759e-03 1.88215279e+02] [-1.29611202e-01 -9.91564828e-01 3.58086951e-04 1.22824654e+02] [ 2.69278732e-03 9.14741206e-06 9.99996374e-01 6.51777602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.414012739 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:188.22, Y:122.83, Z:0.65 [[-9.91510907e-01 1.29996151e-01 2.66874946e-03 1.88217752e+02] [-1.29995655e-01 -9.91514499e-01 3.59113422e-04 1.22825061e+02] [ 2.69278715e-03 9.13903922e-06 9.99996374e-01 6.51770827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.444012739 meters Centerline goodness : 0.997124 Centerline is valid? [True, True] Translation: X:188.23, Y:122.83, Z:0.65 [[-9.91903173e-01 1.26968396e-01 2.66860982e-03 1.88232732e+02] [-1.26967886e-01 -9.91906763e-01 3.60148136e-04 1.22828264e+02] [ 2.69273956e-03 1.84043304e-05 9.99996374e-01 6.50702627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.474012739 meters Centerline goodness : 0.997416 Centerline is valid? [True, True] Translation: X:188.24, Y:122.83, Z:0.65 [[-9.92292649e-01 1.23887761e-01 2.66855778e-03 1.88244471e+02] [-1.23887240e-01 -9.92296237e-01 3.60533313e-04 1.22831137e+02] [ 2.69266551e-03 2.71542990e-05 9.99996374e-01 6.48441439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.504012739 meters Centerline goodness : 0.997300 Centerline is valid? [True, True] Translation: X:188.26, Y:122.83, Z:0.65 [[-9.93040965e-01 1.17739211e-01 2.66850613e-03 1.88261613e+02] [-1.17738666e-01 -9.93044549e-01 3.60915242e-04 1.22833157e+02] [ 2.69243934e-03 4.42172678e-05 9.99996374e-01 6.46674174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.534012739 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:188.26, Y:122.83, Z:0.65 [[-9.93244798e-01 1.16007112e-01 2.66845488e-03 1.88258927e+02] [-1.16006559e-01 -9.93248382e-01 3.61293715e-04 1.22831774e+02] [ 2.69235114e-03 4.92948332e-05 9.99996374e-01 6.47609241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.564012739 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:188.28, Y:122.83, Z:0.65 [[-9.93501925e-01 1.13784028e-01 2.66831791e-03 1.88278310e+02] [-1.13783466e-01 -9.93505507e-01 3.62302510e-04 1.22832307e+02] [ 2.69221278e-03 5.63377819e-05 9.99996374e-01 6.50612214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.594012739 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:188.28, Y:122.83, Z:0.65 [[-9.93553942e-01 1.13328922e-01 2.66826684e-03 1.88281810e+02] [-1.13328357e-01 -9.93557523e-01 3.62678242e-04 1.22831460e+02] [ 2.69217853e-03 5.79501001e-05 9.99996374e-01 6.52218326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.624012739 meters Centerline goodness : 0.997351 Centerline is valid? [True, True] Translation: X:188.29, Y:122.83, Z:0.65 [[-9.93697305e-01 1.12064921e-01 2.66813078e-03 1.88294560e+02] [-1.12064348e-01 -9.93700885e-01 3.63676484e-04 1.22831148e+02] [ 2.69207929e-03 6.23820057e-05 9.99996374e-01 6.52417307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.654012739 meters Centerline goodness : 0.997670 Centerline is valid? [True, True] Translation: X:188.30, Y:122.83, Z:0.65 [[-9.94093025e-01 1.08498569e-01 2.66808003e-03 1.88300656e+02] [-1.08497982e-01 -9.94096603e-01 3.64048394e-04 1.22827938e+02] [ 2.69182802e-03 7.24166701e-05 9.99996374e-01 6.50711804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.684012739 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:188.32, Y:122.83, Z:0.65 [[-9.94323824e-01 1.06362654e-01 2.66794460e-03 1.88315920e+02] [-1.06362057e-01 -9.94327401e-01 3.65038199e-04 1.22828028e+02] [ 2.69163685e-03 7.91981010e-05 9.99996374e-01 6.48817109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.714012739 meters Centerline goodness : 0.996926 Centerline is valid? [True, True] Translation: X:188.32, Y:122.82, Z:0.65 [[-9.94493896e-01 1.04760556e-01 2.66789418e-03 1.88316259e+02] [-1.04759952e-01 -9.94497471e-01 3.65406364e-04 1.22822703e+02] [ 2.69149418e-03 8.39059318e-05 9.99996374e-01 6.48507961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.744012739 meters Centerline goodness : 0.996979 Centerline is valid? [True, True] Translation: X:188.33, Y:122.82, Z:0.65 [[-9.94449325e-01 1.05182806e-01 2.66775950e-03 1.88325196e+02] [-1.05182202e-01 -9.94452900e-01 3.66386949e-04 1.22820690e+02] [ 2.69149878e-03 8.37524361e-05 9.99996374e-01 6.49978346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.774012739 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:188.32, Y:122.82, Z:0.65 [[-9.94369656e-01 1.05933337e-01 2.66762460e-03 1.88319776e+02] [-1.05932732e-01 -9.94373230e-01 3.67366540e-04 1.22817144e+02] [ 2.69153086e-03 8.27093788e-05 9.99996374e-01 6.51046119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.80401273900003 meters Centerline goodness : 0.996793 Centerline is valid? [True, True] Translation: X:188.32, Y:122.81, Z:0.65 [[-9.94008076e-01 1.09274098e-01 2.66748925e-03 1.88315131e+02] [-1.09273502e-01 -9.94011653e-01 3.68346711e-04 1.22813550e+02] [ 2.69176615e-03 7.46537126e-05 9.99996374e-01 6.50656093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.834012739 meters Centerline goodness : 0.996888 Centerline is valid? [True, True] Translation: X:188.31, Y:122.81, Z:0.65 [[-9.93704218e-01 1.12003627e-01 2.66735278e-03 1.88310487e+02] [-1.12003039e-01 -9.93707796e-01 3.69332337e-04 1.22811087e+02] [ 2.69193581e-03 6.82554826e-05 9.99996374e-01 6.50953405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.864012739 meters Centerline goodness : 0.996791 Centerline is valid? [True, True] Translation: X:188.31, Y:122.81, Z:0.65 [[-9.93154947e-01 1.16773872e-01 2.66721515e-03 1.88307827e+02] [-1.16773298e-01 -9.93158527e-01 3.70323626e-04 1.22805886e+02] [ 2.69221159e-03 5.63292313e-05 9.99996374e-01 6.51136986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.894012739 meters Centerline goodness : 0.996831 Centerline is valid? [True, True] Translation: X:188.28, Y:122.80, Z:0.65 [[-9.92925077e-01 1.18712590e-01 2.66707651e-03 1.88284881e+02] [-1.18712021e-01 -9.92928657e-01 3.71319369e-04 1.22800630e+02] [ 2.69229699e-03 5.20782694e-05 9.99996374e-01 6.50801896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.924012739 meters Centerline goodness : 0.996659 Centerline is valid? [True, True] Translation: X:188.30, Y:122.80, Z:0.65 [[-9.92745018e-01 1.20209051e-01 2.66693589e-03 1.88303374e+02] [-1.20208484e-01 -9.92748600e-01 3.72326643e-04 1.22801119e+02] [ 2.69235390e-03 4.90370991e-05 9.99996374e-01 6.49913819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.954012739 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:188.29, Y:122.79, Z:0.65 [[-9.92513629e-01 1.22104806e-01 2.66679437e-03 1.88292603e+02] [-1.22104243e-01 -9.92517211e-01 3.73337509e-04 1.22793052e+02] [ 2.69242562e-03 4.49156579e-05 9.99996374e-01 6.49351147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.984012739 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:188.18, Y:122.77, Z:0.65 [[-9.92479606e-01 1.22381049e-01 2.66665259e-03 1.88179475e+02] [-1.22380485e-01 -9.92483187e-01 3.74347498e-04 1.22773307e+02] [ 2.69242090e-03 4.51860193e-05 9.99996374e-01 6.49040064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.014012739 meters Centerline goodness : 0.996990 Centerline is valid? [True, True] Translation: X:188.29, Y:122.78, Z:0.65 [[-9.92370087e-01 1.23265970e-01 2.66673906e-03 1.88288275e+02] [-1.23265411e-01 -9.92373669e-01 3.73732156e-04 1.22783938e+02] [ 2.69247008e-03 4.21639279e-05 9.99996374e-01 6.46151029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.044012739 meters Centerline goodness : 0.996857 Centerline is valid? [True, True] Translation: X:188.29, Y:122.78, Z:0.65 [[-9.92214622e-01 1.24511179e-01 2.66666166e-03 1.88289326e+02] [-1.24510623e-01 -9.92218204e-01 3.74283549e-04 1.22782664e+02] [ 2.69251273e-03 3.93419046e-05 9.99996374e-01 6.45727569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.074012739 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:188.29, Y:122.78, Z:0.65 [[-9.92003467e-01 1.26182450e-01 2.66651822e-03 1.88291623e+02] [-1.26181897e-01 -9.92007050e-01 3.75302702e-04 1.22780762e+02] [ 2.69256149e-03 3.58352532e-05 9.99996374e-01 6.47028932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.104012739 meters Centerline goodness : 0.996634 Centerline is valid? [True, True] Translation: X:188.30, Y:122.78, Z:0.65 [[-9.91565982e-01 1.29575435e-01 2.66637427e-03 1.88302085e+02] [-1.29574891e-01 -9.91569567e-01 3.76322639e-04 1.22777432e+02] [ 2.69265775e-03 2.76535717e-05 9.99996374e-01 6.50794192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.134012739 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:188.32, Y:122.78, Z:0.65 [[-9.91358437e-01 1.31153885e-01 2.66623027e-03 1.88319966e+02] [-1.31153345e-01 -9.91362022e-01 3.77340166e-04 1.22778524e+02] [ 2.69268906e-03 2.43943396e-05 9.99996374e-01 6.51260873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.164012739 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:188.32, Y:122.78, Z:0.65 [[-9.91094310e-01 1.33135125e-01 2.66608706e-03 1.88323210e+02] [-1.33134589e-01 -9.91097895e-01 3.78349272e-04 1.22775753e+02] [ 2.69272485e-03 2.00314062e-05 9.99996374e-01 6.48862390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.194012739 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:188.31, Y:122.77, Z:0.65 [[-9.90975867e-01 1.34013894e-01 2.66594430e-03 1.88310659e+02] [-1.34013359e-01 -9.90979453e-01 3.79352552e-04 1.22772260e+02] [ 2.69273454e-03 1.86570744e-05 9.99996374e-01 6.48231622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.224012739 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:188.31, Y:122.77, Z:0.65 [[-9.90825953e-01 1.35117817e-01 2.66580038e-03 1.88310360e+02] [-1.35117283e-01 -9.90829539e-01 3.80361216e-04 1.22770841e+02] [ 2.69274734e-03 1.66760601e-05 9.99996374e-01 6.48435904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.254012739 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:188.34, Y:122.77, Z:0.65 [[-9.90474510e-01 1.37670401e-01 2.66565510e-03 1.88342128e+02] [-1.37669873e-01 -9.90478097e-01 3.81376673e-04 1.22774265e+02] [ 2.69277727e-03 1.07634736e-05 9.99996374e-01 6.52221894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.284012739 meters Centerline goodness : 0.995941 Centerline is valid? [True, True] Translation: X:188.34, Y:122.77, Z:0.65 [[-9.90273444e-01 1.39109315e-01 2.66551080e-03 1.88342012e+02] [-1.39108790e-01 -9.90277031e-01 3.82382590e-04 1.22773747e+02] [ 2.69278710e-03 7.86734441e-06 9.99996374e-01 6.54386069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.314012739 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:188.34, Y:122.77, Z:0.66 [[-9.89681461e-01 1.43260255e-01 2.66536750e-03 1.88335565e+02] [-1.43259742e-01 -9.89685051e-01 3.83378821e-04 1.22770960e+02] [ 2.69279732e-03 -2.41694855e-06 9.99996374e-01 6.55990468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.344012739 meters Centerline goodness : 0.995766 Centerline is valid? [True, True] Translation: X:188.38, Y:122.78, Z:0.65 [[-9.89341610e-01 1.45588720e-01 2.66522322e-03 1.88378832e+02] [-1.45588213e-01 -9.89345200e-01 3.84379222e-04 1.22776877e+02] [ 2.69278708e-03 -7.74272748e-06 9.99996374e-01 6.54967738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.374012739 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:188.37, Y:122.78, Z:0.65 [[-9.88913384e-01 1.48469577e-01 2.66525884e-03 1.88371335e+02] [-1.48469081e-01 -9.88916976e-01 3.84132062e-04 1.22777156e+02] [ 2.69275164e-03 -1.58351943e-05 9.99996374e-01 6.53134516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.404012739 meters Centerline goodness : 0.995778 Centerline is valid? [True, True] Translation: X:188.37, Y:122.78, Z:0.65 [[-9.88051181e-01 1.54103087e-01 2.66511792e-03 1.88366788e+02] [-1.54102609e-01 -9.88054775e-01 3.85107312e-04 1.22781901e+02] [ 2.69262871e-03 -3.01958895e-05 9.99996374e-01 6.48833856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.434012739 meters Centerline goodness : 0.996092 Centerline is valid? [True, True] Translation: X:188.38, Y:122.79, Z:0.65 [[-9.87649334e-01 1.56657882e-01 2.66497580e-03 1.88377440e+02] [-1.56657410e-01 -9.87652928e-01 3.86088281e-04 1.22785899e+02] [ 2.69255493e-03 -3.61683740e-05 9.99996374e-01 6.46343723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.464012739 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:188.38, Y:122.79, Z:0.64 [[-9.86995653e-01 1.60724859e-01 2.66483346e-03 1.88375077e+02] [-1.60724399e-01 -9.86999249e-01 3.87068251e-04 1.22791186e+02] [ 2.69240012e-03 -4.62690770e-05 9.99996374e-01 6.43089023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.494012739 meters Centerline goodness : 0.995543 Centerline is valid? [True, True] Translation: X:188.37, Y:122.79, Z:0.64 [[-9.86833402e-01 1.61718075e-01 2.66469097e-03 1.88371130e+02] [-1.61717616e-01 -9.86836999e-01 3.88046765e-04 1.22794123e+02] [ 2.69236981e-03 -4.79899616e-05 9.99996374e-01 6.42716618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.524012739 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:188.39, Y:122.80, Z:0.64 [[-9.86836277e-01 1.61700534e-01 2.66454761e-03 1.88393500e+02] [-1.61700073e-01 -9.86839873e-01 3.89028670e-04 1.22800654e+02] [ 2.69238797e-03 -4.69499373e-05 9.99996374e-01 6.44178630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.55401273900003 meters Centerline goodness : 0.995712 Centerline is valid? [True, True] Translation: X:188.38, Y:122.80, Z:0.65 [[-9.87009788e-01 1.60638040e-01 2.66440460e-03 1.88379202e+02] [-1.60637572e-01 -9.87013383e-01 3.90005679e-04 1.22800720e+02] [ 2.69245274e-03 -4.30640622e-05 9.99996374e-01 6.46188911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.584012739 meters Centerline goodness : 0.995329 Centerline is valid? [True, True] Translation: X:188.39, Y:122.80, Z:0.65 [[-9.87844194e-01 1.55424420e-01 2.66426143e-03 1.88387907e+02] [-1.55423930e-01 -9.87847786e-01 3.90981240e-04 1.22804208e+02] [ 2.69265279e-03 -2.78614349e-05 9.99996374e-01 6.48209111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.614012739 meters Centerline goodness : 0.995112 Centerline is valid? [True, True] Translation: X:188.38, Y:122.81, Z:0.65 [[-9.88529685e-01 1.51003196e-01 2.66411741e-03 1.88377173e+02] [-1.51002688e-01 -9.88533275e-01 3.91960172e-04 1.22806875e+02] [ 2.69275594e-03 -1.48246227e-05 9.99996374e-01 6.47722809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.644012739 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:188.36, Y:122.81, Z:0.65 [[-9.88691205e-01 1.49942005e-01 2.66397272e-03 1.88362812e+02] [-1.49941490e-01 -9.88694794e-01 3.92941087e-04 1.22806570e+02] [ 2.69277433e-03 -1.09426427e-05 9.99996374e-01 6.47791972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.674012739 meters Centerline goodness : 0.995362 Centerline is valid? [True, True] Translation: X:188.36, Y:122.81, Z:0.65 [[-9.88831746e-01 1.49012353e-01 2.66382617e-03 1.88357362e+02] [-1.49011833e-01 -9.88835334e-01 3.93932083e-04 1.22807228e+02] [ 2.69278619e-03 -7.40906973e-06 9.99996374e-01 6.47477550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.704012739 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:188.37, Y:122.81, Z:0.65 [[-9.88986178e-01 1.47983934e-01 2.66367793e-03 1.88367561e+02] [-1.47983407e-01 -9.88989765e-01 3.94931905e-04 1.22812700e+02] [ 2.69279379e-03 -3.59794090e-06 9.99996374e-01 6.49158208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.734012739 meters Centerline goodness : 0.995262 Centerline is valid? [True, True] Translation: X:188.36, Y:122.81, Z:0.65 [[-9.88950666e-01 1.48221071e-01 2.66352936e-03 1.88355563e+02] [-1.48220542e-01 -9.88954253e-01 3.95931342e-04 1.22813284e+02] [ 2.69279406e-03 -3.23320091e-06 9.99996374e-01 6.50060054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.764012739 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:188.36, Y:122.81, Z:0.65 [[-9.88959433e-01 1.48162567e-01 2.66338011e-03 1.88355947e+02] [-1.48162035e-01 -9.88963019e-01 3.96932846e-04 1.22814259e+02] [ 2.69279502e-03 -2.06133436e-06 9.99996374e-01 6.49389350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.794012739 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:188.35, Y:122.81, Z:0.65 [[-9.89111457e-01 1.47144257e-01 2.66322954e-03 1.88352918e+02] [-1.47143719e-01 -9.89115043e-01 3.97940538e-04 1.22813438e+02] [ 2.69279506e-03 1.73004736e-06 9.99996374e-01 6.47642539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.824012739 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:188.34, Y:122.81, Z:0.65 [[-9.89318048e-01 1.45748784e-01 2.66307821e-03 1.88335109e+02] [-1.45748238e-01 -9.89321632e-01 3.98950665e-04 1.22810489e+02] [ 2.69278746e-03 6.55013666e-06 9.99996374e-01 6.46620063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.854012739 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:188.36, Y:122.81, Z:0.64 [[-9.89723976e-01 1.42966291e-01 2.66292506e-03 1.88357864e+02] [-1.42965733e-01 -9.89727558e-01 3.99970306e-04 1.22814281e+02] [ 2.69275259e-03 1.51531686e-05 9.99996374e-01 6.44439675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.884012739 meters Centerline goodness : 0.995110 Centerline is valid? [True, True] Translation: X:188.35, Y:122.81, Z:0.64 [[-9.89747821e-01 1.42801122e-01 2.66277147e-03 1.88351115e+02] [-1.42800560e-01 -9.89751403e-01 4.00990229e-04 1.22812932e+02] [ 2.69274365e-03 1.66339493e-05 9.99996374e-01 6.43687453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.914012739 meters Centerline goodness : 0.994989 Centerline is valid? [True, True] Translation: X:188.36, Y:122.81, Z:0.65 [[-9.89557169e-01 1.44116339e-01 2.66261815e-03 1.88360635e+02] [-1.44115779e-01 -9.89560751e-01 4.02005699e-04 1.22814334e+02] [ 2.69275801e-03 1.40823323e-05 9.99996374e-01 6.45955957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.944012739 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:188.34, Y:122.81, Z:0.65 [[-9.89378319e-01 1.45339097e-01 2.66246427e-03 1.88343720e+02] [-1.45338539e-01 -9.89381901e-01 4.03022284e-04 1.22812502e+02] [ 2.69276886e-03 1.17828432e-05 9.99996374e-01 6.48935797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.974012739 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:188.38, Y:122.82, Z:0.65 [[-9.89260369e-01 1.46139775e-01 2.66230933e-03 1.88375385e+02] [-1.46139217e-01 -9.89263952e-01 4.04043214e-04 1.22817585e+02] [ 2.69277343e-03 1.06361395e-05 9.99996374e-01 6.51504918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.004012739 meters Centerline goodness : 0.995130 Centerline is valid? [True, True] Translation: X:188.35, Y:122.81, Z:0.65 [[-9.89033702e-01 1.47666000e-01 2.66234789e-03 1.88347315e+02] [-1.47665448e-01 -9.89037286e-01 4.03788981e-04 1.22813205e+02] [ 2.69278723e-03 6.22411805e-06 9.99996374e-01 6.51837353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.034012739 meters Centerline goodness : 0.994769 Centerline is valid? [True, True] Translation: X:188.36, Y:122.82, Z:0.65 [[-9.88864314e-01 1.48796104e-01 2.66219361e-03 1.88361689e+02] [-1.48795554e-01 -9.88867898e-01 4.04803613e-04 1.22815232e+02] [ 2.69279100e-03 4.17327541e-06 9.99996374e-01 6.50397329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.064012739 meters Centerline goodness : 0.995076 Centerline is valid? [True, True] Translation: X:188.38, Y:122.82, Z:0.65 [[-9.88456524e-01 1.51481398e-01 2.66203788e-03 1.88382840e+02] [-1.51480854e-01 -9.88460109e-01 4.05825124e-04 1.22820377e+02] [ 2.69279321e-03 -2.10727997e-06 9.99996374e-01 6.49314423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.094012739 meters Centerline goodness : 0.994982 Centerline is valid? [True, True] Translation: X:188.39, Y:122.82, Z:0.65 [[-9.88148643e-01 1.53476948e-01 2.66188351e-03 1.88385175e+02] [-1.53476409e-01 -9.88152228e-01 4.06835133e-04 1.22821961e+02] [ 2.69278594e-03 -6.52273921e-06 9.99996374e-01 6.49785930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.124012739 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:188.39, Y:122.82, Z:0.65 [[-9.87793893e-01 1.55743826e-01 2.66172983e-03 1.88388885e+02] [-1.55743293e-01 -9.87797480e-01 4.07838147e-04 1.22823517e+02] [ 2.69276829e-03 -1.16865364e-05 9.99996374e-01 6.50846354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.154012739 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:188.41, Y:122.83, Z:0.65 [[-9.87324376e-01 1.58693078e-01 2.66157587e-03 1.88409476e+02] [-1.58692553e-01 -9.87327963e-01 4.08840443e-04 1.22829551e+02] [ 2.69272843e-03 -1.87141329e-05 9.99996374e-01 6.52815399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.184012739 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:188.42, Y:122.84, Z:0.66 [[-9.87091764e-01 1.60133589e-01 2.66151865e-03 1.88416918e+02] [-1.60133068e-01 -9.87095352e-01 4.09212556e-04 1.22835689e+02] [ 2.69270137e-03 -2.22668030e-05 9.99996374e-01 6.55360188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.214012739 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:188.41, Y:122.84, Z:0.66 [[-9.86996340e-01 1.60720696e-01 2.66136659e-03 1.88407972e+02] [-1.60720174e-01 -9.86999928e-01 4.10199132e-04 1.22835993e+02] [ 2.69269612e-03 -2.28702605e-05 9.99996374e-01 6.56543721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.244012739 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:188.41, Y:122.84, Z:0.66 [[-9.86990423e-01 1.60757032e-01 2.66121389e-03 1.88407826e+02] [-1.60756508e-01 -9.86994010e-01 4.11187401e-04 1.22836879e+02] [ 2.69270344e-03 -2.19694248e-05 9.99996374e-01 6.57050831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.274012739 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:188.39, Y:122.84, Z:0.66 [[-9.87064389e-01 1.60302250e-01 2.66106006e-03 1.88394201e+02] [-1.60301721e-01 -9.87067976e-01 4.12180573e-04 1.22835529e+02] [ 2.69272064e-03 -1.97237420e-05 9.99996374e-01 6.55516640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.30401273900003 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:188.41, Y:122.84, Z:0.65 [[-9.87339822e-01 1.58596959e-01 2.66090479e-03 1.88405871e+02] [-1.58596421e-01 -9.87343408e-01 4.13180489e-04 1.22840627e+02] [ 2.69275597e-03 -1.40604252e-05 9.99996374e-01 6.52461373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.334012739 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:188.41, Y:122.84, Z:0.65 [[-9.87280242e-01 1.58967427e-01 2.66084656e-03 1.88408341e+02] [-1.58966890e-01 -9.87283828e-01 4.13555177e-04 1.22841086e+02] [ 2.69275258e-03 -1.46916460e-05 9.99996374e-01 6.52454606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.364012739 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:188.40, Y:122.84, Z:0.65 [[-9.87221157e-01 1.59333950e-01 2.66069100e-03 1.88404719e+02] [-1.59333411e-01 -9.87224743e-01 4.14553549e-04 1.22844108e+02] [ 2.69275244e-03 -1.46809399e-05 9.99996374e-01 6.50827213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.394012739 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:188.40, Y:122.85, Z:0.65 [[-9.86976390e-01 1.60843178e-01 2.66053474e-03 1.88401345e+02] [-1.60842642e-01 -9.86979975e-01 4.15553983e-04 1.22845321e+02] [ 2.69273354e-03 -1.77854681e-05 9.99996374e-01 6.50468972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.424012739 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:188.42, Y:122.85, Z:0.65 [[-9.86717416e-01 1.62424333e-01 2.66037749e-03 1.88421325e+02] [-1.62423800e-01 -9.86721002e-01 4.16558295e-04 1.22850904e+02] [ 2.69270955e-03 -2.10832974e-05 9.99996374e-01 6.49549966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.454012739 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:188.42, Y:122.85, Z:0.65 [[-9.86415189e-01 1.64249801e-01 2.66031888e-03 1.88423501e+02] [-1.64249273e-01 -9.86418776e-01 4.16932238e-04 1.22854178e+02] [ 2.69266954e-03 -2.56871515e-05 9.99996374e-01 6.48395365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.484012739 meters Centerline goodness : 0.994987 Centerline is valid? [True, True] Translation: X:188.41, Y:122.86, Z:0.65 [[-9.86117702e-01 1.66026508e-01 2.66016285e-03 1.88414276e+02] [-1.66025984e-01 -9.86121290e-01 4.17925399e-04 1.22858792e+02] [ 2.69262992e-03 -2.95325220e-05 9.99996374e-01 6.49056604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.514012739 meters Centerline goodness : 0.995302 Centerline is valid? [True, True] Translation: X:188.42, Y:122.86, Z:0.65 [[-9.86141329e-01 1.65886118e-01 2.66000584e-03 1.88422997e+02] [-1.65885591e-01 -9.86144916e-01 4.18922383e-04 1.22862906e+02] [ 2.69264464e-03 -2.81399660e-05 9.99996374e-01 6.49946897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.544012739 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:188.43, Y:122.87, Z:0.65 [[-9.86577138e-01 1.63274237e-01 2.65994697e-03 1.88425024e+02] [-1.63273699e-01 -9.86580723e-01 4.19295810e-04 1.22867982e+02] [ 2.69271261e-03 -2.06317225e-05 9.99996374e-01 6.52031548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.574012739 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:188.40, Y:122.87, Z:0.65 [[-9.86905941e-01 1.61274887e-01 2.65988823e-03 1.88404458e+02] [-1.61274341e-01 -9.86909525e-01 4.19668154e-04 1.22866841e+02] [ 2.69275096e-03 -1.47987279e-05 9.99996374e-01 6.52119120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.604012739 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:188.42, Y:122.87, Z:0.65 [[-9.87275962e-01 1.58994025e-01 2.65972942e-03 1.88415161e+02] [-1.58993469e-01 -9.87279545e-01 4.20672221e-04 1.22869987e+02] [ 2.69278082e-03 -7.56003506e-06 9.99996374e-01 6.51623348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.634012739 meters Centerline goodness : 0.994921 Centerline is valid? [True, True] Translation: X:188.40, Y:122.87, Z:0.65 [[-9.88083427e-01 1.53896286e-01 2.65966967e-03 1.88397092e+02] [-1.53895710e-01 -9.88087007e-01 4.21049658e-04 1.22868963e+02] [ 2.69278302e-03 6.72043662e-06 9.99996374e-01 6.50712996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.664012739 meters Centerline goodness : 0.994955 Centerline is valid? [True, True] Translation: X:188.41, Y:122.87, Z:0.65 [[-9.88514222e-01 1.51104467e-01 2.65950881e-03 1.88405034e+02] [-1.51103878e-01 -9.88517800e-01 4.22063267e-04 1.22870677e+02] [ 2.69274744e-03 1.53534465e-05 9.99996374e-01 6.50612882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.694012739 meters Centerline goodness : 0.994908 Centerline is valid? [True, True] Translation: X:188.43, Y:122.87, Z:0.65 [[-9.89340603e-01 1.45595669e-01 2.65944831e-03 1.88428905e+02] [-1.45595059e-01 -9.89344177e-01 4.22444165e-04 1.22874021e+02] [ 2.69261574e-03 3.07386316e-05 9.99996374e-01 6.51640082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.724012739 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:188.43, Y:122.87, Z:0.65 [[-9.89605749e-01 1.43782433e-01 2.65946824e-03 1.88430098e+02] [-1.43781817e-01 -9.89609322e-01 4.22318646e-04 1.22873385e+02] [ 2.69255656e-03 3.55457834e-05 9.99996374e-01 6.52434940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.754012739 meters Centerline goodness : 0.995491 Centerline is valid? [True, True] Translation: X:188.44, Y:122.87, Z:0.65 [[-9.89785154e-01 1.42542193e-01 2.65930916e-03 1.88443043e+02] [-1.42541570e-01 -9.89788726e-01 4.23317962e-04 1.22873261e+02] [ 2.69249490e-03 3.99317306e-05 9.99996374e-01 6.52672215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.784012739 meters Centerline goodness : 0.995351 Centerline is valid? [True, True] Translation: X:188.44, Y:122.87, Z:0.65 [[-9.89972556e-01 1.41234797e-01 2.65924982e-03 1.88439743e+02] [-1.41234168e-01 -9.89976126e-01 4.23690421e-04 1.22869003e+02] [ 2.69243367e-03 4.38649531e-05 9.99996374e-01 6.53194933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.814012739 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:188.42, Y:122.87, Z:0.65 [[-9.89965842e-01 1.41281847e-01 2.65909098e-03 1.88423715e+02] [-1.41281216e-01 -9.89969413e-01 4.24684955e-04 1.22865446e+02] [ 2.69241901e-03 4.47439917e-05 9.99996374e-01 6.54318246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.844012739 meters Centerline goodness : 0.995203 Centerline is valid? [True, True] Translation: X:188.42, Y:122.86, Z:0.65 [[-9.89923795e-01 1.41576163e-01 2.65893028e-03 1.88421097e+02] [-1.41575530e-01 -9.89927365e-01 4.25688721e-04 1.22864105e+02] [ 2.69241522e-03 4.49599303e-05 9.99996374e-01 6.54684906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.874012739 meters Centerline goodness : 0.995263 Centerline is valid? [True, True] Translation: X:188.43, Y:122.86, Z:0.65 [[-9.89686798e-01 1.43223507e-01 2.65876779e-03 1.88432293e+02] [-1.43222877e-01 -9.89690369e-01 4.26701216e-04 1.22863113e+02] [ 2.69247052e-03 4.15041881e-05 9.99996374e-01 6.53924120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.904012739 meters Centerline goodness : 0.995233 Centerline is valid? [True, True] Translation: X:188.45, Y:122.86, Z:0.65 [[-9.89372506e-01 1.45378735e-01 2.65870706e-03 1.88447475e+02] [-1.45378112e-01 -9.89376077e-01 4.27079251e-04 1.22864237e+02] [ 2.69254941e-03 3.60226554e-05 9.99996374e-01 6.53140153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.934012739 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:188.42, Y:122.86, Z:0.65 [[-9.88532379e-01 1.50985650e-01 2.65864670e-03 1.88421635e+02] [-1.50985047e-01 -9.88535954e-01 4.27454717e-04 1.22861411e+02] [ 2.69270738e-03 2.11369322e-05 9.99996374e-01 6.53593444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.964012739 meters Centerline goodness : 0.995312 Centerline is valid? [True, True] Translation: X:188.42, Y:122.86, Z:0.65 [[-9.88013967e-01 1.54341616e-01 2.65848399e-03 1.88417747e+02] [-1.54341022e-01 -9.88017543e-01 4.28464260e-04 1.22862017e+02] [ 2.69275869e-03 1.30155381e-05 9.99996374e-01 6.53417452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.994012739 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:188.43, Y:122.87, Z:0.65 [[-9.87570293e-01 1.57155497e-01 2.65831888e-03 1.88432688e+02] [-1.57154910e-01 -9.87573871e-01 4.29486216e-04 1.22865475e+02] [ 2.69278238e-03 6.37996379e-06 9.99996374e-01 6.52725679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.024012739 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:188.43, Y:122.87, Z:0.65 [[-9.86823744e-01 1.61777104e-01 2.65825721e-03 1.88434864e+02] [-1.61776533e-01 -9.86827325e-01 4.29867588e-04 1.22868083e+02] [ 2.69278358e-03 -5.84009261e-06 9.99996374e-01 6.51382856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.05401273900003 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:188.44, Y:122.87, Z:0.65 [[-9.86523794e-01 1.63596268e-01 2.65819581e-03 1.88440306e+02] [-1.63595702e-01 -9.86527375e-01 4.30246923e-04 1.22870762e+02] [ 2.69276972e-03 -1.04205832e-05 9.99996374e-01 6.50946938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.084012739 meters Centerline goodness : 0.995752 Centerline is valid? [True, True] Translation: X:188.46, Y:122.88, Z:0.65 [[-9.86136227e-01 1.65916472e-01 2.65813440e-03 1.88455621e+02] [-1.65915914e-01 -9.86139810e-01 4.30625986e-04 1.22877303e+02] [ 2.69274010e-03 -1.63709132e-05 9.99996374e-01 6.51653043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.114012739 meters Centerline goodness : 0.995383 Centerline is valid? [True, True] Translation: X:188.44, Y:122.88, Z:0.65 [[-9.86084246e-01 1.66225131e-01 2.65809369e-03 1.88440428e+02] [-1.66224574e-01 -9.86087829e-01 4.30877134e-04 1.22876219e+02] [ 2.69273644e-03 -1.69593367e-05 9.99996374e-01 6.52420697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.144012739 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:188.45, Y:122.88, Z:0.65 [[-9.86153926e-01 1.65811249e-01 2.65792987e-03 1.88450599e+02] [-1.65810688e-01 -9.86157507e-01 4.31885308e-04 1.22878903e+02] [ 2.69274894e-03 -1.48077872e-05 9.99996374e-01 6.51660870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.174012739 meters Centerline goodness : 0.995664 Centerline is valid? [True, True] Translation: X:188.45, Y:122.88, Z:0.65 [[-9.86419693e-01 1.64222792e-01 2.65786834e-03 1.88450888e+02] [-1.64222224e-01 -9.86423274e-01 4.32263646e-04 1.22881696e+02] [ 2.69277073e-03 -1.00876762e-05 9.99996374e-01 6.49936980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.204012739 meters Centerline goodness : 0.995591 Centerline is valid? [True, True] Translation: X:188.43, Y:122.88, Z:0.65 [[-9.86447676e-01 1.64054619e-01 2.65780693e-03 1.88432450e+02] [-1.64054048e-01 -9.86451257e-01 4.32640870e-04 1.22880195e+02] [ 2.69277372e-03 -9.24640683e-06 9.99996374e-01 6.50792778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.234012739 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:188.44, Y:122.88, Z:0.65 [[-9.86491967e-01 1.63788081e-01 2.65764089e-03 1.88441461e+02] [-1.63787507e-01 -9.86495547e-01 4.33658487e-04 1.22883234e+02] [ 2.69277899e-03 -7.48776085e-06 9.99996374e-01 6.51607562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.264012739 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:188.44, Y:122.89, Z:0.65 [[-9.86526312e-01 1.63581091e-01 2.65757842e-03 1.88442306e+02] [-1.63580516e-01 -9.86529891e-01 4.34040943e-04 1.22885494e+02] [ 2.69278144e-03 -6.53523790e-06 9.99996374e-01 6.53295498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.294012739 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:188.46, Y:122.89, Z:0.65 [[-9.86480056e-01 1.63859809e-01 2.65751602e-03 1.88455799e+02] [-1.63859233e-01 -9.86483635e-01 4.34422691e-04 1.22888534e+02] [ 2.69278048e-03 -6.90921752e-06 9.99996374e-01 6.52673464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.324012739 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:188.46, Y:122.89, Z:0.65 [[-9.86347095e-01 1.64658268e-01 2.65747457e-03 1.88464355e+02] [-1.64657694e-01 -9.86350675e-01 4.34676100e-04 1.22890041e+02] [ 2.69277485e-03 -8.83212661e-06 9.99996374e-01 6.50081706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.354012739 meters Centerline goodness : 0.995715 Centerline is valid? [True, True] Translation: X:188.47, Y:122.89, Z:0.65 [[-9.86293153e-01 1.64981070e-01 2.65741275e-03 1.88470192e+02] [-1.64980497e-01 -9.86296733e-01 4.35053689e-04 1.22891107e+02] [ 2.69277314e-03 -9.33080181e-06 9.99996374e-01 6.49855087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.384012739 meters Centerline goodness : 0.995799 Centerline is valid? [True, True] Translation: X:188.45, Y:122.89, Z:0.65 [[-9.86210576e-01 1.65473982e-01 2.65735107e-03 1.88450285e+02] [-1.65473409e-01 -9.86214156e-01 4.35430117e-04 1.22887717e+02] [ 2.69276960e-03 -1.02951541e-05 9.99996374e-01 6.49342080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.414012739 meters Centerline goodness : 0.996151 Centerline is valid? [True, True] Translation: X:188.45, Y:122.89, Z:0.65 [[-9.86296780e-01 1.64959393e-01 2.65718462e-03 1.88449885e+02] [-1.64958816e-01 -9.86300359e-01 4.36443515e-04 1.22886858e+02] [ 2.69277760e-03 -7.86319596e-06 9.99996374e-01 6.50741427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.444012739 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:188.46, Y:122.89, Z:0.65 [[-9.86351373e-01 1.64632650e-01 2.65712172e-03 1.88461693e+02] [-1.64632071e-01 -9.86354952e-01 4.36826122e-04 1.22887925e+02] [ 2.69278101e-03 -6.58340574e-06 9.99996374e-01 6.52375832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.474012739 meters Centerline goodness : 0.996497 Centerline is valid? [True, True] Translation: X:188.48, Y:122.89, Z:0.66 [[-9.86340513e-01 1.64697700e-01 2.65705895e-03 1.88476677e+02] [-1.64697120e-01 -9.86344092e-01 4.37207588e-04 1.22888305e+02] [ 2.69278148e-03 -6.37439929e-06 9.99996374e-01 6.55008542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.504012739 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:188.46, Y:122.88, Z:0.66 [[-9.86149493e-01 1.65837626e-01 2.65701739e-03 1.88461286e+02] [-1.65837049e-01 -9.86153072e-01 4.37460001e-04 1.22884885e+02] [ 2.69277319e-03 -9.23096634e-06 9.99996374e-01 6.56673217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.534012739 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:188.47, Y:122.89, Z:0.66 [[-9.86014374e-01 1.66639115e-01 2.65685006e-03 1.88468397e+02] [-1.66638539e-01 -9.86017954e-01 4.38473947e-04 1.22885186e+02] [ 2.69276877e-03 -1.03919969e-05 9.99996374e-01 6.57474202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.564012739 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:188.48, Y:122.89, Z:0.66 [[-9.85817265e-01 1.67801254e-01 2.65678710e-03 1.88477673e+02] [-1.67800681e-01 -9.85820845e-01 4.38855108e-04 1.22887132e+02] [ 2.69275654e-03 -1.31797405e-05 9.99996374e-01 6.58293451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.594012739 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:188.48, Y:122.89, Z:0.66 [[-9.85657325e-01 1.68738199e-01 2.65672438e-03 1.88484527e+02] [-1.68737628e-01 -9.85660905e-01 4.39234446e-04 1.22888295e+02] [ 2.69274499e-03 -1.53547223e-05 9.99996374e-01 6.57737184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.624012739 meters Centerline goodness : 0.996616 Centerline is valid? [True, True] Translation: X:188.50, Y:122.89, Z:0.65 [[-9.85442454e-01 1.69988563e-01 2.65666187e-03 1.88497701e+02] [-1.69987996e-01 -9.85446035e-01 4.39612189e-04 1.22889468e+02] [ 2.69272595e-03 -1.83881129e-05 9.99996374e-01 6.53682857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.654012739 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:188.49, Y:122.89, Z:0.65 [[-9.85298408e-01 1.70821514e-01 2.65662039e-03 1.88494031e+02] [-1.70820949e-01 -9.85301989e-01 4.39862746e-04 1.22888693e+02] [ 2.69271137e-03 -2.04103519e-05 9.99996374e-01 6.53149851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.684012739 meters Centerline goodness : 0.996644 Centerline is valid? [True, True] Translation: X:188.49, Y:122.89, Z:0.65 [[-9.85108371e-01 1.71914048e-01 2.65645401e-03 1.88493600e+02] [-1.71913484e-01 -9.85111953e-01 4.40865246e-04 1.22888669e+02] [ 2.69269553e-03 -2.23802214e-05 9.99996374e-01 6.53516279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.714012739 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:188.50, Y:122.89, Z:0.65 [[-9.84757516e-01 1.73912561e-01 2.65639151e-03 1.88502270e+02] [-1.73912004e-01 -9.84761098e-01 4.41241538e-04 1.22891401e+02] [ 2.69264846e-03 -2.74624497e-05 9.99996374e-01 6.54387418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.744012739 meters Centerline goodness : 0.996533 Centerline is valid? [True, True] Translation: X:188.50, Y:122.89, Z:0.65 [[-9.84620892e-01 1.74684408e-01 2.65632903e-03 1.88502259e+02] [-1.74683852e-01 -9.84624475e-01 4.41617352e-04 1.22891873e+02] [ 2.69263024e-03 -2.91921156e-05 9.99996374e-01 6.53958117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.774012739 meters Centerline goodness : 0.996587 Centerline is valid? [True, True] Translation: X:188.51, Y:122.89, Z:0.65 [[-9.84472387e-01 1.75519412e-01 2.65626664e-03 1.88508487e+02] [-1.75518858e-01 -9.84475970e-01 4.41992324e-04 1.22893680e+02] [ 2.69260890e-03 -3.10956479e-05 9.99996374e-01 6.53117407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.80401273900003 meters Centerline goodness : 0.996573 Centerline is valid? [True, True] Translation: X:188.51, Y:122.90, Z:0.65 [[-9.84146367e-01 1.77338300e-01 2.65620420e-03 1.88507907e+02] [-1.77337752e-01 -9.84149951e-01 4.42367237e-04 1.22897366e+02] [ 2.69255188e-03 -3.56911705e-05 9.99996374e-01 6.51131836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.834012739 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:188.52, Y:122.90, Z:0.65 [[-9.83911746e-01 1.78635444e-01 2.65614174e-03 1.88518914e+02] [-1.78634899e-01 -9.83915330e-01 4.42741934e-04 1.22902144e+02] [ 2.69250798e-03 -3.88606238e-05 9.99996374e-01 6.49941717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.864012739 meters Centerline goodness : 0.996555 Centerline is valid? [True, True] Translation: X:188.51, Y:122.91, Z:0.65 [[-9.83636811e-01 1.80143193e-01 2.65607941e-03 1.88505177e+02] [-1.80142653e-01 -9.83640396e-01 4.43115536e-04 1.22905229e+02] [ 2.69245125e-03 -4.26084401e-05 9.99996374e-01 6.49331568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.894012739 meters Centerline goodness : 0.996682 Centerline is valid? [True, True] Translation: X:188.51, Y:122.91, Z:0.65 [[-9.83711667e-01 1.79733978e-01 2.65591186e-03 1.88505759e+02] [-1.79733434e-01 -9.83715251e-01 4.44117501e-04 1.22907020e+02] [ 2.69248401e-03 -4.04725928e-05 9.99996374e-01 6.49411595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.924012739 meters Centerline goodness : 0.996761 Centerline is valid? [True, True] Translation: X:188.51, Y:122.91, Z:0.65 [[-9.84018314e-01 1.78047475e-01 2.65584875e-03 1.88505451e+02] [-1.78046924e-01 -9.84021898e-01 4.44494606e-04 1.22909118e+02] [ 2.69255447e-03 -3.54748677e-05 9.99996374e-01 6.48976329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.954012739 meters Centerline goodness : 0.996566 Centerline is valid? [True, True] Translation: X:188.50, Y:122.91, Z:0.65 [[-9.85265436e-01 1.71011599e-01 2.65578550e-03 1.88500540e+02] [-1.71011021e-01 -9.85269015e-01 4.44872174e-04 1.22911622e+02] [ 2.69274147e-03 -1.58514150e-05 9.99996374e-01 6.48487576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.984012739 meters Centerline goodness : 0.996694 Centerline is valid? [True, True] Translation: X:188.49, Y:122.91, Z:0.65 [[-9.86060928e-01 1.66363439e-01 2.65561545e-03 1.88491763e+02] [-1.66362842e-01 -9.86064504e-01 4.45884974e-04 1.22910824e+02] [ 2.69278709e-03 -2.12598200e-06 9.99996374e-01 6.47502926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.014012739 meters Centerline goodness : 0.996321 Centerline is valid? [True, True] Translation: X:188.51, Y:122.91, Z:0.65 [[-9.87708928e-01 1.56281869e-01 2.65555142e-03 1.88513177e+02] [-1.56281234e-01 -9.87712497e-01 4.46266009e-04 1.22913383e+02] [ 2.69266461e-03 2.57680685e-05 9.99996374e-01 6.48439781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.044012739 meters Centerline goodness : 0.996550 Centerline is valid? [True, True] Translation: X:188.54, Y:122.92, Z:0.65 [[-9.88421242e-01 1.51711553e-01 2.65572144e-03 1.88536637e+02] [-1.51710904e-01 -9.88424809e-01 4.45251926e-04 1.22916406e+02] [ 2.69253082e-03 3.71945606e-05 9.99996374e-01 6.50120225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.074012739 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:188.53, Y:122.91, Z:0.65 [[-9.88833806e-01 1.48998824e-01 2.65588804e-03 1.88530034e+02] [-1.48998168e-01 -9.88837372e-01 4.44255940e-04 1.22913971e+02] [ 2.69243496e-03 4.35728388e-05 9.99996374e-01 6.51760459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.104012739 meters Centerline goodness : 0.996575 Centerline is valid? [True, True] Translation: X:188.55, Y:122.91, Z:0.65 [[-9.89466915e-01 1.44734829e-01 2.65572192e-03 1.88547771e+02] [-1.44734155e-01 -9.89470478e-01 4.45246797e-04 1.22910532e+02] [ 2.69220115e-03 5.61833059e-05 9.99996374e-01 6.52285511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.134012739 meters Centerline goodness : 0.996810 Centerline is valid? [True, True] Translation: X:188.55, Y:122.91, Z:0.65 [[-9.89731434e-01 1.42914786e-01 2.65568059e-03 1.88546596e+02] [-1.42914104e-01 -9.89734995e-01 4.45493166e-04 1.22906288e+02] [ 2.69208757e-03 6.13843773e-05 9.99996374e-01 6.52555860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.164012739 meters Centerline goodness : 0.996643 Centerline is valid? [True, True] Translation: X:188.56, Y:122.90, Z:0.65 [[-9.90062431e-01 1.40603452e-01 2.65551502e-03 1.88555527e+02] [-1.40602759e-01 -9.90065990e-01 4.46477892e-04 1.22904060e+02] [ 2.69191144e-03 6.86682474e-05 9.99996374e-01 6.53902659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.194012739 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:188.58, Y:122.90, Z:0.65 [[-9.90499429e-01 1.37491196e-01 2.65545307e-03 1.88579533e+02] [-1.37490492e-01 -9.90502986e-01 4.46846082e-04 1.22900669e+02] [ 2.69167159e-03 7.75012413e-05 9.99996374e-01 6.54540375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.224012739 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:188.58, Y:122.90, Z:0.65 [[-9.90480677e-01 1.37626221e-01 2.65541217e-03 1.88582003e+02] [-1.37625517e-01 -9.90484234e-01 4.47088983e-04 1.22901050e+02] [ 2.69167505e-03 7.73805261e-05 9.99996374e-01 6.54533635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.254012739 meters Centerline goodness : 0.996940 Centerline is valid? [True, True] Translation: X:188.50, Y:122.88, Z:0.65 [[-9.90591822e-01 1.36823944e-01 2.65535117e-03 1.88495230e+02] [-1.36823236e-01 -9.90595378e-01 4.47450965e-04 1.22881931e+02] [ 2.69160060e-03 7.99275267e-05 9.99996374e-01 6.54032664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.284012739 meters Centerline goodness : 0.997029 Centerline is valid? [True, True] Translation: X:188.57, Y:122.89, Z:0.66 [[-9.90331569e-01 1.38695102e-01 2.65563684e-03 1.88568540e+02] [-1.38694405e-01 -9.90335127e-01 4.45757477e-04 1.22887392e+02] [ 2.69179483e-03 7.31257307e-05 9.99996374e-01 6.55340112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.314012739 meters Centerline goodness : 0.997082 Centerline is valid? [True, True] Translation: X:188.58, Y:122.89, Z:0.66 [[-9.90005679e-01 1.41002496e-01 2.65534900e-03 1.88577434e+02] [-1.41001803e-01 -9.90009238e-01 4.47465600e-04 1.22886414e+02] [ 2.69191380e-03 6.85844901e-05 9.99996374e-01 6.55733738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.344012739 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:188.56, Y:122.88, Z:0.65 [[-9.89594909e-01 1.43857102e-01 2.65528741e-03 1.88558798e+02] [-1.43856418e-01 -9.89598469e-01 4.47830743e-04 1.22881695e+02] [ 2.69209199e-03 6.11908864e-05 9.99996374e-01 6.54768207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.374012739 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:188.53, Y:122.87, Z:0.65 [[-9.88710266e-01 1.49816423e-01 2.65512157e-03 1.88531987e+02] [-1.49815758e-01 -9.88713830e-01 4.48811849e-04 1.22873148e+02] [ 2.69239480e-03 4.59658309e-05 9.99996374e-01 6.48386155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.404012739 meters Centerline goodness : 0.996988 Centerline is valid? [True, True] Translation: X:188.52, Y:122.87, Z:0.65 [[-9.88299524e-01 1.52502469e-01 2.65495224e-03 1.88521726e+02] [-1.52501811e-01 -9.88303089e-01 4.49811321e-04 1.22869843e+02] [ 2.69249483e-03 3.96632908e-05 9.99996374e-01 6.46299755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.434012739 meters Centerline goodness : 0.997232 Centerline is valid? [True, True] Translation: X:188.52, Y:122.87, Z:0.65 [[-9.87738971e-01 1.56091887e-01 2.65477979e-03 1.88520375e+02] [-1.56091239e-01 -9.87742538e-01 4.50826824e-04 1.22869288e+02] [ 2.69260933e-03 3.09113567e-05 9.99996374e-01 6.49466190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.464012739 meters Centerline goodness : 0.996881 Centerline is valid? [True, True] Translation: X:188.53, Y:122.87, Z:0.65 [[-9.87584657e-01 1.57065269e-01 2.65460588e-03 1.88533572e+02] [-1.57064622e-01 -9.87588224e-01 4.51848541e-04 1.22871293e+02] [ 2.69262722e-03 2.92940174e-05 9.99996374e-01 6.52398640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.494012739 meters Centerline goodness : 0.997223 Centerline is valid? [True, True] Translation: X:188.54, Y:122.87, Z:0.65 [[-9.87519159e-01 1.57476551e-01 2.65454099e-03 1.88544471e+02] [-1.57475905e-01 -9.87522726e-01 4.52229431e-04 1.22872661e+02] [ 2.69263509e-03 2.85589839e-05 9.99996374e-01 6.52328063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.524012739 meters Centerline goodness : 0.996984 Centerline is valid? [True, True] Translation: X:188.54, Y:122.87, Z:0.65 [[-9.87582296e-01 1.57080118e-01 2.65447648e-03 1.88544974e+02] [-1.57079469e-01 -9.87585863e-01 4.52607760e-04 1.22871266e+02] [ 2.69261912e-03 3.00236559e-05 9.99996374e-01 6.46560845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.55401273900003 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:188.54, Y:122.87, Z:0.65 [[-9.87586644e-01 1.57052776e-01 2.65430399e-03 1.88542732e+02] [-1.57052124e-01 -9.87590211e-01 4.53617057e-04 1.22870588e+02] [ 2.69260646e-03 3.11220670e-05 9.99996374e-01 6.45040149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.584012739 meters Centerline goodness : 0.997237 Centerline is valid? [True, True] Translation: X:188.54, Y:122.87, Z:0.64 [[-9.87552770e-01 1.57265640e-01 2.65413061e-03 1.88543905e+02] [-1.57264986e-01 -9.87556336e-01 4.54629290e-04 1.22870199e+02] [ 2.69260106e-03 3.15686006e-05 9.99996374e-01 6.44552630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.614012739 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:188.54, Y:122.87, Z:0.65 [[-9.87170713e-01 1.59646294e-01 2.65395646e-03 1.88544152e+02] [-1.59645646e-01 -9.87174281e-01 4.55643642e-04 1.22868068e+02] [ 2.69265938e-03 2.61054656e-05 9.99996374e-01 6.51008269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.644012739 meters Centerline goodness : 0.997409 Centerline is valid? [True, True] Translation: X:188.54, Y:122.87, Z:0.65 [[-9.86774238e-01 1.62078872e-01 2.65378166e-03 1.88541636e+02] [-1.62078230e-01 -9.86777806e-01 4.56659442e-04 1.22866946e+02] [ 2.69270769e-03 2.04995386e-05 9.99996374e-01 6.52603297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.674012739 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:188.54, Y:122.87, Z:0.65 [[-9.85851005e-01 1.67602964e-01 2.65360595e-03 1.88541449e+02] [-1.67602339e-01 -9.85854577e-01 4.57678217e-04 1.22868226e+02] [ 2.69277779e-03 6.45196531e-06 9.99996374e-01 6.52289520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.704012739 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:188.55, Y:122.87, Z:0.65 [[-9.85351801e-01 1.70513306e-01 2.65342940e-03 1.88553019e+02] [-1.70512689e-01 -9.85355374e-01 4.58699481e-04 1.22871872e+02] [ 2.69278528e-03 -4.63023014e-07 9.99996374e-01 6.51940281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.734012739 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:188.56, Y:122.87, Z:0.65 [[-9.84853274e-01 1.73369515e-01 2.65336353e-03 1.88555443e+02] [-1.73368907e-01 -9.84856848e-01 4.59080202e-04 1.22874447e+02] [ 2.69277375e-03 -7.88409550e-06 9.99996374e-01 6.50776458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.764012739 meters Centerline goodness : 0.997467 Centerline is valid? [True, True] Translation: X:188.58, Y:122.88, Z:0.65 [[-9.84411784e-01 1.75859034e-01 2.65318753e-03 1.88578288e+02] [-1.75858433e-01 -9.84415360e-01 4.60095096e-04 1.22881430e+02] [ 2.69275044e-03 -1.36623679e-05 9.99996374e-01 6.48336984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.794012739 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:188.57, Y:122.88, Z:0.65 [[-9.84406997e-01 1.75885831e-01 2.65314399e-03 1.88570751e+02] [-1.75885229e-01 -9.84410572e-01 4.60346089e-04 1.22881707e+02] [ 2.69275134e-03 -1.34809260e-05 9.99996374e-01 6.49050086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.824012739 meters Centerline goodness : 0.997173 Centerline is valid? [True, True] Translation: X:188.55, Y:122.88, Z:0.65 [[-9.84768465e-01 1.73850601e-01 2.65296968e-03 1.88552792e+02] [-1.73849989e-01 -9.84772039e-01 4.61348419e-04 1.22882690e+02] [ 2.69277606e-03 -6.89737659e-06 9.99996374e-01 6.49263409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.854012739 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:188.56, Y:122.89, Z:0.65 [[-9.84955244e-01 1.72789267e-01 2.65279308e-03 1.88564639e+02] [-1.72788648e-01 -9.84958816e-01 4.62361649e-04 1.22886279e+02] [ 2.69278306e-03 -2.96700073e-06 9.99996374e-01 6.49184029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.884012739 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:188.56, Y:122.89, Z:0.65 [[-9.85167454e-01 1.71575203e-01 2.65272677e-03 1.88557302e+02] [-1.71574579e-01 -9.85171026e-01 4.62741799e-04 1.22886826e+02] [ 2.69278457e-03 7.37679909e-07 9.99996374e-01 6.47839928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.914012739 meters Centerline goodness : 0.997283 Centerline is valid? [True, True] Translation: X:188.56, Y:122.89, Z:0.65 [[-9.85879974e-01 1.67432494e-01 2.65254899e-03 1.88556743e+02] [-1.67431852e-01 -9.85883543e-01 4.63758645e-04 1.22891193e+02] [ 2.69275266e-03 1.30891705e-05 9.99996374e-01 6.45845061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.944012739 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:188.57, Y:122.90, Z:0.65 [[-9.86285159e-01 1.65028938e-01 2.65237004e-03 1.88568038e+02] [-1.65028285e-01 -9.86288725e-01 4.64779845e-04 1.22895143e+02] [ 2.69270479e-03 2.06893838e-05 9.99996374e-01 6.46130367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.974012739 meters Centerline goodness : 0.997381 Centerline is valid? [True, True] Translation: X:188.58, Y:122.90, Z:0.65 [[-9.87039620e-01 1.60454836e-01 2.65230326e-03 1.88575985e+02] [-1.60454165e-01 -9.87043183e-01 4.65160629e-04 1.22899522e+02] [ 2.69257512e-03 3.35588649e-05 9.99996374e-01 6.46106217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.004012739 meters Centerline goodness : 0.996904 Centerline is valid? [True, True] Translation: X:188.58, Y:122.90, Z:0.65 [[-9.87366715e-01 1.58429593e-01 2.65223683e-03 1.88580183e+02] [-1.58428914e-01 -9.87370276e-01 4.65539114e-04 1.22901733e+02] [ 2.69249498e-03 3.94668262e-05 9.99996374e-01 6.45870938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.034012739 meters Centerline goodness : 0.997381 Centerline is valid? [True, True] Translation: X:188.59, Y:122.90, Z:0.64 [[-9.87630004e-01 1.56779912e-01 2.65217050e-03 1.88586491e+02] [-1.56779226e-01 -9.87633564e-01 4.65916641e-04 1.22904426e+02] [ 2.69241898e-03 4.43480163e-05 9.99996374e-01 6.44365567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.064012739 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:188.61, Y:122.91, Z:0.65 [[-9.88256649e-01 1.52780108e-01 2.65210429e-03 1.88608236e+02] [-1.52779406e-01 -9.88260206e-01 4.66293265e-04 1.22911096e+02] [ 2.69220946e-03 5.56305013e-05 9.99996374e-01 6.46092652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.094012739 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:188.62, Y:122.91, Z:0.65 [[-9.88492859e-01 1.51244283e-01 2.65225697e-03 1.88618533e+02] [-1.51243578e-01 -9.88496416e-01 4.65423211e-04 1.22913317e+02] [ 2.69213910e-03 5.89306877e-05 9.99996374e-01 6.46646531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.124012739 meters Centerline goodness : 0.997276 Centerline is valid? [True, True] Translation: X:188.63, Y:122.92, Z:0.65 [[-9.88762216e-01 1.49473230e-01 2.65219226e-03 1.88628656e+02] [-1.49472518e-01 -9.88765771e-01 4.65791648e-04 1.22915179e+02] [ 2.69202030e-03 6.41273269e-05 9.99996374e-01 6.48084908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.154012739 meters Centerline goodness : 0.997129 Centerline is valid? [True, True] Translation: X:188.64, Y:122.92, Z:0.65 [[-9.89210254e-01 1.46478801e-01 2.65212784e-03 1.88635389e+02] [-1.46478077e-01 -9.89213807e-01 4.66158130e-04 1.22916726e+02] [ 2.69180376e-03 7.26498166e-05 9.99996374e-01 6.50255396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.184012739 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:188.63, Y:122.92, Z:0.65 [[-9.89299335e-01 1.45875950e-01 2.65206365e-03 1.88628756e+02] [-1.45875223e-01 -9.89302887e-01 4.66523074e-04 1.22916051e+02] [ 2.69174872e-03 7.46605903e-05 9.99996374e-01 6.51066305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.214012739 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:188.64, Y:122.92, Z:0.65 [[-9.89493838e-01 1.44550727e-01 2.65189131e-03 1.88642865e+02] [-1.44549993e-01 -9.89497388e-01 4.67500630e-04 1.22919331e+02] [ 2.69161708e-03 7.92581209e-05 9.99996374e-01 6.51552660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.244012739 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:188.64, Y:122.92, Z:0.65 [[-9.89592677e-01 1.43872517e-01 2.65184836e-03 1.88644870e+02] [-1.43871780e-01 -9.89596227e-01 4.67744156e-04 1.22920268e+02] [ 2.69155466e-03 8.13500487e-05 9.99996374e-01 6.51540539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.274012739 meters Centerline goodness : 0.997085 Centerline is valid? [True, True] Translation: X:188.66, Y:122.92, Z:0.65 [[-9.89728831e-01 1.42932885e-01 2.65178420e-03 1.88664832e+02] [-1.42932143e-01 -9.89732380e-01 4.68107591e-04 1.22923918e+02] [ 2.69146466e-03 8.42743790e-05 9.99996374e-01 6.52929103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.30401273900003 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:188.66, Y:122.92, Z:0.65 [[-9.89996975e-01 1.41063664e-01 2.65176295e-03 1.88658758e+02] [-1.41062916e-01 -9.90000523e-01 4.68227946e-04 1.22922257e+02] [ 2.69129666e-03 8.94788369e-05 9.99996374e-01 6.54788779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.334012739 meters Centerline goodness : 0.997162 Centerline is valid? [True, True] Translation: X:188.67, Y:122.92, Z:0.66 [[-9.90067701e-01 1.40566415e-01 2.65159275e-03 1.88673159e+02] [-1.40565662e-01 -9.90071247e-01 4.69189844e-04 1.22923872e+02] [ 2.69121807e-03 9.18068211e-05 9.99996374e-01 6.56040260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.364012739 meters Centerline goodness : 0.997326 Centerline is valid? [True, True] Translation: X:188.66, Y:122.92, Z:0.66 [[-9.90163398e-01 1.39890723e-01 2.65152910e-03 1.88661499e+02] [-1.39889967e-01 -9.90166944e-01 4.69549241e-04 1.22919381e+02] [ 2.69114205e-03 9.40081544e-05 9.99996374e-01 6.57126141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.394012739 meters Centerline goodness : 0.997526 Centerline is valid? [True, True] Translation: X:188.68, Y:122.92, Z:0.66 [[-9.90111527e-01 1.40257385e-01 2.65135842e-03 1.88681832e+02] [-1.40256627e-01 -9.90115073e-01 4.70511054e-04 1.22921556e+02] [ 2.69114258e-03 9.39878288e-05 9.99996375e-01 6.58841728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.424012739 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:188.69, Y:122.92, Z:0.66 [[-9.89991471e-01 1.41102299e-01 2.65131591e-03 1.88687614e+02] [-1.41101544e-01 -9.89995017e-01 4.70750492e-04 1.22921085e+02] [ 2.69121351e-03 9.19342032e-05 9.99996375e-01 6.60012728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.454012739 meters Centerline goodness : 0.997663 Centerline is valid? [True, True] Translation: X:188.67, Y:122.92, Z:0.66 [[-9.89670271e-01 1.43337802e-01 2.65125259e-03 1.88672818e+02] [-1.43337053e-01 -9.89673819e-01 4.71106822e-04 1.22916029e+02] [ 2.69140269e-03 8.62176818e-05 9.99996375e-01 6.56031781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.484012739 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:188.67, Y:122.91, Z:0.65 [[-9.89443202e-01 1.44896936e-01 2.65108199e-03 1.88667362e+02] [-1.44896191e-01 -9.89446750e-01 4.72064911e-04 1.22913518e+02] [ 2.69150522e-03 8.29497354e-05 9.99996375e-01 6.53660603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.514012739 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:188.68, Y:122.91, Z:0.65 [[-9.89216703e-01 1.46435264e-01 2.65090949e-03 1.88680714e+02] [-1.46434522e-01 -9.89220252e-01 4.73031584e-04 1.22913854e+02] [ 2.69160186e-03 7.97460815e-05 9.99996375e-01 6.51213208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.544012739 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:188.65, Y:122.90, Z:0.65 [[-9.88676990e-01 1.50035935e-01 2.65084496e-03 1.88650735e+02] [-1.50035204e-01 -9.88680542e-01 4.73392952e-04 1.22904289e+02] [ 2.69186478e-03 7.03126542e-05 9.99996375e-01 6.48229459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.574012739 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:188.66, Y:122.90, Z:0.65 [[-9.88387792e-01 1.51929411e-01 2.65067071e-03 1.88659581e+02] [-1.51928685e-01 -9.88391344e-01 4.74366630e-04 1.22904493e+02] [ 2.69197023e-03 6.61452720e-05 9.99996375e-01 6.47350407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.604012739 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:188.66, Y:122.90, Z:0.65 [[-9.88121359e-01 1.53652709e-01 2.65060485e-03 1.88660281e+02] [-1.53651988e-01 -9.88124912e-01 4.74734348e-04 1.22904440e+02] [ 2.69207290e-03 6.18244451e-05 9.99996375e-01 6.48317474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.634012739 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:188.66, Y:122.90, Z:0.65 [[-9.87617164e-01 1.56860804e-01 2.65042867e-03 1.88656670e+02] [-1.56860092e-01 -9.87620719e-01 4.75715915e-04 1.22903793e+02] [ 2.69223945e-03 5.40787170e-05 9.99996375e-01 6.51167967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.664012739 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:188.67, Y:122.90, Z:0.65 [[-9.87481876e-01 1.57710240e-01 2.65025164e-03 1.88665637e+02] [-1.57709529e-01 -9.87485432e-01 4.76700113e-04 1.22904432e+02] [ 2.69226538e-03 5.27627843e-05 9.99996375e-01 6.51078950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.694012739 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:188.65, Y:122.90, Z:0.65 [[-9.87397275e-01 1.58239054e-01 2.65018538e-03 1.88649632e+02] [-1.58238344e-01 -9.87400830e-01 4.77068222e-04 1.22900400e+02] [ 2.69228607e-03 5.16949175e-05 9.99996375e-01 6.50050920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.724012739 meters Centerline goodness : 0.996885 Centerline is valid? [True, True] Translation: X:188.65, Y:122.90, Z:0.65 [[-9.87316711e-01 1.58740953e-01 2.65000707e-03 1.88654970e+02] [-1.58740242e-01 -9.87320266e-01 4.78056624e-04 1.22899997e+02] [ 2.69229285e-03 5.13305301e-05 9.99996375e-01 6.46040418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.754012739 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:188.66, Y:122.90, Z:0.65 [[-9.87177272e-01 1.59605800e-01 2.64993998e-03 1.88658841e+02] [-1.59605090e-01 -9.87180828e-01 4.78428237e-04 1.22900240e+02] [ 2.69232986e-03 4.93495724e-05 9.99996375e-01 6.46908369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.784012739 meters Centerline goodness : 0.996516 Centerline is valid? [True, True] Translation: X:188.66, Y:122.90, Z:0.65 [[-9.86951841e-01 1.60993917e-01 2.64987292e-03 1.88663123e+02] [-1.60993211e-01 -9.86955398e-01 4.78799383e-04 1.22900687e+02] [ 2.69239017e-03 4.59403822e-05 9.99996375e-01 6.49539848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.814012739 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:188.65, Y:122.90, Z:0.65 [[-9.86547792e-01 1.63451622e-01 2.64980585e-03 1.88650844e+02] [-1.63450925e-01 -9.86551350e-01 4.79170266e-04 1.22899405e+02] [ 2.69249070e-03 3.96111508e-05 9.99996375e-01 6.54406116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.844012739 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:188.65, Y:122.90, Z:0.66 [[-9.86334108e-01 1.64736173e-01 2.64962536e-03 1.88651146e+02] [-1.64735477e-01 -9.86337666e-01 4.80166270e-04 1.22900950e+02] [ 2.69252604e-03 3.71170734e-05 9.99996375e-01 6.56218616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.874012739 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:188.66, Y:122.90, Z:0.66 [[-9.85995981e-01 1.66748032e-01 2.64944338e-03 1.88657800e+02] [-1.66747341e-01 -9.85999540e-01 4.81168261e-04 1.22904525e+02] [ 2.69258382e-03 3.26423310e-05 9.99996375e-01 6.56413363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.904012739 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:188.64, Y:122.90, Z:0.66 [[-9.85817967e-01 1.67797251e-01 2.64937537e-03 1.88642826e+02] [-1.67796563e-01 -9.85821526e-01 4.81542467e-04 1.22902903e+02] [ 2.69261277e-03 3.01571364e-05 9.99996375e-01 6.55276406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.934012739 meters Centerline goodness : 0.996391 Centerline is valid? [True, True] Translation: X:188.67, Y:122.91, Z:0.66 [[-9.85766633e-01 1.68098563e-01 2.64919221e-03 1.88665647e+02] [-1.68097873e-01 -9.85770193e-01 4.82547994e-04 1.22908292e+02] [ 2.69261034e-03 3.03561367e-05 9.99996375e-01 6.55071840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.964012739 meters Centerline goodness : 0.995854 Centerline is valid? [True, True] Translation: X:188.67, Y:122.91, Z:0.66 [[-9.85738225e-01 1.68265071e-01 2.64916941e-03 1.88671281e+02] [-1.68264381e-01 -9.85741784e-01 4.82673140e-04 1.22912374e+02] [ 2.69261401e-03 3.00285120e-05 9.99996375e-01 6.56381268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.994012739 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:188.66, Y:122.91, Z:0.66 [[-9.85693963e-01 1.68524161e-01 2.64910160e-03 1.88661092e+02] [-1.68523472e-01 -9.85697523e-01 4.83045045e-04 1.22912528e+02] [ 2.69261764e-03 2.96987871e-05 9.99996375e-01 6.56062510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.024012739 meters Centerline goodness : 0.996475 Centerline is valid? [True, True] Translation: X:188.66, Y:122.92, Z:0.65 [[-9.85730216e-01 1.68311983e-01 2.64891938e-03 1.88664800e+02] [-1.68311290e-01 -9.85733775e-01 4.84042246e-04 1.22916806e+02] [ 2.69259941e-03 3.12920308e-05 9.99996375e-01 6.51102810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.05401273900003 meters Centerline goodness : 0.996294 Centerline is valid? [True, True] Translation: X:188.66, Y:122.92, Z:0.65 [[-9.85637414e-01 1.68854586e-01 2.64885092e-03 1.88663649e+02] [-1.68853894e-01 -9.85640973e-01 4.84416587e-04 1.22918561e+02] [ 2.69261196e-03 3.01903193e-05 9.99996375e-01 6.48838426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.084012739 meters Centerline goodness : 0.996206 Centerline is valid? [True, True] Translation: X:188.68, Y:122.92, Z:0.65 [[-9.85580326e-01 1.69187488e-01 2.64866740e-03 1.88678809e+02] [-1.69186794e-01 -9.85583884e-01 4.85417953e-04 1.22923083e+02] [ 2.69261055e-03 3.02988377e-05 9.99996375e-01 6.48130540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.114012739 meters Centerline goodness : 0.996206 Centerline is valid? [True, True] Translation: X:188.68, Y:122.92, Z:0.65 [[-9.85556593e-01 1.69325680e-01 2.64862178e-03 1.88681272e+02] [-1.69324987e-01 -9.85560152e-01 4.85666720e-04 1.22923499e+02] [ 2.69261193e-03 3.01741900e-05 9.99996375e-01 6.48123801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.144012739 meters Centerline goodness : 0.995798 Centerline is valid? [True, True] Translation: X:188.68, Y:122.93, Z:0.65 [[-9.85741267e-01 1.68247259e-01 2.64855363e-03 1.88675786e+02] [-1.68246561e-01 -9.85744824e-01 4.86038089e-04 1.22925397e+02] [ 2.69257261e-03 3.34977621e-05 9.99996375e-01 6.48880388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.174012739 meters Centerline goodness : 0.995621 Centerline is valid? [True, True] Translation: X:188.69, Y:122.93, Z:0.65 [[-9.86053348e-01 1.66408480e-01 2.64837062e-03 1.88692506e+02] [-1.66407771e-01 -9.86056903e-01 4.87033295e-04 1.22929988e+02] [ 2.69249060e-03 3.95313592e-05 9.99996375e-01 6.49148016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.204012739 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:188.69, Y:122.93, Z:0.65 [[-9.86417050e-01 1.64238823e-01 2.64832509e-03 1.88689641e+02] [-1.64238106e-01 -9.86420604e-01 4.87280704e-04 1.22930589e+02] [ 2.69239285e-03 4.57060963e-05 9.99996375e-01 6.49481087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.234012739 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:188.71, Y:122.93, Z:0.65 [[-9.87545254e-01 1.57312934e-01 2.64814280e-03 1.88714093e+02] [-1.57312190e-01 -9.87548802e-01 4.88269378e-04 1.22933586e+02] [ 2.69198134e-03 6.56029641e-05 9.99996375e-01 6.51165936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.264012739 meters Centerline goodness : 0.996279 Centerline is valid? [True, True] Translation: X:188.72, Y:122.93, Z:0.65 [[-9.88087096e-01 1.53872923e-01 2.64832316e-03 1.88723371e+02] [-1.53872170e-01 -9.88090643e-01 4.87289157e-04 1.22932793e+02] [ 2.69176394e-03 7.39808975e-05 9.99996375e-01 6.50271735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.294012739 meters Centerline goodness : 0.996311 Centerline is valid? [True, True] Translation: X:188.74, Y:122.93, Z:0.65 [[-9.89029467e-01 1.47694618e-01 2.64825641e-03 1.88737912e+02] [-1.47693841e-01 -9.89033008e-01 4.87651671e-04 1.22930774e+02] [ 2.69123653e-03 9.11707126e-05 9.99996375e-01 6.45849728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.324012739 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:188.75, Y:122.93, Z:0.64 [[-9.89298721e-01 1.45880180e-01 2.64818999e-03 1.88747683e+02] [-1.45879396e-01 -9.89302261e-01 4.88012051e-04 1.22930326e+02] [ 2.69105164e-03 9.64733426e-05 9.99996375e-01 6.44252333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.354012739 meters Centerline goodness : 0.996254 Centerline is valid? [True, True] Translation: X:188.76, Y:122.93, Z:0.64 [[-9.89370925e-01 1.45389686e-01 2.64812398e-03 1.88757251e+02] [-1.45388899e-01 -9.89374464e-01 4.88369987e-04 1.22930093e+02] [ 2.69099021e-03 9.81712358e-05 9.99996375e-01 6.44558602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.384012739 meters Centerline goodness : 0.995764 Centerline is valid? [True, True] Translation: X:188.74, Y:122.92, Z:0.65 [[-9.89228051e-01 1.46358641e-01 2.64805823e-03 1.88742095e+02] [-1.46357857e-01 -9.89231590e-01 4.88726264e-04 1.22921153e+02] [ 2.69107216e-03 9.58976025e-05 9.99996375e-01 6.46562008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.414012739 meters Centerline goodness : 0.996194 Centerline is valid? [True, True] Translation: X:188.73, Y:122.91, Z:0.65 [[-9.89139630e-01 1.46955034e-01 2.64788134e-03 1.88726423e+02] [-1.46954249e-01 -9.89143169e-01 4.89682756e-04 1.22914305e+02] [ 2.69109509e-03 9.52472069e-05 9.99996375e-01 6.47547280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.444012739 meters Centerline goodness : 0.996493 Centerline is valid? [True, True] Translation: X:188.74, Y:122.91, Z:0.65 [[-9.89113150e-01 1.47133160e-01 2.64770174e-03 1.88742409e+02] [-1.47132373e-01 -9.89116689e-01 4.90651943e-04 1.22912742e+02] [ 2.69107715e-03 9.57476494e-05 9.99996375e-01 6.49224160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.474012739 meters Centerline goodness : 0.996377 Centerline is valid? [True, True] Translation: X:188.76, Y:122.91, Z:0.65 [[-9.89236008e-01 1.46304853e-01 2.64763437e-03 1.88763633e+02] [-1.46304062e-01 -9.89239547e-01 4.91015201e-04 1.22907749e+02] [ 2.69098253e-03 9.83702544e-05 9.99996375e-01 6.51946275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.504012739 meters Centerline goodness : 0.996440 Centerline is valid? [True, True] Translation: X:188.76, Y:122.90, Z:0.65 [[-9.89250316e-01 1.46208080e-01 2.64756765e-03 1.88757576e+02] [-1.46207288e-01 -9.89253854e-01 4.91374681e-04 1.22902471e+02] [ 2.69095945e-03 9.89988726e-05 9.99996375e-01 6.52505921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.534012739 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:188.62, Y:122.87, Z:0.65 [[-9.89299543e-01 1.45874620e-01 2.64738942e-03 1.88619558e+02] [-1.45873824e-01 -9.89303081e-01 4.92333090e-04 1.22868603e+02] [ 2.69088941e-03 1.00880084e-04 9.99996375e-01 6.51927490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.564012739 meters Centerline goodness : 0.996434 Centerline is valid? [True, True] Translation: X:188.75, Y:122.89, Z:0.65 [[-9.89343460e-01 1.45576475e-01 2.64716350e-03 1.88754049e+02] [-1.45575675e-01 -9.89346996e-01 4.93545363e-04 1.22889787e+02] [ 2.69081186e-03 1.02923263e-04 9.99996375e-01 6.52090131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.594012739 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:188.77, Y:122.89, Z:0.65 [[-9.89220774e-01 1.46407826e-01 2.64738940e-03 1.88765507e+02] [-1.46407032e-01 -9.89224312e-01 4.92330676e-04 1.22888597e+02] [ 2.69094302e-03 9.94273071e-05 9.99996375e-01 6.53996655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.624012739 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:188.76, Y:122.89, Z:0.66 [[-9.89024736e-01 1.47726317e-01 2.64721002e-03 1.88764246e+02] [-1.47725525e-01 -9.89028274e-01 4.93293261e-04 1.22885658e+02] [ 2.69103796e-03 9.68187462e-05 9.99996375e-01 6.55711450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.654012739 meters Centerline goodness : 0.996564 Centerline is valid? [True, True] Translation: X:188.75, Y:122.88, Z:0.66 [[-9.88371500e-01 1.52035426e-01 2.64703061e-03 1.88749191e+02] [-1.52034647e-01 -9.88375041e-01 4.94254114e-04 1.22878554e+02] [ 2.69140313e-03 8.60663153e-05 9.99996375e-01 6.58656175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.684012739 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:188.75, Y:122.88, Z:0.66 [[-9.87942253e-01 1.54800192e-01 2.64684940e-03 1.88750687e+02] [-1.54799421e-01 -9.87945795e-01 4.95222680e-04 1.22877506e+02] [ 2.69160430e-03 7.95206566e-05 9.99996375e-01 6.57646051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.714012739 meters Centerline goodness : 0.996308 Centerline is valid? [True, True] Translation: X:188.72, Y:122.87, Z:0.65 [[-9.86926414e-01 1.61149768e-01 2.64666654e-03 1.88720881e+02] [-1.61149017e-01 -9.86929961e-01 4.96197995e-04 1.22871676e+02] [ 2.69203670e-03 6.32031962e-05 9.99996375e-01 6.53786524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.744012739 meters Centerline goodness : 0.996346 Centerline is valid? [True, True] Translation: X:188.73, Y:122.87, Z:0.65 [[-9.86311033e-01 1.64874324e-01 2.64648110e-03 1.88732338e+02] [-1.64873583e-01 -9.86314582e-01 4.97185082e-04 1.22874698e+02] [ 2.69223596e-03 5.40443086e-05 9.99996375e-01 6.53220676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.774012739 meters Centerline goodness : 0.996299 Centerline is valid? [True, True] Translation: X:188.71, Y:122.87, Z:0.65 [[-9.85722718e-01 1.68355933e-01 2.64629371e-03 1.88711057e+02] [-1.68355202e-01 -9.85726269e-01 4.98180489e-04 1.22872055e+02] [ 2.69239287e-03 4.55505131e-05 9.99996375e-01 6.52243754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.80401273900003 meters Centerline goodness : 0.996528 Centerline is valid? [True, True] Translation: X:188.72, Y:122.88, Z:0.65 [[-9.84806905e-01 1.73632827e-01 2.64610499e-03 1.88717873e+02] [-1.73632113e-01 -9.84810459e-01 4.99180886e-04 1.22876011e+02] [ 2.69258606e-03 3.21479833e-05 9.99996375e-01 6.52376365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.834012739 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:188.71, Y:122.87, Z:0.65 [[-9.84508394e-01 1.75317487e-01 2.64591457e-03 1.88705414e+02] [-1.75316776e-01 -9.84511949e-01 5.00188151e-04 1.22874707e+02] [ 2.69262624e-03 2.85662204e-05 9.99996375e-01 6.53103442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.864012739 meters Centerline goodness : 0.996210 Centerline is valid? [True, True] Translation: X:188.71, Y:122.88, Z:0.65 [[-9.84392821e-01 1.75965264e-01 2.64572301e-03 1.88711706e+02] [-1.75964552e-01 -9.84396376e-01 5.01199357e-04 1.22876756e+02] [ 2.69263382e-03 2.78235823e-05 9.99996375e-01 6.53350673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.894012739 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:188.72, Y:122.88, Z:0.65 [[-9.84472241e-01 1.75520394e-01 2.64553030e-03 1.88720795e+02] [-1.75519678e-01 -9.84475795e-01 5.02214533e-04 1.22879747e+02] [ 2.69260944e-03 3.00736403e-05 9.99996375e-01 6.50789555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.924012739 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:188.72, Y:122.88, Z:0.65 [[-9.84574754e-01 1.74944436e-01 2.64533796e-03 1.88724670e+02] [-1.74943715e-01 -9.84578307e-01 5.03225591e-04 1.22881184e+02] [ 2.69257889e-03 3.26779618e-05 9.99996375e-01 6.49844945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.954012739 meters Centerline goodness : 0.996666 Centerline is valid? [True, True] Translation: X:188.72, Y:122.88, Z:0.65 [[-9.84683028e-01 1.74333986e-01 2.64514588e-03 1.88716464e+02] [-1.74333260e-01 -9.84686580e-01 5.04233234e-04 1.22880328e+02] [ 2.69254464e-03 3.53730030e-05 9.99996375e-01 6.48969453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.984012739 meters Centerline goodness : 0.996299 Centerline is valid? [True, True] Translation: X:188.74, Y:122.89, Z:0.65 [[-9.84975159e-01 1.72675824e-01 2.64495277e-03 1.88740062e+02] [-1.72675090e-01 -9.84978710e-01 5.05244145e-04 1.22886516e+02] [ 2.69246562e-03 4.09354750e-05 9.99996375e-01 6.50852387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.014012739 meters Centerline goodness : 0.996626 Centerline is valid? [True, True] Translation: X:188.75, Y:122.89, Z:0.65 [[-9.85133810e-01 1.71768394e-01 2.64476005e-03 1.88748198e+02] [-1.71767653e-01 -9.85137360e-01 5.06250971e-04 1.22889132e+02] [ 2.69240985e-03 4.44407208e-05 9.99996375e-01 6.51642947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.044012739 meters Centerline goodness : 0.996247 Centerline is valid? [True, True] Translation: X:188.75, Y:122.89, Z:0.65 [[-9.85540216e-01 1.69421042e-01 2.64456891e-03 1.88754132e+02] [-1.69420290e-01 -9.85543763e-01 5.07247519e-04 1.22890296e+02] [ 2.69227679e-03 5.18691979e-05 9.99996375e-01 6.52073281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.074012739 meters Centerline goodness : 0.996340 Centerline is valid? [True, True] Translation: X:188.74, Y:122.89, Z:0.65 [[-9.85709505e-01 1.68433305e-01 2.64437798e-03 1.88742545e+02] [-1.68432547e-01 -9.85713051e-01 5.08240898e-04 1.22886836e+02] [ 2.69220258e-03 5.55785654e-05 9.99996375e-01 6.51123084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.104012739 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:188.75, Y:122.89, Z:0.65 [[-9.85892404e-01 1.67359425e-01 2.64418593e-03 1.88754722e+02] [-1.67358660e-01 -9.85895948e-01 5.09238111e-04 1.22887285e+02] [ 2.69211799e-03 5.95265695e-05 9.99996375e-01 6.49057083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.134012739 meters Centerline goodness : 0.996608 Centerline is valid? [True, True] Translation: X:188.77, Y:122.89, Z:0.65 [[-9.86060467e-01 1.66366357e-01 2.64399316e-03 1.88770725e+02] [-1.66365587e-01 -9.86064010e-01 5.10237049e-04 1.22888152e+02] [ 2.69203277e-03 6.32551102e-05 9.99996375e-01 6.46989043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.164012739 meters Centerline goodness : 0.996236 Centerline is valid? [True, True] Translation: X:188.77, Y:122.88, Z:0.65 [[-9.86536477e-01 1.63519996e-01 2.64380161e-03 1.88766215e+02] [-1.63519213e-01 -9.86540017e-01 5.11227634e-04 1.22884379e+02] [ 2.69181202e-03 7.20323520e-05 9.99996375e-01 6.45907459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.194012739 meters Centerline goodness : 0.996593 Centerline is valid? [True, True] Translation: X:188.70, Y:122.87, Z:0.65 [[-9.86655064e-01 1.62802934e-01 2.64361010e-03 1.88702653e+02] [-1.62802146e-01 -9.86658603e-01 5.12216055e-04 1.22870103e+02] [ 2.69173092e-03 7.49951685e-05 9.99996375e-01 6.47771510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.224012739 meters Centerline goodness : 0.996331 Centerline is valid? [True, True] Translation: X:188.69, Y:122.86, Z:0.65 [[-9.86857645e-01 1.61570418e-01 2.64341286e-03 1.88692690e+02] [-1.61569623e-01 -9.86861183e-01 5.13231940e-04 1.22863736e+02] [ 2.69160464e-03 7.93916453e-05 9.99996375e-01 6.49742868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.254012739 meters Centerline goodness : 0.996564 Centerline is valid? [True, True] Translation: X:188.78, Y:122.88, Z:0.65 [[-9.86864020e-01 1.61531476e-01 2.64369499e-03 1.88781554e+02] [-1.61530685e-01 -9.86867558e-01 5.11779865e-04 1.22878832e+02] [ 2.69164538e-03 7.80192727e-05 9.99996375e-01 6.49644341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.284012739 meters Centerline goodness : 0.996561 Centerline is valid? [True, True] Translation: X:188.78, Y:122.87, Z:0.65 [[-9.86784123e-01 1.62018849e-01 2.64342346e-03 1.88780499e+02] [-1.62018055e-01 -9.86787660e-01 5.13178540e-04 1.22874652e+02] [ 2.69164225e-03 7.81141070e-05 9.99996375e-01 6.49283925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.314012739 meters Centerline goodness : 0.996516 Centerline is valid? [True, True] Translation: X:188.79, Y:122.87, Z:0.65 [[-9.86646039e-01 1.62857629e-01 2.64323197e-03 1.88785297e+02] [-1.62856836e-01 -9.86649577e-01 5.14162983e-04 1.22873557e+02] [ 2.69167906e-03 7.68284768e-05 9.99996375e-01 6.49931142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.344012739 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:188.78, Y:122.87, Z:0.65 [[-9.86391070e-01 1.64394864e-01 2.64303992e-03 1.88783763e+02] [-1.64394073e-01 -9.86394608e-01 5.15148317e-04 1.22871241e+02] [ 2.69176806e-03 7.36376028e-05 9.99996375e-01 6.49267100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.374012739 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:188.78, Y:122.87, Z:0.65 [[-9.85688051e-01 1.68558837e-01 2.64284735e-03 1.88780957e+02] [-1.68558058e-01 -9.85691592e-01 5.16134371e-04 1.22869034e+02] [ 2.69203142e-03 6.32742651e-05 9.99996375e-01 6.47626620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.404012739 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:188.76, Y:122.86, Z:0.65 [[-9.85206549e-01 1.71350730e-01 2.64265372e-03 1.88757034e+02] [-1.71349959e-01 -9.85210091e-01 5.17123877e-04 1.22863720e+02] [ 2.69217866e-03 5.66552235e-05 9.99996375e-01 6.46988940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.434012739 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:188.76, Y:122.86, Z:0.65 [[-9.84710457e-01 1.74179025e-01 2.64245741e-03 1.88762439e+02] [-1.74178261e-01 -9.84714002e-01 5.18125034e-04 1.22863683e+02] [ 2.69231133e-03 4.99445013e-05 9.99996375e-01 6.47343298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.464012739 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:188.77, Y:122.87, Z:0.65 [[-9.83907902e-01 1.78656819e-01 2.64225900e-03 1.88771368e+02] [-1.78656069e-01 -9.83911449e-01 5.19134915e-04 1.22865261e+02] [ 2.69249587e-03 3.87253383e-05 9.99996375e-01 6.49552049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.494012739 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:188.76, Y:122.86, Z:0.65 [[-9.83446928e-01 1.81177147e-01 2.64206085e-03 1.88755919e+02] [-1.81176403e-01 -9.83450477e-01 5.20141383e-04 1.22863028e+02] [ 2.69257374e-03 3.28523625e-05 9.99996375e-01 6.49885690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.524012739 meters Centerline goodness : 0.995942 Centerline is valid? [True, True] Translation: X:188.75, Y:122.86, Z:0.65 [[-9.82904137e-01 1.84099099e-01 2.64186144e-03 1.88754052e+02] [-1.84098363e-01 -9.82907687e-01 5.21152282e-04 1.22863862e+02] [ 2.69264958e-03 2.58803669e-05 9.99996375e-01 6.48340064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.55401273900003 meters Centerline goodness : 0.995710 Centerline is valid? [True, True] Translation: X:188.76, Y:122.87, Z:0.65 [[-9.81635690e-01 1.90746936e-01 2.64166002e-03 1.88761523e+02] [-1.90746221e-01 -9.81639245e-01 5.22171232e-04 1.22868522e+02] [ 2.69275971e-03 8.69525135e-06 9.99996375e-01 6.45677892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.584012739 meters Centerline goodness : 0.995261 Centerline is valid? [True, True] Translation: X:188.80, Y:122.88, Z:0.65 [[-9.80994993e-01 1.94015066e-01 2.64145835e-03 1.88798940e+02] [-1.94014361e-01 -9.80998550e-01 5.23189418e-04 1.22878594e+02] [ 2.69277344e-03 7.65345336e-07 9.99996375e-01 6.46294740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.614012739 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:188.80, Y:122.88, Z:0.65 [[-9.80292267e-01 1.97535043e-01 2.64150794e-03 1.88800139e+02] [-1.97534351e-01 -9.80295826e-01 5.22938965e-04 1.22882175e+02] [ 2.69275797e-03 -9.15553070e-06 9.99996375e-01 6.46833822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.644012739 meters Centerline goodness : 0.995662 Centerline is valid? [True, True] Translation: X:188.81, Y:122.89, Z:0.65 [[-9.79039565e-01 2.03653021e-01 2.64131211e-03 1.88805633e+02] [-2.03652348e-01 -9.79043128e-01 5.23926205e-04 1.22891753e+02] [ 2.69265762e-03 -2.49649293e-05 9.99996375e-01 6.49617319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.674012739 meters Centerline goodness : 0.995195 Centerline is valid? [True, True] Translation: X:188.81, Y:122.90, Z:0.65 [[-9.78520657e-01 2.06131871e-01 2.64111620e-03 1.88813399e+02] [-2.06131205e-01 -9.78524221e-01 5.24911934e-04 1.22897784e+02] [ 2.69259725e-03 -3.07792938e-05 9.99996375e-01 6.48462490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.704012739 meters Centerline goodness : 0.995451 Centerline is valid? [True, True] Translation: X:188.82, Y:122.91, Z:0.65 [[-9.78203103e-01 2.07633609e-01 2.64092068e-03 1.88816756e+02] [-2.07632946e-01 -9.78206667e-01 5.25893770e-04 1.22906778e+02] [ 2.69255944e-03 -3.39112232e-05 9.99996375e-01 6.45535733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.734012739 meters Centerline goodness : 0.995338 Centerline is valid? [True, True] Translation: X:188.80, Y:122.91, Z:0.65 [[-9.78345610e-01 2.06961094e-01 2.64072543e-03 1.88798626e+02] [-2.06960426e-01 -9.78349173e-01 5.26872377e-04 1.22907378e+02] [ 2.69259363e-03 -3.10623827e-05 9.99996375e-01 6.45915335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.764012739 meters Centerline goodness : 0.995568 Centerline is valid? [True, True] Translation: X:188.80, Y:122.91, Z:0.65 [[-9.78659495e-01 2.05471702e-01 2.64052865e-03 1.88800424e+02] [-2.05471025e-01 -9.78663057e-01 5.27856775e-04 1.22911793e+02] [ 2.69264747e-03 -2.59600839e-05 9.99996375e-01 6.47404002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.794012739 meters Centerline goodness : 0.995712 Centerline is valid? [True, True] Translation: X:188.80, Y:122.92, Z:0.65 [[-9.79141417e-01 2.03162777e-01 2.64033008e-03 1.88804891e+02] [-2.03162090e-01 -9.79144977e-01 5.28848158e-04 1.22916634e+02] [ 2.69270819e-03 -1.85978413e-05 9.99996375e-01 6.49838208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.824012739 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:188.78, Y:122.92, Z:0.65 [[-9.80360319e-01 1.97197047e-01 2.64013126e-03 1.88782465e+02] [-1.97196335e-01 -9.80363874e-01 5.29838815e-04 1.22918806e+02] [ 2.69277196e-03 -1.19125921e-06 9.99996375e-01 6.53022787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.854012739 meters Centerline goodness : 0.995357 Centerline is valid? [True, True] Translation: X:188.77, Y:122.92, Z:0.65 [[-9.80920684e-01 1.94390441e-01 2.63993057e-03 1.88767121e+02] [-1.94389716e-01 -9.80924236e-01 5.30836878e-04 1.22918142e+02] [ 2.69276150e-03 7.53351883e-06 9.99996375e-01 6.51843401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.884012739 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:188.79, Y:122.93, Z:0.65 [[-9.82071278e-01 1.88491476e-01 2.63972639e-03 1.88789681e+02] [-1.88490727e-01 -9.82074826e-01 5.31850324e-04 1.22926359e+02] [ 2.69265808e-03 2.47509818e-05 9.99996375e-01 6.45828113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.914012739 meters Centerline goodness : 0.995201 Centerline is valid? [True, True] Translation: X:188.79, Y:122.93, Z:0.64 [[-9.82419211e-01 1.86669565e-01 2.63967558e-03 1.88785362e+02] [-1.86668809e-01 -9.82422757e-01 5.32102354e-04 1.22926543e+02] [ 2.69260468e-03 3.00024776e-05 9.99996375e-01 6.44935402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.944012739 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:188.81, Y:122.93, Z:0.65 [[-9.82694171e-01 1.85216627e-01 2.63947240e-03 1.88808379e+02] [-1.85215863e-01 -9.82697715e-01 5.33108326e-04 1.22932348e+02] [ 2.69254402e-03 3.50102864e-05 9.99996375e-01 6.45244984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.974012739 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:188.81, Y:122.93, Z:0.65 [[-9.82693447e-01 1.85220471e-01 2.63942201e-03 1.88806930e+02] [-1.85219707e-01 -9.82696991e-01 5.33357710e-04 1.22934830e+02] [ 2.69254083e-03 3.52541565e-05 9.99996375e-01 6.48807687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.004012739 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:188.79, Y:122.93, Z:0.65 [[-9.82492636e-01 1.86282731e-01 2.63922085e-03 1.88794751e+02] [-1.86281967e-01 -9.82496180e-01 5.34351260e-04 1.22933884e+02] [ 2.69256481e-03 3.33569269e-05 9.99996375e-01 6.50726239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.034012739 meters Centerline goodness : 0.995315 Centerline is valid? [True, True] Translation: X:188.80, Y:122.93, Z:0.65 [[-9.82466079e-01 1.86422742e-01 2.63901802e-03 1.88797208e+02] [-1.86421976e-01 -9.82469623e-01 5.35351113e-04 1.22934347e+02] [ 2.69255666e-03 3.39933557e-05 9.99996375e-01 6.50719473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.064012739 meters Centerline goodness : 0.995540 Centerline is valid? [True, True] Translation: X:188.80, Y:122.94, Z:0.65 [[-9.82205402e-01 1.87791330e-01 2.63894167e-03 1.88801959e+02] [-1.87790568e-01 -9.82208947e-01 5.35727178e-04 1.22938649e+02] [ 2.69259704e-03 3.06257719e-05 9.99996375e-01 6.52552303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.094012739 meters Centerline goodness : 0.995526 Centerline is valid? [True, True] Translation: X:188.79, Y:122.94, Z:0.65 [[-9.81946433e-01 1.89140791e-01 2.63886540e-03 1.88794611e+02] [-1.89140033e-01 -9.81949979e-01 5.36102601e-04 1.22939273e+02] [ 2.69263269e-03 2.73089468e-05 9.99996375e-01 6.52557532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.124012739 meters Centerline goodness : 0.995658 Centerline is valid? [True, True] Translation: X:188.81, Y:122.94, Z:0.65 [[-9.81744572e-01 1.90185785e-01 2.63866056e-03 1.88806665e+02] [-1.90185028e-01 -9.81748118e-01 5.37108934e-04 1.22944233e+02] [ 2.69265052e-03 2.54700469e-05 9.99996375e-01 6.52044123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.154012739 meters Centerline goodness : 0.995554 Centerline is valid? [True, True] Translation: X:188.81, Y:122.95, Z:0.65 [[-9.81590688e-01 1.90978428e-01 2.63860950e-03 1.88808758e+02] [-1.90977673e-01 -9.81594234e-01 5.37359631e-04 1.22947628e+02] [ 2.69266797e-03 2.35517057e-05 9.99996375e-01 6.51594359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.184012739 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:188.80, Y:122.95, Z:0.65 [[-9.81541939e-01 1.91228818e-01 2.63853315e-03 1.88803275e+02] [-1.91228063e-01 -9.81545485e-01 5.37734278e-04 1.22951986e+02] [ 2.69267059e-03 2.32471610e-05 9.99996375e-01 6.51073297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.214012739 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:188.80, Y:122.95, Z:0.65 [[-9.81716703e-01 1.90329592e-01 2.63832813e-03 1.88801086e+02] [-1.90328831e-01 -9.81720248e-01 5.38738321e-04 1.22954285e+02] [ 2.69263799e-03 2.67384998e-05 9.99996375e-01 6.50044620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.244012739 meters Centerline goodness : 0.995861 Centerline is valid? [True, True] Translation: X:188.82, Y:122.96, Z:0.65 [[-9.82284690e-01 1.87376165e-01 2.63825111e-03 1.88821893e+02] [-1.87375393e-01 -9.82288233e-01 5.39115233e-04 1.22963478e+02] [ 2.69254036e-03 3.52213027e-05 9.99996375e-01 6.47231835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.274012739 meters Centerline goodness : 0.995944 Centerline is valid? [True, True] Translation: X:188.82, Y:122.97, Z:0.65 [[-9.82526417e-01 1.86104482e-01 2.63845503e-03 1.88817411e+02] [-1.86103708e-01 -9.82529959e-01 5.38115370e-04 1.22965400e+02] [ 2.69250680e-03 3.76863005e-05 9.99996375e-01 6.47608750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.30401273900003 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:188.82, Y:122.97, Z:0.65 [[-9.82893061e-01 1.84158276e-01 2.63825195e-03 1.88818500e+02] [-1.84157492e-01 -9.82896601e-01 5.39109210e-04 1.22967945e+02] [ 2.69241029e-03 4.40328403e-05 9.99996375e-01 6.50665046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.334012739 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:188.85, Y:122.98, Z:0.65 [[-9.83967901e-01 1.78326133e-01 2.63817575e-03 1.88850595e+02] [-1.78325327e-01 -9.83971436e-01 5.39481834e-04 1.22976755e+02] [ 2.69209329e-03 6.03792548e-05 9.99996375e-01 6.54665501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.364012739 meters Centerline goodness : 0.996319 Centerline is valid? [True, True] Translation: X:188.86, Y:122.98, Z:0.65 [[-9.84478745e-01 1.75484018e-01 2.63837648e-03 1.88855216e+02] [-1.75483205e-01 -9.84482278e-01 5.38498343e-04 1.22978241e+02] [ 2.69193274e-03 6.71494117e-05 9.99996375e-01 6.53293280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.394012739 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:188.87, Y:122.98, Z:0.65 [[-9.84882237e-01 1.73205132e-01 2.63830229e-03 1.88869531e+02] [-1.73204309e-01 -9.84885768e-01 5.38861589e-04 1.22981934e+02] [ 2.69175997e-03 7.37498811e-05 9.99996375e-01 6.51163796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.424012739 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:188.87, Y:122.98, Z:0.65 [[-9.85223819e-01 1.71251471e-01 2.63825307e-03 1.88865676e+02] [-1.71250641e-01 -9.85227348e-01 5.39102469e-04 1.22982321e+02] [ 2.69160116e-03 7.93340634e-05 9.99996375e-01 6.47446622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.454012739 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:188.76, Y:122.96, Z:0.65 [[-9.85317225e-01 1.70713228e-01 2.63817939e-03 1.88755321e+02] [-1.70712395e-01 -9.85320754e-01 5.39462781e-04 1.22959475e+02] [ 2.69154634e-03 8.11720487e-05 9.99996375e-01 6.48531668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.484012739 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:188.87, Y:122.98, Z:0.65 [[-9.85221731e-01 1.71263479e-01 2.63862149e-03 1.88867739e+02] [-1.71262653e-01 -9.85225261e-01 5.37302790e-04 1.22982059e+02] [ 2.69165689e-03 7.74650669e-05 9.99996375e-01 6.49337552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.514012739 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:188.88, Y:122.98, Z:0.65 [[-9.85424931e-01 1.70090405e-01 2.63817998e-03 1.88884702e+02] [-1.70089570e-01 -9.85428459e-01 5.39461959e-04 1.22983973e+02] [ 2.69149493e-03 8.28723668e-05 9.99996375e-01 6.50792392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.544012739 meters Centerline goodness : 0.995868 Centerline is valid? [True, True] Translation: X:188.90, Y:122.99, Z:0.65 [[-9.85640349e-01 1.68837620e-01 2.63815553e-03 1.88901778e+02] [-1.68836780e-01 -9.85643876e-01 5.39581489e-04 1.22985961e+02] [ 2.69138350e-03 8.64156028e-05 9.99996375e-01 6.50376855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.574012739 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:188.90, Y:122.98, Z:0.65 [[-9.86218632e-01 1.65426267e-01 2.63813134e-03 1.88898631e+02] [-1.65425415e-01 -9.86222156e-01 5.39699713e-04 1.22979118e+02] [ 2.69106409e-03 9.58479418e-05 9.99996375e-01 6.47566516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.604012739 meters Centerline goodness : 0.995798 Centerline is valid? [True, True] Translation: X:188.90, Y:122.98, Z:0.65 [[-9.86483160e-01 1.63841439e-01 2.63793763e-03 1.88896478e+02] [-1.63840579e-01 -9.86486681e-01 5.40644897e-04 1.22975043e+02] [ 2.69087037e-03 1.01135859e-04 9.99996375e-01 6.45429247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.634012739 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:188.91, Y:122.98, Z:0.64 [[-9.86705022e-01 1.62499976e-01 2.63774278e-03 1.88913248e+02] [-1.62499108e-01 -9.86708542e-01 5.41593853e-04 1.22975119e+02] [ 2.69069232e-03 1.05762524e-04 9.99996375e-01 6.44712080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.664012739 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:188.91, Y:122.97, Z:0.65 [[-9.86757485e-01 1.62181098e-01 2.63769433e-03 1.88906300e+02] [-1.62180228e-01 -9.86761005e-01 5.41829745e-04 1.22971101e+02] [ 2.69064845e-03 1.06872689e-04 9.99996375e-01 6.45302604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.694012739 meters Centerline goodness : 0.995791 Centerline is valid? [True, True] Translation: X:188.91, Y:122.97, Z:0.65 [[-9.86415316e-01 1.64249408e-01 2.63750000e-03 1.88914876e+02] [-1.64248543e-01 -9.86418837e-01 5.42774044e-04 1.22969415e+02] [ 2.69083000e-03 1.02195099e-04 9.99996375e-01 6.47492912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.724012739 meters Centerline goodness : 0.995964 Centerline is valid? [True, True] Translation: X:188.91, Y:122.97, Z:0.65 [[-9.85914729e-01 1.67227959e-01 2.63742714e-03 1.88911447e+02] [-1.67227103e-01 -9.85918253e-01 5.43127866e-04 1.22967938e+02] [ 2.69111372e-03 9.44284622e-05 9.99996375e-01 6.47865119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.754012739 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:188.90, Y:122.97, Z:0.65 [[-9.84574149e-01 1.74947966e-01 2.63723201e-03 1.88897729e+02] [-1.74947135e-01 -9.84577678e-01 5.44073686e-04 1.22965506e+02] [ 2.69174435e-03 7.43047010e-05 9.99996375e-01 6.47523161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.784012739 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:188.87, Y:122.96, Z:0.65 [[-9.83851562e-01 1.78966896e-01 2.63703498e-03 1.88874382e+02] [-1.78966078e-01 -9.83855094e-01 5.45027000e-04 1.22961304e+02] [ 2.69200208e-03 6.42858588e-05 9.99996375e-01 6.47364895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.814012739 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:188.87, Y:122.96, Z:0.65 [[-9.83293746e-01 1.82006750e-01 2.63683464e-03 1.88874851e+02] [-1.82005940e-01 -9.83297280e-01 5.45994520e-04 1.22962293e+02] [ 2.69216701e-03 5.69534310e-05 9.99996375e-01 6.45958769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.844012739 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:188.86, Y:122.96, Z:0.64 [[-9.82545685e-01 1.86002753e-01 2.63675892e-03 1.88864403e+02] [-1.86001956e-01 -9.82549222e-01 5.46359919e-04 1.22962395e+02] [ 2.69236988e-03 4.63812635e-05 9.99996375e-01 6.44726977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.874012739 meters Centerline goodness : 0.995865 Centerline is valid? [True, True] Translation: X:188.87, Y:122.96, Z:0.65 [[-9.82420360e-01 1.86663563e-01 2.63655507e-03 1.88865249e+02] [-1.86662766e-01 -9.82423896e-01 5.47341875e-04 1.22963641e+02] [ 2.69238349e-03 4.55731390e-05 9.99996375e-01 6.45391770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.904012739 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:188.87, Y:122.97, Z:0.65 [[-9.82426846e-01 1.86629424e-01 2.63647844e-03 1.88872800e+02] [-1.86628626e-01 -9.82430382e-01 5.47710738e-04 1.22966272e+02] [ 2.69237546e-03 4.60433839e-05 9.99996375e-01 6.46245371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.934012739 meters Centerline goodness : 0.995727 Centerline is valid? [True, True] Translation: X:188.88, Y:122.97, Z:0.65 [[-9.82783807e-01 1.84740460e-01 2.63640186e-03 1.88884103e+02] [-1.84739654e-01 -9.82787342e-01 5.48079137e-04 1.22971269e+02] [ 2.69227476e-03 5.15953350e-05 9.99996375e-01 6.47042315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.964012739 meters Centerline goodness : 0.995915 Centerline is valid? [True, True] Translation: X:188.90, Y:122.98, Z:0.65 [[-9.82986246e-01 1.83660254e-01 2.63635108e-03 1.88898855e+02] [-1.83659444e-01 -9.82989780e-01 5.48323281e-04 1.22975760e+02] [ 2.69221136e-03 5.48034699e-05 9.99996375e-01 6.47980210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.994012739 meters Centerline goodness : 0.996149 Centerline is valid? [True, True] Translation: X:188.88, Y:122.97, Z:0.65 [[-9.83107361e-01 1.83010838e-01 2.63630069e-03 1.88882091e+02] [-1.83010024e-01 -9.83110894e-01 5.48565410e-04 1.22973546e+02] [ 2.69216935e-03 5.68292380e-05 9.99996375e-01 6.48619111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.024012739 meters Centerline goodness : 0.995912 Centerline is valid? [True, True] Translation: X:188.89, Y:122.98, Z:0.65 [[-9.83370238e-01 1.81593024e-01 2.63609776e-03 1.88891759e+02] [-1.81592203e-01 -9.83373769e-01 5.49538857e-04 1.22977939e+02] [ 2.69206182e-03 6.17053564e-05 9.99996375e-01 6.49580315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.05401273900003 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:188.91, Y:122.98, Z:0.65 [[-9.83418266e-01 1.81332750e-01 2.63602148e-03 1.88907484e+02] [-1.81331927e-01 -9.83421797e-01 5.49904552e-04 1.22982461e+02] [ 2.69203668e-03 6.27913279e-05 9.99996375e-01 6.49733994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.084012739 meters Centerline goodness : 0.995898 Centerline is valid? [True, True] Translation: X:188.90, Y:122.98, Z:0.65 [[-9.83394951e-01 1.81459147e-01 2.63597104e-03 1.88903104e+02] [-1.81458323e-01 -9.83398482e-01 5.50146228e-04 1.22983002e+02] [ 2.69203898e-03 6.26921377e-05 9.99996375e-01 6.49034665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.114012739 meters Centerline goodness : 0.996047 Centerline is valid? [True, True] Translation: X:188.91, Y:122.99, Z:0.65 [[-9.83443234e-01 1.81197290e-01 2.63576888e-03 1.88910677e+02] [-1.81196463e-01 -9.83446764e-01 5.51113046e-04 1.22985199e+02] [ 2.69199857e-03 6.43963973e-05 9.99996375e-01 6.49461629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.144012739 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:188.92, Y:122.99, Z:0.65 [[-9.83567617e-01 1.80520899e-01 2.63569318e-03 1.88924384e+02] [-1.80520069e-01 -9.83571147e-01 5.51474861e-04 1.22989450e+02] [ 2.69194450e-03 6.66172998e-05 9.99996375e-01 6.49698153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.174012739 meters Centerline goodness : 0.995815 Centerline is valid? [True, True] Translation: X:188.92, Y:122.99, Z:0.65 [[-9.83737803e-01 1.79591169e-01 2.63564304e-03 1.88924850e+02] [-1.79590335e-01 -9.83741332e-01 5.51714409e-04 1.22991144e+02] [ 2.69187403e-03 6.94063047e-05 9.99996375e-01 6.50489914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.204012739 meters Centerline goodness : 0.996057 Centerline is valid? [True, True] Translation: X:188.93, Y:122.99, Z:0.65 [[-9.84143031e-01 1.77357121e-01 2.63556807e-03 1.88930547e+02] [-1.77356278e-01 -9.84146557e-01 5.52072306e-04 1.22993812e+02] [ 2.69169919e-03 7.58835688e-05 9.99996375e-01 6.52338612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.234012739 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:188.95, Y:123.00, Z:0.65 [[-9.84380660e-01 1.76033437e-01 2.63549306e-03 1.88947840e+02] [-1.76032588e-01 -9.84384185e-01 5.52430146e-04 1.22997179e+02] [ 2.69158386e-03 7.98688885e-05 9.99996375e-01 6.52920767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.264012739 meters Centerline goodness : 0.995907 Centerline is valid? [True, True] Translation: X:188.95, Y:123.00, Z:0.65 [[-9.84822671e-01 1.73543542e-01 2.63549306e-03 1.88951818e+02] [-1.73542685e-01 -9.84826194e-01 5.52430146e-04 1.22997984e+02] [ 2.69137328e-03 8.66751911e-05 9.99996375e-01 6.49185984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.294012739 meters Centerline goodness : 0.995689 Centerline is valid? [True, True] Translation: X:188.94, Y:123.00, Z:0.65 [[-9.85007360e-01 1.72492188e-01 2.63541903e-03 1.88943532e+02] [-1.72491325e-01 -9.85010882e-01 5.52783096e-04 1.22996972e+02] [ 2.69126719e-03 8.99084973e-05 9.99996375e-01 6.47578603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.324012739 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:188.96, Y:123.00, Z:0.65 [[-9.85154165e-01 1.71651760e-01 2.63534473e-03 1.88957483e+02] [-1.71650894e-01 -9.85157685e-01 5.53137056e-04 1.23000202e+02] [ 2.69117707e-03 9.25659949e-05 9.99996375e-01 6.47870936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.354012739 meters Centerline goodness : 0.995361 Centerline is valid? [True, True] Translation: X:188.95, Y:123.00, Z:0.65 [[-9.85483051e-01 1.69753382e-01 2.63529524e-03 1.88951994e+02] [-1.69752508e-01 -9.85486570e-01 5.53372763e-04 1.22997900e+02] [ 2.69098496e-03 9.79915034e-05 9.99996375e-01 6.52028975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.384012739 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:188.95, Y:123.00, Z:0.65 [[-9.85715355e-01 1.68399215e-01 2.63509656e-03 1.88952722e+02] [-1.68398334e-01 -9.85718872e-01 5.54317225e-04 1.22998008e+02] [ 2.69081100e-03 1.02653130e-04 9.99996375e-01 6.53347735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.414012739 meters Centerline goodness : 0.994841 Centerline is valid? [True, True] Translation: X:188.98, Y:123.00, Z:0.65 [[-9.86105602e-01 1.66098763e-01 2.63502198e-03 1.88978386e+02] [-1.66097872e-01 -9.86109116e-01 5.54671561e-04 1.23003133e+02] [ 2.69054945e-03 1.09293190e-04 9.99996375e-01 6.52265109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.444012739 meters Centerline goodness : 0.995015 Centerline is valid? [True, True] Translation: X:188.97, Y:123.00, Z:0.65 [[-9.86064409e-01 1.66343129e-01 2.63521911e-03 1.88971146e+02] [-1.66342243e-01 -9.86067925e-01 5.53733414e-04 1.23000519e+02] [ 2.69061478e-03 1.07668556e-04 9.99996375e-01 6.50860327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.474012739 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:188.97, Y:123.00, Z:0.65 [[-9.86068703e-01 1.66317679e-01 2.63502266e-03 1.88974574e+02] [-1.66316789e-01 -9.86072217e-01 5.54666669e-04 1.22999412e+02] [ 2.69057351e-03 1.08690934e-04 9.99996375e-01 6.50804604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.504012739 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:188.99, Y:123.00, Z:0.65 [[-9.86125583e-01 1.65980094e-01 2.63494895e-03 1.88991357e+02] [-1.65979203e-01 -9.86129097e-01 5.55016616e-04 1.22999219e+02] [ 2.69052154e-03 1.09969359e-04 9.99996375e-01 6.51407113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.534012739 meters Centerline goodness : 0.994699 Centerline is valid? [True, True] Translation: X:188.99, Y:123.00, Z:0.65 [[-9.86131361e-01 1.65945765e-01 2.63490004e-03 1.88987213e+02] [-1.65944872e-01 -9.86134875e-01 5.55248719e-04 1.22996642e+02] [ 2.69050799e-03 1.10300025e-04 9.99996375e-01 6.51087504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.564012739 meters Centerline goodness : 0.994366 Centerline is valid? [True, True] Translation: X:188.98, Y:122.99, Z:0.65 [[-9.86075253e-01 1.66278843e-01 2.63470399e-03 1.88981317e+02] [-1.66277950e-01 -9.86078767e-01 5.56177437e-04 1.22991546e+02] [ 2.69050620e-03 1.10339630e-04 9.99996375e-01 6.51036668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.594012739 meters Centerline goodness : 0.994156 Centerline is valid? [True, True] Translation: X:188.99, Y:122.99, Z:0.65 [[-9.85812146e-01 1.67831679e-01 2.63450649e-03 1.88989091e+02] [-1.67830788e-01 -9.85815660e-01 5.57111378e-04 1.22990993e+02] [ 2.69063869e-03 1.07055862e-04 9.99996375e-01 6.51936705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.624012739 meters Centerline goodness : 0.994264 Centerline is valid? [True, True] Translation: X:188.99, Y:122.99, Z:0.65 [[-9.85389596e-01 1.70295050e-01 2.63443246e-03 1.88991261e+02] [-1.70294167e-01 -9.85393112e-01 5.57461212e-04 1.22989694e+02] [ 2.69088449e-03 1.00687997e-04 9.99996375e-01 6.52721023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.654012739 meters Centerline goodness : 0.994823 Centerline is valid? [True, True] Translation: X:188.97, Y:122.98, Z:0.65 [[-9.84835418e-01 1.73471206e-01 2.63435848e-03 1.88967894e+02] [-1.73470334e-01 -9.84838937e-01 5.57810627e-04 1.22983666e+02] [ 2.69118288e-03 9.23686181e-05 9.99996375e-01 6.52344861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.684012739 meters Centerline goodness : 0.994387 Centerline is valid? [True, True] Translation: X:188.94, Y:122.98, Z:0.65 [[-9.83696068e-01 1.79819654e-01 2.63415855e-03 1.88941225e+02] [-1.79818802e-01 -9.83699592e-01 5.58753140e-04 1.22977551e+02] [ 2.69169549e-03 7.59720331e-05 9.99996375e-01 6.51818454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.714012739 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:188.95, Y:122.98, Z:0.65 [[-9.83084782e-01 1.83132120e-01 2.63395438e-03 1.88946379e+02] [-1.83131277e-01 -9.83088308e-01 5.59713937e-04 1.22978388e+02] [ 2.69191136e-03 6.78868246e-05 9.99996375e-01 6.51703777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.744012739 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:188.94, Y:122.98, Z:0.65 [[-9.81852291e-01 1.89628955e-01 2.63387726e-03 1.88940266e+02] [-1.89628135e-01 -9.81855823e-01 5.60076621e-04 1.22977395e+02] [ 2.69229447e-03 5.04552810e-05 9.99996375e-01 6.51884628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.774012739 meters Centerline goodness : 0.994497 Centerline is valid? [True, True] Translation: X:188.93, Y:122.98, Z:0.65 [[-9.81201687e-01 1.92967128e-01 2.63367015e-03 1.88930706e+02] [-1.92966317e-01 -9.81205221e-01 5.61048858e-04 1.22976107e+02] [ 2.69243488e-03 4.22924590e-05 9.99996375e-01 6.51792901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.80401273900003 meters Centerline goodness : 0.994433 Centerline is valid? [True, True] Translation: X:188.93, Y:122.98, Z:0.65 [[-9.80686857e-01 1.95566748e-01 2.63346120e-03 1.88932951e+02] [-1.95565944e-01 -9.80690392e-01 5.62027921e-04 1.22978137e+02] [ 2.69252407e-03 3.61580709e-05 9.99996375e-01 6.51716104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.834012739 meters Centerline goodness : 0.994299 Centerline is valid? [True, True] Translation: X:188.92, Y:122.98, Z:0.65 [[-9.79881074e-01 1.99564891e-01 2.63338266e-03 1.88920334e+02] [-1.99564100e-01 -9.79884613e-01 5.62395647e-04 1.22980058e+02] [ 2.69264558e-03 2.55522101e-05 9.99996375e-01 6.53556768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.864012739 meters Centerline goodness : 0.994472 Centerline is valid? [True, True] Translation: X:188.91, Y:122.98, Z:0.65 [[-9.79606246e-01 2.00909607e-01 2.63317119e-03 1.88912462e+02] [-2.00908818e-01 -9.79609784e-01 5.63384018e-04 1.22980578e+02] [ 2.69266953e-03 2.28671898e-05 9.99996375e-01 6.54297283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.894012739 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:188.91, Y:122.98, Z:0.66 [[-9.79424085e-01 2.01795761e-01 2.63295751e-03 1.88907816e+02] [-2.01794972e-01 -9.79427624e-01 5.64380914e-04 1.22981401e+02] [ 2.69268099e-03 2.14506733e-05 9.99996375e-01 6.55322241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.924012739 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:188.91, Y:122.98, Z:0.66 [[-9.79395262e-01 2.01935607e-01 2.63274213e-03 1.88910264e+02] [-2.01934817e-01 -9.79398800e-01 5.65383833e-04 1.22981891e+02] [ 2.69267561e-03 2.20919481e-05 9.99996375e-01 6.55315459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.954012739 meters Centerline goodness : 0.995047 Centerline is valid? [True, True] Translation: X:188.92, Y:122.99, Z:0.66 [[-9.79383008e-01 2.01995033e-01 2.63266135e-03 1.88924861e+02] [-2.01994242e-01 -9.79386546e-01 5.65759735e-04 1.22986279e+02] [ 2.69267376e-03 2.23130374e-05 9.99996375e-01 6.55510455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.984012739 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:188.93, Y:122.99, Z:0.65 [[-9.79664502e-01 2.00625353e-01 2.63260774e-03 1.88933357e+02] [-2.00624556e-01 -9.79668039e-01 5.66009097e-04 1.22990330e+02] [ 2.69263743e-03 2.63332619e-05 9.99996375e-01 6.54052255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.014012739 meters Centerline goodness : 0.994860 Centerline is valid? [True, True] Translation: X:188.93, Y:122.99, Z:0.65 [[-9.79843972e-01 1.99746992e-01 2.63252784e-03 1.88927211e+02] [-1.99746191e-01 -9.79847508e-01 5.66380462e-04 1.22990319e+02] [ 2.69260863e-03 2.91270732e-05 9.99996375e-01 6.53278253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.044012739 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:188.93, Y:122.99, Z:0.66 [[-9.80108513e-01 1.98444889e-01 2.63231365e-03 1.88934900e+02] [-1.98444081e-01 -9.80112047e-01 5.67374180e-04 1.22994490e+02] [ 2.69255483e-03 3.37212017e-05 9.99996375e-01 6.56625613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.074012739 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:188.96, Y:123.00, Z:0.66 [[-9.80208544e-01 1.97950202e-01 2.63223341e-03 1.88957147e+02] [-1.97949391e-01 -9.80212077e-01 5.67746172e-04 1.23000454e+02] [ 2.69253245e-03 3.54606477e-05 9.99996375e-01 6.58082928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.104012739 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:188.94, Y:123.00, Z:0.66 [[-9.79959423e-01 1.99179817e-01 2.63244499e-03 1.88942809e+02] [-1.99179013e-01 -9.79962958e-01 5.66763462e-04 1.23000422e+02] [ 2.69258642e-03 3.10773995e-05 9.99996375e-01 6.59326324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.134012739 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:188.95, Y:123.00, Z:0.66 [[-9.79786927e-01 2.00026620e-01 2.63223354e-03 1.88953875e+02] [-2.00025817e-01 -9.79790463e-01 5.67743809e-04 1.23003996e+02] [ 2.69260119e-03 2.97532979e-05 9.99996375e-01 6.59090085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.164012739 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:188.96, Y:123.01, Z:0.66 [[-9.79639212e-01 2.00748811e-01 2.63218067e-03 1.88958194e+02] [-2.00748009e-01 -9.79642748e-01 5.67988834e-04 1.23006369e+02] [ 2.69261979e-03 2.80191054e-05 9.99996375e-01 6.58878803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.194012739 meters Centerline goodness : 0.995358 Centerline is valid? [True, True] Translation: X:188.95, Y:123.01, Z:0.66 [[-9.79534321e-01 2.01259997e-01 2.63210167e-03 1.88948508e+02] [-2.01259196e-01 -9.79537857e-01 5.68354679e-04 1.23005807e+02] [ 2.69263029e-03 2.69882485e-05 9.99996375e-01 6.58530916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.224012739 meters Centerline goodness : 0.995270 Centerline is valid? [True, True] Translation: X:188.95, Y:123.01, Z:0.66 [[-9.79721097e-01 2.00348808e-01 2.63202234e-03 1.88945266e+02] [-2.00348003e-01 -9.79724632e-01 5.68721813e-04 1.23009104e+02] [ 2.69259986e-03 2.98683389e-05 9.99996375e-01 6.56325208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.254012739 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:188.95, Y:123.01, Z:0.66 [[-9.79975634e-01 1.99100051e-01 2.63194245e-03 1.88953015e+02] [-1.99099240e-01 -9.79979168e-01 5.69091309e-04 1.23012631e+02] [ 2.69255488e-03 3.36778751e-05 9.99996375e-01 6.55278714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.284012739 meters Centerline goodness : 0.995163 Centerline is valid? [True, True] Translation: X:188.96, Y:123.02, Z:0.65 [[-9.80335844e-01 1.97318794e-01 2.63188922e-03 1.88964712e+02] [-1.97317977e-01 -9.80339376e-01 5.69337350e-04 1.23016111e+02] [ 2.69248560e-03 3.88227556e-05 9.99996375e-01 6.53642250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.314012739 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:188.97, Y:123.02, Z:0.65 [[-9.80961252e-01 1.94185726e-01 2.63188922e-03 1.88972468e+02] [-1.94184897e-01 -9.80964781e-01 5.69337350e-04 1.23019882e+02] [ 2.69234782e-03 4.74247416e-05 9.99996375e-01 6.53858554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.344012739 meters Centerline goodness : 0.995744 Centerline is valid? [True, True] Translation: X:188.96, Y:123.02, Z:0.66 [[-9.81100661e-01 1.93480144e-01 2.63183667e-03 1.88963726e+02] [-1.93479312e-01 -9.81104190e-01 5.69580185e-04 1.23019948e+02] [ 2.69230844e-03 4.96095470e-05 9.99996375e-01 6.55035326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.374012739 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:188.98, Y:123.03, Z:0.66 [[-9.81093463e-01 1.93516643e-01 2.63175764e-03 1.88977547e+02] [-1.93515810e-01 -9.81096991e-01 5.69945089e-04 1.23026592e+02] [ 2.69230337e-03 4.98826884e-05 9.99996375e-01 6.55205081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.404012739 meters Centerline goodness : 0.995921 Centerline is valid? [True, True] Translation: X:188.97, Y:123.03, Z:0.65 [[-9.80978993e-01 1.94096078e-01 2.63196786e-03 1.88971669e+02] [-1.94095250e-01 -9.80982523e-01 5.68972640e-04 1.23026480e+02] [ 2.69234983e-03 4.72977469e-05 9.99996375e-01 6.54787560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.434012739 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:188.97, Y:123.03, Z:0.65 [[-9.80840786e-01 1.94793291e-01 2.63188938e-03 1.88973621e+02] [-1.94792465e-01 -9.80844316e-01 5.69335444e-04 1.23028380e+02] [ 2.69237646e-03 4.57552048e-05 9.99996375e-01 6.53987047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.464012739 meters Centerline goodness : 0.995663 Centerline is valid? [True, True] Translation: X:188.99, Y:123.03, Z:0.66 [[-9.81059623e-01 1.93688124e-01 2.63181062e-03 1.88993450e+02] [-1.93687293e-01 -9.81063152e-01 5.69699316e-04 1.23032826e+02] [ 2.69231641e-03 4.91607231e-05 9.99996375e-01 6.55570916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.494012739 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:188.99, Y:123.03, Z:0.66 [[-9.81333382e-01 1.92296298e-01 2.63201905e-03 1.88985509e+02] [-1.92295464e-01 -9.81336910e-01 5.68734735e-04 1.23030780e+02] [ 2.69226302e-03 5.19930580e-05 9.99996375e-01 6.57970843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.524012739 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:188.99, Y:123.03, Z:0.66 [[-9.81772499e-01 1.90041660e-01 2.63194132e-03 1.88991544e+02] [-1.90040817e-01 -9.81776026e-01 5.69094196e-04 1.23031106e+02] [ 2.69212849e-03 5.85447530e-05 9.99996375e-01 6.59490180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.55401273900003 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:189.02, Y:123.03, Z:0.66 [[-9.82842116e-01 1.84430063e-01 2.63188937e-03 1.89021050e+02] [-1.84429199e-01 -9.82845637e-01 5.69334365e-04 1.23034398e+02] [ 2.69174335e-03 7.41685436e-05 9.99996375e-01 6.59177133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.584012739 meters Centerline goodness : 0.995933 Centerline is valid? [True, True] Translation: X:189.02, Y:123.03, Z:0.66 [[-9.83305324e-01 1.81944257e-01 2.63209466e-03 1.89018196e+02] [-1.81943387e-01 -9.83308843e-01 5.68383673e-04 1.23031415e+02] [ 2.69157610e-03 8.00024743e-05 9.99996375e-01 6.57831802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.614012739 meters Centerline goodness : 0.996133 Centerline is valid? [True, True] Translation: X:189.02, Y:123.03, Z:0.66 [[-9.83981071e-01 1.78253538e-01 2.63201848e-03 1.89023325e+02] [-1.78252653e-01 -9.83984587e-01 5.68736212e-04 1.23026946e+02] [ 2.69124486e-03 9.04613883e-05 9.99996375e-01 6.59351808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.644012739 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:189.04, Y:123.03, Z:0.66 [[-9.84134615e-01 1.77403870e-01 2.63194210e-03 1.89040045e+02] [-1.77402981e-01 -9.84138130e-01 5.69089483e-04 1.23027430e+02] [ 2.69115325e-03 9.31462841e-05 9.99996375e-01 6.60205477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.674012739 meters Centerline goodness : 0.996243 Centerline is valid? [True, True] Translation: X:189.05, Y:123.03, Z:0.66 [[-9.84208789e-01 1.76991898e-01 2.63196736e-03 1.89051470e+02] [-1.76991009e-01 -9.84212304e-01 5.68972635e-04 1.23026636e+02] [ 2.69111820e-03 9.41533102e-05 9.99996375e-01 6.60887505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.704012739 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:189.05, Y:123.02, Z:0.66 [[-9.84165593e-01 1.77231937e-01 2.63191720e-03 1.89048795e+02] [-1.77231047e-01 -9.84169107e-01 5.69204568e-04 1.23022547e+02] [ 2.69113283e-03 9.37341092e-05 9.99996375e-01 6.61272700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.734012739 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:189.03, Y:123.01, Z:0.66 [[-9.83893486e-01 1.78736349e-01 2.63184207e-03 1.89028033e+02] [-1.78735464e-01 -9.83897002e-01 5.69551753e-04 1.23011328e+02] [ 2.69126112e-03 8.99747468e-05 9.99996375e-01 6.61788311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.764012739 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:189.04, Y:123.01, Z:0.66 [[-9.83663630e-01 1.79997048e-01 2.63163864e-03 1.89036668e+02] [-1.79996165e-01 -9.83667147e-01 5.70490158e-04 1.23005974e+02] [ 2.69134301e-03 8.74855570e-05 9.99996375e-01 6.59613710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.794012739 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:189.04, Y:123.00, Z:0.66 [[-9.83473204e-01 1.81034613e-01 2.63158756e-03 1.89041045e+02] [-1.81033734e-01 -9.83476721e-01 5.70725658e-04 1.23003337e+02] [ 2.69142621e-03 8.48872694e-05 9.99996375e-01 6.58417173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.824012739 meters Centerline goodness : 0.995844 Centerline is valid? [True, True] Translation: X:189.04, Y:123.00, Z:0.66 [[-9.83178802e-01 1.82626720e-01 2.63151104e-03 1.89038886e+02] [-1.82625845e-01 -9.83182320e-01 5.71078269e-04 1.23000088e+02] [ 2.69154928e-03 8.08901211e-05 9.99996375e-01 6.58121392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.854012739 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:189.02, Y:122.99, Z:0.66 [[-9.82748300e-01 1.84929323e-01 2.63130589e-03 1.89020253e+02] [-1.84928454e-01 -9.82751820e-01 5.72021964e-04 1.22993733e+02] [ 2.69170429e-03 7.55502835e-05 9.99996375e-01 6.57521896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.884012739 meters Centerline goodness : 0.996118 Centerline is valid? [True, True] Translation: X:189.02, Y:122.99, Z:0.66 [[-9.81660745e-01 1.90618099e-01 2.63109840e-03 1.89015272e+02] [-1.90617247e-01 -9.81664269e-01 5.72974776e-04 1.22988701e+02] [ 2.69207465e-03 6.09341117e-05 9.99996375e-01 6.57881360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.914012739 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:189.01, Y:122.99, Z:0.66 [[-9.80981262e-01 1.94084625e-01 2.63088837e-03 1.89008619e+02] [-1.94083783e-01 -9.80984789e-01 5.73937501e-04 1.22985606e+02] [ 2.69225392e-03 5.24091659e-05 9.99996375e-01 6.59038028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.944012739 meters Centerline goodness : 0.995787 Centerline is valid? [True, True] Translation: X:188.99, Y:122.98, Z:0.66 [[-9.79790511e-01 2.00009084e-01 2.63067668e-03 1.88989467e+02] [-2.00008261e-01 -9.79794042e-01 5.74906156e-04 1.22978732e+02] [ 2.69250780e-03 3.71305283e-05 9.99996375e-01 6.60080321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.974012739 meters Centerline goodness : 0.995891 Centerline is valid? [True, True] Translation: X:188.99, Y:122.98, Z:0.66 [[-9.79239543e-01 2.02689411e-01 2.63046220e-03 1.88986304e+02] [-2.02688595e-01 -9.79243076e-01 5.75885843e-04 1.22976092e+02] [ 2.69258786e-03 3.07655021e-05 9.99996375e-01 6.58938184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.004012739 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:188.99, Y:122.97, Z:0.66 [[-9.78816838e-01 2.04720981e-01 2.63024511e-03 1.88986323e+02] [-2.04720170e-01 -9.78820371e-01 5.76875689e-04 1.22973982e+02] [ 2.69263605e-03 2.61914140e-05 9.99996375e-01 6.58362538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.034012739 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:188.97, Y:122.97, Z:0.66 [[-9.78132827e-01 2.07964556e-01 2.63002696e-03 1.88973595e+02] [-2.07963754e-01 -9.78136362e-01 5.77868544e-04 1.22969107e+02] [ 2.69270117e-03 1.82819144e-05 9.99996375e-01 6.58694682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.064012739 meters Centerline goodness : 0.996361 Centerline is valid? [True, True] Translation: X:188.98, Y:122.97, Z:0.66 [[-9.77742836e-01 2.09790444e-01 2.62980691e-03 1.88975245e+02] [-2.09789646e-01 -9.77746373e-01 5.78868193e-04 1.22969183e+02] [ 2.69272519e-03 1.42779679e-05 9.99996375e-01 6.58707356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.094012739 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:188.97, Y:122.97, Z:0.66 [[-9.77023811e-01 2.13113955e-01 2.62972410e-03 1.88974211e+02] [-2.13113168e-01 -9.77027350e-01 5.79244148e-04 1.22967144e+02] [ 2.69275738e-03 5.50649119e-06 9.99996375e-01 6.59039588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.124012739 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:188.99, Y:122.97, Z:0.66 [[-9.76844468e-01 2.13934504e-01 2.62950174e-03 1.88989075e+02] [-2.13933717e-01 -9.76848007e-01 5.80251821e-04 1.22969389e+02] [ 2.69275942e-03 4.27670036e-06 9.99996375e-01 6.58148523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.154012739 meters Centerline goodness : 0.996463 Centerline is valid? [True, True] Translation: X:189.00, Y:122.97, Z:0.66 [[-9.76809646e-01 2.14093443e-01 2.62941884e-03 1.89000630e+02] [-2.14092655e-01 -9.76813185e-01 5.80627261e-04 1.22971476e+02] [ 2.69275948e-03 4.22304773e-06 9.99996375e-01 6.56948583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.184012739 meters Centerline goodness : 0.995952 Centerline is valid? [True, True] Translation: X:189.00, Y:122.97, Z:0.66 [[-9.76781097e-01 2.14223657e-01 2.62933652e-03 1.89001851e+02] [-2.14222870e-01 -9.76784636e-01 5.80999770e-04 1.22971497e+02] [ 2.69275941e-03 4.24557736e-06 9.99996375e-01 6.56976789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.214012739 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:188.99, Y:122.97, Z:0.66 [[-9.76936715e-01 2.13512864e-01 2.62911657e-03 1.88987158e+02] [-2.13512071e-01 -9.76940253e-01 5.81993416e-04 1.22965878e+02] [ 2.69275288e-03 7.22261366e-06 9.99996375e-01 6.58141490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.244012739 meters Centerline goodness : 0.996657 Centerline is valid? [True, True] Translation: X:188.99, Y:122.96, Z:0.66 [[-9.77050002e-01 2.12993854e-01 2.62889470e-03 1.88985929e+02] [-2.12993056e-01 -9.77053539e-01 5.82993869e-04 1.22963961e+02] [ 2.69274498e-03 9.67784517e-06 9.99996375e-01 6.60193203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.274012739 meters Centerline goodness : 0.996390 Centerline is valid? [True, True] Translation: X:188.99, Y:122.96, Z:0.66 [[-9.77403863e-01 2.11364090e-01 2.62867068e-03 1.88991435e+02] [-2.11363284e-01 -9.77407398e-01 5.84002238e-04 1.22963397e+02] [ 2.69271927e-03 1.52015761e-05 9.99996375e-01 6.60524874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.30401273900003 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:189.00, Y:122.97, Z:0.66 [[-9.77558579e-01 2.10647373e-01 2.62844608e-03 1.88999323e+02] [-2.10646562e-01 -9.77562113e-01 5.85011353e-04 1.22965188e+02] [ 2.69270041e-03 1.82097379e-05 9.99996375e-01 6.59497173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.334012739 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:189.01, Y:122.97, Z:0.66 [[-9.77662603e-01 2.10164051e-01 2.62822184e-03 1.89010375e+02] [-2.10163234e-01 -9.77666135e-01 5.86017033e-04 1.22967087e+02] [ 2.69268320e-03 2.05713344e-05 9.99996375e-01 6.57895726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.364012739 meters Centerline goodness : 0.996469 Centerline is valid? [True, True] Translation: X:189.01, Y:122.97, Z:0.66 [[-9.77735255e-01 2.09825797e-01 2.62813837e-03 1.89012012e+02] [-2.09824978e-01 -9.77738787e-01 5.86391139e-04 1.22965647e+02] [ 2.69267281e-03 2.18862125e-05 9.99996375e-01 6.56797777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.394012739 meters Centerline goodness : 0.996364 Centerline is valid? [True, True] Translation: X:189.00, Y:122.96, Z:0.66 [[-9.77773695e-01 2.09646598e-01 2.62791531e-03 1.89004350e+02] [-2.09645776e-01 -9.77777226e-01 5.87389074e-04 1.22963437e+02] [ 2.69265986e-03 2.34022393e-05 9.99996375e-01 6.55156134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.424012739 meters Centerline goodness : 0.996203 Centerline is valid? [True, True] Translation: X:189.00, Y:122.96, Z:0.65 [[-9.77816043e-01 2.09448995e-01 2.62769099e-03 1.89001273e+02] [-2.09448170e-01 -9.77819573e-01 5.88390890e-04 1.22962988e+02] [ 2.69264556e-03 2.49729830e-05 9.99996375e-01 6.54054689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.454012739 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:189.03, Y:122.97, Z:0.65 [[-9.78102559e-01 2.08106899e-01 2.62746497e-03 1.89026492e+02] [-2.08106067e-01 -9.78106087e-01 5.89398458e-04 1.22966980e+02] [ 2.69259736e-03 2.97007397e-05 9.99996375e-01 6.52783467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.484012739 meters Centerline goodness : 0.996313 Centerline is valid? [True, True] Translation: X:189.03, Y:122.97, Z:0.65 [[-9.78205872e-01 2.07620731e-01 2.62746497e-03 1.89030352e+02] [-2.07619897e-01 -9.78209400e-01 5.89398458e-04 1.22966438e+02] [ 2.69258227e-03 3.10390262e-05 9.99996375e-01 6.53367818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.514012739 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:189.03, Y:122.97, Z:0.65 [[-9.78432540e-01 2.06549904e-01 2.62724231e-03 1.89034661e+02] [-2.06549063e-01 -9.78436066e-01 5.90389280e-04 1.22965373e+02] [ 2.69253348e-03 3.50016444e-05 9.99996375e-01 6.52985992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.544012739 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:189.01, Y:122.96, Z:0.65 [[-9.78458974e-01 2.06424645e-01 2.62701954e-03 1.89013210e+02] [-2.06423802e-01 -9.78462500e-01 5.91378888e-04 1.22959910e+02] [ 2.69251528e-03 3.63606214e-05 9.99996375e-01 6.52913900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.574012739 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:189.04, Y:122.96, Z:0.65 [[-9.78424211e-01 2.06589361e-01 2.62679451e-03 1.89037455e+02] [-2.06588515e-01 -9.78427736e-01 5.92376729e-04 1.22963934e+02] [ 2.69250733e-03 3.69301580e-05 9.99996375e-01 6.52857122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.604012739 meters Centerline goodness : 0.996252 Centerline is valid? [True, True] Translation: X:189.04, Y:122.96, Z:0.65 [[-9.78302201e-01 2.07166369e-01 2.62673834e-03 1.89044242e+02] [-2.07165524e-01 -9.78305726e-01 5.92625674e-04 1.22963104e+02] [ 2.69252527e-03 3.55973751e-05 9.99996375e-01 6.54449702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.634012739 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:189.03, Y:122.96, Z:0.66 [[-9.78363759e-01 2.06875463e-01 2.62651487e-03 1.89034203e+02] [-2.06874614e-01 -9.78367284e-01 5.93614441e-04 1.22955815e+02] [ 2.69250049e-03 3.74116043e-05 9.99996375e-01 6.55943250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.664012739 meters Centerline goodness : 0.996877 Centerline is valid? [True, True] Translation: X:189.05, Y:122.96, Z:0.66 [[-9.78397378e-01 2.06716409e-01 2.62629022e-03 1.89049798e+02] [-2.06715557e-01 -9.78400902e-01 5.94606691e-04 1.22956906e+02] [ 2.69247968e-03 3.88665812e-05 9.99996375e-01 6.56388048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.694012739 meters Centerline goodness : 0.996353 Centerline is valid? [True, True] Translation: X:189.05, Y:122.95, Z:0.66 [[-9.78371592e-01 2.06838417e-01 2.62606512e-03 1.89052614e+02] [-2.06837563e-01 -9.78375116e-01 5.95599184e-04 1.22950956e+02] [ 2.69246956e-03 3.95484105e-05 9.99996375e-01 6.56804825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.724012739 meters Centerline goodness : 0.996600 Centerline is valid? [True, True] Translation: X:189.02, Y:122.94, Z:0.66 [[-9.78127735e-01 2.07988557e-01 2.62584053e-03 1.89023504e+02] [-2.07987705e-01 -9.78131258e-01 5.96587697e-04 1.22940260e+02] [ 2.69250012e-03 3.73964263e-05 9.99996375e-01 6.57388216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.754012739 meters Centerline goodness : 0.996664 Centerline is valid? [True, True] Translation: X:189.03, Y:122.94, Z:0.66 [[-9.77393250e-01 2.11413200e-01 2.62561278e-03 1.89028475e+02] [-2.11412358e-01 -9.77396776e-01 5.97588387e-04 1.22935630e+02] [ 2.69260354e-03 2.89918684e-05 9.99996375e-01 6.58917207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.784012739 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:189.04, Y:122.94, Z:0.66 [[-9.76735940e-01 2.14429502e-01 2.62538196e-03 1.89042550e+02] [-2.14428667e-01 -9.76739468e-01 5.98600717e-04 1.22937019e+02] [ 2.69267183e-03 2.17176797e-05 9.99996375e-01 6.59647481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.814012739 meters Centerline goodness : 0.996854 Centerline is valid? [True, True] Translation: X:189.05, Y:122.94, Z:0.66 [[-9.76096273e-01 2.17322744e-01 2.62515187e-03 1.89050001e+02] [-2.17321917e-01 -9.76099803e-01 5.99608074e-04 1.22937196e+02] [ 2.69271870e-03 1.47721691e-05 9.99996375e-01 6.60315856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.844012739 meters Centerline goodness : 0.996854 Centerline is valid? [True, True] Translation: X:189.05, Y:122.94, Z:0.66 [[-9.76013443e-01 2.17694440e-01 2.62492274e-03 1.89052444e+02] [-2.17693612e-01 -9.76016973e-01 6.00609502e-04 1.22937831e+02] [ 2.69271849e-03 1.47740360e-05 9.99996375e-01 6.60309081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.874012739 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:189.07, Y:122.94, Z:0.66 [[-9.75421759e-01 2.20330441e-01 2.62469363e-03 1.89074380e+02] [-2.20329620e-01 -9.75425290e-01 6.01609021e-04 1.22940880e+02] [ 2.69274533e-03 8.52477874e-06 9.99996375e-01 6.60057013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.904012739 meters Centerline goodness : 0.996915 Centerline is valid? [True, True] Translation: X:189.08, Y:122.94, Z:0.66 [[-9.74898544e-01 2.22634098e-01 2.62446574e-03 1.89078597e+02] [-2.22633282e-01 -9.74902076e-01 6.02601565e-04 1.22937336e+02] [ 2.69275675e-03 3.18196678e-06 9.99996375e-01 6.58427303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.934012739 meters Centerline goodness : 0.997029 Centerline is valid? [True, True] Translation: X:189.09, Y:122.94, Z:0.66 [[-9.74774545e-01 2.23176389e-01 2.62423918e-03 1.89089534e+02] [-2.23175572e-01 -9.74778077e-01 6.03586583e-04 1.22937366e+02] [ 2.69275709e-03 2.69475566e-06 9.99996375e-01 6.59223856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.964012739 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:189.10, Y:122.93, Z:0.66 [[-9.74950899e-01 2.22404718e-01 2.62401299e-03 1.89097847e+02] [-2.22403897e-01 -9.74954430e-01 6.04568319e-04 1.22933957e+02] [ 2.69275193e-03 5.83371237e-06 9.99996375e-01 6.61393549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.994012739 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:189.10, Y:122.93, Z:0.66 [[-9.75079202e-01 2.21841531e-01 2.62378746e-03 1.89099900e+02] [-2.21840704e-01 -9.75082733e-01 6.05545520e-04 1.22932012e+02] [ 2.69274499e-03 8.39198443e-06 9.99996375e-01 6.61169156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.024012739 meters Centerline goodness : 0.997310 Centerline is valid? [True, True] Translation: X:189.09, Y:122.93, Z:0.66 [[-9.75252678e-01 2.21077661e-01 2.62356182e-03 1.89087755e+02] [-2.21076829e-01 -9.75256206e-01 6.06521537e-04 1.22926948e+02] [ 2.69273331e-03 1.15030251e-05 9.99996375e-01 6.59469748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.05401273900003 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:189.08, Y:122.92, Z:0.66 [[-9.75511193e-01 2.19934151e-01 2.62333453e-03 1.89080043e+02] [-2.19933312e-01 -9.75514720e-01 6.07503019e-04 1.22920017e+02] [ 2.69271211e-03 1.56673422e-05 9.99996375e-01 6.55824260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.084012739 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:189.10, Y:122.92, Z:0.66 [[-9.75404784e-01 2.20405595e-01 2.62310464e-03 1.89101648e+02] [-2.20404755e-01 -9.75408311e-01 6.08494065e-04 1.22921848e+02] [ 2.69271356e-03 1.53832876e-05 9.99996375e-01 6.55702202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.114012739 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:189.08, Y:122.91, Z:0.66 [[-9.75191835e-01 2.21345896e-01 2.62287497e-03 1.89077378e+02] [-2.21345057e-01 -9.75195362e-01 6.09482438e-04 1.22912628e+02] [ 2.69272194e-03 1.38018886e-05 9.99996375e-01 6.56334159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.144012739 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:189.10, Y:122.91, Z:0.66 [[-9.74492736e-01 2.24403719e-01 2.62264417e-03 1.89097868e+02] [-2.24402889e-01 -9.74496265e-01 6.10473965e-04 1.22910210e+02] [ 2.69274957e-03 6.37351731e-06 9.99996375e-01 6.58014128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.174012739 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:189.12, Y:122.91, Z:0.66 [[-9.73959464e-01 2.26707048e-01 2.62241208e-03 1.89121133e+02] [-2.26706223e-01 -9.73962994e-01 6.11469328e-04 1.22912123e+02] [ 2.69275673e-03 1.02920019e-06 9.99996375e-01 6.57915778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.204012739 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:189.12, Y:122.91, Z:0.65 [[-9.72942101e-01 2.31034180e-01 2.62218268e-03 1.89117728e+02] [-2.31033369e-01 -9.72945634e-01 6.12451491e-04 1.22905151e+02] [ 2.69273842e-03 -9.93185719e-06 9.99996375e-01 6.54266950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.234012739 meters Centerline goodness : 0.996865 Centerline is valid? [True, True] Translation: X:189.16, Y:122.91, Z:0.65 [[-9.72381230e-01 2.33383522e-01 2.62195399e-03 1.89161958e+02] [-2.33382717e-01 -9.72384765e-01 6.13428964e-04 1.22912615e+02] [ 2.69271233e-03 -1.54319342e-05 9.99996375e-01 6.51902560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.264012739 meters Centerline goodness : 0.996917 Centerline is valid? [True, True] Translation: X:189.16, Y:122.91, Z:0.65 [[-9.71855321e-01 2.35563923e-01 2.62172776e-03 1.89158571e+02] [-2.35563122e-01 -9.71858857e-01 6.14394324e-04 1.22908931e+02] [ 2.69267848e-03 -2.04799844e-05 9.99996375e-01 6.52080293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.294012739 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:189.18, Y:122.91, Z:0.66 [[-9.70905611e-01 2.39448160e-01 2.62150394e-03 1.89182781e+02] [-2.39447371e-01 -9.70909150e-01 6.15347866e-04 1.22909354e+02] [ 2.69258607e-03 -3.02675303e-05 9.99996375e-01 6.55488457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.324012739 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:189.19, Y:122.91, Z:0.66 [[-9.70459686e-01 2.41249097e-01 2.62128093e-03 1.89189903e+02] [-2.41248313e-01 -9.70463225e-01 6.16296384e-04 1.22908961e+02] [ 2.69253769e-03 -3.42888053e-05 9.99996375e-01 6.55698351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.354012739 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:189.20, Y:122.91, Z:0.66 [[-9.70054849e-01 2.42871817e-01 2.62105949e-03 1.89196837e+02] [-2.42871035e-01 -9.70058390e-01 6.17236699e-04 1.22908959e+02] [ 2.69249015e-03 -3.78259795e-05 9.99996375e-01 6.55264632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.384012739 meters Centerline goodness : 0.997330 Centerline is valid? [True, True] Translation: X:189.21, Y:122.91, Z:0.65 [[-9.69264320e-01 2.46007742e-01 2.62083837e-03 1.89210177e+02] [-2.46006969e-01 -9.69267862e-01 6.18174152e-04 1.22910324e+02] [ 2.69237004e-03 -4.55703565e-05 9.99996375e-01 6.53932120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.414012739 meters Centerline goodness : 0.997503 Centerline is valid? [True, True] Translation: X:189.20, Y:122.91, Z:0.65 [[-9.68653903e-01 2.48400380e-01 2.62061805e-03 1.89199470e+02] [-2.48399613e-01 -9.68657447e-01 6.19106748e-04 1.22907245e+02] [ 2.69226754e-03 -5.12603430e-05 9.99996375e-01 6.54938940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.444012739 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:189.21, Y:122.91, Z:0.66 [[-9.67353715e-01 2.53416501e-01 2.62039719e-03 1.89213949e+02] [-2.53415751e-01 -9.67357262e-01 6.20040137e-04 1.22909525e+02] [ 2.69198866e-03 -6.42517921e-05 9.99996375e-01 6.57964299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.474012739 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:189.25, Y:122.92, Z:0.66 [[-9.66679847e-01 2.55975014e-01 2.62017583e-03 1.89247622e+02] [-2.55974271e-01 -9.66683396e-01 6.20974163e-04 1.22918127e+02] [ 2.69183434e-03 -7.04143893e-05 9.99996375e-01 6.57930287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.504012739 meters Centerline goodness : 0.997095 Centerline is valid? [True, True] Translation: X:189.25, Y:122.92, Z:0.66 [[-9.65980038e-01 2.58603369e-01 2.61995742e-03 1.89253608e+02] [-2.58602633e-01 -9.65983588e-01 6.21894302e-04 1.22920960e+02] [ 2.69165983e-03 -7.67904065e-05 9.99996375e-01 6.57619148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.534012739 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:189.26, Y:122.93, Z:0.66 [[-9.64668389e-01 2.63454050e-01 2.61974139e-03 1.89262434e+02] [-2.63453329e-01 -9.64671942e-01 6.22803011e-04 1.22927556e+02] [ 2.69127099e-03 -8.93812122e-05 9.99996375e-01 6.55669670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.564012739 meters Centerline goodness : 0.996443 Centerline is valid? [True, True] Translation: X:189.28, Y:122.93, Z:0.66 [[-9.63867246e-01 2.66370174e-01 2.61952582e-03 1.89275223e+02] [-2.66369461e-01 -9.63870801e-01 6.23708372e-04 1.22932778e+02] [ 2.69102176e-03 -9.65896101e-05 9.99996375e-01 6.55524725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.594012739 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:189.29, Y:122.94, Z:0.65 [[-9.63139406e-01 2.68990006e-01 2.61931130e-03 1.89286664e+02] [-2.68989301e-01 -9.63142962e-01 6.24607992e-04 1.22938080e+02] [ 2.69078455e-03 -1.02982144e-04 9.99996375e-01 6.54986690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.624012739 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:189.28, Y:122.94, Z:0.65 [[-9.61967126e-01 2.73152686e-01 2.61909793e-03 1.89278320e+02] [-2.73151993e-01 -9.61970684e-01 6.25501410e-04 1.22943536e+02] [ 2.69035282e-03 -1.13700027e-04 9.99996375e-01 6.51156126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.654012739 meters Centerline goodness : 0.997062 Centerline is valid? [True, True] Translation: X:189.28, Y:122.95, Z:0.65 [[-9.61610138e-01 2.74406786e-01 2.61888426e-03 1.89280220e+02] [-2.74406096e-01 -9.61613697e-01 6.26394755e-04 1.22948510e+02] [ 2.69024194e-03 -1.16290258e-04 9.99996375e-01 6.48986218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.684012739 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:189.28, Y:122.96, Z:0.65 [[-9.61724223e-01 2.74006682e-01 2.61866964e-03 1.89280153e+02] [-2.74005987e-01 -9.61727781e-01 6.27290678e-04 1.22957922e+02] [ 2.69032918e-03 -1.14250521e-04 9.99996375e-01 6.48942696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.714012739 meters Centerline goodness : 0.996447 Centerline is valid? [True, True] Translation: X:189.27, Y:122.96, Z:0.65 [[-9.62000341e-01 2.73035688e-01 2.61845472e-03 1.89269893e+02] [-2.73034988e-01 -9.62003899e-01 6.28186527e-04 1.22959578e+02] [ 2.69048099e-03 -1.10614099e-04 9.99996375e-01 6.51319768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.744012739 meters Centerline goodness : 0.996659 Centerline is valid? [True, True] Translation: X:189.26, Y:122.96, Z:0.65 [[-9.62326872e-01 2.71882579e-01 2.61823866e-03 1.89264611e+02] [-2.71881872e-01 -9.62330428e-01 6.29085779e-04 1.22962061e+02] [ 2.69064819e-03 -1.06465478e-04 9.99996375e-01 6.53509640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.774012739 meters Centerline goodness : 0.996732 Centerline is valid? [True, True] Translation: X:189.25, Y:122.97, Z:0.65 [[-9.63241503e-01 2.68624186e-01 2.61802092e-03 1.89254817e+02] [-2.68623465e-01 -9.63245056e-01 6.29990619e-04 1.22967359e+02] [ 2.69102642e-03 -9.64287395e-05 9.99996375e-01 6.53366908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.804012739 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:189.22, Y:122.96, Z:0.65 [[-9.63761528e-01 2.66752441e-01 2.61780155e-03 1.89224578e+02] [-2.66751710e-01 -9.63765079e-01 6.30900843e-04 1.22964181e+02] [ 2.69124006e-03 -9.02650806e-05 9.99996375e-01 6.51623969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.834012739 meters Centerline goodness : 0.997032 Centerline is valid? [True, True] Translation: X:189.22, Y:122.97, Z:0.65 [[-9.64297589e-01 2.64808058e-01 2.61757860e-03 1.89215648e+02] [-2.64807318e-01 -9.64301138e-01 6.31824510e-04 1.22966117e+02] [ 2.69144624e-03 -8.38871171e-05 9.99996375e-01 6.49721576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.864012739 meters Centerline goodness : 0.996889 Centerline is valid? [True, True] Translation: X:189.22, Y:122.98, Z:0.65 [[-9.65280244e-01 2.61203369e-01 2.61735205e-03 1.89222117e+02] [-2.61202612e-01 -9.65283790e-01 6.32761595e-04 1.22975371e+02] [ 2.69176697e-03 -7.28669267e-05 9.99996375e-01 6.45745956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.894012739 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:189.22, Y:122.98, Z:0.64 [[-9.65680515e-01 2.59719644e-01 2.61712478e-03 1.89218789e+02] [-2.59718880e-01 -9.65684059e-01 6.33700204e-04 1.22977464e+02] [ 2.69190007e-03 -6.77647778e-05 9.99996375e-01 6.44945390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.924012739 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:189.22, Y:122.98, Z:0.65 [[-9.66060357e-01 2.58303192e-01 2.61689725e-03 1.89216490e+02] [-2.58302420e-01 -9.66063899e-01 6.34638437e-04 1.22979052e+02] [ 2.69201909e-03 -6.28518561e-05 9.99996375e-01 6.45524362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.954012739 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:189.20, Y:122.98, Z:0.65 [[-9.66936629e-01 2.55003351e-01 2.61666859e-03 1.89199669e+02] [-2.55002564e-01 -9.66940168e-01 6.35579811e-04 1.22978104e+02] [ 2.69223695e-03 -5.26917993e-05 9.99996375e-01 6.50028072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.984012739 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:189.21, Y:122.98, Z:0.65 [[-9.67387208e-01 2.53288659e-01 2.61643775e-03 1.89209129e+02] [-2.53287864e-01 -9.67390745e-01 6.36528655e-04 1.22982262e+02] [ 2.69234316e-03 -4.69422517e-05 9.99996375e-01 6.52104694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.014012739 meters Centerline goodness : 0.997370 Centerline is valid? [True, True] Translation: X:189.19, Y:122.98, Z:0.65 [[-9.67884114e-01 2.51383169e-01 2.61620562e-03 1.89193888e+02] [-2.51382364e-01 -9.67887649e-01 6.37481318e-04 1.22979690e+02] [ 2.69244518e-03 -4.06599133e-05 9.99996375e-01 6.53195219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.044012739 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:189.18, Y:122.98, Z:0.65 [[-9.68991778e-01 2.47079117e-01 2.61597233e-03 1.89177774e+02] [-2.47078294e-01 -9.68995309e-01 6.38437221e-04 1.22976208e+02] [ 2.69260942e-03 -2.77095616e-05 9.99996375e-01 6.53044909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.074012739 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:189.16, Y:122.97, Z:0.65 [[-9.69517369e-01 2.45008631e-01 2.61573564e-03 1.89164738e+02] [-2.45007798e-01 -9.69520897e-01 6.39405481e-04 1.22973168e+02] [ 2.69267023e-03 -2.09609094e-05 9.99996375e-01 6.52572724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.104012739 meters Centerline goodness : 0.997092 Centerline is valid? [True, True] Translation: X:189.16, Y:122.97, Z:0.65 [[-9.70367263e-01 2.41620640e-01 2.61549562e-03 1.89156468e+02] [-2.41619791e-01 -9.70370788e-01 6.40385782e-04 1.22971828e+02] [ 2.69273097e-03 -1.05461084e-05 9.99996375e-01 6.50791108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.134012739 meters Centerline goodness : 0.996974 Centerline is valid? [True, True] Translation: X:189.18, Y:122.98, Z:0.65 [[-9.70474908e-01 2.41187923e-01 2.61525286e-03 1.89176431e+02] [-2.41187071e-01 -9.70478431e-01 6.41375647e-04 1.22976057e+02] [ 2.69273856e-03 -8.32620508e-06 9.99996375e-01 6.50800183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.164012739 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:189.19, Y:122.98, Z:0.65 [[-9.70578941e-01 2.40768938e-01 2.61501037e-03 1.89187359e+02] [-2.40768081e-01 -9.70582464e-01 6.42362833e-04 1.22977900e+02] [ 2.69274422e-03 -6.14719139e-06 9.99996375e-01 6.51249616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.194012739 meters Centerline goodness : 0.996370 Centerline is valid? [True, True] Translation: X:189.19, Y:122.98, Z:0.65 [[-9.70585591e-01 2.40742130e-01 2.61476983e-03 1.89187386e+02] [-2.40741270e-01 -9.70589113e-01 6.43340471e-04 1.22978434e+02] [ 2.69274628e-03 -5.06601830e-06 9.99996375e-01 6.54567574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.224012739 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:189.19, Y:122.98, Z:0.66 [[-9.70457539e-01 2.41257807e-01 2.61452943e-03 1.89188721e+02] [-2.41256947e-01 -9.70461061e-01 6.44315959e-04 1.22980146e+02] [ 2.69274526e-03 -5.49210851e-06 9.99996375e-01 6.57028122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.254012739 meters Centerline goodness : 0.995902 Centerline is valid? [True, True] Translation: X:189.19, Y:122.98, Z:0.66 [[-9.70223504e-01 2.42197270e-01 2.61428844e-03 1.89190405e+02] [-2.42196410e-01 -9.70227026e-01 6.45292312e-04 1.22981835e+02] [ 2.69274133e-03 -7.09350595e-06 9.99996375e-01 6.56090595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.284012739 meters Centerline goodness : 0.996383 Centerline is valid? [True, True] Translation: X:189.18, Y:122.98, Z:0.65 [[-9.69661114e-01 2.44439135e-01 2.61404688e-03 1.89176402e+02] [-2.44438281e-01 -9.69664637e-01 6.46269361e-04 1.22980541e+02] [ 2.69272235e-03 -1.23108588e-05 9.99996375e-01 6.49088026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.314012739 meters Centerline goodness : 0.996375 Centerline is valid? [True, True] Translation: X:189.19, Y:122.99, Z:0.65 [[-9.69297450e-01 2.45877247e-01 2.61380350e-03 1.89187276e+02] [-2.45876396e-01 -9.69300974e-01 6.47252223e-04 1.22985326e+02] [ 2.69270687e-03 -1.52926545e-05 9.99996375e-01 6.45829395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.344012739 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:189.18, Y:122.99, Z:0.65 [[-9.68760016e-01 2.47986293e-01 2.61355911e-03 1.89178709e+02] [-2.47985446e-01 -9.68763541e-01 6.48237560e-04 1.22989286e+02] [ 2.69267480e-03 -2.01379931e-05 9.99996375e-01 6.45497353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.374012739 meters Centerline goodness : 0.996422 Centerline is valid? [True, True] Translation: X:189.18, Y:122.99, Z:0.65 [[-9.68592508e-01 2.48639747e-01 2.61331426e-03 1.89180714e+02] [-2.48638900e-01 -9.68596033e-01 6.49223129e-04 1.22992050e+02] [ 2.69266850e-03 -2.09389243e-05 9.99996375e-01 6.47459088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.404012739 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:189.18, Y:122.99, Z:0.65 [[-9.68581905e-01 2.48681050e-01 2.61306824e-03 1.89182727e+02] [-2.48680200e-01 -9.68585430e-01 6.50211841e-04 1.22993946e+02] [ 2.69267519e-03 -2.00349097e-05 9.99996375e-01 6.48531560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.434012739 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:189.18, Y:123.00, Z:0.65 [[-9.69180541e-01 2.46337678e-01 2.61282184e-03 1.89178492e+02] [-2.46336818e-01 -9.69184063e-01 6.51200459e-04 1.22996870e+02] [ 2.69272050e-03 -1.25034045e-05 9.99996375e-01 6.49487250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.464012739 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:189.19, Y:123.00, Z:0.65 [[-9.69530322e-01 2.44957404e-01 2.61257454e-03 1.89188763e+02] [-2.44956536e-01 -9.69533842e-01 6.52191101e-04 1.23001752e+02] [ 2.69273847e-03 -7.64816099e-06 9.99996375e-01 6.49120771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.494012739 meters Centerline goodness : 0.996408 Centerline is valid? [True, True] Translation: X:189.19, Y:123.01, Z:0.65 [[-9.70226985e-01 2.42183347e-01 2.61232707e-03 1.89192403e+02] [-2.42182466e-01 -9.70230502e-01 6.53180842e-04 1.23005655e+02] [ 2.69274893e-03 1.07386763e-06 9.99996375e-01 6.49230117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.524012739 meters Centerline goodness : 0.996559 Centerline is valid? [True, True] Translation: X:189.16, Y:123.00, Z:0.65 [[-9.70392978e-01 2.41517380e-01 2.61208020e-03 1.89159070e+02] [-2.41516494e-01 -9.70396494e-01 6.54166596e-04 1.22998262e+02] [ 2.69274607e-03 3.93821982e-06 9.99996375e-01 6.49047278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.554012739 meters Centerline goodness : 0.996075 Centerline is valid? [True, True] Translation: X:189.17, Y:123.00, Z:0.65 [[-9.70538414e-01 2.40932283e-01 2.61182979e-03 1.89168138e+02] [-2.40931392e-01 -9.70541929e-01 6.55164847e-04 1.23002044e+02] [ 2.69274069e-03 6.59086292e-06 9.99996375e-01 6.48176984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.584012739 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:189.17, Y:123.01, Z:0.65 [[-9.70583528e-01 2.40750481e-01 2.61173511e-03 1.89170074e+02] [-2.40749589e-01 -9.70587042e-01 6.55542088e-04 1.23007023e+02] [ 2.69273832e-03 7.48419984e-06 9.99996375e-01 6.46680868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.614012739 meters Centerline goodness : 0.996340 Centerline is valid? [True, True] Translation: X:189.18, Y:123.01, Z:0.65 [[-9.70641170e-01 2.40517983e-01 2.61148224e-03 1.89177442e+02] [-2.40517087e-01 -9.70644683e-01 6.56547885e-04 1.23010424e+02] [ 2.69273292e-03 9.16630556e-06 9.99996375e-01 6.47928899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.644012739 meters Centerline goodness : 0.996405 Centerline is valid? [True, True] Translation: X:189.17, Y:123.01, Z:0.65 [[-9.70724251e-01 2.40182453e-01 2.61122954e-03 1.89171333e+02] [-2.40181553e-01 -9.70727763e-01 6.57551401e-04 1.23009765e+02] [ 2.69272532e-03 1.11319247e-05 9.99996375e-01 6.49029016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.674012739 meters Centerline goodness : 0.996024 Centerline is valid? [True, True] Translation: X:189.19, Y:123.02, Z:0.65 [[-9.71235153e-01 2.38108084e-01 2.61097616e-03 1.89189686e+02] [-2.38107174e-01 -9.71238663e-01 6.58555988e-04 1.23015989e+02] [ 2.69268849e-03 1.79205728e-05 9.99996375e-01 6.50162717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.704012739 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:189.19, Y:123.02, Z:0.65 [[-9.71392771e-01 2.37464247e-01 2.61091318e-03 1.89192103e+02] [-2.37463334e-01 -9.71396279e-01 6.58805553e-04 1.23017620e+02] [ 2.69267412e-03 1.99628021e-05 9.99996375e-01 6.51221206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.734012739 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:189.19, Y:123.02, Z:0.65 [[-9.71358921e-01 2.37602676e-01 2.61066184e-03 1.89194537e+02] [-2.37601761e-01 -9.71362429e-01 6.59800060e-04 1.23018198e+02] [ 2.69266908e-03 2.06048249e-05 9.99996375e-01 6.51214446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.764012739 meters Centerline goodness : 0.996112 Centerline is valid? [True, True] Translation: X:189.20, Y:123.02, Z:0.65 [[-9.71684548e-01 2.36267486e-01 2.61056776e-03 1.89198057e+02] [-2.36266565e-01 -9.71688054e-01 6.60172081e-04 1.23020873e+02] [ 2.69263471e-03 2.46891330e-05 9.99996375e-01 6.52562298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.794012739 meters Centerline goodness : 0.996045 Centerline is valid? [True, True] Translation: X:189.20, Y:123.02, Z:0.65 [[-9.71731501e-01 2.36074301e-01 2.61047368e-03 1.89196613e+02] [-2.36073378e-01 -9.71735007e-01 6.60543880e-04 1.23021618e+02] [ 2.69262610e-03 2.56079565e-05 9.99996375e-01 6.51382409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.824012739 meters Centerline goodness : 0.995905 Centerline is valid? [True, True] Translation: X:189.20, Y:123.02, Z:0.65 [[-9.71888699e-01 2.35426300e-01 2.61022155e-03 1.89202872e+02] [-2.35425373e-01 -9.71892204e-01 6.61538704e-04 1.23024290e+02] [ 2.69259759e-03 2.84296090e-05 9.99996375e-01 6.49071689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.854012739 meters Centerline goodness : 0.996196 Centerline is valid? [True, True] Translation: X:189.21, Y:123.03, Z:0.65 [[-9.72048392e-01 2.34766075e-01 2.61012723e-03 1.89208021e+02] [-2.34765144e-01 -9.72051896e-01 6.61910662e-04 1.23026468e+02] [ 2.69257329e-03 3.06423003e-05 9.99996375e-01 6.46848940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.884012739 meters Centerline goodness : 0.996075 Centerline is valid? [True, True] Translation: X:189.23, Y:123.03, Z:0.65 [[-9.72739563e-01 2.31885596e-01 2.61003312e-03 1.89231097e+02] [-2.31884653e-01 -9.72743064e-01 6.62281519e-04 1.23032463e+02] [ 2.69246516e-03 3.90008099e-05 9.99996375e-01 6.45344733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.914012739 meters Centerline goodness : 0.996402 Centerline is valid? [True, True] Translation: X:189.22, Y:123.03, Z:0.65 [[-9.73084148e-01 2.30435301e-01 2.61025016e-03 1.89218836e+02] [-2.30434356e-01 -9.73087648e-01 6.61424992e-04 1.23028997e+02] [ 2.69241786e-03 4.21308594e-05 9.99996375e-01 6.46112224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.944012739 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:189.22, Y:123.03, Z:0.65 [[-9.73571129e-01 2.28369096e-01 2.61000197e-03 1.89221496e+02] [-2.28368141e-01 -9.73574627e-01 6.62402912e-04 1.23028677e+02] [ 2.69230405e-03 4.88550540e-05 9.99996375e-01 6.47224433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.974012739 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:189.25, Y:123.03, Z:0.65 [[-9.74934585e-01 2.22476389e-01 2.60990859e-03 1.89248154e+02] [-2.22475411e-01 -9.74938076e-01 6.62770630e-04 1.23033312e+02] [ 2.69195008e-03 6.55175217e-05 9.99996375e-01 6.46906103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.004012739 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:189.25, Y:123.03, Z:0.65 [[-9.75454259e-01 2.20186682e-01 2.61015509e-03 1.89247294e+02] [-2.20185699e-01 -9.75457749e-01 6.61798439e-04 1.23031618e+02] [ 2.69181521e-03 7.08352837e-05 9.99996375e-01 6.47793842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.034012739 meters Centerline goodness : 0.996020 Centerline is valid? [True, True] Translation: X:189.26, Y:123.03, Z:0.65 [[-9.76415752e-01 2.15882993e-01 2.60991027e-03 1.89263619e+02] [-2.15881992e-01 -9.76419237e-01 6.62762527e-04 1.23031655e+02] [ 2.69144575e-03 8.36991434e-05 9.99996375e-01 6.49091317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.064012739 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] Translation: X:189.26, Y:123.03, Z:0.65 [[-9.76506762e-01 2.15470955e-01 2.60981892e-03 1.89261142e+02] [-2.15469952e-01 -9.76510246e-01 6.63122046e-04 1.23028880e+02] [ 2.69139846e-03 8.52056057e-05 9.99996375e-01 6.49569747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.094012739 meters Centerline goodness : 0.996081 Centerline is valid? [True, True] Translation: X:189.28, Y:123.03, Z:0.65 [[-9.76431382e-01 2.15812295e-01 2.60957506e-03 1.89281091e+02] [-2.15811290e-01 -9.76434865e-01 6.64080321e-04 1.23031804e+02] [ 2.69139677e-03 8.52531045e-05 9.99996375e-01 6.49039624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.124012739 meters Centerline goodness : 0.996055 Centerline is valid? [True, True] Translation: X:189.27, Y:123.03, Z:0.65 [[-9.75842854e-01 2.18458039e-01 2.60948417e-03 1.89273169e+02] [-2.18457043e-01 -9.75846340e-01 6.64437289e-04 1.23025422e+02] [ 2.69160724e-03 7.83261872e-05 9.99996375e-01 6.49434728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.154012739 meters Centerline goodness : 0.995922 Centerline is valid? [True, True] Translation: X:189.25, Y:123.02, Z:0.65 [[-9.75518683e-01 2.19901093e-01 2.60924137e-03 1.89253535e+02] [-2.19900099e-01 -9.75522170e-01 6.65389375e-04 1.23018477e+02] [ 2.69169266e-03 7.53273295e-05 9.99996375e-01 6.50229733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.184012739 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:189.27, Y:123.02, Z:0.65 [[-9.75221985e-01 2.21213186e-01 2.60899523e-03 1.89271382e+02] [-2.21212194e-01 -9.75225472e-01 6.66353125e-04 1.23020853e+02] [ 2.69176470e-03 7.27006583e-05 9.99996375e-01 6.50888970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.214012739 meters Centerline goodness : 0.995842 Centerline is valid? [True, True] Translation: X:189.26, Y:123.01, Z:0.65 [[-9.74447521e-01 2.24600140e-01 2.60890288e-03 1.89255117e+02] [-2.24599160e-01 -9.74451011e-01 6.66714467e-04 1.23012598e+02] [ 2.69199221e-03 6.37208636e-05 9.99996375e-01 6.51187875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.244012739 meters Centerline goodness : 0.996564 Centerline is valid? [True, True] Translation: X:189.19, Y:122.99, Z:0.65 [[-9.73865920e-01 2.27108707e-01 2.60865509e-03 1.89185862e+02] [-2.27107732e-01 -9.73869412e-01 6.67682589e-04 1.22993049e+02] [ 2.69212593e-03 5.77875757e-05 9.99996375e-01 6.49430173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.274012739 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:189.23, Y:123.00, Z:0.65 [[-9.73069597e-01 2.30496764e-01 2.60797351e-03 1.89227261e+02] [-2.30495794e-01 -9.73073091e-01 6.70342131e-04 1.23001858e+02] [ 2.69226053e-03 5.11626212e-05 9.99996375e-01 6.49751282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.304012739 meters Centerline goodness : 0.995849 Centerline is valid? [True, True] Translation: X:189.21, Y:123.00, Z:0.65 [[-9.72257587e-01 2.33898225e-01 2.60866375e-03 1.89212986e+02] [-2.33897276e-01 -9.72261086e-01 6.67645188e-04 1.22998463e+02] [ 2.69246327e-03 3.89637557e-05 9.99996375e-01 6.50374684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.334012739 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:189.22, Y:123.00, Z:0.65 [[-9.71404707e-01 2.37415443e-01 2.60840678e-03 1.89217469e+02] [-2.37414503e-01 -9.71408208e-01 6.68647619e-04 1.23000415e+02] [ 2.69257503e-03 3.02538441e-05 9.99996375e-01 6.50253175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.364012739 meters Centerline goodness : 0.996742 Centerline is valid? [True, True] Translation: X:189.23, Y:123.01, Z:0.65 [[-9.70050133e-01 2.42890792e-01 2.60814800e-03 1.89227612e+02] [-2.42889870e-01 -9.70053639e-01 6.69655499e-04 1.23005177e+02] [ 2.69269662e-03 1.61066771e-05 9.99996375e-01 6.49957461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.394012739 meters Centerline goodness : 0.996759 Centerline is valid? [True, True] Translation: X:189.24, Y:123.01, Z:0.65 [[-9.69724062e-01 2.44189359e-01 2.60788988e-03 1.89236169e+02] [-2.44188439e-01 -9.69727568e-01 6.70659236e-04 1.23008549e+02] [ 2.69271056e-03 1.35378413e-05 9.99996375e-01 6.50756844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.424012739 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:189.23, Y:123.01, Z:0.65 [[-9.69626083e-01 2.44578124e-01 2.60763278e-03 1.89234752e+02] [-2.44577202e-01 -9.69629590e-01 6.71657371e-04 1.23008742e+02] [ 2.69271060e-03 1.34889765e-05 9.99996375e-01 6.50042399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.454012739 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:189.23, Y:123.01, Z:0.65 [[-9.70138866e-01 2.42536146e-01 2.60737561e-03 1.89225255e+02] [-2.42535214e-01 -9.70142370e-01 6.72654253e-04 1.23006697e+02] [ 2.69266852e-03 2.01876345e-05 9.99996375e-01 6.49426860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.484012739 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:189.24, Y:123.01, Z:0.65 [[-9.70582459e-01 2.40754841e-01 2.60711650e-03 1.89241038e+02] [-2.40753900e-01 -9.70585960e-01 6.73657018e-04 1.23010479e+02] [ 2.69261686e-03 2.61662191e-05 9.99996375e-01 6.49131316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.514012739 meters Centerline goodness : 0.996975 Centerline is valid? [True, True] Translation: X:189.24, Y:123.01, Z:0.65 [[-9.71677110e-01 2.36298111e-01 2.60685714e-03 1.89241691e+02] [-2.36297152e-01 -9.71680607e-01 6.74659190e-04 1.23009252e+02] [ 2.69245322e-03 3.95579769e-05 9.99996375e-01 6.47503041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.544012739 meters Centerline goodness : 0.996903 Centerline is valid? [True, True] Translation: X:189.27, Y:123.01, Z:0.65 [[-9.72039857e-01 2.34801452e-01 2.60659851e-03 1.89266648e+02] [-2.34800484e-01 -9.72043351e-01 6.75656930e-04 1.23014797e+02] [ 2.69237198e-03 4.47348742e-05 9.99996375e-01 6.46939655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.574012739 meters Centerline goodness : 0.996948 Centerline is valid? [True, True] Translation: X:189.26, Y:123.01, Z:0.65 [[-9.72209313e-01 2.34098819e-01 2.60650251e-03 1.89262098e+02] [-2.34097848e-01 -9.72212806e-01 6.76027078e-04 1.23013113e+02] [ 2.69233226e-03 4.70631928e-05 9.99996375e-01 6.46863960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.604012739 meters Centerline goodness : 0.996946 Centerline is valid? [True, True] Translation: X:189.26, Y:123.01, Z:0.65 [[-9.72130564e-01 2.34425627e-01 2.60624672e-03 1.89263456e+02] [-2.34424654e-01 -9.72134056e-01 6.77011755e-04 1.23013280e+02] [ 2.69233010e-03 4.71753334e-05 9.99996375e-01 6.46928476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.634012739 meters Centerline goodness : 0.997074 Centerline is valid? [True, True] Translation: X:189.27, Y:123.02, Z:0.65 [[-9.71740516e-01 2.36037241e-01 2.60598985e-03 1.89267495e+02] [-2.36036271e-01 -9.71744009e-01 6.77999095e-04 1.23015183e+02] [ 2.69238806e-03 4.37310643e-05 9.99996375e-01 6.47907812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.664012739 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:189.21, Y:123.00, Z:0.65 [[-9.71451378e-01 2.37224429e-01 2.60573268e-03 1.89210894e+02] [-2.37223461e-01 -9.71454872e-01 6.78986010e-04 1.23000895e+02] [ 2.69242378e-03 4.14609687e-05 9.99996375e-01 6.48106883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.694012739 meters Centerline goodness : 0.996874 Centerline is valid? [True, True] Translation: X:189.27, Y:123.01, Z:0.65 [[-9.71656997e-01 2.36380821e-01 2.60537156e-03 1.89266658e+02] [-2.36379846e-01 -9.71660489e-01 6.80369767e-04 1.23014741e+02] [ 2.69236297e-03 4.52287159e-05 9.99996375e-01 6.49918024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.724012739 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:189.26, Y:123.01, Z:0.65 [[-9.71847775e-01 2.35595229e-01 2.60573222e-03 1.89258379e+02] [-2.35594256e-01 -9.71851267e-01 6.78985680e-04 1.23011920e+02] [ 2.69234995e-03 4.59751802e-05 9.99996375e-01 6.50562815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.754012739 meters Centerline goodness : 0.997125 Centerline is valid? [True, True] Translation: X:189.27, Y:123.01, Z:0.65 [[-9.72204532e-01 2.34118687e-01 2.60547353e-03 1.89265204e+02] [-2.34117705e-01 -9.72208022e-01 6.79976891e-04 1.23012384e+02] [ 2.69225757e-03 5.10891299e-05 9.99996375e-01 6.50554280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.784012739 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:189.30, Y:123.02, Z:0.65 [[-9.73244198e-01 2.29758447e-01 2.60521382e-03 1.89295167e+02] [-2.29757447e-01 -9.73247683e-01 6.80970468e-04 1.23015771e+02] [ 2.69197704e-03 6.41832793e-05 9.99996375e-01 6.48138806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.814012739 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:189.30, Y:123.01, Z:0.65 [[-9.73665925e-01 2.27964647e-01 2.60495672e-03 1.89298758e+02] [-2.27963637e-01 -9.73669407e-01 6.81952562e-04 1.23014524e+02] [ 2.69182774e-03 7.01585620e-05 9.99996375e-01 6.47305693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.844012739 meters Centerline goodness : 0.996734 Centerline is valid? [True, True] Translation: X:189.30, Y:123.01, Z:0.65 [[-9.73868005e-01 2.27099811e-01 2.60470184e-03 1.89300235e+02] [-2.27098796e-01 -9.73871486e-01 6.82924700e-04 1.23013504e+02] [ 2.69173692e-03 7.35538625e-05 9.99996375e-01 6.46033158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.874012739 meters Centerline goodness : 0.996996 Centerline is valid? [True, True] Translation: X:189.30, Y:123.01, Z:0.64 [[-9.73646797e-01 2.28046338e-01 2.60444651e-03 1.89299729e+02] [-2.28045324e-01 -9.73650277e-01 6.83897060e-04 1.23011111e+02] [ 2.69178028e-03 7.19423337e-05 9.99996375e-01 6.43741658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.904012739 meters Centerline goodness : 0.997189 Centerline is valid? [True, True] Translation: X:189.31, Y:123.01, Z:0.64 [[-9.73352324e-01 2.29299958e-01 2.60419036e-03 1.89311127e+02] [-2.29298946e-01 -9.73355806e-01 6.84871061e-04 1.23012261e+02] [ 2.69184471e-03 6.94827360e-05 9.99996375e-01 6.44128298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.934012739 meters Centerline goodness : 0.996987 Centerline is valid? [True, True] Translation: X:189.32, Y:123.01, Z:0.65 [[-9.73140215e-01 2.30198484e-01 2.60393430e-03 1.89318644e+02] [-2.30197472e-01 -9.73143696e-01 6.85843230e-04 1.23011985e+02] [ 2.69188232e-03 6.80025340e-05 9.99996375e-01 6.45370532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.964012739 meters Centerline goodness : 0.997033 Centerline is valid? [True, True] Translation: X:189.28, Y:123.00, Z:0.65 [[-9.72774047e-01 2.31740965e-01 2.60367916e-03 1.89279896e+02] [-2.31739956e-01 -9.72777529e-01 6.86810447e-04 1.22996053e+02] [ 2.69196270e-03 6.47348828e-05 9.99996375e-01 6.46167421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.994012739 meters Centerline goodness : 0.997151 Centerline is valid? [True, True] Translation: X:189.29, Y:123.00, Z:0.65 [[-9.72515090e-01 2.32825304e-01 2.60342007e-03 1.89289375e+02] [-2.32824296e-01 -9.72518573e-01 6.87791165e-04 1.22995143e+02] [ 2.69200956e-03 6.27478410e-05 9.99996375e-01 6.45556796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.024012739 meters Centerline goodness : 0.997065 Centerline is valid? [True, True] Translation: X:189.31, Y:122.99, Z:0.65 [[-9.72156271e-01 2.34319029e-01 2.60315699e-03 1.89310038e+02] [-2.34318024e-01 -9.72159755e-01 6.88785437e-04 1.22993939e+02] [ 2.69208000e-03 5.96404797e-05 9.99996375e-01 6.45718020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.054012739 meters Centerline goodness : 0.996951 Centerline is valid? [True, True] Translation: X:189.30, Y:122.99, Z:0.65 [[-9.71920016e-01 2.35297064e-01 2.60289574e-03 1.89297914e+02] [-2.35296060e-01 -9.71923499e-01 6.89771278e-04 1.22988809e+02] [ 2.69211669e-03 5.79513985e-05 9.99996375e-01 6.45288987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.084012739 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:189.30, Y:122.99, Z:0.64 [[-9.71617907e-01 2.36541473e-01 2.60263429e-03 1.89300754e+02] [-2.36540471e-01 -9.71621391e-01 6.90756368e-04 1.22988131e+02] [ 2.69216768e-03 5.55229147e-05 9.99996375e-01 6.44510988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.114012739 meters Centerline goodness : 0.997462 Centerline is valid? [True, True] Translation: X:189.30, Y:122.98, Z:0.64 [[-9.70795660e-01 2.39893757e-01 2.60237104e-03 1.89295112e+02] [-2.39892764e-01 -9.70799147e-01 6.91746727e-04 1.22982877e+02] [ 2.69232531e-03 4.72547393e-05 9.99996375e-01 6.44203321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.144012739 meters Centerline goodness : 0.997427 Centerline is valid? [True, True] Translation: X:189.28, Y:122.98, Z:0.64 [[-9.70219424e-01 2.42213746e-01 2.60210645e-03 1.89284047e+02] [-2.42212759e-01 -9.70222912e-01 6.92740598e-04 1.22978540e+02] [ 2.69241459e-03 4.18470006e-05 9.99996375e-01 6.44365827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.174012739 meters Centerline goodness : 0.997330 Centerline is valid? [True, True] Translation: X:189.30, Y:122.98, Z:0.65 [[-9.69606503e-01 2.44655798e-01 2.60183926e-03 1.89301093e+02] [-2.44654817e-01 -9.69609993e-01 6.93742681e-04 1.22981823e+02] [ 2.69249751e-03 3.61049069e-05 9.99996375e-01 6.45282734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.204012739 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] Translation: X:189.31, Y:122.98, Z:0.65 [[-9.69062192e-01 2.46802957e-01 2.60157168e-03 1.89307234e+02] [-2.46801981e-01 -9.69065684e-01 6.94744660e-04 1.22981849e+02] [ 2.69255888e-03 3.11777381e-05 9.99996375e-01 6.46017673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.234012739 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:189.32, Y:122.98, Z:0.65 [[-9.68471090e-01 2.49112385e-01 2.60130546e-03 1.89318126e+02] [-2.49111415e-01 -9.68474584e-01 6.95740041e-04 1.22981387e+02] [ 2.69261568e-03 2.57892334e-05 9.99996375e-01 6.49826804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.264012739 meters Centerline goodness : 0.997553 Centerline is valid? [True, True] Translation: X:189.32, Y:122.98, Z:0.65 [[-9.68398374e-01 2.49394917e-01 2.60103992e-03 1.89318437e+02] [-2.49393945e-01 -9.68401867e-01 6.96731365e-04 1.22979743e+02] [ 2.69261317e-03 2.60299161e-05 9.99996375e-01 6.50718290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.294012739 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:189.33, Y:122.98, Z:0.65 [[-9.68266204e-01 2.49907571e-01 2.60077461e-03 1.89331193e+02] [-2.49906598e-01 -9.68269697e-01 6.97720307e-04 1.22980158e+02] [ 2.69261683e-03 2.56282589e-05 9.99996375e-01 6.49240692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.324012739 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:189.33, Y:122.98, Z:0.65 [[-9.67950120e-01 2.51129057e-01 2.60050958e-03 1.89334520e+02] [-2.51128086e-01 -9.67953613e-01 6.98706701e-04 1.22979807e+02] [ 2.69263820e-03 2.32522399e-05 9.99996375e-01 6.47522961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.354012739 meters Centerline goodness : 0.997658 Centerline is valid? [True, True] Translation: X:189.33, Y:122.98, Z:0.65 [[-9.67558674e-01 2.52633037e-01 2.60024514e-03 1.89326546e+02] [-2.52632069e-01 -9.67562168e-01 6.99689436e-04 1.22976622e+02] [ 2.69266349e-03 2.00852727e-05 9.99996375e-01 6.45888788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.384012739 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:189.36, Y:122.98, Z:0.65 [[-9.66784796e-01 2.55578555e-01 2.59997937e-03 1.89361318e+02] [-2.55577595e-01 -9.66788292e-01 7.00675629e-04 1.22984018e+02] [ 2.69270728e-03 1.29060704e-05 9.99996375e-01 6.45205386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.414012739 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:189.37, Y:122.99, Z:0.65 [[-9.66242228e-01 2.57622201e-01 2.59971532e-03 1.89371537e+02] [-2.57621246e-01 -9.66245725e-01 7.01653985e-04 1.22985741e+02] [ 2.69272545e-03 8.22581112e-06 9.99996375e-01 6.47316018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.444012739 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:189.38, Y:122.99, Z:0.65 [[-9.65724736e-01 2.59555346e-01 2.59945477e-03 1.89375870e+02] [-2.59554395e-01 -9.65728234e-01 7.02617923e-04 1.22986081e+02] [ 2.69273510e-03 3.83559898e-06 9.99996375e-01 6.48377001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.474012739 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:189.36, Y:122.98, Z:0.65 [[-9.64866623e-01 2.62727317e-01 2.59919466e-03 1.89360839e+02] [-2.62726375e-01 -9.64870124e-01 7.03578817e-04 1.22979747e+02] [ 2.69273465e-03 -4.01727553e-06 9.99996375e-01 6.47090474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.504012739 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:189.37, Y:122.98, Z:0.65 [[-9.64529815e-01 2.63961138e-01 2.59893264e-03 1.89368084e+02] [-2.63960198e-01 -9.64533316e-01 7.04545357e-04 1.22980858e+02] [ 2.69272972e-03 -6.45977341e-06 9.99996375e-01 6.45486796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.534012739 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:189.36, Y:122.98, Z:0.64 [[-9.64289382e-01 2.64838130e-01 2.59866894e-03 1.89359895e+02] [-2.64837190e-01 -9.64292883e-01 7.05516657e-04 1.22978681e+02] [ 2.69272568e-03 -7.90195962e-06 9.99996375e-01 6.44143607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.564012739 meters Centerline goodness : 0.998057 Centerline is valid? [True, True] Translation: X:189.38, Y:122.99, Z:0.64 [[-9.63708157e-01 2.66945381e-01 2.59840432e-03 1.89379981e+02] [-2.66944447e-01 -9.63711660e-01 7.06489914e-04 1.22985795e+02] [ 2.69270676e-03 -1.27795113e-05 9.99996375e-01 6.42653987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.594012739 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:189.39, Y:122.99, Z:0.64 [[-9.63239931e-01 2.68630014e-01 2.59814011e-03 1.89386396e+02] [-2.68629083e-01 -9.63243435e-01 7.07460237e-04 1.22988366e+02] [ 2.69268646e-03 -1.64820456e-05 9.99996375e-01 6.42925098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.624012739 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:189.38, Y:122.99, Z:0.64 [[-9.62866558e-01 2.69965264e-01 2.59787766e-03 1.89384343e+02] [-2.69964335e-01 -9.62870062e-01 7.08422653e-04 1.22988769e+02] [ 2.69266814e-03 -1.92178337e-05 9.99996375e-01 6.42636925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.654012739 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:189.39, Y:122.99, Z:0.64 [[-9.62766302e-01 2.70322584e-01 2.59761486e-03 1.89386771e+02] [-2.70321654e-01 -9.62769806e-01 7.09384973e-04 1.22989509e+02] [ 2.69266794e-03 -1.92196000e-05 9.99996375e-01 6.42630149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.684012739 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:189.39, Y:122.99, Z:0.64 [[-9.62406625e-01 2.71600337e-01 2.59735124e-03 1.89387193e+02] [-2.71599408e-01 -9.62410129e-01 7.10348899e-04 1.22990701e+02] [ 2.69264814e-03 -2.17945735e-05 9.99996375e-01 6.41572385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.714012739 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:189.43, Y:123.01, Z:0.64 [[-9.61966551e-01 2.73154919e-01 2.59708709e-03 1.89426153e+02] [-2.73153994e-01 -9.61970057e-01 7.11313354e-04 1.23005085e+02] [ 2.69261875e-03 -2.51450556e-05 9.99996375e-01 6.41069210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.744012739 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:189.41, Y:123.00, Z:0.64 [[-9.61714435e-01 2.74041241e-01 2.59682599e-03 1.89406690e+02] [-2.74040316e-01 -9.61717941e-01 7.12265278e-04 1.23001890e+02] [ 2.69260420e-03 -2.66392161e-05 9.99996375e-01 6.42081683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.774012739 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:189.40, Y:123.00, Z:0.64 [[-9.61501324e-01 2.74788030e-01 2.59656612e-03 1.89398780e+02] [-2.74787106e-01 -9.61504830e-01 7.13211392e-04 1.23001070e+02] [ 2.69259281e-03 -2.77491901e-05 9.99996375e-01 6.42015012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.804012739 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:189.41, Y:123.01, Z:0.64 [[-9.61391534e-01 2.75171906e-01 2.59630294e-03 1.89408479e+02] [-2.75170980e-01 -9.61395039e-01 7.14168148e-04 1.23006445e+02] [ 2.69259178e-03 -2.78320134e-05 9.99996375e-01 6.40825986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.834012739 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:189.42, Y:123.01, Z:0.64 [[-9.61404690e-01 2.75125938e-01 2.59603916e-03 1.89415699e+02] [-2.75125010e-01 -9.61408195e-01 7.15125733e-04 1.23010874e+02] [ 2.69260296e-03 -2.67100646e-05 9.99996375e-01 6.41147836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.864012739 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:189.40, Y:123.01, Z:0.64 [[-9.61607229e-01 2.74417200e-01 2.59577629e-03 1.89403884e+02] [-2.74416267e-01 -9.61610732e-01 7.16078634e-04 1.23011777e+02] [ 2.69263063e-03 -2.37368475e-05 9.99996375e-01 6.41369068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.894012739 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:189.39, Y:123.01, Z:0.64 [[-9.61755116e-01 2.73898449e-01 2.59551235e-03 1.89390880e+02] [-2.73897511e-01 -9.61758618e-01 7.17034033e-04 1.23009232e+02] [ 2.69265088e-03 -2.12932226e-05 9.99996375e-01 6.41069718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.924012739 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:189.40, Y:123.01, Z:0.64 [[-9.61954612e-01 2.73196978e-01 2.59524532e-03 1.89399874e+02] [-2.73196035e-01 -9.61958113e-01 7.17999202e-04 1.23012656e+02] [ 2.69267251e-03 -1.83280896e-05 9.99996375e-01 6.41093967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.954012739 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:189.41, Y:123.02, Z:0.64 [[-9.62147413e-01 2.72517196e-01 2.59497708e-03 1.89408310e+02] [-2.72516248e-01 -9.62150912e-01 7.18967395e-04 1.23016625e+02] [ 2.69269054e-03 -1.54207983e-05 9.99996375e-01 6.41344158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.984012739 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:189.40, Y:123.02, Z:0.65 [[-9.62715829e-01 2.70502310e-01 2.59470981e-03 1.89395192e+02] [-2.70501352e-01 -9.62719326e-01 7.19930654e-04 1.23016008e+02] [ 2.69272018e-03 -8.78387509e-06 9.99996375e-01 6.45177723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.014012739 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:189.39, Y:123.01, Z:0.65 [[-9.63078670e-01 2.69207625e-01 2.59444132e-03 1.89387234e+02] [-2.69206659e-01 -9.63082164e-01 7.20896925e-04 1.23013750e+02] [ 2.69273111e-03 -4.16042831e-06 9.99996375e-01 6.46415442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.044012739 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:189.38, Y:123.01, Z:0.65 [[-9.63825369e-01 2.66521911e-01 2.59416996e-03 1.89381981e+02] [-2.66520933e-01 -9.63828860e-01 7.21872084e-04 1.23011060e+02] [ 2.69273061e-03 4.35802880e-06 9.99996375e-01 6.45352045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.074012739 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:189.39, Y:123.01, Z:0.64 [[-9.64060932e-01 2.65668573e-01 2.59389637e-03 1.89386795e+02] [-2.65667589e-01 -9.64064422e-01 7.22853867e-04 1.23013193e+02] [ 2.69272276e-03 7.76097804e-06 9.99996375e-01 6.43693446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.104012739 meters Centerline goodness : 0.997767 Centerline is valid? [True, True] Translation: X:189.39, Y:123.01, Z:0.64 [[-9.64173211e-01 2.65260801e-01 2.59362181e-03 1.89387488e+02] [-2.65259814e-01 -9.64176699e-01 7.23837648e-04 1.23014773e+02] [ 2.69271547e-03 9.92123144e-06 9.99996375e-01 6.42199448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.134012739 meters Centerline goodness : 0.997946 Centerline is valid? [True, True] Translation: X:189.37, Y:123.01, Z:0.64 [[-9.64143161e-01 2.65370004e-01 2.59334697e-03 1.89369926e+02] [-2.65369015e-01 -9.64146649e-01 7.24821000e-04 1.23010749e+02] [ 2.69271254e-03 1.06372802e-05 9.99996375e-01 6.40784054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.164012739 meters Centerline goodness : 0.998298 Centerline is valid? [True, True] Translation: X:189.40, Y:123.02, Z:0.64 [[-9.63875712e-01 2.66339797e-01 2.59306956e-03 1.89398375e+02] [-2.66338808e-01 -9.63879200e-01 7.25812081e-04 1.23018775e+02] [ 2.69271846e-03 8.95758056e-06 9.99996375e-01 6.40452711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.194012739 meters Centerline goodness : 0.997770 Centerline is valid? [True, True] Translation: X:189.41, Y:123.02, Z:0.64 [[-9.63610802e-01 2.67296651e-01 2.59279247e-03 1.89407691e+02] [-2.67295663e-01 -9.63614290e-01 7.26800591e-04 1.23021466e+02] [ 2.69272324e-03 7.31071988e-06 9.99996375e-01 6.41498949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.224012739 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:189.38, Y:123.01, Z:0.64 [[-9.63115235e-01 2.69076799e-01 2.59251840e-03 1.89377001e+02] [-2.69075814e-01 -9.63118724e-01 7.27776882e-04 1.23014264e+02] [ 2.69273089e-03 3.34900224e-06 9.99996375e-01 6.44679240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.254012739 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:189.41, Y:123.02, Z:0.64 [[-9.62878139e-01 2.69924006e-01 2.59224129e-03 1.89407160e+02] [-2.69923022e-01 -9.62881629e-01 7.28762579e-04 1.23023438e+02] [ 2.69273203e-03 2.00395342e-06 9.99996375e-01 6.44915986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.284012739 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:189.41, Y:123.02, Z:0.64 [[-9.62688091e-01 2.70601037e-01 2.59196330e-03 1.89411216e+02] [-2.70600053e-01 -9.62691580e-01 7.29749963e-04 1.23024967e+02] [ 2.69273234e-03 1.13619375e-06 9.99996375e-01 6.44457984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.314012739 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:189.44, Y:123.03, Z:0.64 [[-9.62496243e-01 2.71282631e-01 2.59168803e-03 1.89435341e+02] [-2.71281647e-01 -9.62499732e-01 7.30726262e-04 1.23031585e+02] [ 2.69273238e-03 2.43885440e-07 9.99996375e-01 6.43048548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.344012739 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:189.41, Y:123.02, Z:0.64 [[-9.62053061e-01 2.72850129e-01 2.59141477e-03 1.89405051e+02] [-2.72849148e-01 -9.62056551e-01 7.31694073e-04 1.23024921e+02] [ 2.69273037e-03 -3.13678798e-06 9.99996375e-01 6.39787880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.374012739 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:189.40, Y:123.03, Z:0.64 [[-9.61590041e-01 2.74477465e-01 2.59114003e-03 1.89400429e+02] [-2.74476487e-01 -9.61593532e-01 7.32665710e-04 1.23025834e+02] [ 2.69272372e-03 -6.68296124e-06 9.99996375e-01 6.39870945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.404012739 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:189.44, Y:123.04, Z:0.64 [[-9.61209554e-01 2.75806963e-01 2.59086092e-03 1.89437208e+02] [-2.75805988e-01 -9.61213046e-01 7.33651361e-04 1.23038027e+02] [ 2.69271547e-03 -9.38225742e-06 9.99996375e-01 6.39280947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.434012739 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:189.44, Y:123.04, Z:0.64 [[-9.60515530e-01 2.78214314e-01 2.59058446e-03 1.89439724e+02] [-2.78213345e-01 -9.60519024e-01 7.34626282e-04 1.23039867e+02] [ 2.69268920e-03 -1.51152146e-05 9.99996375e-01 6.42159181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.464012739 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:189.45, Y:123.04, Z:0.64 [[-9.60317849e-01 2.78895893e-01 2.59031120e-03 1.89449985e+02] [-2.78894924e-01 -9.60321342e-01 7.35588532e-04 1.23043884e+02] [ 2.69268375e-03 -1.60258479e-05 9.99996375e-01 6.42604551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.494012739 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:189.45, Y:123.04, Z:0.64 [[-9.60084580e-01 2.79697857e-01 2.59003843e-03 1.89446616e+02] [-2.79696888e-01 -9.60088073e-01 7.36547734e-04 1.23044481e+02] [ 2.69267582e-03 -1.72775659e-05 9.99996375e-01 6.43011107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.524012739 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:189.45, Y:123.05, Z:0.64 [[-9.59893531e-01 2.80352819e-01 2.58976560e-03 1.89448600e+02] [-2.80351850e-01 -9.59897024e-01 7.37505761e-04 1.23048865e+02] [ 2.69267011e-03 -1.81185676e-05 9.99996375e-01 6.42520332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.554012739 meters Centerline goodness : 0.998266 Centerline is valid? [True, True] Translation: X:189.44, Y:123.05, Z:0.64 [[-9.59870524e-01 2.80431581e-01 2.58949194e-03 1.89441054e+02] [-2.80430609e-01 -9.59874017e-01 7.38465382e-04 1.23048105e+02] [ 2.69267504e-03 -1.73416493e-05 9.99996375e-01 6.42480436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.584012739 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:189.44, Y:123.05, Z:0.64 [[-9.59914647e-01 2.80280513e-01 2.58921695e-03 1.89437050e+02] [-2.80279538e-01 -9.59918139e-01 7.39428309e-04 1.23047853e+02] [ 2.69268366e-03 -1.59164650e-05 9.99996375e-01 6.42264146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.614012739 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:189.42, Y:123.04, Z:0.64 [[-9.60059143e-01 2.79785166e-01 2.58894003e-03 1.89420323e+02] [-2.79784187e-01 -9.60062634e-01 7.40396606e-04 1.23043735e+02] [ 2.69269657e-03 -1.35199490e-05 9.99996375e-01 6.42195059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.644012739 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:189.45, Y:123.05, Z:0.64 [[-9.60137513e-01 2.79516108e-01 2.58866015e-03 1.89445302e+02] [-2.79515125e-01 -9.60141003e-01 7.41373844e-04 1.23051353e+02] [ 2.69270469e-03 -1.17488278e-05 9.99996375e-01 6.42625110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.674012739 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:189.45, Y:123.05, Z:0.64 [[-9.60151676e-01 2.79467456e-01 2.58838028e-03 1.89452524e+02] [-2.79466470e-01 -9.60155165e-01 7.42349689e-04 1.23053880e+02] [ 2.69270928e-03 -1.05972028e-05 9.99996375e-01 6.43838046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.704012739 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:189.43, Y:123.05, Z:0.65 [[-9.60461949e-01 2.78399258e-01 2.58810286e-03 1.89428611e+02] [-2.78398265e-01 -9.60465436e-01 7.43315632e-04 1.23048351e+02] [ 2.69272186e-03 -6.59696626e-06 9.99996375e-01 6.46347646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.734012739 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:189.42, Y:123.05, Z:0.65 [[-9.60550575e-01 2.78093322e-01 2.58782289e-03 1.89419462e+02] [-2.78092326e-01 -9.60554061e-01 7.44289044e-04 1.23045521e+02] [ 2.69272560e-03 -4.72641707e-06 9.99996375e-01 6.46906419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.764012739 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:189.43, Y:123.05, Z:0.65 [[-9.60717227e-01 2.77517051e-01 2.58753856e-03 1.89428377e+02] [-2.77516051e-01 -9.60720712e-01 7.45276210e-04 1.23047609e+02] [ 2.69272875e-03 -2.08378962e-06 9.99996375e-01 6.46487403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.794012739 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:189.42, Y:123.05, Z:0.64 [[-9.61019478e-01 2.76468569e-01 2.58725334e-03 1.89420870e+02] [-2.76467562e-01 -9.61022960e-01 7.46265068e-04 1.23045483e+02] [ 2.69272870e-03 1.88364207e-06 9.99996375e-01 6.44197316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.824012739 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:189.45, Y:123.05, Z:0.64 [[-9.60972516e-01 2.76631760e-01 2.58696731e-03 1.89446748e+02] [-2.76630751e-01 -9.60975998e-01 7.47255293e-04 1.23053257e+02] [ 2.69272804e-03 2.45709043e-06 9.99996375e-01 6.42453490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.854012739 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:189.45, Y:123.05, Z:0.64 [[-9.60889464e-01 2.76920109e-01 2.58668237e-03 1.89450630e+02] [-2.76919098e-01 -9.60892946e-01 7.48240337e-04 1.23054491e+02] [ 2.69272764e-03 2.67450937e-06 9.99996375e-01 6.41401504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.884012739 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:189.44, Y:123.05, Z:0.64 [[-9.60803857e-01 2.77216987e-01 2.58639972e-03 1.89435493e+02] [-2.77215975e-01 -9.60807339e-01 7.49216078e-04 1.23050202e+02] [ 2.69272726e-03 2.85837749e-06 9.99996375e-01 6.41044079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.914012739 meters Centerline goodness : 0.998441 Centerline is valid? [True, True] Translation: X:189.44, Y:123.05, Z:0.64 [[-9.60712321e-01 2.77534050e-01 2.58611507e-03 1.89441393e+02] [-2.77533036e-01 -9.60715801e-01 7.50197338e-04 1.23052975e+02] [ 2.69272692e-03 2.99145821e-06 9.99996375e-01 6.40130610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.944012739 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:189.45, Y:123.06, Z:0.64 [[-9.60606512e-01 2.77900059e-01 2.58582849e-03 1.89454818e+02] [-2.77899044e-01 -9.60609992e-01 7.51183851e-04 1.23057877e+02] [ 2.69272672e-03 2.99283361e-06 9.99996375e-01 6.39971635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.974012739 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:189.46, Y:123.06, Z:0.64 [[-9.60473710e-01 2.78358702e-01 2.58554319e-03 1.89459829e+02] [-2.78357685e-01 -9.60477190e-01 7.52164568e-04 1.23059824e+02] [ 2.69272681e-03 2.72847731e-06 9.99996375e-01 6.41285242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.004012739 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:189.46, Y:123.06, Z:0.64 [[-9.60348113e-01 2.78791713e-01 2.58525906e-03 1.89459194e+02] [-2.78790695e-01 -9.60351592e-01 7.53139879e-04 1.23059457e+02] [ 2.69272681e-03 2.53029084e-06 9.99996375e-01 6.44728481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.034012739 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:189.45, Y:123.06, Z:0.65 [[-9.60413809e-01 2.78565314e-01 2.58497447e-03 1.89454006e+02] [-2.78564293e-01 -9.60417288e-01 7.54115403e-04 1.23057665e+02] [ 2.69272456e-03 4.18126237e-06 9.99996375e-01 6.45203817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.064012739 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:189.44, Y:123.05, Z:0.64 [[-9.60654222e-01 2.77735099e-01 2.58468838e-03 1.89435152e+02] [-2.77734073e-01 -9.60657699e-01 7.55094673e-04 1.23052355e+02] [ 2.69271709e-03 7.52885300e-06 9.99996375e-01 6.44822905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.094012739 meters Centerline goodness : 0.998408 Centerline is valid? [True, True] Translation: X:189.43, Y:123.05, Z:0.64 [[-9.61616162e-01 2.74386001e-01 2.58439878e-03 1.89428117e+02] [-2.74384960e-01 -9.61619635e-01 7.56084577e-04 1.23050143e+02] [ 2.69266763e-03 1.79429937e-05 9.99996375e-01 6.42401785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.124012739 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:189.45, Y:123.06, Z:0.64 [[-9.62198482e-01 2.72336930e-01 2.58410533e-03 1.89450216e+02] [-2.72335878e-01 -9.62201952e-01 7.57086186e-04 1.23055584e+02] [ 2.69261372e-03 2.47225845e-05 9.99996375e-01 6.42175025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.154012739 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:189.44, Y:123.05, Z:0.64 [[-9.62753184e-01 2.70369434e-01 2.58381258e-03 1.89442769e+02] [-2.70368373e-01 -9.62756651e-01 7.58083988e-04 1.23051659e+02] [ 2.69254548e-03 3.12665692e-05 9.99996375e-01 6.42569041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.184012739 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:189.46, Y:123.05, Z:0.64 [[-9.63621380e-01 2.67258603e-01 2.58352052e-03 1.89457774e+02] [-2.67257528e-01 -9.63624843e-01 7.59078011e-04 1.23053303e+02] [ 2.69241468e-03 4.09984925e-05 9.99996375e-01 6.43261784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.214012739 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:189.47, Y:123.06, Z:0.64 [[-9.63827255e-01 2.66515197e-01 2.58322817e-03 1.89474251e+02] [-2.66514117e-01 -9.63830715e-01 7.60071588e-04 1.23056502e+02] [ 2.69236529e-03 4.41109355e-05 9.99996375e-01 6.42229759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.244012739 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:189.47, Y:123.05, Z:0.64 [[-9.63881894e-01 2.66317524e-01 2.58293835e-03 1.89466267e+02] [-2.66316441e-01 -9.63885353e-01 7.61055206e-04 1.23051858e+02] [ 2.69233879e-03 4.56883850e-05 9.99996375e-01 6.41209116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.274012739 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:189.47, Y:123.05, Z:0.64 [[-9.63633052e-01 2.67216525e-01 2.58264835e-03 1.89465585e+02] [-2.67215442e-01 -9.63636512e-01 7.62038060e-04 1.23046945e+02] [ 2.69236341e-03 4.42015400e-05 9.99996375e-01 6.40529712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.304012739 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:189.47, Y:123.05, Z:0.64 [[-9.63204710e-01 2.68756431e-01 2.58235628e-03 1.89472786e+02] [-2.68755351e-01 -9.63208170e-01 7.63026520e-04 1.23047614e+02] [ 2.69241496e-03 4.09286687e-05 9.99996375e-01 6.41169978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.334012739 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:189.46, Y:123.04, Z:0.64 [[-9.62681453e-01 2.70624746e-01 2.58206384e-03 1.89462805e+02] [-2.70623670e-01 -9.62684915e-01 7.64014868e-04 1.23043304e+02] [ 2.69247524e-03 3.67353505e-05 9.99996375e-01 6.40912787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.364012739 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:189.47, Y:123.04, Z:0.64 [[-9.62202258e-01 2.72323612e-01 2.58177014e-03 1.89473013e+02] [-2.72322539e-01 -9.62205721e-01 7.65006064e-04 1.23044901e+02] [ 2.69252321e-03 3.30163625e-05 9.99996375e-01 6.40139864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.394012739 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:189.49, Y:123.05, Z:0.64 [[-9.61365547e-01 2.75262821e-01 2.58147542e-03 1.89492321e+02] [-2.75261756e-01 -9.61369013e-01 7.65999300e-04 1.23046556e+02] [ 2.69260160e-03 2.58238795e-05 9.99996375e-01 6.40446787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.424012739 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:189.49, Y:123.04, Z:0.64 [[-9.60842209e-01 2.77084079e-01 2.58118290e-03 1.89493016e+02] [-2.77083018e-01 -9.60845676e-01 7.66983713e-04 1.23044388e+02] [ 2.69263741e-03 2.17483754e-05 9.99996375e-01 6.41840504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.454012739 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:189.51, Y:123.05, Z:0.64 [[-9.59702468e-01 2.81006249e-01 2.58089151e-03 1.89509739e+02] [-2.81005200e-01 -9.59705938e-01 7.67962991e-04 1.23047321e+02] [ 2.69269931e-03 1.17720429e-05 9.99996375e-01 6.41992186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.484012739 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:189.48, Y:123.04, Z:0.64 [[-9.58945070e-01 2.83580135e-01 2.58060100e-03 1.89480760e+02] [-2.83579093e-01 -9.58948542e-01 7.68937978e-04 1.23038925e+02] [ 2.69271910e-03 5.56479500e-06 9.99996375e-01 6.41720404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.514012739 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:189.52, Y:123.05, Z:0.64 [[-9.57608737e-01 2.88060496e-01 2.58030823e-03 1.89519658e+02] [-2.88059467e-01 -9.57612213e-01 7.69919138e-04 1.23051690e+02] [ 2.69271797e-03 -6.00092175e-06 9.99996375e-01 6.39722059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.544012739 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:189.52, Y:123.05, Z:0.64 [[-9.57500845e-01 2.88418924e-01 2.58001563e-03 1.89522061e+02] [-2.88417893e-01 -9.57504321e-01 7.70898408e-04 1.23052485e+02] [ 2.69271781e-03 -5.98679653e-06 9.99996375e-01 6.39715284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.574012739 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:189.53, Y:123.06, Z:0.64 [[-9.56825629e-01 2.90651099e-01 2.57972671e-03 1.89529119e+02] [-2.90650074e-01 -9.56829106e-01 7.71864037e-04 1.23055354e+02] [ 2.69270074e-03 -1.12584685e-05 9.99996375e-01 6.38946529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.604012739 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:189.55, Y:123.06, Z:0.64 [[-9.56077517e-01 2.93102591e-01 2.57943795e-03 1.89549471e+02] [-2.93101573e-01 -9.56080996e-01 7.72827835e-04 1.23062858e+02] [ 2.69266944e-03 -1.71540027e-05 9.99996375e-01 6.38327326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.634012739 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:189.54, Y:123.06, Z:0.64 [[-9.54532000e-01 2.98097315e-01 2.57915129e-03 1.89537713e+02] [-2.98096312e-01 -9.54535484e-01 7.73783314e-04 1.23064593e+02] [ 2.69255415e-03 -3.02345539e-05 9.99996375e-01 6.39153315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.664012739 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:189.58, Y:123.08, Z:0.64 [[-9.53968604e-01 2.99895402e-01 2.57886488e-03 1.89576872e+02] [-2.99894403e-01 -9.53972089e-01 7.74736692e-04 1.23078862e+02] [ 2.69250509e-03 -3.43126624e-05 9.99996375e-01 6.40178555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.694012739 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:189.59, Y:123.08, Z:0.64 [[-9.53455729e-01 3.01522009e-01 2.57886488e-03 1.89585568e+02] [-3.01521016e-01 -9.53459216e-01 7.74736692e-04 1.23083021e+02] [ 2.69244265e-03 -3.89048215e-05 9.99996375e-01 6.40656121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.724012739 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:189.56, Y:123.08, Z:0.64 [[-9.53098471e-01 3.02649394e-01 2.57858574e-03 1.89559247e+02] [-3.02648402e-01 -9.53101958e-01 7.75664657e-04 1.23076563e+02] [ 2.69240955e-03 -4.11200553e-05 9.99996375e-01 6.40445663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.754012739 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:189.58, Y:123.09, Z:0.64 [[-9.53074491e-01 3.02724903e-01 2.57830402e-03 1.89575082e+02] [-3.02723910e-01 -9.53077978e-01 7.76599969e-04 1.23086553e+02] [ 2.69242093e-03 -4.03566533e-05 9.99996375e-01 6.39016037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.784012739 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:189.58, Y:123.09, Z:0.64 [[-9.53188001e-01 3.02367307e-01 2.57802057e-03 1.89575500e+02] [-3.02366310e-01 -9.53191487e-01 7.77539763e-04 1.23089259e+02] [ 2.69244987e-03 -3.83649942e-05 9.99996375e-01 6.38137618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.814012739 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:189.55, Y:123.08, Z:0.64 [[-9.53394340e-01 3.01716072e-01 2.57773817e-03 1.89549464e+02] [-3.01715070e-01 -9.53397824e-01 7.78474869e-04 1.23083037e+02] [ 2.69248834e-03 -3.55489175e-05 9.99996375e-01 6.37695506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.844012739 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:189.54, Y:123.08, Z:0.64 [[-9.54000598e-01 2.99793623e-01 2.57745246e-03 1.89537673e+02] [-2.99792611e-01 -9.54004079e-01 7.79419691e-04 1.23081876e+02] [ 2.69256521e-03 -2.91343520e-05 9.99996375e-01 6.38566565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.874012739 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:189.56, Y:123.09, Z:0.64 [[-9.54142895e-01 2.99340432e-01 2.57716191e-03 1.89560052e+02] [-2.99339416e-01 -9.54146375e-01 7.80379215e-04 1.23090830e+02] [ 2.69258874e-03 -2.68528564e-05 9.99996375e-01 6.38456015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.904012739 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:189.52, Y:123.08, Z:0.64 [[-9.54232995e-01 2.99053090e-01 2.57687184e-03 1.89524428e+02] [-2.99052070e-01 -9.54236474e-01 7.81335851e-04 1.23082546e+02] [ 2.69260600e-03 -2.50424106e-05 9.99996375e-01 6.39109535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.934012739 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:189.55, Y:123.10, Z:0.64 [[-9.54531974e-01 2.98097419e-01 2.57657954e-03 1.89552164e+02] [-2.98096394e-01 -9.54535452e-01 7.82298581e-04 1.23095223e+02] [ 2.69263770e-03 -2.13400597e-05 9.99996375e-01 6.38937705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.964012739 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:189.56, Y:123.10, Z:0.64 [[-9.54548731e-01 2.98043759e-01 2.57628573e-03 1.89561560e+02] [-2.98042730e-01 -9.54552208e-01 7.83264965e-04 1.23099532e+02] [ 2.69264647e-03 -2.01786547e-05 9.99996375e-01 6.39030393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.994012739 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:189.55, Y:123.10, Z:0.64 [[-9.54693070e-01 2.97581093e-01 2.57599521e-03 1.89551341e+02] [-2.97580060e-01 -9.54696545e-01 7.84219275e-04 1.23097783e+02] [ 2.69266256e-03 -1.78761021e-05 9.99996375e-01 6.39013963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.024012739 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:189.53, Y:123.09, Z:0.64 [[-9.55510418e-01 2.94946110e-01 2.57570382e-03 1.89526296e+02] [-2.94945065e-01 -9.55513889e-01 7.85175168e-04 1.23092515e+02] [ 2.69270513e-03 -9.44807574e-06 9.99996375e-01 6.39450811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.054012739 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:189.53, Y:123.10, Z:0.64 [[-9.56111138e-01 2.92992932e-01 2.57540777e-03 1.89533668e+02] [-2.92991878e-01 -9.56114607e-01 7.86145015e-04 1.23095730e+02] [ 2.69271992e-03 -2.93155251e-06 9.99996375e-01 6.40987922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.084012739 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:189.52, Y:123.09, Z:0.64 [[-9.56829961e-01 2.90636878e-01 2.57510901e-03 1.89518999e+02] [-2.90635812e-01 -9.56833426e-01 7.87122423e-04 1.23091183e+02] [ 2.69271718e-03 4.72342017e-06 9.99996375e-01 6.42037357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.114012739 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:189.52, Y:123.09, Z:0.64 [[-9.58386140e-01 2.85463444e-01 2.57480844e-03 1.89523069e+02] [-2.85462357e-01 -9.58389598e-01 7.88104404e-04 1.23092159e+02] [ 2.69264463e-03 2.02974511e-05 9.99996375e-01 6.42520311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.144012739 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:189.54, Y:123.10, Z:0.64 [[-9.59055382e-01 2.83206896e-01 2.57450574e-03 1.89535296e+02] [-2.83205798e-01 -9.59058837e-01 7.89091995e-04 1.23095511e+02] [ 2.69257878e-03 2.76679703e-05 9.99996375e-01 6.42424940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.174012739 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:189.54, Y:123.10, Z:0.64 [[-9.59674367e-01 2.81102263e-01 2.57420397e-03 1.89540701e+02] [-2.81101155e-01 -9.59677819e-01 7.90075208e-04 1.23096557e+02] [ 2.69249839e-03 3.46032161e-05 9.99996375e-01 6.42193398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.204012739 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:189.56, Y:123.10, Z:0.64 [[-9.60789388e-01 2.77267247e-01 2.57390328e-03 1.89555048e+02] [-2.77266123e-01 -9.60792835e-01 7.91053607e-04 1.23097362e+02] [ 2.69232108e-03 4.63797297e-05 9.99996375e-01 6.43560999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.234012739 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:189.56, Y:123.10, Z:0.64 [[-9.61293229e-01 2.75515344e-01 2.57360374e-03 1.89563336e+02] [-2.75514210e-01 -9.61296673e-01 7.92026916e-04 1.23097930e+02] [ 2.69221228e-03 5.23057091e-05 9.99996375e-01 6.44513212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.264012739 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:189.57, Y:123.10, Z:0.64 [[-9.61679939e-01 2.74162494e-01 2.57330565e-03 1.89566066e+02] [-2.74161353e-01 -9.61683380e-01 7.92994232e-04 1.23096242e+02] [ 2.69211455e-03 5.71056861e-05 9.99996375e-01 6.44799776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.294012739 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:189.56, Y:123.09, Z:0.65 [[-9.61993020e-01 2.73061914e-01 2.57300783e-03 1.89556383e+02] [-2.73060767e-01 -9.61996459e-01 7.93959386e-04 1.23090168e+02] [ 2.69202449e-03 6.11958958e-05 9.99996375e-01 6.45553946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.324012739 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:189.56, Y:123.08, Z:0.65 [[-9.62311848e-01 2.71936184e-01 2.57270814e-03 1.89564767e+02] [-2.71935030e-01 -9.62315285e-01 7.94929322e-04 1.23084459e+02] [ 2.69192641e-03 6.53604416e-05 9.99996375e-01 6.45618026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.354012739 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:189.58, Y:123.08, Z:0.65 [[-9.62121783e-01 2.72607881e-01 2.57240699e-03 1.89575976e+02] [-2.72606727e-01 -9.62125220e-01 7.95902648e-04 1.23084925e+02] [ 2.69194697e-03 6.44998265e-05 9.99996375e-01 6.45218957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.384012739 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:189.58, Y:123.08, Z:0.64 [[-9.61730936e-01 2.73983560e-01 2.57210680e-03 1.89577797e+02] [-2.73982408e-01 -9.61734373e-01 7.96871571e-04 1.23083719e+02] [ 2.69201324e-03 6.16640258e-05 9.99996375e-01 6.44902674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.414012739 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:189.57, Y:123.08, Z:0.64 [[-9.60544272e-01 2.78115241e-01 2.57180699e-03 1.89566351e+02] [-2.78114102e-01 -9.60547714e-01 7.97838006e-04 1.23077498e+02] [ 2.69223424e-03 5.11029353e-05 9.99996375e-01 6.41640959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.444012739 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:189.57, Y:123.08, Z:0.64 [[-9.59864897e-01 2.80451005e-01 2.57150509e-03 1.89573937e+02] [-2.80449871e-01 -9.59868341e-01 7.98809878e-04 1.23078362e+02] [ 2.69233336e-03 4.55712919e-05 9.99996375e-01 6.40453264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.474012739 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:189.55, Y:123.07, Z:0.64 [[-9.58639850e-01 2.84610306e-01 2.57120162e-03 1.89554164e+02] [-2.84609184e-01 -9.58643298e-01 7.99785480e-04 1.23070170e+02] [ 2.69249240e-03 3.49186364e-05 9.99996375e-01 6.40358413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.504012739 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:189.57, Y:123.07, Z:0.64 [[-9.57977021e-01 2.86833431e-01 2.57089577e-03 1.89566880e+02] [-2.86832315e-01 -9.57980471e-01 8.00767429e-04 1.23073877e+02] [ 2.69255481e-03 2.97008116e-05 9.99996375e-01 6.41922236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.534012739 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:189.57, Y:123.07, Z:0.64 [[-9.57448995e-01 2.88591084e-01 2.57058796e-03 1.89566000e+02] [-2.88589971e-01 -9.57452446e-01 8.01754332e-04 1.23073037e+02] [ 2.69259488e-03 2.57929734e-05 9.99996375e-01 6.42823422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.564012739 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:189.59, Y:123.08, Z:0.65 [[-9.56715187e-01 2.91014508e-01 2.57028059e-03 1.89585344e+02] [-2.91013402e-01 -9.56718640e-01 8.02738499e-04 1.23077674e+02] [ 2.69264390e-03 2.00060143e-05 9.99996375e-01 6.45013744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.594012739 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:189.57, Y:123.07, Z:0.64 [[-9.56425274e-01 2.91965907e-01 2.56997442e-03 1.89574440e+02] [-2.91964801e-01 -9.56428727e-01 8.03717507e-04 1.23074890e+02] [ 2.69265548e-03 1.83536642e-05 9.99996375e-01 6.44417775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.624012739 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:189.59, Y:123.08, Z:0.64 [[-9.56210895e-01 2.92667253e-01 2.56966829e-03 1.89594246e+02] [-2.92666148e-01 -9.56214348e-01 8.04695096e-04 1.23081898e+02] [ 2.69266159e-03 1.74032981e-05 9.99996375e-01 6.44264782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.654012739 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:189.57, Y:123.08, Z:0.65 [[-9.56242882e-01 2.92562725e-01 2.56936224e-03 1.89574672e+02] [-2.92561616e-01 -9.56246334e-01 8.05671120e-04 1.23076035e+02] [ 2.69265256e-03 1.87205039e-05 9.99996375e-01 6.45500992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.684012739 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:189.59, Y:123.08, Z:0.65 [[-9.56355975e-01 2.92192828e-01 2.56905536e-03 1.89589148e+02] [-2.92191715e-01 -9.56359426e-01 8.06648475e-04 1.23079252e+02] [ 2.69263721e-03 2.07863974e-05 9.99996375e-01 6.46049727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.714012739 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:189.58, Y:123.08, Z:0.65 [[-9.56403131e-01 2.92038444e-01 2.56874689e-03 1.89580481e+02] [-2.92037328e-01 -9.56406580e-01 8.07629604e-04 1.23075231e+02] [ 2.69262532e-03 2.22495040e-05 9.99996375e-01 6.45803143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.744012739 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:189.60, Y:123.08, Z:0.64 [[-9.56224363e-01 2.92623256e-01 2.56843804e-03 1.89603844e+02] [-2.92622140e-01 -9.56227813e-01 8.08610616e-04 1.23083023e+02] [ 2.69263016e-03 2.16313350e-05 9.99996375e-01 6.44321127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.774012739 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:189.58, Y:123.08, Z:0.64 [[-9.55791399e-01 2.94034362e-01 2.56813005e-03 1.89576821e+02] [-2.94033248e-01 -9.55794849e-01 8.09587619e-04 1.23075382e+02] [ 2.69265205e-03 1.86812643e-05 9.99996375e-01 6.44091675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.804012739 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:189.60, Y:123.08, Z:0.64 [[-9.55314253e-01 2.95580928e-01 2.56782071e-03 1.89600776e+02] [-2.95579817e-01 -9.55317704e-01 8.10567589e-04 1.23084058e+02] [ 2.69267290e-03 1.53507962e-05 9.99996375e-01 6.44847506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.834012739 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:189.59, Y:123.08, Z:0.65 [[-9.55151377e-01 2.96106831e-01 2.56751007e-03 1.89585782e+02] [-2.96105719e-01 -9.55154828e-01 8.11550366e-04 1.23081235e+02] [ 2.69267524e-03 1.48990357e-05 9.99996375e-01 6.47904135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.864012739 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:189.60, Y:123.09, Z:0.65 [[-9.55506189e-01 2.94959884e-01 2.56719972e-03 1.89603077e+02] [-2.94958765e-01 -9.55509637e-01 8.12530904e-04 1.23086841e+02] [ 2.69264810e-03 1.91602473e-05 9.99996375e-01 6.48964061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.894012739 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:189.59, Y:123.08, Z:0.65 [[-9.56088174e-01 2.93067935e-01 2.56688879e-03 1.89587212e+02] [-2.93066807e-01 -9.56091620e-01 8.13511979e-04 1.23081060e+02] [ 2.69259514e-03 2.55192809e-05 9.99996375e-01 6.48237317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.924012739 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:189.60, Y:123.08, Z:0.65 [[-9.56882413e-01 2.90464217e-01 2.56657703e-03 1.89596640e+02] [-2.90463077e-01 -9.56885854e-01 8.14494399e-04 1.23082526e+02] [ 2.69250273e-03 3.38795065e-05 9.99996375e-01 6.46708956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.954012739 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:189.61, Y:123.08, Z:0.64 [[-9.58663057e-01 2.84532174e-01 2.56626337e-03 1.89607262e+02] [-2.84531011e-01 -9.58666490e-01 8.15481451e-04 1.23083409e+02] [ 2.69222141e-03 5.15904299e-05 9.99996375e-01 6.44444176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.984012739 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:189.62, Y:123.09, Z:0.65 [[-9.59318885e-01 2.82313113e-01 2.56595106e-03 1.89616360e+02] [-2.82311938e-01 -9.59322314e-01 8.16462974e-04 1.23086097e+02] [ 2.69207231e-03 5.88497325e-05 9.99996375e-01 6.45062296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.014012739 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:189.63, Y:123.09, Z:0.65 [[-9.59972900e-01 2.80081147e-01 2.56564008e-03 1.89629329e+02] [-2.80079962e-01 -9.59976326e-01 8.17439031e-04 1.23090270e+02] [ 2.69190300e-03 6.61349426e-05 9.99996375e-01 6.47304447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.044012739 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:189.63, Y:123.09, Z:0.65 [[-9.59787929e-01 2.80714358e-01 2.56533077e-03 1.89627189e+02] [-2.80713172e-01 -9.59791355e-01 8.18408570e-04 1.23088862e+02] [ 2.69192133e-03 6.53765278e-05 9.99996375e-01 6.47996717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.074012739 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:189.62, Y:123.09, Z:0.65 [[-9.59431920e-01 2.81928735e-01 2.56502175e-03 1.89620444e+02] [-2.81927551e-01 -9.59435347e-01 8.19375926e-04 1.23086090e+02] [ 2.69197815e-03 6.29851160e-05 9.99996375e-01 6.47052202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.104012739 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:189.64, Y:123.09, Z:0.65 [[-9.59010503e-01 2.83358920e-01 2.56471069e-03 1.89638004e+02] [-2.83357739e-01 -9.59013931e-01 8.20348419e-04 1.23090763e+02] [ 2.69204632e-03 5.99921279e-05 9.99996375e-01 6.45858997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.134012739 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:189.61, Y:123.08, Z:0.64 [[-9.58462645e-01 2.85206561e-01 2.56439993e-03 1.89609405e+02] [-2.85205384e-01 -9.58466074e-01 8.21318716e-04 1.23078994e+02] [ 2.69213582e-03 5.58226422e-05 9.99996375e-01 6.43661490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.164012739 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:189.62, Y:123.08, Z:0.65 [[-9.58275077e-01 2.85836147e-01 2.56408679e-03 1.89617474e+02] [-2.85834970e-01 -9.58278506e-01 8.22295156e-04 1.23079553e+02] [ 2.69215093e-03 5.50792847e-05 9.99996375e-01 6.45062653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.194012739 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:189.64, Y:123.09, Z:0.65 [[-9.58126947e-01 2.86332290e-01 2.56377003e-03 1.89642748e+02] [-2.86331111e-01 -9.58130376e-01 8.23281580e-04 1.23085282e+02] [ 2.69215804e-03 5.47211467e-05 9.99996375e-01 6.46628999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.224012739 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:189.63, Y:123.08, Z:0.65 [[-9.57894555e-01 2.87108778e-01 2.56345624e-03 1.89628057e+02] [-2.87107600e-01 -9.57897984e-01 8.24257455e-04 1.23076211e+02] [ 2.69218112e-03 5.35639590e-05 9.99996375e-01 6.46153077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.254012739 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:189.63, Y:123.07, Z:0.65 [[-9.57576353e-01 2.88168281e-01 2.56314255e-03 1.89626825e+02] [-2.88167104e-01 -9.57579782e-01 8.25231763e-04 1.23074409e+02] [ 2.69221911e-03 5.16090566e-05 9.99996375e-01 6.45036420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.284012739 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:189.63, Y:123.07, Z:0.64 [[-9.56611660e-01 2.91354704e-01 2.56282572e-03 1.89627266e+02] [-2.91353535e-01 -9.56615092e-01 8.26214544e-04 1.23072659e+02] [ 2.69235926e-03 4.36781326e-05 9.99996375e-01 6.44690260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.314012739 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:189.62, Y:123.07, Z:0.65 [[-9.55822601e-01 2.93932966e-01 2.56250771e-03 1.89624519e+02] [-2.93931804e-01 -9.55826036e-01 8.27199667e-04 1.23070140e+02] [ 2.69245284e-03 3.74536212e-05 9.99996375e-01 6.45704917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.344012739 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:189.65, Y:123.08, Z:0.65 [[-9.54993034e-01 2.96617160e-01 2.56218837e-03 1.89645540e+02] [-2.96616006e-01 -9.54996471e-01 8.28187630e-04 1.23075295e+02] [ 2.69253551e-03 3.09273379e-05 9.99996375e-01 6.46442232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.374012739 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:189.67, Y:123.08, Z:0.65 [[-9.54274457e-01 2.98920890e-01 2.56187019e-03 1.89667353e+02] [-2.98919741e-01 -9.54277895e-01 8.29170703e-04 1.23081080e+02] [ 2.69259254e-03 2.54628479e-05 9.99996375e-01 6.46377234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.404012739 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:189.69, Y:123.09, Z:0.65 [[-9.52910799e-01 3.03239917e-01 2.56155609e-03 1.89689476e+02] [-3.03238781e-01 -9.52914242e-01 8.30139924e-04 1.23086712e+02] [ 2.69267484e-03 1.42861514e-05 9.99996375e-01 6.46488440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.434012739 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:189.67, Y:123.08, Z:0.65 [[-9.52095855e-01 3.05789019e-01 2.56124611e-03 1.89673123e+02] [-3.05787889e-01 -9.52099300e-01 8.31095220e-04 1.23080871e+02] [ 2.69270041e-03 8.08427294e-06 9.99996375e-01 6.45984766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.464012739 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:189.68, Y:123.08, Z:0.65 [[-9.51980971e-01 3.06146488e-01 2.56093591e-03 1.89675515e+02] [-3.06145358e-01 -9.51984416e-01 8.32049945e-04 1.23081726e+02] [ 2.69270025e-03 8.07707332e-06 9.99996375e-01 6.45977991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.494012739 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:189.69, Y:123.08, Z:0.65 [[-9.51142820e-01 3.08740635e-01 2.56062314e-03 1.89685291e+02] [-3.08739511e-01 -9.51146267e-01 8.33011400e-04 1.23084446e+02] [ 2.69271161e-03 1.74727636e-06 9.99996375e-01 6.45746641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.524012739 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:189.70, Y:123.09, Z:0.65 [[-9.49644758e-01 3.13318175e-01 2.56031077e-03 1.89699803e+02] [-3.13317066e-01 -9.49648209e-01 8.33970388e-04 1.23089431e+02] [ 2.69269261e-03 -1.02134492e-05 9.99996375e-01 6.45168413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.554012739 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:189.70, Y:123.09, Z:0.65 [[-9.48848536e-01 3.15721240e-01 2.56000036e-03 1.89703799e+02] [-3.15720136e-01 -9.48851990e-01 8.34922140e-04 1.23091579e+02] [ 2.69266409e-03 -1.60290127e-05 9.99996375e-01 6.45771882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.584012739 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:189.72, Y:123.10, Z:0.65 [[-9.48049270e-01 3.18113234e-01 2.55969115e-03 1.89715651e+02] [-3.18112137e-01 -9.48052725e-01 8.35869042e-04 1.23096686e+02] [ 2.69262317e-03 -2.18237865e-05 9.99996375e-01 6.46464771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.614012739 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:189.73, Y:123.10, Z:0.64 [[-9.46532966e-01 3.22596952e-01 2.55938302e-03 1.89731584e+02] [-3.22595868e-01 -9.46536426e-01 8.36811445e-04 1.23104722e+02] [ 2.69250208e-03 -3.35767680e-05 9.99996375e-01 6.44933049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.644012739 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:189.72, Y:123.10, Z:0.64 [[-9.45837057e-01 3.24631657e-01 2.55907724e-03 1.89718429e+02] [-3.24630579e-01 -9.45840518e-01 8.37745525e-04 1.23102394e+02] [ 2.69243766e-03 -3.83839641e-05 9.99996375e-01 6.44224239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.674012739 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:189.74, Y:123.11, Z:0.64 [[-9.45166240e-01 3.26579595e-01 2.55877097e-03 1.89744456e+02] [-3.26578521e-01 -9.45169703e-01 8.38679928e-04 1.23113058e+02] [ 2.69236855e-03 -4.29476853e-05 9.99996375e-01 6.44903254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.704012739 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:189.75, Y:123.12, Z:0.65 [[-9.44540711e-01 3.28384379e-01 2.55846543e-03 1.89747210e+02] [-3.28383309e-01 -9.44544174e-01 8.39610973e-04 1.23118453e+02] [ 2.69229875e-03 -4.71106005e-05 9.99996375e-01 6.46560553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.734012739 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:189.72, Y:123.11, Z:0.65 [[-9.44424757e-01 3.28717710e-01 2.55833320e-03 1.89721089e+02] [-3.28716640e-01 -9.44428221e-01 8.40013698e-04 1.23112499e+02] [ 2.69228945e-03 -4.76369616e-05 9.99996375e-01 6.47573148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.764012739 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:189.74, Y:123.12, Z:0.65 [[-9.44419505e-01 3.28732801e-01 2.55802698e-03 1.89740468e+02] [-3.28731729e-01 -9.44422968e-01 8.40945176e-04 1.23123025e+02] [ 2.69230570e-03 -4.66996050e-05 9.99996375e-01 6.46920363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.794012739 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:189.72, Y:123.12, Z:0.64 [[-9.44377390e-01 3.28853772e-01 2.55771935e-03 1.89724257e+02] [-3.28852698e-01 -9.44380852e-01 8.41879792e-04 1.23120050e+02] [ 2.69231652e-03 -4.60606671e-05 9.99996375e-01 6.44946415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.824012739 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:189.74, Y:123.13, Z:0.64 [[-9.44526116e-01 3.28426364e-01 2.55741138e-03 1.89738619e+02] [-3.28425285e-01 -9.44529577e-01 8.42814296e-04 1.23127507e+02] [ 2.69235312e-03 -4.38584467e-05 9.99996375e-01 6.43214783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.854012739 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:189.74, Y:123.13, Z:0.64 [[-9.44769526e-01 3.27725500e-01 2.55710252e-03 1.89735532e+02] [-3.27724416e-01 -9.44772986e-01 8.43750320e-04 1.23128532e+02] [ 2.69239988e-03 -4.08753407e-05 9.99996375e-01 6.41979770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.884012739 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:189.75, Y:123.13, Z:0.64 [[-9.45873920e-01 3.24524252e-01 2.55679421e-03 1.89745252e+02] [-3.24523154e-01 -9.45877375e-01 8.44683566e-04 1.23133237e+02] [ 2.69253410e-03 -3.07747642e-05 9.99996375e-01 6.42431836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.914012739 meters Centerline goodness : 0.998300 Centerline is valid? [True, True] Translation: X:189.73, Y:123.13, Z:0.64 [[-9.46552333e-01 3.22540146e-01 2.55648585e-03 1.89734054e+02] [-3.22539039e-01 -9.46555785e-01 8.45615807e-04 1.23129539e+02] [ 2.69260151e-03 -2.41468727e-05 9.99996375e-01 6.43247760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.944012739 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:189.73, Y:123.13, Z:0.64 [[-9.47256883e-01 3.20465075e-01 2.55617651e-03 1.89727074e+02] [-3.20463958e-01 -9.47260331e-01 8.46549859e-04 1.23127576e+02] [ 2.69265427e-03 -1.72622603e-05 9.99996375e-01 6.44569187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.974012739 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:189.69, Y:123.12, Z:0.65 [[-9.48749891e-01 3.16017581e-01 2.55586420e-03 1.89689245e+02] [-3.16016445e-01 -9.48753334e-01 8.47491713e-04 1.23115299e+02] [ 2.69270696e-03 -3.63744804e-06 9.99996375e-01 6.45568088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.004012739 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:189.70, Y:123.12, Z:0.65 [[-9.49211813e-01 3.14627405e-01 2.55554573e-03 1.89695666e+02] [-3.14626261e-01 -9.49215253e-01 8.48450947e-04 1.23117028e+02] [ 2.69270891e-03 1.31786148e-06 9.99996375e-01 6.45160880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.034012739 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:189.70, Y:123.12, Z:0.65 [[-9.50000587e-01 3.12237658e-01 2.55522248e-03 1.89695270e+02] [-3.12236502e-01 -9.50004024e-01 8.49423363e-04 1.23116504e+02] [ 2.69269360e-03 9.11896558e-06 9.99996375e-01 6.46582633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.064012739 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:189.69, Y:123.11, Z:0.65 [[-9.50169585e-01 3.11723004e-01 2.55489896e-03 1.89687759e+02] [-3.11721844e-01 -9.50173020e-01 8.50395333e-04 1.23114295e+02] [ 2.69268385e-03 1.16019661e-05 9.99996375e-01 6.47006261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.094012739 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:189.69, Y:123.12, Z:0.65 [[-9.50237355e-01 3.11516361e-01 2.55457345e-03 1.89692087e+02] [-3.11515198e-01 -9.50240789e-01 8.51372027e-04 1.23116301e+02] [ 2.69267621e-03 1.32170503e-05 9.99996375e-01 6.46727336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.124012739 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:189.70, Y:123.12, Z:0.65 [[-9.50216183e-01 3.11580937e-01 2.55424660e-03 1.89702516e+02] [-3.11579772e-01 -9.50219616e-01 8.52351518e-04 1.23120772e+02] [ 2.69267170e-03 1.40666347e-05 9.99996375e-01 6.45414328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.154012739 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:189.71, Y:123.12, Z:0.64 [[-9.49959189e-01 3.12363596e-01 2.55392067e-03 1.89708936e+02] [-3.12362431e-01 -9.49962622e-01 8.53326984e-04 1.23124946e+02] [ 2.69267746e-03 1.28769429e-05 9.99996375e-01 6.42208356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.184012739 meters Centerline goodness : 0.998444 Centerline is valid? [True, True] Translation: X:189.72, Y:123.13, Z:0.64 [[-9.49606605e-01 3.13433844e-01 2.55359604e-03 1.89716471e+02] [-3.13432680e-01 -9.49610039e-01 8.54297341e-04 1.23129009e+02] [ 2.69268613e-03 1.08659488e-05 9.99996375e-01 6.41237864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.214012739 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:189.71, Y:123.13, Z:0.64 [[-9.49184176e-01 3.14710788e-01 2.55327232e-03 1.89708742e+02] [-3.14709626e-01 -9.49187610e-01 8.55263748e-04 1.23128580e+02] [ 2.69269518e-03 8.26343713e-06 9.99996375e-01 6.41348717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.244012739 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:189.73, Y:123.14, Z:0.64 [[-9.48214398e-01 3.17620747e-01 2.55294776e-03 1.89729506e+02] [-3.17619592e-01 -9.48217834e-01 8.56231460e-04 1.23142711e+02] [ 2.69270747e-03 1.02476955e-06 9.99996375e-01 6.40881971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.274012739 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:189.71, Y:123.14, Z:0.64 [[-9.47711381e-01 3.19118508e-01 2.55262417e-03 1.89706278e+02] [-3.19117357e-01 -9.47714819e-01 8.57195094e-04 1.23138940e+02] [ 2.69270657e-03 -2.21313045e-06 9.99996375e-01 6.41322222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.304012739 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:189.72, Y:123.15, Z:0.64 [[-9.47444599e-01 3.19909704e-01 2.55229973e-03 1.89724780e+02] [-3.19908553e-01 -9.47448036e-01 8.58160026e-04 1.23151854e+02] [ 2.69270508e-03 -3.44342935e-06 9.99996375e-01 6.44303709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.334012739 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] Translation: X:189.73, Y:123.16, Z:0.65 [[-9.47390250e-01 3.20070620e-01 2.55197423e-03 1.89734154e+02] [-3.20069467e-01 -9.47393687e-01 8.59126901e-04 1.23157332e+02] [ 2.69270555e-03 -2.88058204e-06 9.99996375e-01 6.45997741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.364012739 meters Centerline goodness : 0.998262 Centerline is valid? [True, True] Translation: X:189.73, Y:123.16, Z:0.65 [[-9.47402886e-01 3.20033219e-01 2.55165150e-03 1.89725203e+02] [-3.20032063e-01 -9.47406322e-01 8.60084359e-04 1.23156448e+02] [ 2.69270632e-03 -1.76388970e-06 9.99996375e-01 6.46531550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.394012739 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:189.71, Y:123.16, Z:0.65 [[-9.48042761e-01 3.18132700e-01 2.55132804e-03 1.89712982e+02] [-3.18131535e-01 -9.48046194e-01 8.61042783e-04 1.23156069e+02] [ 2.69270270e-03 4.64747231e-06 9.99996375e-01 6.46960238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.424012739 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:189.72, Y:123.16, Z:0.65 [[-9.48364298e-01 3.17172904e-01 2.55100118e-03 1.89715914e+02] [-3.17171733e-01 -9.48367729e-01 8.62010078e-04 1.23158935e+02] [ 2.69269344e-03 8.39411625e-06 9.99996375e-01 6.46472937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.454012739 meters Centerline goodness : 0.998006 Centerline is valid? [True, True] Translation: X:189.70, Y:123.16, Z:0.65 [[-9.48458955e-01 3.16889737e-01 2.55067244e-03 1.89704196e+02] [-3.16888562e-01 -9.48462384e-01 8.62981732e-04 1.23157301e+02] [ 2.69268691e-03 1.02238304e-05 9.99996375e-01 6.45366326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.484012739 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:189.73, Y:123.17, Z:0.65 [[-9.48646588e-01 3.16327595e-01 2.55034173e-03 1.89725809e+02] [-3.16326416e-01 -9.48650016e-01 8.63957938e-04 1.23167564e+02] [ 2.69267546e-03 1.28502898e-05 9.99996375e-01 6.45294133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.514012739 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:189.71, Y:123.17, Z:0.65 [[-9.49115060e-01 3.14919196e-01 2.55021839e-03 1.89714622e+02] [-3.14918011e-01 -9.49118486e-01 8.64321865e-04 1.23167641e+02] [ 2.69265097e-03 1.72311951e-05 9.99996375e-01 6.45414601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.544012739 meters Centerline goodness : 0.997745 Centerline is valid? [True, True] Translation: X:189.72, Y:123.17, Z:0.64 [[-9.49411794e-01 3.14023475e-01 2.54988899e-03 1.89724149e+02] [-3.14022284e-01 -9.49415218e-01 8.65292574e-04 1.23171211e+02] [ 2.69262559e-03 2.07970131e-05 9.99996375e-01 6.44890596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.574012739 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:189.72, Y:123.17, Z:0.64 [[-9.49675600e-01 3.13224766e-01 2.54955861e-03 1.89715614e+02] [-3.13223569e-01 -9.49679022e-01 8.66264926e-04 1.23168093e+02] [ 2.69259796e-03 2.40888160e-05 9.99996375e-01 6.43546905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.604012739 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:189.72, Y:123.17, Z:0.64 [[-9.50132774e-01 3.11835235e-01 2.54922737e-03 1.89716621e+02] [-3.11834030e-01 -9.50136193e-01 8.67238600e-04 1.23167616e+02] [ 2.69254874e-03 2.90559707e-05 9.99996375e-01 6.42056448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.634012739 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:189.73, Y:123.17, Z:0.64 [[-9.50311046e-01 3.11291534e-01 2.54889421e-03 1.89730498e+02] [-3.11290325e-01 -9.50314464e-01 8.68216693e-04 1.23172045e+02] [ 2.69251954e-03 3.16298073e-05 9.99996375e-01 6.42556338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.664012739 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:189.71, Y:123.17, Z:0.64 [[-9.50451649e-01 3.10861976e-01 2.54856189e-03 1.89714018e+02] [-3.10860763e-01 -9.50455065e-01 8.69191089e-04 1.23165597e+02] [ 2.69249201e-03 3.38762101e-05 9.99996375e-01 6.44754688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.694012739 meters Centerline goodness : 0.998070 Centerline is valid? [True, True] Translation: X:189.74, Y:123.17, Z:0.65 [[-9.51118129e-01 3.08816791e-01 2.54822820e-03 1.89740564e+02] [-3.08815568e-01 -9.51121542e-01 8.70168271e-04 1.23173382e+02] [ 2.69239731e-03 4.07002799e-05 9.99996375e-01 6.48234355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.724012739 meters Centerline goodness : 0.997824 Centerline is valid? [True, True] Translation: X:189.73, Y:123.17, Z:0.65 [[-9.51146005e-01 3.08730925e-01 2.54814520e-03 1.89727880e+02] [-3.08729701e-01 -9.51149418e-01 8.70411256e-04 1.23168518e+02] [ 2.69238969e-03 4.12000839e-05 9.99996375e-01 6.49487641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.754012739 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:189.74, Y:123.17, Z:0.65 [[-9.50754817e-01 3.09933519e-01 2.54781298e-03 1.89735088e+02] [-3.09932296e-01 -9.50758230e-01 8.71382618e-04 1.23168758e+02] [ 2.69242484e-03 3.88216935e-05 9.99996375e-01 6.46484480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.784012739 meters Centerline goodness : 0.998321 Centerline is valid? [True, True] Translation: X:189.74, Y:123.17, Z:0.64 [[-9.50328071e-01 3.11239566e-01 2.54747895e-03 1.89740146e+02] [-3.11238345e-01 -9.50331485e-01 8.72358054e-04 1.23168835e+02] [ 2.69246180e-03 3.61532126e-05 9.99996375e-01 6.44612409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.814012739 meters Centerline goodness : 0.997864 Centerline is valid? [True, True] Translation: X:189.72, Y:123.16, Z:0.64 [[-9.50048570e-01 3.12091697e-01 2.54714539e-03 1.89723870e+02] [-3.12090477e-01 -9.50051984e-01 8.73330932e-04 1.23162022e+02] [ 2.69247986e-03 3.47669840e-05 9.99996375e-01 6.44257244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.844012739 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:189.73, Y:123.16, Z:0.64 [[-9.49893942e-01 3.12562014e-01 2.54680927e-03 1.89734229e+02] [-3.12560793e-01 -9.49897356e-01 8.74310020e-04 1.23163563e+02] [ 2.69248349e-03 3.44690680e-05 9.99996375e-01 6.44595114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.874012739 meters Centerline goodness : 0.997679 Centerline is valid? [True, True] Translation: X:189.73, Y:123.16, Z:0.64 [[-9.49830290e-01 3.12755392e-01 2.54647114e-03 1.89729044e+02] [-3.12754169e-01 -9.49833703e-01 8.75293734e-04 1.23160125e+02] [ 2.69247695e-03 3.49610361e-05 9.99996375e-01 6.44644384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.904012739 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:189.74, Y:123.16, Z:0.64 [[-9.49654337e-01 3.13289254e-01 2.54613263e-03 1.89741517e+02] [-3.13288031e-01 -9.49657750e-01 8.76277317e-04 1.23161753e+02] [ 2.69248285e-03 3.44876771e-05 9.99996375e-01 6.43093289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.934012739 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:189.75, Y:123.16, Z:0.64 [[-9.49373515e-01 3.14139217e-01 2.54579385e-03 1.89746689e+02] [-3.14137994e-01 -9.49376928e-01 8.77260437e-04 1.23160555e+02] [ 2.69249985e-03 3.31172515e-05 9.99996375e-01 6.43686934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.964012739 meters Centerline goodness : 0.997734 Centerline is valid? [True, True] Translation: X:189.73, Y:123.15, Z:0.65 [[-9.48912528e-01 3.15528977e-01 2.54545623e-03 1.89733373e+02] [-3.15527756e-01 -9.48915941e-01 8.78239005e-04 1.23151697e+02] [ 2.69253385e-03 3.02099015e-05 9.99996375e-01 6.45534357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.994012739 meters Centerline goodness : 0.997409 Centerline is valid? [True, True] Translation: X:189.76, Y:123.16, Z:0.65 [[-9.48740384e-01 3.16046209e-01 2.54511618e-03 1.89755474e+02] [-3.16044988e-01 -9.48743797e-01 8.79223346e-04 1.23157701e+02] [ 2.69253839e-03 2.97834823e-05 9.99996375e-01 6.47007514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.024012739 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:189.75, Y:123.15, Z:0.65 [[-9.48718976e-01 3.16110471e-01 2.54477604e-03 1.89752259e+02] [-3.16109247e-01 -9.48722388e-01 8.80206737e-04 1.23150728e+02] [ 2.69252857e-03 3.06415977e-05 9.99996375e-01 6.49624220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.054012739 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:189.73, Y:123.14, Z:0.65 [[-9.48670036e-01 3.16257314e-01 2.54443700e-03 1.89729658e+02] [-3.16256088e-01 -9.48673448e-01 8.81185723e-04 1.23139891e+02] [ 2.69252125e-03 3.12608019e-05 9.99996375e-01 6.50277640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.084012739 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:189.75, Y:123.14, Z:0.65 [[-9.48975265e-01 3.15340256e-01 2.54357531e-03 1.89749903e+02] [-3.15339020e-01 -9.48978673e-01 8.83671189e-04 1.23144255e+02] [ 2.69245582e-03 3.64935549e-05 9.99996375e-01 6.49614827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.114012739 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:189.77, Y:123.15, Z:0.65 [[-9.49504400e-01 3.13743404e-01 2.54400869e-03 1.89766343e+02] [-3.13742165e-01 -9.49507807e-01 8.82421771e-04 1.23145346e+02] [ 2.69241012e-03 3.97005594e-05 9.99996375e-01 6.50185730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.144012739 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:189.78, Y:123.15, Z:0.65 [[-9.49812676e-01 3.12808904e-01 2.54366743e-03 1.89781192e+02] [-3.12807660e-01 -9.49816081e-01 8.83404402e-04 1.23147857e+02] [ 2.69235299e-03 4.33900440e-05 9.99996375e-01 6.50741257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.174012739 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:189.78, Y:123.15, Z:0.65 [[-9.50171999e-01 3.11715743e-01 2.54332902e-03 1.89784550e+02] [-3.11714492e-01 -9.50175401e-01 8.84377598e-04 1.23146089e+02] [ 2.69228310e-03 4.75183145e-05 9.99996375e-01 6.51758729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.204012739 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:189.78, Y:123.14, Z:0.65 [[-9.50360878e-01 3.11139413e-01 2.54299176e-03 1.89775135e+02] [-3.11138158e-01 -9.50364279e-01 8.85346326e-04 1.23140247e+02] [ 2.69223467e-03 5.01767412e-05 9.99996375e-01 6.51802809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.234012739 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:189.78, Y:123.14, Z:0.65 [[-9.50147170e-01 3.11791421e-01 2.54265250e-03 1.89776058e+02] [-3.11790165e-01 -9.50150571e-01 8.86319589e-04 1.23136842e+02] [ 2.69224957e-03 4.93600069e-05 9.99996375e-01 6.50008494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.264012739 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:189.78, Y:123.14, Z:0.65 [[-9.49639349e-01 3.13334715e-01 2.54231088e-03 1.89780091e+02] [-3.13333462e-01 -9.49642751e-01 8.87298415e-04 1.23136454e+02] [ 2.69230849e-03 4.60224214e-05 9.99996375e-01 6.48728784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.294012739 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:189.79, Y:123.14, Z:0.65 [[-9.48936525e-01 3.15456826e-01 2.54196859e-03 1.89789494e+02] [-3.15455578e-01 -9.48939929e-01 8.88277921e-04 1.23136739e+02] [ 2.69238883e-03 4.10411925e-05 9.99996375e-01 6.47991885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.324012739 meters Centerline goodness : 0.997674 Centerline is valid? [True, True] Translation: X:189.80, Y:123.14, Z:0.65 [[-9.48571951e-01 3.16551408e-01 2.54162684e-03 1.89796918e+02] [-3.16550161e-01 -9.48575355e-01 8.89254688e-04 1.23138132e+02] [ 2.69241941e-03 3.89696676e-05 9.99996375e-01 6.47980581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.354012739 meters Centerline goodness : 0.997674 Centerline is valid? [True, True] Translation: X:189.80, Y:123.14, Z:0.65 [[-9.48450976e-01 3.16913692e-01 2.54128620e-03 1.89799286e+02] [-3.16912444e-01 -9.48454380e-01 8.90227102e-04 1.23139040e+02] [ 2.69241919e-03 3.89715436e-05 9.99996375e-01 6.47973806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.384012739 meters Centerline goodness : 0.997806 Centerline is valid? [True, True] Translation: X:189.79, Y:123.13, Z:0.65 [[-9.48108975e-01 3.17935394e-01 2.54094581e-03 1.89787914e+02] [-3.17934147e-01 -9.48112379e-01 8.91197613e-04 1.23133451e+02] [ 2.69244544e-03 3.70990167e-05 9.99996375e-01 6.47597188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.414012739 meters Centerline goodness : 0.997924 Centerline is valid? [True, True] Translation: X:189.82, Y:123.14, Z:0.64 [[-9.47290587e-01 3.20365555e-01 2.54060317e-03 1.89815800e+02] [-3.20364315e-01 -9.47293993e-01 8.92173331e-04 1.23139139e+02] [ 2.69251973e-03 3.12288044e-05 9.99996375e-01 6.43379751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.444012739 meters Centerline goodness : 0.998052 Centerline is valid? [True, True] Translation: X:189.81, Y:123.14, Z:0.64 [[-9.46692469e-01 3.22128726e-01 2.54026141e-03 1.89813699e+02] [-3.22127489e-01 -9.46695877e-01 8.93145353e-04 1.23137490e+02] [ 2.69256278e-03 2.72459491e-05 9.99996375e-01 6.41100013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.474012739 meters Centerline goodness : 0.997769 Centerline is valid? [True, True] Translation: X:189.80, Y:123.14, Z:0.64 [[-9.45333495e-01 3.26095280e-01 2.53992188e-03 1.89799230e+02] [-3.26094054e-01 -9.45336907e-01 8.94109873e-04 1.23135304e+02] [ 2.69264690e-03 1.69785880e-05 9.99996375e-01 6.40688467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.504012739 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:189.82, Y:123.15, Z:0.64 [[-9.44567687e-01 3.28306922e-01 2.53957927e-03 1.89820601e+02] [-3.28305702e-01 -9.44571101e-01 8.95081959e-04 1.23145120e+02] [ 2.69267479e-03 1.17071435e-05 9.99996375e-01 6.41034721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.534012739 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:189.82, Y:123.15, Z:0.64 [[-9.43743115e-01 3.30669754e-01 2.53923679e-03 1.89822023e+02] [-3.30668540e-01 -9.43746531e-01 8.96052465e-04 1.23147070e+02] [ 2.69269336e-03 5.99762279e-06 9.99996375e-01 6.41764655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.564012739 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:189.83, Y:123.15, Z:0.64 [[-9.42958193e-01 3.32901486e-01 2.53889643e-03 1.89832926e+02] [-3.32900278e-01 -9.42961611e-01 8.97015808e-04 1.23151624e+02] [ 2.69269977e-03 6.49078746e-07 9.99996375e-01 6.42808285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.594012739 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:189.84, Y:123.15, Z:0.64 [[-9.41978581e-01 3.35663385e-01 2.53855683e-03 1.89835593e+02] [-3.35662184e-01 -9.41982002e-01 8.97975863e-04 1.23154956e+02] [ 2.69269246e-03 -6.22350021e-06 9.99996375e-01 6.43237048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.624012739 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:189.85, Y:123.16, Z:0.65 [[-9.41807803e-01 3.36142260e-01 2.53821809e-03 1.89845531e+02] [-3.36141058e-01 -9.41811224e-01 8.98932335e-04 1.23160471e+02] [ 2.69269143e-03 -6.57782581e-06 9.99996375e-01 6.45183684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.654012739 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:189.85, Y:123.17, Z:0.65 [[-9.42026276e-01 3.35529513e-01 2.53788020e-03 1.89853511e+02] [-3.35528307e-01 -9.42029695e-01 8.99885250e-04 1.23165193e+02] [ 2.69269657e-03 -3.81509521e-06 9.99996375e-01 6.47761029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.684012739 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:189.83, Y:123.16, Z:0.65 [[-9.43188614e-01 3.32248100e-01 2.53754377e-03 1.89829686e+02] [-3.32246878e-01 -9.43192027e-01 9.00832941e-04 1.23159086e+02] [ 2.69269108e-03 6.56437806e-06 9.99996375e-01 6.48959099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.714012739 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:189.83, Y:123.16, Z:0.65 [[-9.43768222e-01 3.30598102e-01 2.53720456e-03 1.89825319e+02] [-3.30596873e-01 -9.43771633e-01 9.01787314e-04 1.23158666e+02] [ 2.69267086e-03 1.22863179e-05 9.99996375e-01 6.48076279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.744012739 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:189.81, Y:123.16, Z:0.65 [[-9.44760912e-01 3.27750489e-01 2.53686078e-03 1.89812619e+02] [-3.27749247e-01 -9.44764318e-01 9.02753386e-04 1.23157349e+02] [ 2.69261341e-03 2.14319030e-05 9.99996375e-01 6.48051215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.774012739 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:189.81, Y:123.16, Z:0.65 [[-9.45066546e-01 3.26868154e-01 2.53651382e-03 1.89813131e+02] [-3.26866906e-01 -9.45069949e-01 9.03727206e-04 1.23158390e+02] [ 2.69258263e-03 2.49799260e-05 9.99996375e-01 6.47899673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.804012739 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:189.82, Y:123.16, Z:0.65 [[-9.45349453e-01 3.26049045e-01 2.53616444e-03 1.89815402e+02] [-3.26047791e-01 -9.45352855e-01 9.04706608e-04 1.23159522e+02] [ 2.69254902e-03 2.83530833e-05 9.99996375e-01 6.47386061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.834012739 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:189.82, Y:123.16, Z:0.65 [[-9.45652187e-01 3.25169974e-01 2.53581445e-03 1.89816719e+02] [-3.25168714e-01 -9.45655586e-01 9.05686536e-04 1.23159725e+02] [ 2.69250917e-03 3.18969282e-05 9.99996375e-01 6.47153036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.864012739 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:189.82, Y:123.16, Z:0.65 [[-9.46610035e-01 3.22370924e-01 2.53546397e-03 1.89815893e+02] [-3.22369652e-01 -9.46613430e-01 9.06666660e-04 1.23156817e+02] [ 2.69238721e-03 4.09031214e-05 9.99996375e-01 6.48973655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.894012739 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:189.83, Y:123.16, Z:0.65 [[-9.47131117e-01 3.20836750e-01 2.53511228e-03 1.89826851e+02] [-3.20835470e-01 -9.47134509e-01 9.07648946e-04 1.23158786e+02] [ 2.69229946e-03 4.63086211e-05 9.99996375e-01 6.50780178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.924012739 meters Centerline goodness : 0.997857 Centerline is valid? [True, True] Translation: X:189.84, Y:123.16, Z:0.65 [[-9.47482118e-01 3.19798703e-01 2.53476074e-03 1.89841870e+02] [-3.19797417e-01 -9.47485507e-01 9.08629613e-04 1.23161772e+02] [ 2.69222764e-03 5.03003741e-05 9.99996375e-01 6.51994397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.954012739 meters Centerline goodness : 0.997876 Centerline is valid? [True, True] Translation: X:189.84, Y:123.16, Z:0.65 [[-9.47912568e-01 3.18520548e-01 2.53441153e-03 1.89836789e+02] [-3.18519254e-01 -9.47915955e-01 9.09602627e-04 1.23155898e+02] [ 2.69213625e-03 5.49648927e-05 9.99996375e-01 6.49756594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.984012739 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:189.83, Y:123.15, Z:0.65 [[-9.47756437e-01 3.18984820e-01 2.53406246e-03 1.89829843e+02] [-3.18983525e-01 -9.47759823e-01 9.10574052e-04 1.23151112e+02] [ 2.69214189e-03 5.46782418e-05 9.99996375e-01 6.48236058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.014012739 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:189.83, Y:123.15, Z:0.65 [[-9.47052709e-01 3.21068133e-01 2.53371044e-03 1.89834740e+02] [-3.21066843e-01 -9.47056097e-01 9.11552506e-04 1.23147813e+02] [ 2.69223638e-03 4.97978585e-05 9.99996375e-01 6.46175078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.044012739 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:189.85, Y:123.15, Z:0.65 [[-9.46437034e-01 3.22878496e-01 2.53335674e-03 1.89850116e+02] [-3.22877209e-01 -9.46440423e-01 9.12534444e-04 1.23151476e+02] [ 2.69230897e-03 4.56932382e-05 9.99996375e-01 6.46078364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.074012739 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:189.85, Y:123.15, Z:0.65 [[-9.45743349e-01 3.24904757e-01 2.53300450e-03 1.89854042e+02] [-3.24903476e-01 -9.45746740e-01 9.13511154e-04 1.23151753e+02] [ 2.69238487e-03 4.09651340e-05 9.99996375e-01 6.46311951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.104012739 meters Centerline goodness : 0.997710 Centerline is valid? [True, True] Translation: X:189.86, Y:123.15, Z:0.65 [[-9.44227859e-01 3.29283062e-01 2.53265370e-03 1.89857860e+02] [-3.29281794e-01 -9.44231256e-01 9.14482690e-04 1.23151759e+02] [ 2.69253444e-03 2.95232804e-05 9.99996375e-01 6.46795570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.134012739 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:189.87, Y:123.16, Z:0.65 [[-9.43282537e-01 3.31981389e-01 2.53230288e-03 1.89870660e+02] [-3.31980128e-01 -9.43285936e-01 9.15453115e-04 1.23155815e+02] [ 2.69259909e-03 2.28567037e-05 9.99996375e-01 6.48003491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.164012739 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:189.88, Y:123.16, Z:0.65 [[-9.42363375e-01 3.34581616e-01 2.53195326e-03 1.89875165e+02] [-3.34580362e-01 -9.42366777e-01 9.16419074e-04 1.23156876e+02] [ 2.69264561e-03 1.64579352e-05 9.99996375e-01 6.49578191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.194012739 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:189.91, Y:123.17, Z:0.65 [[-9.40941119e-01 3.38560781e-01 2.53160489e-03 1.89907059e+02] [-3.38559538e-01 -9.40944524e-01 9.17380436e-04 1.23170000e+02] [ 2.69268879e-03 6.10199182e-06 9.99996375e-01 6.50307659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.224012739 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:189.91, Y:123.17, Z:0.65 [[-9.40255523e-01 3.40460194e-01 2.53126042e-03 1.89912554e+02] [-3.40458955e-01 -9.40258931e-01 9.18329931e-04 1.23173733e+02] [ 2.69269500e-03 1.67451284e-06 9.99996375e-01 6.49224979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.254012739 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:189.91, Y:123.17, Z:0.65 [[-9.39533546e-01 3.42447528e-01 2.53091986e-03 1.89911839e+02] [-3.42446294e-01 -9.39536955e-01 9.19267542e-04 1.23174369e+02] [ 2.69269364e-03 -3.02143384e-06 9.99996375e-01 6.48306496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.284012739 meters Centerline goodness : 0.997813 Centerline is valid? [True, True] Translation: X:189.89, Y:123.17, Z:0.65 [[-9.39081896e-01 3.43684140e-01 2.53057907e-03 1.89887894e+02] [-3.43682908e-01 -9.39085306e-01 9.20204724e-04 1.23166508e+02] [ 2.69268939e-03 -5.56917708e-06 9.99996375e-01 6.46214505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.314012739 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:189.90, Y:123.17, Z:0.65 [[-9.38802597e-01 3.44446341e-01 2.53023427e-03 1.89896309e+02] [-3.44445110e-01 -9.38806007e-01 9.21151827e-04 1.23171643e+02] [ 2.69268651e-03 -6.74709388e-06 9.99996375e-01 6.45029701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.344012739 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:189.91, Y:123.18, Z:0.65 [[-9.38737531e-01 3.44623632e-01 2.52988651e-03 1.89909779e+02] [-3.44622398e-01 -9.38740940e-01 9.22105933e-04 1.23178210e+02] [ 2.69268754e-03 -6.24011098e-06 9.99996375e-01 6.47035514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.374012739 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:189.92, Y:123.18, Z:0.65 [[-9.38821871e-01 3.44393809e-01 2.52954089e-03 1.89916182e+02] [-3.44392572e-01 -9.38825279e-01 9.23053086e-04 1.23182053e+02] [ 2.69269070e-03 -4.57266584e-06 9.99996375e-01 6.49110421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.404012739 meters Centerline goodness : 0.997770 Centerline is valid? [True, True] Translation: X:189.93, Y:123.19, Z:0.65 [[-9.38650904e-01 3.44859513e-01 2.52919703e-03 1.89927373e+02] [-3.44858275e-01 -9.38654311e-01 9.23994303e-04 1.23186504e+02] [ 2.69268992e-03 -4.90643823e-06 9.99996375e-01 6.49565679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.434012739 meters Centerline goodness : 0.997762 Centerline is valid? [True, True] Translation: X:189.92, Y:123.18, Z:0.65 [[-9.38413861e-01 3.45504023e-01 2.52885449e-03 1.89918292e+02] [-3.45502785e-01 -9.38417269e-01 9.24930846e-04 1.23184200e+02] [ 2.69268805e-03 -5.75834273e-06 9.99996375e-01 6.49245660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.464012739 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:189.92, Y:123.19, Z:0.65 [[-9.37504359e-01 3.47964343e-01 2.52851138e-03 1.89918858e+02] [-3.47963111e-01 -9.37507768e-01 9.25867869e-04 1.23189262e+02] [ 2.69266807e-03 -1.18235242e-05 9.99996375e-01 6.52803612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.494012739 meters Centerline goodness : 0.998197 Centerline is valid? [True, True] Translation: X:189.94, Y:123.20, Z:0.65 [[-9.36789178e-01 3.49885188e-01 2.52816648e-03 1.89937737e+02] [-3.49883961e-01 -9.36792589e-01 9.26808703e-04 1.23197976e+02] [ 2.69264426e-03 -1.63405386e-05 9.99996375e-01 6.54023874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.524012739 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:189.93, Y:123.20, Z:0.65 [[-9.36041971e-01 3.51879296e-01 2.52782328e-03 1.89933110e+02] [-3.51878073e-01 -9.36045384e-01 9.27743816e-04 1.23197729e+02] [ 2.69261115e-03 -2.10784346e-05 9.99996375e-01 6.53600461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.554012739 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:189.93, Y:123.20, Z:0.65 [[-9.34736463e-01 3.55332740e-01 2.52748116e-03 1.89929772e+02] [-3.55331527e-01 -9.34739880e-01 9.28674911e-04 1.23200026e+02] [ 2.69252604e-03 -3.00274411e-05 9.99996375e-01 6.50902300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.584012739 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:189.93, Y:123.20, Z:0.65 [[-9.34221336e-01 3.56684887e-01 2.52713728e-03 1.89925355e+02] [-3.56683677e-01 -9.34224754e-01 9.29609770e-04 1.23201540e+02] [ 2.69249195e-03 -3.29273345e-05 9.99996375e-01 6.50582460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.614012739 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:189.93, Y:123.21, Z:0.65 [[-9.33803949e-01 3.57776186e-01 2.52679171e-03 1.89934492e+02] [-3.57774978e-01 -9.33807367e-01 9.30548120e-04 1.23207674e+02] [ 2.69246467e-03 -3.50733376e-05 9.99996375e-01 6.51434986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.644012739 meters Centerline goodness : 0.998055 Centerline is valid? [True, True] Translation: X:189.96, Y:123.22, Z:0.65 [[-9.33440122e-01 3.58724346e-01 2.52644601e-03 1.89955839e+02] [-3.58723138e-01 -9.33443540e-01 9.31485732e-04 1.23218942e+02] [ 2.69244132e-03 -3.68084879e-05 9.99996375e-01 6.50942317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.674012739 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:189.94, Y:123.21, Z:0.65 [[-9.33565432e-01 3.58398107e-01 2.52610351e-03 1.89938142e+02] [-3.58396896e-01 -9.33568849e-01 9.32413653e-04 1.23214498e+02] [ 2.69246683e-03 -3.48785021e-05 9.99996375e-01 6.49780516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.704012739 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:189.93, Y:123.21, Z:0.65 [[-9.33738737e-01 3.57946352e-01 2.52576077e-03 1.89928309e+02] [-3.57945137e-01 -9.33742153e-01 9.33341149e-04 1.23213738e+02] [ 2.69249536e-03 -3.25869982e-05 9.99996375e-01 6.47056796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.734012739 meters Centerline goodness : 0.998212 Centerline is valid? [True, True] Translation: X:189.93, Y:123.22, Z:0.64 [[-9.34464449e-01 3.56047491e-01 2.52541371e-03 1.89933422e+02] [-3.56046266e-01 -9.34467861e-01 9.34279292e-04 1.23220754e+02] [ 2.69256574e-03 -2.61133356e-05 9.99996375e-01 6.42701820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.764012739 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:189.94, Y:123.22, Z:0.64 [[-9.34828694e-01 3.55090041e-01 2.52506539e-03 1.89936705e+02] [-3.55088810e-01 -9.34832104e-01 9.35219725e-04 1.23223198e+02] [ 2.69259940e-03 -2.23522311e-05 9.99996375e-01 6.42734253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.794012739 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:189.93, Y:123.22, Z:0.65 [[-9.35461691e-01 3.53419085e-01 2.52471746e-03 1.89929138e+02] [-3.53417846e-01 -9.35465098e-01 9.36158054e-04 1.23223581e+02] [ 2.69264119e-03 -1.65402104e-05 9.99996375e-01 6.46158155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.824012739 meters Centerline goodness : 0.997602 Centerline is valid? [True, True] Translation: X:189.91, Y:123.22, Z:0.65 [[-9.35369992e-01 3.53661710e-01 2.52436822e-03 1.89912611e+02] [-3.53660468e-01 -9.35373399e-01 9.37098841e-04 1.23219982e+02] [ 2.69264286e-03 -1.62351129e-05 9.99996375e-01 6.45855856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.854012739 meters Centerline goodness : 0.997635 Centerline is valid? [True, True] Translation: X:189.93, Y:123.23, Z:0.64 [[-9.35101280e-01 3.54371593e-01 2.52401497e-03 1.89928383e+02] [-3.54370352e-01 -9.35104686e-01 9.38049334e-04 1.23228581e+02] [ 2.69263627e-03 -1.72649427e-05 9.99996375e-01 6.44149946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.884012739 meters Centerline goodness : 0.997778 Centerline is valid? [True, True] Translation: X:189.93, Y:123.23, Z:0.64 [[-9.34654402e-01 3.55548563e-01 2.52366084e-03 1.89925162e+02] [-3.55547324e-01 -9.34657808e-01 9.39001092e-04 1.23229674e+02] [ 2.69261980e-03 -1.96393559e-05 9.99996375e-01 6.42031609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.914012739 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:189.93, Y:123.24, Z:0.64 [[-9.33697093e-01 3.58054984e-01 2.52330775e-03 1.89927525e+02] [-3.58053751e-01 -9.33700502e-01 9.39948991e-04 1.23237218e+02] [ 2.69256713e-03 -2.58521624e-05 9.99996375e-01 6.39232650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.944012739 meters Centerline goodness : 0.997739 Centerline is valid? [True, True] Translation: X:189.93, Y:123.24, Z:0.64 [[-9.33416611e-01 3.58785542e-01 2.52295394e-03 1.89932244e+02] [-3.58784309e-01 -9.33420020e-01 9.40897691e-04 1.23243757e+02] [ 2.69255621e-03 -2.69467534e-05 9.99996375e-01 6.40437857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.974012739 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:189.92, Y:123.24, Z:0.65 [[-9.33406649e-01 3.58811462e-01 2.52260053e-03 1.89917333e+02] [-3.58810227e-01 -9.33410057e-01 9.41844247e-04 1.23244572e+02] [ 2.69256522e-03 -2.60111864e-05 9.99996375e-01 6.47140778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.004012739 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:189.93, Y:123.25, Z:0.65 [[-9.33677294e-01 3.58106617e-01 2.52224526e-03 1.89934573e+02] [-3.58105377e-01 -9.33680700e-01 9.42794700e-04 1.23253094e+02] [ 2.69259274e-03 -2.29635855e-05 9.99996375e-01 6.47853132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.034012739 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:189.92, Y:123.25, Z:0.65 [[-9.33999661e-01 3.57264988e-01 2.52211238e-03 1.89918156e+02] [-3.57263743e-01 -9.34003067e-01 9.43150048e-04 1.23249599e+02] [ 2.69261519e-03 -2.01574837e-05 9.99996375e-01 6.47180590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.064012739 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:189.91, Y:123.25, Z:0.65 [[-9.34605279e-01 3.55677681e-01 2.52175633e-03 1.89913540e+02] [-3.55676428e-01 -9.34608681e-01 9.44101088e-04 1.23251095e+02] [ 2.69265104e-03 -1.45674223e-05 9.99996375e-01 6.45415352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.094012739 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:189.91, Y:123.26, Z:0.65 [[-9.36146085e-01 3.51602262e-01 2.52139667e-03 1.89907088e+02] [-3.51600992e-01 -9.36149480e-01 9.45060632e-04 1.23255531e+02] [ 2.69268964e-03 -1.81076164e-06 9.99996375e-01 6.46646276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.124012739 meters Centerline goodness : 0.998365 Centerline is valid? [True, True] Translation: X:189.90, Y:123.26, Z:0.65 [[-9.36847639e-01 3.49728673e-01 2.52103480e-03 1.89900505e+02] [-3.49727394e-01 -9.36851032e-01 9.46024974e-04 1.23255526e+02] [ 2.69268611e-03 4.60633334e-06 9.99996375e-01 6.48716696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.154012739 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:189.91, Y:123.26, Z:0.65 [[-9.38450735e-01 3.45403914e-01 2.52067056e-03 1.89906560e+02] [-3.45402616e-01 -9.38454120e-01 9.46994490e-04 1.23260874e+02] [ 2.69262928e-03 1.80614675e-05 9.99996375e-01 6.52332868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.184012739 meters Centerline goodness : 0.998023 Centerline is valid? [True, True] Translation: X:189.92, Y:123.27, Z:0.65 [[-9.39408188e-01 3.42791342e-01 2.52053407e-03 1.89917445e+02] [-3.42790034e-01 -9.39411569e-01 9.47357634e-04 1.23266256e+02] [ 2.69256486e-03 2.59415581e-05 9.99996375e-01 6.52340866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.214012739 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:189.91, Y:123.26, Z:0.65 [[-9.40422136e-01 3.39999785e-01 2.52039828e-03 1.89910702e+02] [-3.39998466e-01 -9.40425513e-01 9.47718771e-04 1.23264555e+02] [ 2.69247102e-03 3.43241639e-05 9.99996375e-01 6.52807474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.244012739 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:189.94, Y:123.28, Z:0.65 [[-9.42830100e-01 3.33264238e-01 2.52003490e-03 1.89944618e+02] [-3.33262892e-01 -9.42833466e-01 9.48684022e-04 1.23276427e+02] [ 2.69213570e-03 5.46137326e-05 9.99996375e-01 6.52232868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.274012739 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:189.95, Y:123.28, Z:0.65 [[-9.42783496e-01 3.33396050e-01 2.52039381e-03 1.89946971e+02] [-3.33394708e-01 -9.42786864e-01 9.47729531e-04 1.23277276e+02] [ 2.69216346e-03 5.32178017e-05 9.99996375e-01 6.52226159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.304012739 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:189.96, Y:123.28, Z:0.65 [[-9.43762720e-01 3.30613940e-01 2.52026126e-03 1.89963324e+02] [-3.30612587e-01 -9.43766083e-01 9.48081894e-04 1.23282013e+02] [ 2.69198619e-03 6.15342523e-05 9.99996375e-01 6.51996462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.334012739 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:189.96, Y:123.28, Z:0.65 [[-9.44961877e-01 3.27170750e-01 2.52017339e-03 1.89964372e+02] [-3.27169383e-01 -9.44965235e-01 9.48315406e-04 1.23278981e+02] [ 2.69173731e-03 7.15983325e-05 9.99996375e-01 6.54092067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.364012739 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:189.97, Y:123.28, Z:0.65 [[-9.45217604e-01 3.26431204e-01 2.51982201e-03 1.89969135e+02] [-3.26429832e-01 -9.45220960e-01 9.49248163e-04 1.23279215e+02] [ 2.69165280e-03 7.47009970e-05 9.99996375e-01 6.54645634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.394012739 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:189.98, Y:123.28, Z:0.65 [[-9.45294567e-01 3.26208268e-01 2.51947029e-03 1.89978333e+02] [-3.26206893e-01 -9.45297921e-01 9.50180789e-04 1.23280250e+02] [ 2.69160685e-03 7.63321634e-05 9.99996375e-01 6.54122196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.424012739 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:189.99, Y:123.28, Z:0.65 [[-9.45173528e-01 3.26558809e-01 2.51933910e-03 1.89987550e+02] [-3.26557435e-01 -9.45176882e-01 9.50528499e-04 1.23280839e+02] [ 2.69162453e-03 7.57054621e-05 9.99996375e-01 6.52554319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.454012739 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:189.97, Y:123.27, Z:0.65 [[-9.43919810e-01 3.30165181e-01 2.51920841e-03 1.89969538e+02] [-3.30163818e-01 -9.43923169e-01 9.50874741e-04 1.23269951e+02] [ 2.69188492e-03 6.57980378e-05 9.99996375e-01 6.50077618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.484012739 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:189.96, Y:123.27, Z:0.65 [[-9.43087123e-01 3.32536213e-01 2.51885654e-03 1.89961544e+02] [-3.32534857e-01 -9.43090485e-01 9.51805935e-04 1.23266334e+02] [ 2.69201957e-03 6.00283240e-05 9.99996375e-01 6.48502119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.514012739 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] Translation: X:189.96, Y:123.26, Z:0.65 [[-9.42209066e-01 3.35016018e-01 2.51850008e-03 1.89956016e+02] [-3.35014667e-01 -9.42212431e-01 9.52748195e-04 1.23264125e+02] [ 2.69214799e-03 5.39535206e-05 9.99996375e-01 6.47957931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.544012739 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:189.95, Y:123.26, Z:0.65 [[-9.40989603e-01 3.38426102e-01 2.51814070e-03 1.89951788e+02] [-3.38424762e-01 -9.40992971e-01 9.53697101e-04 1.23261443e+02] [ 2.69230869e-03 4.52178901e-05 9.99996375e-01 6.51172264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.574012739 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:189.95, Y:123.26, Z:0.65 [[-9.40520068e-01 3.39728806e-01 2.51777883e-03 1.89953421e+02] [-3.39727468e-01 -9.40523438e-01 9.54651482e-04 1.23260939e+02] [ 2.69235261e-03 4.25102503e-05 9.99996375e-01 6.52523118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.604012739 meters Centerline goodness : 0.998030 Centerline is valid? [True, True] Translation: X:189.96, Y:123.26, Z:0.65 [[-9.40058347e-01 3.41004351e-01 2.51741558e-03 1.89960493e+02] [-3.41003014e-01 -9.40061717e-01 9.55608408e-04 1.23262265e+02] [ 2.69239264e-03 3.98813576e-05 9.99996375e-01 6.50580757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.634012739 meters Centerline goodness : 0.998048 Centerline is valid? [True, True] Translation: X:189.95, Y:123.26, Z:0.65 [[-9.39825769e-01 3.41644827e-01 2.51705233e-03 1.89949029e+02] [-3.41643490e-01 -9.39829139e-01 9.56564244e-04 1.23257484e+02] [ 2.69240435e-03 3.90691827e-05 9.99996375e-01 6.49031461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.664012739 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:189.94, Y:123.25, Z:0.65 [[-9.39708834e-01 3.41966334e-01 2.51668740e-03 1.89941713e+02] [-3.41964995e-01 -9.39712203e-01 9.57523420e-04 1.23254198e+02] [ 2.69240263e-03 3.91742221e-05 9.99996375e-01 6.47799109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.694012739 meters Centerline goodness : 0.997602 Centerline is valid? [True, True] Translation: X:189.96, Y:123.26, Z:0.65 [[-9.39572870e-01 3.42339730e-01 2.51631861e-03 1.89958103e+02] [-3.42338390e-01 -9.39576239e-01 9.58491587e-04 1.23259763e+02] [ 2.69240293e-03 3.91402280e-05 9.99996375e-01 6.49144018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.724012739 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:189.96, Y:123.26, Z:0.65 [[-9.39315658e-01 3.43044843e-01 2.51618087e-03 1.89962509e+02] [-3.43043505e-01 -9.39319027e-01 9.58853032e-04 1.23261798e+02] [ 2.69242616e-03 3.75061597e-05 9.99996375e-01 6.50220561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.754012739 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:189.98, Y:123.27, Z:0.65 [[-9.38920378e-01 3.44125259e-01 2.51581458e-03 1.89975313e+02] [-3.44123922e-01 -9.38923748e-01 9.59813154e-04 1.23266759e+02] [ 2.69245400e-03 3.54361510e-05 9.99996375e-01 6.51457189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.784012739 meters Centerline goodness : 0.997078 Centerline is valid? [True, True] Translation: X:189.96, Y:123.26, Z:0.65 [[-9.38508535e-01 3.45246871e-01 2.51544961e-03 1.89963502e+02] [-3.45245536e-01 -9.38511906e-01 9.60768698e-04 1.23261896e+02] [ 2.69248179e-03 3.32418754e-05 9.99996375e-01 6.52502044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.814012739 meters Centerline goodness : 0.996844 Centerline is valid? [True, True] Translation: X:189.95, Y:123.26, Z:0.65 [[-9.37659516e-01 3.47546122e-01 2.51508374e-03 1.89951716e+02] [-3.47544792e-01 -9.37662888e-01 9.61725521e-04 1.23257682e+02] [ 2.69254466e-03 2.76668314e-05 9.99996375e-01 6.53819659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.844012739 meters Centerline goodness : 0.996945 Centerline is valid? [True, True] Translation: X:189.94, Y:123.25, Z:0.65 [[-9.37054589e-01 3.49173844e-01 2.51471346e-03 1.89935858e+02] [-3.49172518e-01 -9.37057963e-01 9.62692746e-04 1.23252582e+02] [ 2.69257940e-03 2.40268253e-05 9.99996375e-01 6.53624358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.874012739 meters Centerline goodness : 0.996982 Centerline is valid? [True, True] Translation: X:189.95, Y:123.26, Z:0.65 [[-9.36105195e-01 3.51711162e-01 2.51433817e-03 1.89951115e+02] [-3.51709842e-01 -9.36108572e-01 9.63671932e-04 1.23260478e+02] [ 2.69262769e-03 1.77808226e-05 9.99996375e-01 6.51966695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.904012739 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:189.95, Y:123.26, Z:0.65 [[-9.35778000e-01 3.52580790e-01 2.51419747e-03 1.89950394e+02] [-3.52579473e-01 -9.35781377e-01 9.64038876e-04 1.23261855e+02] [ 2.69264076e-03 1.56719546e-05 9.99996375e-01 6.51246157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.934012739 meters Centerline goodness : 0.995987 Centerline is valid? [True, True] Translation: X:189.97, Y:123.27, Z:0.65 [[-9.35787699e-01 3.52555050e-01 2.51382260e-03 1.89966084e+02] [-3.52553729e-01 -9.35791075e-01 9.65015381e-04 1.23269045e+02] [ 2.69263380e-03 1.67919905e-05 9.99996375e-01 6.51264151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.964012739 meters Centerline goodness : 0.996063 Centerline is valid? [True, True] Translation: X:189.96, Y:123.27, Z:0.65 [[-9.36422805e-01 3.50864662e-01 2.51368306e-03 1.89961977e+02] [-3.50863334e-01 -9.36426179e-01 9.65378715e-04 1.23270031e+02] [ 2.69259590e-03 2.20434235e-05 9.99996375e-01 6.51036067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.994012739 meters Centerline goodness : 0.995550 Centerline is valid? [True, True] Translation: X:189.97, Y:123.27, Z:0.65 [[-9.36984445e-01 3.49362038e-01 2.51331057e-03 1.89970647e+02] [-3.49360702e-01 -9.36987815e-01 9.66347505e-04 1.23274099e+02] [ 2.69254652e-03 2.74006335e-05 9.99996375e-01 6.51110431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.024012739 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:190.00, Y:123.29, Z:0.65 [[-9.39300736e-01 3.43085719e-01 2.51317135e-03 1.89998010e+02] [-3.43084360e-01 -9.39304098e-01 9.66709433e-04 1.23285936e+02] [ 2.69229635e-03 4.58010970e-05 9.99996375e-01 6.52206277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.054012739 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:190.01, Y:123.29, Z:0.65 [[-9.40502742e-01 3.39776800e-01 2.51353788e-03 1.90010965e+02] [-3.39775432e-01 -9.40506100e-01 9.65755497e-04 1.23290306e+02] [ 2.69213902e-03 5.42572768e-05 9.99996375e-01 6.52799918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.084012739 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:190.02, Y:123.29, Z:0.65 [[-9.41767538e-01 3.36255240e-01 2.51340273e-03 1.90021541e+02] [-3.36253858e-01 -9.41770890e-01 9.66107095e-04 1.23293060e+02] [ 2.69190810e-03 6.47069358e-05 9.99996375e-01 6.52751217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.114012739 meters Centerline goodness : 0.995291 Centerline is valid? [True, True] Translation: X:190.02, Y:123.29, Z:0.65 [[-9.44122900e-01 3.29584029e-01 2.51326849e-03 1.90017683e+02] [-3.29582623e-01 -9.44126242e-01 9.66456186e-04 1.23287447e+02] [ 2.69137126e-03 8.41237973e-05 9.99996375e-01 6.51011672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.144012739 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:190.03, Y:123.29, Z:0.65 [[-9.45180661e-01 3.26538213e-01 2.51290924e-03 1.90033684e+02] [-3.26536793e-01 -9.45183996e-01 9.67389381e-04 1.23291650e+02] [ 2.69105120e-03 9.38004102e-05 9.99996375e-01 6.49558552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.174012739 meters Centerline goodness : 0.995021 Centerline is valid? [True, True] Translation: X:190.05, Y:123.29, Z:0.65 [[-9.46801923e-01 3.21807094e-01 2.51277513e-03 1.90049026e+02] [-3.21805657e-01 -9.46805251e-01 9.67737598e-04 1.23292786e+02] [ 2.69053351e-03 1.07630567e-04 9.99996375e-01 6.47735566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.204012739 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:190.07, Y:123.30, Z:0.65 [[-9.47233792e-01 3.20533667e-01 2.51241942e-03 1.90071982e+02] [-3.20532223e-01 -9.47237117e-01 9.68660196e-04 1.23298560e+02] [ 2.69034514e-03 1.12236287e-04 9.99996375e-01 6.47313765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.234012739 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:190.07, Y:123.30, Z:0.65 [[-9.47421530e-01 3.19978335e-01 2.51206748e-03 1.90074411e+02] [-3.19976887e-01 -9.47424853e-01 9.69572057e-04 1.23296303e+02] [ 2.69023721e-03 1.14789911e-04 9.99996375e-01 6.46900011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.264012739 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:190.06, Y:123.29, Z:0.65 [[-9.47399371e-01 3.20043939e-01 2.51171763e-03 1.90057796e+02] [-3.20042489e-01 -9.47402694e-01 9.70477515e-04 1.23287458e+02] [ 2.69020349e-03 1.15573427e-04 9.99996375e-01 6.47931364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.294012739 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:190.08, Y:123.29, Z:0.65 [[-9.47479544e-01 3.19806514e-01 2.51136474e-03 1.90075030e+02] [-3.19805060e-01 -9.47482865e-01 9.71389834e-04 1.23286970e+02] [ 2.69013186e-03 1.17224843e-04 9.99996375e-01 6.52046565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.324012739 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:190.08, Y:123.28, Z:0.65 [[-9.47648808e-01 3.19304606e-01 2.51101058e-03 1.90082368e+02] [-3.19303148e-01 -9.47652127e-01 9.72304483e-04 1.23284581e+02] [ 2.69002581e-03 1.19629602e-04 9.99996375e-01 6.52897740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.354012739 meters Centerline goodness : 0.994962 Centerline is valid? [True, True] Translation: X:190.09, Y:123.27, Z:0.65 [[-9.48602681e-01 3.16459556e-01 2.51065814e-03 1.90087357e+02] [-3.16458086e-01 -9.48605994e-01 9.73213680e-04 1.23274229e+02] [ 2.68960813e-03 1.28675035e-04 9.99996375e-01 6.51724901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.384012739 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:190.10, Y:123.27, Z:0.65 [[-9.49120818e-01 3.14902161e-01 2.51030565e-03 1.90095132e+02] [-3.14900683e-01 -9.49124129e-01 9.74122041e-04 1.23271330e+02] [ 2.68934480e-03 1.34062546e-04 9.99996375e-01 6.50157171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.414012739 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:190.11, Y:123.27, Z:0.65 [[-9.49475807e-01 3.13830195e-01 2.50995306e-03 1.90105317e+02] [-3.13828711e-01 -9.49479115e-01 9.75029701e-04 1.23269668e+02] [ 2.68914177e-03 1.38071780e-04 9.99996375e-01 6.49877758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.444012739 meters Centerline goodness : 0.994673 Centerline is valid? [True, True] Translation: X:190.11, Y:123.27, Z:0.65 [[-9.49426072e-01 3.13980630e-01 2.50960135e-03 1.90107325e+02] [-3.13979144e-01 -9.49429379e-01 9.75934111e-04 1.23265141e+02] [ 2.68911366e-03 1.38614805e-04 9.99996375e-01 6.50937199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.474012739 meters Centerline goodness : 0.995032 Centerline is valid? [True, True] Translation: X:190.10, Y:123.25, Z:0.65 [[-9.48185283e-01 3.17708000e-01 2.50924981e-03 1.90102120e+02] [-3.17706524e-01 -9.48188594e-01 9.76837124e-04 1.23253818e+02] [ 2.68959102e-03 1.29017547e-04 9.99996375e-01 6.54811101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.504012739 meters Centerline goodness : 0.995174 Centerline is valid? [True, True] Translation: X:190.11, Y:123.25, Z:0.66 [[-9.46920097e-01 3.21459230e-01 2.50889624e-03 1.90106279e+02] [-3.21457765e-01 -9.46923413e-01 9.77744401e-04 1.23251674e+02] [ 2.69003755e-03 1.19341646e-04 9.99996375e-01 6.55930873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.534012739 meters Centerline goodness : 0.995228 Centerline is valid? [True, True] Translation: X:190.09, Y:123.24, Z:0.66 [[-9.45518370e-01 3.25559088e-01 2.50854099e-03 1.90091145e+02] [-3.25557635e-01 -9.45521691e-01 9.78654983e-04 1.23242768e+02] [ 2.69048995e-03 1.08661591e-04 9.99996375e-01 6.55436387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.564012739 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:190.08, Y:123.23, Z:0.65 [[-9.42635183e-01 3.33815248e-01 2.50818305e-03 1.90078770e+02] [-3.33813822e-01 -9.42638516e-01 9.79571498e-04 1.23232047e+02] [ 2.69130585e-03 8.61123885e-05 9.99996375e-01 6.53805616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.594012739 meters Centerline goodness : 0.994960 Centerline is valid? [True, True] Translation: X:190.06, Y:123.22, Z:0.65 [[-9.41134838e-01 3.38022083e-01 2.50781993e-03 1.90061785e+02] [-3.38020669e-01 -9.41138176e-01 9.80500251e-04 1.23222447e+02] [ 2.69163581e-03 7.50879747e-05 9.99996375e-01 6.53491723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.624012739 meters Centerline goodness : 0.994515 Centerline is valid? [True, True] Translation: X:190.04, Y:123.21, Z:0.65 [[-9.39755939e-01 3.41836931e-01 2.50745124e-03 1.90038463e+02] [-3.41835528e-01 -9.39759282e-01 9.81442193e-04 1.23210838e+02] [ 2.69189377e-03 6.51802115e-05 9.99996375e-01 6.53553130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.654012739 meters Centerline goodness : 0.994701 Centerline is valid? [True, True] Translation: X:190.06, Y:123.21, Z:0.65 [[-9.37412185e-01 3.48212738e-01 2.50707545e-03 1.90057641e+02] [-3.48211355e-01 -9.37415536e-01 9.82401195e-04 1.23214867e+02] [ 2.69225609e-03 4.79227086e-05 9.99996375e-01 6.52845295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.684012739 meters Centerline goodness : 0.995118 Centerline is valid? [True, True] Translation: X:190.05, Y:123.21, Z:0.65 [[-9.36332800e-01 3.51104834e-01 2.50669767e-03 1.90049666e+02] [-3.51103459e-01 -9.36336154e-01 9.83364215e-04 1.23210883e+02] [ 2.69237558e-03 4.06459475e-05 9.99996375e-01 6.52780675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.714012739 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:190.06, Y:123.21, Z:0.65 [[-9.34221758e-01 3.56683930e-01 2.50632033e-03 1.90060830e+02] [-3.56682573e-01 -9.34225119e-01 9.84325005e-04 1.23213877e+02] [ 2.69256032e-03 2.56170544e-05 9.99996375e-01 6.51309425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.744012739 meters Centerline goodness : 0.994826 Centerline is valid? [True, True] Translation: X:190.08, Y:123.22, Z:0.65 [[-9.33158892e-01 3.59455425e-01 2.50594224e-03 1.90082606e+02] [-3.59454075e-01 -9.33162257e-01 9.85286617e-04 1.23223102e+02] [ 2.69261734e-03 1.86578173e-05 9.99996375e-01 6.50515244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.774012739 meters Centerline goodness : 0.994204 Centerline is valid? [True, True] Translation: X:190.09, Y:123.23, Z:0.65 [[-9.32024715e-01 3.62386055e-01 2.50556791e-03 1.90088937e+02] [-3.62384713e-01 -9.32028083e-01 9.86237630e-04 1.23226927e+02] [ 2.69265842e-03 1.12183405e-05 9.99996375e-01 6.50390254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.804012739 meters Centerline goodness : 0.994423 Centerline is valid? [True, True] Translation: X:190.10, Y:123.24, Z:0.65 [[-9.29932425e-01 3.67721918e-01 2.50519670e-03 1.90103326e+02] [-3.67720593e-01 -9.29935800e-01 9.87179653e-04 1.23235920e+02] [ 2.69267969e-03 -3.20204605e-06 9.99996375e-01 6.49498264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.834012739 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:190.12, Y:123.25, Z:0.65 [[-9.28919570e-01 3.70273087e-01 2.50482767e-03 1.90123934e+02] [-3.70271769e-01 -9.28922947e-01 9.88115126e-04 1.23245678e+02] [ 2.69266434e-03 -9.58749370e-06 9.99996375e-01 6.49909059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.864012739 meters Centerline goodness : 0.994724 Centerline is valid? [True, True] Translation: X:190.12, Y:123.25, Z:0.65 [[-9.28175191e-01 3.72135113e-01 2.50446268e-03 1.90119713e+02] [-3.72133798e-01 -9.28178570e-01 9.89039367e-04 1.23246134e+02] [ 2.69264486e-03 -1.39934053e-05 9.99996375e-01 6.48687157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.894012739 meters Centerline goodness : 0.994685 Centerline is valid? [True, True] Translation: X:190.12, Y:123.25, Z:0.65 [[-9.27692891e-01 3.73335814e-01 2.50409915e-03 1.90123681e+02] [-3.73334501e-01 -9.27696270e-01 9.89958909e-04 1.23249696e+02] [ 2.69263056e-03 -1.64887648e-05 9.99996375e-01 6.49410717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.924012739 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:190.11, Y:123.25, Z:0.65 [[-9.27568823e-01 3.73643962e-01 2.50373476e-03 1.90107115e+02] [-3.73642649e-01 -9.27572202e-01 9.90879637e-04 1.23247107e+02] [ 2.69263096e-03 -1.63930295e-05 9.99996375e-01 6.49592201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.954012739 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:190.12, Y:123.25, Z:0.65 [[-9.27698342e-01 3.73322274e-01 2.50336798e-03 1.90120210e+02] [-3.73320957e-01 -9.27701719e-01 9.91805403e-04 1.23254326e+02] [ 2.69264183e-03 -1.44635034e-05 9.99996375e-01 6.52654908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.984012739 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:190.14, Y:123.26, Z:0.65 [[-9.27834660e-01 3.72983349e-01 2.50299997e-03 1.90139256e+02] [-3.72982028e-01 -9.27838036e-01 9.92733273e-04 1.23263606e+02] [ 2.69265156e-03 -1.24816684e-05 9.99996375e-01 6.54903185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.014012739 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:190.12, Y:123.26, Z:0.66 [[-9.28432849e-01 3.71491833e-01 2.50263561e-03 1.90121183e+02] [-3.71490505e-01 -9.28436222e-01 9.93650963e-04 1.23258465e+02] [ 2.69267077e-03 -7.16717264e-06 9.99996375e-01 6.59853886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.044012739 meters Centerline goodness : 0.994925 Centerline is valid? [True, True] Translation: X:190.13, Y:123.26, Z:0.66 [[-9.28643839e-01 3.70964094e-01 2.50227051e-03 1.90133457e+02] [-3.70962761e-01 -9.28647210e-01 9.94569539e-04 1.23264690e+02] [ 2.69267612e-03 -4.64830252e-06 9.99996375e-01 6.61292082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.074012739 meters Centerline goodness : 0.994948 Centerline is valid? [True, True] Translation: X:190.11, Y:123.26, Z:0.66 [[-9.28611028e-01 3.71046223e-01 2.50190378e-03 1.90113431e+02] [-3.71044887e-01 -9.28614398e-01 9.95491211e-04 1.23260163e+02] [ 2.69267713e-03 -3.89449025e-06 9.99996375e-01 6.60113691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.104012739 meters Centerline goodness : 0.995067 Centerline is valid? [True, True] Translation: X:190.11, Y:123.26, Z:0.66 [[-9.28514001e-01 3.71288962e-01 2.50153530e-03 1.90114032e+02] [-3.71287625e-01 -9.28517370e-01 9.96416300e-04 1.23262788e+02] [ 2.69267735e-03 -3.60261453e-06 9.99996375e-01 6.59502539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.134012739 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:190.12, Y:123.27, Z:0.66 [[-9.28498884e-01 3.71326766e-01 2.50116331e-03 1.90119612e+02] [-3.71325426e-01 -9.28502253e-01 9.97349187e-04 1.23267235e+02] [ 2.69267821e-03 -2.70792407e-06 9.99996375e-01 6.58178586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.164012739 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:190.12, Y:123.27, Z:0.66 [[-9.28360724e-01 3.71672049e-01 2.50079139e-03 1.90121939e+02] [-3.71670708e-01 -9.28364093e-01 9.98280883e-04 1.23268243e+02] [ 2.69267803e-03 -2.70614242e-06 9.99996375e-01 6.58171811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.194012739 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:190.12, Y:123.27, Z:0.66 [[-9.28494691e-01 3.71337254e-01 2.50041978e-03 1.90117660e+02] [-3.71335910e-01 -9.28498058e-01 9.99210786e-04 1.23268434e+02] [ 2.69267910e-03 -7.33744623e-07 9.99996375e-01 6.56989587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.224012739 meters Centerline goodness : 0.994942 Centerline is valid? [True, True] Translation: X:190.10, Y:123.27, Z:0.65 [[-9.29604506e-01 3.68550148e-01 2.50004693e-03 1.90104470e+02] [-3.68548791e-01 -9.29607868e-01 1.00014281e-03 1.23265465e+02] [ 2.69266607e-03 8.34799285e-06 9.99996375e-01 6.53489825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.254012739 meters Centerline goodness : 0.994827 Centerline is valid? [True, True] Translation: X:190.11, Y:123.27, Z:0.65 [[-9.30250758e-01 3.66915902e-01 2.49967074e-03 1.90114007e+02] [-3.66914537e-01 -9.30254116e-01 1.00108214e-03 1.23269794e+02] [ 2.69264195e-03 1.40918869e-05 9.99996375e-01 6.52055377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.284012739 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:190.11, Y:123.27, Z:0.65 [[-9.31554453e-01 3.63593254e-01 2.49929315e-03 1.90107806e+02] [-3.63591874e-01 -9.31557806e-01 1.00202394e-03 1.23267167e+02] [ 2.69256519e-03 2.47171882e-05 9.99996375e-01 6.53529195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.314012739 meters Centerline goodness : 0.994262 Centerline is valid? [True, True] Translation: X:190.11, Y:123.27, Z:0.65 [[-9.32062196e-01 3.62289689e-01 2.49891489e-03 1.90109562e+02] [-3.62288302e-01 -9.32065545e-01 1.00296637e-03 1.23267604e+02] [ 2.69251685e-03 2.94994013e-05 9.99996375e-01 6.54339730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.344012739 meters Centerline goodness : 0.994159 Centerline is valid? [True, True] Translation: X:190.11, Y:123.27, Z:0.65 [[-9.32563734e-01 3.60996731e-01 2.49853492e-03 1.90113987e+02] [-3.60995337e-01 -9.32567080e-01 1.00391206e-03 1.23269151e+02] [ 2.69246038e-03 3.42525227e-05 9.99996375e-01 6.53894239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.374012739 meters Centerline goodness : 0.993810 Centerline is valid? [True, True] Translation: X:190.09, Y:123.26, Z:0.65 [[-9.33480614e-01 3.58619162e-01 2.49815489e-03 1.90094528e+02] [-3.58617757e-01 -9.33483955e-01 1.00485683e-03 1.23259532e+02] [ 2.69234842e-03 4.21316687e-05 9.99996375e-01 6.53122263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.404012739 meters Centerline goodness : 0.993774 Centerline is valid? [True, True] Translation: X:190.09, Y:123.26, Z:0.65 [[-9.33738165e-01 3.57948041e-01 2.49777142e-03 1.90091549e+02] [-3.57946631e-01 -9.33741505e-01 1.00580911e-03 1.23256589e+02] [ 2.69230025e-03 4.50934925e-05 9.99996375e-01 6.53587985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.434012739 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:190.11, Y:123.26, Z:0.65 [[-9.34257061e-01 3.56591513e-01 2.49738322e-03 1.90110218e+02] [-3.56590096e-01 -9.34260397e-01 1.00677209e-03 1.23260317e+02] [ 2.69221262e-03 5.00418127e-05 9.99996375e-01 6.52014733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.464012739 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:190.10, Y:123.26, Z:0.65 [[-9.34402887e-01 3.56209223e-01 2.49699607e-03 1.90101377e+02] [-3.56207801e-01 -9.34406222e-01 1.00773138e-03 1.23255570e+02] [ 2.69217187e-03 5.21776337e-05 9.99996375e-01 6.52191879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.494012739 meters Centerline goodness : 0.993166 Centerline is valid? [True, True] Translation: X:190.11, Y:123.26, Z:0.65 [[-9.34296387e-01 3.56488469e-01 2.49660913e-03 1.90112260e+02] [-3.56487046e-01 -9.34299721e-01 1.00868909e-03 1.23259270e+02] [ 2.69216725e-03 5.24057596e-05 9.99996375e-01 6.53015501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.524012739 meters Centerline goodness : 0.992866 Centerline is valid? [True, True] Translation: X:190.11, Y:123.26, Z:0.65 [[-9.33929413e-01 3.57448766e-01 2.49622125e-03 1.90108225e+02] [-3.57447343e-01 -9.33932748e-01 1.00964809e-03 1.23257459e+02] [ 2.69220023e-03 5.06723918e-05 9.99996375e-01 6.54293613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.554012739 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:190.11, Y:123.26, Z:0.65 [[-9.32773320e-01 3.60454859e-01 2.49583325e-03 1.90112591e+02] [-3.60453445e-01 -9.32776658e-01 1.01060629e-03 1.23260509e+02] [ 2.69233295e-03 4.30348895e-05 9.99996375e-01 6.54071413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.584012739 meters Centerline goodness : 0.992228 Centerline is valid? [True, True] Translation: X:190.11, Y:123.26, Z:0.65 [[-9.32047991e-01 3.62326256e-01 2.49544437e-03 1.90114946e+02] [-3.62324846e-01 -9.32051330e-01 1.01156563e-03 1.23263715e+02] [ 2.69239903e-03 3.86662148e-05 9.99996375e-01 6.52977407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.614012739 meters Centerline goodness : 0.992117 Centerline is valid? [True, True] Translation: X:190.13, Y:123.27, Z:0.65 [[-9.31282791e-01 3.64288536e-01 2.49505551e-03 1.90128726e+02] [-3.64287131e-01 -9.31286133e-01 1.01252386e-03 1.23272489e+02] [ 2.69246143e-03 3.40294289e-05 9.99996375e-01 6.52596394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.644012739 meters Centerline goodness : 0.992375 Centerline is valid? [True, True] Translation: X:190.15, Y:123.29, Z:0.66 [[-9.29984810e-01 3.67589484e-01 2.49466842e-03 1.90149599e+02] [-3.67588088e-01 -9.29988156e-01 1.01347669e-03 1.23287001e+02] [ 2.69255545e-03 2.55075348e-05 9.99996375e-01 6.57056631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.674012739 meters Centerline goodness : 0.992001 Centerline is valid? [True, True] Translation: X:190.13, Y:123.28, Z:0.66 [[-9.29331636e-01 3.69237715e-01 2.49428597e-03 1.90125161e+02] [-3.69236322e-01 -9.29334983e-01 1.01441706e-03 1.23278706e+02] [ 2.69258825e-03 2.17488891e-05 9.99996375e-01 6.58900072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.704012739 meters Centerline goodness : 0.992021 Centerline is valid? [True, True] Translation: X:190.14, Y:123.29, Z:0.66 [[-9.28602778e-01 3.71066922e-01 2.49390223e-03 1.90140086e+02] [-3.71065533e-01 -9.28606127e-01 1.01535960e-03 1.23288917e+02] [ 2.69261925e-03 1.74645890e-05 9.99996375e-01 6.57509460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.734012739 meters Centerline goodness : 0.992151 Centerline is valid? [True, True] Translation: X:190.13, Y:123.29, Z:0.66 [[-9.28311525e-01 3.71794962e-01 2.49351629e-03 1.90132519e+02] [-3.71793574e-01 -9.28314874e-01 1.01630650e-03 1.23288578e+02] [ 2.69262590e-03 1.63757065e-05 9.99996375e-01 6.56904908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.764012739 meters Centerline goodness : 0.992040 Centerline is valid? [True, True] Translation: X:190.11, Y:123.28, Z:0.66 [[-9.27968906e-01 3.72649291e-01 2.49313088e-03 1.90113074e+02] [-3.72647902e-01 -9.27972255e-01 1.01725108e-03 1.23283448e+02] [ 2.69263418e-03 1.49173805e-05 9.99996375e-01 6.55637039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.794012739 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:190.15, Y:123.30, Z:0.65 [[-9.27724458e-01 3.73257439e-01 2.49274055e-03 1.90147447e+02] [-3.73256051e-01 -9.27727807e-01 1.01820667e-03 1.23299288e+02] [ 2.69263794e-03 1.41847330e-05 9.99996375e-01 6.54943525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.824012739 meters Centerline goodness : 0.992241 Centerline is valid? [True, True] Translation: X:190.12, Y:123.29, Z:0.65 [[-9.27245554e-01 3.74445550e-01 2.49235161e-03 1.90116250e+02] [-3.74444163e-01 -9.27248904e-01 1.01915783e-03 1.23289130e+02] [ 2.69264941e-03 1.17630586e-05 9.99996375e-01 6.54910253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.854012739 meters Centerline goodness : 0.992574 Centerline is valid? [True, True] Translation: X:190.14, Y:123.30, Z:0.65 [[-9.27065314e-01 3.74891577e-01 2.49196243e-03 1.90136229e+02] [-3.74890189e-01 -9.27068663e-01 1.02010854e-03 1.23298402e+02] [ 2.69265037e-03 1.14949748e-05 9.99996375e-01 6.54205810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.884012739 meters Centerline goodness : 0.992451 Centerline is valid? [True, True] Translation: X:190.12, Y:123.29, Z:0.65 [[-9.27099050e-01 3.74808144e-01 2.49157061e-03 1.90119474e+02] [-3.74806753e-01 -9.27102397e-01 1.02106463e-03 1.23292195e+02] [ 2.69264443e-03 1.27705598e-05 9.99996375e-01 6.52586645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.914012739 meters Centerline goodness : 0.992415 Centerline is valid? [True, True] Translation: X:190.14, Y:123.30, Z:0.65 [[-9.27960087e-01 3.72671264e-01 2.49117824e-03 1.90143792e+02] [-3.72669863e-01 -9.27963431e-01 1.02202105e-03 1.23300922e+02] [ 2.69260018e-03 2.00076896e-05 9.99996375e-01 6.51418830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.944012739 meters Centerline goodness : 0.992703 Centerline is valid? [True, True] Translation: X:190.14, Y:123.30, Z:0.65 [[-9.28559371e-01 3.71175552e-01 2.49078595e-03 1.90140067e+02] [-3.71174143e-01 -9.28562712e-01 1.02297620e-03 1.23298356e+02] [ 2.69255471e-03 2.53788001e-05 9.99996375e-01 6.51838274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.974012739 meters Centerline goodness : 0.992817 Centerline is valid? [True, True] Translation: X:190.13, Y:123.29, Z:0.65 [[-9.29625608e-01 3.68496984e-01 2.49039558e-03 1.90129722e+02] [-3.68495563e-01 -9.29628943e-01 1.02392568e-03 1.23292232e+02] [ 2.69245733e-03 3.41678092e-05 9.99996375e-01 6.53534262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.004012739 meters Centerline goodness : 0.992321 Centerline is valid? [True, True] Translation: X:190.13, Y:123.29, Z:0.65 [[-9.29825537e-01 3.67992215e-01 2.49000184e-03 1.90129410e+02] [-3.67990790e-01 -9.29828870e-01 1.02488228e-03 1.23291425e+02] [ 2.69242430e-03 3.66639738e-05 9.99996375e-01 6.53563839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.034012739 meters Centerline goodness : 0.992589 Centerline is valid? [True, True] Translation: X:190.13, Y:123.29, Z:0.65 [[-9.29823657e-01 3.67996968e-01 2.48960509e-03 1.90130110e+02] [-3.67995540e-01 -9.29826990e-01 1.02584515e-03 1.23290853e+02] [ 2.69240991e-03 3.76915252e-05 9.99996375e-01 6.53166796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.064012739 meters Centerline goodness : 0.992344 Centerline is valid? [True, True] Translation: X:190.15, Y:123.30, Z:0.65 [[-9.29652306e-01 3.68429631e-01 2.48920723e-03 1.90147059e+02] [-3.68428202e-01 -9.29655638e-01 1.02680965e-03 1.23295682e+02] [ 2.69241263e-03 3.74818191e-05 9.99996375e-01 6.53657780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.094012739 meters Centerline goodness : 0.992460 Centerline is valid? [True, True] Translation: X:190.14, Y:123.29, Z:0.65 [[-9.29288383e-01 3.69346595e-01 2.48881092e-03 1.90142896e+02] [-3.69345167e-01 -9.29291715e-01 1.02776932e-03 1.23293187e+02] [ 2.69243447e-03 3.58638051e-05 9.99996375e-01 6.54431798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.124012739 meters Centerline goodness : 0.992320 Centerline is valid? [True, True] Translation: X:190.15, Y:123.29, Z:0.65 [[-9.28965633e-01 3.70157615e-01 2.48841525e-03 1.90146349e+02] [-3.70156187e-01 -9.28968966e-01 1.02872643e-03 1.23293797e+02] [ 2.69245146e-03 3.45491992e-05 9.99996375e-01 6.54846244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.154012739 meters Centerline goodness : 0.992372 Centerline is valid? [True, True] Translation: X:190.15, Y:123.29, Z:0.65 [[-9.28692168e-01 3.70843184e-01 2.48801834e-03 1.90148080e+02] [-3.70841756e-01 -9.28695500e-01 1.02968547e-03 1.23292809e+02] [ 2.69246328e-03 3.35997405e-05 9.99996375e-01 6.54088363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.184012739 meters Centerline goodness : 0.992222 Centerline is valid? [True, True] Translation: X:190.15, Y:123.29, Z:0.65 [[-9.28648276e-01 3.70953086e-01 2.48762107e-03 1.90150258e+02] [-3.70951656e-01 -9.28651607e-01 1.03064436e-03 1.23292956e+02] [ 2.69245401e-03 3.43189516e-05 9.99996375e-01 6.53513400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.214012739 meters Centerline goodness : 0.991958 Centerline is valid? [True, True] Translation: X:190.15, Y:123.29, Z:0.66 [[-9.28648296e-01 3.70953037e-01 2.48722315e-03 1.90145291e+02] [-3.70951605e-01 -9.28651626e-01 1.03160374e-03 1.23289871e+02] [ 2.69244037e-03 3.53576347e-05 9.99996375e-01 6.56030871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.244012739 meters Centerline goodness : 0.990836 Centerline is valid? [True, True] Translation: X:190.15, Y:123.29, Z:0.66 [[-9.28775589e-01 3.70634215e-01 2.48682353e-03 1.90152674e+02] [-3.70632779e-01 -9.28778917e-01 1.03256619e-03 1.23289025e+02] [ 2.69241363e-03 3.73239514e-05 9.99996375e-01 6.62148879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.274012739 meters Centerline goodness : 0.989510 Centerline is valid? [True, True] Translation: X:190.16, Y:123.29, Z:0.66 [[-9.28868525e-01 3.70401244e-01 2.48642293e-03 1.90159564e+02] [-3.70399804e-01 -9.28871852e-01 1.03352993e-03 1.23290346e+02] [ 2.69238905e-03 3.90428563e-05 9.99996375e-01 6.63381942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.304012739 meters Centerline goodness : 0.988856 Centerline is valid? [True, True] Translation: X:190.17, Y:123.29, Z:0.67 [[-9.29051526e-01 3.69941998e-01 2.48602317e-03 1.90170240e+02] [-3.69940554e-01 -9.29054851e-01 1.03449062e-03 1.23292221e+02] [ 2.69235341e-03 4.14143012e-05 9.99996375e-01 6.65116091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.334012739 meters Centerline goodness : 0.988026 Centerline is valid? [True, True] Translation: X:190.17, Y:123.29, Z:0.67 [[-9.28916324e-01 3.70281358e-01 2.48562477e-03 1.90168233e+02] [-3.70279912e-01 -9.28919649e-01 1.03544698e-03 1.23289574e+02] [ 2.69235241e-03 4.14666769e-05 9.99996375e-01 6.66209367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.364012739 meters Centerline goodness : 0.987312 Centerline is valid? [True, True] Translation: X:190.17, Y:123.29, Z:0.67 [[-9.28634000e-01 3.70988839e-01 2.48522648e-03 1.90166643e+02] [-3.70987393e-01 -9.28637324e-01 1.03640207e-03 1.23287531e+02] [ 2.69236767e-03 4.04505069e-05 9.99996375e-01 6.66713703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.394012739 meters Centerline goodness : 0.986398 Centerline is valid? [True, True] Translation: X:190.16, Y:123.28, Z:0.67 [[-9.28210332e-01 3.72047585e-01 2.48482634e-03 1.90162329e+02] [-3.72046140e-01 -9.28213657e-01 1.03736052e-03 1.23284647e+02] [ 2.69239722e-03 3.84187068e-05 9.99996375e-01 6.66941860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.424012739 meters Centerline goodness : 0.985481 Centerline is valid? [True, True] Translation: X:190.18, Y:123.29, Z:0.67 [[-9.27279356e-01 3.74361889e-01 2.48442388e-03 1.90184864e+02] [-3.74360450e-01 -9.27282684e-01 1.03832350e-03 1.23292897e+02] [ 2.69247199e-03 3.27458992e-05 9.99996375e-01 6.66072795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.454012739 meters Centerline goodness : 0.985065 Centerline is valid? [True, True] Translation: X:190.19, Y:123.29, Z:0.67 [[-9.26638165e-01 3.75946193e-01 2.48402314e-03 1.90185582e+02] [-3.75944758e-01 -9.26641494e-01 1.03928132e-03 1.23292457e+02] [ 2.69251277e-03 2.91822561e-05 9.99996375e-01 6.66658772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.484012739 meters Centerline goodness : 0.984473 Centerline is valid? [True, True] Translation: X:190.20, Y:123.30, Z:0.67 [[-9.26110749e-01 3.77243571e-01 2.48362497e-03 1.90198728e+02] [-3.77242138e-01 -9.26114079e-01 1.04023199e-03 1.23297580e+02] [ 2.69254088e-03 2.64420325e-05 9.99996375e-01 6.65957769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.514012739 meters Centerline goodness : 0.983227 Centerline is valid? [True, True] Translation: X:190.20, Y:123.30, Z:0.66 [[-9.25568932e-01 3.78570978e-01 2.48322775e-03 1.90195974e+02] [-3.78569547e-01 -9.25572263e-01 1.04117936e-03 1.23297045e+02] [ 2.69256702e-03 2.36088627e-05 9.99996375e-01 6.64661080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.544012739 meters Centerline goodness : 0.982439 Centerline is valid? [True, True] Translation: X:190.20, Y:123.30, Z:0.67 [[-9.25344384e-01 3.79119516e-01 2.48283103e-03 1.90204040e+02] [-3.79118085e-01 -9.25347714e-01 1.04212454e-03 1.23301422e+02] [ 2.69257177e-03 2.30379459e-05 9.99996375e-01 6.65357258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.574012739 meters Centerline goodness : 0.981182 Centerline is valid? [True, True] Translation: X:190.20, Y:123.30, Z:0.67 [[-9.25352473e-01 3.79099774e-01 2.48243421e-03 1.90203807e+02] [-3.79098340e-01 -9.25355802e-01 1.04306894e-03 1.23302029e+02] [ 2.69256210e-03 2.41197375e-05 9.99996375e-01 6.65990257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.604012739 meters Centerline goodness : 0.981155 Centerline is valid? [True, True] Translation: X:190.19, Y:123.30, Z:0.67 [[-9.25389561e-01 3.79009234e-01 2.48203762e-03 1.90189694e+02] [-3.79007797e-01 -9.25392890e-01 1.04401179e-03 1.23296521e+02] [ 2.69255008e-03 2.54060059e-05 9.99996375e-01 6.66663199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.634012739 meters Centerline goodness : 0.980304 Centerline is valid? [True, True] Translation: X:190.19, Y:123.30, Z:0.67 [[-9.25407482e-01 3.78965479e-01 2.48163777e-03 1.90185917e+02] [-3.78964039e-01 -9.25410809e-01 1.04496138e-03 1.23295010e+02] [ 2.69253871e-03 2.65636085e-05 9.99996375e-01 6.66875238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.664012739 meters Centerline goodness : 0.979646 Centerline is valid? [True, True] Translation: X:190.20, Y:123.30, Z:0.67 [[-9.25888436e-01 3.77788893e-01 2.48123386e-03 1.90197907e+02] [-3.77787446e-01 -9.25891760e-01 1.04591957e-03 1.23300495e+02] [ 2.69249079e-03 3.10258333e-05 9.99996375e-01 6.65471943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.694012739 meters Centerline goodness : 0.979415 Centerline is valid? [True, True] Translation: X:190.19, Y:123.30, Z:0.66 [[-9.25987295e-01 3.77546521e-01 2.48083019e-03 1.90193667e+02] [-3.77545071e-01 -9.25990618e-01 1.04687616e-03 1.23298540e+02] [ 2.69246994e-03 3.27688165e-05 9.99996375e-01 6.64083168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.724012739 meters Centerline goodness : 0.979022 Centerline is valid? [True, True] Translation: X:190.19, Y:123.30, Z:0.66 [[-9.26294532e-01 3.76792102e-01 2.48042676e-03 1.90187753e+02] [-3.76790647e-01 -9.26297852e-01 1.04783116e-03 1.23296027e+02] [ 2.69242849e-03 3.59986721e-05 9.99996375e-01 6.63424935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.754012739 meters Centerline goodness : 0.978159 Centerline is valid? [True, True] Translation: X:190.20, Y:123.30, Z:0.66 [[-9.26970189e-01 3.75126802e-01 2.48002059e-03 1.90201201e+02] [-3.75125338e-01 -9.26973506e-01 1.04879163e-03 1.23299389e+02] [ 2.69234323e-03 4.18800117e-05 9.99996375e-01 6.64647462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.784012739 meters Centerline goodness : 0.977970 Centerline is valid? [True, True] Translation: X:190.20, Y:123.30, Z:0.66 [[-9.27267584e-01 3.74391079e-01 2.47961431e-03 1.90198037e+02] [-3.74389610e-01 -9.27270898e-01 1.04975129e-03 1.23296321e+02] [ 2.69229171e-03 4.50585025e-05 9.99996375e-01 6.64860963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.814012739 meters Centerline goodness : 0.977238 Centerline is valid? [True, True] Translation: X:190.20, Y:123.29, Z:0.67 [[-9.28226483e-01 3.72007324e-01 2.47920828e-03 1.90197880e+02] [-3.72005844e-01 -9.28229793e-01 1.05070934e-03 1.23294568e+02] [ 2.69214656e-03 5.30162632e-05 9.99996375e-01 6.66897449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.844012739 meters Centerline goodness : 0.976857 Centerline is valid? [True, True] Translation: X:190.21, Y:123.30, Z:0.67 [[-9.28577902e-01 3.71129270e-01 2.47880038e-03 1.90209440e+02] [-3.71127784e-01 -9.28581209e-01 1.05167078e-03 1.23299553e+02] [ 2.69207326e-03 5.66065590e-05 9.99996375e-01 6.68248533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.874012739 meters Centerline goodness : 0.976134 Centerline is valid? [True, True] Translation: X:190.22, Y:123.30, Z:0.67 [[-9.29011401e-01 3.70042801e-01 2.47839313e-03 1.90216065e+02] [-3.70041309e-01 -9.29014705e-01 1.05262964e-03 1.23302541e+02] [ 2.69198168e-03 6.07971029e-05 9.99996375e-01 6.70120932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.904012739 meters Centerline goodness : 0.975316 Centerline is valid? [True, True] Translation: X:190.23, Y:123.31, Z:0.67 [[-9.29607662e-01 3.68542336e-01 2.47798775e-03 1.90228654e+02] [-3.68540836e-01 -9.29610963e-01 1.05358306e-03 1.23306639e+02] [ 2.69185454e-03 6.61792069e-05 9.99996375e-01 6.69726189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.934012739 meters Centerline goodness : 0.975627 Centerline is valid? [True, True] Translation: X:190.22, Y:123.30, Z:0.67 [[-9.29643835e-01 3.68451084e-01 2.47758424e-03 1.90220635e+02] [-3.68449581e-01 -9.29647134e-01 1.05453110e-03 1.23303150e+02] [ 2.69182222e-03 6.74734590e-05 9.99996375e-01 6.68972200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.964012739 meters Centerline goodness : 0.974961 Centerline is valid? [True, True] Translation: X:190.24, Y:123.31, Z:0.67 [[-9.29349844e-01 3.69191998e-01 2.47718023e-03 1.90243685e+02] [-3.69190495e-01 -9.29353143e-01 1.05547930e-03 1.23313147e+02] [ 2.69184975e-03 6.63581268e-05 9.99996375e-01 6.69208817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.994012739 meters Centerline goodness : 0.974557 Centerline is valid? [True, True] Translation: X:190.22, Y:123.31, Z:0.67 [[-9.28506319e-01 3.71308337e-01 2.47677760e-03 1.90221489e+02] [-3.71306840e-01 -9.28509620e-01 1.05642327e-03 1.23305323e+02] [ 2.69197060e-03 6.12512146e-05 9.99996375e-01 6.71232863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.024012739 meters Centerline goodness : 0.974505 Centerline is valid? [True, True] Translation: X:190.22, Y:123.31, Z:0.67 [[-9.28047646e-01 3.72453265e-01 2.47637407e-03 1.90218412e+02] [-3.72451769e-01 -9.28050948e-01 1.05736834e-03 1.23305204e+02] [ 2.69202159e-03 5.89582913e-05 9.99996375e-01 6.71768888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.054012739 meters Centerline goodness : 0.974531 Centerline is valid? [True, True] Translation: X:190.23, Y:123.31, Z:0.67 [[-9.27552824e-01 3.73683860e-01 2.47596551e-03 1.90229149e+02] [-3.73682366e-01 -9.27556127e-01 1.05832417e-03 1.23311048e+02] [ 2.69207564e-03 5.64269208e-05 9.99996375e-01 6.69524270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.084012739 meters Centerline goodness : 0.974531 Centerline is valid? [True, True] Translation: X:190.23, Y:123.31, Z:0.67 [[-9.27409243e-01 3.74040060e-01 2.47555720e-03 1.90231453e+02] [-3.74038565e-01 -9.27412546e-01 1.05927841e-03 1.23312114e+02] [ 2.69207536e-03 5.64307225e-05 9.99996375e-01 6.69517495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.114012739 meters Centerline goodness : 0.974262 Centerline is valid? [True, True] Translation: X:190.23, Y:123.31, Z:0.67 [[-9.27257513e-01 3.74416051e-01 2.47515002e-03 1.90231413e+02] [-3.74414554e-01 -9.27260814e-01 1.06022899e-03 1.23311778e+02] [ 2.69207637e-03 5.63731028e-05 9.99996375e-01 6.66919784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.144012739 meters Centerline goodness : 0.974155 Centerline is valid? [True, True] Translation: X:190.24, Y:123.31, Z:0.66 [[-9.27253078e-01 3.74427035e-01 2.47474206e-03 1.90237077e+02] [-3.74425536e-01 -9.27256379e-01 1.06118037e-03 1.23313023e+02] [ 2.69205498e-03 5.73761409e-05 9.99996375e-01 6.64791152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.174012739 meters Centerline goodness : 0.974228 Centerline is valid? [True, True] Translation: X:190.23, Y:123.31, Z:0.66 [[-9.27418703e-01 3.74016613e-01 2.47435957e-03 1.90233281e+02] [-3.74015109e-01 -9.27422002e-01 1.06207147e-03 1.23309912e+02] [ 2.69200788e-03 5.95370823e-05 9.99996375e-01 6.62900058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.204012739 meters Centerline goodness : 0.974065 Centerline is valid? [True, True] Translation: X:190.25, Y:123.32, Z:0.66 [[-9.28211757e-01 3.72044102e-01 2.47395057e-03 1.90250720e+02] [-3.72042590e-01 -9.28215051e-01 1.06302334e-03 1.23315534e+02] [ 2.69184972e-03 6.62957851e-05 9.99996375e-01 6.63862474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.234012739 meters Centerline goodness : 0.973727 Centerline is valid? [True, True] Translation: X:190.27, Y:123.32, Z:0.66 [[-9.28586920e-01 3.71106741e-01 2.47354256e-03 1.90267343e+02] [-3.71105222e-01 -9.28590212e-01 1.06397188e-03 1.23321493e+02] [ 2.69175455e-03 7.00458116e-05 9.99996375e-01 6.64301539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.264012739 meters Centerline goodness : 0.974656 Centerline is valid? [True, True] Translation: X:190.27, Y:123.32, Z:0.66 [[-9.28957658e-01 3.70177732e-01 2.47313877e-03 1.90273143e+02] [-3.70176208e-01 -9.28960947e-01 1.06490965e-03 1.23322117e+02] [ 2.69165517e-03 7.37588462e-05 9.99996375e-01 6.63785589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.294012739 meters Centerline goodness : 0.974263 Centerline is valid? [True, True] Translation: X:190.25, Y:123.31, Z:0.66 [[-9.29770108e-01 3.68132355e-01 2.47273726e-03 1.90253858e+02] [-3.68130821e-01 -9.29773393e-01 1.06584114e-03 1.23309152e+02] [ 2.69145592e-03 8.06964364e-05 9.99996375e-01 6.62156563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.324012739 meters Centerline goodness : 0.975113 Centerline is valid? [True, True] Translation: X:190.26, Y:123.31, Z:0.66 [[-9.29763428e-01 3.68149230e-01 2.47233202e-03 1.90258917e+02] [-3.68147693e-01 -9.29766712e-01 1.06678031e-03 1.23308913e+02] [ 2.69142636e-03 8.16699844e-05 9.99996375e-01 6.62877640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.354012739 meters Centerline goodness : 0.974827 Centerline is valid? [True, True] Translation: X:190.27, Y:123.31, Z:0.66 [[-9.29467557e-01 3.68895580e-01 2.47192305e-03 1.90272173e+02] [-3.68894044e-01 -9.29470841e-01 1.06772713e-03 1.23312591e+02] [ 2.69146021e-03 8.05400373e-05 9.99996375e-01 6.64898231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.384012739 meters Centerline goodness : 0.974401 Centerline is valid? [True, True] Translation: X:190.27, Y:123.31, Z:0.67 [[-9.28491722e-01 3.71344873e-01 2.47151562e-03 1.90265966e+02] [-3.71343343e-01 -9.28495008e-01 1.06866940e-03 1.23305628e+02] [ 2.69163481e-03 7.44698238e-05 9.99996375e-01 6.67690472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.414012739 meters Centerline goodness : 0.974607 Centerline is valid? [True, True] Translation: X:190.26, Y:123.30, Z:0.67 [[-9.27689524e-01 3.73344399e-01 2.47110782e-03 1.90263627e+02] [-3.73342874e-01 -9.27692813e-01 1.06961152e-03 1.23302889e+02] [ 2.69176244e-03 6.96969073e-05 9.99996375e-01 6.66600150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.444012739 meters Centerline goodness : 0.974920 Centerline is valid? [True, True] Translation: X:190.26, Y:123.30, Z:0.66 [[-9.26674174e-01 3.75857515e-01 2.47069715e-03 1.90264963e+02] [-3.75855996e-01 -9.26677465e-01 1.07055929e-03 1.23300902e+02] [ 2.69191713e-03 6.34333068e-05 9.99996375e-01 6.62868138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.474012739 meters Centerline goodness : 0.974357 Centerline is valid? [True, True] Translation: X:190.27, Y:123.30, Z:0.66 [[-9.26298247e-01 3.76783035e-01 2.47028502e-03 1.90272458e+02] [-3.76781516e-01 -9.26301539e-01 1.07150943e-03 1.23301494e+02] [ 2.69195539e-03 6.17795670e-05 9.99996375e-01 6.62657291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.504012739 meters Centerline goodness : 0.974281 Centerline is valid? [True, True] Translation: X:190.27, Y:123.30, Z:0.66 [[-9.26169735e-01 3.77098823e-01 2.46987287e-03 1.90269259e+02] [-3.77097303e-01 -9.26173026e-01 1.07245862e-03 1.23297960e+02] [ 2.69195251e-03 6.18963167e-05 9.99996375e-01 6.63409051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.534012739 meters Centerline goodness : 0.974171 Centerline is valid? [True, True] Translation: X:190.28, Y:123.30, Z:0.66 [[-9.25979399e-01 3.77565960e-01 2.46946001e-03 1.90275959e+02] [-3.77564439e-01 -9.25982690e-01 1.07340844e-03 1.23298379e+02] [ 2.69195971e-03 6.15738154e-05 9.99996375e-01 6.64745714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.564012739 meters Centerline goodness : 0.974130 Centerline is valid? [True, True] Translation: X:190.27, Y:123.29, Z:0.67 [[-9.25832461e-01 3.77926128e-01 2.46904636e-03 1.90271905e+02] [-3.77924606e-01 -9.25835751e-01 1.07435905e-03 1.23292925e+02] [ 2.69195975e-03 6.15631130e-05 9.99996375e-01 6.65508051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.594012739 meters Centerline goodness : 0.974141 Centerline is valid? [True, True] Translation: X:190.29, Y:123.30, Z:0.67 [[-9.25563034e-01 3.78585495e-01 2.46863159e-03 1.90285006e+02] [-3.78583973e-01 -9.25566324e-01 1.07531126e-03 1.23296878e+02] [ 2.69197951e-03 6.06840008e-05 9.99996375e-01 6.65410879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.624012739 meters Centerline goodness : 0.973430 Centerline is valid? [True, True] Translation: X:190.29, Y:123.30, Z:0.66 [[-9.25141586e-01 3.79614217e-01 2.46821673e-03 1.90290644e+02] [-3.79612695e-01 -9.25144877e-01 1.07626267e-03 1.23297962e+02] [ 2.69202267e-03 5.87289487e-05 9.99996375e-01 6.64271569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.654012739 meters Centerline goodness : 0.973718 Centerline is valid? [True, True] Translation: X:190.28, Y:123.30, Z:0.66 [[-9.24195842e-01 3.81910927e-01 2.46780379e-03 1.90282817e+02] [-3.81909411e-01 -9.24199135e-01 1.07720870e-03 1.23295038e+02] [ 2.69213990e-03 5.30743064e-05 9.99996375e-01 6.62708448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.684012739 meters Centerline goodness : 0.973659 Centerline is valid? [True, True] Translation: X:190.28, Y:123.29, Z:0.66 [[-9.23486981e-01 3.83621830e-01 2.46738930e-03 1.90276250e+02] [-3.83620318e-01 -9.23490276e-01 1.07815725e-03 1.23292394e+02] [ 2.69221468e-03 4.91235169e-05 9.99996375e-01 6.60644487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.714012739 meters Centerline goodness : 0.973640 Centerline is valid? [True, True] Translation: X:190.31, Y:123.31, Z:0.66 [[-9.23184702e-01 3.84348695e-01 2.46697118e-03 1.90310733e+02] [-3.84347183e-01 -9.23187997e-01 1.07911313e-03 1.23305826e+02] [ 2.69223390e-03 4.80473152e-05 9.99996375e-01 6.59950374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.744012739 meters Centerline goodness : 0.973331 Centerline is valid? [True, True] Translation: X:190.30, Y:123.30, Z:0.66 [[-9.23510050e-01 3.83566297e-01 2.46655652e-03 1.90302800e+02] [-3.83564779e-01 -9.23513342e-01 1.08006010e-03 1.23300868e+02] [ 2.69217251e-03 5.13621479e-05 9.99996375e-01 6.60913419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.774012739 meters Centerline goodness : 0.973062 Centerline is valid? [True, True] Translation: X:190.29, Y:123.29, Z:0.66 [[-9.23905157e-01 3.82613615e-01 2.46614500e-03 1.90291050e+02] [-3.82612092e-01 -9.23908447e-01 1.08099893e-03 1.23294740e+02] [ 2.69209710e-03 5.51635883e-05 9.99996375e-01 6.61213324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.804012739 meters Centerline goodness : 0.973403 Centerline is valid? [True, True] Translation: X:190.29, Y:123.29, Z:0.66 [[-9.24500479e-01 3.81172906e-01 2.46572885e-03 1.90291773e+02] [-3.81171375e-01 -9.24503765e-01 1.08194731e-03 1.23291231e+02] [ 2.69198461e-03 6.03955500e-05 9.99996375e-01 6.61191233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.834012739 meters Centerline goodness : 0.973364 Centerline is valid? [True, True] Translation: X:190.29, Y:123.29, Z:0.66 [[-9.24508711e-01 3.81152943e-01 2.46530946e-03 1.90294523e+02] [-3.81151410e-01 -9.24511996e-01 1.08290208e-03 1.23289310e+02] [ 2.69195949e-03 6.14962258e-05 9.99996375e-01 6.61258127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.864012739 meters Centerline goodness : 0.972555 Centerline is valid? [True, True] Translation: X:190.31, Y:123.29, Z:0.66 [[-9.24339430e-01 3.81563288e-01 2.46488907e-03 1.90308193e+02] [-3.81561753e-01 -9.24342715e-01 1.08385813e-03 1.23291769e+02] [ 2.69196272e-03 6.13454065e-05 9.99996375e-01 6.60240852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.894012739 meters Centerline goodness : 0.973167 Centerline is valid? [True, True] Translation: X:190.29, Y:123.28, Z:0.66 [[-9.24053077e-01 3.82256245e-01 2.46446986e-03 1.90289459e+02] [-3.82254710e-01 -9.24056362e-01 1.08481048e-03 1.23280208e+02] [ 2.69198464e-03 6.03672517e-05 9.99996375e-01 6.59801298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.924012739 meters Centerline goodness : 0.973301 Centerline is valid? [True, True] Translation: X:190.33, Y:123.29, Z:0.66 [[-9.22645176e-01 3.85642073e-01 2.46404823e-03 1.90329322e+02] [-3.85640548e-01 -9.22648465e-01 1.08576733e-03 1.23292210e+02] [ 2.69216788e-03 5.15410768e-05 9.99996375e-01 6.60517971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.954012739 meters Centerline goodness : 0.972679 Centerline is valid? [True, True] Translation: X:190.34, Y:123.29, Z:0.66 [[-9.21533318e-01 3.88291480e-01 2.46362843e-03 1.90340464e+02] [-3.88289962e-01 -9.21536610e-01 1.08671904e-03 1.23293780e+02] [ 2.69228754e-03 4.48456129e-05 9.99996375e-01 6.60570636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.984012739 meters Centerline goodness : 0.972857 Centerline is valid? [True, True] Translation: X:190.35, Y:123.29, Z:0.66 [[-9.19167855e-01 3.93858334e-01 2.46321540e-03 1.90351514e+02] [-3.93856833e-01 -9.19171155e-01 1.08765443e-03 1.23292910e+02] [ 2.69249831e-03 2.95827746e-05 9.99996375e-01 6.58026525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.014012739 meters Centerline goodness : 0.973251 Centerline is valid? [True, True] Translation: X:190.38, Y:123.30, Z:0.66 [[-9.17819503e-01 3.96990295e-01 2.46280425e-03 1.90375760e+02] [-3.96988803e-01 -9.17822807e-01 1.08858461e-03 1.23302545e+02] [ 2.69257544e-03 2.14184715e-05 9.99996375e-01 6.58393908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.044012739 meters Centerline goodness : 0.972961 Centerline is valid? [True, True] Translation: X:190.36, Y:123.30, Z:0.66 [[-9.16375805e-01 4.00311530e-01 2.46239736e-03 1.90363955e+02] [-4.00310048e-01 -9.16379113e-01 1.08950423e-03 1.23296561e+02] [ 2.69263061e-03 1.26729145e-05 9.99996375e-01 6.58211260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.074012739 meters Centerline goodness : 0.973157 Centerline is valid? [True, True] Translation: X:190.41, Y:123.32, Z:0.66 [[-9.13678556e-01 4.06430110e-01 2.46199124e-03 1.90411131e+02] [-4.06428647e-01 -9.13681873e-01 1.09042118e-03 1.23316313e+02] [ 2.69265677e-03 -4.32932512e-06 9.99996375e-01 6.60363003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.104012739 meters Centerline goodness : 0.972510 Centerline is valid? [True, True] Translation: X:190.41, Y:123.32, Z:0.66 [[-9.12303526e-01 4.09507286e-01 2.46158953e-03 1.90409816e+02] [-4.09505832e-01 -9.12306847e-01 1.09132728e-03 1.23316106e+02] [ 2.69263145e-03 -1.24135428e-05 9.99996375e-01 6.61476472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.134012739 meters Centerline goodness : 0.973418 Centerline is valid? [True, True] Translation: X:190.43, Y:123.33, Z:0.66 [[-9.10339204e-01 4.13855622e-01 2.46119362e-03 1.90428099e+02] [-4.13854182e-01 -9.10342531e-01 1.09221941e-03 1.23327303e+02] [ 2.69255037e-03 -2.42851236e-05 9.99996375e-01 6.61294570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.164012739 meters Centerline goodness : 0.973050 Centerline is valid? [True, True] Translation: X:190.38, Y:123.31, Z:0.66 [[-9.09270531e-01 4.16198324e-01 2.46079944e-03 1.90381170e+02] [-4.16196890e-01 -9.09273861e-01 1.09310679e-03 1.23308753e+02] [ 2.69248982e-03 -3.02472810e-05 9.99996375e-01 6.60780771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.194012739 meters Centerline goodness : 0.973236 Centerline is valid? [True, True] Translation: X:190.42, Y:123.33, Z:0.66 [[-9.09107290e-01 4.16554786e-01 2.45890215e-03 1.90419659e+02] [-4.16553341e-01 -9.09110615e-01 1.09737539e-03 1.23327666e+02] [ 2.69253101e-03 -2.66319428e-05 9.99996375e-01 6.60275417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.224012739 meters Centerline goodness : 0.973258 Centerline is valid? [True, True] Translation: X:190.35, Y:123.30, Z:0.66 [[-9.08708468e-01 4.17424085e-01 2.46030762e-03 1.90349230e+02] [-4.17422653e-01 -9.08711798e-01 1.09421523e-03 1.23300155e+02] [ 2.69246235e-03 -3.26654895e-05 9.99996375e-01 6.62946135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.254012739 meters Centerline goodness : 0.973925 Centerline is valid? [True, True] Translation: X:190.44, Y:123.34, Z:0.66 [[-9.08768309e-01 4.17293795e-01 2.45973107e-03 1.90435735e+02] [-4.17292358e-01 -9.08771637e-01 1.09551034e-03 1.23341611e+02] [ 2.69248350e-03 -3.08619015e-05 9.99996375e-01 6.60770159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.284012739 meters Centerline goodness : 0.973615 Centerline is valid? [True, True] Translation: X:190.41, Y:123.33, Z:0.66 [[-9.08676101e-01 4.17494543e-01 2.45949502e-03 1.90409957e+02] [-4.17493106e-01 -9.08679429e-01 1.09604004e-03 1.23333102e+02] [ 2.69248326e-03 -3.08768188e-05 9.99996375e-01 6.61022526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.314012739 meters Centerline goodness : 0.973682 Centerline is valid? [True, True] Translation: X:190.40, Y:123.34, Z:0.66 [[-9.08419795e-01 4.18051945e-01 2.45909890e-03 1.90401989e+02] [-4.18050507e-01 -9.08423123e-01 1.09692806e-03 1.23336402e+02] [ 2.69247521e-03 -3.15563781e-05 9.99996375e-01 6.60477071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.344012739 meters Centerline goodness : 0.973585 Centerline is valid? [True, True] Translation: X:190.43, Y:123.35, Z:0.66 [[-9.08056583e-01 4.18840299e-01 2.45869717e-03 1.90425507e+02] [-4.18838862e-01 -9.08059911e-01 1.09782778e-03 1.23350375e+02] [ 2.69245885e-03 -3.29081840e-05 9.99996375e-01 6.60558254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.374012739 meters Centerline goodness : 0.973879 Centerline is valid? [True, True] Translation: X:190.43, Y:123.35, Z:0.66 [[-9.07734136e-01 4.19538669e-01 2.45829734e-03 1.90427857e+02] [-4.19537232e-01 -9.07737464e-01 1.09872237e-03 1.23354750e+02] [ 2.69244511e-03 -3.39994593e-05 9.99996375e-01 6.59858716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.404012739 meters Centerline goodness : 0.974486 Centerline is valid? [True, True] Translation: X:190.43, Y:123.36, Z:0.66 [[-9.07770690e-01 4.19459572e-01 2.45790081e-03 1.90427133e+02] [-4.19458132e-01 -9.07774017e-01 1.09960870e-03 1.23360738e+02] [ 2.69245989e-03 -3.27939293e-05 9.99996375e-01 6.58431842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.434012739 meters Centerline goodness : 0.974518 Centerline is valid? [True, True] Translation: X:190.39, Y:123.35, Z:0.66 [[-9.08097916e-01 4.18750684e-01 2.45750409e-03 1.90393551e+02] [-4.18749239e-01 -9.08101241e-01 1.10049462e-03 1.23348469e+02] [ 2.69249539e-03 -2.97210957e-05 9.99996375e-01 6.56823169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.464012739 meters Centerline goodness : 0.973956 Centerline is valid? [True, True] Translation: X:190.41, Y:123.36, Z:0.66 [[-9.08700805e-01 4.17440786e-01 2.45710163e-03 1.90410628e+02] [-4.17439333e-01 -9.08704127e-01 1.10139247e-03 1.23357640e+02] [ 2.69254453e-03 -2.48546430e-05 9.99996375e-01 6.57968404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.494012739 meters Centerline goodness : 0.973933 Centerline is valid? [True, True] Translation: X:190.40, Y:123.35, Z:0.66 [[-9.11017400e-01 4.12360596e-01 2.45669575e-03 1.90401145e+02] [-4.12359122e-01 -9.11020713e-01 1.10229706e-03 1.23353380e+02] [ 2.69264458e-03 -8.82909957e-06 9.99996375e-01 6.57284402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.524012739 meters Centerline goodness : 0.973595 Centerline is valid? [True, True] Translation: X:190.38, Y:123.34, Z:0.66 [[-9.12345800e-01 4.09413127e-01 2.45629005e-03 1.90380693e+02] [-4.09411640e-01 -9.12349106e-01 1.10320034e-03 1.23342487e+02] [ 2.69265874e-03 8.66457318e-07 9.99996375e-01 6.59023318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.554012739 meters Centerline goodness : 0.973810 Centerline is valid? [True, True] Translation: X:190.38, Y:123.34, Z:0.66 [[-9.13824893e-01 4.06101014e-01 2.45587857e-03 1.90375056e+02] [-4.06099513e-01 -9.13828193e-01 1.10411560e-03 1.23337343e+02] [ 2.69263354e-03 1.16372313e-05 9.99996375e-01 6.60386932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.584012739 meters Centerline goodness : 0.973328 Centerline is valid? [True, True] Translation: X:190.38, Y:123.33, Z:0.66 [[-9.16570546e-01 3.99865483e-01 2.45546141e-03 1.90378423e+02] [-3.99863957e-01 -9.16573835e-01 1.10504256e-03 1.23332097e+02] [ 2.69248005e-03 3.09989443e-05 9.99996375e-01 6.58435789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.614012739 meters Centerline goodness : 0.973336 Centerline is valid? [True, True] Translation: X:190.38, Y:123.33, Z:0.66 [[-9.17068630e-01 3.98721835e-01 2.45504218e-03 1.90381565e+02] [-3.98720302e-01 -9.17071915e-01 1.10597316e-03 1.23329387e+02] [ 2.69242588e-03 3.53781265e-05 9.99996375e-01 6.57979936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.644012739 meters Centerline goodness : 0.973176 Centerline is valid? [True, True] Translation: X:190.38, Y:123.32, Z:0.66 [[-9.16360313e-01 4.00347039e-01 2.45462218e-03 1.90384779e+02] [-4.00345510e-01 -9.16363600e-01 1.10690452e-03 1.23321878e+02] [ 2.69247237e-03 3.16264053e-05 9.99996375e-01 6.59991623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.674012739 meters Centerline goodness : 0.973268 Centerline is valid? [True, True] Translation: X:190.42, Y:123.33, Z:0.66 [[-9.15102096e-01 4.03214744e-01 2.45420135e-03 1.90419493e+02] [-4.03213223e-01 -9.15105387e-01 1.10783680e-03 1.23334227e+02] [ 2.69254901e-03 2.42173431e-05 9.99996375e-01 6.62705947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.704012739 meters Centerline goodness : 0.972349 Centerline is valid? [True, True] Translation: X:190.41, Y:123.33, Z:0.66 [[-9.13382152e-01 4.07095841e-01 2.45378484e-03 1.90410688e+02] [-4.07094331e-01 -9.13385448e-01 1.10875858e-03 1.23327119e+02] [ 2.69262237e-03 1.37984037e-05 9.99996375e-01 6.63611374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.734012739 meters Centerline goodness : 0.973359 Centerline is valid? [True, True] Translation: X:190.45, Y:123.34, Z:0.66 [[-9.11467317e-01 4.11365180e-01 2.45337115e-03 1.90445195e+02] [-4.11363683e-01 -9.11470619e-01 1.10967321e-03 1.23340012e+02] [ 2.69265664e-03 2.20307133e-06 9.99996375e-01 6.61780559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.764012739 meters Centerline goodness : 0.972009 Centerline is valid? [True, True] Translation: X:190.46, Y:123.34, Z:0.66 [[-9.07414939e-01 4.20228643e-01 2.45296018e-03 1.90456015e+02] [-4.20227176e-01 -9.07418254e-01 1.11058092e-03 1.23341568e+02] [ 2.69255876e-03 -2.30428115e-05 9.99996375e-01 6.61762693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.794012739 meters Centerline goodness : 0.972025 Centerline is valid? [True, True] Translation: X:190.47, Y:123.35, Z:0.66 [[-9.05494836e-01 4.24350194e-01 2.45255487e-03 1.90470564e+02] [-4.24348740e-01 -9.05498157e-01 1.11147526e-03 1.23347434e+02] [ 2.69243866e-03 -3.43034591e-05 9.99996375e-01 6.62223440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.824012739 meters Centerline goodness : 0.971511 Centerline is valid? [True, True] Translation: X:190.49, Y:123.36, Z:0.66 [[-9.02439694e-01 4.30809222e-01 2.45215217e-03 1.90493977e+02] [-4.30807789e-01 -9.02443024e-01 1.11236299e-03 1.23356385e+02] [ 2.69214386e-03 -5.25657388e-05 9.99996375e-01 6.63337445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.854012739 meters Centerline goodness : 0.971809 Centerline is valid? [True, True] Translation: X:190.48, Y:123.35, Z:0.66 [[-9.01538668e-01 4.32691599e-01 2.45175398e-03 1.90483624e+02] [-4.32690171e-01 -9.01542000e-01 1.11323996e-03 1.23349976e+02] [ 2.69204876e-03 -5.72209721e-05 9.99996375e-01 6.63744879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.884012739 meters Centerline goodness : 0.970873 Centerline is valid? [True, True] Translation: X:190.52, Y:123.36, Z:0.66 [[-9.01079739e-01 4.33646509e-01 2.45135658e-03 1.90518837e+02] [-4.33645082e-01 -9.01083071e-01 1.11411436e-03 1.23364023e+02] [ 2.69200771e-03 -5.91128511e-05 9.99996375e-01 6.63948333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.914012739 meters Centerline goodness : 0.971177 Centerline is valid? [True, True] Translation: X:190.50, Y:123.35, Z:0.66 [[-9.00857371e-01 4.34108269e-01 2.45096168e-03 1.90499507e+02] [-4.34106842e-01 -9.00860703e-01 1.11498242e-03 1.23353555e+02] [ 2.69199815e-03 -5.95390998e-05 9.99996375e-01 6.62701872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.944012739 meters Centerline goodness : 0.970892 Centerline is valid? [True, True] Translation: X:190.52, Y:123.36, Z:0.66 [[-9.00574503e-01 4.34694789e-01 2.45056793e-03 1.90515858e+02] [-4.34693361e-01 -9.00577835e-01 1.11584715e-03 1.23360832e+02] [ 2.69198010e-03 -6.03421118e-05 9.99996375e-01 6.62766065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.974012739 meters Centerline goodness : 0.970892 Centerline is valid? [True, True] Translation: X:190.52, Y:123.36, Z:0.66 [[-9.00421383e-01 4.35011872e-01 2.45017254e-03 1.90518158e+02] [-4.35010443e-01 -9.00424715e-01 1.11671467e-03 1.23361962e+02] [ 2.69198005e-03 -6.03368718e-05 9.99996375e-01 6.62759291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.004012739 meters Centerline goodness : 0.971295 Centerline is valid? [True, True] Translation: X:190.52, Y:123.36, Z:0.66 [[-8.99918845e-01 4.36050538e-01 2.44977902e-03 1.90521155e+02] [-4.36049110e-01 -8.99922177e-01 1.11757729e-03 1.23362807e+02] [ 2.69193065e-03 -6.24951016e-05 9.99996375e-01 6.63717610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.034012739 meters Centerline goodness : 0.970371 Centerline is valid? [True, True] Translation: X:190.53, Y:123.37, Z:0.66 [[-8.99392483e-01 4.37135176e-01 2.44938520e-03 1.90530385e+02] [-4.37133750e-01 -8.99395816e-01 1.11843976e-03 1.23366464e+02] [ 2.69187616e-03 -6.47926245e-05 9.99996375e-01 6.64369511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.064012739 meters Centerline goodness : 0.970755 Centerline is valid? [True, True] Translation: X:190.53, Y:123.37, Z:0.67 [[-8.98850509e-01 4.38248520e-01 2.44899209e-03 1.90532737e+02] [-4.38247096e-01 -8.98853843e-01 1.11929986e-03 1.23369127e+02] [ 2.69181746e-03 -6.71804280e-05 9.99996375e-01 6.65498366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.094012739 meters Centerline goodness : 0.971390 Centerline is valid? [True, True] Translation: X:190.54, Y:123.38, Z:0.67 [[-8.98527836e-01 4.38909709e-01 2.44859977e-03 1.90544323e+02] [-4.38908285e-01 -8.98531170e-01 1.12015746e-03 1.23375783e+02] [ 2.69179120e-03 -6.82180618e-05 9.99996375e-01 6.66984808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.124012739 meters Centerline goodness : 0.970410 Centerline is valid? [True, True] Translation: X:190.54, Y:123.38, Z:0.67 [[-8.97610279e-01 4.40783159e-01 2.44820869e-03 1.90541330e+02] [-4.40781739e-01 -8.97613615e-01 1.12101155e-03 1.23377455e+02] [ 2.69166846e-03 -7.28941887e-05 9.99996375e-01 6.69703060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.154012739 meters Centerline goodness : 0.971027 Centerline is valid? [True, True] Translation: X:190.55, Y:123.39, Z:0.67 [[-8.96699480e-01 4.42633089e-01 2.44781808e-03 1.90554007e+02] [-4.42631674e-01 -8.96702817e-01 1.12186383e-03 1.23386314e+02] [ 2.69153942e-03 -7.75071012e-05 9.99996375e-01 6.68646275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.184012739 meters Centerline goodness : 0.970505 Centerline is valid? [True, True] Translation: X:190.56, Y:123.39, Z:0.67 [[-8.95720422e-01 4.44610994e-01 2.44742823e-03 1.90557130e+02] [-4.44609584e-01 -8.95723762e-01 1.12271366e-03 1.23391769e+02] [ 2.69139046e-03 -8.25124963e-05 9.99996375e-01 6.65479997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.214012739 meters Centerline goodness : 0.969822 Centerline is valid? [True, True] Translation: X:190.56, Y:123.40, Z:0.66 [[-8.94561342e-01 4.46938493e-01 2.44704003e-03 1.90561320e+02] [-4.46937090e-01 -8.94564685e-01 1.12355915e-03 1.23401875e+02] [ 2.69119742e-03 -8.85803650e-05 9.99996375e-01 6.60947275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.244012739 meters Centerline goodness : 0.969581 Centerline is valid? [True, True] Translation: X:190.55, Y:123.40, Z:0.66 [[-8.94439874e-01 4.47181535e-01 2.44670147e-03 1.90550642e+02] [-4.47180130e-01 -8.94443216e-01 1.12429592e-03 1.23400489e+02] [ 2.69119991e-03 -8.85011837e-05 9.99996375e-01 6.61415407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.274012739 meters Centerline goodness : 0.969984 Centerline is valid? [True, True] Translation: X:190.54, Y:123.40, Z:0.67 [[-8.94576927e-01 4.46907304e-01 2.44631295e-03 1.90540516e+02] [-4.46905896e-01 -8.94580267e-01 1.12514065e-03 1.23398914e+02] [ 2.69125687e-03 -8.67468198e-05 9.99996375e-01 6.65677078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.304012739 meters Centerline goodness : 0.970113 Centerline is valid? [True, True] Translation: X:190.54, Y:123.40, Z:0.67 [[-8.95023824e-01 4.46011627e-01 2.44597045e-03 1.90537628e+02] [-4.46010214e-01 -8.95027162e-01 1.12588473e-03 1.23401397e+02] [ 2.69136767e-03 -8.32341460e-05 9.99996375e-01 6.70325712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.334012739 meters Centerline goodness : 0.969456 Centerline is valid? [True, True] Translation: X:190.54, Y:123.41, Z:0.67 [[-8.96547549e-01 4.42940753e-01 2.44562600e-03 1.90540771e+02] [-4.42939327e-01 -8.96550882e-01 1.12663243e-03 1.23408930e+02] [ 2.69165957e-03 -7.31843856e-05 9.99996375e-01 6.73291931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.364012739 meters Centerline goodness : 0.968912 Centerline is valid? [True, True] Translation: X:190.54, Y:123.41, Z:0.67 [[-8.97458706e-01 4.41091704e-01 2.44523164e-03 1.90542560e+02] [-4.41090268e-01 -8.97462035e-01 1.12748769e-03 1.23412154e+02] [ 2.69182804e-03 -6.66942325e-05 9.99996375e-01 6.70563752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.394012739 meters Centerline goodness : 0.968106 Centerline is valid? [True, True] Translation: X:190.52, Y:123.40, Z:0.66 [[-9.00070681e-01 4.35737067e-01 2.44483747e-03 1.90515283e+02] [-4.35735609e-01 -9.00074000e-01 1.12834177e-03 1.23403295e+02] [ 2.69219498e-03 -4.97153972e-05 9.99996375e-01 6.64846948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.424012739 meters Centerline goodness : 0.968604 Centerline is valid? [True, True] Translation: X:190.50, Y:123.40, Z:0.66 [[-9.01397280e-01 4.32986105e-01 2.44448917e-03 1.90500830e+02] [-4.32984635e-01 -9.01400594e-01 1.12909584e-03 1.23397239e+02] [ 2.69234680e-03 -4.06623277e-05 9.99996375e-01 6.64905836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.454012739 meters Centerline goodness : 0.968821 Centerline is valid? [True, True] Translation: X:190.48, Y:123.39, Z:0.67 [[-9.02625055e-01 4.30420768e-01 2.44408391e-03 1.90483367e+02] [-4.30419285e-01 -9.02628363e-01 1.12997239e-03 1.23389400e+02] [ 2.69246305e-03 -3.20394588e-05 9.99996375e-01 6.66449110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.484012739 meters Centerline goodness : 0.968105 Centerline is valid? [True, True] Translation: X:190.49, Y:123.39, Z:0.67 [[-9.04536761e-01 4.26388646e-01 2.44367271e-03 1.90485613e+02] [-4.26387147e-01 -9.04540061e-01 1.13086097e-03 1.23388168e+02] [ 2.69258614e-03 -1.90453161e-05 9.99996375e-01 6.68373641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.514012739 meters Centerline goodness : 0.968685 Centerline is valid? [True, True] Translation: X:190.49, Y:123.39, Z:0.67 [[-9.05271662e-01 4.24826139e-01 2.44325784e-03 1.90490811e+02] [-4.24824632e-01 -9.05274959e-01 1.13175660e-03 1.23389187e+02] [ 2.69261992e-03 -1.34089348e-05 9.99996375e-01 6.69085170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.544012739 meters Centerline goodness : 0.969065 Centerline is valid? [True, True] Translation: X:190.49, Y:123.38, Z:0.67 [[-9.06093110e-01 4.23071281e-01 2.44284297e-03 1.90486619e+02] [-4.23069765e-01 -9.06096403e-01 1.13265137e-03 1.23383909e+02] [ 2.69264349e-03 -7.20539770e-06 9.99996375e-01 6.68539840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.574012739 meters Centerline goodness : 0.969609 Centerline is valid? [True, True] Translation: X:190.48, Y:123.38, Z:0.67 [[-9.05912805e-01 4.23457229e-01 2.44242684e-03 1.90480363e+02] [-4.23455712e-01 -9.05916097e-01 1.13354798e-03 1.23379697e+02] [ 2.69264288e-03 -7.36397034e-06 9.99996375e-01 6.68579139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.604012739 meters Centerline goodness : 0.968300 Centerline is valid? [True, True] Translation: X:190.50, Y:123.39, Z:0.67 [[-9.05596925e-01 4.24132344e-01 2.44200765e-03 1.90499668e+02] [-4.24130827e-01 -9.05600218e-01 1.13445033e-03 1.23388119e+02] [ 2.69263974e-03 -8.37598767e-06 9.99996375e-01 6.68894672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.634012739 meters Centerline goodness : 0.969624 Centerline is valid? [True, True] Translation: X:190.50, Y:123.39, Z:0.67 [[-9.05138199e-01 4.25110432e-01 2.44158940e-03 1.90497025e+02] [-4.25108916e-01 -9.05141492e-01 1.13534979e-03 1.23386513e+02] [ 2.69263291e-03 -1.02929606e-05 9.99996375e-01 6.68786023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.664012739 meters Centerline goodness : 0.968202 Centerline is valid? [True, True] Translation: X:190.50, Y:123.38, Z:0.67 [[-9.04375738e-01 4.26730084e-01 2.44117275e-03 1.90496466e+02] [-4.26728571e-01 -9.04379033e-01 1.13624494e-03 1.23383430e+02] [ 2.69261535e-03 -1.41258025e-05 9.99996375e-01 6.68581399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.694012739 meters Centerline goodness : 0.969037 Centerline is valid? [True, True] Translation: X:190.51, Y:123.39, Z:0.67 [[-9.03878857e-01 4.27781551e-01 2.44075431e-03 1.90505877e+02] [-4.27780040e-01 -9.03882152e-01 1.13714308e-03 1.23386130e+02] [ 2.69260309e-03 -1.62663824e-05 9.99996375e-01 6.67342176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.724012739 meters Centerline goodness : 0.968862 Centerline is valid? [True, True] Translation: X:190.53, Y:123.40, Z:0.67 [[-9.03408862e-01 4.28773218e-01 2.44033600e-03 1.90526865e+02] [-4.28771708e-01 -9.03412158e-01 1.13804008e-03 1.23396117e+02] [ 2.69259032e-03 -1.82315422e-05 9.99996375e-01 6.66124070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.754012739 meters Centerline goodness : 0.969077 Centerline is valid? [True, True] Translation: X:190.53, Y:123.40, Z:0.67 [[-9.02686706e-01 4.30291480e-01 2.43992127e-03 1.90528560e+02] [-4.30289973e-01 -9.02690003e-01 1.13892855e-03 1.23398352e+02] [ 2.69256379e-03 -2.17779985e-05 9.99996375e-01 6.67689316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.784012739 meters Centerline goodness : 0.969064 Centerline is valid? [True, True] Translation: X:190.52, Y:123.39, Z:0.67 [[-9.02291243e-01 4.31120124e-01 2.43950922e-03 1.90517196e+02] [-4.31118618e-01 -9.02294541e-01 1.13981045e-03 1.23393606e+02] [ 2.69255107e-03 -2.32768490e-05 9.99996375e-01 6.69615820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.814012739 meters Centerline goodness : 0.969106 Centerline is valid? [True, True] Translation: X:190.52, Y:123.40, Z:0.67 [[-9.01665348e-01 4.32427625e-01 2.43909470e-03 1.90523157e+02] [-4.32426121e-01 -9.01668647e-01 1.14069680e-03 1.23399618e+02] [ 2.69252402e-03 -2.62014793e-05 9.99996375e-01 6.70637125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.844012739 meters Centerline goodness : 0.968390 Centerline is valid? [True, True] Translation: X:190.53, Y:123.41, Z:0.67 [[-9.01264569e-01 4.33262310e-01 2.43867854e-03 1.90531836e+02] [-4.33260807e-01 -9.01267868e-01 1.14158580e-03 1.23406660e+02] [ 2.69250871e-03 -2.77129981e-05 9.99996375e-01 6.71013389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.874012739 meters Centerline goodness : 0.969019 Centerline is valid? [True, True] Translation: X:190.53, Y:123.41, Z:0.67 [[-9.00943348e-01 4.33929877e-01 2.43826396e-03 1.90534622e+02] [-4.33928374e-01 -9.00946647e-01 1.14247059e-03 1.23409957e+02] [ 2.69249787e-03 -2.87306381e-05 9.99996375e-01 6.71283722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.904012739 meters Centerline goodness : 0.968378 Centerline is valid? [True, True] Translation: X:190.54, Y:123.42, Z:0.67 [[-9.01053177e-01 4.33701775e-01 2.43785050e-03 1.90542653e+02] [-4.33700269e-01 -9.01056474e-01 1.14335218e-03 1.23416791e+02] [ 2.69251484e-03 -2.70753068e-05 9.99996375e-01 6.72508073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.934012739 meters Centerline goodness : 0.968482 Centerline is valid? [True, True] Translation: X:190.52, Y:123.41, Z:0.67 [[-9.01361254e-01 4.33061138e-01 2.43743801e-03 1.90522542e+02] [-4.33059627e-01 -9.01364549e-01 1.14423086e-03 1.23408428e+02] [ 2.69254213e-03 -2.41906388e-05 9.99996375e-01 6.73659067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.964012739 meters Centerline goodness : 0.968656 Centerline is valid? [True, True] Translation: X:190.54, Y:123.42, Z:0.67 [[-9.01755011e-01 4.32240630e-01 2.43702274e-03 1.90535045e+02] [-4.32239113e-01 -9.01758303e-01 1.14511464e-03 1.23415344e+02] [ 2.69257056e-03 -2.07636886e-05 9.99996375e-01 6.74156203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.994012739 meters Centerline goodness : 0.968629 Centerline is valid? [True, True] Translation: X:190.53, Y:123.41, Z:0.67 [[-9.02086631e-01 4.31548112e-01 2.43660544e-03 1.90529983e+02] [-4.31546591e-01 -9.02089922e-01 1.14600190e-03 1.23413365e+02] [ 2.69259216e-03 -1.77157776e-05 9.99996375e-01 6.73682263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.024012739 meters Centerline goodness : 0.968287 Centerline is valid? [True, True] Translation: X:190.52, Y:123.41, Z:0.67 [[-9.02503660e-01 4.30675294e-01 2.43618827e-03 1.90522323e+02] [-4.30673767e-01 -9.02506948e-01 1.14688803e-03 1.23410348e+02] [ 2.69261318e-03 -1.41317305e-05 9.99996375e-01 6.69503728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.054012739 meters Centerline goodness : 0.968175 Centerline is valid? [True, True] Translation: X:190.53, Y:123.42, Z:0.67 [[-9.02547894e-01 4.30582588e-01 2.43576813e-03 1.90531818e+02] [-4.30581059e-01 -9.02551181e-01 1.14777964e-03 1.23415060e+02] [ 2.69261933e-03 -1.28695172e-05 9.99996375e-01 6.67506892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.084012739 meters Centerline goodness : 0.968385 Centerline is valid? [True, True] Translation: X:190.52, Y:123.41, Z:0.67 [[-9.02265015e-01 4.31175037e-01 2.43534719e-03 1.90517147e+02] [-4.31173507e-01 -9.02268301e-01 1.14867209e-03 1.23408290e+02] [ 2.69261530e-03 -1.36505495e-05 9.99996375e-01 6.68371221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.114012739 meters Centerline goodness : 0.968204 Centerline is valid? [True, True] Translation: X:190.52, Y:123.41, Z:0.67 [[-9.01951122e-01 4.31831268e-01 2.43492431e-03 1.90515133e+02] [-4.31829738e-01 -9.01954409e-01 1.14956780e-03 1.23407159e+02] [ 2.69261004e-03 -1.46187605e-05 9.99996375e-01 6.69267063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.144012739 meters Centerline goodness : 0.968231 Centerline is valid? [True, True] Translation: X:190.53, Y:123.41, Z:0.67 [[-9.01551203e-01 4.32665576e-01 2.43449769e-03 1.90531333e+02] [-4.32664047e-01 -9.01554490e-01 1.15047057e-03 1.23414339e+02] [ 2.69260133e-03 -1.61114985e-05 9.99996375e-01 6.69630284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.174012739 meters Centerline goodness : 0.968517 Centerline is valid? [True, True] Translation: X:190.54, Y:123.42, Z:0.67 [[-9.00891947e-01 4.34036606e-01 2.43407224e-03 1.90544281e+02] [-4.34035079e-01 -9.00895235e-01 1.15136999e-03 1.23419280e+02] [ 2.69258081e-03 -1.92127854e-05 9.99996375e-01 6.68580362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.204012739 meters Centerline goodness : 0.968157 Centerline is valid? [True, True] Translation: X:190.53, Y:123.41, Z:0.67 [[-9.00527363e-01 4.34792531e-01 2.43365032e-03 1.90527748e+02] [-4.34791005e-01 -9.00530652e-01 1.15226111e-03 1.23411683e+02] [ 2.69257124e-03 -2.04866092e-05 9.99996375e-01 6.67872253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.234012739 meters Centerline goodness : 0.967870 Centerline is valid? [True, True] Translation: X:190.55, Y:123.42, Z:0.67 [[-8.99952072e-01 4.35982049e-01 2.43322673e-03 1.90552668e+02] [-4.35980525e-01 -8.99955361e-01 1.15315491e-03 1.23423992e+02] [ 2.69255028e-03 -2.30553115e-05 9.99996375e-01 6.68090063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.264012739 meters Centerline goodness : 0.968540 Centerline is valid? [True, True] Translation: X:190.55, Y:123.43, Z:0.67 [[-8.98898914e-01 4.38149317e-01 2.43280342e-03 1.90552703e+02] [-4.38147798e-01 -8.98902205e-01 1.15404728e-03 1.23426910e+02] [ 2.69249739e-03 -2.85556110e-05 9.99996375e-01 6.66693074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.294012739 meters Centerline goodness : 0.968094 Centerline is valid? [True, True] Translation: X:190.57, Y:123.44, Z:0.67 [[-8.98320090e-01 4.39334837e-01 2.43238332e-03 1.90565565e+02] [-4.39333320e-01 -8.98323383e-01 1.15493204e-03 1.23435490e+02] [ 2.69246869e-03 -3.11283910e-05 9.99996375e-01 6.67118436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.324012739 meters Centerline goodness : 0.968456 Centerline is valid? [True, True] Translation: X:190.54, Y:123.43, Z:0.67 [[-8.97868197e-01 4.40257637e-01 2.43196463e-03 1.90544662e+02] [-4.40256121e-01 -8.97871490e-01 1.15581301e-03 1.23428192e+02] [ 2.69244721e-03 -3.29195692e-05 9.99996375e-01 6.69362223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.354012739 meters Centerline goodness : 0.969831 Centerline is valid? [True, True] Translation: X:190.56, Y:123.44, Z:0.67 [[-8.97635660e-01 4.40731562e-01 2.43154390e-03 1.90563019e+02] [-4.40730045e-01 -8.97638953e-01 1.15669746e-03 1.23440146e+02] [ 2.69244160e-03 -3.33615630e-05 9.99996375e-01 6.73323227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.384012739 meters Centerline goodness : 0.969537 Centerline is valid? [True, True] Translation: X:190.56, Y:123.44, Z:0.67 [[-8.97739010e-01 4.40521010e-01 2.43112211e-03 1.90564265e+02] [-4.40519490e-01 -8.97742301e-01 1.15758329e-03 1.23441732e+02] [ 2.69246091e-03 -3.17489920e-05 9.99996375e-01 6.74513882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.414012739 meters Centerline goodness : 0.970886 Centerline is valid? [True, True] Translation: X:190.56, Y:123.44, Z:0.67 [[-8.98844212e-01 4.38261536e-01 2.43070259e-03 1.90555116e+02] [-4.38260006e-01 -8.98847498e-01 1.15846353e-03 1.23439472e+02] [ 2.69254095e-03 -2.40014870e-05 9.99996375e-01 6.73828540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.444012739 meters Centerline goodness : 0.970588 Centerline is valid? [True, True] Translation: X:190.55, Y:123.44, Z:0.67 [[-8.99657994e-01 4.36588580e-01 2.43028102e-03 1.90552639e+02] [-4.36587041e-01 -8.99661276e-01 1.15934724e-03 1.23439227e+02] [ 2.69258749e-03 -1.80131875e-05 9.99996375e-01 6.73588874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.474012739 meters Centerline goodness : 0.971281 Centerline is valid? [True, True] Translation: X:190.53, Y:123.43, Z:0.67 [[-9.00405189e-01 4.35045506e-01 2.42985659e-03 1.90533284e+02] [-4.35043959e-01 -9.00408467e-01 1.16023612e-03 1.23430577e+02] [ 2.69261896e-03 -1.24118104e-05 9.99996375e-01 6.73565446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.504012739 meters Centerline goodness : 0.971132 Centerline is valid? [True, True] Translation: X:190.55, Y:123.44, Z:0.67 [[-9.01091372e-01 4.33622460e-01 2.42942753e-03 1.90551507e+02] [-4.33620905e-01 -9.01094647e-01 1.16113382e-03 1.23439981e+02] [ 2.69263785e-03 -7.16289631e-06 9.99996375e-01 6.74138998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.534012739 meters Centerline goodness : 0.971976 Centerline is valid? [True, True] Translation: X:190.54, Y:123.44, Z:0.67 [[-9.01374817e-01 4.33032953e-01 2.42899739e-03 1.90541310e+02] [-4.33031394e-01 -9.01378090e-01 1.16203296e-03 1.23435835e+02] [ 2.69264359e-03 -4.40487694e-06 9.99996375e-01 6.73608224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.564012739 meters Centerline goodness : 0.972371 Centerline is valid? [True, True] Translation: X:190.52, Y:123.43, Z:0.67 [[-9.01074818e-01 4.33656862e-01 2.42856746e-03 1.90520914e+02] [-4.33655303e-01 -9.01078091e-01 1.16293078e-03 1.23426311e+02] [ 2.69264185e-03 -5.27352237e-06 9.99996375e-01 6.71992500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.594012739 meters Centerline goodness : 0.973164 Centerline is valid? [True, True] Translation: X:190.49, Y:123.41, Z:0.67 [[-9.00741761e-01 4.34348229e-01 2.42813125e-03 1.90487769e+02] [-4.34346670e-01 -9.00745034e-01 1.16384085e-03 1.23410564e+02] [ 2.69263938e-03 -6.33066457e-06 9.99996375e-01 6.69334760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.624012739 meters Centerline goodness : 0.973499 Centerline is valid? [True, True] Translation: X:190.63, Y:123.48, Z:0.67 [[-9.01145468e-01 4.33510036e-01 2.42768444e-03 1.90626264e+02] [-4.33508472e-01 -9.01148738e-01 1.16477212e-03 1.23477371e+02] [ 2.69264517e-03 -2.79265373e-06 9.99996375e-01 6.68514807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.654012739 meters Centerline goodness : 0.973677 Centerline is valid? [True, True] Translation: X:190.63, Y:123.48, Z:0.67 [[-9.01390910e-01 4.32999459e-01 2.42811220e-03 1.90630695e+02] [-4.32997894e-01 -9.01394181e-01 1.16387971e-03 1.23480233e+02] [ 2.69264550e-03 -2.25687493e-06 9.99996375e-01 6.67657087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.684012739 meters Centerline goodness : 0.974484 Centerline is valid? [True, True] Translation: X:190.64, Y:123.48, Z:0.67 [[-9.02527177e-01 4.30626057e-01 2.42770642e-03 1.90635061e+02] [-4.30624482e-01 -9.02530442e-01 1.16472550e-03 1.23482801e+02] [ 2.69264010e-03 5.76659888e-06 9.99996375e-01 6.65739960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.714012739 meters Centerline goodness : 0.974751 Centerline is valid? [True, True] Translation: X:190.62, Y:123.48, Z:0.67 [[-9.03331593e-01 4.28936058e-01 2.42730103e-03 1.90621425e+02] [-4.28934474e-01 -9.03334854e-01 1.16556974e-03 1.23475536e+02] [ 2.69262051e-03 1.17428844e-05 9.99996375e-01 6.66197958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.744012739 meters Centerline goodness : 0.972528 Centerline is valid? [True, True] Translation: X:190.62, Y:123.48, Z:0.67 [[-9.04263094e-01 4.26968812e-01 2.42689330e-03 1.90623855e+02] [-4.26967219e-01 -9.04266351e-01 1.16641807e-03 1.23475396e+02] [ 2.69258209e-03 1.85449293e-05 9.99996375e-01 6.66926214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.774012739 meters Centerline goodness : 0.971805 Centerline is valid? [True, True] Translation: X:190.63, Y:123.48, Z:0.67 [[-9.06201703e-01 4.22838723e-01 2.42648266e-03 1.90626999e+02] [-4.22837113e-01 -9.06204951e-01 1.16727169e-03 1.23475363e+02] [ 2.69245827e-03 3.17766715e-05 9.99996375e-01 6.71059936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.804012739 meters Centerline goodness : 0.972259 Centerline is valid? [True, True] Translation: X:190.62, Y:123.47, Z:0.67 [[-9.06655621e-01 4.21864550e-01 2.42607172e-03 1.90617437e+02] [-4.21862934e-01 -9.06658867e-01 1.16812517e-03 1.23470474e+02] [ 2.69241004e-03 3.56175154e-05 9.99996375e-01 6.73267815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.834012739 meters Centerline goodness : 0.970907 Centerline is valid? [True, True] Translation: X:190.63, Y:123.47, Z:0.67 [[-9.06829136e-01 4.21491440e-01 2.42565871e-03 1.90625928e+02] [-4.21489821e-01 -9.06832380e-01 1.16898217e-03 1.23473923e+02] [ 2.69238184e-03 3.76766363e-05 9.99996375e-01 6.74359647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.864012739 meters Centerline goodness : 0.969802 Centerline is valid? [True, True] Translation: X:190.64, Y:123.48, Z:0.67 [[-9.06962552e-01 4.21204283e-01 2.42524452e-03 1.90635083e+02] [-4.21202660e-01 -9.06965793e-01 1.16984086e-03 1.23477223e+02] [ 2.69235580e-03 3.94824113e-05 9.99996375e-01 6.70425195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.894012739 meters Centerline goodness : 0.969802 Centerline is valid? [True, True] Translation: X:190.64, Y:123.48, Z:0.67 [[-9.06814365e-01 4.21523224e-01 2.42483185e-03 1.90637343e+02] [-4.21521600e-01 -9.06817606e-01 1.17069560e-03 1.23478397e+02] [ 2.69235560e-03 3.94845862e-05 9.99996375e-01 6.70418419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.924012739 meters Centerline goodness : 0.969555 Centerline is valid? [True, True] Translation: X:190.63, Y:123.48, Z:0.67 [[-9.06713644e-01 4.21739837e-01 2.42441984e-03 1.90634457e+02] [-4.21738211e-01 -9.06716884e-01 1.17154824e-03 1.23476182e+02] [ 2.69235096e-03 3.97882841e-05 9.99996375e-01 6.68784431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.954012739 meters Centerline goodness : 0.969035 Centerline is valid? [True, True] Translation: X:190.65, Y:123.48, Z:0.67 [[-9.06823884e-01 4.21502749e-01 2.42400670e-03 1.90646163e+02] [-4.21501121e-01 -9.06827123e-01 1.17240242e-03 1.23478579e+02] [ 2.69232586e-03 4.14409774e-05 9.99996375e-01 6.68739206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.984012739 meters Centerline goodness : 0.967764 Centerline is valid? [True, True] Translation: X:190.65, Y:123.48, Z:0.67 [[-9.06698236e-01 4.21772967e-01 2.42359370e-03 1.90650409e+02] [-4.21771337e-01 -9.06701474e-01 1.17325555e-03 1.23479496e+02] [ 2.69232345e-03 4.15863819e-05 9.99996375e-01 6.69752172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.014012739 meters Centerline goodness : 0.966546 Centerline is valid? [True, True] Translation: X:190.64, Y:123.47, Z:0.67 [[-9.06627562e-01 4.21924866e-01 2.42318191e-03 1.90636411e+02] [-4.21923235e-01 -9.06630799e-01 1.17410542e-03 1.23472039e+02] [ 2.69231563e-03 4.20795797e-05 9.99996375e-01 6.71548111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.044012739 meters Centerline goodness : 0.964432 Centerline is valid? [True, True] Translation: X:190.64, Y:123.47, Z:0.68 [[-9.06010018e-01 4.23249309e-01 2.42276749e-03 1.90640551e+02] [-4.23247680e-01 -9.06013257e-01 1.17495996e-03 1.23472657e+02] [ 2.69236045e-03 3.90947709e-05 9.99996375e-01 6.77066510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.074012739 meters Centerline goodness : 0.963205 Centerline is valid? [True, True] Translation: X:190.67, Y:123.48, Z:0.68 [[-9.05143660e-01 4.25098915e-01 2.42235034e-03 1.90665750e+02] [-4.25097290e-01 -9.05146900e-01 1.17581934e-03 1.23484419e+02] [ 2.69242243e-03 3.45508550e-05 9.99996375e-01 6.77861703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.104012739 meters Centerline goodness : 0.963533 Centerline is valid? [True, True] Translation: X:190.67, Y:123.48, Z:0.68 [[-9.04135123e-01 4.27239762e-01 2.42193671e-03 1.90665586e+02] [-4.27238143e-01 -9.04138366e-01 1.17667072e-03 1.23484336e+02] [ 2.69248642e-03 2.91255834e-05 9.99996375e-01 6.77008410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.134012739 meters Centerline goodness : 0.962355 Centerline is valid? [True, True] Translation: X:190.70, Y:123.50, Z:0.67 [[-9.03006085e-01 4.29620934e-01 2.42152592e-03 1.90701906e+02] [-4.29619320e-01 -9.03009332e-01 1.17751550e-03 1.23503201e+02] [ 2.69254581e-03 2.29693438e-05 9.99996375e-01 6.74881544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.164012739 meters Centerline goodness : 0.961878 Centerline is valid? [True, True] Translation: X:190.68, Y:123.49, Z:0.67 [[-9.00768688e-01 4.34292424e-01 2.42111957e-03 1.90676820e+02] [-4.34290826e-01 -9.00771941e-01 1.17835041e-03 1.23493069e+02] [ 2.69262523e-03 9.95113080e-06 9.99996375e-01 6.73855514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.194012739 meters Centerline goodness : 0.961435 Centerline is valid? [True, True] Translation: X:190.70, Y:123.50, Z:0.67 [[-9.00072962e-01 4.35732490e-01 2.42071415e-03 1.90695369e+02] [-4.35730894e-01 -9.00076218e-01 1.17918268e-03 1.23501867e+02] [ 2.69263544e-03 6.57050694e-06 9.99996375e-01 6.74138619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.224012739 meters Centerline goodness : 0.960412 Centerline is valid? [True, True] Translation: X:190.69, Y:123.50, Z:0.68 [[-8.99679791e-01 4.36543715e-01 2.42030686e-03 1.90687609e+02] [-4.36542120e-01 -8.99683047e-01 1.18001806e-03 1.23496964e+02] [ 2.69263852e-03 5.07251480e-06 9.99996375e-01 6.76400467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.254012739 meters Centerline goodness : 0.959364 Centerline is valid? [True, True] Translation: X:190.72, Y:123.52, Z:0.68 [[-8.99442877e-01 4.37031642e-01 2.41990020e-03 1.90724890e+02] [-4.37030046e-01 -8.99446132e-01 1.18085143e-03 1.23515655e+02] [ 2.69263931e-03 4.53930611e-06 9.99996375e-01 6.78058286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.284012739 meters Centerline goodness : 0.959646 Centerline is valid? [True, True] Translation: X:190.72, Y:123.51, Z:0.68 [[-8.99146959e-01 4.37640140e-01 2.41949682e-03 1.90717588e+02] [-4.37638545e-01 -8.99150214e-01 1.18167736e-03 1.23511969e+02] [ 2.69264053e-03 3.63654178e-06 9.99996375e-01 6.80361829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.314012739 meters Centerline goodness : 0.959206 Centerline is valid? [True, True] Translation: X:190.73, Y:123.52, Z:0.68 [[-8.99139660e-01 4.37655138e-01 2.41909694e-03 1.90734101e+02] [-4.37653540e-01 -8.99142914e-01 1.18249541e-03 1.23518800e+02] [ 2.69263907e-03 4.50217601e-06 9.99996375e-01 6.78114549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.344012739 meters Centerline goodness : 0.958872 Centerline is valid? [True, True] Translation: X:190.72, Y:123.51, Z:0.68 [[-8.98985412e-01 4.37971893e-01 2.41869732e-03 1.90720541e+02] [-4.37970294e-01 -8.98988666e-01 1.18331224e-03 1.23511949e+02] [ 2.69263898e-03 4.46286281e-06 9.99996375e-01 6.76190395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.374012739 meters Centerline goodness : 0.958993 Centerline is valid? [True, True] Translation: X:190.71, Y:123.51, Z:0.67 [[-8.98458096e-01 4.39052619e-01 2.41829719e-03 1.90711393e+02] [-4.39051022e-01 -8.98461350e-01 1.18412942e-03 1.23507603e+02] [ 2.69264168e-03 2.13480921e-06 9.99996375e-01 6.74756971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.404012739 meters Centerline goodness : 0.958427 Centerline is valid? [True, True] Translation: X:190.75, Y:123.53, Z:0.67 [[-8.96658265e-01 4.42716738e-01 2.41789268e-03 1.90750333e+02] [-4.42715153e-01 -8.96661525e-01 1.18495481e-03 1.23526506e+02] [ 2.69263066e-03 -7.93820758e-06 9.99996375e-01 6.73057513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.434012739 meters Centerline goodness : 0.958471 Centerline is valid? [True, True] Translation: X:190.74, Y:123.52, Z:0.67 [[-8.95950343e-01 4.44147653e-01 2.41771761e-03 1.90741943e+02] [-4.44146071e-01 -8.95953605e-01 1.18531189e-03 1.23522019e+02] [ 2.69261631e-03 -1.18391820e-05 9.99996375e-01 6.71917111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.464012739 meters Centerline goodness : 0.943372 Centerline is valid? [True, False] Translation: X:192.89, Y:125.13, Z:0.81 [[ 8.93969906e-01 -3.58816590e-01 2.68455699e-01 1.92891548e+02] [ 4.47423535e-01 7.48234039e-01 -4.89855084e-01 1.25126234e+02] [-2.50995614e-02 5.58029101e-01 8.29441700e-01 8.10425612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.494012739 meters Centerline goodness : 0.942640 Centerline is valid? [False, False] Translation: X:192.88, Y:125.07, Z:0.78 [[ 8.96376425e-01 -3.74991744e-01 2.36411710e-01 1.92884393e+02] [ 4.42442539e-01 7.89840993e-01 -4.24730273e-01 1.25067165e+02] [-2.74573142e-02 4.85316801e-01 8.73907145e-01 7.80589756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.524012739 meters Centerline goodness : 0.942433 Centerline is valid? [False, False] Translation: X:192.87, Y:125.01, Z:0.76 [[ 8.98281052e-01 -3.88675334e-01 2.04994232e-01 1.92872788e+02] [ 4.38447439e-01 8.23825897e-01 -3.59269724e-01 1.25007946e+02] [-2.92402775e-02 4.12604382e-01 9.10440899e-01 7.55266565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.554012739 meters Centerline goodness : 0.942028 Centerline is valid? [False, False] Translation: X:192.86, Y:124.95, Z:0.73 [[ 9.00188021e-01 -3.98778710e-01 1.75034473e-01 1.92860090e+02] [ 4.34371986e-01 8.51071289e-01 -2.94955316e-01 1.24948889e+02] [-3.13449145e-02 3.41545315e-01 9.39342480e-01 7.34944056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.584012739 meters Centerline goodness : 0.941602 Centerline is valid? [False, False] Translation: X:192.85, Y:124.89, Z:0.72 [[ 9.01863314e-01 -4.06439992e-01 1.46455098e-01 1.92852954e+02] [ 4.30785512e-01 8.71657963e-01 -2.33743957e-01 1.24893685e+02] [-3.26558601e-02 2.73895834e-01 9.61204800e-01 7.19146491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.614012739 meters Centerline goodness : 0.941304 Centerline is valid? [False, False] Translation: X:192.85, Y:124.84, Z:0.71 [[ 9.03295017e-01 -4.12049205e-01 1.19472027e-01 1.92851511e+02] [ 4.27735035e-01 8.86501574e-01 -1.76515434e-01 1.24843542e+02] [-3.31790958e-02 2.10547883e-01 9.77020336e-01 7.07883271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.644012739 meters Centerline goodness : 0.086854 Centerline is valid? [False, False] Translation: X:192.89, Y:124.82, Z:0.69 [[ 9.07360206e-01 -4.07730700e-01 1.02240561e-01 1.92889762e+02] [ 4.18804060e-01 8.97734358e-01 -1.36660831e-01 1.24824711e+02] [-3.60640484e-02 1.66819362e-01 9.85327704e-01 6.94940419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.674012739 meters Centerline goodness : 0.086955 Centerline is valid? [False, False] Translation: X:192.89, Y:124.79, Z:0.69 [[ 9.10181604e-01 -4.05732522e-01 8.33700641e-02 1.92888916e+02] [ 4.12623346e-01 9.05737699e-01 -9.68565687e-02 1.24787925e+02] [-3.62135501e-02 1.22557502e-01 9.91800503e-01 6.91594003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.704012739 meters Centerline goodness : 0.087750 Centerline is valid? [False, False] Translation: X:192.89, Y:124.77, Z:0.69 [[ 9.12736362e-01 -4.02163706e-01 7.19492009e-02 1.92890040e+02] [ 4.06856697e-01 9.10762033e-01 -7.05701650e-02 1.24765693e+02] [-3.71478414e-02 9.36849699e-02 9.94908621e-01 6.89043113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.734012739 meters Centerline goodness : 0.086521 Centerline is valid? [False, False] Translation: X:192.89, Y:124.75, Z:0.69 [[ 9.15676145e-01 -3.97473867e-01 5.95963352e-02 1.92891478e+02] [ 4.00362639e-01 9.15079641e-01 -4.83632864e-02 1.24749384e+02] [-3.53122506e-02 6.81452537e-02 9.97050284e-01 6.91414995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.764012739 meters Centerline goodness : 0.087410 Centerline is valid? [False, False] Translation: X:192.87, Y:124.72, Z:0.69 [[ 9.17768733e-01 -3.93664997e-01 5.22343074e-02 1.92866091e+02] [ 3.95371291e-01 9.18113071e-01 -2.73848719e-02 1.24721624e+02] [-3.71765349e-02 4.57849248e-02 9.98259308e-01 6.87172391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.794012739 meters Centerline goodness : 0.085947 Centerline is valid? [False, False] Translation: X:192.87, Y:124.71, Z:0.69 [[ 9.19281505e-01 -3.91456915e-01 4.10243601e-02 1.92870480e+02] [ 3.92197159e-01 9.19808564e-01 -1.15583095e-02 1.24713092e+02] [-3.32099775e-02 2.67149777e-02 9.99091291e-01 6.86121103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.824012739 meters Centerline goodness : 0.087441 Centerline is valid? [False, False] Translation: X:192.84, Y:124.69, Z:0.69 [[ 9.20172510e-01 -3.90033924e-01 3.40013139e-02 1.92843883e+02] [ 3.90161365e-01 9.20741356e-01 3.07638941e-03 1.24691900e+02] [-3.25063121e-02 1.04351901e-02 9.99417053e-01 6.85358487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.854012739 meters Centerline goodness : 0.085390 Centerline is valid? [False, False] Translation: X:192.83, Y:124.68, Z:0.68 [[ 9.20498093e-01 -3.89374431e-01 3.27232814e-02 1.92830766e+02] [ 3.89159949e-01 9.21079197e-01 1.29479015e-02 1.24681687e+02] [-3.51823155e-02 8.16071846e-04 9.99380578e-01 6.78439064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.884012739 meters Centerline goodness : 0.086255 Centerline is valid? [False, False] Translation: X:192.83, Y:124.69, Z:0.66 [[ 9.19041396e-01 -3.93313686e-01 2.58313285e-02 1.92829661e+02] [ 3.92951593e-01 9.19381707e-01 1.80644117e-02 1.24694143e+02] [-3.08538312e-02 -6.45148046e-03 9.99503086e-01 6.61041187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.914012739 meters Centerline goodness : 0.086817 Centerline is valid? [False, False] Translation: X:192.81, Y:124.68, Z:0.66 [[ 9.19910303e-01 -3.91389319e-01 2.40714653e-02 1.92811176e+02] [ 3.90684435e-01 9.20057342e-01 2.93284786e-02 1.24682325e+02] [-3.36259816e-02 -1.75752228e-02 9.99279943e-01 6.58363629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.944012739 meters Centerline goodness : 0.085001 Centerline is valid? [False, False] Translation: X:192.81, Y:124.68, Z:0.66 [[ 9.21770198e-01 -3.87078063e-01 2.25892893e-02 1.92809608e+02] [ 3.86250144e-01 9.21773258e-01 3.38361771e-02 1.24681263e+02] [-3.39194447e-02 -2.24640634e-02 9.99172076e-01 6.59500010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.974012739 meters Centerline goodness : 0.085951 Centerline is valid? [False, False] Translation: X:192.77, Y:124.66, Z:0.66 [[ 9.23663823e-01 -3.82566882e-01 2.20844279e-02 1.92770494e+02] [ 3.81573391e-01 9.23515884e-01 3.89892220e-02 1.24660180e+02] [-3.53113050e-02 -2.75861039e-02 9.98995555e-01 6.58666619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.004012739 meters Centerline goodness : 0.085399 Centerline is valid? [False, False] Translation: X:192.77, Y:124.66, Z:0.66 [[ 9.24967674e-01 -3.79451571e-01 2.12440162e-02 1.92768502e+02] [ 3.78340110e-01 9.24666631e-01 4.30160833e-02 1.24657227e+02] [-3.59661532e-02 -3.17510231e-02 9.98848491e-01 6.59620536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.034012739 meters Centerline goodness : 0.084381 Centerline is valid? [False, False] Translation: X:192.76, Y:124.66, Z:0.66 [[ 9.25539928e-01 -3.78048689e-01 2.13314601e-02 1.92761982e+02] [ 3.76861863e-01 9.25174684e-01 4.50215526e-02 1.24656013e+02] [-3.67556658e-02 -3.36302308e-02 9.98758243e-01 6.64547495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.064012739 meters Centerline goodness : 0.085940 Centerline is valid? [False, False] Translation: X:192.72, Y:124.64, Z:0.66 [[ 9.26504181e-01 -3.75681287e-01 2.12972736e-02 1.92723693e+02] [ 3.74370475e-01 9.26015231e-01 4.83997874e-02 1.24636194e+02] [-3.79044941e-02 -3.68695350e-02 9.98600965e-01 6.63269665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.094012739 meters Centerline goodness : 0.086503 Centerline is valid? [False, False] Translation: X:192.72, Y:124.64, Z:0.66 [[ 9.26377686e-01 -3.75976945e-01 2.15805572e-02 1.92723623e+02] [ 3.74651810e-01 9.25896338e-01 4.84973397e-02 1.24635638e+02] [-3.82152405e-02 -3.68416585e-02 9.98590150e-01 6.62356884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.124012739 meters Centerline goodness : 0.086671 Centerline is valid? [False, False] Translation: X:192.72, Y:124.63, Z:0.66 [[ 9.26832401e-01 -3.74776124e-01 2.29032137e-02 1.92715059e+02] [ 3.73127713e-01 9.26132855e-01 5.52597893e-02 1.24626329e+02] [-4.19214683e-02 -4.26707394e-02 9.98209296e-01 6.56004526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.154012739 meters Centerline goodness : 0.087676 Centerline is valid? [False, False] Translation: X:192.68, Y:124.61, Z:0.65 [[ 9.27982896e-01 -3.72102160e-01 1.96907909e-02 1.92682494e+02] [ 3.70533059e-01 9.27077980e-01 5.68477912e-02 1.24608988e+02] [-3.94080846e-02 -4.54576889e-02 9.98188660e-01 6.52860825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.184012739 meters Centerline goodness : 0.087247 Centerline is valid? [False, False] Translation: X:192.65, Y:124.60, Z:0.65 [[ 9.29274185e-01 -3.69050984e-01 1.58385718e-02 1.92651984e+02] [ 3.67636899e-01 9.28184861e-01 5.75845028e-02 1.24595404e+02] [-3.59527400e-02 -4.76889485e-02 9.98214989e-01 6.47901272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.214012739 meters Centerline goodness : 0.085264 Centerline is valid? [False, False] Translation: X:192.79, Y:124.68, Z:0.62 [[ 9.32233281e-01 -3.61271464e-01 2.05922314e-02 1.92794218e+02] [ 3.59555459e-01 9.31209946e-01 5.97319751e-02 1.24675840e+02] [-4.07551488e-02 -4.82800858e-02 9.98002030e-01 6.22447443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.244012739 meters Centerline goodness : 0.069783 Centerline is valid? [False, False] Translation: X:192.80, Y:124.67, Z:0.62 [[ 9.33526769e-01 -3.57975516e-01 1.95269179e-02 1.92795536e+02] [ 3.56140998e-01 9.32235639e-01 6.40336027e-02 1.24671383e+02] [-4.11261508e-02 -5.28227463e-02 9.97756682e-01 6.22535614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.274012739 meters Centerline goodness : 0.080068 Centerline is valid? [False, False] Translation: X:192.80, Y:124.67, Z:0.62 [[ 9.33534347e-01 -3.57951717e-01 1.96008176e-02 1.92796034e+02] [ 3.56094173e-01 9.32221611e-01 6.44965696e-02 1.24669169e+02] [-4.13589636e-02 -5.32300260e-02 9.97725413e-01 6.22665847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.304012739 meters Centerline goodness : 0.080524 Centerline is valid? [False, False] Translation: X:192.80, Y:124.67, Z:0.62 [[ 9.33528607e-01 -3.57962803e-01 1.96715859e-02 1.92797043e+02] [ 3.56075101e-01 9.32184855e-01 6.51300157e-02 1.24665918e+02] [-4.16516775e-02 -5.37961709e-02 9.97682870e-01 6.22571177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.334012739 meters Centerline goodness : 0.787505 Centerline is valid? [False, False] Translation: X:192.80, Y:124.66, Z:0.62 [[ 9.33554155e-01 -3.57903151e-01 1.95441519e-02 1.92798953e+02] [ 3.55994449e-01 9.32168639e-01 6.57995501e-02 1.24662441e+02] [-4.17683118e-02 -5.44698338e-02 9.97641441e-01 6.22047767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.364012739 meters Centerline goodness : 0.088841 Centerline is valid? [False, False] Translation: X:192.80, Y:124.66, Z:0.62 [[ 9.33428962e-01 -3.58231136e-01 1.95147692e-02 1.92802855e+02] [ 3.56296189e-01 9.32007106e-01 6.64513336e-02 1.24657753e+02] [-4.19928402e-02 -5.50745615e-02 9.97598814e-01 6.20933613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.394012739 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 480.424012739 meters Centerline goodness : 0.386257 Centerline is valid? [False, False] Translation: X:192.81, Y:124.65, Z:0.62 [[ 9.34810302e-01 -3.54669207e-01 1.84242671e-02 1.92807323e+02] [ 3.52600637e-01 9.33058615e-01 7.12349085e-02 1.24650361e+02] [-4.24557496e-02 -6.00947179e-02 9.97289393e-01 6.19095470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.454012739 meters Centerline goodness : 0.382157 Centerline is valid? [False, False] Translation: X:192.81, Y:124.64, Z:0.62 [[ 9.36351033e-01 -3.50656594e-01 1.69321113e-02 1.92809306e+02] [ 3.48483807e-01 9.34222495e-01 7.60747397e-02 1.24644245e+02] [-4.24944684e-02 -6.53320945e-02 9.96958343e-01 6.18682943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.484012739 meters Centerline goodness : 0.533140 Centerline is valid? [False, False] Translation: X:192.81, Y:124.64, Z:0.62 [[ 9.38029873e-01 -3.46200873e-01 1.56496967e-02 1.92811796e+02] [ 3.43920033e-01 9.35507128e-01 8.09037949e-02 1.24638268e+02] [-4.26493673e-02 -7.05079322e-02 9.96599048e-01 6.18164926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.514012739 meters Centerline goodness : 0.496446 Centerline is valid? [False, False] Translation: X:192.81, Y:124.64, Z:0.62 [[ 9.38095191e-01 -3.46024331e-01 1.56388629e-02 1.92812489e+02] [ 3.43737552e-01 9.35559675e-01 8.10715067e-02 1.24637954e+02] [-4.26838033e-02 -7.06771261e-02 9.96585589e-01 6.17162470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.544012739 meters Centerline goodness : 0.535067 Centerline is valid? [False, False] Translation: X:192.82, Y:124.63, Z:0.62 [[ 9.39520205e-01 -3.42208725e-01 1.39633003e-02 1.92815710e+02] [ 3.39859968e-01 9.36566977e-01 8.56592034e-02 1.24632498e+02] [-4.23908928e-02 -7.57329855e-02 9.96226644e-01 6.15789824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.574012739 meters Centerline goodness : 0.494920 Centerline is valid? [False, False] Translation: X:192.82, Y:124.63, Z:0.61 [[ 9.40864094e-01 -3.38560798e-01 1.23021169e-02 1.92818992e+02] [ 3.36165895e-01 9.37482690e-01 9.01038121e-02 1.24627262e+02] [-4.20386402e-02 -8.06398894e-02 9.95856396e-01 6.14454845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.604012739 meters Centerline goodness : 0.418082 Centerline is valid? [False, False] Translation: X:192.82, Y:124.63, Z:0.61 [[ 9.40902492e-01 -3.38453853e-01 1.23080746e-02 1.92819446e+02] [ 3.36053956e-01 9.37511669e-01 9.02197854e-02 1.24626999e+02] [-4.20741976e-02 -8.07518438e-02 9.95845822e-01 6.13741483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.634012739 meters Centerline goodness : 0.493435 Centerline is valid? [False, False] Translation: X:192.82, Y:124.62, Z:0.61 [[ 9.42312584e-01 -3.34563394e-01 1.06924849e-02 1.92822822e+02] [ 3.32118027e-01 9.38456531e-01 9.48522787e-02 1.24621423e+02] [-4.17685326e-02 -8.58293289e-02 9.95433934e-01 6.12031294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.664012739 meters Centerline goodness : 0.315278 Centerline is valid? [False, False] Translation: X:192.82, Y:124.62, Z:0.61 [[ 9.42343347e-01 -3.34481485e-01 1.05428702e-02 1.92824036e+02] [ 3.32046877e-01 9.38475838e-01 9.49103403e-02 1.24621306e+02] [-4.16399805e-02 -8.59374006e-02 9.95429995e-01 6.10975547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.694012739 meters Centerline goodness : 0.480180 Centerline is valid? [False, False] Translation: X:192.80, Y:124.61, Z:0.61 [[ 9.42718275e-01 -3.33561636e-01 4.34615595e-03 1.92796966e+02] [ 3.31756340e-01 9.38821096e-01 9.24806982e-02 1.24609173e+02] [-3.49282759e-02 -8.57413795e-02 9.95704992e-01 6.07632917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.724012739 meters Centerline goodness : 0.464389 Centerline is valid? [False, False] Translation: X:192.80, Y:124.61, Z:0.61 [[ 9.42758898e-01 -3.33449750e-01 4.11395702e-03 1.92798382e+02] [ 3.31655612e-01 9.38830600e-01 9.27451353e-02 1.24607684e+02] [-3.47881510e-02 -8.60718846e-02 9.95681382e-01 6.07172184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.754012739 meters Centerline goodness : 0.446207 Centerline is valid? [False, False] Translation: X:192.80, Y:124.61, Z:0.61 [[ 9.42814451e-01 -3.33295895e-01 3.84152995e-03 1.92800063e+02] [ 3.31513381e-01 9.38845258e-01 9.31045618e-02 1.24605532e+02] [-3.46379704e-02 -8.65068077e-02 9.95648926e-01 6.06842200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.784012739 meters Centerline goodness : 0.446207 Centerline is valid? [False, False] Translation: X:192.80, Y:124.61, Z:0.61 [[ 9.42814451e-01 -3.33295895e-01 3.84152995e-03 1.92800063e+02] [ 3.31513381e-01 9.38845258e-01 9.31045618e-02 1.24605532e+02] [-3.46379704e-02 -8.65068077e-02 9.95648926e-01 6.06842200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.814012739 meters Centerline goodness : 0.556520 Centerline is valid? [False, False] Translation: X:192.77, Y:124.59, Z:0.61 [[ 9.42658928e-01 -3.33754408e-01 -1.46309628e-03 1.92771655e+02] [ 3.32522608e-01 9.38785004e-01 9.00634885e-02 1.24589182e+02] [-2.86855535e-02 -8.53856641e-02 9.95934951e-01 6.05103260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.844012739 meters Centerline goodness : 0.420033 Centerline is valid? [False, False] Translation: X:192.77, Y:124.59, Z:0.60 [[ 9.42710910e-01 -3.33605764e-01 -1.82587988e-03 1.92774017e+02] [ 3.32392810e-01 9.38787933e-01 9.05109755e-02 1.24586422e+02] [-2.84808692e-02 -8.59325934e-02 9.95893784e-01 6.04371383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 10943.86 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%| | 0/16026 [00:00